WO2019062628A1 - 窗帘清理方法及系统 - Google Patents
窗帘清理方法及系统 Download PDFInfo
- Publication number
- WO2019062628A1 WO2019062628A1 PCT/CN2018/106622 CN2018106622W WO2019062628A1 WO 2019062628 A1 WO2019062628 A1 WO 2019062628A1 CN 2018106622 W CN2018106622 W CN 2018106622W WO 2019062628 A1 WO2019062628 A1 WO 2019062628A1
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- WIPO (PCT)
- Prior art keywords
- cleaning
- curtain
- path
- cleaning robot
- robot
- Prior art date
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Classifications
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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
- A47L4/00—Cleaning window shades, window screens, venetian blinds
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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
- A47L4/00—Cleaning window shades, window screens, venetian blinds
- A47L4/04—Accessories facilitating cleaning, e.g. venetian blind separators, spreaders, or cleaning racks
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
- B25J11/008—Manipulators for service tasks
- B25J11/0085—Cleaning
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06Q—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES; SYSTEMS OR METHODS SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES, NOT OTHERWISE PROVIDED FOR
- G06Q10/00—Administration; Management
- G06Q10/04—Forecasting or optimisation specially adapted for administrative or management purposes, e.g. linear programming or "cutting stock problem"
- G06Q10/047—Optimisation of routes or paths, e.g. travelling salesman problem
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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
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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
Definitions
- the present application belongs to the field of intelligent robot technology, and in particular, to a curtain cleaning method and system.
- Robots are a common name for robots. Robots include everything that simulates human behavior or ideas and simulates other creatures (such as robotic dogs, robot cats, etc.). There are many classifications and controversies in the definition of robots in the narrow sense. Some computer programs are even called robots. In contemporary industry, robots are man-made machine devices that automate tasks to replace or assist humans.
- the present application provides a method and system for cleaning a curtain, which aims to solve the problem that the existing mobile robot has a single function and limited use.
- a curtain cleaning method provided by the present application includes:
- the terminal scales the window size according to a preset size of the window according to the size of the window input by the user, and generates a proportional view of the window covering;
- the terminal When detecting an operation of setting a cleaning path by the user, the terminal sets a cleaning path of the cleaning robot that can move on the curtain in the scale view, and sends a cleaning program execution instruction to the cleaning robot, where the cleaning program executes the instruction And including a proportional view of the window covering, the preset zoom ratio, and the cleaning path, where a starting point of the cleaning path is a position in the scale view corresponding to a position of the cleaning robot currently located in the window covering;
- the cleaning robot After receiving the cleaning program execution instruction sent by the terminal, the cleaning robot executes the scale view of the window covering, the preset zoom ratio, and the cleaning path according to the cleaning program execution instruction, and according to the preset a path planning algorithm, generating a moving path of the cleaning robot on the window covering;
- the cleaning robot activates the cleaning device to move on the window covering and perform a cleaning task in accordance with the moving path.
- the present invention provides a curtain cleaning system, the system comprising:
- the cleaning robot includes a mobile unit, a direction control motor, a connecting member, a pitch motor, a cleaning device and a flat plate, and the flat plate includes a main control unit and a power supply device;
- the moving unit includes a left clamping wheel, a right clamping wheel, a left driving motor, a right driving motor and a connecting plate, the left clamping wheel is tangent to the right clamping wheel, and the left driving motor is used for driving
- the left clamping wheel, the right driving motor is configured to drive the right clamping wheel, and the moving unit picks up the curtain by rotating the left clamping wheel and the right clamping wheel Driving the cleaning robot to move on the curtain;
- the moving unit is rotatably connected to the direction control motor through the connecting plate, and the direction control motor and the pitch motor are rotatably connected through the connecting member, and the pitch motor is fixedly connected to the plate.
- the cleaning device is fixedly connected to the plate;
- the terminal scales the window size according to a preset size of the window according to the size of the window input by the user, and generates a proportional view of the window covering;
- the terminal When detecting an operation of setting a cleaning path by the user, the terminal sets a cleaning path of the cleaning robot in the scale view, and sends a cleaning program execution instruction to the cleaning robot, wherein the cleaning program execution instruction includes the proportion of the curtain a view, the preset zoom ratio, and the cleaning path, where the starting point of the cleaning path is a position in the scale view corresponding to the position of the cleaning robot currently located in the window covering;
- the main control unit in the cleaning robot After receiving the cleaning program execution instruction sent by the terminal, the main control unit in the cleaning robot executes the scale view of the window covering, the preset zoom ratio, and the cleaning path according to the cleaning program execution instruction. And generating a moving path of the cleaning robot on the curtain according to a preset path planning algorithm;
- the cleaning robot activates the cleaning device to move on the window covering and perform a cleaning task in accordance with the moving path.
- the curtain cleaning method and system provided by the application scales the size of the curtain according to the preset size of the curtain input by the user, and generates a proportional view of the curtain.
- the proportional view Set a cleaning path of the cleaning robot that can move on the curtain, and send a cleaning program execution instruction to the cleaning robot.
- the cleaning program execution instruction includes a scale view of the curtain, a preset zoom ratio, and a cleaning path.
- the starting point of the cleaning path is to clean the current robot.
- the cleaning robot executes the scale view of the curtain in the instruction according to the cleaning program, the preset zoom ratio, and the cleaning path, and according to the preset
- the path planning algorithm generates a moving path of the cleaning robot on the curtain, starts the cleaning device, moves on the curtain according to the moving path, and performs a cleaning task.
- the cleaning robot in the present application can flexibly move on the curtain And can perform cleanup Solve the mobile robot can be single function, use limitations of the prior art problems and improve the product viscosity.
- FIG. 1 is a schematic flow chart showing an implementation process of a curtain cleaning method according to a first embodiment of the present application
- FIG. 2 is a schematic flow chart showing an implementation process of a curtain cleaning method according to a second embodiment of the present application
- FIG. 3 is a schematic structural view of a curtain cleaning system provided by the third and fourth embodiments of the present application.
- FIG. 4 is a schematic structural view of a cleaning robot in a curtain cleaning system provided by the third and fourth embodiments of the present application;
- FIG. 5 is a schematic diagram of the cleaning robot adjusting the amount of curtain material clamped in the curtain cleaning system provided by the third and fourth embodiments of the present application.
- FIG. 1 is a schematic diagram showing the implementation of the method for cleaning the curtain according to the first embodiment of the present application.
- the method for cleaning the curtain shown in FIG. 1 mainly includes the following steps:
- the terminal scales the size of the curtain according to a preset zoom ratio according to a size of the window input by the user, and generates a proportional view of the curtain;
- the size of the curtain to be cleaned is entered into the terminal.
- the window size is scaled according to the preset zoom ratio, thereby generating a proportional view of a certain scale.
- the scale view is obtained by scaling here to facilitate display of the scale view on the terminal. It can be understood that if the preset zoom ratio is set to 1, the generated scale view is an isometric view.
- the terminal When detecting the operation of setting the cleaning path by the user, the terminal sets a cleaning path of the cleaning robot that can move on the curtain in the proportional view, and sends a cleaning program execution instruction to the cleaning robot;
- the cleaning program execution instruction includes a scale view of the curtain, a preset zoom ratio, and a clearing path.
- the starting point of the cleaning path is to clear the position of the robot in the scale view corresponding to the position in the curtain. Specifically, when the curtain needs to be cleaned, the user places the cleaning robot in a position of the curtain, and marks the position in the scale view as the starting point of the cleaning path. Most of the curtains are square, and the starting position is generally selected in the square. On one corner.
- the end point of the cleaning path may be set at a position in the proportional view corresponding to the edge position of the curtain, specifically at one corner of the curtain. It is used to make the cleaning robot finish the cleaning process and stay at the edge of the curtain. Even if the robot is not taken away immediately, it will not affect the appearance of the curtain.
- the cleaning robot After receiving the cleaning program execution instruction sent by the terminal, the cleaning robot executes the scale view of the curtain in the instruction according to the cleaning program, preset preset scaling and cleaning path, and generates a cleaning robot on the curtain according to the preset path planning algorithm.
- the scale view is obtained by scaling the proportional view to a preset zoom ratio.
- the scale view is restored according to the preset zoom ratio to obtain an isometric view of the curtain, and at the same time, the cleanup path in the scale view is restored according to a preset zoom ratio, and the obtained path on the proportional view is the cleaning robot in the curtain.
- the path of the move is obtained by scaling the proportional view to a preset zoom ratio.
- the starting point of the cleaning path can be set to the lower left corner of the curtain.
- the moving path is that the cleaning robot moves from the lower left corner of the curtain to the upper right side, and then reaches the top of the curtain and then shifts to the right.
- the distance of the translation is the width of the cleaning robot once cleaned. After the translation is completed, the cleaning robot moves to the bottom and reaches the bottom of the curtain. Shift to the right to clear the width of the robot once cleaned. After the translation is completed, continue to move to the upper position. Move according to this rule and perform the cleaning task until the entire curtain is cleared. If the width of the robot is cleared once in the last translation, the cleaning robot may calculate the distance of the last translation according to the scale view, so that the last translation is shifted to the top or bottom. After that, the entire curtain can be cleaned and the robot does not fall off the curtain.
- the cleaning robot starts the cleaning device, moves on the curtain according to the moving path, and performs a cleaning task.
- the terminal scales the size of the curtain according to the preset size of the window according to the size of the window input by the user, and generates a scale view of the window.
- the terminal sets the scale view.
- the cleaning path of the cleaning robot that can move on the curtain, and sends a cleaning program execution instruction to the cleaning robot.
- the cleaning program execution instruction includes a scale view of the curtain, a preset zoom ratio, and a cleaning path.
- the starting point of the cleaning path is that the cleaning robot is currently located.
- the planning algorithm generates a moving path of the cleaning robot on the curtain, starts the cleaning device, moves on the curtain according to the moving path, and performs a cleaning task.
- the cleaning robot in the present application can flexibly move on the curtain. And can perform cleanup tasks,
- the mobile robot must be single function, use the limitations of the prior art problem and improve the product viscosity.
- FIG. 2 is a schematic diagram showing the implementation process of the method for cleaning the curtain according to the second embodiment of the present application.
- the method for cleaning the curtain shown in FIG. 2 mainly includes the following steps:
- the terminal scales the size of the curtain according to a preset size of the window according to the size of the window input by the user, and generates a proportional view of the window covering;
- the size of the curtain to be cleaned is entered into the terminal.
- the window size is scaled according to the preset zoom ratio, thereby generating a proportional view of a certain scale.
- the scale view is obtained by scaling here to facilitate display of the scale view on the terminal. It can be understood that if the preset zoom ratio is set to 1, the generated scale view is an isometric view.
- the size of the curtain input by the user is a rectangle of 5 meters in length and 3 meters in height.
- the scale view of the generated curtain is a rectangle having a length of 50 cm and a height of 30 cm.
- the terminal generates a corresponding target cleaning strength according to a length of the window that is not cleaned by the user and/or a degree of dirty curtains.
- the cleaning force of the cleaning device is divided into different levels in advance, and the corresponding uncleaning time of the curtain and/or the degree of dirty curtains are set for the cleaning strength of each level.
- the terminal looks for a matching cleaning force and uses the matching cleaning power as the target cleaning strength.
- the terminal When detecting the operation of setting the cleaning path by the user, the terminal sets a cleaning path of the cleaning robot that can move on the curtain in the proportional view, and sends a cleaning program execution instruction to the cleaning robot;
- the cleaning program execution instruction includes a scale view of the curtain, a preset zoom ratio, a cleaning path, and a target cleaning strength.
- the starting point of the cleaning path is to clear the position of the robot in the scale view corresponding to the position in the curtain. Specifically, when the curtain needs to be cleaned, the user places the cleaning robot in a position of the curtain, and marks the position in the scale view as the starting point of the cleaning path. Most of the curtains are square, and the starting position is generally selected in the square. On one corner.
- the end point of the cleaning path may be set at a position in the proportional view corresponding to the edge position of the curtain, specifically at one corner of the curtain. It is used to make the cleaning robot finish the cleaning process and stay at the edge of the curtain. Even if the robot is not taken away immediately, it will not affect the appearance of the curtain.
- the cleaning robot After receiving the cleaning program execution instruction sent by the terminal, the cleaning robot executes the scale view of the curtain according to the cleaning program, the preset zoom ratio, and the cleaning path, and generates a cleaning robot on the curtain according to the preset path planning algorithm.
- the scale view is obtained by scaling the proportional view to a preset zoom ratio.
- the scale view is restored according to the preset zoom ratio to obtain an isometric view of the curtain, and at the same time, the cleanup path in the scale view is restored according to a preset zoom ratio, and the obtained path on the proportional view is the cleaning robot in the curtain.
- the path of the move is obtained by scaling the proportional view to a preset zoom ratio.
- the starting point of the cleaning path can be set to the lower left corner of the curtain.
- the moving path is that the cleaning robot moves from the lower left corner of the curtain to the upper right side, and then reaches the top of the curtain and then shifts to the right.
- the distance of the translation is the width of the cleaning robot once cleaned. After the translation is completed, the cleaning robot moves to the bottom and reaches the bottom of the curtain. Shift to the right to clear the width of the robot once cleaned. After the translation is completed, continue to move to the upper position. Move according to this rule and perform the cleaning task until the entire curtain is cleared. If the width of the robot is cleared once in the last translation, the cleaning robot may calculate the distance of the last translation according to the scale view, so that the last translation is shifted to the top or bottom. After that, the entire curtain can be cleaned and the robot does not fall off the curtain.
- the cleaning robot starts the cleaning device and adjusts the strength of the cleaning device to the target cleaning force.
- the curtain is clamped by the rotation of the tangent left and right clamping wheels to drive the cleaning robot to move on the curtain. And perform cleanup tasks;
- the cleaning robot generates real-time cleaning status information, and sends real-time cleaning status information to the terminal.
- the real-time cleaning status information includes one or more of cleaning the current cleaning range of the robot, the currently acquired dust amount, and the current power, so that the user can know the working state of the cleaning robot in real time through the terminal.
- the terminal scales the size of the curtain according to the preset size of the window according to the size of the window input by the user, and generates a scale view of the window.
- the terminal sets the scale view.
- the cleaning path of the cleaning robot that can move on the curtain, and sends a cleaning program execution instruction to the cleaning robot.
- the cleaning program execution instruction includes a scale view of the curtain, a preset zoom ratio, and a cleaning path.
- the starting point of the cleaning path is that the cleaning robot is currently located.
- the planning algorithm generates a moving path of the cleaning robot on the curtain, starts the cleaning device, moves on the curtain according to the moving path, and performs a cleaning task.
- the cleaning robot in the present application can flexibly move on the curtain. And can perform cleanup tasks,
- the mobile robot must be single function, use the limitations of the prior art problem and improve the product viscosity.
- FIG. 3 is a schematic structural diagram of a curtain cleaning system according to a third embodiment of the present application. As shown in FIG. 3, the system includes a terminal 301 and a cleaning robot 302.
- the terminal 301 is configured to scale the window size according to a preset size of the window according to a preset size of the window to generate a scale view of the window; and when the user sets the operation of setting the cleaning path, set the cleaning of the cleaning robot 302 in the scale view. And sending a cleaning program execution instruction to the cleaning robot 302.
- the cleaning program execution instruction includes a scale view of the curtain, a preset zoom ratio, and a cleaning path.
- the starting point of the cleaning path is a scale view corresponding to the position of the cleaning robot 302 currently located in the curtain. s position.
- the cleaning robot 302 is configured to: after receiving the cleaning program execution instruction sent by the terminal 301, execute, by the main control unit, the scale view of the curtain in the instruction, the preset scaling ratio, and the cleaning path according to the cleaning program, and according to the preset path planning algorithm , generating a moving path of the cleaning robot 302 on the curtain; starting the cleaning device, moving on the curtain according to the moving path and performing the cleaning task.
- FIG. 4 is a schematic structural diagram of a cleaning robot 302 in a curtain cleaning system according to a third embodiment of the present application.
- the cleaning robot 302 mainly includes: a mobile unit (not shown in the figure) Marking), direction control motor 6, connecting member 7, cleaning device 8, pitch motor 9 and plate 10.
- the tablet 10 includes a main control unit and a power supply device.
- the moving unit comprises a left clamping wheel 1, a right clamping wheel 2, a connecting plate 3, a left driving motor 4 and a right driving motor 5, the left clamping wheel 1 is tangent to the right clamping wheel 2, and the left driving motor 4 is used for driving The left clamping wheel 1, the right driving motor 5 is for driving the right clamping wheel 2, and the moving unit picks up the curtain through the rotation of the tangential left clamping wheel 1 and the right clamping wheel 2 to drive the cleaning robot to move on the curtain .
- the moving unit is rotatably connected to the direction control motor 6 through the connecting plate 3, and the direction control motor 6 and the pitch motor 9 are rotatably connected through the connecting member 7, the tilting motor 9 is fixedly connected to the flat plate 10, and the cleaning device 8 is fixedly connected to the flat plate 10.
- the left clamping wheel 1 and the right clamping wheel 2 rotate inward at the same time, and the cleaning robot advances; the left clamping wheel 1 and the right clamping wheel 2 rotate outward at the same time, and the cleaning robot retreats.
- the cleaning robot adjusts the amount of clamping of the left clamping wheel 1 and the right clamping wheel 2 by the pitch motor 9, and when the curtain material is clamped more, the tilting motor 9 controls the tail plate 10 to be lifted, and the cleaning robot continues to advance.
- the clamping amount of the curtain material is reduced, as shown in the left diagram of FIG. 5; when the curtain material sandwiched between the left clamping wheel 1 and the right clamping wheel 2 of the cleaning robot is less, the tilting motor 9 controls the tail plate 10 to be arched.
- the cleaning robot continues to advance, the amount of curtain material clamped increases, as shown in the right figure of Figure 5.
- the direction of the wrinkle of the clamped curtain material is changed, thereby changing the pointing direction of the cleaning robot clamping wheel, and matching the direction control motor 6 to drive the tail swing to achieve cleaning
- the direction of movement of the robot changes.
- the terminal scales the size of the curtain according to the preset size of the curtain input by the user, and generates a proportional view of the curtain.
- the terminal is set in the proportional view.
- the cleaning path of the cleaning robot that can move on the curtain, and sends a cleaning program execution instruction to the cleaning robot.
- the cleaning program execution instruction includes a scale view of the curtain, a preset zoom ratio, and a cleaning path.
- the starting point of the cleaning path is that the cleaning robot is currently located.
- the planning algorithm generates a moving path of the cleaning robot on the curtain, starts the cleaning device, moves on the curtain according to the moving path, and performs a cleaning task.
- the cleaning robot in the present application can flexibly move on the curtain. And can perform cleanup tasks,
- the mobile robot must be single function, use the limitations of the prior art problem and improve the product viscosity.
- FIG. 3 a schematic structural view of a curtain cleaning system according to a fourth embodiment of the present application.
- the system includes a terminal 301 and a cleaning robot 302.
- the terminal 301 is configured to scale the window size according to a preset size of the window according to a preset size of the window to generate a scale view of the window; and when the user sets the operation of setting the cleaning path, set the cleaning of the cleaning robot 302 in the scale view.
- a path the end point of the cleaning path is set at a position in the proportional view corresponding to the edge position of the curtain, and the corresponding target cleaning strength is generated according to the unwashed duration of the curtain set by the user and/or the degree of the dirty curtain, and is sent to the cleaning robot 302.
- the program execution instruction is cleaned, and the cleaning program execution instruction includes a scale view of the curtain, a preset zoom ratio, and a cleaning path.
- the starting point of the cleaning path is a position in the scale view corresponding to the position of the cleaning robot currently located in the curtain.
- the cleaning robot 302 is configured to: after receiving the cleaning program execution instruction sent by the terminal 301, execute, by the main control unit, the scale view of the curtain in the instruction, the preset scaling ratio, and the cleaning path according to the cleaning program, and according to the preset path planning algorithm , generating a moving path of the cleaning robot on the curtain; starting the cleaning device and adjusting the strength of the cleaning device to the target cleaning force, moving on the curtain according to the moving path and performing the cleaning task.
- the cleaning robot 302 is further configured to generate real-time cleaning status information, and send real-time cleaning status information to the terminal, and the real-time cleaning status information includes one or more of cleaning the current cleaning range of the robot, the currently acquired dust quantity, and the current power quantity. .
- FIG. 4 is a schematic structural diagram of a cleaning robot 302 in a curtain cleaning system according to a fourth embodiment of the present application.
- the cleaning robot 302 mainly includes: a mobile unit (not shown in the figure) Marking), direction control motor 6, connecting member 7, cleaning device 8, pitch motor 9 and plate 10.
- the tablet 10 includes a main control unit and a power supply device.
- the moving unit comprises a left clamping wheel 1, a right clamping wheel 2, a connecting plate 3, a left driving motor 4 and a right driving motor 5, the left clamping wheel 1 is tangent to the right clamping wheel 2, and the left driving motor 4 is used for driving The left clamping wheel 1, the right driving motor 5 is for driving the right clamping wheel 2, and the moving unit picks up the curtain through the rotation of the tangential left clamping wheel 1 and the right clamping wheel 2 to drive the cleaning robot to move on the curtain .
- the moving unit is rotatably connected to the direction control motor 6 through the connecting plate 3, and the direction control motor 6 and the pitch motor 9 are rotatably connected through the connecting member 7, the tilting motor 9 is fixedly connected to the flat plate 10, and the cleaning device 8 is fixedly connected to the flat plate 10.
- the left clamping wheel 1 and the right clamping wheel 2 rotate inward at the same time, and the cleaning robot advances; the left clamping wheel 1 and the right clamping wheel 2 rotate outward at the same time, and the cleaning robot retreats.
- the cleaning robot adjusts the amount of clamping of the left clamping wheel 1 and the right clamping wheel 2 by the pitch motor 9, and when the curtain material is clamped more, the tilting motor 9 controls the tail plate 10 to be lifted, and the cleaning robot continues to advance.
- the clamping amount of the curtain material is reduced, as shown in the left diagram of FIG. 5; when the curtain material sandwiched between the left clamping wheel 1 and the right clamping wheel 2 of the cleaning robot is less, the tilting motor 9 controls the tail plate 10 to be arched.
- the cleaning robot continues to advance, the amount of curtain material clamped increases, as shown in the right figure of Figure 5.
- the direction of the wrinkle of the clamped curtain material is changed, thereby changing the pointing direction of the cleaning robot clamping wheel, and matching the direction control motor 6 to drive the tail swing to achieve cleaning
- the direction of movement of the robot changes.
- the terminal scales the size of the curtain according to the preset size of the curtain input by the user, and generates a proportional view of the curtain.
- the terminal is set in the proportional view.
- the cleaning path of the cleaning robot that can move on the curtain, and sends a cleaning program execution instruction to the cleaning robot.
- the cleaning program execution instruction includes a scale view of the curtain, a preset zoom ratio, and a cleaning path.
- the starting point of the cleaning path is that the cleaning robot is currently located.
- the planning algorithm generates a moving path of the cleaning robot on the curtain, starts the cleaning device, moves on the curtain according to the moving path, and performs a cleaning task.
- the cleaning robot in the present application can flexibly move on the curtain. And can perform cleanup tasks,
- the mobile robot must be single function, use the limitations of the prior art problem and improve the product viscosity.
- the disclosed systems and methods can be implemented in other ways.
- the device embodiments described above are merely illustrative.
- the division of the modules is only a logical function division.
- there may be another division manner for example, multiple modules or components may be combined or Can be integrated into another system, or some features can be ignored or not executed.
- the mutual coupling or direct coupling or communication link shown or discussed may be an indirect coupling or communication link through some interface, device or module, and may be in an electrical, mechanical or other form.
- the modules described as separate components may or may not be physically separated.
- the components displayed as modules may or may not be physical modules, that is, may be located in one place, or may be distributed to multiple network modules. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of the embodiment.
- each functional module in each embodiment of the present application may be integrated into one processing module, or each module may exist physically separately, or two or more modules may be integrated into one module.
- the above integrated modules can be implemented in the form of hardware or in the form of software functional modules.
- the integrated modules if implemented in the form of software functional modules and sold or used as separate products, may be stored in a computer readable storage medium.
- a computer readable storage medium A number of instructions are included to cause a computer device (which may be a personal computer, server, or network device, etc.) to perform all or part of the steps of the methods described in various embodiments of the present application.
- the foregoing storage medium includes: a USB flash drive, a mobile hard disk, a read-only memory (ROM), and a random access memory (RAM, Random).
- RAM random access memory
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Abstract
Description
Claims (10)
- 窗帘清理方法,其特征在于,所述方法包括:终端根据用户输入的窗帘尺寸,按预置缩放比例对所述窗帘尺寸进行缩放,生成所述窗帘的比例视图;当检测到用户设置清理路径的操作时,终端在所述比例视图中设置能在窗帘上移动的清理机器人的清理路径,并向所述清理机器人发送清理程序执行指令,所述清理程序执行指令中包括所述窗帘的比例视图、所述预置缩放比例及所述清理路径,所述清理路径的起点为所述清理机器人当前位于所述窗帘中位置对应的所述比例视图中的位置;当接收到所述终端发送的清理程序执行指令后,所述清理机器人根据所述清理程序执行指令中的所述窗帘的比例视图、所述预置缩放比例及所述清理路径,并根据预置路径规划算法,生成所述清理机器人在所述窗帘上的移动路径;所述清理机器人启动清理装置,按照所述移动路径在所述窗帘上移动并执行清理任务。
- 根据权利要求1所述的方法,其特征在于,所述终端在所述比例视图中设置清理机器人的清理路径,包括:所述终端在所述比例视图中设置清理机器人的清理路径,将所述清理路径的终点设置在所述窗帘的边缘位置对应的所述比例视图中的位置。
- 根据权利要求1所述的方法,其特征在于,所述清理程序执行指令中还包括清理力度;则所述终端向所述清理机器人发送清理程序执行指令之前,包括:所述终端根据用户设置的窗帘未清洗时长和/或窗帘脏的程度,生成对应的目标清理力度;则所述清理机器人启动清理装置,按照所述移动路径在所述窗帘上移动并执行清理任务,包括:所述清理机器人启动清理装置并将所述清理装置的力度调节至所述目标清理力度,按照所述移动路径在所述窗帘上移动并执行清理任务。
- 根据权利要求1所述的方法,其特征在于,所述清理机器人启动清理装置,按照所述移动路径在所述窗帘上移动并执行清理任务之后,包括:所述清理机器人生成实时清理状态信息,并将所述实时清理状态信息发送给所述终端,所述实时清理状态信息包括所述清理机器人的当前清理范围、当前获取的尘量、当前电量中的一种或多种。
- 根据权利要求1至4任一项所述的方法,其特征在于,所述清理机器人中包括相切的左夹紧轮和右夹紧轮,所述清理机器人按照所述移动路径在所述窗帘上移动,包括:所述清理机器人按照所述移动路径,通过相切的左夹紧轮和右夹紧轮的旋转夹取所述窗帘,以驱动所述清理机器人在所述窗帘上移动。
- 窗帘清理系统,其特征在于,所述系统包括:终端和清理机器人;所述清理机器人包括移动单元、方向控制电机、连接件、俯仰电机、清理装置及平板,所述平板中包括主控单元及供电装置;所述移动单元包括左夹紧轮、右夹紧轮、左驱动电机、右驱动电机及连接平板,所述左夹紧轮与所述右夹紧轮相切,所述左驱动电机用于驱动所述左夹紧轮,所述右驱动电机用于驱动所述右夹紧轮,所述移动单元通过相切的所述左夹紧轮与所述右夹紧轮的旋转夹取所述窗帘,以驱动所述清理机器人在所述窗帘上移动;所述移动单元通过所述连接平板与所述方向控制电机可转动连接,所述方向控制电机与所述俯仰电机通过所述连接件可转动连接,所述俯仰电机与所述平板固定连接,所述清理装置与所述平板固定连接;终端根据用户输入的窗帘尺寸,按预置缩放比例对所述窗帘尺寸进行缩放,生成所述窗帘的比例视图;当检测到用户设置清理路径的操作时,终端在所述比例视图中设置清理机器人的清理路径,并向所述清理机器人发送清理程序执行指令,所述清理程序执行指令中包括所述窗帘的比例视图、所述预置缩放比例及所述清理路径,所述清理路径的起点为所述清理机器人当前位于所述窗帘中位置对应的所述比例视图中的位置;当接收到所述终端发送的清理程序执行指令后,所述清理机器人中的主控单元根据所述清理程序执行指令中的所述窗帘的比例视图、所述预置缩放比例及所述清理路径,并根据预置路径规划算法,生成所述清理机器人在所述窗帘上的移动路径;所述清理机器人启动清理装置,按照所述移动路径在所述窗帘上移动并执行清理任务。
- 根据权利要求6所述的系统,其特征在于,所述终端在所述比例视图中设置清理机器人的清理路径,将所述清理路径的终点设置在所述窗帘的边缘位置对应的所述比例视图中的位置。
- 根据权利要求6所述的系统,其特征在于,所述清理程序执行指令中还包括清理力度;所述终端根据用户设置的窗帘未清洗时长和/或窗帘脏的程度,生成对应的目标清理力度;所述清理机器人启动清理装置并将所述清理装置的力度调节至所述目标清理力度,按照所述移动路径在所述窗帘上移动并执行清理任务。
- 根据权利要求6所述的装置,其特征在于,所述清理机器人生成实时清理状态信息,并将所述实时清理状态信息发送给所述终端,所述实时清理状态信息包括所述清理机器人的当前清理范围、当前获取的尘量、当前电量中的一种或多种。
- 根据权利要求6至9任一项所述的系统,其特征在于,所述清理机器人按照所述移动路径,通过相切的左夹紧轮和右夹紧轮的旋转夹取所述窗帘,以驱动所述清理机器人在所述窗帘上移动。
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