CN112515541A - Cleaning method and system based on mother-child linkage type floor sweeping robot - Google Patents
Cleaning method and system based on mother-child linkage type floor sweeping robot Download PDFInfo
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- CN112515541A CN112515541A CN201910877417.9A CN201910877417A CN112515541A CN 112515541 A CN112515541 A CN 112515541A CN 201910877417 A CN201910877417 A CN 201910877417A CN 112515541 A CN112515541 A CN 112515541A
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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
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Abstract
The invention discloses a cleaning method based on a mother-child linkage type sweeping robot, wherein the sweeping robot comprises a mother machine and a child machine and comprises the following steps: step S1, starting a master machine, cleaning the master machine along the edge in the required cleaning space, and simultaneously acquiring the terrain contour information and the obstacle information of the required cleaning space; step S2, judging whether a cleaning blind area which the mother machine can not enter exists in the required cleaning space; step S3, if no cleaning blind area exists, the master machine plans a main route; if the cleaning blind area exists, the master machine plans a main route and a sub route; step S4, the master machine executes the main route instruction; in step S5, the slave unit executes the sub-route command. According to the sweeping robot, the technical problems that an existing sweeping robot cannot sweep a narrow area and the sweeping effect is not ideal are solved through linkage control over the master machine and the slave machine, and a system using the sweeping robot is further provided, the control method is simple, and the intelligent degree is high.
Description
Technical Field
The invention relates to the field of smart home, in particular to a cleaning method and a cleaning system based on a mother-child linkage type floor sweeping robot.
Background
The floor sweeping robot has the function of sweeping the ground, does not need a user to manually sweep the ground, well liberates the hands of the user, and can realize remote control simultaneously, so that the time arrangement of the user is more efficient and convenient.
However, the existing sweeping robot is not ideal in sweeping effect when used in some specific application scenes. For example, because the overall size of the existing sweeping robot is relatively large, some narrow areas smaller than the occupied space of the existing sweeping robot may exist, and the sweeping robot cannot enter the narrow areas to sweep, so that blind areas, such as narrow gaps between furniture, low positions at the bottom of a bed at the bottom of a sofa, or corners of walls, are swept, and the garbage in the areas is accumulated more and more, and finally the sweeping effect of the existing sweeping robot is not ideal.
In the prior art, the size of the sweeping robot is too large and cannot be reduced, mainly because the sweeping robot is provided with a basic moving device and a basic cleaning device, and is integrated with a plurality of functional modules for realizing the functions of indoor map formation, route planning, collision avoidance and the like in the sweeping robot correspondingly, and finally the sweeping robot is too large in size and the sweeping of a narrow area is influenced.
The concept of a parent-child sweeping robot is proposed in the existing patent, but the control method of the parent-child sweeping robot cannot effectively reduce the volume of the child robot, and because the volume of the child robot is still too large, when some smaller narrow and small areas in a sweeping space are swept, the child robot with the too large volume cannot well complete a corresponding sweeping task, so that the sweeping space still has a sweeping dead angle.
Disclosure of Invention
The invention aims to provide a cleaning method based on a master-slave linkage type sweeping robot, which solves the technical problem that the sweeping robot in the prior art cannot sweep a narrow area due to overlarge volume and causes unsatisfactory sweeping effect by linkage control of a master machine and a slave machine.
The invention also aims to provide a system using the cleaning method, which has the advantages of simple control method and higher intelligent degree, so as to overcome the defects in the prior art.
In order to achieve the purpose, the invention adopts the following technical scheme:
a cleaning method based on a mother-child linkage type cleaning robot comprises a mother machine and a child machine, wherein the volume of the child machine is smaller than that of the mother machine, and the cleaning method comprises the following steps:
step S1, starting a master machine, cleaning the master machine along the edge in the required cleaning space, and simultaneously acquiring the terrain contour information and the obstacle information of the required cleaning space;
step S2, the master machine judges whether a cleaning blind area which the master machine can not enter exists in the required cleaning space or not according to the terrain contour information and the obstacle information obtained in the step S1;
step S3, if no cleaning blind area exists in the required cleaning space, the main machine plans a main route for self cleaning; if a cleaning blind area exists in the space needing to be cleaned, planning a main route for cleaning by the master machine, planning a sub route for cleaning by the slave machine, and sending a sub route command to the slave machine;
step S4, the master machine executes the main route instruction;
in step S5, the slave unit receives the sub-route command from the master unit in step S3, and then starts up to execute the sub-route command.
Preferably, step S4 specifically includes the following steps:
step S40, the master machine simultaneously acquires terrain contour information and obstacle information of cleaning blind areas of other irregular cleaning routes in the required cleaning space in the cleaning process according to the main route in the step S3;
step S41, the master machine plans a second sub-route for cleaning the slave machine according to the terrain profile information and the obstacle information obtained in the step S40, and sends a second sub-route command to the slave machine;
when the blind area is still cleared in the required cleaning space, repeating the step S40 and the step S41, and sending the generated plurality of sub-route commands to the submachine;
when the required cleaning space does not have a blind area, executing step S42;
step S42, the master machine executes the main route instruction;
step S5 specifically includes the following steps:
step S50, the sub-machine receives the sub-route command sent by the main machine in the step S3 and then starts to execute the sub-route command;
in step S51, if the slave unit receives the second sub-route command from the master unit in step S41, the slave unit executes the next sub-route command after executing the sub-route command, and so on until all sub-route commands are executed.
Preferably, the steps S40 and S41 specifically include the following steps:
step S40, the master machine acquires terrain contour information and obstacle information of a cleaning blind area in a space needing to be cleaned in the process of cleaning according to the main route in the step S3, and simultaneously acquires the current position information of the slave machine after the slave machine completes the command of the previous sub route in real time;
step S41, the master machine plans a second sub-route for cleaning the slave machine according to the terrain profile information and the obstacle information obtained in the step S40 and the current position information of the slave machine obtained in real time, and sends a second sub-route command to the slave machine;
when the blind area is still cleared in the required cleaning space, repeating the step S40 and the step S41, and sending the generated plurality of sub-route commands to the submachine;
when the required cleaning space does not have the blind area, step S42 is executed.
Preferably, in step S41, the second sub-route command includes at least a route command for the sub-machine to reach the cleaning blind area from the current position information after the completion of the previous sub-route command, and a cleaning route command for the sub-machine in the cleaning blind area.
Preferably, step S2 specifically includes the following steps:
step S21, the master machine detects the shortest distance between two side walls of the topographic profile in the space to be cleaned, and if the shortest distance is greater than the width of the master machine, a cleaning blind area which the master machine cannot enter does not exist; if the shortest distance is smaller than the width of the master machine, a cleaning blind area which the master machine cannot enter exists;
step S22, the master machine detects the obstacles in the space to be cleaned and obtains the distance between two adjacent obstacles, if the distance between two adjacent obstacles is larger than the width of the master machine, a cleaning blind area which the master machine can not enter does not exist; if the distance between two adjacent obstacles is smaller than the width of the master machine, a cleaning blind area which the master machine cannot enter exists;
step S23, the master machine detects the obstacle in the space to be cleaned and obtains the height of the lowest surface of the obstacle from the ground, if the height of the lowest surface of the obstacle from the ground is larger than the height of the master machine, a cleaning blind area which the master machine cannot enter does not exist; if the height of the lowest surface of the obstacle from the ground is smaller than the height of the main machine, a cleaning blind area which can not be entered by the main machine exists.
A sweeping robot control system using the sweeping method comprises an acquisition module, a judgment module, a data processing module, an execution module, a storage module, a sub-execution module and a communication module; the acquisition module, the judgment module and the data processing module are positioned in the master machine, the storage module is positioned in the slave machine, the execution module and the communication module are arranged in the master machine and the slave machine, the execution module comprises a mobile device and a cleaning device, and the communication module is connected with the data processing module and the storage module;
in the main machine, the main machine is provided with a plurality of main machines,
the acquisition module is used for acquiring topographic profile information and obstacle information of a space to be cleaned and sending the topographic profile information and the obstacle information to the judgment module and the data processing module;
the judging module is used for judging whether a cleaning blind area which cannot be entered by the master machine exists in the required cleaning space or not according to the terrain contour information and the obstacle information and sending a judging result to the data processing module;
the data processing module is used for screening, processing and sending terrain contour information and obstacle information of a space required to be cleaned, wherein the screening comprises selecting effective terrain contour information and obstacle information, the processing comprises planning a corresponding cleaning route and forming a main route and a sub route instruction according to the terrain contour information and the obstacle information based on a judgment result, and the sending comprises sending the sub route instruction to the storage module;
the execution module is used for executing the main route instruction by the master machine;
in the sub-machine, the sub-machine is provided with a plurality of sub-machines,
the storage module is used for receiving and storing the sub-route instruction;
and the execution module is used for the submachine to execute the sub-route instruction.
Preferably, the acquisition module is further configured to acquire terrain contour information and obstacle information of cleaning blind areas of other irregular cleaning routes in the space to be cleaned, and send the terrain contour information and the obstacle information to the data processing module;
the data processing module is further used for screening, processing and sending terrain contour information and obstacle information of the cleaning blind area, wherein the screening comprises selecting effective terrain contour information and obstacle information of the cleaning blind area, the processing comprises planning a corresponding cleaning route and forming a second sub-route instruction according to the terrain contour information and the obstacle information of the cleaning blind area, and the sending comprises sending the second sub-route instruction to the storage module.
Preferably, the submachine further comprises a positioning module, the communication module is connected with the data processing module and the positioning module, and the positioning module is used for acquiring the current position information of the submachine in real time and sending the current position information to the data processing module;
the data processing module is further used for screening, processing and sending the sub-machine current position information acquired in real time, specifically, the screening comprises selecting effective sub-machine current position information acquired in real time, the processing comprises planning a corresponding cleaning route and forming a second sub-route instruction according to terrain profile information of a cleaning blind area, obstacle information and sub-machine current position information acquired in real time, and the sending comprises sending the second sub-route instruction to the storage module.
Preferably, the acquisition module further comprises a detection unit;
the detection unit is used for detecting the shortest distance between two side walls of the terrain contour in the space to be cleaned, detecting the obstacles in the space to be cleaned, acquiring the distance between two adjacent obstacles and detecting the height of the lowest surface of each obstacle from the ground;
the judging module is also used for pre-storing the width data of the mother machine, comparing the shortest distance between two side walls with the width of the mother machine, comparing the distance between two adjacent obstacles with the width of the mother machine and forming a judging result.
Preferably, the execution module located in the sub-machine comprises an inertial navigator for implementing the mobile function.
Preferably, the cleaning device in the sub-machine is connected with the cleaning device in the line machine through an air bag.
The invention has the beneficial effects that: according to the technical scheme, the sweeping method based on the primary-secondary linkage type sweeping robot is provided, the technical problem that the sweeping robot cannot sweep a narrow area due to overlarge size and the sweeping effect is not ideal in the prior art is solved through linkage control of the primary machine and the secondary machine, and a system using the sweeping method is further provided, the control method is simple, the intelligent degree is high, and the defects in the prior art are overcome.
Drawings
The drawings are further illustrative of the invention and the content of the drawings does not constitute any limitation of the invention.
Fig. 1 is a flow chart of a cleaning method based on a mother-child linkage type sweeping robot.
Detailed Description
The technical scheme of the invention is further explained by the specific implementation mode in combination with the attached drawings.
A cleaning method based on a mother-child linkage type cleaning robot comprises a mother machine and a child machine, wherein the volume of the child machine is smaller than that of the mother machine, and the cleaning method comprises the following steps:
step S1, starting a master machine, cleaning the master machine along the edge in the required cleaning space, and simultaneously acquiring the terrain contour information and the obstacle information of the required cleaning space;
step S2, the master machine judges whether a cleaning blind area which the master machine can not enter exists in the required cleaning space or not according to the terrain contour information and the obstacle information obtained in the step S1;
step S3, if no cleaning blind area exists in the required cleaning space, the main machine plans a main route for self cleaning; if a cleaning blind area exists in the space needing to be cleaned, planning a main route for cleaning by the master machine, planning a sub route for cleaning by the slave machine, and sending a sub route command to the slave machine;
step S4, the master machine executes the main route instruction;
in step S5, the slave unit receives the sub-route command from the master unit in step S3, and then starts up to execute the sub-route command.
The existing sweeping robot is used in some specific application scenes, and the sweeping effect is not ideal. For example, because the whole volume ratio of the current robot of sweeping the floor is great, there are some narrow and small areas that are less than the floor space of the current robot of sweeping the floor, the robot of sweeping the floor cleans because of unable entering this narrow and small area, therefore leads to appearing cleaning the blind area, like narrow and small gap between the furniture, sofa bed end low such as the bed end or be corner etc. and the rubbish in these areas just can pile up more, finally lead to the cleaning effect of the current machine of sweeping the floor not ideal, be not enough to satisfy the requirement to intelligent house in the modernized development.
The technical scheme provides a sweeping method based on a primary-secondary linkage sweeping robot, the sweeping robot comprises a primary machine and a secondary machine, the primary machine is the volume of a conventional sweeping robot in the prior art, the volume of the secondary machine is smaller than that of the primary machine, the secondary machine can enter some relatively narrow areas and can sweep, and the sweeping method comprises the following steps:
step S1, starting a master machine, cleaning the master machine along the edge in the required cleaning space, and simultaneously acquiring the terrain contour information and the obstacle information of the required cleaning space; the primary machine firstly needs to clean along the edge in the required cleaning space, and obtains the overall primary information in the required cleaning space while cleaning, so that the primary machine can be conveniently and regularly adapted to the cleaning route of the primary machine according to the primary information.
Step S2, the master machine judges whether a cleaning blind area which the master machine can not enter exists in the required cleaning space or not according to the terrain contour information and the obstacle information obtained in the step S1; in step S2, the master needs to divide the space to be cleaned into two areas according to the preliminary information obtained in step S1, wherein the two areas are the master cleaning area and the slave cleaning area, i.e. the blind cleaning area of the master, so as to provide a basis for the subsequent cleaning robot to realize efficient cleaning.
Step S3, if no cleaning blind area exists in the required cleaning space, the main machine plans a main route for self cleaning; if a cleaning blind area exists in the space needing to be cleaned, planning a main route for cleaning by the master machine, planning a sub route for cleaning by the slave machine, and sending a sub route command to the slave machine; in the technical scheme, both the main route cleaned by the master machine and the sub-route cleaned by the sub-machine are collected and regulated by the master machine, when the master machine plans the main route for cleaning, the master machine executes the cleaning task according to the main route command, and when the master machine plans the sub-route for cleaning by the sub-machine, the sub-route command is sent to the sub-machine, and the sub-machine executes the cleaning task according to the sub-route command. The function of occupying larger floor space of the sweeping robot is realized by the master machine, and the submachine only needs to receive a control command of the master machine to execute a corresponding sweeping task, so that the function of the submachine is effectively simplified, only the most basic execution function and the function of communicating with the master machine are reserved, the internal hardware structure of the submachine is simplified, the submachine has smaller volume, can enter a narrow area to sweep, and the problem that the narrow area can not be swept in the prior art is solved; particularly, the real-time communication of the control signals can be realized between the submachine and the master machine; thereby let mother's machine and daughter can realize the linkage, cooperate jointly, reach the effect of more intelligent and comprehensive cleaning.
It should be noted that, because the slave unit does not have the function of collecting and regulating the route, the sub-route command obtained by the slave unit from the master unit may include the moving direction of the slave unit, the travel and turning time node of each movement, and the sub-route command is transmitted from the master unit to the slave unit through the communication module, and the execution module of the slave unit realizes the movement and cleaning under the control of the sub-route command.
Step S4, the master machine executes the main route instruction;
in step S5, the slave unit executes the sub-route command after receiving the sub-route command issued by the master unit in step S3.
In one implementation of the technical scheme, the master machine and the slave machine adopt a master-slave following type control scheme. Specifically, the submachine man follows behind the master machine, and the master machine and the submachine firstly clean according to a main route instruction; when the sub-machine reaches the blind area cleaning area, the sub-machine executes the sub-route instruction, returns to the main route after the execution is finished, and continues to follow the rear of the main machine, so that the purpose of cleaning a narrow area is achieved.
In one implementation of the technical scheme, the master machine and the slave machine are connected through a connecting structure, and the connecting structure can be a connecting arm or a connecting rod and the like. Specifically, the submachine man is connected to the rear of the master machine through a connecting structure, and the master machine and the submachine firstly clean according to a main route instruction; when the sub-machine reaches the blind area cleaning area, the sub-machine executes the sub-route instruction, returns to the main route after the execution is finished, and continues to follow the rear of the main machine, so that the purpose of cleaning a narrow area is achieved.
In another embodiment of the present invention, the master unit and the slave unit may be integrated in a structure, and the slave unit may be separated from the master unit. Specifically, the submachine and the master machine are arranged integrally, and the combined body of the master machine and the submachine is cleaned according to a main route instruction; when the combined body reaches the blind area cleaning area, the sub machine is separated from the combined body to execute the sub route instruction, and after the execution is finished, the sub machine and the main machine are combined to be combined and continue to execute the main route instruction, so that the purpose of cleaning a narrow area is achieved.
In a preferred implementation of the present technical solution, the master machine and the slave machine may be independent from each other and do not affect each other. Specifically, the master machine and the slave machine can respectively complete respective cleaning tasks, so that the step S4 and the step S5 can be simultaneously performed, the cleaning work of the master machine cleaning region and the cleaning work of the slave machine cleaning region are simultaneously performed, the cleaning efficiency is improved while the cleaning effect is improved, the use experience of a user is improved, and the requirements for intelligent home furnishing in modern development are met.
Further, step S4 specifically includes the following steps:
step S40, the master machine simultaneously acquires terrain contour information and obstacle information of cleaning blind areas of other irregular cleaning routes in the required cleaning space in the cleaning process according to the main route in the step S3;
step S41, the master machine plans a second sub-route for cleaning the slave machine according to the terrain profile information and the obstacle information obtained in the step S40, and sends a second sub-route command to the slave machine;
when the blind area is still cleared in the required cleaning space, repeating the step S40 and the step S41, and sending the generated plurality of sub-route commands to the submachine;
when the required cleaning space does not have a blind area, executing step S42;
step S42, the master machine executes the main route instruction;
step S5 specifically includes the following steps:
step S50, the sub-machine receives the sub-route command sent by the main machine in the step S3 and then starts to execute the sub-route command;
in step S51, if the slave unit receives the second sub-route command from the master unit in step S41, the slave unit executes the next sub-route command after executing the sub-route command, and so on until all sub-route commands are executed.
As a preferable scheme of the technical scheme, the technical scheme further optimizes the acquisition process of the terrain profile information and the obstacle information so as to improve the cleaning coverage rate in the required cleaning space. Specifically, the method comprises the following steps:
in step S1 of the present technical solution, the parent robot cleans along the edge in the required cleaning space, and simultaneously acquires the terrain profile information and the obstacle information of the required cleaning space, and at this time, only the overall preliminary information in the required cleaning space is obtained, where the preliminary information is limited, in order to prevent some other spatial areas in the required cleaning space from not being acquired when the parent machine cleans the edge, the present technical solution adds a compensation acquisition step, that is, step S40, and in the process that the parent machine cleans according to the main route in step S3, the parent machine simultaneously acquires the terrain profile information and the obstacle information of the cleaning blind areas of other irregular cleaning routes in the required cleaning space; when the main machine cleans according to the main route instruction, the information of other cleaning blind areas which are not cleaned by the regular route is compensated and collected, so that the cleaning coverage rate in the required cleaning space can be effectively improved, and the cleaning of the cleaning robot is more reasonable and comprehensive. After the master machine collects the compensation information, a second sub-route for cleaning the submachine is planned according to the compensation information, and a command of the second sub-route is sent to the submachine, and the submachine is responsible for cleaning a blind area;
it should be noted that, in the process of collecting compensation information by the master, there may be not only a blind cleaning area that is missed to collect, so in the cleaning method of the present technical solution, a step of collecting repeatedly is also provided, when there is still a blind cleaning area in the space that needs to be cleaned, step S40 and step S41 are repeated, and a plurality of generated sub-route commands are sent to the slave unit, and the slave unit returns to the charging stand until the master unit collects information of a complete main route, so as to ensure that each area in the space that needs to be cleaned can be covered, thereby improving the cleaning effect.
The cleaning task of the slave unit mainly comes from the transmission of a real-time control instruction of the master unit, and the slave unit is started after receiving the sub-line command sent by the master unit in the step S3 to execute the sub-line command; if the slave unit receives the second sub-route command from the master unit in step S41, the slave unit executes the next sub-route command after executing the sub-route command, and so on until all sub-route commands are executed and the charging dock is returned.
Further, the steps S40 and S41 specifically include the following steps:
step S40, the master machine acquires terrain contour information and obstacle information of a cleaning blind area in a space needing to be cleaned in the process of cleaning according to the main route in the step S3, and simultaneously acquires the current position information of the slave machine after the slave machine completes the command of the previous sub route in real time;
step S41, the master machine plans a second sub-route for cleaning the slave machine according to the terrain profile information and the obstacle information obtained in the step S40 and the current position information of the slave machine obtained in real time, and sends a second sub-route command to the slave machine;
when the blind area is still cleared in the required cleaning space, repeating the step S40 and the step S41, and sending the generated plurality of sub-route commands to the submachine;
when the required cleaning space does not have the blind area, step S42 is executed.
In the technical scheme, the master machine also acquires the current position information of the slave machine after the slave machine completes the previous sub-route command in real time so as to rule a better sub-route.
Further, in a preferred embodiment of the present invention, the master unit and the slave unit may be independent from each other and do not affect each other. If the sub-route is regulated only according to the terrain profile information and the obstacle information of the cleaning blind area, the sub-machine starts from the charging seat to the cleaning blind area, returns to the charging seat after the cleaning in the cleaning blind area is finished, and can execute the next sub-route instruction after the complete sub-route instruction cycle is finished. Therefore, in order to save unnecessary traveling routes of the submachine, such as a route for returning to a charging seat back and forth and the like, the technical scheme enables the master machine to acquire the current position information of the submachine after the submachine finishes the previous sub-route command in real time so as to rule a better sub-route.
Specifically, the sub-unit mainly has three time periods when receiving the next sub-route command of the main unit, wherein the first time period is on the way that the sub-unit goes to the blind area cleaned by the sub-route command of the current time, the second time period is on the way that the sub-unit executes the sub-route command of the current time, and the third time period is on the way that the sub-unit returns to the charging seat after executing the sub-route command of the current time.
Aiming at the three conditions, the master machine can acquire the current position information of the submachine after the submachine finishes the previous sub-route command in real time, so that the submachine executes the next sub-route command according to a more optimal sub-route rule, and more specifically:
when the submachine receives a next sub-route command of the master machine on a route of the sub-route command cleaning blind area of the time, the submachine firstly goes to execute the sub-route command of the time, and after the sub-route command of the time is executed, the master machine acquires the current position information of the submachine in real time and replans the sub-route of the submachine from the current position of the submachine to the next cleaning blind area for cleaning;
when the submachine receives a next sub-route command of the master machine in the process of executing the sub-route command, the submachine executes the sub-route command firstly, and after the sub-route command is executed, the master machine acquires the current position information of the submachine in real time and replans the submachine current position to a next cleaning blind area and cleans the submachine sub-route;
and when the sub-machine returns to the charging seat after the sub-machine executes the sub-route command, receiving the next sub-route command of the main machine, acquiring the current position information of the sub-machine in real time by the main machine, and re-planning the sub-route from the current position of the sub-machine to the next cleaning blind area for cleaning.
In step S41, the second sub-route command at least includes a route command for the sub-machine to reach the cleaning blind area from the current position information after the completion of the previous sub-route command, and a cleaning route command for the sub-machine in the cleaning blind area.
In step S41, the second sub-route command at least includes a route command for the sub-machine to reach the cleaning blind area from the current position information after the completion of the previous sub-route command, and a cleaning route command for the sub-machine in the cleaning blind area.
Because the submachine possibly encounters an obstacle or is overlapped with a main route of the master machine in a route from the current position information after the previous sub-route command is completed to the cleaning blind area, in order to avoid unnecessary influence on the submachine, the master machine needs to carry out reasonable rules on the route from the current position information after the previous sub-route command is completed to the cleaning blind area; specifically, the route command may include a moving direction of the slave machine, a travel per movement, a turning time node, and the like;
further, since the topographic contour information and the obstacle information in the cleaning blind area are different from each other, in order to achieve the optimal cleaning effect, the master needs to regulate a cleaning route command for the sub-machine to clean according to the topographic contour information and the obstacle information in the cleaning blind area, specifically, the cleaning route command in the cleaning blind area may include a cleaning trajectory in addition to a moving direction, a travel per movement, a turning time node, and the like of the sub-machine, and particularly, the cleaning trajectory may determine a cleaning path for performing a "Z" shaped trajectory or a cleaning path for a spiral trajectory or the like according to the topographic contour information.
Further, step S2 specifically includes the following steps:
step S21, the master machine detects the shortest distance between two side walls of the topographic profile in the space to be cleaned, and if the shortest distance is greater than the width of the master machine, a cleaning blind area which the master machine cannot enter does not exist; if the shortest distance is smaller than the width of the master machine, a cleaning blind area which the master machine cannot enter exists;
step S22, the master machine detects the obstacles in the space to be cleaned and obtains the distance between two adjacent obstacles, if the distance between two adjacent obstacles is larger than the width of the master machine, a cleaning blind area which the master machine can not enter does not exist; if the distance between two adjacent obstacles is smaller than the width of the master machine, a cleaning blind area which the master machine cannot enter exists;
step S23, the master machine detects the obstacle in the space to be cleaned and obtains the height of the lowest surface of the obstacle from the ground, if the height of the lowest surface of the obstacle from the ground is larger than the height of the master machine, a cleaning blind area which the master machine cannot enter does not exist; if the height of the lowest surface of the obstacle from the ground is smaller than the height of the main machine, a cleaning blind area which can not be entered by the main machine exists.
In step S2 of the present embodiment, the master determines whether or not a blind cleaning area, in which the master cannot enter, exists in the space to be cleaned, based on the topographic profile information and the obstacle information obtained in step S1. The specific judgment logic is as follows:
first, the master machine detects the shortest distance between the two side walls of the terrain contour in the space to be cleaned, and specifically, the master machine determines whether a cleaning blind area, in which the master machine cannot enter, exists in the space to be cleaned according to the terrain contour information obtained in step S1, that is, the shortest distance between the two side walls of the terrain contour and the width of the master machine itself are compared. For example, at a corner of the terrain contour, although no obstacle exists at the corner to block the entrance of the sweeping robot, a sub-machine is required to perform a corresponding sweeping task because a corner which cannot be swept by the sweeping robot exists between the corner and the sweeping robot.
Then, the master machine detects the obstacle in the space to be cleaned and obtains the distance between two adjacent obstacles, and specifically, the master machine determines whether a blind cleaning area, into which the master machine cannot enter, exists in the space to be cleaned according to the obstacle information obtained in step S1, that is, the distance between two adjacent obstacles and the width of the master machine itself. For example, at two legs of a table with a small volume, a master machine with a large volume cannot clean the area under the table through two narrow legs, and at this time, a slave machine is required to perform a corresponding cleaning task.
Further, the base unit detects the obstacle in the space to be cleaned and obtains the height of the lowest surface of the obstacle from the ground, and specifically, the base unit determines whether a blind cleaning area, in which the base unit cannot enter, exists in the space to be cleaned according to the obstacle information obtained in step S1, that is, the height of the lowest surface of the obstacle from the ground and the height of the base unit itself. For example, in a low place such as a sofa bottom, a relatively high base unit cannot clean the inside of the low place due to the height of the low place, and in this case, a sub-unit is required to perform a corresponding cleaning task.
A sweeping robot control system using the sweeping method comprises an acquisition module, a judgment module, a data processing module, an execution module, a storage module, a sub-execution module and a communication module; the acquisition module, the judgment module and the data processing module are positioned in the master machine, the storage module is positioned in the slave machine, the execution module and the communication module are arranged in the master machine and the slave machine, the execution module comprises a mobile device and a cleaning device, and the communication module is connected with the data processing module and the storage module;
in the main machine, the main machine is provided with a plurality of main machines,
the acquisition module is used for acquiring topographic profile information and obstacle information of a space to be cleaned and sending the topographic profile information and the obstacle information to the judgment module and the data processing module;
the judging module is used for judging whether a cleaning blind area which cannot be entered by the master machine exists in the required cleaning space or not according to the terrain contour information and the obstacle information and sending a judging result to the data processing module;
the data processing module is used for screening, processing and sending terrain contour information and obstacle information of a space required to be cleaned, wherein the screening comprises selecting effective terrain contour information and obstacle information, the processing comprises planning a corresponding cleaning route and forming a main route and a sub route instruction according to the terrain contour information and the obstacle information based on a judgment result, and the sending comprises sending the sub route instruction to the storage module;
the execution module is used for executing the main route instruction by the master machine;
in the sub-machine, the sub-machine is provided with a plurality of sub-machines,
the storage module is used for receiving and storing the sub-route instruction;
and the execution module is used for the submachine to execute the sub-route instruction.
The communication module is located in the master machine and the slave machine and is connected with the data processing module and the storage module, so that real-time communication of control instructions between the slave machine and the master machine is achieved, linkage and cooperation are achieved between the master machine and the slave machine, and the effects of more intelligent and comprehensive cleaning are achieved.
Because the function setting of the submachine only needs to transmit the control instruction and realize the mobile cleaning, the internal module of the submachine only needs to be provided with a communication module occupying less space, a storage module and an execution module, it needs to be explained that the execution module comprises a mobile device and a cleaning device, the function of the submachine is effectively simplified by the setting, only the most basic execution function is reserved, and the function of communicating with the master machine is reserved, so that the internal hardware structure of the submachine is simplified, the submachine has smaller volume, the submachine can enter a narrow area to clean, and the problem that the narrow area cannot be cleaned in the prior art is solved.
Preferably, since the cleaning area of the slave unit is small, a small or miniature module capable of realizing the function can be used as each necessary component for the function, and the overall size of the slave unit is further reduced, thereby facilitating cleaning in a narrower area.
Further, the acquisition module is further configured to acquire terrain contour information and obstacle information of cleaning blind areas of other irregular cleaning routes in the space to be cleaned, and send the terrain contour information and the obstacle information to the data processing module;
the data processing module is further used for screening, processing and sending terrain contour information and obstacle information of the cleaning blind area, wherein the screening comprises selecting effective terrain contour information and obstacle information of the cleaning blind area, the processing comprises planning a corresponding cleaning route and forming a second sub-route instruction according to the terrain contour information and the obstacle information of the cleaning blind area, and the sending comprises sending the second sub-route instruction to the storage module.
Specifically, the acquisition module is provided with a probe for acquiring topographic profile information and obstacle information of cleaning blind areas of other irregular cleaning routes in a space to be cleaned, and the probe can be a sensor for realizing scanning acquisition functions of a radar, a laser scanner and the like.
Further, the submachine further comprises a positioning module, the communication module is connected with the data processing module and the positioning module, and the positioning module is used for acquiring the current position information of the submachine in real time and sending the current position information to the data processing module;
the data processing module is further used for screening, processing and sending the sub-machine current position information acquired in real time, specifically, the screening comprises selecting effective sub-machine current position information acquired in real time, the processing comprises planning a corresponding cleaning route and forming a second sub-route instruction according to terrain profile information of a cleaning blind area, obstacle information and sub-machine current position information acquired in real time, and the sending comprises sending the second sub-route instruction to the storage module.
Further, the acquisition module further comprises a detection unit;
the detection unit is used for detecting the shortest distance between two side walls of the terrain contour in the space to be cleaned, detecting the obstacles in the space to be cleaned, acquiring the distance between two adjacent obstacles and detecting the height of the lowest surface of each obstacle from the ground;
the judging module is also used for pre-storing the width data of the mother machine, comparing the shortest distance between two side walls with the width of the mother machine, comparing the distance between two adjacent obstacles with the width of the mother machine and forming a judging result.
Specifically, the detection unit is provided with a distance measuring sensor for detecting a distance, and the distance measuring sensor may be an infrared distance measuring sensor, a photoelectric sensor, or the like.
Further, the execution module in the sub-machine comprises an inertial navigator for realizing the mobile function.
The inertial navigator measures the acceleration of the carrier body by using an inertial element (accelerometer), obtains the speed and the position by integration and operation, and achieves the purpose of navigation and positioning of the carrier body.
This technical scheme uses the inertial navigation appearance to the submachine among this technical scheme in, make it realize the removal function according to sub route order, because the inertial navigation appearance does not rely on external information during operation, also to external radiant energy, be difficult for receiving the interference, consequently, sub route order is received to the submachine, the inertial navigation appearance begins the during operation, the removal of submachine just can not receive the influence of mother machine, namely the submachine only need receive the sub route order after, just can break away from the off-line work under the control command of mother machine, can effectively avoid in the actual operation, the condition of card machine or power failure appears in the mother machine because of realizing gathering or rule often, thereby lead to the condition that the submachine can not normally work to appear, for the ability of anti-interference when improving the submachine work.
In a further description, the cleaning device in the sub-machine is connected with the cleaning device in the thread machine through an air bag.
In one implementation of the technical scheme, the master machine and the slave machine are connected through a connecting structure, and the connecting structure is a wind bag. Specifically, the submachine is connected to the rear of the master machine through an air bag, and the master machine and the submachine firstly clean according to a main route instruction; when the sub-machine reaches the blind area, the sub-machine executes the sub-route instruction, and returns to the main route after the sub-machine finishes executing the main route instruction and continues executing the main route instruction.
Because in cleaning device, the fan mainly plays the effect of absorbing rubbish, the inner space that it occupied is great, consequently in this technical scheme, regard the wind bag as the connection structure of connecting master and submachine, make a fan that master and submachine can share, because the wind bag is soft connection structure, consequently, the route of cleaning of submachine can not receive great influence, and the fan setting that will occupy great inner space is in the master, connect the wind bag between the cleaning device of master and the cleaning device of submachine, when guaranteeing the normal realization of cleaning function, can reduce the volume of submachine effectively, more be favorable to the submachine to get into narrower region and clean.
The technical principle of the present invention is described above in connection with specific embodiments. The description is made for the purpose of illustrating the principles of the invention and should not be construed in any way as limiting the scope of the invention. Based on the explanations herein, those skilled in the art will be able to conceive of other embodiments of the present invention without inventive effort, which would fall within the scope of the present invention.
Claims (11)
1. A cleaning method based on a mother-child linkage type cleaning robot comprises a mother machine and a child machine, and is characterized in that the volume of the child machine is smaller than that of the mother machine, and the cleaning method comprises the following steps:
step S1, starting a master machine, cleaning the master machine along the edge in the required cleaning space, and simultaneously acquiring the terrain contour information and the obstacle information of the required cleaning space;
step S2, the master machine judges whether a cleaning blind area which the master machine can not enter exists in the required cleaning space or not according to the terrain contour information and the obstacle information obtained in the step S1;
step S3, if no cleaning blind area exists in the required cleaning space, the main machine plans a main route for self cleaning; if a cleaning blind area exists in the space needing to be cleaned, planning a main route for cleaning by the master machine, planning a sub route for cleaning by the slave machine, and sending a sub route command to the slave machine;
step S4, the master machine executes the main route instruction;
in step S5, the slave unit receives the sub-route command from the master unit in step S3, and then starts up to execute the sub-route command.
2. The cleaning method based on the mother-child linked floor sweeping robot as claimed in claim 1, wherein the step S4 specifically comprises the following steps:
step S40, the master machine simultaneously acquires terrain contour information and obstacle information of cleaning blind areas of other irregular cleaning routes in the required cleaning space in the cleaning process according to the main route in the step S3;
step S41, the master machine plans a second sub-route for cleaning the slave machine according to the terrain profile information and the obstacle information obtained in the step S40, and sends a second sub-route command to the slave machine;
when the blind area is still cleared in the required cleaning space, repeating the step S40 and the step S41, and sending the generated plurality of sub-route commands to the submachine;
when the required cleaning space does not have a blind area, executing step S42;
step S42, the master machine executes the main route instruction;
step S5 specifically includes the following steps:
step S50, the sub-machine receives the sub-route command sent by the main machine in the step S3 and then starts to execute the sub-route command;
in step S51, if the slave unit receives the second sub-route command from the master unit in step S41, the slave unit executes the next sub-route command after executing the sub-route command, and so on until all sub-route commands are executed.
3. The cleaning method based on the mother-child linked sweeping robot as claimed in claim 2, wherein the steps S40 and S41 specifically comprise the following steps:
step S40, the master machine acquires terrain contour information and obstacle information of a cleaning blind area in a space needing to be cleaned in the process of cleaning according to the main route in the step S3, and simultaneously acquires the current position information of the slave machine after the slave machine completes the command of the previous sub route in real time;
step S41, the master machine plans a second sub-route for cleaning the slave machine according to the terrain profile information and the obstacle information obtained in the step S40 and the current position information of the slave machine obtained in real time, and sends a second sub-route command to the slave machine;
when the blind area is still cleared in the required cleaning space, repeating the step S40 and the step S41, and sending the generated plurality of sub-route commands to the submachine;
when the required cleaning space does not have the blind area, step S42 is executed.
4. The cleaning method based on the mother-child linkage type floor sweeping robot as claimed in claim 3, characterized in that: in step S41, the second sub-route command at least includes a route command for the sub-machine to reach the cleaning blind area from the current position information after the completion of the previous sub-route command, and a cleaning route command for the sub-machine in the cleaning blind area.
5. The cleaning method based on the mother-child linked floor sweeping robot as claimed in claim 1, wherein the step S2 specifically comprises the following steps:
step S21, the master machine detects the shortest distance between two side walls of the topographic profile in the space to be cleaned, and if the shortest distance is greater than the width of the master machine, a cleaning blind area which the master machine cannot enter does not exist; if the shortest distance is smaller than the width of the master machine, a cleaning blind area which the master machine cannot enter exists;
step S22, the master machine detects the obstacles in the space to be cleaned and obtains the distance between two adjacent obstacles, if the distance between two adjacent obstacles is larger than the width of the master machine, a cleaning blind area which the master machine can not enter does not exist; if the distance between two adjacent obstacles is smaller than the width of the master machine, a cleaning blind area which the master machine cannot enter exists;
step S23, the master machine detects the obstacle in the space to be cleaned and obtains the height of the lowest surface of the obstacle from the ground, if the height of the lowest surface of the obstacle from the ground is larger than the height of the master machine, a cleaning blind area which the master machine cannot enter does not exist; if the height of the lowest surface of the obstacle from the ground is smaller than the height of the main machine, a cleaning blind area which can not be entered by the main machine exists.
6. A sweeping robot control system using the sweeping method according to any one of claims 1 to 5, characterized in that: the device comprises an acquisition module, a judgment module, a data processing module, an execution module, a storage module, a sub-execution module and a communication module; the acquisition module, the judgment module and the data processing module are positioned in the master machine, the storage module is positioned in the slave machine, the execution module and the communication module are arranged in the master machine and the slave machine, the execution module comprises a mobile device and a cleaning device, and the communication module is connected with the data processing module and the storage module;
in the main machine, the main machine is provided with a plurality of main machines,
the acquisition module is used for acquiring topographic profile information and obstacle information of a space to be cleaned and sending the topographic profile information and the obstacle information to the judgment module and the data processing module;
the judging module is used for judging whether a cleaning blind area which cannot be entered by the master machine exists in the required cleaning space or not according to the terrain contour information and the obstacle information and sending a judging result to the data processing module;
the data processing module is used for screening, processing and sending terrain contour information and obstacle information of a space required to be cleaned, wherein the screening comprises selecting effective terrain contour information and obstacle information, the processing comprises planning a corresponding cleaning route and forming a main route and a sub route instruction according to the terrain contour information and the obstacle information based on a judgment result, and the sending comprises sending the sub route instruction to the storage module;
the execution module is used for executing the main route instruction by the master machine;
in the sub-machine, the sub-machine is provided with a plurality of sub-machines,
the storage module is used for receiving and storing the sub-route instruction;
and the execution module is used for the submachine to execute the sub-route instruction.
7. The robot sweeper control system of claim 6, wherein:
the acquisition module is also used for acquiring terrain contour information and obstacle information of cleaning blind areas of other irregular cleaning routes in the space to be cleaned and sending the terrain contour information and the obstacle information to the data processing module;
the data processing module is further used for screening, processing and sending terrain contour information and obstacle information of the cleaning blind area, wherein the screening comprises selecting effective terrain contour information and obstacle information of the cleaning blind area, the processing comprises planning a corresponding cleaning route and forming a second sub-route instruction according to the terrain contour information and the obstacle information of the cleaning blind area, and the sending comprises sending the second sub-route instruction to the storage module.
8. The robot sweeper control system of claim 7, wherein:
the submachine also comprises a positioning module, the communication module is connected with the data processing module and the positioning module, and the positioning module is used for acquiring the current position information of the submachine in real time and sending the current position information to the data processing module;
the data processing module is further used for screening, processing and sending the sub-machine current position information acquired in real time, specifically, the screening comprises selecting effective sub-machine current position information acquired in real time, the processing comprises planning a corresponding cleaning route and forming a second sub-route instruction according to terrain profile information of a cleaning blind area, obstacle information and sub-machine current position information acquired in real time, and the sending comprises sending the second sub-route instruction to the storage module.
9. The robot sweeper control system of claim 6, wherein: the acquisition module further comprises a detection unit;
the detection unit is used for detecting the shortest distance between two side walls of the terrain contour in the space to be cleaned, detecting the obstacles in the space to be cleaned, acquiring the distance between two adjacent obstacles and detecting the height of the lowest surface of each obstacle from the ground;
the judging module is also used for pre-storing the width data of the mother machine, comparing the shortest distance between two side walls with the width of the mother machine, comparing the distance between two adjacent obstacles with the width of the mother machine and forming a judging result.
10. The robot sweeper control system of claim 6, wherein: the execution module located in the sub-machine comprises an inertial navigator for realizing the mobile function.
11. The robot sweeper control system of claim 6, wherein: and the cleaning device positioned in the sub-machine is connected with the cleaning device in the line machine through an air bag.
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