CN1287722C - Method for identifying automatic dust collector cleanable area and obstacle area - Google Patents
Method for identifying automatic dust collector cleanable area and obstacle area Download PDFInfo
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- CN1287722C CN1287722C CN 02137830 CN02137830A CN1287722C CN 1287722 C CN1287722 C CN 1287722C CN 02137830 CN02137830 CN 02137830 CN 02137830 A CN02137830 A CN 02137830A CN 1287722 C CN1287722 C CN 1287722C
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- dust catcher
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- walking
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- 238000000034 method Methods 0.000 title claims abstract description 15
- 239000000428 dust Substances 0.000 title claims description 66
- 230000004888 barrier function Effects 0.000 claims description 34
- 238000006073 displacement reaction Methods 0.000 claims description 15
- 238000007789 sealing Methods 0.000 claims description 3
- 238000004140 cleaning Methods 0.000 abstract description 4
- 208000010877 cognitive disease Diseases 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 230000002093 peripheral effect Effects 0.000 description 1
- 238000010926 purge Methods 0.000 description 1
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Abstract
The present invention relates to a method for identifying a cleanable area and an obstacle area of an automatic suction cleaner. After an x-direction and a y-direction which are vertical to each other are defined in an approximately plane enclosed area, a suction cleaner walks a circle along the periphery of the enclosed area and memorizes the coordinates of the periphery; the suction cleaner scans in the x-direction or the y-direction and memorizes the coordinates of the walking route thereof; when scanning, the suction cleaner detours at the time of encountering an obstacle, and the area where the suction cleaner detours is an obstacle area. When the present invention identifying the obstacle, the walking routes are few, and the present invention is accurate in confirming the obstacle, which is convenient for the suction cleaner to carry out automatic cleaning.
Description
The present invention relates to the method for the cognitive disorders thing of a kind of dust catcher, particularly dust catcher.
In the prior art, automatic cleaner for example PCT application international publication number is that the patent application of WO0038025 is at first along the outward flange walking on ground, avoids during walking along the barrier on its path, round and round from cleaning outside to inside.This method can't be handled for the plural independent barrier (or claiming isolated island) of room central authorities, therefore can cause the omission of purging zone or repeat cleaning.U.S. Pat 5440216 is to be walked a week along outward flange by dust catcher earlier for the recognition methods of the cleanable area in the room, obtain outer peripheral profile, immediate with it a kind of cleaning layout pattern is selected by computer in the exemplary configurations of storing in this profile and the computer back of comparing, the work of control dust catcher, then can do to evade processing when but detecting head detects the isolated island of room central authorities, still can cause the subregion drain sweep.
The object of the present invention is to provide that a kind of track route is few, the obstacle detection cleanable area of automatic cleaner and the recognition methods of barrier region accurately.
Technical scheme of the present invention is: a kind of cleanable area of automatic cleaner and the recognition methods of barrier region, in the zone of the general plane of a sealing, carry out the definition of orthogonal X-direction and Y direction, along the inward flange of the closed area circle that detours, draw the closed contour line of closed area by dust catcher; Zone outside the closed contour line is a barrier region, within the zone be scanning area;
Carry out X-direction scanning or Y direction scanning and remember its track route by dust catcher again;
When carrying out X-direction scanning, walk along Y direction by dust catcher earlier, when in the sensor on the dust catcher detects the setpoint distance in the place ahead of walking, barrier being arranged and not having scanning area again in the walking the place ahead that clears the jumps, dust catcher moves a displacement M1 along X-direction, and reverse again or continuation forward is walked along Y direction; When in the sensor on the dust catcher detects the setpoint distance in the place ahead of walking, barrier being arranged and also having scanning area in the walking the place ahead that clears the jumps, then dust catcher obstacle thing walking, when the X value before the obstacle thing of walking, dust catcher continues along Y to walking forward again;
When carrying out Y direction scanning, walk along X-direction by dust catcher earlier, when in the sensor on the dust catcher detects the setpoint distance in the place ahead of walking, barrier being arranged and not having scanning area again in the walking the place ahead that clears the jumps, dust catcher moves a displacement M2 along Y direction, and reverse again or continuation forward is walked along X-direction; When in the sensor on the dust catcher detects the setpoint distance in the place ahead of walking, barrier being arranged and also having scanning area in the walking the place ahead that clears the jumps, then dust catcher obstacle thing walking, when the Y value before the obstacle thing of walking, dust catcher continues along X to walking forward again;
The zone that does not scan within the closed contour line also is barrier region, and the zone except that the obstacle object area is a cleanable area;
Described X-direction scanning is that dust catcher passes through or detect the minimum of a value of X to the closed area between the maximum; Described Y direction scanning is that dust catcher passes through or detect the minimum of a value of Y to the closed area between the maximum;
The present invention compared with prior art has following advantage:
The present invention can carry out the less scanning in path to enclosed areas, can judge the coordinate position of barrier and periphery exactly in the zone of being scanned.
The invention will be further described below in conjunction with drawings and Examples:
Accompanying drawing 1 is the distribution map of the layout in a room;
Accompanying drawing 2 be dust catcher around the neighboring scan route map in one week;
Accompanying drawing 3 is the line map in X-direction when scanning of dust catcher;
Accompanying drawing 4 is the route map in Y direction when scanning of dust catcher;
Accompanying drawing 5 is the dust catcher line map in X-direction when scanning in another kind of closed area;
Accompanying drawing 6 is the dust catcher route map in Y direction when scanning in another kind of closed area;
Wherein: A1, A2, A3, A4, A5 are barrier;
Embodiment: referring to accompanying drawing 1 and accompanying drawing 2, a kind of cleanable area of automatic cleaner and the recognition methods of barrier region, in the zone of the general plane of a sealing, carry out the definition of orthogonal X-direction and Y direction, along the inward flange of the closed area circle that detours, draw the closed contour line (seeing shown in the accompanying drawing 2) of closed area by dust catcher; Zone outside the closed contour line is a barrier region, within the zone be scanning area;
Carry out X-direction scanning or Y direction scanning and remember its track route by dust catcher again;
Shown in accompanying drawing 3 and accompanying drawing 5, when carrying out X-direction scanning, walk along Y direction by dust catcher earlier, when in the sensor on the dust catcher detects the setpoint distance in the place ahead of walking, barrier being arranged and not having scanning area again (for example Y1 of accompanying drawing 3, Y2, Y3) in the walking the place ahead that clears the jumps, dust catcher moves a displacement M1 along X-direction, oppositely walks along Y direction again; When in the sensor on the dust catcher detects the setpoint distance in the place ahead of walking, barrier being arranged and also having scanning area (for example Y4 of accompanying drawing 5) in the walking the place ahead that clears the jumps, then dust catcher obstacle thing walking, when the X value before the obstacle thing of walking, dust catcher continues along Y to walking forward again, produce track route Y4 ', there is barrier in the place ahead, walking back forward again, then rotate 90 degree, rotate 90 degree after the displacement M1 distance again, carry out the walking of route Y5 ', run into behind the barrier and the place ahead that clears the jumps still has scanning area, then obstacle thing A2 walking again, position until the Y5 that walks walks on along Y5, and Y5 ' is identical with the coordinate X value of Y5 route.During the walking of obstacle thing, can be that clockwise direction detours, also can be counterclockwise to detour;
Shown in accompanying drawing 4 and accompanying drawing 6, when carrying out Y direction scanning, walk along X-direction by dust catcher earlier, when in the sensor on the dust catcher detects the setpoint distance in the place ahead of walking, barrier being arranged and not having scanning area again in the walking the place ahead that clears the jumps, dust catcher moves a displacement M2 along Y direction, and reverse again or continuation forward is walked along X-direction; When in the sensor on the dust catcher detects the setpoint distance in the place ahead of walking, barrier being arranged and also having scanning area in the walking the place ahead that clears the jumps, then dust catcher obstacle thing walking, when the Y value before the obstacle thing of walking, dust catcher continues along X to walking forward again;
The zone that does not scan within the closed contour line also is barrier region, and the zone except that the obstacle object area is a cleanable area;
Described X-direction scanning is that dust catcher passes through or detect the minimum of a value of X to the closed area between the maximum; Described Y direction scanning is that dust catcher passes through or detect the minimum of a value of Y to the closed area between the maximum;
Carry out X-direction scanning by dust catcher, this scanning makes advancing of dust catcher begin to finish to the maximum of X value from the minimum of a value of X value, and described displacement M1 is a positive number; Or begin to finish to the minimum of a value of X value from the maximum of X value, described displacement M1 is a negative.
Carry out Y direction scanning by dust catcher, this scanning makes advancing of dust catcher begin to finish to the maximum of Y value from the minimum of a value of Y value, and described displacement M2 is a positive number; Or begin to finish to the minimum of a value of Y value from the maximum of Y value, described displacement M2 is a negative.
When described X-direction scanned, two adjacent Y direction track routes parallel but direction is opposite.
When described Y direction scanned, two adjacent X-direction track routes parallel but direction is opposite.
Described M1 and M2 are a constant.
Claims (6)
1, the recognition methods of a kind of cleanable area of automatic cleaner and barrier region is characterized in that:
In the zone of the general plane of a sealing, carry out the definition of orthogonal X-direction and Y direction, along the inward flange of the closed area circle that detours, draw the closed contour line of closed area by dust catcher; Zone outside the closed contour line is a barrier region, within the zone be scanning area;
Carry out X-direction scanning or Y direction scanning and remember its track route by dust catcher again;
When carrying out X-direction scanning, walk along Y direction by dust catcher earlier, when in the sensor on the dust catcher detects the setpoint distance in the place ahead of walking, barrier being arranged and not having scanning area again in the walking the place ahead that clears the jumps, dust catcher moves a displacement M1 along X-direction, and reverse again or continuation forward is walked along Y direction; When in the sensor on the dust catcher detects the setpoint distance in the place ahead of walking, barrier being arranged and also having scanning area in the walking the place ahead that clears the jumps, then dust catcher obstacle thing walking, when the X value before the obstacle thing of walking, dust catcher continues along Y to walking forward again;
When carrying out Y direction scanning, walk along X-direction by dust catcher earlier, when in the sensor on the dust catcher detects the setpoint distance in the place ahead of walking, barrier being arranged and not having scanning area again in the walking the place ahead that clears the jumps, dust catcher moves a displacement M2 along Y direction, and reverse again or continuation forward is walked along X-direction; When in the sensor on the dust catcher detects the setpoint distance in the place ahead of walking, barrier being arranged and also having scanning area in the walking the place ahead that clears the jumps, then dust catcher obstacle thing walking, when the Y value before the obstacle thing of walking, dust catcher continues along X to walking forward again;
The zone that does not scan within the closed contour line also is barrier region, and the zone except that the obstacle object area is a cleanable area;
Described X-direction scanning is that dust catcher passes through or detect the minimum of a value of X to the closed area between the maximum; Described Y direction scanning is that dust catcher passes through or detect the minimum of a value of Y to the closed area between the maximum;
2, the recognition methods of the cleanable area of automatic cleaner according to claim 1 and barrier region, it is characterized in that: carry out X-direction scanning by dust catcher, this scanning makes advancing of dust catcher begin to finish to the maximum of X value from the minimum of a value of X value, and described displacement M1 is a positive number; Or begin to finish to the minimum of a value of X value from the maximum of X value, described displacement M1 is a negative.
3, the recognition methods of the cleanable area of automatic cleaner according to claim 1 and barrier region, it is characterized in that: carry out Y direction scanning by dust catcher, this scanning makes advancing of dust catcher begin to finish to the maximum of Y value from the minimum of a value of Y value, and described displacement M2 is a positive number; Or begin to finish to the minimum of a value of Y value from the maximum of Y value, described displacement M2 is a negative.
4, the recognition methods of the cleanable area of automatic cleaner according to claim 1 and barrier region is characterized in that: when described X-direction scanned, two adjacent Y direction track routes parallel but direction is opposite.
5, the recognition methods of the cleanable area of automatic cleaner according to claim 1 and barrier region is characterized in that: when described Y direction scanned, two adjacent X-direction track routes parallel but direction is opposite.
6, the recognition methods of the cleanable area of automatic cleaner according to claim 1 and barrier region is characterized in that: described M1 and M2 are a constant.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 02137830 CN1287722C (en) | 2002-06-21 | 2002-06-21 | Method for identifying automatic dust collector cleanable area and obstacle area |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 02137830 CN1287722C (en) | 2002-06-21 | 2002-06-21 | Method for identifying automatic dust collector cleanable area and obstacle area |
Publications (2)
| Publication Number | Publication Date |
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| CN1463658A CN1463658A (en) | 2003-12-31 |
| CN1287722C true CN1287722C (en) | 2006-12-06 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN 02137830 Expired - Lifetime CN1287722C (en) | 2002-06-21 | 2002-06-21 | Method for identifying automatic dust collector cleanable area and obstacle area |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102379657A (en) * | 2010-09-01 | 2012-03-21 | 莱克电气股份有限公司 | Cleaning method of intelligent vacuum cleaner |
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-
2002
- 2002-06-21 CN CN 02137830 patent/CN1287722C/en not_active Expired - Lifetime
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102379657A (en) * | 2010-09-01 | 2012-03-21 | 莱克电气股份有限公司 | Cleaning method of intelligent vacuum cleaner |
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| CN1463658A (en) | 2003-12-31 |
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| GR01 | Patent grant | ||
| EE01 | Entry into force of recordation of patent licensing contract |
Assignee: Ecovacs Electric Co.,Ltd. Assignor: TEK ELECTRICAL (SUZHOU) Co.,Ltd. Contract record no.: 2011320010104 Denomination of invention: Method for recognizing cleanable region and barrier region of automatic duster Granted publication date: 20061206 License type: Common License Open date: 20031231 Record date: 20110805 |
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| C56 | Change in the name or address of the patentee | ||
| CP01 | Change in the name or title of a patent holder |
Address after: 215128 Wuxian Province, mayor of the town of Stone Lake Road West Patentee after: ECOVACS ROBOTICS (SUZHOU) Co.,Ltd. Patentee after: ZHEJIANG University Address before: 215128 Wuxian Province, mayor of the town of Stone Lake Road West Patentee before: TEK ELECTRICAL (SUZHOU) Co.,Ltd. Patentee before: Zhejiang University Address after: 215128 Wuxian Province, mayor of the town of Stone Lake Road West Patentee after: ECOVACS ROBOTICS Co.,Ltd. Patentee after: ZHEJIANG University Address before: 215128 Wuxian Province, mayor of the town of Stone Lake Road West Patentee before: ECOVACS ROBOTICS (SUZHOU) Co.,Ltd. Patentee before: Zhejiang University |
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| CP03 | Change of name, title or address |
Address after: 215000 Wuzhong District, Jiangsu, Stone Lake Road West, No. 108 Patentee after: ECOVACS ROBOTICS Co.,Ltd. Patentee after: ZHEJIANG University Address before: 215128 Wuxian Province, mayor of the town of Stone Lake Road West Patentee before: ECOVACS ROBOTICS Co.,Ltd. Patentee before: Zhejiang University |
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| CX01 | Expiry of patent term | ||
| CX01 | Expiry of patent term |
Granted publication date: 20061206 |