CN111568308B - Charging seat searching method and device, sweeping equipment and readable storage medium - Google Patents
Charging seat searching method and device, sweeping equipment and readable storage medium Download PDFInfo
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- CN111568308B CN111568308B CN201910122699.1A CN201910122699A CN111568308B CN 111568308 B CN111568308 B CN 111568308B CN 201910122699 A CN201910122699 A CN 201910122699A CN 111568308 B CN111568308 B CN 111568308B
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- charging seat
- sweeping
- distance
- charging
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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
- A47L11/4002—Installations of electric equipment
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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
- A47L11/4005—Arrangements of batteries or cells; Electric power supply arrangements
Abstract
The embodiment of the application provides a searching method and device of a charging seat, a sweeping device and a computer readable storage medium, wherein the method comprises the following steps: when the specific position of the charging seat is not detected, the sweeping equipment is controlled to move along the direction parallel to the boundary of the working map; when the infrared signal transmitted by the charging seat is received by the first searching and detecting part, the position range of the charging seat is determined; and controlling the second searching and detecting part to guide and align according to the position range of the charging seat so as to determine the specific position of the charging seat. The method can realize purposeful searching of the charging seat by the sweeping equipment, thereby improving the searching efficiency of the charging seat.
Description
Technical Field
The present application relates to the field of computer technologies, and in particular, to a method and an apparatus for searching a charging dock, a sweeping device, and a computer-readable storage medium.
Background
Along with the development of the society and the improvement of science and technology, the intelligent technology develops therewith, the equipment of sweeping the floor comes along with the birth, and the user begins to use the equipment of sweeping the floor sanitation and hygiene to replace artifical sanitation and hygiene, and the equipment of sweeping the floor is through moving on subaerial, with sanitation and hygiene. When the electric quantity is lower than a certain threshold value in the working process of the sweeping equipment, the sweeping equipment needs to return to the charging seat for charging.
Because the identification and alignment range of the charging seat is very small, the sweeping equipment can finish the identification and alignment only within the very small range of the position of the charging seat, and finally finishes the recharging work. When the sweeping equipment does not detect the specific position of the charging seat, the sweeping equipment can search carelessly and is time-consuming, and some sweeping equipment sets the time for searching the charging seat, so that the searching is abandoned if the charging seat is not searched within a certain time period, and the recharging fails.
Disclosure of Invention
The present application provides a method and an apparatus for searching a charging stand, a device for sweeping floor, and a computer readable storage medium, which are used to solve the problem of how to purposefully search the charging stand by the device for sweeping floor, thereby improving the searching efficiency of the charging stand.
In a first aspect, the present application provides a searching method of a charging stand, which is applied to a sweeping device, wherein the sweeping device is provided with a plurality of searching and detecting components, and the method includes:
when the specific position of the charging seat is not detected, controlling the sweeping equipment to move along the direction parallel to the boundary of the work map;
when the infrared signal transmitted by the charging seat is received through the first searching and detecting part, the position range of the charging seat is determined;
and controlling the second searching and detecting part to guide and align according to the position range of the charging seat so as to determine the specific position of the charging seat.
Optionally, controlling the sweeping device to travel in a direction parallel to a boundary of the work map comprises:
controlling the sweeping equipment to keep a preset first distance from the boundary of the working map;
determining first rotation information of the sweeping equipment according to a preset first distance, wherein the first rotation information comprises a rotation angle and/or a rotation mode;
and controlling the sweeping equipment to travel along the direction parallel to the outer boundary of the working map according to the first rotation information.
Optionally, when the first search detecting element receives an infrared signal transmitted by the charging dock, determining a position range of the charging dock includes:
when the first searching and detecting part arranged on any side surface of the sweeping equipment receives the infrared signal transmitted by the charging seat, the position range of the charging seat is determined.
Optionally, the charging seat includes four sensors, the four sensors are located on the same horizontal line, and according to the position range of the charging seat, the second search detection component is controlled to guide alignment, and the specific position of the charging seat is determined, including:
according to the position range of the charging seat, the distance from the sweeping equipment to the charging seat is controlled to be smaller than a preset second distance, and a second searching and detecting part arranged right in front of the sweeping equipment is controlled to detect infrared signals sent by two sensors positioned in the middle of four sensors of the charging seat;
according to the infrared signals sent by the two sensors positioned in the middle position, the positioning indication information of the charging seat is obtained;
and determining the specific position of the charging seat according to the positioning indication information of the charging seat.
Optionally, obtaining the positioning indication information of the charging dock according to the infrared signals sent by the two sensors located at the middle position, including:
determining second rotation information of the sweeping equipment according to the infrared signals sent by the two sensors positioned in the middle;
according to the second rotation information of the sweeping equipment, when the sweeping equipment is controlled to travel to a position where the distance between the sweeping equipment and the charging seat is smaller than a preset third distance, positioning indication information of the charging seat is obtained;
the positioning indication information comprises bar code information.
Optionally, any one of the first search detection unit and the second search detection unit includes an infrared recharge receiving sensor.
The second aspect, this application provides a search device of charging seat, is applied to the equipment of sweeping the floor, sets up a plurality of on the equipment of sweeping the floor and searches the detection part, includes:
the first processing module is used for controlling the sweeping equipment to move along a direction parallel to the boundary of the work map when the specific position of the charging seat is not detected;
the second processing module is used for determining the position range of the charging seat when the infrared signal transmitted by the charging seat is received by the first searching and detecting component;
and the third processing module is used for controlling the second searching and detecting component to conduct guiding alignment according to the position range of the charging seat so as to determine the specific position of the charging seat.
Optionally, the first processing module is configured to control the sweeping device to keep a preset first distance from a boundary of the work map; determining first rotation information of the sweeping equipment according to a preset first distance, wherein the first rotation information comprises a rotation angle and/or a rotation mode; and controlling the sweeping equipment to travel along the direction parallel to the outer boundary of the working map according to the first rotation information.
Optionally, the second processing module is configured to determine a position range of the charging stand when the first search detecting component disposed on any side surface of the sweeping apparatus receives the infrared signal transmitted by the charging stand.
Optionally, the charging dock includes four sensors, and the four sensors are located on the same horizontal line, including:
the third processing module is used for controlling the sweeping equipment to move to a position where the distance between the sweeping equipment and the charging seat is smaller than a preset second distance according to the position range of the charging seat, and controlling a second searching and detecting part arranged right in front of the sweeping equipment to detect infrared signals sent by two sensors located in the middle position among four sensors of the charging seat; according to the infrared signals sent by the two sensors positioned at the middle position, the positioning indication information of the charging seat is obtained; and determining the specific position of the charging seat according to the positioning indication information of the charging seat.
Optionally, the third processing module is configured to determine second rotation information of the floor sweeping device according to the infrared signals sent by the two sensors located in the middle; according to the second rotation information of the sweeping equipment, when the sweeping equipment is controlled to travel to a position where the distance between the sweeping equipment and the charging seat is smaller than a preset third distance, positioning indication information of the charging seat is obtained; the positioning indication information comprises bar code information.
Optionally, any one of the first search detection component and the second search detection component comprises an infrared recharge receiving sensor.
In a third aspect, the present application provides a sweeping apparatus comprising: a processor, memory, and a bus;
a bus for connecting the processor and the memory;
a memory for storing operating instructions;
and the processor is used for executing the searching method of the charging stand according to the first aspect of the application by calling the operation instruction.
In a fourth aspect, the present application provides a computer-readable storage medium storing a computer program, the computer program being used for executing the method for searching a charging cradle according to the first aspect of the present application.
The technical scheme provided by the embodiment of the application at least has the following beneficial effects:
the sweeping equipment is controlled to move along the direction parallel to the boundary of the working map, the first searching and detecting component is controlled to receive the infrared signal transmitted by the charging seat, the position range of the charging seat is determined, the second searching and detecting component is controlled to guide and align, the specific position of the charging seat is determined, the purposeful searching and charging seat of the sweeping equipment is realized, and therefore the searching efficiency of the charging seat is improved.
Additional aspects and advantages of the present application will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the present application.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings used in the description of the embodiments of the present application will be briefly described below.
Fig. 1 is a schematic flowchart illustrating a method for searching a charging dock according to an embodiment of the present disclosure;
fig. 2 is a schematic flowchart illustrating another charging cradle searching method according to an embodiment of the present disclosure;
fig. 3 is a schematic diagram of a working route of a charging cradle according to an embodiment of the present disclosure;
fig. 4 is a schematic structural diagram of a searching apparatus of a charging dock according to an embodiment of the present disclosure;
fig. 5 is a schematic structural diagram of a floor sweeping device according to an embodiment of the present application.
Detailed Description
Reference will now be made in detail to embodiments of the present application, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the drawings are exemplary only for the purpose of explaining the present application and are not to be construed as limiting the present invention.
As used herein, the singular forms "a", "an", "the" and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise. It will be further understood that the terms "comprises" and/or "comprising," when used in this specification, specify the presence of stated features, integers, steps, operations, elements, and/or components, but do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and/or groups thereof. It will be understood that when an element is referred to as being "connected" or "coupled" to another element, it can be directly connected or coupled to the other element or intervening elements may also be present. Further, "connected" or "coupled" as used herein may include wirelessly connected or wirelessly coupled. As used herein, the term "and/or" includes all or any element and all combinations of one or more of the associated listed items.
It will be understood by those skilled in the art that, unless otherwise defined, all terms (including technical and scientific terms) used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. It will be further understood that terms, such as those defined in commonly used dictionaries, should be interpreted as having a meaning that is consistent with their meaning in the context of the prior art and will not be interpreted in an idealized or overly formal sense unless expressly so defined herein.
The following describes the technical solutions of the present application and how to solve the above technical problems with specific embodiments. The following several specific embodiments may be combined with each other, and details of the same or similar concepts or processes may not be repeated in some embodiments. Embodiments of the present application will be described below with reference to the accompanying drawings.
Example one
The embodiment of the application provides a searching method of a charging seat, which is applied to sweeping equipment, wherein a plurality of searching detection components are arranged on the sweeping equipment, a flow schematic diagram of the method is shown in fig. 1, and the method comprises the following steps:
and S101, when the specific position of the charging seat is not detected, controlling the sweeping equipment to move along a direction parallel to the boundary of the work map.
S102, when the infrared signal transmitted by the charging seat is received by the first searching and detecting component, the position range of the charging seat is determined.
And S103, controlling the second search detection part to guide and align according to the position range of the charging seat so as to determine the specific position of the charging seat.
In the embodiment of the application, when the specific position of the charging seat is not detected, the sweeping equipment is controlled to move along the direction parallel to the boundary of the working map; when the infrared signal transmitted by the charging seat is received through the first searching and detecting part, the position range of the charging seat is determined; and controlling the second searching and detecting component to guide and align according to the position range of the charging seat so as to determine the specific position of the charging seat. Therefore, the charging seat is purposefully searched by the sweeping equipment, and the searching efficiency of the charging seat is improved.
Optionally, controlling the sweeping device to travel in a direction parallel to a boundary of the work map comprises:
controlling the sweeping equipment to keep a preset first distance from the boundary of the working map;
determining first rotation information of the sweeping equipment according to a preset first distance, wherein the first rotation information comprises a rotation angle and/or a rotation mode;
and controlling the sweeping equipment to travel along the direction parallel to the outer boundary of the working map according to the first rotation information.
Optionally, when the first search detecting component receives an infrared signal transmitted by the charging stand, determining a position range of the charging stand includes:
when the first searching and detecting part arranged on any side surface of the sweeping equipment receives the infrared signal transmitted by the charging seat, the position range of the charging seat is determined.
Optionally, the charging seat includes four sensors, the four sensors are located on the same horizon, and according to the position range of the charging seat, the second search detection component is controlled to guide and align, and the specific position of the charging seat is determined, including:
according to the position range of the charging seat, the distance from the sweeping equipment to the charging seat is controlled to be smaller than a preset second distance, and a second searching and detecting part arranged right in front of the sweeping equipment is controlled to detect infrared signals sent by two sensors positioned in the middle of four sensors of the charging seat;
according to the infrared signals sent by the two sensors positioned at the middle position, the positioning indication information of the charging seat is obtained;
and determining the specific position of the charging seat according to the positioning indication information of the charging seat.
Optionally, obtaining the positioning indication information of the charging dock according to the infrared signals sent by the two sensors located at the middle position includes:
determining second rotation information of the sweeping equipment according to the infrared signals sent by the two sensors positioned in the middle;
according to the second rotation information of the sweeping equipment, when the sweeping equipment is controlled to travel to a position where the distance between the sweeping equipment and the charging seat is smaller than a preset third distance, positioning indication information of the charging seat is obtained;
the positioning indication information comprises bar code information.
Optionally, any one of the first search detection unit and the second search detection unit includes an infrared recharge receiving sensor.
Example two
Based on the same inventive concept of the first embodiment, the present embodiment explains the technical solution of the first embodiment by specific examples.
Referring to fig. 2, fig. 2 is a schematic flow chart of another searching method for a charging dock according to an embodiment of the present disclosure, and as shown in fig. 2, the method is applied to a floor sweeping device, and the method specifically includes:
and S201, when the specific position of the charging seat is not detected, controlling the sweeping equipment to keep a preset first distance from the boundary of the working map.
Specifically, as shown in fig. 3, fig. 3 includes a sweeping device 300, a charging stand 301, a sweeping device travel route 302, and a room wall boundary (boundary of a work map) 303; the charging seat 301 is arranged beside a wall boundary (boundary of a work map) 303 of a room; the sweeper travel path 302 is parallel to the room wall boundaries (boundaries of the work map) 303.
The floor sweeping device 300 is controlled to keep a preset first distance with a wall boundary (boundary of a work map) 303 of a room, and optionally, the first distance is 2 meters.
S202, determining first rotation information of the sweeping equipment according to a preset first distance.
Specifically, the first rotation information of the sweeping apparatus 300 is determined according to the preset first distance. Optionally, the first rotation information includes a rotation angle and/or a rotation manner, and the wheel of the sweeping device 300 is controlled to rotate clockwise or counterclockwise, where the rotation angle is any one of an acute angle, a right angle, and an obtuse angle.
And S203, controlling the sweeping equipment to move along the direction parallel to the outer boundary of the working map according to the first rotation information.
Specifically, according to the first rotation information, the sweeping apparatus 300 is controlled to travel in a direction in which the sweeping apparatus travel route 302 is parallel to a room wall boundary (boundary of the work map) 303.
And S204, when the first searching and detecting part arranged on any side surface of the sweeping equipment receives the infrared signal transmitted by the charging seat, determining the position range of the charging seat.
Specifically, when the first search detection component arranged on the right side surface of the sweeping device receives the infrared signal transmitted by the charging seat, the position range of the charging seat is determined.
Optionally, the first search detecting unit includes an infrared rechargeable receiving sensor, and the charging dock 301 includes four infrared sensors, and the four infrared sensors are located on the same horizontal line.
Specifically, the first search detection component on the right side of the sweeping device 300 receives the infrared signal of the charging seat 301 to determine the distance between the sweeping device 300 and the charging seat 301; when the distance between the cleaning device 300 and the charging base 301 is greater than or equal to the second distance, it may be determined that the cleaning device 300 receives signals of the infrared sensors on two sides of the charging base 301, so as to determine the position range of the charging base.
Optionally, the second distance is 1.5 meters.
And S205, controlling the sweeping equipment to move to a position where the distance between the sweeping equipment and the charging seat is smaller than a preset second distance according to the position range of the charging seat, and detecting infrared signals sent by two sensors located at the middle position in the four sensors of the charging seat.
Specifically, according to the position range of the charging seat 301, the sweeping device 300 is controlled to travel a distance smaller than a preset second distance from the charging seat 301, and the second search detection component arranged right in front of the sweeping device 300 is controlled to detect infrared signals sent by two infrared sensors located in the middle position among the four infrared sensors of the charging seat 301. When the distance between the sweeping device 300 and the charging base 301 is less than the preset second distance, the sweeping device 300 can receive signals of the two infrared sensors in the middle of the charging base 301.
Optionally, the second search detection component comprises an infrared recharge receiving sensor.
And S206, determining second rotation information of the sweeping equipment according to the infrared signals sent by the two sensors positioned in the middle of the charging seat.
Specifically, it is determined that the wheels of the sweeping device 300 rotate clockwise toward the charging base 301 according to the infrared signals transmitted by the two infrared sensors located at the middle position of the charging base 301.
Optionally, the second rotation information includes a rotation angle and/or a rotation manner, and the wheel of the sweeping apparatus 300 is controlled to rotate clockwise or counterclockwise, where the rotation angle is any one of an acute angle, a right angle, and an obtuse angle.
And S207, controlling the sweeping equipment to move to a position where the distance between the sweeping equipment and the charging seat is smaller than a preset third distance according to the second rotation information of the sweeping equipment, and obtaining the positioning indication information of the charging seat.
Specifically, according to the second rotation information of the sweeping device 300, the sweeping device 300 is controlled to travel a distance smaller than a preset third distance from the charging seat 301, and the second search detection component of the sweeping device 300 is controlled to obtain the positioning indication information of the charging seat.
Optionally, the third distance is 1 meter, and the positioning indication information includes barcode information.
And S208, determining the specific position of the charging seat according to the positioning indication information of the charging seat.
According to the embodiment of the application, the sweeping equipment is controlled to advance along the direction parallel to the boundary of the working map, the first searching and detecting part is controlled to receive the infrared signal transmitted by the charging seat, the position range of the charging seat is determined, the second searching and detecting part is controlled to guide and align, the specific position of the charging seat is determined, the purposeful searching and charging seat of the sweeping equipment is realized, and therefore the searching efficiency of the charging seat is improved.
EXAMPLE III
Based on the same inventive concept, the embodiment of the present application further provides a searching device of a charging seat, the structural schematic diagram of the device is shown in fig. 4, the searching device 40 of the charging seat is applied to a floor sweeping device, and a plurality of searching detection components are arranged on the floor sweeping device; the searching apparatus 40 of the charging dock includes a first processing module 401, a second processing module 402 and a third processing module 403.
A first processing module 401, configured to control the sweeping apparatus to travel in a direction parallel to a boundary of the work map when a specific position of the charging dock is not detected;
a second processing module 402, configured to determine a position range of the charging dock when receiving the infrared signal transmitted by the charging dock through the first search detecting component;
a third processing module 403, configured to control the second search detecting component to perform guiding alignment according to the position range of the charging dock, so as to determine the specific position of the charging dock.
Optionally, the first processing module 401 is configured to control the sweeping apparatus to keep a preset first distance from a boundary of the work map; determining first rotation information of the sweeping equipment according to a preset first distance, wherein the first rotation information comprises a rotation angle and/or a rotation mode; and controlling the sweeping equipment to travel along the direction parallel to the outer boundary of the working map according to the first rotation information.
Optionally, the second processing module 402 is configured to determine a position range of the charging stand when the first search detecting component disposed on any side surface of the sweeping apparatus receives the infrared signal transmitted by the charging stand.
Optionally, the charging dock includes four sensors, and the four sensors are located on the same horizontal line, including:
a third processing module 403, configured to control, according to the position range of the charging seat, that the distance from the sweeping apparatus to the charging seat is shorter than a preset second distance, and control a second search detection component disposed right in front of the sweeping apparatus to detect infrared signals sent by two sensors located in the middle among the four sensors of the charging seat; according to the infrared signals sent by the two sensors positioned at the middle position, the positioning indication information of the charging seat is obtained; and determining the specific position of the charging seat according to the positioning indication information of the charging seat.
Optionally, the third processing module 403 is configured to determine second rotation information of the sweeping apparatus according to the infrared signals sent by the two sensors located in the middle position; according to the second rotation information of the sweeping equipment, when the distance between the sweeping equipment and the charging seat is controlled to be smaller than a preset third distance, the positioning indication information of the charging seat is obtained; the positioning indication information comprises bar code information.
Optionally, any one of the first search detection unit and the second search detection unit includes an infrared recharge receiving sensor.
The content that does not describe in detail in the search device of the charging stand that this application embodiment provided can refer to the search method of the above-mentioned charging stand, and the beneficial effect that the search device of the charging stand that this application embodiment provides can reach is the same with the search method of the above-mentioned charging stand, and no longer redundance here.
Based on the same inventive concept, an embodiment of the present application further provides a sweeping apparatus, a schematic structural diagram of the electronic apparatus is shown in fig. 5, the electronic apparatus 5000 includes at least one processor 5001, a memory 5002 and a bus 5003, and the at least one processor 5001 is electrically connected to the memory 5002; the memory 5002 is configured to store at least one computer-executable instruction, and the processor 5001 is configured to execute the at least one computer-executable instruction, so as to perform the steps of the method for searching for a cradle according to any one of the embodiments one to two or any one of the alternative embodiments of the present application.
Further, the processor 5001 may be an FPGA (Field-Programmable Gate Array) or other devices with logic processing capability, such as an MCU (micro controller Unit) and a CPU (Central processing Unit).
Based on the same inventive concept, the embodiment of the present application further provides a computer-readable storage medium, which stores a computer program, and the computer program is used for implementing the steps of any one of the first to second embodiments of the present application or any one of the methods for searching a charging dock when the computer program is executed by a processor.
Embodiments of the present application provide computer-readable storage media including, but not limited to, any type of disk including floppy disks, hard disks, optical disks, CD-ROMs, and magnetic-optical disks, ROMs (Read-Only memories), RAMs (Random Access memories), EPROMs (Erasable Programmable Read-Only memories), EEPROMs (Electrically Erasable Programmable Read-Only memories), flash memories, magnetic cards, or optical cards. That is, a readable storage medium includes any medium that can store or transfer information in a form readable by a device (e.g., a computer).
The application of the embodiment of the application has at least the following beneficial effects:
the sweeping equipment is controlled to move along the direction parallel to the boundary of the working map, the first searching and detecting component is controlled to receive the infrared signal transmitted by the charging seat, the position range of the charging seat is determined, the second searching and detecting component is controlled to guide and align, the specific position of the charging seat is determined, the purposeful searching and charging seat of the sweeping equipment is realized, and therefore the searching efficiency of the charging seat is improved.
It will be understood by those within the art that each block of the block diagrams and/or flowchart illustrations, and combinations of blocks in the block diagrams and/or flowchart illustrations, can be implemented by computer program instructions. Those skilled in the art will appreciate that the computer program instructions may be implemented by a processor of a general purpose computer, special purpose computer, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, implement the aspects specified in the block or blocks of the block diagrams and/or flowchart illustrations disclosed herein.
Those of skill in the art will appreciate that the various operations, methods, steps in the processes, acts, or solutions discussed in this application can be interchanged, modified, combined, or eliminated. Further, various operations, methods, steps, measures, schemes in the various processes, methods, procedures that have been discussed in this application may be alternated, modified, rearranged, decomposed, combined, or eliminated. Further, steps, measures, schemes in the prior art having various operations, methods, procedures disclosed in the present application may also be alternated, modified, rearranged, decomposed, combined, or deleted.
The foregoing is only a few embodiments of the present application and it should be noted that those skilled in the art can make various improvements and modifications without departing from the principle of the present application, and that these improvements and modifications should also be considered as the protection scope of the present application.
Claims (12)
1. The utility model provides a search method of charging seat, is applied to equipment of sweeping the floor, its characterized in that, it sets up a plurality of search detection part to sweep the floor on the equipment, includes:
when the specific position of the charging seat is not detected, controlling the sweeping equipment to move along the direction parallel to the boundary of the working map;
determining the distance between the sweeping equipment and the charging seat according to the infrared signal of the charging seat received by a first searching and detecting part arranged on the right side surface of the sweeping equipment;
when the distance is greater than or equal to a preset second distance, determining that the sweeping equipment receives signals of infrared sensors on two sides of the charging seat, and determining the position range of the charging seat;
and controlling a second searching and detecting component to conduct guiding alignment according to the position range of the charging seat so as to determine the specific position of the charging seat.
2. The method of claim 1, wherein said controlling the sweeping apparatus to travel in a direction parallel to a boundary of a work map comprises:
controlling the sweeping equipment to keep a preset first distance from the boundary of the working map;
determining first rotation information of the sweeping equipment according to the preset first distance, wherein the first rotation information comprises a rotation angle and/or a rotation mode;
and controlling the sweeping equipment to move along the direction parallel to the outer boundary of the work map according to the first rotation information.
3. The method of claim 1, wherein the charging dock comprises four sensors, the four sensors are located on the same horizontal line, and the determining the specific position of the charging dock by controlling the second search detection component to perform guiding alignment according to the position range of the charging dock comprises:
according to the position range of the charging seat, the sweeping equipment is controlled to travel to a position where the distance between the sweeping equipment and the charging seat is smaller than a preset second distance, and a second searching and detecting part arranged right in front of the sweeping equipment is controlled to detect infrared signals sent by two sensors located in the middle of four sensors of the charging seat;
obtaining positioning indication information of the charging seat according to the infrared signals sent by the two sensors positioned in the middle;
and determining the specific position of the charging seat according to the positioning indication information of the charging seat.
4. The method according to claim 3, wherein said obtaining the positioning indication information of the charging dock according to the infrared signals transmitted by the two sensors located at the middle position comprises:
determining second rotation information of the sweeping equipment according to the infrared signals sent by the two sensors positioned in the middle;
according to the second rotation information of the sweeping equipment, when the distance between the sweeping equipment and the charging seat is controlled to be smaller than a preset third distance, the positioning indication information of the charging seat is obtained;
the positioning indication information comprises bar code information.
5. The method of claim 1, comprising:
any one of the first search detection part and the second search detection part comprises an infrared back flush receiving sensor.
6. The utility model provides a search device of charging seat is applied to the equipment of sweeping the floor, a serial communication port, it searches the detection part to set up a plurality of on the equipment of sweeping the floor, includes:
the first processing module is used for controlling the sweeping equipment to move along a direction parallel to the boundary of a work map when the specific position of the charging seat is not detected;
the second processing module is used for determining the distance between the sweeping equipment and the charging seat according to the infrared signal of the charging seat received by the first searching and detecting component arranged on the right side surface of the sweeping equipment, determining that the sweeping equipment receives signals of infrared sensors on two sides of the charging seat when the distance is greater than or equal to a preset second distance, and determining the position range of the charging seat;
and the third processing module is used for controlling the second searching and detecting component to conduct guiding alignment according to the position range of the charging seat so as to determine the specific position of the charging seat.
7. The apparatus of claim 6, comprising:
the first processing module is used for controlling the sweeping equipment to keep a preset first distance from the boundary of the working map; determining first rotation information of the sweeping equipment according to the preset first distance, wherein the first rotation information comprises a rotation angle and/or a rotation mode; and controlling the sweeping equipment to move along the direction parallel to the outer boundary of the working map according to the first rotation information.
8. The apparatus of claim 6, wherein the charging dock comprises four sensors, the four sensors being on a same horizontal line, comprising:
the third processing module is configured to control, according to the position range of the charging seat, the distance from the sweeping device to the charging seat to be shorter than a preset second distance, and control a second search detection component arranged right in front of the sweeping device to detect infrared signals sent by two sensors located in the middle among the four sensors of the charging seat; obtaining positioning indication information of the charging seat according to the infrared signals sent by the two sensors positioned in the middle; and determining the specific position of the charging seat according to the positioning indication information of the charging seat.
9. The apparatus of claim 8, comprising:
the third processing module is used for determining second rotation information of the sweeping equipment according to the infrared signals sent by the two sensors located in the middle; according to the second rotation information of the sweeping equipment, when the sweeping equipment is controlled to travel to a position where the distance between the sweeping equipment and the charging seat is smaller than a preset third distance, the positioning indication information of the charging seat is obtained; the positioning indication information comprises bar code information.
10. The apparatus of claim 6, comprising:
any one of the first search detection part and the second search detection part comprises an infrared back flush receiving sensor.
11. A floor sweeping apparatus, comprising: a processor, a memory, and a bus;
the bus is used for connecting the processor and the memory;
the memory is used for storing operation instructions;
the processor is configured to execute the search method of the charging cradle according to any one of the claims 1 to 5 by calling the operation instruction.
12. A computer-readable storage medium, characterized in that a computer program is stored, which, when being executed by a processor, is adapted to carry out the method of searching a charging cradle according to any one of claims 1-5.
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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 |
| CN114680744A (en) * | 2020-12-31 | 2022-07-01 | 星络智能科技有限公司 | Computer-readable storage medium, sweeping robot and control method thereof |
| CN113625226A (en) * | 2021-08-05 | 2021-11-09 | 美智纵横科技有限责任公司 | Position determination method and device, household appliance and storage medium |
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