CN111759231A - Control method of cleaning equipment and cleaning equipment - Google Patents
Control method of cleaning equipment and cleaning equipment Download PDFInfo
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- CN111759231A CN111759231A CN202010594208.6A CN202010594208A CN111759231A CN 111759231 A CN111759231 A CN 111759231A CN 202010594208 A CN202010594208 A CN 202010594208A CN 111759231 A CN111759231 A CN 111759231A
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- distance
- cleaning 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
- A47L11/24—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
- A47L11/4011—Regulation of the cleaning machine by electric means; Control systems and remote control systems therefor
Abstract
The invention provides a control method of cleaning equipment, the cleaning equipment comprises a head part, a first distance sensor and a second distance sensor, the first distance sensor and the second distance sensor are symmetrically arranged on two sides of a central axis of the head part, and the control method comprises the following steps: judging whether the cleaning equipment is in a preset distance range of the wall body; if so, controlling the first distance sensor to detect a first relative distance of the first distance sensor relative to the wall body, and controlling the second distance sensor to detect a second relative distance of the second distance sensor relative to the wall body; judging whether the first relative distance and the second relative distance are equal; if not, judging that the pose of the cleaning equipment relative to the wall body is not vertical; and controlling the cleaning equipment to rotate to a pose vertical to the wall body. The invention can avoid the problem that the speed of the cleaning equipment is influenced by detecting the position of the relative wall body due to the collision of the existing cleaning equipment and the wall body, is convenient for the cleaning equipment to perform subsequent cleaning actions, and ensures the cleaning efficiency and the user experience of the cleaning equipment.
Description
Technical Field
The invention belongs to the technical field of cleaning equipment, and particularly relates to a control method of the cleaning equipment and the cleaning equipment.
Background
Along with the rapid development of science and technology and the continuous improvement of the living standard of people, more and more intelligent living electric appliances enter every family, the comfort and the convenience of the life of people are greatly improved, the application of the intelligent living electric appliances is more and more extensive, the intelligent living electric appliances have very wide market prospects, and intelligent robots with certain artificial intelligence are more and more popular with consumers.
The robot of sweeping the floor, also known as automatic machine of cleaning, intelligent dust catcher, robot dust catcher etc. is one kind intelligent robot, can rely on certain artificial intelligence, accomplishes the cleaning work automatically to the robot of sweeping the floor can select the clearance mode in order to satisfy user's demand according to the surrounding environment at the course of the work, has improved convenience, experience sense and the science and technology sense of user's life, obtains more and more favor of consumer.
The existing sweeping robot is difficult to detect surrounding environment information due to the limitation of technology and cost, so that when the robot walks along a wall, the robot usually collides with the wall while walking to detect the position of the wall relative to the robot. When the robot detects that the robot collides with the wall to influence the walking of the robot, the robot rotates for a certain distance and then continues to walk forwards. In the process, the sweeping robot usually collides with the wall for many times, so that the walking speed and the sweeping speed of the sweeping robot are influenced, the sweeping efficiency is low, and the experience of a user is influenced.
Disclosure of Invention
The embodiment of the invention provides a control method of cleaning equipment, and aims to solve the problems that when an existing sweeping robot walks along a wall due to the limitation of technology and cost, the existing sweeping robot generally collides with the wall while walking to detect the position of the wall relative to the existing sweeping robot, the sweeping process of the sweeping robot is influenced, the sweeping efficiency is low, and the user experience is poor.
The embodiment of the invention is realized in such a way that a control method of a cleaning device comprises a head part, a first distance sensor and a second distance sensor which are symmetrically arranged at two sides of a central axis of the head part, the control method comprises the following steps:
judging whether the cleaning equipment is within a preset distance range of a wall body;
if so, controlling the first distance sensor to detect a first relative distance of the first distance sensor relative to the wall body, and controlling the second distance sensor to detect a second relative distance of the second distance sensor relative to the wall body;
judging whether the first relative distance and the second relative distance are equal or not;
if not, judging that the pose of the cleaning equipment relative to the wall body is not vertical;
and controlling the cleaning equipment to rotate to a pose vertical to the wall body.
The embodiment of the present invention further provides a cleaning device, which includes a head, a first distance sensor and a second distance sensor symmetrically disposed on two sides of a central axis of the head, and the cleaning device further includes:
the first judgment module is used for judging whether the cleaning equipment is located within a preset distance range of a wall body;
the first detection module is used for controlling the first distance sensor to detect a first relative distance of the first distance sensor relative to the wall body and controlling the second distance sensor to detect a second relative distance of the second distance sensor relative to the wall body if the first distance sensor detects the first relative distance of the first distance sensor relative to the wall body;
the second judging module is used for judging whether the first relative distance is equal to the second relative distance;
the first judging module is used for judging that the pose of the cleaning equipment relative to the wall body is not vertical if the cleaning equipment is not vertical;
the first control module is used for controlling the cleaning equipment to rotate to a position vertical to the wall body.
The cleaning equipment has the advantages that when the cleaning equipment is located in the preset distance range of the wall body, the position and posture of the cleaning equipment relative to the wall body are relatively simply and accurately judged by using the two distance sensors of the cleaning equipment, and when the position and posture of the cleaning equipment relative to the wall body are not vertical, the cleaning equipment is controlled to rotate to the position and posture of the cleaning equipment relative to the wall body, so that the problem that the self speed is influenced by the fact that the cleaning equipment collides with the wall body to detect the position of the cleaning equipment relative to the wall body can be avoided, meanwhile, the cleaning equipment can conveniently perform subsequent cleaning actions, if the cleaning equipment continues to walk along the wall edge according to the setting, excessive other operations are not needed, the cleaning equipment can directly rotate 90 degrees to be parallel to the wall body, and the.
Drawings
FIG. 1 is a schematic illustration of the operation of a prior art cleaning apparatus;
FIGS. 2 and 3 are schematic views of the operation of the cleaning apparatus of the embodiment of the present invention;
fig. 4 to 10 are schematic flowcharts of a control method of the cleaning apparatus according to the embodiment of the invention;
fig. 11 to 17 are schematic structural views of a cleaning apparatus according to an embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
Referring to fig. 1, the conventional cleaning apparatus is not easy to detect the surrounding environmental information due to the limitations of technology and cost, and therefore, when the cleaning apparatus walks along a wall, the cleaning apparatus generally collides with the wall while walking to detect the position of the wall relative to the cleaning apparatus. When the influence of wall collision on self walking is detected, the walking robot rotates for a certain distance and then continues to walk forwards. The cleaning equipment usually collides with the wall many times in the process, so that the walking speed and the sweeping speed of the cleaning equipment are influenced, the sweeping efficiency is low, and the experience of a user is also influenced.
According to the invention, when the cleaning equipment is positioned in the preset distance range of the wall body, the pose of the cleaning equipment relative to the wall body is relatively simply and accurately judged by using the two distance sensors of the cleaning equipment, and when the pose of the cleaning equipment relative to the wall body is not vertical, the cleaning equipment is controlled to rotate until the pose is vertical relative to the wall body, so that the problem that the self speed is influenced by detecting the position of the cleaning equipment relative to the wall body through collision between the cleaning equipment and the wall body can be avoided.
Example one
Referring to fig. 2 and 3, in a control method of a cleaning apparatus 100 according to an embodiment of the present invention, the cleaning apparatus 100 includes a head 10, a first distance sensor 11 and a second distance sensor 12 symmetrically disposed on two sides of a central axis L of the head 10, and referring to fig. 4, the control method includes steps of:
s01: judging whether the cleaning equipment is in a preset distance range of the wall body;
s02: if so, controlling the first distance sensor to detect a first relative distance of the first distance sensor relative to the wall body, and controlling the second distance sensor to detect a second relative distance of the second distance sensor relative to the wall body;
s03: judging whether the first relative distance and the second relative distance are equal;
s04: if not, judging that the pose of the cleaning equipment relative to the wall body is not vertical;
s05: and controlling the cleaning equipment to rotate to a pose vertical to the wall body.
When the cleaning equipment is positioned in the preset distance range of the wall body, the embodiment of the invention utilizes the two distance sensors of the cleaning equipment to relatively simply and accurately judge the pose of the cleaning equipment relative to the wall body, and when the pose of the cleaning equipment relative to the wall body is not vertical, the cleaning equipment is controlled to rotate to the pose vertical to the wall body, the problem that the self speed is influenced by detecting the position of the relative wall body by the collision of the cleaning equipment and the wall body can be avoided, meanwhile, the cleaning equipment can conveniently carry out subsequent sweeping actions, and excessive other operations are not needed when the cleaning equipment continues to walk along the wall according to the setting, can be directly rotated by 90 degrees until the cleaning device is parallel to the wall body, if the cleaning device needs to be adjusted to other positions, the cleaning equipment is controlled to rotate by a required angle at a position vertical to the wall, so that the cleaning efficiency and the user experience of the cleaning equipment are ensured.
The cleaning device may be a device with certain intelligent and autonomous cleaning capabilities, such as a sweeping robot, a sweeper, a scrubber, and the like, in an embodiment of the present invention, the visual sweeping robot is taken as an example of the cleaning device, in other embodiments, the cleaning device may be other, and no specific limitation is made herein. Cleaning device can with intelligent terminal wireless connection, user's accessible intelligent terminal is long-range, control cleaning device intelligently, and intelligent terminal is like terminals such as smart mobile phone, panel computer, desktop computer, the wearable equipment of intelligence, also can install suitable Application software (app) in intelligent terminal in order with cleaning device wireless connection.
Referring to fig. 2 and fig. 3, generally, for facilitating movements such as walking and steering, the shape of the cleaning apparatus 100 is generally designed to be a regular disk shape, the direction in which the head 10 faces is the forward direction of the cleaning apparatus, and for facilitating detection of the cleaning apparatus 100 on the surrounding environment, the head 10 is provided with various sensors, such as a vision sensor (a camera), a distance sensor (a laser distance sensor, an ultrasonic sensor, an infrared distance sensor, and the like), the head 10 of the cleaning apparatus 100 according to the embodiment of the present invention is respectively provided with a first distance sensor 11 and a second distance sensor 12 symmetrically on the left and right sides along a central axis L, the central axis L is a line passing through the center of the cleaning apparatus 100, and the head 10 is in a symmetrical structure along the. Taking fig. 2 and 3 as an example, in the embodiment of the present invention, the head 10 is used as a reference, the first distance sensor 11 is disposed on the left side of the head 10, and the second distance sensor is disposed on the right side of the head 10.
In the embodiment of the invention, the first distance sensor 11 and the second distance sensor 12 are both infrared distance sensors, the infrared distance measurement technology is mature, the cost is low, and the method is suitable for distance detection; in other embodiments, the first distance sensor 11 and the second distance sensor 12 may be other sensors, such as an ultrasonic sensor and a laser sensor, and are not limited herein. Also, the cleaning apparatus 100 is provided with a vision sensor in addition to the distance sensor to acquire surrounding environment information in an image manner.
In addition, in other embodiments, the shape of the cleaning device 100 may be other, and is not limited to the above-mentioned disc shape, and may also be a regular or irregular shape such as a rectangular body, a square body, and the like, and the shape is not particularly limited herein, and the shape may be specifically set on the premise that the positional relationship between the head 10, the first distance sensor 11, and the second distance sensor 12 of the cleaning device 100 and the central axis L is reasonably set.
It can be understood that the distance sensor has an effective distance, and when the distance sensor exceeds the effective distance, the object information such as the obstacle and the wall cannot be effectively detected, so that the cleaning device 100 needs to be close enough to the obstacle and the wall to effectively detect the object information such as the obstacle and the wall. In one embodiment, the size of the preset distance range in step S01 may be the size of the effective distance range of the distance sensor, so that when the cleaning device 100 approaches the wall forward to be within the preset distance range of the wall, the wall is also within the effective distance range of the distance sensor, which can ensure that the distance sensor detects the presence of the wall and can also ensure that the acquired object information of the obstacle, the wall, and the like is relatively clear and accurate.
The pose of the cleaning device 100 relative to the wall body can be understood as the positional relationship of the head 10 relative to the wall body, and is the perpendicular pose of the cleaning device 100 relative to the wall body when the head 10 is facing the wall body; alternatively, the pose of the cleaning apparatus 100 with respect to the wall may also be understood as the position relationship of the central axis L with respect to the wall, and when the central axis L is perpendicular to the wall, the pose of the cleaning apparatus 100 with respect to the wall is perpendicular.
Since the first distance sensor 11 and the second distance sensor 12 are symmetrically disposed on two sides of the head 10, it can be understood that the first relative distance is a distance from the first distance sensor 11 to the wall, and the second relative distance is a distance from the second distance sensor 12 to the wall, when the first relative distance and the second relative distance are equal, it can be determined that the head 10 is facing the wall, and the pose of the cleaning device 100 with respect to the wall is vertical. When the first relative distance is not equal to the second relative distance, it can be determined that the pose of the cleaning device 100 with respect to the wall is not vertical. At this time, the cleaning apparatus 100 is controlled to rotate to the pose perpendicular to the wall body for the convenience of subsequent other movements of the cleaning apparatus 100.
In the present embodiment, when the cleaning apparatus 100 is rotated until the first relative distance and the second relative distance are equal, it may be determined that the cleaning apparatus 100 has been rotated to be vertical with respect to the posture of the wall body. In addition, detecting the distance to the object by the distance sensor is a mature prior art and is not described herein.
In one embodiment, when the cleaning apparatus 100 is not located within the preset range of the wall, the first distance sensor 11 and the second distance sensor 12 may be turned off, so as to reduce the data acquisition process of the first distance sensor 11 and the second distance sensor 12, reduce data calculation, and also reduce the energy consumption of the cleaning apparatus 100; in another embodiment, when the cleaning apparatus 100 is not within the preset range of the wall, the first distance sensor 11 and the second distance sensor 12 may be kept turned on to confirm the environment around the cleaning apparatus 100 in real time to ensure the movement of the cleaning apparatus 100. The switches of the first distance sensor and the second distance sensor are only exemplary, and should not be construed as limiting the present invention, and may be specifically configured in an actual embodiment.
Example two
Referring to fig. 5, further, the cleaning apparatus is pre-stored with an environment map of the working location, and step S01 includes the steps of:
s011: acquiring a real-time position of the cleaning equipment in a workplace to correspondingly judge a virtual position of a virtual icon representing the cleaning equipment in an environment map;
s012: detecting a virtual distance between the virtual position in the environment map and a virtual wall representing the wall body;
s013: if the virtual distance is smaller than the preset distance threshold value, judging that the cleaning equipment is in the preset distance range of the wall body;
s014: and if the virtual distance is larger than the preset distance threshold value, judging that the cleaning equipment is out of the preset distance range of the wall body.
Specifically, an environment map, namely a map of a workplace where the cleaning equipment is located, is drawn according to a certain proportional relation on the basis of the map of the workplace, the environment map comprises environment information, the environment information comprises the size and shape of the workplace, the position distribution of obstacles, the size and shape of the obstacles, the size and type of sundries to be cleaned and the like, and the cleaning equipment performs actual work according to the environment map (environment information); the environment map can be drawn by related personnel in advance according to environment information of a workplace, when the cleaning equipment needs to be put in the workplace, the environment map is stored in a memory of the cleaning equipment, and the cleaning equipment can directly read the environment map in actual work; or, can put cleaning equipment into the workplace and walk, it can acquire the environmental information of workplace through the vision sensor who carries independently, then draws the environmental map automatically according to environmental information and stores in the memory, has improved cleaning equipment's intellectuality.
For the convenience of resolution and display, the cleaning device is represented by a virtual icon in the environment map, the virtual icon can be in a shape of triangle, circle, diamond, and the like, the virtual icon shows the orientation and the like of the virtual icon in the environment map, and the position and the movement of the virtual icon in the environment map correspond to the position and the movement of the cleaning device in the workplace. In addition, the cleaning device is also provided with a positioning device (such as a GPS and the like), and the positioning device can be used for acquiring the position of the cleaning device in a workplace in real time and synchronizing the position into an environment map, so that when the cleaning device moves in the workplace, the virtual icon moves in the environment map at the same time. Therefore, the real-time position of the cleaning equipment in the workplace can be obtained, the virtual position of the virtual icon in the environment map can be correspondingly obtained, and then the distance between the cleaning equipment and the wall body is judged.
It can be understood that the range of the environment map is relatively small, the position relationship between the virtual icon and the virtual objects such as the representative wall and various barriers in the environment map is clear and definite, the virtual distance between the virtual icon and different virtual objects can be conveniently measured, the virtual distance is converted to obtain the actual distance between the cleaning equipment and the actual object corresponding to the virtual object, and the virtual wall is used as the representative wall in the reality in the environment map.
In this embodiment, when the virtual icon is detected from the environment map and found to be gradually close to the virtual wall representing the actual wall, the cleaning device can be considered to be gradually close to the wall in the workplace, then the virtual distance between the virtual position in the environment map and the virtual wall representing the wall is detected in real time, and according to the proportional relation between the environment map and the workplace, the actual distance of the cleaning device relative to the wall in the workplace can be converted, so that the method is simple, the accuracy is high, the effect expected by the user can be effectively ensured to be achieved by the cleaning device, and the user can obtain better experience.
Furthermore, in this embodiment, the preset distance threshold is obtained by converting the distance represented by the preset distance range of the wall body into the preset distance threshold before the above steps are performed, the virtual distance is detected in real time during the moving process of the cleaning device, and the virtual distance is compared with the preset distance threshold. When the virtual distance is smaller than the preset distance threshold, the actual distance between the cleaning equipment and the wall body is determined to be smaller than the preset distance range, namely the cleaning equipment is located in the preset distance range of the wall body; when the virtual distance is greater than the preset distance threshold, the actual distance between the cleaning equipment and the wall body can be determined to be greater than the preset distance, namely the cleaning equipment is located outside the preset distance range of the wall body. It should be noted that, in the above condition that the cleaning device is determined to be located within the preset distance range of the wall, the case that the virtual distance is equal to the preset distance is also included.
In one embodiment, as to how to determine whether the cleaning device is vertical to the wall, the real-time position of the cleaning position may be determined by the positioning device, the real-time position is converted into an environment map, and the orientation of the cleaning device in the workplace is determined by the orientation of the virtual icon, that is, if the virtual wall is determined in the environment map and the virtual distance is smaller than a preset distance threshold, the orientation of the virtual icon relative to the virtual wall is detected, and if the virtual icon is vertical to the virtual wall, the cleaning device is determined to be vertical to the wall;
in another embodiment, the positioning device may have a certain error due to the accuracy limitation, and the cleaning device may not be actually perpendicular to the wall, but the virtual icon is displayed perpendicular to the virtual wall, and at this time, the comparison between the first relative distance and the second relative distance may be performed synchronously, specifically:
if the virtual icon display is vertical to the virtual wall, and the first relative distance and the second relative distance are not equal, judging that the cleaning equipment is not vertical to the wall; if the virtual icon display is vertical to the virtual wall, and the first relative distance is equal to the second relative distance, the cleaning equipment is judged to be vertical to the wall; if the virtual icon display is not vertical to the virtual wall, and the first relative distance is equal to the second relative distance, the cleaning equipment is judged to be vertical to the wall; and if the virtual icon display does not want to be vertical to the virtual wall, and the first relative distance and the second relative distance are not equal, determining that the cleaning equipment is not vertical to the wall. Namely, the magnitude relation between the first relative distance and the second relative distance is always used as the judgment whether the cleaning equipment is vertical to the wall body, so that the misjudgment of the position and posture of the cleaning equipment caused by the error of the positioning device is eliminated.
EXAMPLE III
Referring to fig. 6, further, step S05 includes the steps of:
s051: if the first relative distance is larger than the second relative distance, controlling the cleaning equipment to deflect to one side of the second distance sensor to rotate until the first relative distance is equal to the second relative distance;
s052: and if the first relative distance is smaller than the second relative distance, controlling the cleaning equipment to rotate towards one side of the first distance sensor until the first relative distance is equal to the second relative distance.
Referring to fig. 2 and 3, it can be understood that when the cleaning apparatus 100 is within the predetermined distance range of the wall, at least one of the distance sensors can detect that there is a wall in front, for example, the first distance sensor 11 detects that there is a wall in front, the second distance sensor 12 detects that there is a wall in front, or both the first distance sensor 11 and the second distance sensor 12 detect that there is a wall in front. However, whether only one distance sensor detects that there is a wall in front or both distance sensors detect that there is a wall in front, there are both the first relative distance and the second relative distance, and only when only one distance sensor detects that there is a wall in front, it can be determined that the distance detected by the other distance sensor that does not detect a wall is 0. Illustratively, when the first distance sensor 11 detects a wall in front and the second distance sensor 12 does not detect a wall in front, the first relative distance is a value detected by the first distance sensor, and the second relative distance is 0.
Specifically, referring to fig. 2 and 3, when both of the two distance sensors detect that there is a wall in front of the two distance sensors, the first relative distance is the length from the arrow led out by the first distance sensor 11 to the wall, and the second relative distance is the length from the arrow led out by the second distance sensor 12 to the wall.
Referring to fig. 2, if the first relative distance is greater than the second relative distance, it indicates that the first distance sensor 11 is farther away from the wall than the second distance sensor 12, at this time, the cleaning apparatus 100 is controlled to rotate toward the distance sensor (i.e., the second distance sensor 12) at the side having the shorter distance from the wall, as shown in fig. 2, the cleaning apparatus 100 is controlled to rotate in the clockwise direction while the two distance sensors continuously detect the distance from the wall, when the first relative distance is equal to the second relative distance, the cleaning apparatus 100 is controlled to stop rotating, at this time, the distances from the first distance sensor 11 to the wall are the same as the distances from the second distance sensor 12 to the wall, and the body of the cleaning apparatus 100 is perpendicular to the wall.
Referring to fig. 3, if the second relative distance is greater than the first relative distance, it indicates that the second distance sensor 12 is farther away from the wall than the first distance sensor 11, and the two objects are kept, at this time, the cleaning apparatus 100 is controlled to rotate toward the distance sensor (i.e., the first distance sensor 11) at the side away from the wall, as shown in fig. 3, the cleaning apparatus 100 is controlled to rotate in the counterclockwise direction, and the distance between the two distance sensors and the wall is kept continuously monitored, when the first relative distance is equal to the second relative distance, the cleaning apparatus 100 is controlled to stop rotating, and at this time, the distances between the first distance sensor 11 and the second distance sensor 12 and the wall are the same, and the body of the cleaning apparatus 100 is perpendicular to the wall.
When only one distance sensor detects the wall, that is, one of the two relative distances is 0, the cleaning apparatus 100 is controlled to rotate to the side of the distance sensor capable of detecting the wall, that is, to rotate to the side of the distance sensor corresponding to the relative distance deviating from 0, and as the cleaning apparatus 100 rotates, the distance sensor on the other side will also detect the wall, and then the operation is continued as described in the case where both the two distance sensors detect the wall.
Through comparison of the first relative distance and the second relative distance detected by the two distance sensors, the cleaning equipment 100 is controlled to rotate to be vertical to the pose relative to the wall body, the mode is simple, the accuracy is high, the effect expected by a user can be effectively achieved by the cleaning equipment 100, and the user can obtain good experience.
Example four
Referring to fig. 7, further, step S01 further includes:
s015: acquiring an environment image of a working place where cleaning equipment is located in real time and extracting a characteristic value in the environment image;
s016: judging a wall in a workplace according to the characteristic values;
s017: when the wall is detected, detecting the relative distance between the cleaning equipment and the wall;
s018: and when the relative distance is smaller than the preset distance, judging that the cleaning equipment is in the preset distance range of the wall body.
Specifically, in this embodiment, a visual sweeping robot is taken as an example of the cleaning device, that is, the cleaning device is provided with a visual sensor, and during the operation of the cleaning device, an environment image of a workplace where the cleaning device is located can be acquired by the visual sensor and transmitted to a relevant component (such as a processor) for processing, and relevant work is performed according to the environment image, such as drawing an environment map, determining an obstacle, determining a sweeping range, and the like.
In the steps, the characteristic values of the objects in the environment image acquired by the cleaning equipment are extracted firstly, then the wall in the workplace is matched and determined according to the characteristic values, the corresponding objects can be matched according to different characteristic values due to the fact that the characteristic values of different objects are different, and after the wall is determined through matching, the position relation between the wall and the cleaning equipment can be determined. At this time, a relative distance between the cleaning apparatus and the wall is detected by the distance sensor (the first distance sensor and/or the second distance sensor), and when the relative distance is less than a preset distance, it is determined that the cleaning apparatus is within a preset range of the wall. In addition, in the related art, the technology for matching the object according to the feature value is mature, and details are not repeated here, and specific selection is performed on the premise of ensuring effective matching and identification of the wall body.
The existence of the wall body is determined through the characteristic value so as to determine the relative position relation with the cleaning equipment, the relative distance between the wall body and the cleaning equipment is obtained through detection, the mode is simple, the accuracy is high, the effect expected by a user of the cleaning equipment can be effectively guaranteed, and the user can obtain good experience.
EXAMPLE five
Referring to fig. 8, further, the control method further includes the steps of:
s06: receiving a control instruction for controlling the pose of the cleaning equipment relative to the wall to be parallel;
s07: and controlling the cleaning equipment to rotate 90 degrees in situ according to the control instruction until the cleaning equipment is parallel to the wall body.
In this embodiment, after the cleaning device is rotated to be vertical to the pose of the wall, if the user needs to make the cleaning device vertical to the wall, the cleaning device receives the instruction of rotating to be parallel to the pose of the wall, and only needs to rotate 90 degrees to make the cleaning device reach the position parallel to the wall, so that the user can conveniently control the cleaning device to perform other cleaning processes subsequently.
More, if the cleaning equipment needs to turn around in situ, the cleaning equipment can rotate by 180 degrees; or, the cleaning device needs to be rotated to other positions, and the cleaning device can be rotated by a corresponding angle.
EXAMPLE six
Referring to fig. 9, further, the cleaning apparatus is provided with a first prompter, and the step S04 includes the following steps:
s08: and controlling the first prompter to send out a first prompt signal representing that the pose of the cleaning equipment relative to the wall body is not vertical.
Specifically, the first prompting device may be a component having a prompting function, such as an audible and visual alarm (a speaker, a horn, an indicator light, etc.), a display screen, etc., and the prompting signal may be an audible and visual signal, a signal having a prompting function, such as a display text screen, etc.
The first prompting device is controlled to send out a first prompting signal representing that the cleaning equipment is not vertical to the pose of the wall body, a user can visually and clearly know the current state of the cleaning equipment after receiving the first prompting signal, and at the moment, the user can remotely control the cleaning equipment through a terminal and the like, if the cleaning equipment is controlled to rotate or not rotate, other operations are performed subsequently, manual control over the cleaning equipment is improved, and the cleaning equipment is convenient and fast to use.
For example, if the first prompter is a loudspeaker and the first prompt signal is an acoustic signal, after it is determined that the pose of the cleaning device relative to the wall is not vertical, the loudspeaker may make a sound such as "the pose relative to the wall is not vertical"; if the first prompter is an indicator lamp and the first prompt signal is an optical signal, after the situation that the pose of the cleaning equipment relative to the wall body is not vertical is judged, the indicator lamp can emit light, such as red, green, yellow and the like, and the situation that the pose of the cleaning equipment relative to the wall body is vertical is indicated; if the first prompter is a display screen and the first prompt signal is an image signal, after the situation that the pose of the cleaning equipment relative to the wall body is not vertical is judged, the display screen can display an image of the situation that the pose of the cleaning equipment relative to the wall body is not vertical.
The types of the first prompting device and the first prompting signal are merely exemplary and should not be construed as limiting the present invention, and in other embodiments, the types of the first prompting device and the first prompting signal may be other, and are not limited herein.
EXAMPLE seven
Referring to fig. 10, further, the cleaning apparatus is further provided with a second prompter, and step S05 is followed by the steps of:
s09: and controlling the second prompter to send out a second prompt signal for representing that the pose of the cleaning equipment relative to the wall body is vertical.
The second prompting device is controlled to send out a second prompting signal for representing that the cleaning equipment is vertical to the pose of the wall body, a user can visually and clearly know the current state of the cleaning equipment after receiving the second prompting signal, and at the moment, the user can also remotely control the cleaning equipment through the terminal, for example, the cleaning equipment is controlled to rotate or not rotate, so that other operations are performed subsequently, manual control over the cleaning equipment is improved, and the cleaning equipment is convenient and fast.
It is worth noting that the first prompter and the second prompter can be the same prompter or different prompters, but the first prompt signal is always different from the second prompt signal, so that a user can distinguish different pose situations of the cleaning equipment.
Exemplarily, if the first prompter and the second prompter are the same prompter, if the prompter is a loudspeaker, the prompting signal is an acoustic signal, and after the situation that the pose of the cleaning equipment relative to the wall body is vertical is judged, the sound emitted by the loudspeaker is like 'vertical relative to the pose of the wall body' so as to form a distinction with the first prompting signal; if the prompter is an indicator lamp and the prompting signal is an optical signal, the indicator lamp can emit yellow light after the vertical pose of the cleaning equipment relative to the wall body is judged, and if the indicator lamp emits light with other colors, the situation that the pose of the cleaning equipment relative to the wall body is not vertical or other situations of the cleaning equipment are represented is indicated; if the prompter is a display screen, after the situation that the cleaning equipment is vertical to the pose of the wall body is judged, the image displayed by the display screen can be vertical to the pose of the wall body so as to form a distinction with the first prompt signal;
if the first prompter and the second prompter are different prompters, and if the first prompter is a speaker, the second prompter is an indicator light or a display screen, the first prompt signal is an acoustic signal, and the second prompt signal may be an optical signal or an image signal, which may be specifically referred to the description of the first prompter in the sixth embodiment.
The above description of the first and second prompters and the first and second prompting signals is only exemplary, and should not be construed as limiting the present invention, and the first and second prompters may be specifically configured on the premise that the first and second prompters are different and the first and second prompting signals are also different.
Example eight
Referring to fig. 2 and 3, a cleaning apparatus 100 according to an embodiment of the present invention includes a head 10, and a first distance sensor 11 and a second distance sensor 12 symmetrically disposed on two sides of a central axis L of the head 10, and referring to fig. 11, the cleaning apparatus 100 further includes:
the first judgment module 101 is used for judging whether the cleaning equipment is in a preset distance range of a wall body;
the first detection module 102 is configured to, if yes, control the first distance sensor to detect a first relative distance between the first distance sensor and the wall, and control the second distance sensor to detect a second relative distance between the second distance sensor and the wall;
a second determining module 103, configured to determine whether the first relative distance is equal to the second relative distance;
the first judging module 104 is used for judging that the pose of the cleaning equipment relative to the wall body is not vertical if the pose of the cleaning equipment relative to the wall body is not vertical;
and the first control module 105 is used for controlling the cleaning equipment to rotate to a posture vertical to the wall body.
For a brief description, the cleaning apparatus 100 of the embodiment is provided with reference to the corresponding content in the first embodiment of the determination method, which is not mentioned in the cleaning apparatus 100 of the embodiment.
Example nine
Referring to fig. 12, further, the cleaning apparatus 100 is pre-stored with an environmental map of the workplace, which further includes:
a first obtaining module 106, configured to obtain a real-time location of the cleaning device at a workplace, so as to correspondingly determine a virtual location of a virtual icon representing the cleaning device within the environment map;
a second detection module 107, configured to detect a virtual distance between the virtual location in the environment map and a virtual wall representing the wall;
the second determination module 108 is configured to determine that the cleaning device is within the preset distance range of the wall when the virtual distance is smaller than the preset distance threshold;
and a third determination module 109, configured to determine that the cleaning device is outside the preset distance range of the wall if the virtual distance is greater than the preset distance threshold.
For a brief description, the cleaning apparatus 100 of the ninth embodiment of the present invention can refer to the corresponding content in the second embodiment of the determination method, where the implementation principle and the technical effect are the same as those in the second embodiment of the determination method.
Example ten
Referring to fig. 13, further, the cleaning apparatus 100 further includes:
the second control module 110 is used for controlling the cleaning device to deflect to one side of the second distance sensor to rotate when the first relative distance is larger than the second relative distance until the first relative distance is equal to the second relative distance;
and a third control module 111 for controlling the cleaning device to rotate toward one side of the first distance sensor when the first relative distance is smaller than the second relative distance until the first relative distance is equal to the second relative distance.
For a brief description, the cleaning apparatus 100 of the present embodiment can refer to the corresponding content in the third embodiment of the determination method, where the cleaning apparatus 100 of the present embodiment is not mentioned.
EXAMPLE eleven
Referring to fig. 14, further, the cleaning apparatus 100 further includes:
the extraction module 112 is used for acquiring an environment image of a workplace where the cleaning equipment is located in real time and extracting a characteristic value in the environment image;
a fourth judging module 113, configured to judge a wall in the workplace according to the feature value;
a third detection module 114, configured to detect a relative distance between the cleaning apparatus and the wall when the wall is detected;
and a fifth judging module 115, configured to judge that the cleaning device is within the preset distance range of the wall when the relative distance is smaller than the preset distance.
The cleaning apparatus 100 according to the eleventh embodiment of the present invention has the same implementation principle and technical effects as those of the fourth embodiment of the determination method, and for brief description, reference may be made to corresponding contents of the fourth embodiment of the determination method for what is not mentioned in the cleaning apparatus 100 of the present embodiment.
Example twelve
Referring to fig. 15, further, the cleaning apparatus 100 further includes:
a receiving module 116, configured to receive a control instruction for controlling the pose of the cleaning apparatus with respect to the wall to be parallel;
and the fourth control module 117 is used for controlling the cleaning equipment to rotate 90 degrees in situ according to the control instruction until the cleaning equipment is parallel to the wall body.
The cleaning device 100 according to the twelfth embodiment of the invention has the same implementation principle and technical effect as the fifth embodiment of the determination method, and for a brief description, reference may be made to corresponding contents in the fifth embodiment of the determination method where the cleaning device 100 of the present embodiment is not mentioned.
EXAMPLE thirteen
Referring to fig. 16, further, the cleaning apparatus 100 is provided with a first prompter, which further includes:
and the fifth control module 118 is configured to control the first prompter to emit a first prompt signal indicating that the pose of the cleaning device with respect to the wall is not vertical.
The cleaning device 100 according to the thirteenth embodiment of the present invention has the same implementation principle and technical effect as the sixth embodiment of the determination method, and for a brief description, reference may be made to the corresponding contents in the sixth embodiment of the determination method for the parts that are not mentioned in the cleaning device 100 according to the thirteenth embodiment of the present invention.
Example fourteen
Referring to fig. 17, further, the cleaning apparatus 100 is further provided with a second prompter, which further includes:
and the sixth control module 119 is used for controlling the second prompter to send out a second prompt signal for indicating that the pose of the cleaning equipment relative to the wall body is vertical.
The cleaning device 100 according to the fourteenth embodiment of the invention has the same implementation principle and technical effects as those of the seventh embodiment of the determination method, and for brief description, reference may be made to corresponding contents of the seventh embodiment of the determination method where the cleaning device 100 of the present embodiment is not mentioned.
In the description herein, references to the description of the terms "example one," "example two," etc. mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the present application. In this specification, schematic representations of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.
The present invention is not limited to the above preferred embodiments, and any modifications, equivalent substitutions and improvements made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (12)
1. A control method of a cleaning device is characterized in that the cleaning device comprises a head part, a first distance sensor and a second distance sensor which are symmetrically arranged at two sides of a central axis of the head part, and the control method comprises the following steps:
judging whether the cleaning equipment is within a preset distance range of a wall body;
if so, controlling the first distance sensor to detect a first relative distance of the first distance sensor relative to the wall body, and controlling the second distance sensor to detect a second relative distance of the second distance sensor relative to the wall body;
judging whether the first relative distance and the second relative distance are equal or not;
if not, judging that the pose of the cleaning equipment relative to the wall body is not vertical;
and controlling the cleaning equipment to rotate to a pose vertical to the wall body.
2. The control method of claim 1, wherein the cleaning device is pre-stored with an environment map of a workplace, and the determining whether the cleaning device is within a preset distance range of a wall comprises:
acquiring a real-time position of the cleaning equipment in a workplace to correspondingly judge a virtual position of a virtual icon representing the cleaning equipment in the environment map;
detecting a virtual distance of the virtual location in the environment map from a virtual wall representing a wall;
if the virtual distance is smaller than a preset distance threshold value, judging that the cleaning equipment is in a preset distance range of the wall body;
and if the virtual distance is larger than a preset distance threshold value, judging that the cleaning equipment is out of the preset distance range of the wall body.
3. The control method according to claim 2, wherein the controlling of the cleaning apparatus to rotate to the pose perpendicular to the wall body comprises:
if the first relative distance is larger than the second relative distance, controlling the cleaning equipment to deflect to one side of the second distance sensor to rotate until the first relative distance is equal to the second relative distance;
if the first relative distance is smaller than the second relative distance, the cleaning equipment is controlled to rotate towards one side of the first distance sensor until the first relative distance is equal to the second relative distance.
4. The control method of claim 1, wherein the determining whether the cleaning device is within a preset distance of a wall further comprises:
acquiring an environment image of a working place where the cleaning equipment is located in real time and extracting a characteristic value in the environment image;
judging a wall in a workplace according to the characteristic values;
when the wall is detected, detecting the relative distance between the cleaning equipment and the wall;
and when the relative distance is smaller than a preset distance, judging that the cleaning equipment is in a preset distance range of the wall body.
5. The control method according to claim 1, characterized by further comprising:
receiving a control instruction for controlling the posture of the cleaning equipment relative to the wall body to be parallel;
and controlling the cleaning equipment to rotate 90 degrees in situ according to the control command until the cleaning equipment is parallel to the wall body.
6. The control method of claim 1, wherein the cleaning device is provided with a first prompter and a second prompter, and if not, after determining that the pose of the cleaning device relative to the wall is not vertical, the method comprises the following steps:
controlling the first prompter to send out a first prompt signal representing that the pose of the cleaning equipment relative to the wall body is not vertical;
after the cleaning device is controlled to rotate to the position vertical to the wall body, the method comprises the following steps:
and controlling the second prompter to send out a second prompt signal representing that the pose of the cleaning equipment relative to the wall body is vertical.
7. The utility model provides a cleaning device which characterized in that, includes the head, the symmetry set up in first distance sensor and the second distance sensor of head axis both sides, cleaning device still includes:
the first judgment module is used for judging whether the cleaning equipment is located within a preset distance range of a wall body;
the first detection module is used for controlling the first distance sensor to detect a first relative distance of the first distance sensor relative to the wall body and controlling the second distance sensor to detect a second relative distance of the second distance sensor relative to the wall body if the first distance sensor detects the first relative distance of the first distance sensor relative to the wall body;
the second judging module is used for judging whether the first relative distance is equal to the second relative distance;
the first judging module is used for judging that the pose of the cleaning equipment relative to the wall body is not vertical if the cleaning equipment is not vertical;
the first control module is used for controlling the cleaning equipment to rotate to a position vertical to the wall body.
8. The cleaning apparatus as defined in claim 7, wherein the cleaning apparatus has a pre-stored map of the environment of the workplace, the cleaning apparatus further comprising:
the first acquisition module is used for acquiring the real-time position of the cleaning equipment in a workplace so as to correspondingly judge the virtual position of a virtual icon representing the cleaning equipment in the environment map;
the second detection module is used for detecting the virtual distance between the virtual position and a virtual wall representing a wall body in the environment map;
the second judging module is used for judging that the cleaning equipment is in a preset distance range of the wall when the virtual distance is smaller than a preset distance threshold;
and the third judging module is used for judging that the cleaning equipment is out of the preset distance range of the wall body if the virtual distance is greater than a preset distance threshold value.
9. The cleaning apparatus defined in claim 8, further comprising:
the second control module is used for controlling the cleaning equipment to deflect to rotate towards one side of the second distance sensor when the first relative distance is larger than the second relative distance until the first relative distance is equal to the second relative distance;
and the third control module is used for controlling the cleaning equipment to rotate towards one side of the first distance sensor when the first relative distance is smaller than the second relative distance until the first relative distance is equal to the second relative distance.
10. The cleaning apparatus defined in claim 7, further comprising:
the extraction module is used for acquiring an environment image of a workplace where the cleaning equipment is located in real time and extracting a characteristic value in the environment image;
the fourth judging module is used for judging the wall in the workplace according to the characteristic values;
the third detection module is used for detecting the relative distance between the cleaning equipment and the wall when the wall is detected;
and the fifth judging module is used for judging that the cleaning equipment is in the preset distance range of the wall when the relative distance is smaller than the preset distance.
11. The cleaning apparatus defined in claim 7, further comprising:
the receiving module is used for receiving a control instruction for controlling the posture of the cleaning equipment relative to the wall body to be parallel;
and the fourth control module is used for controlling the cleaning equipment to rotate 90 degrees in situ according to the control instruction until the cleaning equipment is parallel to the wall body.
12. The cleaning apparatus defined in claim 11, wherein the cleaning apparatus is provided with a first cue and a second cue, the cleaning apparatus further comprising:
the fifth control module is used for controlling the first prompter to send out a first prompt signal representing that the pose of the cleaning equipment relative to the wall body is not vertical;
and the sixth control module is used for controlling the second prompter to send out a second prompt signal for representing that the pose of the cleaning equipment relative to the wall body is vertical.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010594208.6A CN111759231A (en) | 2020-06-28 | 2020-06-28 | Control method of cleaning equipment and cleaning equipment |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202010594208.6A CN111759231A (en) | 2020-06-28 | 2020-06-28 | Control method of cleaning equipment and cleaning equipment |
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| CN111759231A true CN111759231A (en) | 2020-10-13 |
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| CN202010594208.6A Withdrawn CN111759231A (en) | 2020-06-28 | 2020-06-28 | Control method of cleaning equipment and cleaning equipment |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN113966976A (en) * | 2021-09-28 | 2022-01-25 | 安克创新科技股份有限公司 | Cleaning robot and method for controlling travel of cleaning robot |
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