CN114947664A - Control method and system applied to laser guidance of sweeping robot - Google Patents
Control method and system applied to laser guidance of sweeping robot Download PDFInfo
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- CN114947664A CN114947664A CN202210713143.1A CN202210713143A CN114947664A CN 114947664 A CN114947664 A CN 114947664A CN 202210713143 A CN202210713143 A CN 202210713143A CN 114947664 A CN114947664 A CN 114947664A
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- 238000010408 sweeping Methods 0.000 title claims abstract description 158
- 238000000034 method Methods 0.000 title claims abstract description 61
- 238000004590 computer program Methods 0.000 claims description 6
- 230000000694 effects Effects 0.000 abstract description 2
- 238000004140 cleaning Methods 0.000 description 22
- 238000003825 pressing Methods 0.000 description 9
- 239000000428 dust Substances 0.000 description 3
- 238000013473 artificial intelligence Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000001680 brushing effect Effects 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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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- 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
- G05D1/0234—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using optical markers or beacons
- G05D1/0236—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using optical markers or beacons in combination with a laser
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- 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
- G05D1/0246—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means
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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
Abstract
The application relates to the field of sweeping robots, in particular to a control method and a control system applied to laser guidance of a sweeping robot, which comprise the following steps: acquiring spot position information of a laser spot in real time based on the operation of emitting laser by a laser generator; acquiring light spot path information corresponding to the laser light spots according to the light spot position information; acquiring equipment position information of a sweeping robot; determining a target path according to the light spot path information and the equipment position information; and controlling the sweeping robot to move according to the target path. This application has the effect that improves the flexibility of robot of sweeping the floor in the use.
Description
Technical Field
The application relates to the field of sweeping robots, in particular to a control method and a control system applied to laser guidance of a sweeping robot.
Background
The floor sweeping robot is also called an automatic cleaner, intelligent dust collection, a robot dust collector and the like, is one of intelligent household appliances, and can automatically complete floor cleaning work in a room by means of certain artificial intelligence. Generally, the floor cleaning machine adopts a brushing and vacuum mode, and firstly absorbs the impurities on the floor into the garbage storage box, so that the function of cleaning the floor is achieved. Generally, a robot that performs cleaning, dust collection and floor wiping is also collectively called a floor sweeping robot.
The existing household sweeping robot can automatically avoid obstacles to sweep in the use process; however, the sweeping robot is generally planned by the sweeping robot, and if a user wants to preferentially process a route of a partial area according to the user's own needs, the user is inconvenient, so that the flexibility of the sweeping robot in the using process is affected.
Disclosure of Invention
In order to improve the flexibility of the sweeping robot in the using process, the application provides a control method and a control system applied to laser guidance of the sweeping robot.
In a first aspect, the application provides a control method applied to laser guidance of a sweeping robot, which adopts the following technical scheme:
a control method applied to laser guidance of a sweeping robot comprises the following steps:
acquiring spot position information of a laser spot in real time based on the operation of emitting laser by a laser generator;
acquiring light spot path information corresponding to the laser light spots according to the light spot position information;
acquiring equipment position information of a sweeping robot;
determining a target path according to the light spot path information and the equipment position information;
and controlling the sweeping robot to move according to the target path.
By adopting the technical scheme, the sweeping robot acquires image information of a working area in advance, after the sweeping robot sweeps indoors, a user wants to preferentially process a part of the area by the sweeping robot, the user can change the position of a laser spot by pressing the laser generator for a long time, the system can acquire spot position information of the laser spot in real time, and the system can acquire spot path information corresponding to the laser spot according to the spot position information, wherein the spot path information is a track for the user to drive the laser spot to move; and then the system acquires the position information of the sweeping robot in the working area, and then the target path can be determined through the spot path information and the equipment position information, at the moment, the sweeping robot firstly moves to the initial point of the spot path information, and then the sweeping robot is controlled to carry out cleaning work along the target path.
Through above-mentioned process, the user can use laser generator alright guide with the removal orbit of robot of sweeping the floor to can improve the flexibility of robot of sweeping the floor in the use, improve user experience and feel.
Optionally, in the process of acquiring the spot path information, the following steps are performed:
acquiring a corresponding starting control signal based on the operation of the primary long press laser generator;
acquiring initial position information of the laser spot based on the starting control information;
acquiring real-time position information of the laser spot based on the movement of the laser spot;
acquiring a corresponding closing control signal based on the operation of the secondary long press laser generator;
acquiring the end position information of the laser spot based on the closing control information;
and determining the light spot path information according to the initial position information, the real-time position information and the end position information.
By adopting the technical scheme, when the spot generator is used, the spot generator is generally started firstly, the laser spot is existed at the moment, in order to accurately obtain the moving track of the sweeping robot required by a user, therefore, when the light spot path information is obtained, the system obtains the corresponding starting control signal based on the operation of pressing the laser generator for the first time, so that the initial position information of the laser light spot can be obtained based on the starting control signal, and similarly, the system obtains the corresponding closing control signal based on the operation of pressing the laser generator for the second time, so that the corresponding closing control signal can be obtained based on the operation of pressing the laser generator for the second time, in the process of moving the light spot, the system also acquires the real-time position information of the laser light spot, and then the light spot path information of the laser generator can be determined by combining the initial position information, the real-time position information and the termination position information; through the process, the corresponding light spot path information when the user moves the laser generator can be accurately acquired.
Optionally, after determining the spot path information, the following steps are performed:
determining target time period data;
acquiring initial time point information of a primary long press laser generator;
starting based on initial time point information and acquiring all corresponding real-time position information in target time period data and determining a starting position information set, wherein the starting position information set comprises a plurality of pieces of real-time position information;
acquiring the closing time point information of the secondary long press laser generator;
before obtaining closing time point information and in target time period data, obtaining all corresponding real-time position information and determining a closing position information set, wherein the closing position information set comprises a plurality of pieces of real-time position information;
and judging whether the sweeping robot travels along the light spot path information or in a target area formed by the light spot path information according to the starting position information set and the closing position information set.
By adopting the technical scheme, in the laser spot moving process, a user may want to clean the sweeping robot along the spot path information and also may form a cleaning area in the spot path information, so that the system acquires the start position information set and the stop position information set and judges whether the sweeping robot travels along the spot path information or travels into the target area formed by the spot path information through the start position information set and the stop position information set; through the process, the sweeping robot can select different traveling paths according to different cleaning positions, so that the flexibility of the sweeping robot in use is improved.
Optionally, in the process of determining whether the sweeping robot travels along the spot path information or within the target area formed by the spot path information, the following steps are performed:
judging whether the real-time position information in the starting position information set is overlapped with the real-time position information in the closing position information set or not;
if not, controlling the sweeping robot to move along the light spot path information;
and if so, controlling the sweeping robot to move to a target area, wherein the target area is a closed loop formed by the light spot path information.
By adopting the technical scheme, whether the real-time position information in the starting position information set is overlapped with the real-time position information in the closing position information set or not is judged, if not, the light spot path information is a segment, the sweeping robot is controlled to move along the light spot path information, and the sweeping robot carries out cleaning work on a track corresponding to the light spot path information; if yes, the user needs to sweep the area in the light spot path information by the robot, the sweeping robot is controlled to move to the target area, and the target area is a closed loop formed by the light spot path information; through the process, the sweeping robot can move correspondingly according to the information of the light spot path drawn by the user.
Optionally, when the sweeping robot is controlled to move, the following steps are performed:
calling initial position information;
controlling the sweeping robot to move to the initial position information and move along the target path;
acquiring a traveling route of the sweeping robot according to the equipment position information and the target area;
and controlling the sweeping robot to move to the target area according to the traveling route.
By adopting the technical scheme, after the area which needs to be cleaned by the sweeping robot preferentially is determined, the sweeping robot can move to the initial position information and move along the target path or control the sweeping robot to move to the target area according to the moving route, and can accurately move to the area which needs to be cleaned preferentially.
Optionally, in the process of acquiring the initial position information and the end position information, the following steps are performed:
acquiring a corresponding starting time point and an ending time point based on the operation of the long-press laser generator, wherein the starting time point is the time point for starting the long-press laser generator, and the ending time point is the time point for ending the long-press laser generator;
acquiring starting position information of the central point of the laser spot corresponding to the starting time point;
acquiring ending position information of the laser spot central point corresponding to the ending time point;
and judging whether the starting position information and the ending position information are overlapped, if so, acquiring initial position information and ending position information, and otherwise, prompting to press the laser generator again for a long time.
By adopting the technical scheme, after the starting position information of the laser spot central point corresponding to the starting time point and the ending position information of the laser spot central point corresponding to the ending time point are obtained, whether the starting position information and the ending position information coincide is judged, when the system needs to determine the initial position information and the ending position information, the influence caused by hand shake of a user according to a laser generator for a long time can be reduced, and the accuracy of the starting position information and the ending position information can be improved.
Optionally, when determining whether the start position information and the end position information coincide with each other, the following steps are performed:
acquiring starting coordinate information corresponding to the starting position information;
acquiring ending coordinate information corresponding to the ending position information;
determining the deviation amount of the start coordinate information and the end coordinate information;
a preset deviation threshold value is called;
comparing the deviation amount with a deviation threshold; if the deviation amount is larger than the deviation threshold value, prompting to press the laser generator again; otherwise, the start position information and the end position information are coincided.
By adopting the technical scheme, the deviation amount between the start coordinate information and the end coordinate information is calculated, and the deviation amount is compared with the deviation threshold value; if the deviation amount is larger than the deviation threshold value, the fact that the user shakes to a large extent in the process of long-pressing the laser generator is indicated, and the position information is not overlapped with the end position information, the fact that the laser generator is long-pressed again is prompted; otherwise, the initial position information and the end position information are overlapped, so that the initial position information and the end position information can be accurately acquired.
In a second aspect, the application provides a control system applied to laser guidance of a sweeping robot, which adopts the following technical scheme:
a control system applied to laser guidance of a sweeping robot comprises:
the laser spot position acquisition module is used for acquiring the laser spot position information of the laser spot in real time based on the operation of the laser generator for emitting laser;
the light spot path module acquires light spot path information corresponding to the laser light spots according to the light spot position information;
the equipment position acquisition module is used for acquiring equipment position information of the sweeping robot;
the determining module is used for determining a target path according to the light spot path information and the equipment position information;
and the control module is used for controlling the movement of the sweeping robot according to the target path.
By adopting the technical scheme, the sweeping robot acquires image information of a working area in advance, after sweeping the floor indoors, a user wants to preferentially process a partial area by the sweeping robot, the user can press the laser generator for a long time, the user can change the position of the laser spot, the spot position acquisition module can acquire spot position information of the laser spot in real time, and the spot path module can acquire spot path information corresponding to the laser spot according to the spot position information, wherein the spot path information is a track for the user to drive the laser spot to move; then, the equipment position acquisition module acquires the position information of the sweeping robot in a working area, then the determination module can determine a target path according to the light spot path information and the equipment position information, at the moment, the sweeping robot can move to a starting point of the light spot path information, and then the control module controls the sweeping robot to perform cleaning work along the target path.
Through above-mentioned process, the user can use laser generator alright guide with the removal orbit of robot of sweeping the floor to can improve the flexibility of robot of sweeping the floor in the use, improve user experience and feel.
In a third aspect, the present application provides a computer-readable storage medium storing a computer program that can be loaded by a processor and execute a control method applied to laser guidance of a sweeping robot.
In a fourth aspect, the intelligent terminal provided by the present application includes a memory and a processor, where the memory stores a computer program that can be loaded by the processor and execute a control method applied to laser guidance of a sweeping robot.
In summary, the present application includes at least one of the following beneficial technical effects:
1. the user can use laser generator alright guide with the removal orbit to the robot of sweeping the floor to can improve the flexibility of the robot of sweeping the floor in the use, improve user experience and feel.
2. By determining the light spot path information of the laser generator by combining the initial position information, the real-time position information and the termination position information, the corresponding light spot path information when the user moves the laser generator can be accurately obtained.
3. Judging whether the sweeping robot travels along the light spot path information or in a target area formed by the light spot path information through starting the position information set and closing the position information set; the sweeping robot can select different traveling paths according to different cleaning positions, so that the flexibility of the sweeping robot in use is improved.
Drawings
Fig. 1 is a flowchart of a control method applied to laser guidance of a sweeping robot in an embodiment of the present application;
fig. 2 is a flowchart of determining spot path information in a control method for laser guidance of a sweeping robot according to an embodiment of the present application;
fig. 3 is a flowchart of determining a cleaning position of the sweeping robot in the control method of the sweeping robot laser guidance according to the embodiment of the present application;
fig. 4 is a flowchart of determining whether real-time position information in a start position information set and real-time position information in a close position information set coincide with each other in a control method applied to laser guidance of a sweeping robot according to an embodiment of the present application;
fig. 5 is a flowchart of acquiring initial position information in a control method applied to laser guidance of a sweeping robot according to an embodiment of the present application;
fig. 6 is a flowchart of acquiring end position information in a control method for laser guidance of a sweeping robot according to an embodiment of the present disclosure;
fig. 7 is a schematic structural diagram of a control system applied to laser guidance of a sweeping robot in an embodiment of the present application.
Description of reference numerals:
1. a light spot position obtaining module; 2. a light spot path module; 3. a device location acquisition module; 4. a determination module; 5. and a control module.
Detailed Description
The present application will be described in further detail below.
The embodiment of the application discloses a control method applied to laser guidance of a sweeping robot, which comprises the following steps with reference to fig. 1 and 2:
s1, acquiring spot position information of the laser spot in real time based on the operation of the laser generator to emit laser;
after the sweeping robot sweeps the floor indoors, the sweeping robot acquires image information of a working area in advance, a user wants to preferentially process a part of area of the sweeping robot, and the user can change the position of a laser spot by pressing the laser generator for a long time.
S2, acquiring the light spot path information corresponding to the laser light spot according to the light spot position information;
the spot path information is a path that a user directs to the sweeping robot, and a start point and an end point of the spot path information need to be determined, but when the spot generator is used, the spot generator is generally started first, at this time, a laser spot already exists, and in order to accurately obtain a track that the user wants to move the sweeping robot, in the process of obtaining the spot path information, the following steps are performed with reference to fig. 2:
s21, acquiring a corresponding starting control signal based on the operation of the primary long press laser generator;
when the user starts to draw the light spot path information, the system acquires a corresponding starting control signal based on the operation of pressing the laser generator for the first time by the user, and the light spot path information starts to be drawn at the moment.
S22, acquiring initial position information of the laser spot based on the starting control information;
when the system receives the starting control signal, the real-time position information of the laser spot is initial position information.
S23, acquiring real-time position information of the laser spot based on the movement of the laser spot;
wherein, when the user moves the laser spot, a plurality of real-time position information can be obtained.
S24, acquiring a corresponding closing control signal based on the operation of the secondary long-press laser generator;
after the user starts to draw the light spot path information, the system acquires a corresponding closing control signal based on the operation of pressing the laser generator twice, and the light spot path information is drawn at the end.
S25, acquiring the ending position information of the laser spot based on the closing control information;
when the system receives the closing control signal, the real-time position information of the laser spot is the termination position information.
S26, determining the light spot path information according to the initial position information, the real-time position information and the end position information;
the position corresponding to the initial position information is used as a starting point of the light spot path information, the position corresponding to the ending position information is used as an end point of the light spot path information, and the positions corresponding to all real-time position information are connected to obtain the light spot path information.
Through the steps from S21 to S26, the corresponding spot path information when the user moves the laser generator can be accurately obtained.
S3, acquiring equipment position information of the sweeping robot;
the equipment position information is the current indoor position of the sweeping robot.
S4, determining a target path according to the light spot path information and the equipment position information;
after the light spot path information and the equipment position information are determined, the target path of the sweeping robot, which needs to move, can be determined by connecting the initial position information of the acquired light spot path information with the equipment position information.
S5, controlling the sweeping robot to move according to the target path;
the system controls the sweeping robot to perform cleaning work along the target path, and the sweeping robot can perform cleaning work on the area which needs to be cleaned preferentially by the user.
Through above-mentioned process, the user can use laser generator alright guide with the removal orbit of robot of sweeping the floor to can improve the flexibility of robot of sweeping the floor in the use, improve user experience and feel.
In addition, during the laser spot moving process, the user may want to clean the sweeping robot along the spot path information, or may form a cleaning area on the spot path information, so that the cleaning position of the sweeping robot needs to be determined first, referring to fig. 3, so the following steps are further performed:
s261, determining target time segment data;
the target time section data is a time section in the time length in the process of moving the laser spot by the user.
S262, acquiring initial time point information of the primary long press laser generator;
when a user presses the laser generator for the first time, the current time point information is acquired as initial time point information.
S263, starting based on the initial time point information and acquiring all corresponding real-time position information in the target time period data and determining a starting position information set;
after the laser generator is pressed for the first time, all real-time position information in the target time period data is acquired afterwards by taking the initial time point information as the start.
S264, obtaining the closing time point information of the secondary long press laser generator;
when the user presses the laser generator for the second time, the current time point information is acquired as closing time point information.
S265, before the closing time point information is obtained, all corresponding real-time position information is obtained in the target time period data, and a closing position information set is determined;
and after the laser generator is pressed for the second time, all real-time position information in the target time period data is obtained in the past by taking the closing time point information as the end.
And S266, judging whether the sweeping robot travels along the light spot path information or in the target area formed by the light spot path information according to the starting position information set and the closing position information set.
Referring to fig. 4, S2661, determining whether the real-time position information in the start position information set and the real-time position information in the close position information set coincide with each other;
and S266111, if not, indicating that the light spot path information is a segment, controlling the sweeping robot to travel along the light spot path information, and cleaning the track corresponding to the light spot path information by the sweeping robot.
S266112, the initial position information is retrieved.
And S266113, controlling the sweeping robot to move to the initial position information and move along the target path.
And S266121, if yes, controlling the sweeping robot to move to the target area, and if the situation shows that the user needs to sweep the area in the light spot path information by the sweeping robot, controlling the sweeping robot to move to the target area, wherein the target area is a closed loop formed by the light spot path information.
S266122, acquiring a traveling route of the sweeping robot according to the equipment position information and the target area;
the moving route is a movable route from the position of the sweeping robot to the target area, the number of the movable routes is multiple, and the sweeping robot can move to the target area only by being guaranteed.
And S266123, controlling the sweeping robot to move to the target area according to the traveling route.
Through the process, the sweeping robot can draw the light spot path information according to the user to move correspondingly, and can be guaranteed to move to the corresponding position to carry out cleaning work, so that the use flexibility of the sweeping robot is improved.
When the system needs to determine the initial position information and the end position information, the accuracy of the initial position information and the end position information may be affected when the user presses the laser generator for a long time, so in the process of acquiring the initial position information, with reference to fig. 5, the following steps are performed:
and S221, acquiring a corresponding starting time point and an ending time point based on the operation of the long-press laser generator, wherein the starting time point is a time point for starting the long-press laser generator, and the ending time point is a time point for ending the long-press laser generator.
S222, acquiring starting position information of the central point of the laser spot corresponding to the starting time point;
wherein the starting position information is the position of the laser spot when the laser generator is pressed for the first time.
S223, acquiring ending position information of the laser spot central point corresponding to the ending time point;
wherein the end position information is the position of the laser spot when the laser generator is pressed for the first time.
S224, determining whether the start position information and the end position information overlap, specifically including the following steps:
s2241, obtaining start coordinate information corresponding to the start position information;
the start coordinate information is coordinate information of the start position information in the image information.
S2242, acquiring ending coordinate information corresponding to the ending position information;
wherein the ending coordinate information is coordinate information of the ending position information in the image information.
S2243, determining the deviation amount of the start coordinate information and the end coordinate information;
the deviation amount can be obtained by calculating the distance between the coordinate information corresponding to the end coordinate information and the coordinate information corresponding to the start coordinate information.
And S2244, calling a preset deviation threshold value.
S2245, comparing the deviation amount with a deviation threshold value; if the deviation amount is larger than the deviation threshold value, the fact that the hand shaking degree of a user is too large when the laser generator is pressed for the first time and the initial position information cannot be obtained is indicated, and the fact that the laser generator is pressed for the second time is prompted; otherwise, the starting position information is overlapped with the ending position information, which shows that the initial position information can be accurately determined.
Similarly, in the process of acquiring the termination position information, referring to fig. 6, the following steps are performed:
and S241, acquiring a corresponding starting time point and an ending time point based on the operation of the long press laser generator, wherein the starting time point is a time point for starting the long press laser generator, and the ending time point is a time point for ending the long press laser generator.
S222, acquiring starting position information of the central point of the laser spot corresponding to the starting time point;
wherein the starting position information is the position of the laser spot when the laser generator is pressed for the first time.
S223, acquiring ending position information of the laser spot central point corresponding to the ending time point;
and the ending position information is the position of the laser spot when the laser generator is pressed for the second time.
S224, determining whether the start position information and the end position information coincide with each other, including:
s2241, obtaining start coordinate information corresponding to the start position information;
the start coordinate information is coordinate information of the start position information in the image information.
S2242, acquiring ending coordinate information corresponding to the ending position information;
wherein the ending coordinate information is coordinate information of the ending position information in the image information.
S2243, determining a deviation amount of the start coordinate information and the end coordinate information;
the deviation amount can be obtained by calculating the distance between the coordinate information corresponding to the end coordinate information and the coordinate information corresponding to the start coordinate information.
And S2244, calling a preset deviation threshold value.
S2245, comparing the deviation amount with a deviation threshold value; if the deviation amount is larger than the deviation threshold, the hand shaking degree of the user is too large when the laser generator is pressed for the second time, and the acquisition of the information of the termination position cannot be determined, and the fact that the laser generator is pressed for the second time is prompted; otherwise, the starting position information coincides with the ending position information, which indicates that the ending position information can be accurately determined.
The implementation principle of the control method applied to the laser guidance of the sweeping robot in the embodiment of the application is as follows: after the sweeping robot sweeps the floor indoors, the sweeping robot acquires the image information of a working area in advance, a user wants the sweeping robot to process a part of the area preferentially, the system acquires the spot position information of the laser spot in real time based on the operation of the laser generated by the laser generator, then acquires the spot path information corresponding to the laser spot according to the position information of all the spots, when the light spot path information is obtained, the corresponding starting control signal is obtained based on the operation of the primary long press laser generator, then the system acquires initial position information of the laser spot based on the starting control information, so that real-time position information of the laser spot can be acquired based on the movement of the laser spot, the system acquires a corresponding closing control signal based on the operation of a secondary long press laser generator, and acquires the end position information of the laser spot according to the closing control information; the system acquires initial position information, real-time position information and end position information, and connects the position corresponding to the initial position information as the starting point of the facula path information, the position corresponding to the end position information as the end point of the facula path information and the positions corresponding to all the real-time position information, so that the corresponding facula path information when the user moves the laser generator can be accurately acquired.
After the light spot path information is accurately determined, the system acquires the equipment position information of the sweeping robot, after the light spot path information and the equipment position information are determined, the target path which needs to be moved by the sweeping robot can be determined through the connection between the initial position information of the acquired light spot path information and the equipment position information, the system controls the sweeping robot to carry out cleaning work along the target path, and the sweeping robot can carry out cleaning work on the area which needs to be cleaned preferentially by a user.
In addition, in the laser spot moving process, a user may want to clean the sweeping robot along the spot path information, or may form a cleaning area in the spot path information, so that the cleaning position of the sweeping robot needs to be determined first, so the following steps are further performed: the system determines target time period data, then acquires initial time point information of a primary long press laser generator, starts to acquire all corresponding real-time position information and determines a starting position information set in the target time period data based on the initial time point information, acquires closing time point information of a secondary long press laser generator, acquires all corresponding real-time position information and determines a closing position information set in the target time period data before the closing time point information, and finally judges whether the sweeping robot travels along the spot path information or travels into a target area formed by the spot path information according to the starting position information set and the closing position information set.
Judging whether the real-time position information in the closing position information set is overlapped with the real-time position information in the closing position information set, if not, indicating that the light spot path information is a segment, calling the initial position information to call the initial position information, and controlling the sweeping robot to move to the initial position information and move along a target path; if yes, the sweeping robot is controlled to move to the target area, the situation that the user needs to sweep the area in the optical spot path information by the sweeping robot is shown, the traveling route of the sweeping robot is obtained according to the equipment position information and the target area, and then the sweeping robot is controlled to move to the target area according to the traveling route.
In sum, the user can use laser generator alright guide the removal orbit of robot of sweeping the floor to can improve the flexibility of robot of sweeping the floor in the use, improve user experience and feel.
In a second aspect, the application provides a control system applied to laser guidance of a sweeping robot, with reference to fig. 7, including:
the laser spot position acquisition module 1 is used for acquiring laser spot position information of a laser spot in real time based on the operation of the laser generator for emitting laser;
the light spot path module 2 is used for acquiring light spot path information corresponding to the laser light spots according to the light spot position information;
the equipment position acquisition module 3 is used for acquiring equipment position information of the sweeping robot;
the determining module 4 is used for determining a target path according to the light spot path information and the equipment position information;
and the control module 5 is used for controlling the sweeping robot to move according to the target path.
The implementation principle of the control system applied to laser guidance of the sweeping robot in the embodiment of the application is as follows: the sweeping robot acquires image information of a working area in advance, after sweeping is carried out indoors by the sweeping robot, a user wants to preferentially process a part of area by the sweeping robot, the user can change the position of a laser spot by pressing a laser generator for a long time, the spot position acquisition module 1 can acquire spot position information of the laser spot in real time, and the spot path module 2 can acquire spot path information corresponding to the laser spot according to the spot position information, wherein the spot path information is a track for the user to drive the laser spot to move; then, the equipment position obtaining module 3 obtains the position information of the sweeping robot in the working area, then the determining module 4 can determine the target path according to the light spot path information and the equipment position information, at this time, the sweeping robot can move to the starting point of the light spot path information, and then the control module 5 controls the sweeping robot to perform cleaning work along the target path.
Through above-mentioned process, the user can laser generator alright guide in order to the removal orbit of robot of sweeping the floor to can improve the flexibility of robot of sweeping the floor in the use, improve user experience and feel.
In a third aspect, the present application provides a computer-readable storage medium storing a computer program that can be loaded by a processor and execute a control method applied to laser guidance of a sweeping robot.
In a fourth aspect, the intelligent terminal provided by the present application includes a memory and a processor, where the memory stores a computer program that can be loaded by the processor and execute a control method applied to laser guidance of a sweeping robot.
The above embodiments are preferred embodiments of the present application, and the protection scope of the present application is not limited by the above embodiments, so: all equivalent changes made according to the structure, shape and principle of the present application shall be covered by the protection scope of the present application.
Claims (10)
1. A control method applied to laser guidance of a sweeping robot is characterized by comprising the following steps:
acquiring spot position information of a laser spot in real time based on the operation of emitting laser by a laser generator;
acquiring light spot path information corresponding to the laser light spots according to the light spot position information;
acquiring equipment position information of a sweeping robot;
determining a target path according to the light spot path information and the equipment position information;
and controlling the sweeping robot to move according to the target path.
2. The control method applied to the laser guidance of the sweeping robot according to claim 1, wherein in the process of acquiring the light spot path information, the following steps are performed:
acquiring a corresponding starting control signal based on the operation of the primary long press laser generator;
acquiring initial position information of the laser spot based on the starting control information;
acquiring real-time position information of the laser spot based on the movement of the laser spot;
acquiring a corresponding closing control signal based on the operation of the secondary long press laser generator;
acquiring the ending position information of the laser spot based on the closing control information;
and determining the light spot path information according to the initial position information, the real-time position information and the end position information.
3. The control method applied to the laser guidance of the sweeping robot according to claim 2, wherein after the spot path information is determined, the following steps are performed:
determining target time period data;
acquiring initial time point information of a primary long press laser generator;
starting based on initial time point information and acquiring all corresponding real-time position information in target time period data and determining a starting position information set, wherein the starting position information set comprises a plurality of pieces of real-time position information;
acquiring the closing time point information of the secondary long press laser generator;
before obtaining closing time point information and in target time period data, obtaining all corresponding real-time position information and determining a closing position information set, wherein the closing position information set comprises a plurality of pieces of real-time position information;
and judging whether the sweeping robot travels along the light spot path information or in a target area formed by the light spot path information according to the starting position information set and the closing position information set.
4. The control method applied to the laser guidance of the sweeping robot as claimed in claim 3, wherein in the process of judging whether the sweeping robot travels along the light spot path information or within the target area formed by the light spot path information, the following steps are performed:
judging whether the real-time position information in the starting position information set is overlapped with the real-time position information in the closing position information set or not;
if not, controlling the sweeping robot to move along the light spot path information;
and if so, controlling the sweeping robot to move to a target area, wherein the target area is a closed loop formed by the light spot path information.
5. The control method applied to the laser guidance of the sweeping robot as claimed in claim 2, characterized in that when the sweeping robot is controlled to move, the following steps are performed:
calling initial position information;
controlling the sweeping robot to move to the initial position information and move along the target path;
acquiring a traveling route of the sweeping robot according to the equipment position information and the target area;
and controlling the sweeping robot to move to the target area according to the traveling route.
6. The control method applied to the laser guidance of the sweeping robot as claimed in claim 2, wherein in the process of acquiring the initial position information and the end position information, the following steps are performed:
acquiring a corresponding starting time point and an ending time point based on the operation of the long-press laser generator, wherein the starting time point is the time point for starting the long-press laser generator, and the ending time point is the time point for ending the long-press laser generator;
acquiring starting position information of the central point of the laser spot corresponding to the starting time point;
acquiring ending position information of the laser spot central point corresponding to the ending time point;
and judging whether the starting position information and the ending position information are overlapped, if so, acquiring initial position information and ending position information, and otherwise, prompting to press the laser generator again for a long time.
7. The method for controlling the laser guidance of the sweeping robot according to claim 6, wherein when determining whether the start position information and the end position information coincide with each other, the method comprises the following steps:
acquiring starting coordinate information corresponding to the starting position information;
acquiring ending coordinate information corresponding to the ending position information;
determining the deviation amount of the start coordinate information and the end coordinate information;
a preset deviation threshold value is called;
comparing the deviation amount with a deviation threshold; if the deviation amount is larger than the deviation threshold value, prompting to press the laser generator again; otherwise, the start position information and the end position information are coincided.
8. The utility model provides a control system for robot laser of sweeping floor guides which characterized in that includes:
the laser spot position acquisition module (1) is used for acquiring the spot position information of the laser spot in real time based on the operation of the laser generator for emitting laser;
the light spot path module (2) is used for acquiring light spot path information corresponding to the laser light spots according to the light spot position information;
the equipment position acquisition module (3) is used for acquiring equipment position information of the sweeping robot;
the determining module (4) is used for determining a target path according to the light spot path information and the equipment position information;
and the control module (5) is used for controlling the sweeping robot to move according to the target path.
9. Computer readable storage medium, storing a computer program that can be loaded by a processor and executed to perform the method according to any of claims 1 to 7.
10. Smart terminal comprising a memory and a processor, said memory having stored thereon a computer program that can be loaded by the processor and that executes the method according to any of claims 1 to 7.
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