CN109662651A - A kind of method that sweeping robot reserves cleaning automatically - Google Patents
A kind of method that sweeping robot reserves cleaning automatically Download PDFInfo
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- CN109662651A CN109662651A CN201710954769.0A CN201710954769A CN109662651A CN 109662651 A CN109662651 A CN 109662651A CN 201710954769 A CN201710954769 A CN 201710954769A CN 109662651 A CN109662651 A CN 109662651A
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- dirty
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- sweeping robot
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L9/00—Details or accessories of suction cleaners, e.g. mechanical means for controlling the suction or for effecting pulsating action; Storing devices specially adapted to suction cleaners or parts thereof; Carrying-vehicles specially adapted for suction cleaners
- A47L9/28—Installation of the electric equipment, e.g. adaptation or attachment to the suction cleaner; Controlling suction cleaners by electric means
- A47L9/2805—Parameters or conditions being sensed
- A47L9/281—Parameters or conditions being sensed the amount or condition of incoming dirt or dust
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L9/00—Details or accessories of suction cleaners, e.g. mechanical means for controlling the suction or for effecting pulsating action; Storing devices specially adapted to suction cleaners or parts thereof; Carrying-vehicles specially adapted for suction cleaners
- A47L9/28—Installation of the electric equipment, e.g. adaptation or attachment to the suction cleaner; Controlling suction cleaners by electric means
- A47L9/2836—Installation of the electric equipment, e.g. adaptation or attachment to the suction cleaner; Controlling suction cleaners by electric means characterised by the parts which are controlled
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Electric Vacuum Cleaner (AREA)
Abstract
The invention discloses a kind of methods that sweeping robot reserves cleaning automatically, the frequency for solving the problems, such as reservation cleaning and the degree of fouling in region to be cleaned are unmatched, the technical solution for solving the problems, such as this mainly includes starting the sweeping robot to clean sweeping robot in region to be cleaned, detect and obtain the dirty value R in region to be cleaned, then dirty decision content U is calculated according to dirty value R, sets reservation cleaning frequency automatically further according to the size of dirty decision content U.Sweeping robot in the present invention sets the frequency that reservation cleans according to the degree of fouling in region to be cleaned, not only guarantee regional sustained cleaning to be cleaned, and reduce the waste of the sweeping robot energy, improve the adaptive ability and intelligence degree of sweeping robot.
Description
Technical field
The present invention relates to field of household appliances, method that especially a kind of sweeping robot reserves cleaning automatically.
Background technique
Sweeping robot is a kind of smart home cleaner, and sweeping robot passes through artificial intelligence certainly after user starts
It is dynamic to treat purging zone and swept, sweeper people is remotely operated for the convenience of the user and is swept on time, generally on sweeping robot
Setting reservation cleaning equipment, i.e., arrive the time set starts on time and treats purging zone and swept automatically, substantially reduces use
The amount of labour of family house dedusting, but the reservation automatic cleaning of existing sweeping robot can only be set as fixed reservation periods or
Each manual setting reservation periods, so that reservation can not be arranged automatically according to the dirty state in region to be cleaned in sweeping robot
The period of cleaning or frequency, when region degree of fouling to be cleaned is high, reserve cleaning frequency it is low when, to not can guarantee to be cleaned
The cleannes in region, when the degree of fouling in region to be cleaned is low, reserve cleaning frequency it is high when, to clean excessively frequent, wave
Power-consuming energy.
Summary of the invention
Present invention purpose to be achieved is just to provide a kind of method that sweeping robot reserves cleaning automatically, according to clear
The frequency that the degree of fouling setting reservation in region cleans is swept, not only guarantees regional sustained cleaning to be cleaned, but also reduce and sweep the floor
The waste of the robot energy.
In order to achieve the above object, the present invention adopts the following technical scheme: a kind of sweeping robot reserves cleaning automatically
Method, starting the sweeping robot cleans sweeping robot in region to be cleaned, detects and obtains region to be cleaned
Then dirty value R calculates dirty decision content U according to dirty value R, set reservation automatically further according to the size of dirty decision content U
Clean frequency.
Further, the dirty decision content U is dirty value R.
Further, the last dirty value R' cleaned is obtained, degree of fouling difference DELTA is calculated according to dirty value R and R'
R=R-R', dirty decision content U are degree of fouling difference DELTA R.
Further, the last dirty value R' cleaned of acquisition calculates the dirty of current dirty value R and last cleaning
The dirty value Rm=ɑ R'+ β R of the synthesis of value R', wherein the respectively last dirty value R' cleaned of ɑ and β is cleaned dirty with this
The weight coefficient of value R, dirty decision content U are comprehensive dirty value Rm.
Further, it includes: to obtain the last time that the size according to dirty decision content U, which sets reservation automatically and cleans frequency,
Reservation cleaning frequency, if dirty decision content U is greater than preset threshold X, setting reservation cleans frequency and cleans frequency greater than last reservation
Rate, otherwise, setting reservation clean frequency and clean frequency less than or equal to last reservation；
Alternatively, it includes: that acquisition default reservation is clear that the size according to dirty decision content U sets reservation to clean frequency automatically
Frequency sweep rate, if dirty decision content U is greater than preset threshold X, setting reservation cleans frequency and cleans frequency greater than default reservation, otherwise,
Setting reservation cleans frequency and cleans frequency less than or equal to default reservation.
Further, the sweeping robot has the dirty judgement section of multiple no intersections, each dirty judgement section
A corresponding reservation cleans frequency, and reservation is cleaned frequency and is automatically made dirty judgement section pair belonging to dirty decision content U
The reservation answered cleans frequency.
Further, the dirty judgement section be six and be respectively (G, F], (F, E], (E, D], (D, C], (C, B],
(B, A], (A ,+∞), as dirty decision content U ∈ (A ,+∞), reservation clean frequency be 1 day 1 time；As dirty decision content U ∈
(B, A] when, it is 2 days 1 time that reservation, which cleans frequency,；When dirty decision content U ∈ (C, B] when, reservation clean frequency be 3 days 1 time；When dirty
Dirty decision content U ∈ (D, C] when, it is 4 days 1 time that reservation, which cleans frequency,；When dirty decision content U ∈ (E, D] when, reservation clean frequency be
5 days 1 time；When dirty decision content U ∈ (F, E] when, reservation clean frequency be 6 days 1 time；When dirty decision content U ∈ (G, F] when, in advance
About cleaning frequency is 7 days 1 time, wherein G < F < E < D < C < B < A.
Further, the sweeping robot detects and obtains the gross area S and rubbish total amount Q in region to be cleaned, according to
Gross area S and rubbish total amount Q calculates unit area quantity of refuse M=Q/S, and dirty value R is unit area quantity of refuse M.
Further, the sweeping robot detects and obtains the grating map in region to be cleaned and the rubbish of each grid
Amount, filters out dirty grid, calculates contaminated area ratio W=n/N according to the quantity n of dirty grid and total grid quantity N, dirty
Dirt value R is contaminated area ratio W.
Further, the sweeping robot is equipped with interactive device, and user is cleaned by the reservation of interactive device manual setting
Frequency.
After adopting the above technical scheme, the present invention has the advantage that
Dirty value R by facilitating acquisition calculates the dirty decision content U for directly determining pollution level, sentences dirty
Definite value U is compared with preset threshold, to facilitate sweeping robot adjustment reservation to clean frequency, when dirty decision content U is larger
When, determine that region degree of fouling to be cleaned is larger, sweeping robot sets biggish reservation and cleans frequency, avoids region to be cleaned
Interior rubbish aggregation is excessive, guarantees regional sustained cleaning to be cleaned, when dirty decision content U is smaller, determines that region to be cleaned is dirty
Degree is small, and sweeping robot, which sets lesser cleaning frequency, to be reduced and sweep the floor under conditions of guaranteeing region clean degree to be cleaned
The waste of the robot energy improves the adaptive ability and intelligence degree of sweeping robot.
Detailed description of the invention
The present invention will be further explained below with reference to the attached drawings:
Reserve the flow chart of the method for cleaning in Fig. 1 automatically for sweeping robot in embodiment one.
Specific embodiment
Embodiment one:
The present embodiment provides a kind of methods that sweeping robot reserves cleaning automatically, and starting the sweeping robot makes to sweep the floor
Robot cleans in region to be cleaned, detects and obtains the dirty value R in region to be cleaned, then calculated according to dirty value R
Dirty decision content U sets reservation cleaning frequency further according to the size of dirty decision content U automatically.
Dirty value R by facilitating acquisition calculates the dirty decision content U for directly determining pollution level, sentences dirty
Definite value U is compared with preset threshold, to facilitate sweeping robot adjustment reservation to clean frequency, when dirty decision content U is larger
When, determine that region degree of fouling to be cleaned is larger, sweeping robot sets biggish reservation and cleans frequency, avoids region to be cleaned
Interior rubbish aggregation is excessive, guarantees regional sustained cleaning to be cleaned, when dirty decision content U is smaller, determines that region to be cleaned is dirty
Degree is small, and sweeping robot, which sets lesser cleaning frequency, to be reduced and sweep the floor under conditions of guaranteeing region clean degree to be cleaned
The waste of the robot energy improves the adaptive ability and intelligence degree of sweeping robot.
The last dirty value R' cleaned is obtained, the comprehensive of current dirty value R and the last dirty value R' cleaned is calculated
Dirty value Rm=ɑ R'+ β R is closed, wherein ɑ and β is respectively the power of the last dirty value R' cleaned and this dirty value R cleaned
Weight coefficient, dirty decision content U are comprehensive dirty value Rm, certain is avoided region to be cleaned to cause due to cause specific when once cleaning
Quantity of refuse is excessive or very few, influences sweeping robot and determines and set one and clean frequency with the reservation that degree of fouling is not inconsistent.This
In embodiment, ɑ and β are 1/2, so that Rm=(R'+R)/2, i.e., calculate comprehensive dirty value Rm using the method for average, with continuous two
The degree of fouling in the judge region to be cleaned of a reservation cleaning period is more accurate, ensure that the cleannes that reservation cleans.Certainly,
The dirty value cleaned several times before can also comprehensively considering, and a weight coefficient is distributed for the dirty value cleaned each time, thus
It obtains more comprehensive and reliably integrates dirty value.
The sweeping robot has the dirty judgement section of multiple no intersections, and corresponding one of each dirty judgement section is pre-
Frequency is about cleaned, reservation is cleaned frequency to be automatically made the corresponding reservation in dirty judgement section belonging to dirty decision content U clear
Frequency sweep rate.Each dirty judgement section corresponds to different size of reservation and cleans frequency, and dirty judgement section is bigger, corresponding pre-
It is bigger about to clean frequency, sweeping robot selects the corresponding reservation cleaning frequency in dirty judgement section belonging to dirty decision content U
Currently to reserve cleaning frequency, it ensure that the lasting cleannes in region to be cleaned.
In the present embodiment, the dirty judgement section be six and be respectively (G, F], (F, E], (E, D], (D, C], (C,
B], (B, A], (A ,+∞), as dirty decision content U ∈ (A ,+∞), reservation clean frequency be 1 day 1 time；As dirty decision content U
∈ (B, A] when, it is 2 days 1 time that reservation, which cleans frequency,；When dirty decision content U ∈ (C, B] when, reservation clean frequency be 3 days 1 time；When
Dirty decision content U ∈ (D, C] when, it is 4 days 1 time that reservation, which cleans frequency,；When dirty decision content U ∈ (E, D] when, reservation clean frequency
It is 5 days 1 time；When dirty decision content U ∈ (F, E] when, reservation clean frequency be 6 days 1 time；When dirty decision content U ∈ (G, F] when,
It is 7 days 1 time that reservation, which cleans frequency, wherein G < F < E < D < C < B < A.Quantity of refuse determines that the corresponding reservation in section cleans frequency
The increase in section is determined with quantity of refuse and is increased, and guarantees that reservation cleans the dirty of frequency and unit area quantity of refuse and region to be cleaned
Dirty degree matching.
Sweeping robot is equipped with interactive device, and user cleans frequency by the reservation of interactive device manual setting.The present embodiment
In, interactive device can be the touch screen or Mobile portable formula equipment on sweeping robot, and user passes through interactive device hand
Dynamic setting reservation cleans frequency, so that sweeping robot can not only calculate reservation automatically according to degree of fouling cleans frequency, but also can
It is reserved with manual setting and cleans frequency, meet the use demand and use habit of different user.Meanwhile interactive device also facilitates use
Observation automatic reservation in family cleans relevant information.
In the present embodiment, the sweeping robot detects and obtains the gross area S and rubbish total amount Q in region to be cleaned, root
Unit area quantity of refuse M=Q/S is calculated according to gross area S and rubbish total amount Q, dirty value R is unit area quantity of refuse M, then
The dirty value R' that last time cleans is the last unit area quantity of refuse M' obtained.
As shown in Figure 1, the specific implementation step that sweeping robot reserves the method for cleaning automatically is as follows:
Step 1, start sweeping robot；
Step 2, sweeping robot cleans in region to be cleaned, detects and obtain the area S in region to be cleaned and to clear
Sweep the rubbish total amount Q in region；
Step 3, according to the rubbish total amount Q unit of account area rubbish in the area S and region to be cleaned in region to be cleaned
Measure M=Q/S；
Step 4, the last unit area quantity of refuse M' cleaned is obtained, current unit area quantity of refuse M and upper is calculated
The dirty value Rm=(M'+M)/2 of the synthesis of the unit area quantity of refuse M' once cleaned,
Step 5, determine dirty judgement section belonging to comprehensive dirty value Rm；
Step 6, if the automatic setting reservation of user's selection cleans frequency, reservation is cleaned into frequency and is set as integrating dirty value Rm
The corresponding reservation in affiliated dirty judgement section cleans frequency, into next step；If user selects manual setting, reservation cleans frequency
Rate, the manual reservation that interactive device is received cleans set of frequency and cleans frequency for reservation, into next step；Otherwise, it returns
Step 2；
Step 7, reservation cleans set of frequency and terminates.
Timer is equipped in sweeping robot, at the end of reservation cleans set of frequency, timer starts timing, works as timing
After device reaches the corresponding time interval of reservation cleaning frequency, automatic starting sweeping robot is treated cleaning and is cleaned, while simultaneously
2 are entered step, i.e., detection obtains the rubbish in the area S and region to be cleaned in newest region to be cleaned again in cleaning process
Rubbish total amount Q, thus unit of account area quantity of refuse M=Q/S come set reservation clean frequency, sweeping robot cleans every time after oneself
Row adjustment cleans frequency to meet the cleaning demand in region to be cleaned.
In the present embodiment, if this reservation cleans when reservation cleans for the first time, can no longer obtain default reservation and clean
Frequency, but frequency is cleaned by the corresponding reservation in dirty judgement section belonging to dirty decision content U and cleans frequency to obtain reservation
Rate.
In the present embodiment, the size according to dirty decision content U set automatically reservation clean frequency can not pass through it is dirty
Dirt determines section to be arranged, but adjusts on the basis of default reserves cleaning frequency or upper primary reservation cleans frequency,
It specifically includes: when this reservation, which cleans, to be cleaned to reserve for the first time, default reservation cleaning frequency is obtained, if dirty decision content U
Greater than preset threshold X, setting reservation cleans frequency and cleans frequency greater than reservation is defaulted, and otherwise, setting is reserved cleaning frequency and is less than
Or it is equal to default reservation and cleans frequency；When this reservation, which cleans, no longer to be cleaned to reserve for the first time, last reservation is obtained clearly
Frequency sweep rate, if dirty decision content U is greater than preset threshold X, setting reservation cleans frequency and cleans frequency greater than last reservation, no
Then, setting reservation cleans frequency and cleans frequency less than or equal to last reservation.It is upper to reserve the set of frequency of cleaning
It is adjusted on the basis of primary reservation cleaning frequency, the cleaning situation in region to be cleaned, precision are higher before having comprehensively considered.
Certainly, regardless of whether for reservation cleaning for the first time, default reservation can be obtained and clean frequency, if dirty decision content U is greater than in advance
If threshold X, setting reservation cleans frequency and cleans frequency greater than reservation is defaulted, and otherwise, setting is reserved cleaning frequency and is less than or equal to
Default reservation cleans frequency.
Embodiment two
The present embodiment provides a kind of methods that sweeping robot reserves cleaning automatically, obtain the last dirty value cleaned
R' calculates degree of fouling difference DELTA R=R-R' according to dirty value R and R', and dirty decision content U is degree of fouling difference DELTA R.Root
According to this difference for cleaning dirty value R obtained the and last dirty value R' cleaned determine quantity of refuse whether increase very much, from
And setting reservation cleans frequency on the basis of upper primary reservation cleans frequency, that is, it is entire to guarantee to increase or decrease cleaning number
The cleannes in region to be cleaned.
Certainly, dirty decision content U can also directly be dirty value R.
Other non-description scheme reference implementation examples one.
Embodiment three
The present embodiment provides a kind of method that sweeping robot reserves cleaning automatically, the sweeping robot is detected and is obtained
The quantity of refuse of the grating map in region to be cleaned and each grid filters out dirty grid, according to the quantity n of dirty grid and always
Grid quantity N calculate contaminated area ratio W=n/N, dirty value R is contaminated area ratio W.Contaminated area ratio W can it is intuitive and
Contaminated area in region to be cleaned is quickly understood, determines a need for increasing reservation cleaning frequency to be conducive to sweeping robot
Rate reduces reservation cleaning frequency.
Other non-description scheme reference implementation examples one.
In addition to above preferred embodiment, there are other embodiments of the invention, and those skilled in the art can be according to this
Invention makes various changes and modifications, and as long as it does not depart from the spirit of the invention, should belong to appended claims of the present invention and determines
The range of justice.
Claims (10)
1. a kind of method that sweeping robot reserves cleaning automatically, which is characterized in that starting the sweeping robot makes sweeper
Device people cleans in region to be cleaned, detects and obtain the dirty value R in region to be cleaned, is then calculated according to dirty value R dirty
Dirty decision content U sets reservation cleaning frequency further according to the size of dirty decision content U automatically.
2. the method that sweeping robot according to claim 1 reserves cleaning automatically, which is characterized in that the dirty judgement
Value U is dirty value R.
3. the method that sweeping robot according to claim 1 reserves cleaning automatically, which is characterized in that obtain last clear
The dirty value R' swept calculates degree of fouling difference DELTA R=R-R' according to dirty value R and R', and dirty decision content U is degree of fouling
Difference DELTA R.
4. the method that sweeping robot according to claim 1 reserves cleaning automatically, which is characterized in that obtain last clear
The dirty value R' swept calculates the dirty value Rm=ɑ R'+ β R of synthesis of current dirty value R and the last dirty value R' cleaned,
Middle ɑ and β is respectively the weight coefficient of the last dirty value R' cleaned and this dirty value R cleaned, and dirty decision content U is comprehensive
Close dirty value Rm.
5. the method that sweeping robot according to claim 1 reserves cleaning automatically, which is characterized in that described according to dirty
It includes: to obtain last reservation to clean frequency that the size of decision content U, which sets reservation automatically and cleans frequency, if dirty decision content U is big
In preset threshold X, setting reservation cleans frequency and cleans frequency greater than last time reservation, and otherwise, setting is reserved cleaning frequency and is less than
Or it is equal to last reservation and cleans frequency；
Alternatively, it includes: to obtain default reservation to clean frequency that the size according to dirty decision content U sets reservation to clean frequency automatically
Rate, if dirty decision content U is greater than preset threshold X, setting reservation cleans frequency and cleans frequency greater than default reservation, otherwise, setting
Reservation cleans frequency and cleans frequency less than or equal to default reservation.
6. the method that sweeping robot according to claim 1 reserves cleaning automatically, which is characterized in that the machine of sweeping the floor
People has the dirty judgement section of multiple no intersections, and each corresponding reservation in dirty judgement section cleans frequency, and reservation is clear
Frequency sweep rate is automatically made the corresponding reservation in dirty judgement section belonging to dirty decision content U and cleans frequency.
7. the method that sweeping robot according to claim 6 reserves cleaning automatically, which is characterized in that the dirty judgement
Section be six and be respectively (G, F], (F, E], (E, D], (D, C], (C, B], (B, A], (A ,+∞), as dirty decision content U ∈
When (A ,+∞), it is 1 day 1 time that reservation, which cleans frequency,；When dirty decision content U ∈ (B, A] when, reservation clean frequency be 2 days 1 time；When
Dirty decision content U ∈ (C, B] when, it is 3 days 1 time that reservation, which cleans frequency,；When dirty decision content U ∈ (D, C] when, reservation clean frequency
It is 4 days 1 time；When dirty decision content U ∈ (E, D] when, reservation clean frequency be 5 days 1 time；When dirty decision content U ∈ (F, E] when,
It is 6 days 1 time that reservation, which cleans frequency,；When dirty decision content U ∈ (G, F] when, it is 7 days 1 time that reservation, which cleans frequency, wherein G < F < E
< D < C < B < A.
8. according to claim 1 to the method that sweeping robot described in 7 any one reserves cleaning automatically, which is characterized in that
The sweeping robot detects and obtains the gross area S and rubbish total amount Q in region to be cleaned, according to gross area S and rubbish total amount Q
Unit area quantity of refuse M=Q/S is calculated, dirty value R is unit area quantity of refuse M.
9. according to claim 1 to the method that sweeping robot described in 7 any one reserves cleaning automatically, which is characterized in that
The sweeping robot detects and obtains the grating map in region to be cleaned and the quantity of refuse of each grid, filters out dirty grid
Lattice calculate contaminated area ratio W=n/N according to the quantity n of dirty grid and total grid quantity N, and dirty value R is contaminated area
Compare W.
10. according to claim 1 to the method that sweeping robot described in 7 any one reserves cleaning automatically, which is characterized in that
The sweeping robot is equipped with interactive device, and user cleans frequency by the reservation of interactive device manual setting.
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| CN201710954769.0A CN109662651A (en) | 2017-10-13 | 2017-10-13 | A kind of method that sweeping robot reserves cleaning automatically |
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| CN201710954769.0A CN109662651A (en) | 2017-10-13 | 2017-10-13 | A kind of method that sweeping robot reserves cleaning automatically |
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| CN110674740A (en) * | 2019-09-24 | 2020-01-10 | 北京海益同展信息科技有限公司 | Underwater garbage cleaning method, device and system and computer readable storage medium |
| CN110916566A (en) * | 2019-12-11 | 2020-03-27 | 小狗电器互联网科技（北京）股份有限公司 | Method and device for acquiring area of closed area and sweeping robot |
| CN112401763A (en) * | 2020-11-27 | 2021-02-26 | 深圳市杉川致行科技有限公司 | Control method of sweeping robot, sweeping robot and computer readable storage medium |
| CN113499002A (en) * | 2021-07-05 | 2021-10-15 | 广州科语机器人有限公司 | Cleaning system and control method of cleaning base station |
| CN113633223A (en) * | 2021-08-03 | 2021-11-12 | 杭州华橙软件技术有限公司 | Cleaning method, cleaning device, storage medium, and electronic device |
| CN113647866A (en) * | 2021-08-03 | 2021-11-16 | 杭州华橙软件技术有限公司 | Cleaning method, cleaning device, storage medium, and electronic device |
| CN114158982A (en) * | 2021-12-07 | 2022-03-11 | 添可智能科技有限公司 | Cleaning method and cleaning apparatus |
| WO2022111539A1 (en) * | 2020-11-27 | 2022-06-02 | 深圳市杉川致行科技有限公司 | Floor sweeping control method, apparatus, floor sweeping robot, and computer-readable medium |
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| CN113647866A (en) * | 2021-08-03 | 2021-11-16 | 杭州华橙软件技术有限公司 | Cleaning method, cleaning device, storage medium, and electronic device |
| CN114158982A (en) * | 2021-12-07 | 2022-03-11 | 添可智能科技有限公司 | Cleaning method and cleaning apparatus |
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