WO2017198215A1

WO2017198215A1 - Combined robot controlling method

Info

Publication number: WO2017198215A1
Application number: PCT/CN2017/085061
Authority: WO
Inventors: 汤进举
Original assignee: 科沃斯机器人股份有限公司
Priority date: 2016-05-19
Filing date: 2017-05-19
Publication date: 2017-11-23
Also published as: CN107401803A

Abstract

A combined robot controlling method. A combined robot comprises an autonomous mobile robot and a function module capable of being combined with the autonomous mobile robot to work. The autonomous mobile robot or the function module comprises at least one control center. The control method comprises: obtain/generate a working map of the autonomous mobile robot (S1); divide the working map into multiple sub-areas by means of automatic operation of the control center or manual operation on a client(S2); the control center calculates the size of each sub-area (S3); the control center determines a moving path according to the multiple sub-areas (S4), the moving path passing through at least one sub-area; and the control center determines a working parameter of the combined robot in each sub-area according to the size of the sub-area (S5). The function module is an air quality improvement apparatus and makes air in an entire room uniformly improved.

Description

Control method of combined robot

Technical field

The invention relates to a control method of a combined robot, belonging to the technical field of household appliances.

Background technique

With the continuous improvement of living standards, people's requirements for living environment are getting higher and higher, including the air quality requirements for the living environment. However, in recent years, as the national energy structure is dominated by coal and the automobile industry has also developed rapidly, large-scale haze weather has often occurred in China. When encountering smog weather, pollutants are suspended in the air for a long time, people do not dare to open windows and ventilate, seriously affecting the air quality in the living room. In this case, the air quality improvement device represented by the air purifier has been popular in the market.

Existing air purifiers generally include a motor, a strainer, and an air pump. The motor is used to drive the air pump to bring dirty air into the purifier, and the dirty air is filtered through the filter, and finally the purified clean air is discharged from the exhaust vent. In addition, air purifiers typically include an air quality sensor such as a dust sensor. At present, high-end air purifiers often have the function of improving the humidity of the air. During operation, the air purifier obtains the air quality collected by the air quality sensor, and uses the collected air quality data to determine the working time of the air purifier, the amount of air intake, or adjust the purification parameters. Then, the air quality is continuously monitored in real time during the purification process to adjust the working state of the purifier accordingly.

However, in actual use, the above-mentioned working mode of the air purifier does not achieve a good purification effect. The reason is that this mode of operation can only purify a limited range centered on the purifier, and does not achieve a satisfactory purification effect on other locations of the room.

Summary of the invention

The present invention has been made in view of the above problems, and a main object of the present invention is to provide a control method of a combined robot which can purify air throughout the living room.

The technical solution of the present invention is specifically implemented as follows:

According to an embodiment of the present invention, a control method of a combined robot includes a self-mobile robot and a functional module that can be combined with the self-mobile robot to operate, the self-mobile robot or the The function module includes at least one control center, and the control method includes:

Acquiring/generating a work map of the self-mobile robot;

The work map is divided into a plurality of sub-areas by the control center automatic operation or the client manual operation;

The control center calculates a size of each sub-area;

The control center determines a walking route according to the plurality of sub-areas, the traveling route passing through at least one of the sub-areas;

The control center determines an operating parameter of the combined robot in each of the sub-regions according to the size of each of the sub-regions.

In summary, with the control method of the combination robot of the present invention, the room can be divided into a plurality of sub-areas of different sizes, so that the robot can reach the respective sub-areas of the indoor environment by walking, so that the indoor ambient air quality can be uniformly improved.

The technical solutions of the present invention will be described in detail below with reference to the accompanying drawings and specific embodiments.

DRAWINGS

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments will be briefly described below. It is obvious that the drawings in the following description are only the present invention. For an embodiment, other embodiments and their drawings may be obtained according to the embodiments shown in the drawings without any creative work.

Fig. 1 is a view showing an example of a control method using the air quality improving device of the present invention.

detailed description

The technical solutions of the various embodiments of the present invention are clearly and completely described in the following with reference to the accompanying drawings. It is obvious that the described embodiments are only a part of the embodiments of the present invention, but not all embodiments. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without creative efforts are within the scope of the present invention.

The invention provides a combined robot control method, which comprises a self-mobile robot, a function module capable of working with the self-moving robot, and a client for facilitating user control or viewing the working state of the combined robot, the self-mobile robot Or at least one control center is provided on the function module for managing working parameters such as working mode or working time of the combined robot.

In a preferred embodiment of the present invention, the functional module is an air quality improving device, that is, the air quality improving device can be combined with a self-moving robot, and the air quality improving device includes an air detecting device and air detecting device. The device is used to detect indoor air quality, and the air quality improvement device can communicate with the self-mobile robot and the client. The control method of the combined robot includes: acquiring/generating a work map from the mobile robot, and storing the work map in a memory/client; automatically or through the client through the control center Manually dividing the work map into a plurality of sub-areas; the control center calculates the size of each divided sub-area; the control center determines the travel route according to the divided plurality of sub-areas, the travel route passes through at least one sub-area; the air detecting device detects the current air quality, and Transmitting the current air mass to the self-mobile robot/client; and the control center determines the operating parameters of the combined robot in each sub-area according to the size of each sub-area, preferably, the control center combines the air quality of the current sub-area with each sub-area The size determines the working parameters of the combined robot in the current sub-area.

According to the control method of the air quality improving device of the present invention, the room can be divided into a plurality of sub-areas of different sizes, so that the air improving device can reach the respective sub-areas of the indoor environment by walking from the mobile robot, and thus can be uniformly improved. Indoor ambient air quality.

For example, as shown in FIG. 1, FIG. 1 is a flow chart of a control method using the air quality improving device of the present invention. In FIG. 1, first, a work map is generated by walking from a mobile robot, and the generated work map is stored in a memory, or a work map can be acquired from the outside (step S1). Alternatively, the self-mobile robot can also obtain the work map from the cloud or other smart device sharing. The specific way of generating the work map is, for example, that the self-mobile robot explores in the room, and in the process of exploration, the plurality of real-time positions are acquired by the position sensor and the indoor control point, and the plurality of real-time positions are connected, and The resulting work map is finally generated. Of course, the way to generate a map is not limited to the above-described way of exploring a map. Those skilled in the art can generate a work map by using any existing map generation method, such as capturing an image by a camera, generating a map by image processing, generating a map by means of LDS laser scanning, and the like.

Next, the generated work map is divided into a plurality of sub-areas of different sizes from the mobile robot (step S2). Generally, the sub-area is divided according to the actual room in the living room, that is, the sub-area is divided according to the physical boundary, that is, one room is a sub-area. Of course, such sub-area division does not have to be performed by a self-mobile robot, but can also be performed by a function module (air quality improvement device) that works in combination therewith. Alternatively, it can be done by the user through client customization. Of course, to realize the sub-area division by the user, it is first necessary for the control center to send the generated/obtained work map to the client. When the division of the work map is completed by the user, the following process is required:

The user is requested by the client to divide the sub-area of the work map;

Determining whether the sub-area divided by the user is available, and if the sub-area divided by the user is not available, re-requesting the user to divide the sub-area, or returning to the automatic division by the control center, if the sub-area divided by the user is available, Then use the user-divided sub-area.

Thereafter, the size of the sub-area is calculated by the control center (S3). Note that this step is only required after the area division, and does not have to be the third step, nor must it be before the step of planning the walking route.

Then, the control center determines the travel route based on the divided plurality of sub-areas, and the travel route passes through at least one of the divided sub-areas (step S4). The planning of the walking route here should generally satisfy all the sub-areas. However, when the power is insufficient or the user selects a specific room or sub-area that needs to improve the air quality, all of the sub-areas are not traversed.

Next, the control center determines the operating parameters in each area based on the size of each sub-area (S5). Of course, at the same time, the control center can also adjust the operating parameters in the current sub-area according to the current air quality. That is to say, here, the operating parameters are determined by the area of the sub-area and the air quality. The specific working parameters are determined in such a way. The current air quality is positively correlated with the air volume per unit time and the working time of the air quality improvement device. That is to say, the worse the current air quality (the larger the pollutant value), the larger the air intake per unit time, and the longer the working time in the area. In addition, the size of each sub-area is also positively correlated with the amount of air entering the unit time and the working time. Generally, the air volume per unit time is preferentially adjusted, and the working time in the area is adjusted after the air volume per unit time reaches the upper limit. Of course, in the power-saving mode, by calculation, under the condition that the improvement can be satisfied within a limited time, the parameter of the working time can be preferentially adjusted. This can achieve the effect of energy saving and environmental protection. In addition, during the working time of a certain sub-area, the self-moving robot can stop at a fixed point or at a fixed speed or a variable speed, preferably at a slow speed. This will improve air quality more evenly. In addition, air quality testing includes not only the detection of common pm2.5, pm10 and other particulate matter, but also the detection of various pollutants such as nitrogen dioxide, sulfur dioxide, ozone, and/or carbon monoxide, as well as the humidity and temperature of air. Detection.

The operating parameters mentioned herein preferably include the amount of intake air per unit time of the air quality improving device and the working time of the air quality improving device in each sub-area. Of course, the working parameters may also include the walking speed and walking mode of the self-moving robot in various areas.

Note that the air quality improving device in the present invention may be an air purifier, a humidifier, a dehumidifier, or a device that combines the functions of one or more of the above products. Further, the self-mobile robot in the present invention may be a sweeping robot. Specifically, it may be a Dibao (registered trademark) sweeping robot produced by Cobos Robot Co., Ltd.

In addition, the above description in conjunction with the drawings is for the purpose of understanding the principles of the invention, and is merely exemplary, and the order of actual operation is not necessarily performed as described above. Other steps can also be inserted in the middle and/or before/after the above steps.

It is apparent to those skilled in the art that, in addition to the above-described embodiments, alternative embodiments may be devised without departing from the spirit of the invention.

Additionally, the invention can be constructed as follows:

(1) A control method of a combined robot including a self-moving robot and a self-moving The function module in which the robots work together, the self-mobile robot or the function module includes at least one control center, and the control methods include:

Acquire/generate a work map from a mobile robot;

Divide the work map into multiple sub-areas through control center automation or client manual operation;

The control center calculates the size of each sub-area;

The control center determines the walking route according to the plurality of sub-areas, and the walking route passes through at least one sub-area;

The control center determines the working parameters of the combined robot in each sub-area according to the size of each sub-area.

(2) According to the control method of the combined robot of (1), the combination robot supports the client of the user, and the client is used to control or view the working state of the combined robot.

(3) According to the control method of the combination robot of (1) or (2), the function module is an air quality improvement device, the air quality improvement device includes an air detection device, and the air detection device detects the air quality of the current sub-area, and the control center is further based on The current air quality adjusts the operating parameters in the current sub-area.

(4) The control method of the combination robot according to any one of (1) to (3), wherein the operating parameter includes at least: a unit time air intake amount of the air quality improving device, and a working time of the air quality improving device in each of the sub-areas Or one or more of the operating modes of the mobile robot.

(5) The method of controlling a combined robot according to any one of (1) to (4), wherein dividing the generated work map into a plurality of sub-areas includes dividing the work map into a plurality of sub-areas according to an actual room, so that each The room becomes a sub-area; or the user requests the user to divide the sub-area of the work map; the control center determines whether the sub-area divided by the user is available, and if the sub-area divided by the user is not available, re-requests the user for the sub-area The division of the sub-area divided by the user if the sub-area divided by the user is available.

(6) The control method of the combination robot according to any one of (1) to (5), wherein the air quality improving device may be an air purifier, a humidifier, a dehumidifier, or one or more of the above products The device of the function.

(7) According to the control method of the combined robot of (1)-(6), the current sub-region air quality includes total suspended particulate matter, respirable particulate matter, nitrogen dioxide, sulfur dioxide, ozone, carbon monoxide in the air of the current sub-region and One or more of the temperature and humidity of the air.

(8) According to the control method of the air quality improving device of (1) to (7), the self-moving robot is a cleaning robot.

Claims

A control method for a combined robot, comprising: a self-mobile robot and a functional module combinable with the self-mobile robot, the self-mobile robot or the functional module being at least Including a control center, the control method includes:

Acquiring/generating a work map of the self-mobile robot;

The work map is divided into a plurality of sub-areas by the control center automatic operation or the client manual operation;

The control center calculates a size of each sub-area;

The control center determines a walking route according to the plurality of sub-areas, the traveling route passing through at least one of the sub-areas;

The control center determines an operating parameter of the combined robot in each of the sub-regions according to the size of each of the sub-regions.
The control method of a combination robot according to claim 1, wherein the combination robot supports a client of a user, and the client is used to control or view an operation state of the combination robot.
The control method of the combination robot according to claim 1 or 2, wherein the function module is an air quality improving device, the air quality improving device includes an air detecting device, and the air detecting device detects a current sub-region Air quality, the control center also adjusts operating parameters in the current sub-area based on the current air quality.
The control method of the combination robot according to claim 3, wherein the operating parameters include at least:

The unit time air intake amount of the air quality improving device, the working time of the air quality improving device in each of the sub-regions, or one or more of the operating modes of the mobile robot.
The control method of the combination robot according to claim 4, wherein the dividing the generated work map into a plurality of sub-areas comprises:

Dividing the work map into a plurality of said sub-areas according to an actual room, so that each of said rooms becomes one of said sub-areas; or

Demarcating a sub-area of the work map by the user by the client;

Determining, by the control center, whether the sub-area divided by the user is available, and if the sub-area divided by the user is unavailable, re-requesting the user to perform the division of the sub-area, if the sub-area divided by the user is available, The sub-areas divided by the user are then used.
The control method of a combination robot according to claim 5, wherein said air quality improving means is an air cleaner, a humidifier, a dehumidifier or a function of one or more of the above products Device.
The control method of the combination robot according to claim 6, wherein the current sub-region air quality comprises total suspended particulate matter, respirable particulate matter, nitrogen dioxide, sulfur dioxide, ozone, and carbon monoxide in the air of the current sub-region And one or more of the temperature and humidity of the air.
The control method of the combination robot according to claim 7, wherein the self-mobile robot is a cleaning robot.