CN109991981A - A kind of sweeping robot recharging method - Google Patents
A kind of sweeping robot recharging method Download PDFInfo
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- CN109991981A CN109991981A CN201910268827.3A CN201910268827A CN109991981A CN 109991981 A CN109991981 A CN 109991981A CN 201910268827 A CN201910268827 A CN 201910268827A CN 109991981 A CN109991981 A CN 109991981A
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- 238000010408 sweeping Methods 0.000 title claims abstract description 206
- 238000000034 method Methods 0.000 title claims abstract description 50
- 230000007613 environmental effect Effects 0.000 claims description 12
- 238000004140 cleaning Methods 0.000 claims description 8
- 230000008859 change Effects 0.000 claims description 7
- 238000004886 process control Methods 0.000 claims description 2
- 230000008569 process Effects 0.000 abstract description 9
- 238000012545 processing Methods 0.000 description 8
- 238000004891 communication Methods 0.000 description 7
- 230000006870 function Effects 0.000 description 7
- 230000004888 barrier function Effects 0.000 description 6
- 230000005611 electricity Effects 0.000 description 5
- 230000000903 blocking effect Effects 0.000 description 4
- 238000010586 diagram Methods 0.000 description 4
- 230000000694 effects Effects 0.000 description 4
- 238000005406 washing Methods 0.000 description 4
- 241001417527 Pempheridae Species 0.000 description 3
- 230000005540 biological transmission Effects 0.000 description 3
- 241001465754 Metazoa Species 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 230000000977 initiatory effect Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000000750 progressive effect Effects 0.000 description 1
- 238000010926 purge Methods 0.000 description 1
- 239000011800 void material Substances 0.000 description 1
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0225—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving docking at a fixed facility, e.g. base station or loading bay
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- Aviation & Aerospace Engineering (AREA)
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- Physics & Mathematics (AREA)
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- Automation & Control Theory (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
- Electric Vacuum Cleaner (AREA)
Abstract
This application discloses a kind of sweeping robot recharging methods, are related to robot field, can not be playbacked the technical issues of being charged with solving sweeping robot because virtual wall equipment interferes.It returns to charging instruction this method comprises: sweeping robot receives and starts return charging procedure, return to the relative positional relationship that charging procedure comprises determining that sweeping robot and cradle, it plans the sweeping robot first movement path mobile to cradle, and controls sweeping robot and advance along first movement path to cradle；If first movement path is controlled sweeping robot and is bypassed virtual wall signal, plans the second movement routine again by virtual wall signal blocker in traveling process, and controls sweeping robot and advance along the second movement routine.The application is suitable for sweeping robot and returns the process that cradle charges.
Description
Technical field
This application involves robot field more particularly to a kind of sweeping robot recharging methods.
Background technique
With the development of robot field, various robots come into being, and especially sweeping robot gradually enters into each
In user family.In the sweeping robot course of work, in order to avoid sweeping robot collides the object display in purging zone
Product, usually can be by virtual wall equipment.For example, the orientation virtual barrier that virtual wall equipment forms certain distance can be used,
So that sweeping robot can not cross the region that virtual barrier reaches the virtual barrier other side from region is presently in.For another example,
Virtual wall equipment can be used, formed centered on virtual wall equipment, using the virtual sectors that respective distance is formed as radius, so that
Sweeping robot cannot be introduced into the region that virtual sectors are covered.
In view of in real life, user is likely to the virtual wall signal for causing virtual wall equipment to issue because of maloperation
Block the sweeping robot path mobile to cradle.Or other users, animal etc. are moved because accidentally touching in family
The position that virtual wall equipment is presently in, to cause sweeping robot to there is the above problem in use.
It can not playback progress it can be seen that needing one kind now and being able to solve sweeping robot because virtual wall equipment interferes
The technical solution of charging.
Summary of the invention
The application provides a kind of sweeping robot recharging method, to solve sweeping robot nothing due to virtual wall equipment interferes
The technical issues of method playback is charged.
To solve the above problems, technical solution provided by the present application is as follows:
In a first aspect, the application provides a kind of sweeping robot recharging method.This method comprises: sweeping robot reception is returned
It returns charging instruction and starts return charging procedure, return to the opposite position that charging procedure comprises determining that sweeping robot and cradle
Relationship, the planning sweeping robot first movement path mobile to cradle are set, and controls sweeping robot along first movement road
Radial cradle is advanced；If first movement path is controlled sweeping robot and is bypassed by virtual wall signal blocker in traveling process
Virtual wall signal plans the second movement routine again, and controls sweeping robot and advance along the second movement routine.
In one implementation, control sweeping robot bypasses virtual wall signal, plans the second movement routine again, can
To realize are as follows: control sweeping robot is moved along virtual wall signal boundary, until the sweeping robot planned again is to cradle
Movement routine no longer by virtual wall signal blocker, wherein be no longer second mobile by the movement routine of virtual wall signal blocker
Path.
In one implementation, virtual wall signal includes omnidirectional's local signal and/or orientation line style signal.Control is swept the floor
Robot virtual wall signal boundary is mobile, may be implemented are as follows: if virtual wall signal includes omnidirectional's local signal, control is swept the floor
It advances Robot virtual wall signal periphery；If virtual wall signal includes orientation line style signal, sweeping robot is controlled along empty
Quasi- wall signal is advanced.
In one implementation, returning to charging instruction includes built-in command and/or external command, and built-in command is to sweep
The instruction issued when floor-washing robot battery capacity is lower than preset threshold and/or when default cleaning task is completed.
In one implementation, sweeping robot determines the relative positional relationship of itself and cradle, may be implemented are as follows:
Sweeping robot determines the relative positional relationship of itself and cradle by environmental map, and environmental map includes sweeping robot
The position of current location and cradle.
In one implementation, plan that the second movement routine includes: that the position of sweeping robot is periodically flushed simultaneously again
Again the second movement routine is planned.
In one implementation, relative positional relationship is determined by wireless telecommunications between sweeping robot and cradle.
In one implementation, wireless telecommunications include the return charging signals that are issued to cradle of sweeping robot and/
Or the charging guidance signal that cradle is issued to sweeping robot.
In one implementation, however, it is determined that sweeping robot can not reach charging equipment around virtual wall signal, then send out
Alarm out.
In one implementation, however, it is determined that sweeping robot can not reach charging equipment around virtual wall signal, then control
Cradle processed adjusts the charging issued to sweeping robot and guides signal.Wherein, adjustment charging guidance signal include it is following at least
One: stopping transmitting charging guidance signal；The signal generating source at least partly stopping charging guidance signal is provided on cradle
Stop member；Change the launch angle of charging guidance signal.
Second aspect, the application provide a kind of sweeping robot.It should be noted that items performed by sweeping robot
Function, can also by virtual wall equipment, cradle, run the terminal of application program for user's control sweeping robot etc.
In one it is multiple on behalf of execute or auxiliary execute.
Sweeping robot includes:
Communication module returns to charging instruction for receiving.
Processing module, for according to the received return charging instruction of communication module, starting to return to charging procedure, return charging
Program comprises determining that the relative positional relationship of sweeping robot and cradle, planning sweeping robot to cradle it is mobile the
One movement routine, and control sweeping robot and advance along first movement path to cradle.
Processing module, if being also used to first movement path in traveling process controls sweeper by virtual wall signal blocker
Device people bypasses virtual wall signal, plans the second movement routine again, and controls sweeping robot and advance along the second movement routine.
In one implementation, processing module is also used to: control sweeping robot is moved along virtual wall signal boundary,
Until the sweeping robot planned again to cradle movement routine no longer by virtual wall signal blocker, wherein it is no longer empty
The movement routine of quasi- wall signal blocker is the second movement routine.
In one implementation, virtual wall signal includes omnidirectional's local signal and/or orientation line style signal.Handle mould
Block is also used to: if virtual wall signal includes omnidirectional's local signal, being controlled sweeping robot and is advanced along virtual wall signal periphery；
If virtual wall signal includes orientation line style signal, controls sweeping robot and advance along virtual wall signal.
In one implementation, returning to charging instruction includes built-in command and/or external command, and built-in command is to sweep
The instruction issued when floor-washing robot battery capacity is lower than preset threshold and/or when default cleaning task is completed.
In one implementation, processing module is also used to: sweeping robot determines itself and charging by environmental map
The relative positional relationship of seat, environmental map includes the current location of sweeping robot and the position of cradle.
In one implementation, plan that the second movement routine includes: that the position of sweeping robot is periodically flushed simultaneously again
Again the second movement routine is planned.
In one implementation, relative positional relationship is determined by wireless telecommunications between sweeping robot and cradle.
In one implementation, wireless telecommunications include the return charging signals that are issued to cradle of sweeping robot and/
Or the charging guidance signal that cradle is issued to sweeping robot.
In one implementation, communication module is also used to if it is determined that sweeping robot can not arrive around virtual wall signal
Up to charging equipment, then sound an alarm.
In one implementation, communication module is also used to if it is determined that sweeping robot can not reach around virtual wall signal
To charging equipment, then controls cradle and adjust the charging guidance signal issued to sweeping robot.Wherein, adjustment charging guidance letter
Number include at least one of following: stopping transmitting charging guidance signal；It is provided on cradle and at least partly stops charging guidance letter
Number signal generating source stop member；Change the launch angle of charging guidance signal.
The third aspect, the application provide a kind of equipment, including memory, one or more processors, multiple application programs,
And one or more programs；Wherein, one or more programs are stored in memory；One or more processors are executing
When one or more programs, so that equipment executes any one in above-mentioned first aspect and its various methods in the cards.
Fourth aspect, the application provide a kind of readable storage medium storing program for executing, instruction are stored in readable storage medium storing program for executing, when instruction exists
When being run in equipment, so that equipment executes any one in above-mentioned first aspect and its various methods in the cards.
It is compared in the prior art, sweeping robot blocks sweeper because of the virtual wall signal that virtual wall equipment issues
Device people returns the movement routine of cradle, and causes sweeping robot that can not playback and charge, provided by the embodiments of the present application
Technical solution, can be after the first movement path that virtual wall signal blocker sweeping robot returns cradle, and control is swept the floor
Robot bypasses virtual wall signal, plans the second movement routine different from first movement path again, and controls sweeping robot
It advances along the second movement routine.Sweeping robot can more be gained at virtual wall signal blocker first movement path in this way
Return the movement routine of cradle, to effectively solve the problems, such as that existing in the prior art can not playback is charged.
Detailed description of the invention
The drawings described herein are used to provide a further understanding of the present application, constitutes part of this application, this Shen
Illustrative embodiments and their description please are not constituted an undue limitation on the present application for explaining the application.In the accompanying drawings:
Fig. 1 provides a kind of sweeping robot recharging method flow chart for the embodiment of the present application；
Fig. 2 provides the structural schematic diagram one of sweeping robot for the embodiment of the present application；
Fig. 3 provides the structural schematic diagram two of sweeping robot for the embodiment of the present application.
Specific embodiment
For the clearer general idea for illustrating the application, carry out in an illustrative manner with reference to the accompanying drawings of the specification detailed
It describes in detail bright.
The embodiment of the present application provides a kind of network system, in the network system, includes at least sweeping robot and charging
Seat.Sweeping robot can be controlled or independently revert to cradle position and charges during traveling.In one kind
In implementation, which can also include virtual wall equipment, with empty by transmitting in sweeping robot working environment
Intend wall signal to mark off certain area, sweeping robot is avoided to clean the region.
The embodiment of the present application provides a kind of sweeping robot recharging method, as shown in Figure 1, this method include S101 and
S102。
S101, sweeping robot, which receive, to be returned to charging instruction and starts return charging procedure.
In the embodiment of the present application, returning to charging instruction includes at least one of built-in command and external command.Wherein,
Built-in command can sweeping robot own situation issues according to instruction, for example, can be in sweeping robot battery electricity
The instruction issued when amount is lower than preset threshold and/or when default cleaning task is completed；External command can be user's active control
Sweeping robot returns to the instruction issued when cradle.
Wherein, preset threshold can be preset by user, or complete setting when leaving the factory.In making for sweeping robot
With in the process, sweeping robot can not limit herein from the value etc. of main modulation threshold value.In one implementation, in advance
If threshold value can be set to ensure that sweeping robot successfully returns to the electricity of cradle when initial setting up or later period adjust
Amount, for example, can determine the electricity of needs is how many according to the relative positional relationship between sweeping robot and cradle.
For built-in command, the transmission main body of external command, not limit in the embodiment of the present application.It is with built-in command
Example, built-in command can be the instruction that sweeping robot itself generates or the instruction that cradle issues or virtual wall equipment
The instruction of sending, or the instruction that the current terminal for running the application program of user's control sweeping robot for convenience issues
Deng.
In one implementation, it returns to charging procedure and comprises determining that the relative position of sweeping robot and cradle is closed
System, the planning sweeping robot first movement path mobile to cradle, and control sweeping robot along first movement path to
Cradle is advanced.
It should be noted that determine sweeping robot and cradle relative positional relationship, can by sweeping robot, fill
The equipment such as electric seat or terminal execute.In the embodiment of the present application, for the equipment and planning of determining relative positional relationship
The equipment in first movement path not limits, and can be identical or be different equipment.When for different equipment, for determining
The relative positional relationship determined can be sent to another equipment, later by another equipment root by the equipment of relative positional relationship
First movement path is cooked up according to relative positional relationship, and sends the first path cooked up to sweeping robot, so as to sweep
Floor-washing robot controlled can advance along first movement path to cradle.
If first movement path controls sweeping robot by virtual wall signal blocker around void in S102, traveling process
Quasi- wall signal plans the second movement routine again, and controls sweeping robot and advance along the second movement routine.
In sweeping robot traveling process, if receiving virtual wall signal, first movement path is by virtual wall signal
It blocks, in order to ensure sweeping robot can smoothly reach cradle, can control sweeping robot and bypass virtual wall signal simultaneously
The second movement routine is planned for sweeping robot.Control sweeping robot is advanced along the second movement routine cooked up later.
It should be noted that the second movement routine of planning is similar with the planning implementation in first movement path, Ke Yican
The implementation that the first movement path of text planning before examination uses, it will not be described here.In the embodiment of the present application, second is completed to move
It after dynamic path planning, needs to send the second movement routine to sweeping robot, so that sweeping robot is mobile according to second
It advances to cradle in path.
In view of during sweeping robot subsequent traveling, it is likely that the blocking of virtual wall signal is received again, then when
The movement routine of preceding sweeping robot is first movement path, needs to plan the second movement routine again for sweeping robot, from
And sweeping robot is made to change movement routine to bypass the blocking of virtual wall signal.
It also means that, during sweeping robot is advanced to cradle, plans that the second movement routine can be with again
The needing to execute repeatedly for one of the task, i.e., by constantly evading virtual wall signal, the second movement routine of planning, to ensure to sweep
Floor-washing robot successfully returns cradle.
It is compared in the prior art, sweeping robot blocks sweeper because of the virtual wall signal that virtual wall equipment issues
Device people returns the movement routine of cradle, and causes sweeping robot that can not playback and charge, provided by the embodiments of the present application
Technical solution, can be after the first movement path that virtual wall signal blocker sweeping robot returns cradle, and control is swept the floor
Robot bypasses virtual wall signal, plans the second movement routine different from first movement path again, and controls sweeping robot
It advances along the second movement routine.Sweeping robot can more be gained at virtual wall signal blocker first movement path in this way
Return the movement routine of cradle, to effectively solve the problems, such as that existing in the prior art can not playback is charged.
In addition, first movement path, the second movement routine and the subsequent movement routine that may be present cooked up again,
The prefered path determined when can be planning movement routine.In one implementation, prefered path also refers to sweep the floor
Robot returns the exclusive path of cradle, and/or sweeping robot returns the shortest road of distance in the mulitpath of cradle
Sweeping robot returns the path of cradle in diameter, and/or historical time.
In view of needing to consider the movement routine newly planned whether by virtual wall during planning the second movement routine
Signal stops, and therefore, in one implementation, planning that the process of movement routine usually requires repeatedly to plan again can just find
Suitable second movement routine.Sweeping robot is controlled in so S102, and the second mobile road is planned around virtual wall signal, again
Diameter may be implemented are as follows: control sweeping robot is moved along virtual wall signal boundary, until the sweeping robot planned again is to filling
The movement routine of electric seat is no longer by virtual wall signal blocker.Wherein, no longer by the movement routine of virtual wall signal blocker be second
Movement routine.
In the embodiment of the present application, virtual wall signal includes omnidirectional's local signal and/or orientation line style signal.For difference
The virtual wall signal of type, sweeping robot can be moved along virtual wall signal boundary in different ways.For example, if virtual
Wall signal includes omnidirectional's local signal, then controls sweeping robot and advance along virtual wall signal periphery；If virtual wall signal includes
Line style signal is oriented, then controls sweeping robot and advances along virtual wall signal.
Wherein, omnidirectional's local signal refers to centered on virtual wall equipment, sends out from the signal emitting-source of virtual wall equipment
Project using respective distance as the signal of radius, so that sector is formed, so that sweeping robot cannot be introduced into what sector was covered
Region.Orientation line style signal refers to launching using virtual wall equipment as starting point from the signal emitting-source of virtual wall equipment
Signal with certain distance, for example, can be the signal of similar taper, so that barrier is formed, so that sweeping robot can not
The region that barrier reaches the barrier other side is crossed from region is presently in.
In the embodiment of the present application, if relative positional relationship between sweeping robot and cradle, by sweeping robot
It determines, then being just not necessarily to transmit after other equipment determine relative positional relationship to sweeping robot, effectively saves machine of sweeping the floor
People plans the time spent by movement routine.Also, since the meeting of the position of sweeping robot is real-time or not timing changes,
Relative positional relationship is independently determined by sweeping robot, can at least guarantee that high accuracy orients the real-time position of sweeping robot
It sets, to improve the accuracy for the relative positional relationship determined.
In one implementation, sweeping robot determines the relative positional relationship of itself and cradle, can be implemented as
Sweeping robot determines the relative positional relationship of itself and cradle by environmental map.Environmental map refers to that user passes through end
End etc. equipment send to sweeping robot executable cleaning task scope of activities figure or sweeping robot itself draw
Scope of activities figure etc. herein not limits the generating mode of environmental map, the form of expression, storage location etc..Due to sweeping the floor
Robot can execute cleaning task in the scope of activities that environmental map indicates, and in order to avoid sweeping robot is because of electricity in work
Amount is insufficient and influences cleaning task, in the embodiment of the present application, environmental map may include sweeping robot current location and
The position of cradle.
In this way, sweeping robot can reference environment map, in real time to determine itself current location and cradle
Position.It also means that, it, can be with then plan the second movement routine again if the second movement routine is planned by sweeping robot
It is embodied as that the position of sweeping robot is periodically flushed and plans the second movement routine again.Wherein, being periodically flushed can be the period
Property or aperiodicity refresh, the adjacent time interval refreshed twice can processing capacity in conjunction with sweeping robot, remaining electricity
One or multinomial determination in all various aspects such as amount, loading condition, herein not limit the duration of time interval.
In the embodiment of the present application, it can determine that relative position is closed between sweeping robot and cradle by wireless telecommunications
System.Wherein, wireless telecommunications include return charging signals that sweeping robot is issued to cradle and/or cradle to machine of sweeping the floor
The charging that human hair goes out guides signal.Return charging signals, refer to can be sweeping robot actively return cradle in the process to
The signal or sweeping robot that cradle issues receive after the control signal of the equipment such as terminal sending to cradle row
Into the signal etc. issued in the process.Charging guidance signal, can be for referring to actively call sweeping robot to playback in cradle
The signal etc. that Cheng Zhongxiang sweeping robot issues.
When necessary path in view of blocking sweeping robot in virtual wall signal, often sweeping robot can not be bypassed
Virtual wall signal reaches charging equipment, then at least one equipment in sweeping robot, cradle, virtual wall equipment and terminal
It can sound an alarm.I.e. determine sweeping robot can not around virtual wall signal reach charging equipment, then can sound an alarm,
To prompt the current sweeping robot of user to cannot respond to return cradle in return charging instruction.
Include but is not limited to following implementation in such a way that terminal initiates alarm: by application prompts user,
By prompting user with application program or the associated mailbox of sweeping robot, telephone number etc..It should be noted that this
The equipment for being possibly used for initiating alarm that application embodiment enumerates can pass through pop-up prompt information, phonetic order prompt, instruction
One in a variety of implementations such as the long bright warning light of lamp flashing or multinomial reach corresponding alerting effects.
In one implementation, however, it is determined that sweeping robot can not reach charging equipment around virtual wall signal, then may be used
The charging guidance signal issued to sweeping robot is adjusted to control cradle.Wherein, adjustment charging guidance signal includes as follows
At least one of: stop transmitting charging guidance signal；The signal hair at least partly stopping charging guidance signal is provided on cradle
The stop member of source of students；Change the launch angle of charging guidance signal.
The stop member at least partly stopping the signal generating source of charging guidance signal is provided on cradle, purpose exists
In the transmitting for fully or partially stopping charging guidance signal, so that sweeping robot no longer receives charging guidance signal.This
Sample, sweeping robot can stop the traveling using cradle as destination.
Change the launch angle of charging guidance signal, its object is to receive sweeping robot no longer in current location
Charging guidance signal.For example, can control cradle adjustment launching elevation, so that the range contracting of charging guidance signal range coverage
It is small, be in except the range of range coverage to make to sweep carrying machine people, such sweeping robot can stop be with cradle
The traveling of destination.
In the embodiment of the present application, the not only movement routine of adjustable sweeping robot, charging guidance signal, can be with
Stop sweeping robot by adjusting virtual wall signal using traveling that cradle is destination or preset based on user
Data to sweeping robot let pass, that is, release virtual wall equipment and limited caused by sweeping robot.It should be noted that tool
Body implementation can sweep the floor for the blocking of virtual wall signal according to the pre-set data of user, in the embodiment of the present application
It is the choosing that clearance sweeping robot or stopping sweeping robot returning both schemes in the case where the movement routine of robot
Select the not restriction such as condition, opportunity.
In one implementation, it is determining that sweeping robot can not be returned cradle by virtual wall signal interference, is then ringing
Signal should be guided in charging, can control virtual wall equipment and stop transmitting virtual wall signal.For example, can at the appointed time range
When the distance between the region of interior, and/or sweeping robot and the covering of virtual wall signal reaches distance threshold, stop transmitting charging
Guide signal.Wherein, specified time range includes at least the time needed for sweeping robot passes through virtual wall signal coverage areas.
Alternatively, the transmission power of adjustment virtual wall signal and/or the launch angle of change virtual wall signal.For example, obtaining
Target area, and determine the corresponding Adjusted Option in target area, virtual wall signal is adjusted according to Adjusted Option later.Wherein, mesh
Mark region includes region be overlapped between the region and the movement routine that sweeping robot is currently advanced of virtual wall signal covering.
It should be noted that Adjusted Option includes the launching elevation for increasing or reducing virtual wall signal.Determine target area
The corresponding Adjusted Option in domain, and virtual wall signal is adjusted according to Adjusted Option, it may be implemented are as follows: frontier distance is obtained,
And according to frontier distance, the transmission power and/or launching elevation of virtual wall signal after adjustment are determined, later according to Adjusted Option tune
Whole virtual wall signal, so that each position after adjustment in the coverage area of virtual wall signal is less than boundary to virtual wall equipment distance
Distance.Wherein, frontier distance is minimum value of each position to the virtual wall equipment in target area.
In one implementation, can also be arranged on virtual wall equipment can at least partly stop virtual wall signal
The stop member of signal emitting-source reduces covering for virtual wall signal in a manner of through at least partly virtual wall signal emitting-source
Lid range, so that sweeping robot is made to continue to advance along movement routine because virtual wall signal can not be received in current location,
Return cradle.
Wherein, during adjusting stop member present position, available target area is relative to virtual wall signal
The orientation of emission source and its corresponding angular range, and the relative positional relationship between stop member and signal emitting-source is adjusted,
The virtual wall signal that signal emitting-source emits under angular range is blocked by stop member later.
As shown in Fig. 2, being a kind of structural schematic diagram of equipment provided by the embodiments of the present application.Equipment 200 includes communication mould
Block 21 and processing module 22.
Communication module 21 returns to the signals such as charging instruction, virtual wall signal, charging guidance signal for receiving, is also used to
The data such as environmental map are received, is also used to send alarm, returns to the signals such as charging signals.
Processing module 22, for planning the movement routine of sweeping robot, for example, first movement path, the second mobile road
Diameter etc. is also used to control sweeping robot and advances along movement routine, is also used to realize between such as battery capacity and preset threshold
Whether the judgement of size relation and judgement sweeping robot complete default cleaning task dispatching, are also used to realize itself and charging
The determination etc. of relative positional relationship between seat.
In one implementation, equipment 200 can also include memory module 23, with can be used for storing such as environment
Above-mentioned multiple modules such as figure, preset threshold, cradle position content etc. required when realizing corresponding function.Equipment 200 may be used also
To include display module 24, it can be used for presenting sweeping robot battery capacity, signal intelligence, rubbish bearing capacity etc..In this Shen
Please be in embodiment, content, setting position that content and display module for memory module storage are shown etc. not limit.
In the embodiment of the present application, communication module 21 can be implemented as transceiver, and processing module 22 can be implemented as handling
Device, memory module 23 can be implemented as memory, and display module 24 can be implemented as display.As shown in figure 3, real for the application
The structural schematic diagram of another equipment of example offer is provided.Equipment 300 may include transceiver 31 and processor 32.In a kind of realization
In mode, equipment 300 can also include display 33 and memory 34.Wherein, transceiver 31, processor 32,33 and of display
Memory 34 can be realized by bus 35 and be communicated.Wherein, transceiver 31, processor 32, display 33 and 34 institute of memory are real
Existing function, can be with reference to the function description above for corresponding module, and it will not be described here.It should be noted that with reference to figure
2, Fig. 3, equipment provided by the embodiments of the present application may include extra or less than module, device shown in figure, refuses herein
It limits.
The embodiment of the present application provides a kind of equipment, including memory, one or more processors, multiple application programs, with
And one or more programs；Wherein, one or more programs are stored in memory；One or more processors are executing one
When a or multiple programs, so that equipment executes any one of above method embodiment.
The application provides a kind of readable storage medium storing program for executing, and instruction is stored in readable storage medium storing program for executing, when instruction is transported in equipment
When row, so that equipment executes any one of above method embodiment.
All the embodiments in this specification are described in a progressive manner, same and similar portion between each embodiment
Dividing may refer to each other, and each embodiment focuses on the differences from other embodiments.Especially for entity reality
For applying example, since it is substantially similar to the method embodiment, so being described relatively simple, related place is referring to embodiment of the method
Part explanation.
Professional should further appreciate that, described in conjunction with the examples disclosed in the embodiments of the present disclosure
Unit and algorithm steps, can be realized with electronic hardware, computer software, or a combination of the two, hard in order to clearly demonstrate
The interchangeability of part and software generally describes each exemplary composition and step according to function in the above description.
These functions are implemented in hardware or software actually, the specific application and design constraint depending on technical solution.
Professional technician can use different methods to achieve the described function each specific application, but this realization
It should not be considered as beyond the scope of the present invention.
The step of method described in conjunction with the examples disclosed in this document or algorithm, can be executed with hardware, processor
The combination of software module or the two is implemented.Software module can be placed in random access memory (RAM), memory, read-only memory
(ROM), electrically programmable ROM, electrically erasable ROM, register, hard disk, moveable magnetic disc, CD-ROM or technical field
In any other form of storage medium well known to interior.
The above description is only an example of the present application, is not intended to limit this application.For those skilled in the art
For, various changes and changes are possible in this application.All any modifications made within the spirit and principles of the present application are equal
Replacement, improvement etc., should be included within the scope of the claims of this application.
Claims (10)
1. sweeping robot recharging method characterized by comprising
Sweeping robot, which receives, to be returned to charging instruction and starts return charging procedure, and the return charging procedure comprises determining that institute
The relative positional relationship for stating sweeping robot and cradle plans the sweeping robot first shifting mobile to the cradle
Dynamic path, and control the sweeping robot and advance along the first movement path to the cradle；
If first movement path described in traveling process controls the sweeping robot by virtual wall signal blocker around described
Virtual wall signal plans the second movement routine again, and controls the sweeping robot and advance along second movement routine.
2. sweeping robot recharging method according to claim 1, which is characterized in that the control sweeping robot around
It crosses the virtual wall signal, plan the second movement routine again, comprising:
It controls the sweeping robot to move along the virtual wall signal boundary, until the sweeping robot planned again is extremely
The movement routine of the cradle is no longer by the virtual wall signal blocker, wherein no longer by the virtual wall signal blocker
Movement routine is second movement routine.
3. sweeping robot recharging method according to claim 2, which is characterized in that the virtual wall signal includes office, omnidirectional
Domain signal and/or orientation line style signal；
The control sweeping robot is moved along the virtual wall signal boundary, comprising:
If the virtual wall signal includes omnidirectional's local signal, the sweeping robot is controlled along the virtual wall signal
It advances periphery；
If the virtual wall signal includes the orientation line style signal, the sweeping robot is controlled along the virtual wall signal
It advances.
4. sweeping robot recharging method according to claim 1, which is characterized in that the return charging instruction includes inside
Instruction and/or external command, the built-in command are when the sweeping robot battery capacity is lower than preset threshold and/or pre-
If the instruction that the task of cleaning issues when completing.
5. sweeping robot recharging method according to claim 1, which is characterized in that the sweeping robot determine itself with
The relative positional relationship of the cradle, comprising:
The sweeping robot determines the relative positional relationship of itself and the cradle, the environmental map by environmental map
The position of current location and the cradle including the sweeping robot.
6. sweeping robot recharging method according to claim 5, which is characterized in that described to plan the second movement routine again
It include: that the position of sweeping robot is periodically flushed and plans the second movement routine again.
7. sweeping robot recharging method according to claim 1, which is characterized in that the sweeping robot and the charging
Relative positional relationship is determined by wireless telecommunications between seat.
8. sweeping robot recharging method according to claim 7, which is characterized in that the wireless telecommunications include described sweep the floor
The charging that return charging signals and/or the cradle that robot is issued to the cradle are issued to the sweeping robot
Guide signal.
9. sweeping robot recharging method according to claim 1, which is characterized in that if it is determined that the sweeping robot can not
The charging equipment is reached around the virtual wall signal, then is sounded an alarm.
10. sweeping robot recharging method according to claim 1, which is characterized in that if it is determined that the sweeping robot without
Method reaches the charging equipment around the virtual wall signal, then controls the cradle and adjust to sweeping robot sending
Charging guide signal；
The adjustment charging guidance signal includes at least one of following:
Stop emitting the charging guidance signal；
The stop member at least partly stopping the signal generating source of the charging guidance signal is provided on the cradle；
Change the launch angle of the charging guidance signal.
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| WO2024011496A1 (en) * | 2022-07-14 | 2024-01-18 | Sharkninja Operating Llc | Robotic cleaner |
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