CN111067432B - Determination method for charging working area of charging pile of sweeper and sweeper - Google Patents
Determination method for charging working area of charging pile of sweeper and sweeper Download PDFInfo
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- CN111067432B CN111067432B CN202010000260.4A CN202010000260A CN111067432B CN 111067432 B CN111067432 B CN 111067432B CN 202010000260 A CN202010000260 A CN 202010000260A CN 111067432 B CN111067432 B CN 111067432B
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- sweeper
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/24—Floor-sweeping machines, motor-driven
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- 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
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- 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
- A47L11/4002—Installations of electric equipment
-
- 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
- A47L11/4091—Storing or parking devices, arrangements therefor; Means allowing transport of the machine when it is not being used
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- 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
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- 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
-
- 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
- A47L2201/02—Docking stations; Docking operations
- A47L2201/022—Recharging of batteries
Abstract
The invention discloses a method for determining a charging working area of a charging pile of a sweeper, a sweeper charging control method, a storage medium, a sweeper charging controller and a sweeper, wherein the method for determining the charging working area comprises the following steps: detecting all walls in the target area, and selecting a designated wall; after the sweeper reaches the designated wall, the sweeper is controlled to walk along the designated wall and other walls; during the control of the sweeper to walk, when the sweeper detects that the charging pile transmits a signal, the position of the charging pile relative to a reference point is determined by taking the starting point of the sweeper starting to walk along the designated wall as the reference point; and determining a charging working area of the charging pile according to the position of the charging pile relative to the reference point and the front orientation of the charging pile. According to the invention, the sweeper walks along the wall to obtain the position of the charging pile, and then the charging working area of the charging pile is determined, so that the charging working area of the charging pile can be found in time when the sweeper needs to be charged, and the time for finding the charging pile is greatly shortened.
Description
Technical Field
The invention belongs to the technical field of intelligent household appliance application, and particularly relates to a determination method of a charging working area of a charging pile of a sweeper, a charging control method of the sweeper, a storage medium, a sweeper charging controller and the sweeper.
Background
With the increasing living standard of people, the development of intelligent household appliances is very rapid in order to free hands of people and enable people to enjoy life better.
The sweeping robot is increasingly popular as an increasingly popular intelligent household appliance, and can automatically complete the functions of sweeping, wiping, automatic recharging and the like without participation of people, but the requirement of people on the sweeping robot is higher and higher due to the complexity and variability of the family environment.
In the process that the sweeping robot automatically finishes sweeping, wiping, automatic recharging and other functions, the intelligent navigation is more and more frequently applied to the sweeping robot. For example, when some sweeping robots need to return to an initial position after sweeping is completed, or when the sweeping robots need to return to a charging seat for charging when the electric quantity is insufficient, generally blind finding is performed first, and automatic alignment recharging is performed when infrared guide signals sent by the charging seat are detected, however, the time length of the blind finding has a great relationship with the complexity of the environment and the distance between the position where the sweeping robots are located and the charging seat, and therefore, in the practical application of the sweeping robots, the proportion of the time for searching the charging seat relative to the time for completing sweeping is too large, and the problem of low efficiency of returning charging of the sweeping robots is caused because the position of the charging pile cannot be accurately determined and the charging work area of the charging pile cannot be further determined.
There is a need for a method for determining a charging working area of a charging pile of a sweeper, a charging control method of the sweeper, a storage medium, a charging controller of the sweeper, and the sweeper.
Disclosure of Invention
The invention aims to solve the technical problem that in the prior art, the proportion of the time for searching the charging seat relative to the time for completing cleaning is too large, so that the efficiency of returning and charging of the sweeping robot is low, because the position of the charging pile cannot be accurately determined and the charging working area of the charging pile cannot be further determined.
In order to solve the problems, the invention provides a determination method of a charging working area of a charging pile of a sweeper, a charging control method of the sweeper, a storage medium, a sweeper charging controller and the sweeper.
In a first aspect, the invention provides a method for determining a charging work area of a charging pile of a sweeper, wherein the charging pile is placed close to a wall body, and the method comprises the following steps:
detecting all walls in the target area, and selecting a specified wall from all the walls;
after the sweeper reaches the designated wall, controlling the sweeper to walk along the designated wall and other walls in the target area;
during the period of controlling the sweeper to walk along the designated wall and other walls in the target area, when the sweeper detects a charging pile emission signal, taking an initial point of the sweeper starting to walk along the designated wall as a reference point, and determining the position of the charging pile relative to the reference point according to the position of the sweeper when the sweeper detects the charging pile emission signal;
and determining a charging working area of the charging pile according to the position of the charging pile relative to the reference point and the front orientation of the charging pile.
According to the embodiment of the invention, preferably, the starting point of the floor sweeper starting to walk along the designated wall body is used as the reference point, and the position of the charging pile relative to the reference point is determined according to the position of the floor sweeper when the floor sweeper detects the signal transmitted by the charging pile, and the method comprises the following steps:
establishing a rectangular coordinate system by taking the starting point of the floor sweeping machine starting to walk along the specified wall as the origin, and taking the direction of the floor sweeping machine moving towards the specified wall and the direction of the floor sweeping machine walking along the specified wall as axes;
and determining the position coordinates of the sweeper when the sweeper detects the emission signal of the charging pile in the rectangular coordinate system, and determining the position coordinates of the charging pile by combining the position relation of the charging pile relative to the sweeper.
According to the embodiment of the invention, preferably, the direction from the position coordinate of the charging pile to the position coordinate of the sweeper when the sweeper detects the signal emitted by the charging pile is taken as the front orientation of the charging pile.
According to the embodiment of the invention, a direction perpendicular to a wall body where the charging pile is placed closely and extending to the target area is preferably taken as a front direction of the charging pile.
According to an embodiment of the present invention, preferably, regarding a direction perpendicular to a wall body near which the charging post is placed and extending toward the target area as a front direction of the charging post, the method includes:
loading coordinates of corners of all the walls on the rectangular coordinate system;
forming a wall line according to the coordinates of the corner of the wall where the charging pile is placed close to;
and taking the direction which is vertical to the wall line and extends to the target area as the front orientation of the charging pile.
According to the embodiment of the present invention, preferably, the determining the charging work area of the charging pile according to the position of the charging pile and the front orientation of the charging pile includes the following steps:
the front face of the charging pile faces upwards, the position coordinate of the charging pile is used as a circle center, an area with a preset length as a radius is used as a charging working area of the charging pile, and the preset length is a distance which can be used by the sweeper to receive a transmitting signal of the charging pile.
In a second aspect, the invention provides a charging control method for a sweeper, which comprises the following steps:
according to the method for determining the charging working area of the charging pile of the sweeper, the charging working area of the charging pile is determined;
when the electric quantity of the sweeper is smaller than a preset electric quantity threshold value, the sweeper is controlled to walk to a charging working area of the charging pile from the current position, and the sweeper is charged by the charging pile.
According to the embodiment of the invention, preferably, the control of the sweeper to walk from the current position to the charging work area of the charging pile comprises the following steps:
planning a path from the current position to the charging working area of the sweeper through an A-algorithm or a Dijkstra algorithm, so that the sweeper can walk to the charging working area from the current position according to the planned path.
In a third aspect, the present invention provides a storage medium on which a computer program for implementing the steps of the method for determining a charging work area of a charging pile of a sweeper described above, or a computer program for implementing the steps of the method for controlling charging of a sweeper described above, is stored.
In a fourth aspect, the invention provides a charging controller for a sweeper, which includes a storage medium and a processor, wherein the storage medium stores a computer program, and the computer program, when executed by the processor, implements the steps of the determination method for the charging work area of the sweeper charging pile or implements the steps of the sweeper charging control method.
In a fifth aspect, the invention provides a sweeper, which comprises the sweeper charge controller.
Compared with the prior art, one or more embodiments in the above scheme can have the following advantages or beneficial effects:
by applying the method for determining the charging work area of the charging pile of the sweeper, all walls in the target area are detected, and the specified wall is selected from all the walls; after the sweeper reaches the designated wall, controlling the sweeper to walk along the designated wall and other walls in the target area; during the period of controlling the sweeper to walk along the designated wall and other walls in the target area, when the sweeper detects a charging pile emission signal, taking an initial point of the sweeper starting to walk along the designated wall as a reference point, and determining the position of the charging pile relative to the reference point according to the position of the sweeper when the sweeper detects the charging pile emission signal; according to fill electric pile for the position of reference point and fill the positive orientation of electric pile and confirm the work area that charges who fills electric pile, through sweeping the floor machine along the position of wall body walking earlier acquisition electric pile, then further confirm the work area that charges who fills electric pile according to the position that fills electric pile, can in time seek the work area that charges who fills electric pile when the machine that sweeps the floor needs to charge, and realize sweeping the back of machine at the work area that charges that fills electric pile and fill, reduce the time of looking for filling electric pile greatly, and improved the efficiency of sweeping the back of machine and charging.
Additional features and advantages of the invention will be set forth in the description which follows, and in part will be obvious from the description, or may be learned by the practice of the invention. The objectives and other advantages of the invention will be realized and attained by the structure particularly pointed out in the written description and claims hereof as well as the appended drawings.
Drawings
The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the principles of the invention and not to limit the invention. In the drawings:
fig. 1 shows a flowchart of a method for determining a charging work area of a charging pile of a sweeper according to a first embodiment of the invention;
fig. 2 shows a flowchart of a method for determining a charging work area of a charging pile of a sweeper according to a second embodiment of the invention;
fig. 3 shows a flowchart of a method for determining a charging work area of a charging pile of a sweeper according to a third embodiment of the invention;
fig. 4 shows a schematic diagram of establishing a rectangular coordinate system in a target region according to a third embodiment of the present invention.
Detailed Description
The following detailed description of the embodiments of the present invention will be provided with reference to the drawings and examples, so that how to apply the technical means to solve the technical problems and achieve the technical effects can be fully understood and implemented. It should be noted that, as long as there is no conflict, the embodiments and the features of the embodiments of the present invention may be combined with each other, and the technical solutions formed are within the scope of the present invention.
Example one
In order to solve the technical problems in the prior art, the embodiment of the invention provides a method for determining a charging working area of a charging pile of a sweeper, wherein the charging pile is arranged close to a wall.
Referring to fig. 1, the method for determining the charging work area of the charging pile of the sweeper comprises the following steps:
s1, detecting all walls in the target area, and selecting a specified wall from all the walls;
s2, after the sweeper reaches the designated wall, controlling the sweeper to walk along the designated wall and other walls in the target area;
s3, when the sweeper detects that the sweeper transmits a signal along the designated wall and other walls in the target area, taking the starting point of the sweeper starting to walk along the designated wall as a reference point, and determining the position of the charging pile relative to the reference point according to the position of the sweeper when the sweeper detects that the signal is transmitted by the charging pile;
and S4, determining the charging working area of the charging pile according to the position of the charging pile relative to the reference point and the front orientation of the charging pile.
The acquiring method of the front orientation of the charging pile in step S4 includes, but is not limited to, the following two methods:
firstly, the direction of the position coordinate of the sweeper when the sweeper detects that the signal is emitted by the charging pile from the position coordinate of the charging pile is taken as the front orientation of the charging pile;
and secondly, taking the direction which is perpendicular to the wall body which is close to the charging pile and extends to the target area as the front orientation of the charging pile.
By applying the method for determining the charging working area of the charging pile of the sweeper, the position of the charging pile is firstly obtained by the sweeper walking along the wall body, then the charging working area of the charging pile is further determined according to the position of the charging pile, the charging working area of the charging pile can be timely found when the sweeper needs to be charged, the sweeper can be recharged in the charging working area of the charging pile, the time for finding the charging pile is greatly shortened, and the recharging efficiency of the sweeper is improved.
Example two
In order to solve the technical problems in the prior art, the embodiment of the invention provides a method for determining a charging working area of a charging pile of a sweeper based on the first embodiment, wherein the method for determining the charging working area of the charging pile of the sweeper is improved in the steps S3 and S4 of the first embodiment, and in the first embodiment, a direction from a position coordinate of the charging pile to a position coordinate of the sweeper when the sweeper detects that the charging pile transmits a signal is taken as a front direction of the charging pile.
Referring to fig. 2, the method for determining the charging work area of the charging pile of the sweeper comprises the following steps:
s1, detecting all walls in the target area, and selecting a specified wall from all the walls;
s2, after the sweeper reaches the designated wall, controlling the sweeper to walk along the designated wall and other walls in the target area;
s31, when the sweeper walks along the designated wall and other walls in the target area, monitoring whether the sweeper receives a charging pile transmitting signal in real time:
if yes, go to step S32;
if not, no response is given;
s32, establishing a rectangular coordinate system by taking the starting point of the floor sweeper starting to walk along the designated wall as the origin, and the direction of the floor sweeper moving towards the designated wall and the direction of the floor sweeper walking along the designated wall as axes;
s33, determining the position coordinates of the sweeper when the sweeper detects the signal emitted by the charging pile in the rectangular coordinate system, and determining the position coordinates of the charging pile by combining the position relation of the charging pile relative to the sweeper;
s41, taking the direction of the position coordinate of the sweeper when the position coordinate of the charging pile points to the sweeper to detect the signal transmitted by the charging pile as the front orientation of the charging pile;
and S42, taking the position coordinate of the charging pile as the center of a circle and taking the area with the preset length as the radius as the charging working area of the charging pile in the front face direction of the charging pile, wherein the preset length is the distance which the sweeper can receive the signal transmitted by the charging pile.
Wherein, in step S42, because the quick-witted position coordinate of sweeping the floor when the machine of sweeping the floor detects to fill electric pile transmission signal is a plurality of, and is corresponding, fills the front orientation of electric pile and includes a plurality of front orientations that correspond with a plurality of quick-witted position coordinates of sweeping the floor, and every front orientation corresponds a work point of charging, and a plurality of front orientations correspond a plurality of work points of charging, and the region that a plurality of work points of charging constitute is the work area of charging.
Here, the charging operating points are: the position coordinate of the sweeper is on a straight line formed by the position coordinate of the charging pile when the sweeper detects the signal transmitted by the charging pile, and is away from the position coordinate of the charging pile by a preset length.
By applying the method for determining the charging working area of the charging pile of the sweeper, the rectangular coordinate system is established by taking the starting point of the sweeper walking along the designated wall as the origin, the sweeper position when the sweeper detects the signal transmitted by the charging pile is determined, and then the position coordinate of the charging pile is determined according to the position relation of the charging pile relative to the sweeper, so that the process is simple, rapid and easy to implement.
By applying the method for determining the charging working area of the charging pile of the sweeper, the position coordinate of the charging pile points to the direction of the position coordinate of the sweeper when the sweeper detects the signal transmitted by the charging pile, the charging working area of the charging pile is determined by taking the front direction of the charging pile, the charging working area of the charging pile is determined according to the condition of the signal transmitted by the charging pile detected by the sweeper, and the charging working area is obtained to better meet the practical application condition.
EXAMPLE III
In order to solve the technical problems in the prior art, the embodiment of the invention provides a method for determining a charging working area of a charging pile of a sweeper based on the first embodiment, wherein the method for determining a charging working area of a charging pile of a sweeper of the first embodiment is an improvement of the method of the first embodiment in steps S3 and S4, and in the first embodiment, a direction perpendicular to a wall body where the charging pile is placed and extending toward the target area is taken as a front direction of the charging pile.
Referring to fig. 3, the method for determining the charging work area of the charging pile of the sweeper comprises the following steps:
s1, detecting all walls in the target area, and selecting a specified wall from all the walls, wherein all the walls in the target area are detected through a laser radar;
s2, after the sweeper reaches the designated wall, controlling the sweeper to walk along the designated wall and other walls in the target area;
s31, when the sweeper walks along the designated wall and other walls in the target area, the real-time monitoring of whether the sweeper receives the charging pile emission signal is carried out, wherein the sweeper receives the infrared signal emitted by the charging pile through an infrared receiver:
if yes, go to step S32;
if not, no response is given;
s32, establishing a rectangular coordinate system by taking the starting point of the floor sweeper starting to walk along the designated wall as the origin, and the direction of the floor sweeper moving towards the designated wall and the direction of the floor sweeper walking along the designated wall as axes;
s33, determining the position coordinates of the sweeper when the sweeper detects the signal emitted by the charging pile in the rectangular coordinate system, and determining the position coordinates of the charging pile by combining the position relationship of the charging pile relative to the sweeper, wherein the position relationship of the charging pile relative to the sweeper is obtained by the sweeper through an infrared distance meter;
s41', taking the direction which is perpendicular to the wall body where the charging pile is placed and extends to the target area as the front orientation of the charging pile;
and S42', the front face of the charging pile faces upwards, the position coordinate of the charging pile is used as the center of a circle, and an area with a preset length as a radius is used as a charging working area of the charging pile, wherein the preset length is the distance which the sweeper can receive a signal transmitted by the charging pile.
Wherein, step S41' includes the following steps:
loading coordinates of the corners of all the walls on the rectangular coordinate system, wherein the coordinates of the corners of all the walls are obtained through a laser radar, and specifically, after a specified wall is selected and a rectangular coordinate system is established, determining the coordinates of the corners of all the walls according to the distances from other walls to the specified wall and the distances from other walls to an origin, which are obtained through the laser radar; (ii) a
Forming a wall line according to the coordinates of the corner of the wall where the charging pile is placed close to;
and taking the direction which is vertical to the wall line and extends to the target area as the front orientation of the charging pile.
Wherein, step S42' includes the following steps:
drawing a straight line to the target area along a direction perpendicular to the wall line by taking the position coordinate of the charging pile as a starting point;
and drawing a fan-shaped area deviating from the straight line by a preset angle by taking the position coordinate of the charging pile as a circle center and the preset length as a radius, wherein the fan-shaped area is used as a charging working area of the charging pile of the sweeper.
By applying the method for determining the charging working area of the charging pile of the sweeper, the rectangular coordinate system is established by taking the starting point of the sweeper walking along the designated wall as the origin, the position of the sweeper for detecting the signal transmitted by the charging pile is determined, and then the position coordinate of the charging pile is determined according to the position relation of the charging pile relative to the sweeper, so that the process is quick, simple and easy to implement.
By applying the method for determining the charging working area of the charging pile of the sweeper, the direction which is perpendicular to the wall body which is placed close to the charging pile and extends towards the target area is taken as the front direction of the charging pile, so that the charging working area of the charging pile of the sweeper can be calculated without any other data processing after the position coordinate of the charging pile is determined, the speed is high, and the implementation process is simple.
The method for determining the charging work area of the charging pile of the sweeper is described in detail by the following specific example.
As shown in fig. 4, the charging post may be placed in four orientations 1, 2, 3, 4. The sweeper goes to find a wall from the initial position, and if the sweeper detects the AD wall, the sweeper can move forward to the position of the point O, and at the moment, the map building is started. Point O is then the origin of coordinates (0, 0), and the coordinate values of four points A, B, C, D at the corners of the four walls are assumed to be as shown in the figure. The charging posts 1, 2, 3, 4 then have coordinates (X1, -60), (-100, Y2), (X3,20), (0, Y4), respectively. Wherein X1, Y2, X3 and Y4 are unknown, which indicates that the charging pile can be placed at any position of the wall.
The machine of sweeping the floor uses right side infrared sensor to detect and fills electric pile at the in-process of walking along the wall, and under the normal condition, the machine of sweeping the floor is towards the wall, can't receive the infrared signal who fills electric pile. When the front infrared distance measurement or the collision sensor detects an obstacle, the right infrared sensor can receive a signal of the charging pile when the sweeper turns, and the coordinate values of (X, Y) of a group of charging piles are recorded.
When the sweeper walks along the wall, when the Y-axis coordinate value in the coordinate values of the sweeper changes within a certain threshold range, the sweeper can be determined to be on an AD wall surface or a BC wall surface, and whether the sweeper is on the AD wall surface or the BC wall surface can be further determined according to the size of Y-axis data.
When the sweeper walks along the wall, when the coordinate value of the X axis in the coordinate values of the sweeper changes within a certain threshold range, the sweeper can be determined to be on an AB wall surface or a CD wall surface, and the AB wall surface or the CD wall surface can be further determined according to the size of the X axis data.
When the wall surface is determined, the forward point coordinates of the charging piles 1, 2, 3 and 4 can be (X1, -60+ L), (-100+ L, Y2), (X3,20-L), (0-L, Y4), respectively.
Wherein L is the distance to the electric pile is filled to forward some distance.
As an example, the forward point of the charging column is one point of the charging working area, and in practical application, the charging working area is one area.
Example four
In order to solve the technical problems in the prior art, the embodiment of the invention provides a sweeper charging control method, wherein the sweeper charging control method provided by the embodiment of the invention is suitable for realizing recharging by using an infrared coding and decoding method, and because the infrared signal distance is short, the approximate position of a charging pile must be determined firstly, and then the sweeper is navigated to a charging working area (within an infrared signal range) of the charging pile to perform automatic recharging.
The charging control method of the sweeper provided by the embodiment of the invention comprises the following steps:
according to the method for determining the charging working area of the charging pile of the sweeper in the charging working area of the charging pile, the charging working area of the charging pile is determined;
detecting whether the electric quantity of the sweeper is smaller than a preset electric quantity threshold value in real time:
if so, controlling the sweeper to walk to a charging working area of the charging pile from the current position so as to charge the sweeper by using the charging pile;
if not, no response is given.
Wherein, control machine of sweeping the floor from the current position walking to the work area that charges of filling electric pile, include following step:
by A*The algorithm or the Dijkstra algorithm plans the path from the current position to the charging working area of the sweeper, so that the sweeper can walk from the current position to the charging working area according to the planned path.
Specifically, the sweeper can be roughly positioned to the position and the direction of the charging pile when the sweeper walks along a wall so as to determine the charging working area of the charging pile, the sweeper is navigated to the charging working area of the charging pile by using an A-star algorithm or a Dijkstra algorithm when the sweeper needs to be charged, and then the infrared signal of the charging pile is received for recharging.
EXAMPLE five
In order to solve the above technical problems in the prior art, embodiments of the present invention provide a storage medium.
The storage medium provided by the embodiment of the invention stores a computer program for implementing the steps of the determination method of the charging working area of the charging pile of the sweeper, or a computer program for implementing the steps of the charging control method of the sweeper.
EXAMPLE six
In order to solve the technical problems in the prior art, the embodiment of the invention provides a charging controller of a sweeper.
The charging controller of the sweeper provided by the embodiment of the invention comprises a storage medium and a processor, wherein the storage medium stores a computer program, and the computer program is executed by the processor to realize the steps of the determination method of the charging working area of the sweeper charging pile or the steps of the sweeper charging control method.
EXAMPLE seven
In order to solve the technical problems in the prior art, the embodiment of the invention provides a sweeper.
The sweeper provided by the embodiment of the invention comprises the sweeper charging controller.
Although the embodiments of the present invention have been described above, the above description is only for the convenience of understanding the present invention, and is not intended to limit the present invention. It will be understood by those skilled in the art that various changes in form and details may be made therein without departing from the spirit and scope of the invention as defined by the appended claims.
Claims (11)
1. The method for determining the charging work area of the charging pile of the sweeper is characterized by comprising the following steps of:
detecting all walls in the target area, and selecting a specified wall from all the walls;
after the sweeper reaches the designated wall, controlling the sweeper to walk along the designated wall and other walls in the target area;
during the period of controlling the sweeper to walk along the designated wall and other walls in the target area, when the sweeper detects a charging pile emission signal, taking an initial point of the sweeper starting to walk along the designated wall as a reference point, and determining the position of the charging pile relative to the reference point according to the position of the sweeper when the sweeper detects the charging pile emission signal;
and determining a charging working area of the charging pile according to the position of the charging pile relative to the reference point and the front orientation of the charging pile.
2. The method of claim 1, wherein the position of the charging pile relative to the reference point is determined according to the position of the sweeper when the sweeper detects the signal emitted by the charging pile, with the starting point at which the sweeper begins to walk along the designated wall as the reference point, comprising the steps of:
establishing a rectangular coordinate system by taking the starting point of the floor sweeping machine starting to walk along the specified wall as the origin, and taking the direction of the floor sweeping machine moving towards the specified wall and the direction of the floor sweeping machine walking along the specified wall as axes;
and determining the position coordinates of the sweeper when the sweeper detects the emission signal of the charging pile in the rectangular coordinate system, and determining the position coordinates of the charging pile by combining the position relation of the charging pile relative to the sweeper.
3. The method of claim 2, wherein the direction from the position coordinates of the charging post to the position coordinates of the sweeper when the signal emitted by the charging post is detected is taken as the front facing of the charging post.
4. The method of claim 2, wherein the direction perpendicular to the wall adjacent to the charging post and extending toward the target area is taken as the front orientation of the charging post.
5. The method of claim 4, wherein the step of orienting a direction perpendicular to a wall in which the charging post is placed and extending toward the target area as a front orientation of the charging post comprises:
loading coordinates of corners of all the walls on the rectangular coordinate system;
forming a wall line according to the coordinates of the corner of the wall where the charging pile is placed close to;
and taking the direction which is vertical to the wall line and extends to the target area as the front orientation of the charging pile.
6. The method according to any one of claims 3 to 5, wherein determining the charging work area of the charging post according to the position and the front orientation of the charging post comprises the following steps:
the method comprises the steps that the position coordinate of the charging pile is used as the circle center in the direction of the front face of the charging pile, the area with the preset length as the radius is used as the charging working area of the charging pile, and the preset length is the distance which can be used by a sweeper to receive a signal transmitted by the charging pile.
7. The charging control method of the sweeper is characterized by comprising the following steps:
the method for determining the charging working area of the charging pile of the sweeper according to any one of claims 1 to 6, wherein the charging working area of the charging pile is determined;
when the electric quantity of the sweeper is smaller than a preset electric quantity threshold value, the sweeper is controlled to walk to a charging working area of the charging pile from the current position, and the sweeper is charged by the charging pile.
8. The method of claim 7, wherein controlling the sweeper to travel from the current location to the charging work area of the charging post comprises the steps of:
planning a path from the current position to the charging working area of the sweeper through an A-algorithm or a Dijkstra algorithm, so that the sweeper can walk to the charging working area from the current position according to the planned path.
9. A storage medium, characterized in that it has stored thereon a computer program for implementing the steps of the method for determining a charging work area of a sweeper charging pile according to any one of claims 1 to 6, or a computer program for implementing the steps of the sweeper charging control method according to claim 7 or 8.
10. A sweeper charging controller comprising a storage medium and a processor, wherein the storage medium has stored thereon a computer program which, when executed by the processor, carries out the steps of the method of determining a charging work area for a sweeper charging post according to any one of claims 1 to 6 or the steps of the sweeper charging control method according to claim 7 or 8.
11. A sweeper characterized by comprising the sweeper charge controller of claim 10.
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| CN111772544B (en) * | 2020-06-28 | 2022-01-04 | 深圳拓邦股份有限公司 | Sweeper recharging candidate point generation method and device and sweeper recharging system |
| CN112013840B (en) * | 2020-08-19 | 2022-10-28 | 安克创新科技股份有限公司 | Sweeping robot and map construction method and device thereof |
| CN112363500B (en) * | 2020-10-29 | 2023-05-16 | 深圳市普渡科技有限公司 | Automatic recharging and moving method and system |
| CN112674655B (en) * | 2021-01-14 | 2022-06-10 | 深圳市云鼠科技开发有限公司 | Wall-following-based refilling method and device, computer equipment and storage |
| CN112869639B (en) * | 2021-01-29 | 2022-06-14 | 深圳拓邦股份有限公司 | Robot recharging exploration method and device and sweeping robot |
| CN113017495A (en) * | 2021-03-11 | 2021-06-25 | 深圳市云鼠科技开发有限公司 | Robot charging docking method and device, computer equipment and storage medium |
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