CN109984678A - A kind of clean method of clean robot and clean robot - Google Patents
A kind of clean method of clean robot and clean robot Download PDFInfo
- Publication number
- CN109984678A CN109984678A CN201711481866.9A CN201711481866A CN109984678A CN 109984678 A CN109984678 A CN 109984678A CN 201711481866 A CN201711481866 A CN 201711481866A CN 109984678 A CN109984678 A CN 109984678A
- Authority
- CN
- China
- Prior art keywords
- clean robot
- region
- virtual region
- control
- clean
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Classifications
-
- 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
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/24—Floor-sweeping machines, motor-driven
-
- 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
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
- A47L11/4011—Regulation of the cleaning machine by electric means; Control systems and remote control systems therefor
-
- 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
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
- A47L11/4061—Steering means; Means for avoiding obstacles; Details related to the place where the driver is accommodated
-
- 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
- A47L2201/00—Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
- A47L2201/04—Automatic control of the travelling movement; Automatic obstacle detection
Landscapes
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
- Electric Vacuum Cleaner (AREA)
- Manipulator (AREA)
Abstract
The present invention provides a kind of clean robot and the clean methods of clean robot, wherein method includes: setting virtual region；Control clean robot cleans the virtual region inside real work region.The present invention, by carrying out clean method to real work region division virtual region, and to virtual region inside, realizes the high-efficiency cleaning to zone of ignorance without initial map.
Description
Technical field
The invention belongs to clean robot field more particularly to the cleaning sides of a kind of clean robot and clean robot
Method.
Background technique
In recent years, clean robot is developed rapidly, and for this kind of robot, the most important is exactly real
Now to comprehensive, the high-efficiency cleaning of circumstances not known.Although major part clean robot is also able to achieve higher clean rate at present,
Mainly have following problems: the first, the random cleaning modes of traditional clean robot, which are often omitted, does not largely clean region, and right
It then often carries out repeating cleaning in having cleaned region, causes cleaning efficiency very low；The second, the New Sweeping Floor Machine having need to be by ranging
Equipment such as laser radar range instrument pre-establishes the initial map in real work region, and then sweeper could be in existing map
On cleaned, on the one hand increasing the expense of distance-measuring equipment, (for example the price of common laser radar range instrument is from several hundred members
To thousands of members etc.) thus on the other hand increasing the cost of sweeper increases the volume, weight and complexity of equipment.
Summary of the invention
The present invention wraps in view of the above-mentioned problems, provide a kind of clean method of clean robot in one embodiment of the invention
It includes:
Virtual region is set, clean robot is located inside the virtual region or on boundary；
Control clean robot cleans the virtual region inside real work region.
Preferably, the virtual region is by pre-set, control clean robot move distance and the finger of rotational angle
Setting is enabled, the enclosure space that the running track that described instruction runs clean robot in real work region surrounds constitutes institute
State virtual region.
Preferably, control clean robot includes: to the clean process of virtual region progress inside real work region
The instruction for executing the control clean robot move distance and rotational angle obtains enclosure space；
To being cleaned inside the enclosure space.
Preferably, the instruction for executing the control clean robot move distance and rotational angle obtains the mistake of enclosure space
Cheng Zhong, after encountering barrier, control clean robot turns to default steering and runs along the barrier edge, calculates in real time
Work as front with described in the projected length worked as in front direction before encountering barrier along the track of barrier edge operation
To the sum of running length, when the calculated value when the pre-determined distance in front direction, then then continues to execute control greater than described
The instruction of clean robot move distance and rotational angle processed.
Preferably, the virtual region is determined by predeterminable area and preset ratio；Wherein, the predeterminable area is existed by user
It is set on display.
Preferably, user sets the predeterminable area by way of picture frame over the display；And/or
User is by way of the length of input virtual region, width, or the length or width and length of input virtual region
Degree and the mode of the ratio of width set the predeterminable area；And/or
User sets the predeterminable area by way of input coordinate range.
Preferably, control clean robot includes: to the clean process of virtual region progress inside real work region
Control clean robot is run along when front direction to the point of interface on the boundary with virtual region；
Control clean robot is run along the bounded around the virtual region from the point of interface, until returning to described
Point of interface, the enclosure space that the running track of clean robot surrounds constitute the virtual region；If clean robot is along institute
It states and encounters barrier when bounded is run around the virtual region, control clean robot in virtual region along the barrier
Edge operation；
To being cleaned inside the enclosure space.
Preferably, include: to the clean process of progress inside the enclosure space
S510: control clean robot is run along the first cleaning direction to the boundary with virtual region inside virtual region
Or it cleans the boundary in region and has met；
S520: control clean robot is diverted to the first offset identical with the boundary direction to meet to first
Direction continues to run the first deflected length, and it is clear to be diverted to second parallel and opposite with the first cleaning direction to first
Clean direction；
S530: control clean robot is run along the second cleaning direction to the boundary with virtual region inside virtual region
Or it cleans the boundary in region and has met；
S540: control clean robot is diverted to the second offset identical with the boundary direction to meet to second
Direction continues to run the second deflected length, is diverted to first cleaning direction to second；
S550: repeating step S510 to S540, until the track of sweeping robot traverses transporting in the virtual region
Row region.
Preferably, first deflected length is to clean direction vertical line first along first offset direction running track
On projected length；And/or second deflected length is to clean direction second along second offset direction running track
Projected length on vertical line.
Preferably, it if clean robot encounters barrier when running in virtual region along current cleaning direction, controls
Clean robot is run along the edge of the barrier, calculates clean along the track that the barrier edge is run currently in real time
Projected length on the vertical line in direction, when the projected length be equal to third deflected length when, control clean robot be diverted to
It currently cleans contrary cleaning direction to continue to run, when the projected length is equal to 0, control clean robot is diverted to currently
Cleaning direction continues to run.
Preferably, the clean method of clean robot further include: record has cleaned region.
Preferably, the clean method of clean robot further include: according to the virtual region to real work region internal weakness
Region other than quasi- region is divided to obtain multiple extension virtual regions；
After having cleaned current virtual region, successively cleaned by the other extension virtual regions of ordered pair.
Preferably, described successively to be cleaned by the other extension virtual regions of ordered pair, it is clear according to clean robot
Current location behind clean complete current virtual region judges that next extension to be cleaned is empty at a distance from other extension virtual regions
Quasi- region.
In another embodiment of the present invention, a kind of clean robot is also provided, comprising: obstacle sensing module, is determined at motion module
Position module and control module；
The obstacle sensing module link control module, for sensing obstacle information；
The motion module connects the control module, for driving the cleaner under the control of the control module
Device people is mobile；
The locating module connects the control module, for positioning in virtual region to the clean robot；
The control module is used to execute the clean method of clean robot described in any of the above-described embodiment.
Preferably, the obstacle sensing module is that crash sensor, infrared sensor, steep cliff sensor and TOF measurement pass
One or more in sensor；The locating module is camera vision positioning module, laser ranging locating module or mileage
One or more of meter.
The present invention is without initial map, by dividing virtual region in real work region, and controls clear
Clean robot carries out clean method to virtual region inside, realizes the high-efficiency cleaning to zone of ignorance.
Detailed description of the invention
In order to illustrate the technical solution of the embodiments of the present invention more clearly, required use in being described below to embodiment
Attached drawing be briefly described, it should be apparent that, drawings in the following description are only some embodiments of the invention, for this
For the those of ordinary skill of field, without creative efforts, it can also be obtained according to these attached drawings others
Attached drawing.
Fig. 1 is the flow chart of the clean method of the clean robot of the embodiment of the present invention；
Fig. 2A and Fig. 2 B is the enclosure space schematic diagram of the embodiment of the present invention；
Fig. 3 A and Fig. 3 B are that the clean robot of the embodiment of the present invention carries out the virtual region inside real work region
Clean flow chart；
Fig. 4 A to Fig. 4 E is that clean robot divides the cleaning line map generated during enclosure space；
Fig. 5 is that clean flow chart is carried out inside the enclosure space of the embodiment of the present invention；
Fig. 6 is the flow chart of the clean method of the clean robot of another embodiment of the present invention；
Fig. 7 is the schematic diagram of the extension virtual region of the embodiment of the present invention；
Fig. 8 is the composition figure of the clean robot of the embodiment of the present invention；
Fig. 9 A is the real work area schematic of a specific embodiment of the invention；
Fig. 9 B to Fig. 9 O is that clean robot cleans the cleaning line map generated in real work region process shown in Fig. 9 A.
Specific embodiment
In order to keep technical characterstic and effect of the invention more obvious, technical solution of the present invention is done with reference to the accompanying drawing
It further illustrates, the specific example that the present invention can also have other different is illustrated or implements, anyone skilled in the art
The equivalents done within the scope of the claims belong to protection category of the invention.
In the description of this specification, reference term " embodiment ", " specific embodiment ", " such as " or " some realities
Apply example " etc. description mean that particular features, structures, materials, or characteristics described in conjunction with this embodiment or example are contained in this hair
In at least one bright embodiment or example.In the present specification, schematic expression of the above terms are not necessarily referring to phase
Same embodiment or example.Moreover, particular features, structures, materials, or characteristics described can be in any one or more
It can be combined in any suitable manner in embodiment or example.The step of involved in each embodiment, sequentially is used to schematically illustrate of the invention
Implement, sequence of steps therein is not construed as limiting, can appropriately adjust as needed.
As shown in FIG. 1, FIG. 1 is the flow charts of the clean method of the clean robot of the embodiment of the present invention.The present embodiment is suitable
In the case where without initial map, by dividing virtual region in real work region, and clean robot is controlled to void
Clean method is carried out inside quasi- region, realizes the high-efficiency cleaning to zone of ignorance.Specifically, including:
Step S100, sets virtual region, and clean robot is located inside the virtual region or on boundary；
Step S200, control clean robot clean the virtual region inside real work region.
In one embodiment of the invention, the virtual region in above-mentioned steps S100 is by pre-set, control clean robot
The instruction of move distance and rotational angle is set, the operation rail that these instructions run clean robot in real work region
The enclosure space that mark surrounds constitutes virtual region.Controlling the instruction of clean robot move distance and rotational angle such as can be with
Are as follows: 1) using clean robot current location as initial position, control clean robot runs the first preset length along when front direction
(can be obtained by the odometer measurement on clean robot), such as a point in Fig. 2A to b point；2) default turn to is turned to (to preset and turn
To both including rotation direction or including rotational angle, in this case, it is rotated counterclockwise on the basis of front direction by clean robot
90°)；3) the second preset length is run along when front direction, such as the b point in Fig. 2A to c point；4) default turn to (in this example is turned to
It is still to rotate counterclockwise 90 °)；5) the first preset length is run along when front direction, such as the c point in Fig. 2A to d point；6) it turns to default
It turns to (ibid)；7) continue to return to initial position along when front direction runs the second preset length, such as the d point in Fig. 2A to a point.By
Fig. 2A as it can be seen that the enclosure space that surrounds of the running track that described instruction runs clean robot in real work region (i.e.
Rectangle abcd) constitute the virtual region.The present invention to the first preset length and the second preset length without limitation, can be according to need
It asks and is set.Default steering both can be left-hand rotation, or turn right, every time including rotation direction or including rotational angle
The angle of steering can be set as needed, and the present invention is not construed as limiting this.When the first preset length is 2m, the second preset length
The finger of control clean robot move distance and rotational angle is executed when default steering is left-hand rotation, steering angle is 90 ° for 1m
So that the enclosure space arrived is as shown in Figure 2 A.
When implementation, it is contemplated that the influence of barrier, in the instruction of control clean robot move distance and rotational angle
The operation logic for encountering barrier is added, such as encounters barrier, as shown in Figure 2 B, then controls cleaner after encountering barrier
Device people turns to default steering (being to turn 90 ° counterclockwise in this example) and operation (can be abutting barrier along the barrier edge
Edge can also keep constant distance or a certain range of distance with barrier edge；Refer in this example clean robot from
C1 point arrives the running track of c3 point to c2 point again), it calculates encountering barrier along the track that the barrier edge is run in real time
The projected length worked as on front direction (i.e. from b point to the direction of c1 point) before (is equal to c2 point to line c3 point in this example
The length of section) with described work as front direction (being still from b point to the direction of c1 point) running length (i.e. b point to line segment c1 point
Length) the sum of (i.e. the sum of line segment length of b point to c1 point and c2 point to c3 point length), when the calculated value described greater than working as
(referring to the length of the b point in Fig. 2A to line segment between c point) when pre-determined distance in front direction, then no longer along barrier after reforwarding
Row, then the instruction for continuing to execute control clean robot move distance and rotational angle (performs similarly to figure in this example
To the instruction of c point, i.e., control clean robot is turned to preset from c3 point to d point and be turned to b point, and is moved from c3 point to d point in 2A
Instruction).
Further, as shown in Figure 3A, in above-mentioned steps S200 control clean robot to real work region inside
Virtual region carries out cleaning
Step S210, the instruction for executing the control clean robot move distance and rotational angle obtain enclosure space,
Boundary of the boundary visualization of enclosure space as virtual region.The process executed instruction is no longer superfluous herein referring to a upper embodiment
State, the present invention to instruction setting enclosure space shape without limitation.
Step S220, to being cleaned inside the enclosure space.
In one embodiment of the invention, the virtual region in above-mentioned steps S100 is determined by predeterminable area and preset ratio.
Wherein, by user, in display, (display can be set on clean robot predeterminable area, also can be set
On mobile terminal) on set, the predeterminable area on display is corresponding with the virtual region in real work region, corresponding relationship
Preset ratio, which can be calculated, (can be understood as the expansion for the virtual region that the predeterminable area on display is expanded in real work region
Big multiple).The label for representing clean robot can be shown in predeterminable area on display, can not also show that the representative is clear
The label of clean robot, in the latter case, can default clean robot the center of predeterminable area or some fixed point or
Some specific position (such as midpoint on certain boundary).In some specific real modes, the setting means of predeterminable area is as follows:
User by picture frame over the display (including select preset shape over the display and it pulled, is amplified,
The operation such as reduce) form set the predeterminable area；And/or
User is by way of the length of input virtual region, width, or the length or width and length of input virtual region
The mode of degree and the ratio of width sets the predeterminable area, and corresponding preset ratio is 1；And/or
User sets the predeterminable area by way of input coordinate range, and specifically, coordinate range is opposite sits
Mark, i.e., over the display relative to the display relative coordinate of clean robot, or relative to clean robot in virtual region
Relative coordinate.Under above situation, obtained in virtual region relatively by the display relative coordinate on display multiplied by preset ratio
In the relative coordinate of clean robot.
Preset ratio both can rule of thumb be preset by program, can also be (practical by room in initial phase by user
Working region) longest and the input of the widest part size, by algorithm by the maximum possible size meter of the size of mobile telephone display and room
Calculation obtains a proper ratio, and the present invention specifically sets form without limitation to it.For example set display and real work area
The preset ratio in domain is 1:100, and mobile telephone display size is 12cm × 7cm, and corresponding real work region area is 6m × 6m,
The 1m for representing real work region by 1cm on mobile telephone display, 6cm × 6cm virtual region on mobile phone represent practical work
Make the range of the 6m × 6m in region.
Further, as shown in Figure 3B, in the case where determining virtual region by predeterminable area and preset ratio, virtual region
It is preset with clean robot current Ubiety, for example clean robot is at the center of predeterminable area or some is pinpointed or certain
A specific position (such as midpoint on certain boundary), above-mentioned steps S200 control clean robot to real work region inside
Virtual region carry out clean process and include:
Step S210 ', control clean robot are run along when front direction to the point of interface on the boundary with virtual region.Its
In, virtual region boundary is that the boundary of virtual region surrounding is deserved front direction and worked as clean robot as shown in Fig. 4 A dotted line frame
Preceding locating direction, as shown in the initial position arrow in Fig. 4 A, point of interface is as shown in the A point in Fig. 4 A.
When implementation, as shown in Figure 4 B, if operation encounters barrier into virtual region boundary process, cleaner is controlled
Device people runs in virtual region along the edge of barrier；If encountering new barrier along the edge operational process of barrier,
Clean robot is then controlled to run in virtual region along the edge of new barrier；If being examined along barrier edge operational process
The point of interface for measuring the boundary that clean robot is run to barrier edge and virtual region, thens follow the steps S220 '；If encountering
Never encounter barrier after barrier again within certain continuous time, then it is assumed that obstacle is moved, and step is executed
S210’。
Step S220 ', control clean robot is from the point of interface (the A point in Fig. 4 B) along the bounded around the void
Quasi- area operation, until returning to the point of interface (as shown in Figure 4 C), the enclosure space that the running track of clean robot surrounds
The virtual region is constituted, the boundary of enclosure space is exactly the boundary of virtual region；
Step S230 ', to being cleaned inside the enclosure space.
In above-mentioned steps S220 ', if clean robot encounters barrier when running along the bounded around the virtual region
Hinder object (for example perceived after colliding by crash sensor, or by distance measuring sensor robot measurement and front obstacle away from
From less than certain threshold value), it controls clean robot and is run in virtual region along the edge of the barrier.If encountering obstacle
Never encounter barrier after object again within certain continuous time, then it is assumed that encountering dynamic disorder, (such as barrier is moved
It is dynamic, as shown in Figure 4 D), since range detection sensor is close, robot can only determine that surrounding barrier is moved at this time
, but can not determine that its center of current distance is more than that (such as 30cm, clean robot radius is usually not more than for predetermined threshold
Environment 15cm), for this kind of situation, meeting return step S210 ' to find nearest virtual region boundary again, but can also
Using point of interface before as end position (as shown in Figure 4 E).
In one embodiment of the invention, enclosure space inside is cleaned using bow font cleaning mode, as shown in figure 5,
Include:
S510: control clean robot is run along the first cleaning direction to the boundary with virtual region inside virtual region
Or cleaned the boundary in region and met, specifically, operation can be understood as clean robot to meeting with virtual region boundary
The boundary of virtual region will be reached, is such as separated by a certain distance with virtual region boundary.
When implementation, the first cleaning direction can be depending on the direction on boundary where clean robot current location, this hair
It is bright that this is not especially limited.Before step S510 is executed, also controllable clean robot runs into virtual region either boundary
One end, it is preferred that control clean robot run to the most proximal end apart from the nearest boundary in clean robot current location.
S520: control clean robot is diverted to the first offset identical with the boundary direction to meet to first
Direction continues to run the first deflected length, and it is clear to be diverted to second parallel and opposite with the first cleaning direction to first
Clean direction.
Preferably, the first steering and the second steering are all both including rotation direction or including rotational angle.First steering can
Think left-hand rotation, or turn right, specific steering direction and steering angle are preset by program or according to virtual region
Distribution character determines.First deflected length is the throwing along first offset direction running track on the first cleaning direction vertical line
Shadow length.Preferably, the first deflected length and the second deflected length it is general based on brush width, preferably 10cm to 15cm, in this way
Clean robot can be enable to avoid omitting not clean region when adjacent cleaning direction cleans in cleaning process.
S530: control clean robot is run along the second cleaning direction to the boundary with virtual region inside virtual region
Or it cleans the boundary in region and has met.
S540: control clean robot is diverted to the second offset identical with the boundary direction to meet to second
Direction continues to run the second deflected length, is diverted to first cleaning direction to second.
Preferably, it second turns to the first steering on the contrary, the first offset direction and the second offset direction can be identical, it can also
With difference, but the direction of the first offset direction and the second offset direction on cleaning direction vertical line is identical.First deflected length
Identical as the second deflected length, the first deflected length is to clean on the vertical line of direction along the first offset direction running track first
Projected length, the second deflected length are long along projection of second offset direction running track on the second cleaning direction vertical line
Degree.
S550: repeating step S510 to S540, until the track of sweeping robot traverses transporting in the virtual region
Row region.
If clean robot encounters barrier when running in virtual region along current cleaning direction, cleaning machine is controlled
People runs along the edge of the barrier, calculates track the hanging down in currently cleaning direction run along the barrier edge in real time
Projected length on line, when the projected length is equal to third deflected length, control clean robot is diverted to and currently cleans
Contrary cleaning direction continues to run, and when the projected length is equal to 0, control clean robot is diverted to current cleaning direction
It continues to run.It should be noted that in the present invention, current direction of cleaning is the first cleaning direction or the second cleaning direction.Clearly
Direction of clean robot when along barrier border movement is not the first cleaning direction, the second cleaning direction or current cleaning side
To.
Those skilled in the art also can be used other modes and clean to enclosure space inside, and the present invention is to enclosure space
Internal specific cleaning process is without limitation.
In one embodiment of the invention, further includes: generate map in clean robot moving process, and recorded in map
Clean region.
In one embodiment of the invention, as shown in fig. 6, the clean method of clean robot further include:
Step S300 divide to the region other than virtual region in real work region according to the virtual region
To multiple extension virtual regions.
Step S400 is successively carried out clearly after having cleaned current virtual region by the other extension virtual regions of ordered pair
It is clean.
In some specific embodiments, step S300, which can be, to be moved to virtual region in real work region, is virtual
Region outside region, and extension virtual region can form multi-layer area, extend virtual area with the nearest first layer of virtual region
Domain is overlapped with a part on a boundary of the virtual region or boundary, and compared with the extension virtual region of outer layer and compared with internal layer
Extend at least part overlapping margins of virtual region.To guarantee to pass through virtual region and multilevel extension region for real work
Region is completely covered.As shown in fig. 7, solid line region is real work region, intermediate dark color fine grid region is virtual region,
Remaining dashed region is extension virtual region, wherein oblique net region is that first layer extends virtual region.
Step S400 is successively cleaned by the other extension virtual regions of ordered pair, has been cleaned according to clean robot
Current location behind current virtual region judges next extension virtual area to be cleaned at a distance from other extension virtual regions
Domain.It preferably, will be apart from cleaner when clean robot has cleaned current virtual region (including current extensions virtual region)
The nearest extension virtual region in device people current location is set as next extension virtual region to be cleaned.
The present embodiment by by real work region division be multiple virtual regions for covering entire real work region,
And virtual region inside is cleaned one by one, it can be realized efficient comprehensive cleaning to zone of ignorance.
In one embodiment of the invention, as shown in figure 8, Fig. 8 is the schematic diagram of the clean robot of the embodiment of the present invention.This reality
The clean robot for applying example offer can be without initial map, by whole at that can cover to real work region division
Multiple virtual regions in a real work region, and successively realize to clean method is carried out inside each virtual region to not
Know the high-efficiency cleaning in region.
Specifically, including: obstacle sensing module 810, motion module 820, locating module 830 and control module 840.Obstacle
810 link control module 840 of sensing module, for sense obstacle information (such as obstacle distance information, location information and/
Or shape information etc.).820 link control module 840 of motion module, for driving clean robot under the control of control module
It is mobile.830 link control module 840 of locating module, for being positioned in virtual region to the clean robot.Control module
The embodiment of 840 clean method for executing any of the above-described clean robot.
Specifically, obstacle sensing module can be crash sensor, infrared sensor, steep cliff sensor and TOF measurement
One or more of sensor, locating module can for camera vision positioning module, laser ranging locating module (LDS) or
One or more of odometer.Certainly, when it is implemented, positioning in order to accurately realize clean robot, can also clean
Ultrasonic sensor is set in robot.
Illustrate technical solution of the present invention to become apparent from, is described in detail below with a specific embodiment, real work
Region is as shown in Figure 9 A, and the cleaning process of clean robot includes:
1) the virtual region such as Fig. 9 B dashed region set.Preset areas can be arranged by display by user in the virtual region
Domain obtains, or is set by the instruction of pre-set, control clean robot move distance and rotational angle.
2) if virtual region is set according to the predeterminable area of user setting, the envelope of virtual region is obtained in the following way
Close space: control clean robot is along when front direction is run to the point of interface A point on the boundary with virtual region；Control cleaning machine
People runs along the bounded around the virtual region from the point of interface, until the point of interface is returned to, clean robot
Running track constitutes enclosure space, the region surrounded such as Fig. 9 B arrow.
If virtual region is set by instruction, enclosure space is obtained by way of executing instruction, as Fig. 9 B arrow surrounds
Region.
3) after obtaining enclosure space, virtual region inside is carried out by previous embodiment step S510 to step S540 clear
Clean (cleaning of bow font), the cleaning track of clean robot is as shown in arrow direction in Fig. 9 C, until clean robot is next time
Turning to the boundary that will cross virtual region or turning to next time will repeat to have cleaned region.
Will judge whether there are also other unclear in virtual region after the primary bow font cleaning of the every completion of clean robot
Clean region, if any then controlling clean robot and be moved in virtual region and do not clean in region apart from clean robot present bit
Nearest position is set, as shown in Fig. 9 D and Fig. 9 F, then by previous embodiment step S510 to step S540 in virtual region
Region is not cleaned to be cleaned, and cleans track as shown in Fig. 9 E and Fig. 9 G.
4) after virtual region has cleaned, the region other than virtual region in real work region is divided to obtain multiple
Extension virtual region is divided into 3 extension virtual regions 901,902,903 as shown in Fig. 9 H.
Current location after having cleaned current virtual region according to clean robot at a distance from other extension virtual regions,
Next extension virtual region to be cleaned is judged for 901, and control clean robot is moved to one end of extension virtual region 901
Then it is empty to control the closing that clean robot runs one week virtual region 901 that is expanded around extension virtual region 901 for point
Between, as extended the region that arrow surrounds in virtual region 901 in Fig. 9 H.
5) track is cleaned as shown in Fig. 9 I and Fig. 9 J to cleaning inside extension virtual region 901 referring to step 3).
6) current location after having cleaned current virtual region according to clean robot and other extension virtual regions away from
From judging next extension virtual region to be cleaned for 902, control clean robot is moved to extension virtual region 902
Then end point controls the closing that clean robot runs one week virtual region 902 that is expanded around extension virtual region 902
Space, as extended the region that arrow surrounds in virtual region 902 in Fig. 9 K.
7) referring to step 3) to cleaning inside extension virtual region 902, cleaning track is as shown in figure 9l.
8) current location after having cleaned current virtual region according to clean robot and other extension virtual regions away from
From judging next extension virtual region to be cleaned for 903, control clean robot is moved to extension virtual region 903
Then end point controls the closing that clean robot runs one week virtual region 903 that is expanded around extension virtual region 903
Space, as extended the region that arrow surrounds in virtual region 903 in Fig. 9 M.
9) track is cleaned as shown in Fig. 9 N and Fig. 9 O to cleaning inside extension virtual region 903 referring to step 3).
So far, clean robot according to the technique and scheme of the present invention to Fig. 9 A before cleaning starts unknown real work area
Domain, without initial map, by real work region division at multiple virtual regions, and successively to each virtual area
Clean method is carried out inside domain one by one, realizes the high-efficiency cleaning to zone of ignorance.
It should be understood by those skilled in the art that, the embodiment of the present invention can provide as method, system or computer program
Product.Therefore, complete hardware embodiment, complete software embodiment or reality combining software and hardware aspects can be used in the present invention
Apply the form of example.Moreover, it wherein includes the computer of computer usable program code that the present invention, which can be used in one or more,
The computer program implemented in usable storage medium (including but not limited to magnetic disk storage, CD-ROM, optical memory etc.) produces
The form of product.
The present invention be referring to according to the method for the embodiment of the present invention, the process of equipment (system) and computer program product
Figure and/or block diagram describe.It should be understood that every one stream in flowchart and/or the block diagram can be realized by computer program instructions
The combination of process and/or box in journey and/or box and flowchart and/or the block diagram.It can provide these computer programs
Instruct the processor of general purpose computer, special purpose computer, Embedded Processor or other programmable data processing devices to produce
A raw machine, so that being generated by the instruction that computer or the processor of other programmable data processing devices execute for real
The device for the function of being specified in present one or more flows of the flowchart and/or one or more blocks of the block diagram.
These computer program instructions, which may also be stored in, is able to guide computer or other programmable data processing devices with spy
Determine in the computer-readable memory that mode works, so that it includes referring to that instruction stored in the computer readable memory, which generates,
Enable the manufacture of device, the command device realize in one box of one or more flows of the flowchart and/or block diagram or
The function of being specified in multiple boxes.
These computer program instructions also can be loaded onto a computer or other programmable data processing device, so that counting
Series of operation steps are executed on calculation machine or other programmable devices to generate computer implemented processing, thus in computer or
The instruction executed on other programmable devices is provided for realizing in one or more flows of the flowchart and/or block diagram one
The step of function of being specified in a box or multiple boxes.
The above is only used to illustrate the technical scheme of the present invention, any those of ordinary skill in the art can without prejudice to
Under spirit and scope of the invention, modifications and changes are made to the above embodiments.Therefore, the scope of the present invention should regard
Subject to scope of the claims.
Claims (10)
1. a kind of clean method of clean robot characterized by comprising
Virtual region is set, clean robot is located inside the virtual region or on boundary；
Control clean robot cleans the virtual region inside real work region.
2. the method as described in claim 1, which is characterized in that the virtual region is by pre-set, control cleaning machine
The instruction of people's move distance and rotational angle is set, the operation that described instruction runs clean robot in real work region
The enclosure space that track surrounds constitutes the virtual region.
3. method according to claim 2, which is characterized in that control clean robot is to virtual inside real work region
Region carries out clean process
The instruction for executing the control clean robot move distance and rotational angle obtains enclosure space；
To being cleaned inside the enclosure space.
4. method as claimed in claim 3, which is characterized in that execute the control clean robot move distance and angle of rotation
During the instruction of degree obtains enclosure space, after encountering barrier, control clean robot turns to default turn to and along institute
The operation of barrier edge is stated, calculates work as front direction before encountering barrier along the track that the barrier edge is run in real time
On projected length and described when front direction the sum of running length, when the calculated value is greater than described when default in front direction
Apart from when, then then continue to execute control clean robot move distance and rotational angle instruction.
5. the method as described in claim 1, which is characterized in that the virtual region is determined by predeterminable area and preset ratio；
Wherein, the predeterminable area is set over the display by user.
6. method as claimed in claim 5, which is characterized in that user is set described pre- by way of picture frame over the display
If region；And/or
User by way of inputting the length of virtual region, width, or input virtual region length or width and length with
The mode of the ratio of width sets the predeterminable area；And/or
User sets the predeterminable area by way of input coordinate range.
7. method as claimed in claim 5, which is characterized in that control clean robot is to virtual inside real work region
Region carries out clean process
Control clean robot is run along when front direction to the point of interface on the boundary with virtual region；
Control clean robot is run along the bounded around the virtual region from the point of interface, until returning to the boundary
Point, the enclosure space that the running track of clean robot surrounds constitute the virtual region；If clean robot is along the side
Boundary encounters barrier when running around the virtual region, controls clean robot in virtual region along the side of the barrier
Edge operation；
To being cleaned inside the enclosure space.
8. the method as described in claim 3,4 or 7, which is characterized in that the clean process of progress inside the enclosure space
Include:
S510: control clean robot is run to the boundary with virtual region or inside virtual region along the first cleaning direction
It meets on the boundary in cleaning region；
S520: control clean robot is diverted to the first offset direction identical with the boundary direction to meet to first
The first deflected length is continued to run, is diverted to the second cleaning side parallel and opposite with the first cleaning direction to first
To；
S530: control clean robot is run to the boundary with virtual region or inside virtual region along the second cleaning direction
It meets on the boundary in cleaning region；
S540: control clean robot is diverted to the second offset direction identical with the boundary direction to meet to second
The second deflected length is continued to run, is diverted to first cleaning direction to second；
S550: repeating step S510 to S540, until sweeping robot track traverse in the virtual region can Operational Zone
Domain.
9. method according to claim 8, which is characterized in that if clean robot is in virtual region along current cleaning direction
Barrier is encountered when operation, then controls clean robot and run along the edge of the barrier, calculate in real time along the barrier
Projected length of the track of edge operation on the currently vertical line in cleaning direction, when the projected length is equal to third deflected length
When, control clean robot is diverted to the cleaning direction contrary with currently cleaning and continues to run, when the projected length is equal to
0, control clean robot is diverted to current cleaning direction and continues to run.
10. a kind of clean robot characterized by comprising obstacle sensing module, motion module, locating module and control mould
Block；
The obstacle sensing module link control module, for sensing obstacle information；
The motion module connects the control module, for driving the clean robot under the control of the control module
It is mobile；
The locating module connects the control module, for positioning in virtual region to the clean robot；
The control module requires 1 to 9 described in any item methods for perform claim.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711481866.9A CN109984678B (en) | 2017-12-29 | 2017-12-29 | Cleaning robot and cleaning method thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711481866.9A CN109984678B (en) | 2017-12-29 | 2017-12-29 | Cleaning robot and cleaning method thereof |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN109984678A true CN109984678A (en) | 2019-07-09 |
| CN109984678B CN109984678B (en) | 2021-08-06 |
Family
ID=67109259
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201711481866.9A Active CN109984678B (en) | 2017-12-29 | 2017-12-29 | Cleaning robot and cleaning method thereof |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109984678B (en) |
Cited By (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110456789A (en) * | 2019-07-23 | 2019-11-15 | 中国矿业大学 | A kind of complete coverage path planning method of clean robot |
| CN110477813A (en) * | 2019-08-12 | 2019-11-22 | 珠海市一微半导体有限公司 | A kind of laser type clean robot and its control method |
| CN110731734A (en) * | 2019-08-12 | 2020-01-31 | 珠海市一微半导体有限公司 | Control method and chip for planning and cleaning of intelligent robot and cleaning robot |
| CN111552286A (en) * | 2020-04-22 | 2020-08-18 | 深圳市优必选科技股份有限公司 | Robot and movement control method and device thereof |
| CN112716392A (en) * | 2019-10-28 | 2021-04-30 | 深圳拓邦股份有限公司 | Control method of cleaning equipment and cleaning equipment |
| CN112799389A (en) * | 2019-11-12 | 2021-05-14 | 苏州宝时得电动工具有限公司 | Automatic walking area path planning method and automatic walking equipment |
| CN113691938A (en) * | 2020-05-19 | 2021-11-23 | 优跃达科技株式会社 | Calling system and area information setting method for calling system |
| CN114355871A (en) * | 2020-09-30 | 2022-04-15 | 好样科技有限公司 | Self-walking device and control method thereof |
| CN114819921A (en) * | 2022-06-27 | 2022-07-29 | 深圳市信润富联数字科技有限公司 | Mold ex-warehouse method, device, equipment and readable storage medium |
| CN115033005A (en) * | 2022-08-10 | 2022-09-09 | 湖南朗国视觉识别研究院有限公司 | Floor sweeping method, sweeping robot and storage medium |
| CN115251766A (en) * | 2022-07-08 | 2022-11-01 | 尚科宁家(中国)科技有限公司 | Cleaning method of cleaning robot and cleaning robot |
| US11654574B2 (en) | 2018-01-24 | 2023-05-23 | Qfeeltech (Beijing) Co., Ltd. | Cleaning robot |
| US11779180B2 (en) * | 2019-07-11 | 2023-10-10 | Lg Electronics Inc. | Robot cleaner for cleaning in consideration of floor state through artificial intelligence and operating method for the same |
Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102541056A (en) * | 2010-12-16 | 2012-07-04 | 莱克电气股份有限公司 | Obstacle processing method for robot |
| CN103099583A (en) * | 2011-11-14 | 2013-05-15 | 三星电子株式会社 | Robot cleaner and control method thereof |
| CN105793790A (en) * | 2013-12-19 | 2016-07-20 | 伊莱克斯公司 | Prioritizing cleaning areas |
| JP2016134081A (en) * | 2015-01-21 | 2016-07-25 | シャープ株式会社 | Self-propelled type electronic apparatus |
| US20160302638A1 (en) * | 2013-12-19 | 2016-10-20 | Aktiebolaget Electrolux | Robotic vacuum cleaner with side brush moving in spiral pattern |
| CN106527423A (en) * | 2015-09-15 | 2017-03-22 | 小米科技有限责任公司 | Cleaning robot and control method therefor |
| CN106998984A (en) * | 2014-12-16 | 2017-08-01 | 伊莱克斯公司 | Clean method for robotic cleaning device |
| CN107368079A (en) * | 2017-08-31 | 2017-11-21 | 珠海市微半导体有限公司 | Robot cleans the planing method and chip in path |
| CN107390698A (en) * | 2017-08-31 | 2017-11-24 | 珠海市微半导体有限公司 | The benefit of sweeping robot sweeps method and chip |
-
2017
- 2017-12-29 CN CN201711481866.9A patent/CN109984678B/en active Active
Patent Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102541056A (en) * | 2010-12-16 | 2012-07-04 | 莱克电气股份有限公司 | Obstacle processing method for robot |
| CN103099583A (en) * | 2011-11-14 | 2013-05-15 | 三星电子株式会社 | Robot cleaner and control method thereof |
| CN105793790A (en) * | 2013-12-19 | 2016-07-20 | 伊莱克斯公司 | Prioritizing cleaning areas |
| US20160302638A1 (en) * | 2013-12-19 | 2016-10-20 | Aktiebolaget Electrolux | Robotic vacuum cleaner with side brush moving in spiral pattern |
| CN106998984A (en) * | 2014-12-16 | 2017-08-01 | 伊莱克斯公司 | Clean method for robotic cleaning device |
| JP2016134081A (en) * | 2015-01-21 | 2016-07-25 | シャープ株式会社 | Self-propelled type electronic apparatus |
| CN106527423A (en) * | 2015-09-15 | 2017-03-22 | 小米科技有限责任公司 | Cleaning robot and control method therefor |
| CN107368079A (en) * | 2017-08-31 | 2017-11-21 | 珠海市微半导体有限公司 | Robot cleans the planing method and chip in path |
| CN107390698A (en) * | 2017-08-31 | 2017-11-24 | 珠海市微半导体有限公司 | The benefit of sweeping robot sweeps method and chip |
Cited By (18)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US11654574B2 (en) | 2018-01-24 | 2023-05-23 | Qfeeltech (Beijing) Co., Ltd. | Cleaning robot |
| US12042926B2 (en) | 2018-01-24 | 2024-07-23 | Qfeeltech (Beijing) Co., Ltd. | Cleaning robot |
| US11779180B2 (en) * | 2019-07-11 | 2023-10-10 | Lg Electronics Inc. | Robot cleaner for cleaning in consideration of floor state through artificial intelligence and operating method for the same |
| CN110456789A (en) * | 2019-07-23 | 2019-11-15 | 中国矿业大学 | A kind of complete coverage path planning method of clean robot |
| CN110477813A (en) * | 2019-08-12 | 2019-11-22 | 珠海市一微半导体有限公司 | A kind of laser type clean robot and its control method |
| CN110731734A (en) * | 2019-08-12 | 2020-01-31 | 珠海市一微半导体有限公司 | Control method and chip for planning and cleaning of intelligent robot and cleaning robot |
| CN110477813B (en) * | 2019-08-12 | 2021-11-09 | 珠海市一微半导体有限公司 | Laser type cleaning robot and control method thereof |
| CN112716392A (en) * | 2019-10-28 | 2021-04-30 | 深圳拓邦股份有限公司 | Control method of cleaning equipment and cleaning equipment |
| CN112716392B (en) * | 2019-10-28 | 2022-08-23 | 深圳拓邦股份有限公司 | Control method of cleaning equipment and cleaning equipment |
| CN112799389B (en) * | 2019-11-12 | 2022-05-13 | 苏州宝时得电动工具有限公司 | Automatic walking area path planning method and automatic walking equipment |
| CN112799389A (en) * | 2019-11-12 | 2021-05-14 | 苏州宝时得电动工具有限公司 | Automatic walking area path planning method and automatic walking equipment |
| CN111552286B (en) * | 2020-04-22 | 2024-05-07 | 深圳市优必选科技股份有限公司 | Robot and movement control method and device thereof |
| CN111552286A (en) * | 2020-04-22 | 2020-08-18 | 深圳市优必选科技股份有限公司 | Robot and movement control method and device thereof |
| CN113691938A (en) * | 2020-05-19 | 2021-11-23 | 优跃达科技株式会社 | Calling system and area information setting method for calling system |
| CN114355871A (en) * | 2020-09-30 | 2022-04-15 | 好样科技有限公司 | Self-walking device and control method thereof |
| CN114819921A (en) * | 2022-06-27 | 2022-07-29 | 深圳市信润富联数字科技有限公司 | Mold ex-warehouse method, device, equipment and readable storage medium |
| CN115251766A (en) * | 2022-07-08 | 2022-11-01 | 尚科宁家(中国)科技有限公司 | Cleaning method of cleaning robot and cleaning robot |
| CN115033005A (en) * | 2022-08-10 | 2022-09-09 | 湖南朗国视觉识别研究院有限公司 | Floor sweeping method, sweeping robot and storage medium |
Also Published As
| Publication number | Publication date |
|---|---|
| CN109984678B (en) | 2021-08-06 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN109984678A (en) | A kind of clean method of clean robot and clean robot | |
| US8576235B1 (en) | Visibility transition planning for dynamic camera control | |
| CN107807649A (en) | A kind of sweeping robot and its cleaning method, device | |
| Dong et al. | Multi-robot collaborative dense scene reconstruction | |
| KR20210053323A (en) | Dynamic probability motion planning | |
| Lau et al. | Improved updating of Euclidean distance maps and Voronoi diagrams | |
| Oskam et al. | Visibility transition planning for dynamic camera control | |
| CN109984689A (en) | A kind of method for optimizing route of clean robot and clean robot | |
| CN109464074A (en) | Area division method, subarea cleaning method and robot thereof | |
| CN109540155A (en) | A kind of path planning and navigation method, computer installation and the computer readable storage medium of sweeping robot | |
| CN107368079A (en) | Robot cleans the planing method and chip in path | |
| CN103605368A (en) | Method and device for route programming in dynamic unknown environment | |
| CN108459599A (en) | A kind of trajectory path planning method and device | |
| CN109240312A (en) | The cleaning control method and chip and clean robot of a kind of robot | |
| CN109528090A (en) | The area coverage method and chip and clean robot of a kind of robot | |
| CN111578943A (en) | Cleaning path generation method and device, computer device and storage device | |
| CN108803586A (en) | A kind of working method of sweeping robot | |
| CN111557622B (en) | Cleaning path generation method and device, computer device and storage device | |
| CN114035572A (en) | Obstacle avoidance and itinerant method and system of mowing robot | |
| CN109077672A (en) | A kind of method and device of sweeping robot selection block | |
| JP5485180B2 (en) | 3D image processor and processing method | |
| CN111857156A (en) | Robot region dividing method based on laser, chip and robot | |
| CN113317733B (en) | Path planning method and cleaning robot | |
| CN118805014A (en) | Swimming pool cleaning method and device, electronic equipment and storage medium | |
| CN109298716A (en) | A kind of the planning cleaning method and chip of robot |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |