CN114642385A - Cleaning method, linkage system and nonvolatile storage medium - Google Patents
Cleaning method, linkage system and nonvolatile storage medium Download PDFInfo
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- CN114642385A CN114642385A CN202210312910.8A CN202210312910A CN114642385A CN 114642385 A CN114642385 A CN 114642385A CN 202210312910 A CN202210312910 A CN 202210312910A CN 114642385 A CN114642385 A CN 114642385A
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- 238000004140 cleaning Methods 0.000 title claims abstract description 209
- 238000000034 method Methods 0.000 title claims abstract description 51
- 238000010408 sweeping Methods 0.000 claims description 28
- 230000000007 visual effect Effects 0.000 claims description 18
- 230000007613 environmental effect Effects 0.000 claims description 17
- 238000001914 filtration Methods 0.000 claims description 16
- 239000002245 particle Substances 0.000 claims description 4
- 230000004888 barrier function Effects 0.000 claims description 3
- 238000007664 blowing Methods 0.000 claims description 3
- 238000004891 communication Methods 0.000 claims description 3
- 230000000694 effects Effects 0.000 description 13
- 230000008569 process Effects 0.000 description 5
- 230000003068 static effect Effects 0.000 description 4
- 230000004927 fusion Effects 0.000 description 3
- 208000027418 Wounds and injury Diseases 0.000 description 2
- 230000006378 damage Effects 0.000 description 2
- 238000001514 detection method Methods 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 208000014674 injury Diseases 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
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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
- A47L11/4061—Steering means; Means for avoiding obstacles; Details related to the place where the driver is accommodated
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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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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F26—DRYING
- F26B—DRYING SOLID MATERIALS OR OBJECTS BY REMOVING LIQUID THEREFROM
- F26B21/00—Arrangements or duct systems, e.g. in combination with pallet boxes, for supplying and controlling air or gases for drying solid materials or objects
- F26B21/004—Nozzle assemblies; Air knives; Air distributors; Blow boxes
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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
- A47L2201/00—Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
- A47L2201/04—Automatic control of the travelling movement; Automatic obstacle detection
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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
- 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
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- General Engineering & Computer Science (AREA)
- Cleaning In General (AREA)
Abstract
The invention provides a cleaning method, a linkage system and a nonvolatile storage medium, wherein the cleaning method comprises the following steps: acquiring real-time position information of the cleaning equipment; and adjusting the air outlet direction of the air outlet of the air supply equipment according to the real-time position information of the cleaning equipment so as to enable the air outlet to blow air towards the cleaning equipment. The cleaning method solves the problems that when the cleaning equipment in the prior art works indoors, people are easy to slip and hurt because the cleaned ground is very wet and slippery, and shoe marks and scratches are easy to remain.
Description
Technical Field
The invention relates to the field of household appliances, in particular to a cleaning method, a linkage system and a nonvolatile storage medium.
Background
With the continuous development of the robot technology, the sweeping robot develops from the originally only sweeping function to the sweeping and mopping integrated function of today. When the floor sweeping robot works indoors, the floor just dragged is very slippery, so that people can slip and hurt the floor easily when walking, and the human body is injured. In addition, shoe marks and scratches are easily left on the wet floor, which results in a great loss of cleaning effect of the sweeping robot.
In addition, the sensor precision is easily reduced due to the collision and the shake of the sweeping robot in the working process, and the accumulated error generated for a long time can cause the robot positioning and the built map to be inaccurate, so that the robot positioning and the map are invalid, the path planning cannot be performed, and the cleaning effect of the sweeping robot is reduced.
Disclosure of Invention
The invention mainly aims to provide a cleaning method, a linkage system and a nonvolatile storage medium, which are used for solving the problems that when cleaning equipment in the prior art works indoors, people are easy to slip and hurt and shoe marks and scratches are easy to remain due to the fact that the cleaned ground is very wet and slippery.
In order to achieve the above object, according to one aspect of the present invention, there is provided a sweeping method including: acquiring real-time position information of the cleaning equipment; and adjusting the air outlet direction of the air outlet of the air supply equipment according to the real-time position information of the cleaning equipment so as to enable the air outlet to blow air towards the cleaning equipment.
Further, the sweeping method further comprises the following steps: planning a cleaning path of the cleaning equipment according to the environment information of the space acquired by the household electrical appliance equipment so as to enable the cleaning equipment to clean along the cleaning path; the space is the space where the cleaning equipment and the household electrical appliance are located.
Further, the method for acquiring the environmental information of the space by the household appliance comprises the following steps: and obtaining the environmental information of the space according to the image data of the space acquired by the household electrical appliance.
Further, the environmental information of the space includes a three-dimensional map of the space; the step of planning the cleaning path of the cleaning equipment according to the environment information of the space acquired by the household electrical appliance equipment comprises the following steps: obtaining a two-dimensional map of a space according to the three-dimensional map of the space obtained by the household appliance equipment; and planning a cleaning path of the cleaning equipment according to the two-dimensional map.
Further, the step of planning the cleaning path of the cleaning equipment according to the two-dimensional map includes: meshing the two-dimensional map to divide the two-dimensional map into a plurality of grids; dividing a plurality of grids into a barrier-free grid, a grid with barriers and a position grid where the cleaning equipment is located; the grid without obstacles and the position grid where the cleaning equipment is positioned represent that the grid is in a passable state, and the grid with obstacles represents that the grid is in a non-passable state; and planning a cleaning path of the cleaning equipment according to the passing state of each grid.
Further, the method for planning the cleaning path of the cleaning equipment according to the passing state of each grid comprises the following steps: generating a zigzag cleaning path from the position of the cleaning equipment, and covering the grid with the cleaning path when the grid in a passing state is encountered; when a grid in a non-passable state is encountered, the cleaning path bypasses the grid in a counterclockwise bypassing manner or a clockwise bypassing manner.
Furthermore, an encoder is arranged on a wheel of the cleaning equipment; the step of acquiring real-time position information of the cleaning equipment comprises the following steps: acquiring encoder information of the cleaning equipment, and acquiring first position information of the cleaning equipment according to the encoder information; acquiring second position information of the cleaning equipment in the space, which is acquired by the household appliance equipment; and fusing the first position information and the second position information to obtain real-time position information of the cleaning equipment.
Further, the method for fusing the first position information and the second position information to obtain the real-time position information of the cleaning equipment comprises the following steps: and fusing the first position information and the second position information by utilizing at least one of Kalman filtering, extended Kalman filtering, lossless Kalman filtering and particle filtering to obtain the real-time position information of the cleaning equipment.
According to another aspect of the present invention, there is provided a linkage system comprising a cleaning device, an air supply device, and a control device connecting the cleaning device and the air supply device, the control device being configured to implement the cleaning method described above.
Further, the linkage system comprises household appliances, the household appliances are in communication connection with the control device, and the household appliances comprise visual sensors.
According to still another aspect of the present invention, there is provided a nonvolatile storage medium including a stored program, wherein the apparatus in which the nonvolatile storage medium is controlled to perform the above-described cleaning method when the program is executed.
The cleaning method comprises the steps of firstly, acquiring real-time position information of cleaning equipment; then adjust the air-out direction of air supply equipment's air outlet according to the real-time position information who cleans equipment, make the air outlet just blow to the position of cleaning equipment, like this, air supply equipment's air outlet can swing along with the removal of cleaning equipment, so can utilize air supply equipment to make the ground that cleans equipment and drag become dry fast, avoid people to slip the injury, also difficult remaining shoe mark and mar reach the effect that improves the clean ability of cleaning equipment.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this application, illustrate embodiments of the invention and, together with the description, serve to explain the invention and not to limit the invention. In the drawings:
FIG. 1 shows a flow diagram of an embodiment of a sweeping method according to the invention; and
fig. 2 shows a schematic view of a sweeping path according to the present invention.
Detailed Description
It should be noted that the embodiments and features of the embodiments in the present application may be combined with each other without conflict. The present invention will be described in detail below with reference to the embodiments with reference to the attached drawings.
It should be noted that the following detailed description is exemplary and is intended to provide further explanation of the disclosure. Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs.
It is noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of example embodiments according to the present application. As used herein, the singular forms "a", "an", and "the" are intended to include the plural forms as well, and it should be understood that when the terms "comprises" and/or "comprising" are used in this specification, they specify the presence of stated features, steps, operations, devices, components, and/or combinations thereof, unless the context clearly indicates otherwise.
The present invention provides a cleaning method, please refer to fig. 1, including:
step S100, acquiring real-time position information of cleaning equipment;
and S200, adjusting the air outlet direction of the air outlet of the air supply equipment according to the real-time position information of the cleaning equipment so as to enable the air outlet to blow air towards the cleaning equipment.
The cleaning method comprises the steps of firstly, acquiring real-time position information of cleaning equipment; then adjust the air-out direction of the air outlet of the air supply equipment according to the real-time position information of the cleaning equipment, and enable the air outlet to blow to the position of the cleaning equipment, so that the air outlet of the air supply equipment can swing along with the movement of the cleaning equipment, the ground dragged by the cleaning equipment can be quickly dried by utilizing the air supply equipment, people are prevented from slipping and being injured, shoe marks and scratches are not easy to remain, and the effect of improving the cleaning capability of the cleaning equipment is achieved.
Specifically, the cleaning equipment is a sweeping robot, and can also be other cleaning equipment; the air supply equipment is an air conditioner, and can also be other household electrical appliances for supplying air.
In this embodiment, the cleaning method further includes: planning a cleaning path of the cleaning equipment according to the environment information of the space acquired by the household electrical appliance equipment so as to enable the cleaning equipment to clean along the cleaning path; the space is the space where the cleaning equipment and the household electrical appliance are located. The arrangement avoids the problems of map failure and inaccurate positioning caused when the cleaning equipment acquires the environmental information of the space.
Optionally, the household electrical appliance for acquiring the environmental information of the space may be the air supply device, or may be other household electrical appliances with a static state, such as a television; when the home appliance acquiring the environmental information of the space is another home appliance having a stationary state, the space is a space where the cleaning device, the home appliance, and the air supply device are located. Specifically, a home appliance that acquires environmental information of a space is provided with a vision sensor.
In this embodiment, a method for acquiring environmental information of a space by a home appliance includes: and obtaining the environmental information of the space according to the image data of the space acquired by the household electrical appliance.
Specifically, when the household appliance for acquiring the environmental information of the space is an air supply device, the air supply device acquires the environmental information in the scene (i.e., the space) through the visual sensor after the air supply device and the visual sensor are started, and the air supply device acquires data and issues the data to the cleaning device. The vision sensor is mounted on the air supply equipment, and the position of the air supply equipment is generally higher than that of other objects in the scene, so that the vision sensor has a wider range of visual angles at the moment and can acquire and acquire three-dimensional information of each point in the scene. The air supply device is usually stationary on the wall or floor, i.e. the vision sensor rigidly connected to it is also stationary. The vision sensor in the static state has stability, and can acquire scene map data with higher precision. Therefore, the static map building can be carried out through the arrangement, the visual angle range is larger, the map quality can be improved, and the map failure is effectively avoided. Meanwhile, the cleaning equipment can be accurately positioned, the air outlet is guaranteed to blow towards the cleaning equipment, and the cleaning effect of the cleaning equipment is improved.
In the present embodiment, the environmental information of the space includes a three-dimensional map of the space; the step of planning the cleaning path of the cleaning equipment according to the environment information of the space acquired by the household electrical appliance equipment comprises the following steps: obtaining a two-dimensional map of a space according to the three-dimensional map of the space obtained by the household appliance equipment; and planning a cleaning path of the cleaning equipment according to the two-dimensional map.
During specific implementation, coordinate points of three-dimensional points collected in a scene by the household appliance along the Z-axis direction are normalized, namely a two-dimensional map with a physical scale can be obtained, the household appliance sends the generated two-dimensional map to the cleaning equipment through WIFI to be received, and the cleaning equipment starts to plan a cleaning path after receiving the two-dimensional map information.
In this embodiment, the step of planning the cleaning path of the cleaning apparatus according to the two-dimensional map includes: meshing the two-dimensional map to divide the two-dimensional map into a plurality of grids; dividing a plurality of grids into a barrier-free grid, a grid with barriers and a position grid where the cleaning equipment is located; the grid without the obstacles and the grid at the position of the cleaning equipment indicate that the grid is in a passable state, and the grid with the obstacles indicates that the grid is in a non-passable state; and planning a cleaning path of the cleaning equipment according to the passing state of each grid.
In specific implementation, a received environment map (namely a two-dimensional map) is subjected to two-dimensional meshing, the physical length and width of each grid are both 5 centimeters, and a traffic state value is set for each grid. Setting a traffic state value as FREE for grids which are considered to be FREE of obstacles in the environment map and the semantic information; setting a traffic state value as OCCUPY for grids which are considered to have obstacles in the environment map and the semantic information; setting the pass state value of the position grid where the cleaning equipment is positioned as FREE.
In this embodiment, the method for planning the cleaning path of the cleaning device according to the traffic state of each grid includes: generating a zigzag cleaning path from the position of the cleaning equipment, and covering the grid with the cleaning path when the grid in a passing state is encountered; when a grid in a non-passable state is encountered, the cleaning path bypasses the grid in a counterclockwise bypassing manner or a clockwise bypassing manner.
In a specific embodiment, a zigzag cleaning path is generated from the cleaning device position based on the generated two-dimensional grid map with the travel state value. When a grid with a FREE traffic state value is encountered, coverage planning can be performed; when a grid with a traffic state value of occuppy is encountered, an obstacle at the grid position needs to be bypassed in a counterclockwise manner, as shown in the schematic diagram of sweeping path planning in fig. 2, A, B represents the start point and the end point of the sweeping device. It should be noted that the clockwise detour may be used when an obstacle is encountered.
In this embodiment, the wheels of the sweeping device are provided with encoders; the step of acquiring real-time position information of the cleaning equipment comprises the following steps: acquiring encoder information of cleaning equipment, and acquiring first position information of the cleaning equipment according to the encoder information; acquiring second position information of the cleaning equipment in the space, which is acquired by the household appliance equipment; and fusing the first position information and the second position information to obtain real-time position information of the cleaning equipment. Specifically, the home appliance that acquires the second location information is the home appliance that acquires the environmental information of the space.
Specifically, the cleaning equipment walks through a planned cleaning path, continuously collects encoder information of wheels, and uploads the encoder information to the household appliance through WIFI.
Specifically, the household electrical appliance receives encoder information sent by the cleaning device through WIFI, and the household electrical appliance can obtain position information of the cleaning device in the space by processing the encoder information. Meanwhile, the household appliance can also obtain the position information of the cleaning equipment through the vision sensor.
When the cleaning equipment is in the detection range of the visual sensor, the household appliance mainly obtains the position information of the cleaning equipment by the visual sensor, takes the position information calculated by the encoder data as an auxiliary, and fuses the two position information by a Kalman filtering method to obtain the final position information of the cleaning equipment. When the cleaning equipment moves out of the detection range of the vision sensor, for example, the back of a cabinet, the lower surface of a sofa and other places which cannot be detected by the vision sensor, the household appliance takes the position information obtained by the data of the encoder as the main part, takes the position information of the cleaning equipment obtained by the vision sensor as the auxiliary part, and fuses the two pieces of position information by a Kalman filtering method to obtain the final position information of the cleaning equipment.
In this embodiment, the method for fusing the first position information and the second position information to obtain the real-time position information of the cleaning device includes: and fusing the first position information and the second position information by utilizing at least one of Kalman filtering, extended Kalman filtering, lossless Kalman filtering and particle filtering to obtain the real-time position information of the cleaning equipment. Such an arrangement enables relatively accurate real-time location information to be obtained.
Specifically, the position information fusion is performed by at least one of kalman filter KF, extended kalman filter EKF, lossless kalman filter UKF, and particle filter PF, but the position information fusion method is not limited to the above filtering, and a conventional filtering method may be used.
The application solves the following technical problems: the problem of clean equipment cleaning effect is poor is solved. The ground is wet and slippery after cleaning, people are easy to slip and hurt, shoe marks and scratches are easy to remain on the ground, and the cleaning effect of the cleaning equipment is influenced. Air supply arrangement fuses through the positional information who calculates vision sensor and cleaning equipment encoder information, obtains the accurate position of cleaning equipment, controls air supply arrangement air outlet direction simultaneously and towards this position, uses wind to weather ground fast, reaches the purpose that increases the security and improve the clean effect of cleaning equipment. The problems of map failure and inaccurate positioning of the cleaning equipment are solved. In the moving process of the cleaning equipment, the map is invalid due to the fact that the accuracy of the sensor is reduced caused by collision and shaking, and therefore the path planning of the cleaning equipment cannot be carried out. Meanwhile, the accuracy of the sensor is reduced, so that the positioning failure of the cleaning equipment is caused, and the accurate position of the cleaning equipment cannot be identified by the air supply equipment, so that the air outlet cannot blow the ground cleaned by the cleaning equipment.
The beneficial effect of this application: through with visual sensor integration on air supply equipment, can reach the effect of cleaning equipment and air supply equipment mutual linkage. The air outlet of the air supply equipment can swing according to the position of the cleaning equipment in real time, the wind can blow the ground quickly, the pedestrian is prevented from slipping and being injured, meanwhile, shoe marks and scratches on the ground can be avoided, and the cleaning effect of the cleaning equipment is improved. The visual sensor is carried on the air supply equipment to build a map statically, the map is stable, the visual angle range is wider, meanwhile, the cleaning equipment can be positioned better, and the decision of path planning and cleaning logic of the cleaning equipment is facilitated.
The invention of the application lies in: according to the method, a visual sensor is integrated on an air supply device, a room environment is subjected to static map building under a large visual angle range through the visual sensor, meanwhile, a space point Z-axis coordinate in a map is normalized to obtain a two-dimensional environment map, and the two-dimensional environment map is sent to a cleaning device through WIFI. The cleaning equipment gridds the two-dimensional environment map, and gives a passage cost value to each grid, so that a cost map is generated, and the cleaning equipment plans a cleaning path according to the cost map; when the cleaning equipment cleans along a planned path, the position coordinates calculated according to the encoder information are fed back to the air supply equipment in real time, and meanwhile, a visual sensor on the air supply equipment also positions the cleaning equipment in real time. The air supply equipment performs position fusion on the two positioning information through a Kalman filter and outputs position information with the highest reliability; the air supply device adjusts the direction of the air outlet according to the position information, so that the direction of the air outlet is opposite to the cleaning equipment for blowing, and therefore the ground cleaned by the cleaning equipment can be dried through air, and the purpose of improving the cleaning effect of the cleaning equipment is achieved.
The invention also provides a linkage system, which comprises cleaning equipment, air supply equipment and a control device for connecting the cleaning equipment and the air supply equipment, wherein the control device is used for realizing the cleaning method.
Specifically, the linkage system comprises household electrical appliances, the household electrical appliances are in communication connection with the control device, and the household electrical appliances comprise visual sensors.
Specifically, when the household electrical appliance is an air supply device, the control device comprises an air supply device controller arranged on the air supply device and a cleaning device controller arranged on the cleaning device. The cleaning method with the linkage of the cleaning equipment and the air supply equipment comprises the following processes: the air supply equipment controller acquires data and issues the data; the cleaning equipment controller receives data and plans a cleaning path; the cleaning equipment controller reports position information, and the air supply equipment controller performs position information fusion; the air supply device controller adjusts the air outlet direction of the air outlet.
Specifically, when the household electrical appliance is other household electrical appliances except the air supply device, the control device comprises an air supply device controller arranged on the air supply device, a cleaning device controller arranged on the cleaning device and a household electrical appliance controller arranged on the household electrical appliance. The cleaning method comprises the following steps: the household appliance controller acquires data and issues the data; the cleaning equipment controller receives data and plans a cleaning path; and the cleaning equipment controller reports position information, the household appliance controller fuses the position information, and the air supply equipment controller adjusts the air outlet direction of the air outlet.
In specific implementation, when the household electrical appliance is an air supply device, the air supply device is fixed on a wall in an initial state, and the visual sensor is integrated on the air supply device and is started along with the starting of the air supply device. The initial state of cleaning equipment is for being located same space with air supply equipment, cleans the equipment fuselage and no longer carries on visual sensor, simultaneously, cleans and is connected through WIFI or bluetooth is automatic between equipment and the air supply equipment.
The invention also provides a nonvolatile storage medium, wherein the nonvolatile storage medium comprises a stored program, and the device where the nonvolatile storage medium is located is controlled to execute the cleaning method in the above embodiment when the program runs.
Specifically, the storage medium is used for storing program instructions for executing the following functions, and the following functions are realized:
acquiring real-time position information of the cleaning equipment; and adjusting the air outlet direction of the air outlet of the air supply equipment according to the real-time position information of the cleaning equipment so as to enable the air outlet to blow air towards the cleaning equipment.
From the above description, it can be seen that the above-described embodiments of the present invention achieve the following technical effects:
the cleaning method comprises the steps of firstly, acquiring real-time position information of cleaning equipment; then adjust the air-out direction of air supply equipment's air outlet according to the real-time position information who cleans equipment, make the air outlet just blow to the position of cleaning equipment, like this, air supply equipment's air outlet can swing along with the removal of cleaning equipment, so can utilize air supply equipment to make the ground that cleans equipment and drag become dry fast, avoid people to slip the injury, also difficult remaining shoe mark and mar reach the effect that improves the clean ability of cleaning equipment.
It should be noted that the terms "first," "second," and the like in the description and claims of this application and in the drawings described above are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used is interchangeable under appropriate circumstances such that the embodiments of the application described herein are, for example, capable of operation in sequences other than those illustrated or otherwise described herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed, but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.
Spatially relative terms, such as "above … …," "above … …," "above … … surface," "above," and the like, may be used herein for ease of description to describe one device or feature's spatial relationship to another device or feature as illustrated in the figures. It will be understood that the spatially relative terms are intended to encompass different orientations of the device in use or operation in addition to the orientation depicted in the figures. For example, if a device in the figures is turned over, devices described as "above" or "on" other devices or configurations would then be oriented "below" or "under" the other devices or configurations. Thus, the exemplary term "above … …" can include both an orientation of "above … …" and "below … …". The device may be otherwise variously oriented (rotated 90 degrees or at other orientations) and the spatially relative descriptors used herein interpreted accordingly.
The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (11)
1. A sweeping method, comprising:
acquiring real-time position information of cleaning equipment;
and adjusting the air outlet direction of an air outlet of the air supply equipment according to the real-time position information of the cleaning equipment so as to enable the air outlet to blow air towards the cleaning equipment.
2. The sweeping method according to claim 1, further comprising:
planning a cleaning path of the cleaning equipment according to the environment information of the space acquired by the household appliance equipment so as to enable the cleaning equipment to clean along the cleaning path; wherein the space is a space where the cleaning device and the household electrical appliance are located.
3. The cleaning method according to claim 2, wherein the method for acquiring environmental information of a space by the home appliance includes:
and obtaining the environmental information of the space according to the image data of the space acquired by the household electrical appliance.
4. The sweeping method according to claim 2, wherein the environmental information of the space includes a three-dimensional map of the space; the step of planning the cleaning path of the cleaning equipment according to the environmental information of the space acquired by the household electrical appliance equipment comprises the following steps:
obtaining a two-dimensional map of the space according to the three-dimensional map of the space obtained by the household appliance equipment;
and planning a cleaning path of the cleaning equipment according to the two-dimensional map.
5. The sweeping method according to claim 4, wherein the step of planning the sweeping path of the sweeping apparatus according to the two-dimensional map includes:
gridding the two-dimensional map to divide the two-dimensional map into a plurality of grids;
dividing a plurality of grids into a barrier-free grid, a grid with barriers and a position grid where the cleaning equipment is located; wherein the grid without obstacles and the grid at the position of the cleaning equipment indicate that the grid is in a passable state, and the grid with obstacles indicates that the grid is in a non-passable state;
and planning a cleaning path of the cleaning equipment according to the passing state of each grid.
6. The sweeping method according to claim 5, wherein the method of planning the sweeping path of the sweeping device according to the traffic state of each of the meshes comprises:
generating a zigzag cleaning path from the position of the cleaning equipment, wherein the cleaning path covers the grid when the grid in a passing state is encountered; when a grid in a non-passable state is encountered, the cleaning path bypasses the grid in a counterclockwise bypassing manner or a clockwise bypassing manner.
7. The sweeping method according to claim 1, wherein an encoder is provided on a wheel of the sweeping apparatus; the step of acquiring real-time position information of the cleaning equipment comprises the following steps:
acquiring encoder information of the cleaning equipment, and acquiring first position information of the cleaning equipment according to the encoder information;
acquiring second position information of the cleaning equipment in the space, which is acquired by the household appliance equipment;
and fusing the first position information and the second position information to obtain real-time position information of the cleaning equipment.
8. The sweeping method according to claim 7, wherein the method of fusing the first position information and the second position information to obtain real-time position information of the sweeping device includes:
and fusing the first position information and the second position information by utilizing at least one of Kalman filtering, extended Kalman filtering, lossless Kalman filtering and particle filtering to obtain the real-time position information of the cleaning equipment.
9. A linkage system characterized by comprising a cleaning apparatus, an air blowing apparatus, and a control device connecting the cleaning apparatus and the air blowing apparatus, the control device being configured to implement the cleaning method according to any one of claims 1 to 8.
10. The linkage system according to claim 9, wherein the linkage system comprises a household appliance, the household appliance is in communication with the control device, and the household appliance comprises a visual sensor.
11. A non-volatile storage medium, comprising a stored program, wherein the program, when executed, controls an apparatus in which the non-volatile storage medium is installed to perform the cleaning method according to any one of claims 1 to 8.
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| CN106805856A (en) * | 2016-12-31 | 2017-06-09 | 鸿奇机器人股份有限公司 | The method for controlling clean robot |
| WO2020140860A1 (en) * | 2019-01-03 | 2020-07-09 | 科沃斯机器人股份有限公司 | Dynamic region division and region channel identification method, and cleaning robot |
| CN111568311A (en) * | 2020-04-22 | 2020-08-25 | 青岛海尔空调器有限总公司 | Equipment control method and device and electronic equipment |
| CN113251631A (en) * | 2021-04-27 | 2021-08-13 | 青岛海尔空调器有限总公司 | Air conditioner control method and device, control box, air conditioner and storage medium |
| CN114115269A (en) * | 2021-11-19 | 2022-03-01 | 珠海格力电器股份有限公司 | Method and device for determining cleaning path and electronic equipment |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN106805856A (en) * | 2016-12-31 | 2017-06-09 | 鸿奇机器人股份有限公司 | The method for controlling clean robot |
| WO2020140860A1 (en) * | 2019-01-03 | 2020-07-09 | 科沃斯机器人股份有限公司 | Dynamic region division and region channel identification method, and cleaning robot |
| CN111568311A (en) * | 2020-04-22 | 2020-08-25 | 青岛海尔空调器有限总公司 | Equipment control method and device and electronic equipment |
| CN113251631A (en) * | 2021-04-27 | 2021-08-13 | 青岛海尔空调器有限总公司 | Air conditioner control method and device, control box, air conditioner and storage medium |
| CN114115269A (en) * | 2021-11-19 | 2022-03-01 | 珠海格力电器股份有限公司 | Method and device for determining cleaning path and electronic equipment |
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