CN114680744A - Computer-readable storage medium, sweeping robot and control method thereof - Google Patents

Computer-readable storage medium, sweeping robot and control method thereof Download PDF

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Publication number
CN114680744A
CN114680744A CN202011623377.4A CN202011623377A CN114680744A CN 114680744 A CN114680744 A CN 114680744A CN 202011623377 A CN202011623377 A CN 202011623377A CN 114680744 A CN114680744 A CN 114680744A
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China
Prior art keywords
sweeping robot
bluetooth
charging device
position information
controlling
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Pending
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CN202011623377.4A
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Chinese (zh)
Inventor
杨沅钋
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Xingluo Intelligent Technology Co Ltd
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Xingluo Intelligent Technology Co Ltd
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Priority to CN202011623377.4A priority Critical patent/CN114680744A/en
Publication of CN114680744A publication Critical patent/CN114680744A/en
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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
    • 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
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
    • A47L11/4002—Installations of electric equipment
    • 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
    • A47L11/40—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
    • A47L11/4091—Storing or parking devices, arrangements therefor; Means allowing transport of the machine when it is not being used
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
    • G05D1/0225—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving docking at a fixed facility, e.g. base station or loading bay
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
    • G05D1/0242—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using non-visible light signals, e.g. IR or UV signals
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
    • 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
    • A47L2201/02—Docking stations; Docking operations
    • A47L2201/022—Recharging of batteries
    • 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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  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Electromagnetism (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)

Abstract

The application discloses control method of a sweeping robot, which comprises the following steps: judging whether the sweeping robot needs to be charged or not; after the fact that the sweeping robot needs to be charged is judged, whether an infrared signal receiver of the sweeping robot can receive an infrared signal emitted by a charging device is further judged; and when the infrared signal receiver is judged to be capable of receiving the infrared signal sent by the charging device, the sweeping robot is controlled to move towards the sending source of the infrared signal. In this way, this application can be when the robot that sweeps floor needs to charge the rational selection locate mode, reduces the location consumption of the robot that sweeps floor.

Description

Computer-readable storage medium, sweeping robot and control method thereof
Technical Field
The invention relates to the technical field of automobile intelligent networking, in particular to a computer readable storage medium, a sweeping robot and a control method thereof.
Background
The intelligent home is embodied by internet of things. The intelligent home is characterized in that various devices (such as audio and video devices, lighting systems, curtain control, air conditioner control, security systems, digital cinema systems, audio and video servers, video cabinet systems, network home appliances and the like) in the home are connected together through the Internet of things technology, and multiple functions and means such as home appliance control, lighting control, telephone remote control, indoor and outdoor remote control, anti-theft alarm, environment monitoring, heating and ventilation control, infrared forwarding, programmable timing control and the like are provided. Compared with the common home, the intelligent home has the traditional living function, integrates the functions of building, network communication, information household appliance and equipment automation, provides an all-around information interaction function, and even saves funds for various energy expenses.
The household sweeping robot is often in the conditions of low electric quantity in the working process or the recharging course and local shutdown in the road searching process. The current positioning system carried by the sweeping robot can be largely divided into a laser ranging type, an infrared positioning type, an ultrasonic positioning type or a Bluetooth positioning type. But various positioning systems have advantages and disadvantages. Especially, when the power of the sweeping robot is low, if a positioning mode with high power consumption is adopted, the robot cannot go to a charging position for charging due to insufficient endurance, and normal use of the sweeping robot is affected.
Disclosure of Invention
The technical problem mainly solved by the application is to provide a computer readable storage medium, a sweeping robot and a control method thereof, which can reasonably select a positioning mode when the sweeping robot needs to be charged, and reduce the positioning power consumption of the sweeping robot.
In order to solve the above technical problem, an embodiment of the present application adopts a technical solution that: provided is a control method of a sweeping robot, comprising the following steps:
judging whether the sweeping robot needs to be charged or not;
after the fact that the sweeping robot needs to be charged is judged, whether an infrared signal receiver of the sweeping robot can receive an infrared signal emitted by a charging device or not is further judged;
and when the infrared signal receiver is judged to be capable of receiving the infrared signal sent by the charging device, the sweeping robot is controlled to move towards the sending source of the infrared signal.
The control method of the sweeping robot further comprises the following steps:
when the infrared signal receiver is judged not to be capable of receiving the infrared signal sent by the charging device, controlling the Bluetooth device of the sweeping robot to be started and searching nearby Bluetooth tag devices, and communicating with the Bluetooth tag devices after the Bluetooth tag devices are searched to acquire the position information of the sweeping robot;
and controlling the sweeping robot to move towards the charging device according to the position information of the sweeping robot and the position information of the charging device.
The control method of the sweeping robot further comprises the following steps:
judging whether the sweeping robot reaches a charging device within a preset time;
if the sweeping robot does not reach the charging device within the preset time, controlling a Bluetooth device of the sweeping robot to start and search nearby Bluetooth tag devices, and communicating with the Bluetooth tag devices after the Bluetooth tag devices are searched to acquire the position information of the sweeping robot;
and controlling the sweeping robot to move towards the charging device according to the position information of the sweeping robot and the position information of the charging device.
Wherein, with bluetooth label equipment communication acquires the step of sweeping floor robot's positional information specifically includes:
controlling the Bluetooth device to establish Bluetooth communication connection with the Bluetooth tag device;
controlling the Bluetooth device to send a request signal to the Bluetooth tag device;
after receiving a Bluetooth signal fed back by the Bluetooth tag device and a device ID of the Bluetooth tag device, the Bluetooth device determines the relative position relationship of the Bluetooth tag device according to a Bluetooth signal strength indicating value of the Bluetooth signal;
and the sweeping robot searches the position information of the Bluetooth tag equipment according to the equipment ID and determines the position information of the sweeping robot according to the position information of the Bluetooth tag equipment and the relative position relation.
Wherein, according to the positional information of robot of sweeping the floor with charging device's positional information, control the robot of sweeping the floor towards the step that charging device removed specifically includes:
planning a moving path of the sweeping robot according to the position information of the sweeping robot and the position information of the charging device;
and controlling the sweeping robot to move towards the charging device according to the moving direction of the sweeping robot controlled by the moving path.
The control method of the sweeping robot further comprises the following steps:
judging whether the sweeping robot is electrically connected with the charging device or not;
and after the floor sweeping robot is judged to be electrically connected with the charging device, a control signal for starting charging is sent to the charging device.
The control method of the sweeping robot further comprises the following steps:
when the infrared signal receiver is judged to fail to receive the infrared signal sent by the charging device and the Bluetooth equipment cannot search the Bluetooth tag equipment, the Bluetooth equipment of the sweeping robot is controlled to be in a dormant state, and reminding information that the sweeping robot cannot normally recharge is sent to a user.
Wherein, judge whether the step that cleans the floor that the robot needs to charge specifically includes:
acquiring the battery power of the sweeping robot;
judging whether the electric quantity of the battery is smaller than a preset electric quantity threshold value or not;
if the electric quantity of the battery is smaller than a preset electric quantity threshold value, judging that the sweeping robot needs to be charged;
and if the electric quantity of the battery is greater than or equal to a preset electric quantity threshold value, judging that the sweeping robot does not need to be charged.
In order to solve the above technical problem, another technical solution adopted in the embodiment of the present application is: a sweeping robot is provided, which comprises a processor and a memory electrically connected with the processor, wherein the memory is used for storing a computer program, and the processor is used for calling the computer program to execute the method of the claim.
In order to solve the above technical problem, another technical solution adopted in the embodiments of the present application is: there is provided a computer readable storage medium having stored thereon a computer program executable by a processor to implement the above-described method.
According to the embodiment of the application, whether the sweeping robot needs to be charged or not is judged; after the fact that the sweeping robot needs to be charged is judged, whether an infrared signal receiver of the sweeping robot can receive an infrared signal emitted by a charging device is further judged; when the infrared signal receiver is judged to be capable of receiving the infrared signal sent by the charging device, the sweeping robot is controlled to move towards the sending source of the infrared signal, the positioning mode can be reasonably selected when the sweeping robot needs to be charged, and the positioning power consumption of the sweeping robot is reduced.
Drawings
Fig. 1 is a schematic flowchart of a control method of a sweeping robot according to a first embodiment of the present application;
fig. 2 is a schematic flowchart of a control method of a cleaning robot according to a second embodiment of the present application;
fig. 3 is a schematic flowchart illustrating a step of communicating with a bluetooth tag device to obtain location information of a sweeping robot according to a third embodiment of the present application;
fig. 4 is a schematic flowchart illustrating a step of controlling the sweeping robot to move towards the charging device according to the position information of the sweeping robot and the position information of the charging device in the fourth embodiment of the present application;
fig. 5 is a schematic hardware structure diagram of the sweeping robot according to the embodiment of the present application.
Detailed Description
The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application. It is to be understood that the specific embodiments described herein are merely illustrative of the application and are not limiting of the application. It should be further noted that, for the convenience of description, only some of the structures associated with the present application are shown in the drawings, not all of them. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.
The terms "first", "second", etc. in this application are used to distinguish between different objects and not to describe a particular order. Furthermore, the terms "include" and "have," as well as any variations thereof, are intended to cover non-exclusive inclusions. For example, a process, method, system, article, or apparatus that comprises a list of steps or elements is not limited to those listed or elements but may alternatively include other steps or elements not listed or inherent to such process, method, article, or apparatus.
Reference herein to "an embodiment" means that a particular feature, structure, or characteristic described in connection with the embodiment can be included in at least one embodiment of the application. The appearances of the phrase in various places in the specification are not necessarily all referring to the same embodiment, nor are separate or alternative embodiments mutually exclusive of other embodiments. It is explicitly and implicitly understood by one skilled in the art that the embodiments described herein can be combined with other embodiments.
Referring to fig. 1, fig. 1 is a schematic flow chart of a control method of a sweeping robot according to a first embodiment of the present application.
In this embodiment, the control method of the sweeping robot may include the following steps:
step S11: and judging whether the sweeping robot needs to be charged or not.
In one embodiment, determining whether the sweeping robot needs to be charged comprises: acquiring the battery power of the sweeping robot; judging whether the electric quantity of the battery is smaller than a preset electric quantity threshold value or not; if the electric quantity of the battery is smaller than a preset electric quantity threshold value, judging that the sweeping robot needs to be charged; and if the electric quantity of the battery is greater than or equal to the preset electric quantity threshold value, judging that the sweeping robot does not need to be charged. The battery power of the sweeping robot is detected through a power monitoring module arranged inside the sweeping robot, and the acquired battery power is uploaded to a microprocessor of the sweeping robot to be processed. The preset charge threshold is an initial setting of the production, for example, the preset charge threshold may be set to 10%, 15%, 20% or 25% of the total charge of the battery, and the preset charge threshold may preferably be set to 15% in this embodiment.
If yes, i.e., after determining that the sweeping robot needs to be charged in step S11, execute step S12: and further judging whether the infrared signal receiver of the sweeping robot can receive the infrared signal transmitted by the charging device. If not, the process returns to step S11.
If yes in step S12, i.e., if it is determined that the infrared signal receiver can receive the infrared signal transmitted by the charging device, step S13 is executed: and controlling the sweeping robot to move towards the sending source of the infrared signal.
If not, that is, if it is determined in step S12 that the infrared signal receiver cannot receive the infrared signal transmitted by the charging device, step S14 is executed: the method comprises the steps that Bluetooth equipment of the sweeping robot is controlled to be started, nearby Bluetooth tag equipment is searched, and after the Bluetooth tag equipment is searched, the Bluetooth tag equipment communicates with the Bluetooth tag equipment to obtain position information of the sweeping robot; and controlling the sweeping robot to move towards the charging device according to the position information of the sweeping robot and the position information of the charging device.
Referring to fig. 2, fig. 2 is a schematic flow chart illustrating a control method of a sweeping robot according to a second embodiment of the present application.
In this embodiment, the control method of the cleaning robot may include the following steps:
step S21: and judging whether the sweeping robot needs to be charged or not.
If yes, i.e., after determining that the sweeping robot needs to be charged in step S21, execute step S22: and further judging whether the infrared signal receiver of the sweeping robot can receive the infrared signal transmitted by the charging device. If not, the process returns to step S21.
If yes, that is, if it is determined in step S22 that the infrared signal receiver can receive the infrared signal transmitted by the charging device, step S23 is executed: controlling the sweeping robot to move towards a transmitting source of the infrared signal; if not, that is, when it is determined that the infrared signal receiver cannot receive the infrared signal transmitted by the charging device, step S24 is executed:
step S23: judging whether the sweeping robot reaches the charging device within a preset time;
in step S23, if no, that is, the sweeping robot does not reach the charging device within the preset time, the method proceeds to step S24: the method comprises the steps of controlling a Bluetooth device of the sweeping robot to start and search nearby Bluetooth tag devices, and communicating with the Bluetooth tag devices after the Bluetooth tag devices are searched to acquire position information of the sweeping robot; controlling the sweeping robot to move towards the charging device according to the position information of the sweeping robot and the position information of the charging device; if yes, that is, the sweeping robot reaches the charging device within the preset time, the process ends in step S25.
Specifically, consider that the robot of sweeping the floor can meet the barrier through infrared signal's in-process searching charging device, perhaps can receive the infrared signal interference that other smart machine sent, thereby the condition that leads to searching charging device failure because of sweeping the floor robot positioning error appears, consequently, when the robot of sweeping the floor can't reach charging device in the time of predetermineeing, switch the location mode of the robot of sweeping the floor, the robot of sweeping the floor is relocated through the bluetooth label device that sets up around the charging device in the region, so that the accurate position relation of confirming the robot of sweeping the floor and charging device, make the robot of sweeping the floor get back to charging device smoothly and carry out charging operation. The preset time may be a preset initial setting of the production, for example, the preset time may be set as: 240 seconds, 300 seconds, 600 seconds, or the like, and the present embodiment preferably sets the preset time to 240 seconds.
Referring to fig. 3, fig. 3 is a schematic flowchart illustrating a step of communicating with a bluetooth tag device to acquire position information of a sweeping robot according to a third embodiment of the present application.
In this implementation, the step of obtaining the positional information of the robot of sweeping the floor with bluetooth tag device communication specifically includes:
step S31: controlling the Bluetooth device to establish Bluetooth communication connection with the Bluetooth tag device;
step S32: controlling the Bluetooth device to send a request signal to the Bluetooth tag device;
step S33: after receiving a Bluetooth signal fed back by the Bluetooth tag equipment and an equipment ID of the Bluetooth tag equipment, the Bluetooth equipment determines the relative position relationship of the Bluetooth tag equipment according to a Bluetooth signal strength indicating value of the Bluetooth signal;
step S34: the sweeping robot searches the position information of the Bluetooth tag device according to the device ID and determines the position information of the sweeping robot according to the position information and the relative position relation of the Bluetooth tag device.
Specifically, the bluetooth device of the robot of sweeping the floor is provided with unique ID, after bluetooth communication connection is established between the bluetooth device and each bluetooth tag device, the bluetooth device is controlled to send a request signal to the bluetooth tag device, the bluetooth tag device sends out a bluetooth signal in real time according to the request signal, and the bluetooth signal information comprises the unique ID of each bluetooth tag device, namely the device ID of the bluetooth tag device, and a bluetooth signal strength indicated value RSSI. The Bluetooth devices receive the Bluetooth signals sent by the Bluetooth tag devices in real time, and then the relative position relationship of the Bluetooth devices can be established according to the position information of the Bluetooth tag devices, so that the specific position information of the sweeping robot is determined. Wherein the bluetooth tag apparatus may be located at the charging device. In addition, the bluetooth tag device may be provided in an intelligent panel of each room.
Referring to fig. 4, fig. 4 is a flowchart illustrating a step of controlling the sweeping robot to move toward the charging device according to the position information of the sweeping robot and the position information of the charging device in the fourth embodiment of the present application.
In this embodiment, controlling the sweeping robot to move towards the charging device according to the position information of the sweeping robot and the position information of the charging device includes the following steps:
step S41: planning a moving path of the sweeping robot according to the position information of the sweeping robot and the position information of the charging device;
step S42: and controlling the sweeping robot to move towards the charging device according to the moving direction of the sweeping robot.
Specifically, when the battery power of the sweeping robot is lower than a preset power threshold, in the process of recharging, if it can be detected that the charging device can receive an infrared signal transmitted by the charging device, the robot moves according to a specified moving path, and if the sweeping robot runs to an environment area where the infrared signal of the charging device cannot reach, the robot needs to start a bluetooth device and search nearby bluetooth tag devices to perform bluetooth positioning, determine the position information of the sweeping robot, and plan the moving path of the sweeping robot again according to the position information of the sweeping robot and the position information of the charging device. Further, if the sweeping robot does not reach the charging device under the control of the infrared signal within the preset time, the Bluetooth device can be started to perform Bluetooth positioning with the Bluetooth tag device arranged at the position adjacent to the charging device, so that the position information between the sweeping robot and the charging device is accurately determined, the moving path of the sweeping robot is re-planned, and the sweeping robot is ensured to reach the charging device before the electric quantity of the battery is exhausted.
The control method of the sweeping robot further comprises the following steps: judging whether the sweeping robot is electrically connected with the charging device or not; and after the fact that the sweeping robot is electrically connected with the charging device is judged, a control signal for starting charging is sent to the charging device.
When the infrared signal receiver is judged not to receive the infrared signal sent by the charging device and the Bluetooth device cannot search the Bluetooth tag device, the Bluetooth device of the sweeping robot is controlled to be in a dormant state, and the reminding information that the sweeping robot cannot normally return to be charged is sent to a user, so that the use experience of the sweeping robot of the user can be improved.
Referring to fig. 5, fig. 5 is a schematic diagram of a hardware structure of a sweeping robot according to an embodiment of the present application.
In the present embodiment, the sweeping robot 50 includes a processor 51 and a memory 52 electrically connected to the processor 51, the memory 52 is used for storing a computer program, and the processor 52 is used for calling the computer program to execute the method of any one of the above embodiments.
In the several embodiments provided in the present application, it should be understood that the disclosed method and apparatus may be implemented in other manners. For example, the above-described apparatus embodiments are merely illustrative, and for example, a division of modules or units is merely a logical division, and an actual implementation may have another division, for example, a plurality of units or components may be combined or integrated into another system, or some features may be omitted, or not executed.
Units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the embodiment.
In addition, functional units in the embodiments of the present application may be integrated into one processing unit, or each unit may exist alone physically, or two or more units may be integrated into one unit. The integrated unit can be realized in a form of hardware, and can also be realized in a form of a software functional unit.
Embodiments of the present application also provide a computer-readable storage medium for storing a computer program, which can be executed by a processor to implement the method provided in the above embodiments. It is understood that the method executed by the computer program stored in the readable storage medium in this embodiment is similar to the method provided in the foregoing embodiments, and the principle and steps thereof are the same, and are not described herein again.
The storage medium may be a usb disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk, or an optical disk, which can store program codes.
According to the embodiment of the application, whether the sweeping robot needs to be charged or not is judged; after the fact that the sweeping robot needs to be charged is judged, whether an infrared signal receiver of the sweeping robot can receive an infrared signal emitted by a charging device is further judged; when the infrared signal receiver is judged to be capable of receiving the infrared signal sent by the charging device, the sweeping robot is controlled to move towards the sending source of the infrared signal, the positioning mode can be reasonably selected when the sweeping robot needs to be charged, and the positioning power consumption of the sweeping robot is reduced.
The above embodiments are merely examples and are not intended to limit the scope of the present disclosure, and all modifications, equivalents, and flow charts using the contents of the specification and drawings of the present disclosure or those directly or indirectly applied to other related technical fields are intended to be included in the scope of the present disclosure.

Claims (10)

1. A control method of a sweeping robot is characterized by comprising the following steps:
judging whether the sweeping robot needs to be charged or not;
after the fact that the sweeping robot needs to be charged is judged, whether an infrared signal receiver of the sweeping robot can receive an infrared signal emitted by a charging device or not is further judged;
and when the infrared signal receiver is judged to be capable of receiving the infrared signal sent by the charging device, controlling the sweeping robot to move towards the sending source of the infrared signal.
2. The method of controlling a sweeping robot according to claim 1, further comprising:
when the infrared signal receiver is judged not to be capable of receiving the infrared signal sent by the charging device, controlling the Bluetooth device of the sweeping robot to be started and searching nearby Bluetooth tag devices, and communicating with the Bluetooth tag devices after the Bluetooth tag devices are searched to acquire the position information of the sweeping robot;
and controlling the sweeping robot to move towards the charging device according to the position information of the sweeping robot and the position information of the charging device.
3. The method of controlling a sweeping robot according to claim 1, further comprising:
judging whether the sweeping robot reaches a charging device within a preset time;
if the sweeping robot does not reach the charging device within the preset time, controlling a Bluetooth device of the sweeping robot to start and search nearby Bluetooth tag devices, and communicating with the Bluetooth tag devices after the Bluetooth tag devices are searched to acquire the position information of the sweeping robot;
and controlling the sweeping robot to move towards the charging device according to the position information of the sweeping robot and the position information of the charging device.
4. The method for controlling the sweeping robot according to claim 2 or 3, wherein the step of communicating with the Bluetooth tag device to obtain the position information of the sweeping robot specifically comprises:
controlling the Bluetooth device and the Bluetooth tag device to establish Bluetooth communication connection;
controlling the Bluetooth device to send a request signal to the Bluetooth tag device;
after receiving a Bluetooth signal fed back by the Bluetooth tag device and a device ID of the Bluetooth tag device, the Bluetooth device determines the relative position relationship of the Bluetooth tag device according to a Bluetooth signal strength indicating value of the Bluetooth signal;
and the sweeping robot searches the position information of the Bluetooth tag equipment according to the equipment ID and determines the position information of the sweeping robot according to the position information of the Bluetooth tag equipment and the relative position relation.
5. The method according to claim 2 or 3, wherein the step of controlling the sweeping robot to move towards the charging device according to the position information of the sweeping robot and the position information of the charging device specifically comprises:
planning a moving path of the sweeping robot according to the position information of the sweeping robot and the position information of the charging device;
and controlling the sweeping robot to move towards the charging device according to the moving direction of the sweeping robot controlled by the moving path.
6. The method for controlling the sweeping robot according to claim 2 or 3, further comprising:
judging whether the sweeping robot is electrically connected with the charging device or not;
and after the floor sweeping robot is judged to be electrically connected with the charging device, a control signal for starting charging is sent to the charging device.
7. The method for controlling a sweeping robot according to claim 2, further comprising:
when the infrared signal receiver is judged to fail to receive the infrared signal sent by the charging device and the Bluetooth equipment cannot search the Bluetooth tag equipment, the Bluetooth equipment of the sweeping robot is controlled to be in a dormant state, and reminding information that the sweeping robot cannot normally recharge is sent to a user.
8. The method for controlling the sweeping robot according to claim 1, wherein the step of determining whether the sweeping robot needs to be charged comprises:
acquiring the battery power of the sweeping robot;
judging whether the electric quantity of the battery is smaller than a preset electric quantity threshold value or not;
if the electric quantity of the battery is smaller than a preset electric quantity threshold value, judging that the sweeping robot needs to be charged;
and if the electric quantity of the battery is greater than or equal to a preset electric quantity threshold value, judging that the sweeping robot does not need to be charged.
9. A sweeping robot, comprising a processor and a memory electrically connected to the processor, wherein the memory is used for storing a computer program, and the processor is used for calling the computer program to execute the method of any one of claims 1-8.
10. A computer-readable storage medium, characterized in that the computer-readable storage medium stores a computer program which can be executed by a processor to implement the method of any one of claims 1-8.
CN202011623377.4A 2020-12-31 2020-12-31 Computer-readable storage medium, sweeping robot and control method thereof Pending CN114680744A (en)

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CN111766852A (en) * 2019-03-12 2020-10-13 北京奇虎科技有限公司 Sweeping control method and device of sweeping robot
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CN104267725A (en) * 2014-09-23 2015-01-07 无锡华普微电子有限公司 Indoor navigation and positioning system for autonomous charging of sweeping robot
CN207400702U (en) * 2017-04-11 2018-05-25 李晓宇 A kind of Intelligent robot for sweeping floor
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