WO2019062628A1 - 窗帘清理方法及系统 - Google Patents

窗帘清理方法及系统 Download PDF

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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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WO
WIPO (PCT)
Prior art keywords
cleaning
curtain
path
cleaning robot
robot
Prior art date
Application number
PCT/CN2018/106622
Other languages
English (en)
French (fr)
Inventor
冯伟
张晨宁
张艳辉
尹铎
何勇
彭安思
吴新宇
Original Assignee
中国科学院深圳先进技术研究院
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
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Application filed by 中国科学院深圳先进技术研究院 filed Critical 中国科学院深圳先进技术研究院
Publication of WO2019062628A1 publication Critical patent/WO2019062628A1/zh

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Classifications

    • 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
    • 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
    • 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
    • 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
    • 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
    • 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

窗帘清理方法及系统，其中，该方法包括：终端(301)根据用户输入的窗帘尺寸，生成窗帘的比例视图（S101），当检测到用户设置清理路径的操作时，在比例视图中设置清理机器人(302)的清理路径，并向清理机器人(302)发送清理程序执行指令（S102）；清理机器人(302)根据清理程序执行指令中的窗帘的比例视图、预置缩放比例及清理路径，并根据预置路径规划算法，生成清理机器人(302)在窗帘上的移动路径（S103）；启动清理装置（8），按照移动路径在窗帘上移动并执行清理任务（S104）。相较于现有技术，清理机器人(302)可以灵活的在窗帘上移动，并能执行清理任务，解决了现有技术中的可移动机器人功能单一，用途局限的问题，提高了产品黏性。

Description

窗帘清理方法及系统 技术领域
本申请属于智能机器人技术领域，尤其涉及一种窗帘清理方法及系统。
 背景技术
机器人是自动控制机器（Robot）的俗称，自动控制机器包括一切模拟人类行为或思想与模拟其他生物的机械（如机器狗，机器猫等）。狭义上对机器人的定义还有很多分类法及争议，有些电脑程序甚至也被称为机器人。在当代工业中，机器人指能自动执行任务的人造机器装置，用以取代或协助人类工作。
随着科技的不断发展，机器人的用途也越来越广泛。现有的机器人中，有些可以自由移动，但这些可移动机器人大多只有移动功能，功能单一，用途具有局限性。
 技术问题
本申请提供一种窗帘清理方法及系统，旨在解决现有的可移动机器人功能单一，用途局限的问题。
 技术解决方案
本申请提供的一种窗帘清理方法，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。
本申请提供的一种窗帘清理系统，所述系统包括：
终端和能在窗帘上移动的清理机器人；
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。
 有益效果
本申请提供的窗帘清理方法及系统，终端根据用户输入的窗帘尺寸，按预置缩放比例对窗帘尺寸进行缩放，生成窗帘的比例视图，当检测到用户设置清理路径的操作时，在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，并向清理机器人发送清理程序执行指令，清理程序执行指令中包括窗帘的比例视图、预置缩放比例及清理路径，清理路径的起点为清理机器人当前位于窗帘中位置对应的比例视图中的位置；当接收到终端发送的清理程序执行指令后，清理机器人根据清理程序执行指令中的窗帘的比例视图、预置缩放比例及清理路径，并根据预置路径规划算法，生成清理机器人在窗帘上的移动路径，启动清理装置，按照移动路径在窗帘上移动并执行清理任务，相较于现有技术，本申请中的清理机器人可以灵活的在窗帘上移动，并能执行清理任务，解决了现有技术中的可移动机器人功能单一，用途局限的问题，提高了产品黏性。
 附图说明
为了更清楚地说明本申请实施例或现有技术中的技术方案，下面将对实施例或现有技术描述中所需要使用的附图作简单地介绍，显而易见地，下面描述中的附图仅仅是本申请的一些实施例。
图1是本申请第一实施例提供的窗帘清理方法的实现流程示意图；
图2是本申请第二实施例提供的窗帘清理方法的实现流程示意图；
图3是本申请第三、第四实施例提供的窗帘清理系统的结构示意图；
图4是本申请第三、第四实施例提供的窗帘清理系统中清理机器人的结构示意图；
图5是本申请第三、第四实施例提供的窗帘清理系统中清理机器人调节窗帘材料夹紧量的示意图。
本申请的实施方式
为使得本申请的发明目的、特征、优点能够更加的明显和易懂，下面将结合本申请实施例中的附图，对本申请实施例中的技术方案进行清楚、完整地描述，显然，所描述的实施例仅仅是本申请一部分实施例，而非全部实施例。基于本申请中的实施例，本领域技术人员在没有做出创造性劳动前提下所获得的所有其他实施例，都属于本申请保护的范围。
请参阅图1，图1为本申请第一实施例提供的窗帘清理方法的实现流程示意图，图1所示的窗帘清理方法，主要包括以下步骤：
S101、终端根据用户输入的窗帘尺寸，按预置缩放比例对窗帘尺寸进行缩放，生成窗帘的比例视图；
当用户确定需要清理的窗帘后，将待清理窗帘的尺寸输入终端中。终端按该用户输入的尺寸绘制出窗帘的等比例视图后，再按照预置的缩放比例对窗帘尺寸进行缩放，从而生成一定缩放比例的比例视图。这里通过缩放得到比例视图，是为了便于在终端上显示该比例视图。可以理解的，若将预置缩放比例设置为1，则生成的比例视图为等比例视图。
S102、当检测到用户设置清理路径的操作时，终端在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，并向清理机器人发送清理程序执行指令；
其中，清理程序执行指令中包括窗帘的比例视图、预置缩放比例及清理路径。
清理路径的起点为清理机器人当前位于窗帘中位置对应的比例视图中的位置。具体的，当需要清理窗帘时，用户将清理机器人放置在窗帘的一个位置，并在比例视图中标注此位置作为清理路径的起点，大部分窗帘为方形，一般会将起始位置选择在该方形的一个角上。
进一步地，可以将清理路径的终点设置在窗帘的边缘位置对应的比例视图中的位置，具体可以是窗帘的一个角上。用于使清理机器人完成清理程序后，能够停留在窗帘的边缘，即使该机器人没有被立刻拿走，也不会影响窗帘的美观。
S103、当接收到终端发送的清理程序执行指令后，清理机器人根据清理程序执行指令中的窗帘的比例视图、预置缩放比例及清理路径，并根据预置路径规划算法，生成清理机器人在窗帘上的移动路径；
具体的，比例视图是将等比例视图按预置缩放比例进行缩放后得到的。将比例视图按预置缩放比例进行还原，得到窗帘的等比例视图，并同时将比例视图中的清理路径按预置缩放比例进行还原，得到的在等比例视图上的路径即为清理机器人在窗帘上的移动路径。
进一步地，当该窗帘的形状为长方形时，可以将清理路径的起点设为该窗帘的左下角。
移动路径为，清理机器人从窗帘的左下角开始向正上方移动，到达窗帘顶部后向右平移，平移的距离为清理机器人一次清理的宽度，平移完成后清理机器人向正下方移动，到达窗帘底部后向右平移清理机器人一次清理的宽度，平移完成后继续向正上方移动，按这个规律一直移动并执行清理任务，直至清理完整个窗帘后停止。若最后一次平移清理机器人一次清理的宽度，该清理机器人可能因为超出窗帘的范围而发生掉落时，将依据比例视图计算最后一次平移的距离，使最后一次平移并向正上方或正下方移动完成后，能够清理完整个窗帘，并且该机器人不会从窗帘上掉落。
S104、清理机器人启动清理装置，按照移动路径在窗帘上移动并执行清理任务。
本实施例提供的窗帘清理方法，终端根据用户输入的窗帘尺寸，按预置缩放比例对窗帘尺寸进行缩放，生成窗帘的比例视图，当检测到用户设置清理路径的操作时，在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，并向清理机器人发送清理程序执行指令，清理程序执行指令中包括窗帘的比例视图、预置缩放比例及清理路径，清理路径的起点为清理机器人当前位于窗帘中位置对应的比例视图中的位置；当接收到终端发送的清理程序执行指令后，清理机器人根据清理程序执行指令中的窗帘的比例视图、预置缩放比例及清理路径，并根据预置路径规划算法，生成清理机器人在窗帘上的移动路径，启动清理装置，按照移动路径在窗帘上移动并执行清理任务，相较于现有技术，本申请中的清理机器人可以灵活的在窗帘上移动，并能执行清理任务，解决了现有技术中的可移动机器人功能单一，用途局限的问题，提高了产品黏性。
请参阅图2，图2为本申请第二实施例提供的窗帘清理方法的实现流程示意图，图2所示的窗帘清理方法，主要包括以下步骤：
S201、终端根据用户输入的窗帘尺寸，按预置缩放比例对窗帘尺寸进行缩放，生成窗帘的比例视图；
当用户确定需要清理的窗帘后，将待清理窗帘的尺寸输入终端中。终端按该用户输入的尺寸绘制出窗帘的等比例视图后，再按照预置的缩放比例对窗帘尺寸进行缩放，从而生成一定缩放比例的比例视图。这里通过缩放得到比例视图，是为了便于在终端上显示该比例视图。可以理解的，若将预置缩放比例设置为1，则生成的比例视图为等比例视图。
例如，用户输入的窗帘尺寸为长5米、高3米的矩形，预置缩放比例为0.1时，则生成窗帘的比例视图为长50厘米、高30厘米的矩形。
S202、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；
预先将清理装置的清理力度分为不同等级，并为每个等级的清理力度设置对应的窗帘未清洗时长和/或窗帘脏的程度。当用户设置窗帘未清洗时长和/或窗帘脏的程度时，终端寻找与其匹配的清理力度，并将该匹配的清理力度作为目标清理力度。
S203、当检测到用户设置清理路径的操作时，终端在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，并向清理机器人发送清理程序执行指令；
其中，清理程序执行指令中包括窗帘的比例视图、预置缩放比例、清理路径及目标清理力度。
清理路径的起点为清理机器人当前位于窗帘中位置对应的比例视图中的位置。具体的，当需要清理窗帘时，用户将清理机器人放置在窗帘的一个位置，并在比例视图中标注此位置作为清理路径的起点，大部分窗帘为方形，一般会将起始位置选择在该方形的一个角上。
进一步地，可以将清理路径的终点设置在窗帘的边缘位置对应的比例视图中的位置，具体可以是窗帘的一个角上。用于使清理机器人完成清理程序后，能够停留在窗帘的边缘，即使该机器人没有被立刻拿走，也不会影响窗帘的美观。
S204、当接收到终端发送的清理程序执行指令后，清理机器人根据清理程序执行指令中的窗帘的比例视图、预置缩放比例及清理路径，并根据预置路径规划算法，生成清理机器人在窗帘上的移动路径；
具体的，比例视图是将等比例视图按预置缩放比例进行缩放后得到的。将比例视图按预置缩放比例进行还原，得到窗帘的等比例视图，并同时将比例视图中的清理路径按预置缩放比例进行还原，得到的在等比例视图上的路径即为清理机器人在窗帘上的移动路径。
进一步地，当该窗帘的形状为长方形时，可以将清理路径的起点设为该窗帘的左下角。
移动路径为，清理机器人从窗帘的左下角开始向正上方移动，到达窗帘顶部后向右平移，平移的距离为清理机器人一次清理的宽度，平移完成后清理机器人向正下方移动，到达窗帘底部后向右平移清理机器人一次清理的宽度，平移完成后继续向正上方移动，按这个规律一直移动并执行清理任务，直至清理完整个窗帘后停止。若最后一次平移清理机器人一次清理的宽度，该清理机器人可能因为超出窗帘的范围而发生掉落时，将依据比例视图计算最后一次平移的距离，使最后一次平移并向正上方或正下方移动完成后，能够清理完整个窗帘，并且该机器人不会从窗帘上掉落。
S205、清理机器人启动清理装置并将清理装置的力度调节至目标清理力度，按照移动路径，通过相切的左夹紧轮和右夹紧轮的旋转夹取窗帘，以驱动清理机器人在窗帘上移动并执行清理任务；
S206、清理机器人生成实时清理状态信息，并将实时清理状态信息发送给终端。
该实时清理状态信息包括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，用于使用户能够通过终端实时了解清理机器人的工作状况。
本实施例提供的窗帘清理方法，终端根据用户输入的窗帘尺寸，按预置缩放比例对窗帘尺寸进行缩放，生成窗帘的比例视图，当检测到用户设置清理路径的操作时，在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，并向清理机器人发送清理程序执行指令，清理程序执行指令中包括窗帘的比例视图、预置缩放比例及清理路径，清理路径的起点为清理机器人当前位于窗帘中位置对应的比例视图中的位置；当接收到终端发送的清理程序执行指令后，清理机器人根据清理程序执行指令中的窗帘的比例视图、预置缩放比例及清理路径，并根据预置路径规划算法，生成清理机器人在窗帘上的移动路径，启动清理装置，按照移动路径在窗帘上移动并执行清理任务，相较于现有技术，本申请中的清理机器人可以灵活的在窗帘上移动，并能执行清理任务，解决了现有技术中的可移动机器人功能单一，用途局限的问题，提高了产品黏性。
请参阅图3，图3是本申请第三实施例提供的窗帘清理系统的结构示意图。如图3所示，该系统包括终端301和清理机器人302。
终端301，用于根据用户输入的窗帘尺寸，按预置缩放比例对窗帘尺寸进行缩放，生成窗帘的比例视图；当检测到用户设置清理路径的操作时，在比例视图中设置清理机器人302的清理路径，并向清理机器人302发送清理程序执行指令，清理程序执行指令中包括窗帘的比例视图、预置缩放比例及清理路径，清理路径的起点为清理机器人302当前位于窗帘中位置对应的比例视图中的位置。
清理机器人302，用于当接收到终端301发送的清理程序执行指令后，通过主控单元根据清理程序执行指令中的窗帘的比例视图、预置缩放比例及清理路径，并根据预置路径规划算法，生成清理机器人302在窗帘上的移动路径；启动清理装置，按照移动路径在窗帘上移动并执行清理任务。
具体的，如图4所示，图4是本申请第三实施例提供的窗帘清理系统中清理机器人302的结构示意图，如图4所示，清理机器人302，主要包括：移动单元（图中未标示）、方向控制电机6、连接件7、清理装置8、俯仰电机9及平板10。其中，平板10中包括主控单元及供电装置。
移动单元包括左夹紧轮1、右夹紧轮2、连接平板3、左驱动电机4及右驱动电机5，左夹紧轮1与右夹紧轮2相切，左驱动电机4用于驱动左夹紧轮1，右驱动电机5用于驱动右夹紧轮2，移动单元通过相切的左夹紧轮1与右夹紧轮2的旋转夹取窗帘，以驱动清理机器人在窗帘上移动。
该移动单元通过连接平板3与方向控制电机6可转动连接，方向控制电机6与俯仰电机9通过连接件7可转动连接，俯仰电机9与平板10固定连接，清理装置8与平板10固定连接。
左夹紧轮1与右夹紧轮2同时向内旋转，清理机器人前行；左夹紧轮1与右夹紧轮2同时向外旋转，清理机器人后退。清理机器人通过俯仰电机9来调节左夹紧轮1与右夹紧轮2的夹紧量的多少，当夹住的窗帘材料较多时，俯仰电机9控制尾部平板10翘起，清理机器人继续前进时，窗帘材料的夹紧量就会减少，如图5左图；当清理机器人左夹紧轮1与右夹紧轮2夹住的窗帘材料较少时，俯仰电机9控制尾部平板10弓起，清理机器人在继续前进时，窗帘材料的夹紧量就会增加，如图5右图。通过左夹紧轮1与右夹紧轮2的同向旋转使夹住的窗帘材料的褶皱方向发生改变，从而改变清理机器人夹紧轮的指向，配合以方向控制电机6驱动尾部摆动，实现清理机器人的运动方向的改变。
上述各元件实现其各自功能的具体过程，可参考上述第一实施例提供的窗帘清理方法的相关内容，此处不再赘述。
本实施例提供的窗帘清理系统，终端根据用户输入的窗帘尺寸，按预置缩放比例对窗帘尺寸进行缩放，生成窗帘的比例视图，当检测到用户设置清理路径的操作时，在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，并向清理机器人发送清理程序执行指令，清理程序执行指令中包括窗帘的比例视图、预置缩放比例及清理路径，清理路径的起点为清理机器人当前位于窗帘中位置对应的比例视图中的位置；当接收到终端发送的清理程序执行指令后，清理机器人根据清理程序执行指令中的窗帘的比例视图、预置缩放比例及清理路径，并根据预置路径规划算法，生成清理机器人在窗帘上的移动路径，启动清理装置，按照移动路径在窗帘上移动并执行清理任务，相较于现有技术，本申请中的清理机器人可以灵活的在窗帘上移动，并能执行清理任务，解决了现有技术中的可移动机器人功能单一，用途局限的问题，提高了产品黏性。
仍参阅图3，为本申请第四实施例提供的窗帘清理系统的结构示意图。如图3所示，该系统包括终端301和清理机器人302。
终端301，用于根据用户输入的窗帘尺寸，按预置缩放比例对窗帘尺寸进行缩放，生成窗帘的比例视图；当检测到用户设置清理路径的操作时，在比例视图中设置清理机器人302的清理路径，将清理路径的终点设置在窗帘的边缘位置对应的比例视图中的位置，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，并向清理机器人302发送清理程序执行指令，清理程序执行指令中包括窗帘的比例视图、预置缩放比例及清理路径，清理路径的起点为清理机器人当前位于窗帘中位置对应的比例视图中的位置。
清理机器人302，用于当接收到终端301发送的清理程序执行指令后，通过主控单元根据清理程序执行指令中的窗帘的比例视图、预置缩放比例及清理路径，并根据预置路径规划算法，生成清理机器人在窗帘上的移动路径；启动清理装置并将清理装置的力度调节至目标清理力度，按照移动路径在窗帘上移动并执行清理任务。
清理机器人302，还用于生成实时清理状态信息，并将实时清理状态信息发送给终端，实时清理状态信息包括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。
具体的，如图4所示，图4是本申请第四实施例提供的窗帘清理系统中清理机器人302的结构示意图，如图4所示，清理机器人302，主要包括：移动单元（图中未标示）、方向控制电机6、连接件7、清理装置8、俯仰电机9及平板10。其中，平板10中包括主控单元及供电装置。
移动单元包括左夹紧轮1、右夹紧轮2、连接平板3、左驱动电机4及右驱动电机5，左夹紧轮1与右夹紧轮2相切，左驱动电机4用于驱动左夹紧轮1，右驱动电机5用于驱动右夹紧轮2，移动单元通过相切的左夹紧轮1与右夹紧轮2的旋转夹取窗帘，以驱动清理机器人在窗帘上移动。
该移动单元通过连接平板3与方向控制电机6可转动连接，方向控制电机6与俯仰电机9通过连接件7可转动连接，俯仰电机9与平板10固定连接，清理装置8与平板10固定连接。
左夹紧轮1与右夹紧轮2同时向内旋转，清理机器人前行；左夹紧轮1与右夹紧轮2同时向外旋转，清理机器人后退。清理机器人通过俯仰电机9来调节左夹紧轮1与右夹紧轮2的夹紧量的多少，当夹住的窗帘材料较多时，俯仰电机9控制尾部平板10翘起，清理机器人继续前进时，窗帘材料的夹紧量就会减少，如图5左图；当清理机器人左夹紧轮1与右夹紧轮2夹住的窗帘材料较少时，俯仰电机9控制尾部平板10弓起，清理机器人在继续前进时，窗帘材料的夹紧量就会增加，如图5右图。通过左夹紧轮1与右夹紧轮2的同向旋转使夹住的窗帘材料的褶皱方向发生改变，从而改变清理机器人夹紧轮的指向，配合以方向控制电机6驱动尾部摆动，实现清理机器人的运动方向的改变。
上述各元件实现其各自功能的具体过程，可参考上述第二实施例提供的窗帘清理方法的相关内容，此处不再赘述。
本实施例提供的窗帘清理系统，终端根据用户输入的窗帘尺寸，按预置缩放比例对窗帘尺寸进行缩放，生成窗帘的比例视图，当检测到用户设置清理路径的操作时，在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，并向清理机器人发送清理程序执行指令，清理程序执行指令中包括窗帘的比例视图、预置缩放比例及清理路径，清理路径的起点为清理机器人当前位于窗帘中位置对应的比例视图中的位置；当接收到终端发送的清理程序执行指令后，清理机器人根据清理程序执行指令中的窗帘的比例视图、预置缩放比例及清理路径，并根据预置路径规划算法，生成清理机器人在窗帘上的移动路径，启动清理装置，按照移动路径在窗帘上移动并执行清理任务，相较于现有技术，本申请中的清理机器人可以灵活的在窗帘上移动，并能执行清理任务，解决了现有技术中的可移动机器人功能单一，用途局限的问题，提高了产品黏性。
在本申请所提供的多个实施例中，应该理解到，所揭露的系统和方法，可以通过其它的方式实现。例如，以上所描述的装置实施例仅仅是示意性的，例如，所述模块的划分，仅仅为一种逻辑功能划分，实际实现时可以有另外的划分方式，例如多个模块或组件可以结合或者可以集成到另一个系统，或一些特征可以忽略，或不执行。另一点，所显示或讨论的相互之间的耦合或直接耦合或通信链接可以是通过一些接口，装置或模块的间接耦合或通信链接，可以是电性，机械或其它的形式。
所述作为分离部件说明的模块可以是或者也可以不是物理上分开的，作为模块显示的部件可以是或者也可以不是物理模块，即可以位于一个地方，或者也可以分布到多个网络模块上。可以根据实际的需要选择其中的部分或者全部模块来实现本实施例方案的目的。
另外，在本申请各个实施例中的各功能模块可以集成在一个处理模块中，也可以是各个模块单独物理存在，也可以两个或两个以上模块集成在一个模块中。上述集成的模块既可以采用硬件的形式实现，也可以采用软件功能模块的形式实现。
所述集成的模块如果以软件功能模块的形式实现并作为独立的产品销售或使用时，可以存储在一个计算机可读取存储介质中。基于这样的理解，本申请的技术方案本质上或者说对现有技术做出贡献的部分或者该技术方案的全部或部分可以以软件产品的形式体现出来，该计算机软件产品存储在一个存储介质中，包括若干指令用以使得一台计算机设备（可以是个人计算机，服务器，或者网络设备等）执行本申请各个实施例所述方法的全部或部分步骤。而前述的存储介质包括：U盘、移动硬盘、只读存储器（ROM，Read-Only Memory）、随机存取存储器（RAM，Random Access Memory）、磁碟或者光盘等各种可以存储程序代码的介质。
需要说明的是，对于前述的各方法实施例，为了简便描述，故将其都表述为一系列的动作组合，但是本领域技术人员应该知悉，本申请并不受所描述的动作顺序的限制，因为依据本申请，某些步骤可以采用其它顺序或者同时进行。其次，本领域技术人员也应该知悉，说明书中所描述的实施例均属于优选实施例，所涉及的动作和模块并不一定都是本申请所必须的。
在上述实施例中，对各个实施例的描述都各有侧重，某个实施例中没有详述的部分，可以参见其它实施例的相关描述。
以上为对本申请所提供的窗帘清理方法及系统的描述，对于本领域的技术人员，依据本申请实施例的思想，在具体实施方式及应用范围上均会有改变之处，综上，本说明书内容不应理解为对本申请的限制。

Claims (10)

  1. 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。
  2. 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。
  3. 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。
  4. 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。
  5. 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。
  6. 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。
  7. 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。
  8. 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。
  9. 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。
  10. 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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