CN114431801A - Sweeping robot control method, electronic equipment and storage medium - Google Patents
Sweeping robot control method, electronic equipment and storage medium Download PDFInfo
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- CN114431801A CN114431801A CN202210114277.1A CN202210114277A CN114431801A CN 114431801 A CN114431801 A CN 114431801A CN 202210114277 A CN202210114277 A CN 202210114277A CN 114431801 A CN114431801 A CN 114431801A
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- 238000010408 sweeping Methods 0.000 title claims abstract description 105
- 238000000034 method Methods 0.000 title claims abstract description 40
- 239000000428 dust Substances 0.000 claims abstract description 151
- 230000015654 memory Effects 0.000 claims description 16
- 241001417527 Pempheridae Species 0.000 claims description 7
- 239000000126 substance Substances 0.000 claims description 3
- 238000005259 measurement Methods 0.000 abstract description 3
- 230000001276 controlling effect Effects 0.000 description 6
- 230000003749 cleanliness Effects 0.000 description 3
- 238000010586 diagram Methods 0.000 description 3
- 230000000875 corresponding effect Effects 0.000 description 2
- 230000006870 function Effects 0.000 description 2
- 238000012545 processing Methods 0.000 description 2
- 238000004140 cleaning Methods 0.000 description 1
- 230000002596 correlated effect Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000002474 experimental method Methods 0.000 description 1
- 230000007246 mechanism Effects 0.000 description 1
- 238000010295 mobile communication Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 230000004044 response Effects 0.000 description 1
- 239000007787 solid Substances 0.000 description 1
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Classifications
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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
-
- 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
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L2201/00—Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L2201/00—Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
- A47L2201/06—Control of the cleaning action for autonomous devices; Automatic detection of the surface condition before, during or after cleaning
Landscapes
- Electric Vacuum Cleaner (AREA)
Abstract
The invention discloses a control method of a sweeping robot, electronic equipment and a storage medium. The method comprises the following steps: detecting the dust suction amount of a dust inlet of the sweeping robot; and controlling the traveling speed and/or the fan power of the sweeping robot according to the dust suction amount. According to the invention, the traveling speed and the fan power of the sweeping robot are controlled according to the dust suction amount of the dust inlet, and different control measurements can be adopted for the ground with different dust amounts, so that the sweeping robot can clean the ground more cleanly, and the efficiency is improved.
Description
Technical Field
The invention relates to the related technical field of household appliances, in particular to a sweeping robot control method, electronic equipment and a storage medium.
Background
The sweeping robot is constructed to raise dust by the sweeping mechanism and suck the dust into the dust collecting box from the dust inlet by the double fans.
However, the working speed of the existing sweeping robot is constant. When the ground with more dust is encountered, the dust amount cannot be detected, the cleaning is still carried out at the conventional travelling speed and time, and the cleanness degree of the ground cannot be ensured.
Disclosure of Invention
Accordingly, it is necessary to provide a control method of a sweeping robot, an electronic device and a storage medium for solving the technical problem in the prior art that the traveling speed of the sweeping robot cannot be controlled according to different amounts of dust, so that the cleanliness of the ground with much dust cannot be ensured.
The invention provides a control method of a sweeping robot, which comprises the following steps:
detecting the dust suction amount of a dust inlet of the sweeping robot;
and controlling the traveling speed and/or the fan power of the sweeping robot according to the dust suction amount.
Further, the detecting of the dust suction amount of the dust inlet of the sweeping robot specifically includes:
acquiring a receiving signal of an infrared signal detector arranged at a dust inlet of the sweeping robot;
and determining the amount of dust sucked according to the received signal.
Further, according to the dust volume of inhaling, control the travel speed of robot of sweeping the floor, specifically include:
and when the dust suction amount is larger than or equal to a preset first speed related dust amount threshold, reducing the traveling speed of the sweeping robot.
Furthermore, the controlling the traveling speed of the sweeping robot according to the amount of the dust sucked includes:
and when the dust suction amount is smaller than or equal to a preset second speed related dust amount threshold, restoring the traveling speed of the sweeping robot, wherein the second speed related dust amount threshold is smaller than or equal to the first speed related dust amount threshold.
Furthermore, when the dust suction amount is greater than or equal to a preset first speed-related dust amount threshold, the method for reducing the traveling speed of the sweeping robot specifically includes:
and when the dust suction amount is larger than or equal to a preset first speed related dust amount threshold value, reducing the traveling speed of the sweeping robot, wherein the traveling speed is in negative correlation with the dust suction amount.
Further, according to the dust volume of inhaling, control the fan power of robot of sweeping the floor, specifically include:
and when the sucked dust amount is larger than or equal to a preset first fan related dust amount threshold value, increasing the fan power of the sweeping robot.
Furthermore, according to the amount of dust sucked, the fan power of the sweeping robot is controlled, and the method specifically further comprises the following steps:
and when the sucked dust amount is less than or equal to a preset second fan related dust amount threshold value, recovering the fan power of the sweeping robot, wherein the second fan related dust amount threshold value is less than or equal to the first fan related dust amount threshold value.
Furthermore, when the sucked dust amount is greater than or equal to a preset first fan-related dust amount threshold, increasing the fan power of the sweeping robot specifically includes:
and when the dust suction amount is larger than or equal to a preset first fan related dust amount threshold value, increasing the fan power of the sweeping robot, wherein the fan power is positively related to the dust suction amount.
The present invention provides an electronic device, including:
at least one processor; and the number of the first and second groups,
a memory communicatively coupled to at least one of the processors; wherein the content of the first and second substances,
the memory stores instructions executable by the at least one processor to enable the at least one processor to perform the robot sweeper control method as described above.
The present invention provides a storage medium storing computer instructions for performing all the steps of the robot sweeping control method as described above when the computer executes the computer instructions.
According to the invention, the traveling speed and the fan power of the sweeping robot are controlled according to the dust suction amount of the dust inlet, and different control measurements can be adopted for the ground with different dust amounts, so that the sweeping robot can clean the ground more cleanly, and the efficiency is improved.
Drawings
Fig. 1 is a work flow chart of a control method of a sweeping robot according to the present invention;
fig. 2 is a flowchart illustrating a control method of the sweeping robot according to an embodiment of the present invention;
fig. 3 is a schematic structural diagram of the sweeping robot;
FIG. 4 is a cross-sectional view taken along line A-A of FIG. 3;
fig. 5 is a schematic diagram of a hardware structure of an electronic device according to the present invention.
Detailed Description
The following further describes embodiments of the present invention with reference to the accompanying drawings. In which like parts are designated by like reference numerals. It should be noted that as used in the following description, the terms "front," "back," "left," "right," "upper" and "lower" refer to directions in the drawings, and the terms "inner" and "outer" refer to directions toward and away from, respectively, the geometric center of a particular component.
Example one
Fig. 1 shows a work flow chart of a control method of a sweeping robot according to the present invention, which includes:
step S101, detecting the dust suction amount of a dust inlet of the sweeping robot;
and S102, controlling the traveling speed and/or the fan power of the sweeping robot according to the dust suction amount.
In particular, the invention can be applied to a controller of a sweeping robot. Step S101, detecting the dust suction amount of the dust inlet through a sensor arranged at the dust inlet of the sweeping robot, and then executing step S102 according to the dust suction amount to control the traveling speed of the sweeping robot and/or control the fan power of the sweeping robot.
According to the invention, the traveling speed and the fan power of the sweeping robot are controlled according to the dust suction amount of the dust inlet, and different control measurements can be adopted for the ground with different dust amounts, so that the sweeping robot can clean the ground more cleanly, and the efficiency is improved.
Example two
Fig. 2 is a flowchart illustrating a control method of a sweeper robot according to an embodiment of the present invention, including:
step S201, acquiring a receiving signal of an infrared signal detector disposed at a dust inlet of the robot for detecting floor sweeping.
And S202, determining the dust suction amount according to the receiving signal.
Step S203, when the dust suction amount is larger than or equal to a preset first speed related dust amount threshold, reducing the traveling speed of the sweeping robot.
In one embodiment, when the dust suction amount is greater than or equal to a preset first speed-related dust amount threshold, reducing the traveling speed of the sweeping robot includes:
and when the dust suction amount is larger than or equal to a preset first speed related dust amount threshold value, reducing the traveling speed of the sweeping robot, wherein the traveling speed is in negative correlation with the dust suction amount.
And S204, when the dust suction amount is less than or equal to a preset second speed-related dust amount threshold, restoring the traveling speed of the sweeping robot, wherein the second speed-related dust amount threshold is less than or equal to the first speed-related dust amount threshold.
And S205, when the sucked dust amount is larger than or equal to a preset first fan related dust amount threshold value, increasing the fan power of the sweeping robot.
In one embodiment, when the dust suction amount is greater than or equal to a preset first fan-related dust amount threshold, increasing the fan power of the sweeping robot specifically includes:
and when the dust suction amount is larger than or equal to a preset first fan related dust amount threshold value, increasing the fan power of the sweeping robot, wherein the fan power is positively related to the dust suction amount.
And S206, when the sucked dust amount is less than or equal to a preset second fan related dust amount threshold, restoring the fan power of the sweeping robot, wherein the second fan related dust amount threshold is less than or equal to the first fan related dust amount threshold.
Specifically, as shown in fig. 3 and 4, an infrared signal detector is disposed at a dust inlet 11 of the sweeping robot 1, and the infrared signal detector includes a detector signal transmitting end 2 and a detector signal receiving end 3, which are disposed at left and right sides of the dust inlet 11, respectively. The detector transmitting end 2 transmits an infrared signal and is received by the detector receiving end 3. When the dust sucked by the robot in the working process is increased, the detector is blocked, so that the signal received by the detector receiving end 3 is weakened, the controller makes a response, the advancing speed of the robot is reduced, and meanwhile, the power of the fan is increased to enhance the suction force. When the sucked dust is reduced, the detector normally receives a signal, the robot operates at a normal traveling speed, and the fan operates at a normal power.
The amount of dust sucked is determined according to the signals received by the receiving end 3 of the detector, and the amount of dust sucked corresponding to different signals can be calibrated in advance through experiments.
And when the sucked dust amount is larger than or equal to a preset first speed related dust amount threshold value, reducing the traveling speed of the sweeping robot. Through reducing the speed of marcing of robot of sweeping the floor to make on the ground that the dust is more, the robot of sweeping the floor can have more clean time, thereby improves the cleanliness on ground.
In one embodiment, the traveling speed of the sweeping robot is inversely related to the detected suction dust amount, i.e. the larger the detected suction dust amount is, the slower the traveling speed of the sweeping robot is controlled.
And when the sucked dust amount is less than or equal to a preset second speed related dust amount threshold, the traveling speed of the sweeping robot is recovered, and the second speed related dust amount threshold is less than or equal to the first speed related dust amount threshold. The first speed-related dust amount threshold may be equal to the second speed-related dust amount threshold. The sweeping robot has a preset standard traveling speed (or referred to as a normal traveling speed), which is set by a manufacturer at the time of factory shipment. And (4) recovering the traveling speed of the sweeping robot, namely controlling the sweeping robot to run at the standard traveling speed.
And when the sucked dust amount is larger than or equal to a preset first fan related dust amount threshold value, increasing the fan power of the sweeping robot. The dust collection capacity of the sweeping robot is improved by increasing the fan power of the sweeping robot, so that the cleanliness of the ground is improved.
In one embodiment, the fan power is positively correlated with the detected amount of the sucked dust, that is, the larger the detected amount of the sucked dust is, the larger the fan power for controlling the sweeping robot is.
And when the sucked dust amount is less than or equal to a preset second fan related dust amount threshold value, recovering the fan power of the sweeping robot, wherein the second fan related dust amount threshold value is less than or equal to the first fan related dust amount threshold value. The first fan related dust amount threshold may be equal to the second fan related dust amount threshold. The sweeping robot has a preset standard fan power (or referred to as a common fan power), and the standard fan power is set by a manufacturer when the sweeping robot leaves a factory. And recovering the fan power of the sweeping robot, namely controlling the sweeping robot to operate at the standard fan power.
The first speed-related dust amount threshold may be equal to the first fan-related dust amount threshold. When the detected sucked dust amount reaches the threshold value, the travelling speed of the sweeping robot is reduced and the power of the fan is improved, so that a better dust collection effect is achieved.
When the dust amount is large, the traveling speed of the sweeping robot is reduced, and the power of the fan is increased, so that the sweeping robot can clean the ground more cleanly, and the efficiency is improved. Meanwhile, the traveling speed and the fan power can be changed in a self-adaptive manner according to the amount of sucked dust, and the ground is cleaned more efficiently.
EXAMPLE III
Fig. 5 is a schematic diagram of a hardware structure of an electronic device according to the present invention, including:
at least one processor 501; and the number of the first and second groups,
a memory 502 communicatively coupled to at least one of the processors 501; wherein the content of the first and second substances,
the memory 502 stores instructions executable by at least one of the processors to enable the at least one processor to perform the robot sweeper control method as described above.
In fig. 5, one processor 501 is taken as an example.
The electronic device is preferably a controller of the sweeping robot. The electronic device may further include: an input device 503 and a display device 504.
The processor 501, the memory 502, the input device 503, and the display device 504 may be connected by a bus or other means, and are illustrated as being connected by a bus.
The memory 502, which is a non-volatile computer-readable storage medium, can be used to store non-volatile software programs, non-volatile computer-executable programs, and modules, such as program instructions/modules corresponding to the sweeping robot control method in the embodiment of the present application, for example, the method flow shown in fig. 1. The processor 501 executes various functional applications and data processing by running the nonvolatile software programs, instructions and modules stored in the memory 502, that is, implements the sweeping robot control method in the above embodiments.
The memory 502 may include a storage program area and a storage data area, wherein the storage program area may store an operating system, an application program required for at least one function; the storage data area may store data created according to the use of the sweeping robot control method, and the like. Further, the memory 502 may include high speed random access memory, and may also include non-volatile memory, such as at least one magnetic disk storage device, flash memory device, or other non-volatile solid state storage device. In some embodiments, the memory 502 optionally includes memory remotely located from the processor 501, and these remote memories may be connected over a network to a device that performs the sweeping robot control method. Examples of such networks include, but are not limited to, the internet, intranets, local area networks, mobile communication networks, and combinations thereof.
The input device 503 may receive input user clicks and generate signal inputs related to user settings and function control of the sweeping robot control method. The display 504 may include a display device such as a display screen.
When the one or more modules are stored in the memory 502, the sweeper robot control method of any of the above-described method embodiments is performed when executed by the one or more processors 501.
The invention provides a method for processing a plurality of chips.
An embodiment of the present invention provides a storage medium, which stores computer instructions for executing all the steps of the robot control method for sweeping floor as described above when a computer executes the computer instructions.
The above-mentioned embodiments only express several embodiments of the present invention, and the description thereof is more specific and detailed, but not construed as limiting the scope of the present invention. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the inventive concept, which falls within the scope of the present invention. Therefore, the protection scope of the present patent shall be subject to the appended claims.
Claims (10)
1. A control method of a sweeping robot is characterized by comprising the following steps:
detecting the dust suction amount of a dust inlet of the sweeping robot;
and controlling the traveling speed and/or the fan power of the sweeping robot according to the dust suction amount.
2. The method for controlling the sweeping robot according to claim 1, wherein the detecting of the dust suction amount of the dust inlet of the sweeping robot specifically comprises:
acquiring a receiving signal of an infrared signal detector arranged at a dust inlet of the sweeping robot;
and determining the amount of dust sucked according to the received signal.
3. The method for controlling the sweeping robot according to claim 1, wherein the controlling the traveling speed of the sweeping robot according to the amount of the sucked dust specifically comprises:
and when the dust suction amount is larger than or equal to a preset first speed related dust amount threshold, reducing the traveling speed of the sweeping robot.
4. The robot sweeper control method according to claim 3, wherein the control of the travel speed of the robot sweeper according to the amount of dust sucked in further comprises:
and when the dust suction amount is smaller than or equal to a preset second speed related dust amount threshold, restoring the traveling speed of the sweeping robot, wherein the second speed related dust amount threshold is smaller than or equal to the first speed related dust amount threshold.
5. The method according to claim 3, wherein when the dust suction amount is greater than or equal to a preset first speed-related dust amount threshold, the method for controlling the sweeping robot to travel at a reduced speed specifically comprises:
and when the dust suction amount is larger than or equal to a preset first speed related dust amount threshold value, reducing the traveling speed of the sweeping robot, wherein the traveling speed is in negative correlation with the dust suction amount.
6. The method for controlling the sweeping robot according to claim 1, wherein the controlling of the fan power of the sweeping robot according to the amount of the sucked dust specifically comprises:
and when the sucked dust amount is larger than or equal to a preset first fan related dust amount threshold value, increasing the fan power of the sweeping robot.
7. The method for controlling the sweeping robot according to claim 6, wherein the method for controlling the fan power of the sweeping robot according to the amount of the sucked dust further comprises:
and when the sucked dust amount is less than or equal to a preset second fan related dust amount threshold value, recovering the fan power of the sweeping robot, wherein the second fan related dust amount threshold value is less than or equal to the first fan related dust amount threshold value.
8. The method according to claim 6, wherein when the dust suction amount is greater than or equal to a preset first fan-related dust amount threshold, the method for controlling the sweeping robot increases the fan power of the sweeping robot, and specifically comprises:
and when the dust suction amount is larger than or equal to a preset first fan related dust amount threshold value, increasing the fan power of the sweeping robot, wherein the fan power is positively related to the dust suction amount.
9. An electronic device, comprising:
at least one processor; and the number of the first and second groups,
a memory communicatively coupled to at least one of the processors; wherein the content of the first and second substances,
the memory stores instructions executable by the at least one processor to enable the at least one processor to perform the robot sweeping control method of any one of claims 1 to 8.
10. A storage medium storing computer instructions for performing all the steps of the robot sweeper control method according to any one of claims 1 to 8 when the computer instructions are executed by a computer.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210114277.1A CN114431801A (en) | 2022-01-30 | 2022-01-30 | Sweeping robot control method, electronic equipment and storage medium |
| PCT/CN2023/071365 WO2023143019A1 (en) | 2022-01-30 | 2023-01-09 | Sweeping robot control method and system, and storage medium |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210114277.1A CN114431801A (en) | 2022-01-30 | 2022-01-30 | Sweeping robot control method, electronic equipment and storage medium |
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| Publication Number | Publication Date |
|---|---|
| CN114431801A true CN114431801A (en) | 2022-05-06 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202210114277.1A Pending CN114431801A (en) | 2022-01-30 | 2022-01-30 | Sweeping robot control method, electronic equipment and storage medium |
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| CN (1) | CN114431801A (en) |
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| CN205963950U (en) * | 2016-05-05 | 2017-02-22 | 苏州莱宝电器有限公司 | Wireless horizontal dust catcher control system of intelligence |
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| CN209186547U (en) * | 2018-06-26 | 2019-08-02 | 珠海格力电器股份有限公司 | Dust catcher |
| CN111150332A (en) * | 2019-12-31 | 2020-05-15 | 深圳飞科机器人有限公司 | Autonomous cleaning device and dust box monitoring method thereof |
| US20210068604A1 (en) * | 2019-09-06 | 2021-03-11 | Samsung Electronics Co., Ltd. | Cleaner and control method thereof |
| CN113712468A (en) * | 2021-09-08 | 2021-11-30 | 安徽理工大学 | Smart sweeping robot and sweeping execution control method thereof |
-
2022
- 2022-01-30 CN CN202210114277.1A patent/CN114431801A/en active Pending
Patent Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN202761194U (en) * | 2012-08-16 | 2013-03-06 | 苏州益节智能科技有限公司 | Intelligent dust collector dust detecting device |
| US20160000288A1 (en) * | 2013-06-07 | 2016-01-07 | Sharp Kabushiki Kaisha | Self-propelled cleaner |
| CN205963950U (en) * | 2016-05-05 | 2017-02-22 | 苏州莱宝电器有限公司 | Wireless horizontal dust catcher control system of intelligence |
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Application publication date: 20220506 |