CN108634862A - A kind of Robot Cleaner Controlling System method and system - Google Patents
A kind of Robot Cleaner Controlling System method and system Download PDFInfo
- Publication number
- CN108634862A CN108634862A CN201810250201.5A CN201810250201A CN108634862A CN 108634862 A CN108634862 A CN 108634862A CN 201810250201 A CN201810250201 A CN 201810250201A CN 108634862 A CN108634862 A CN 108634862A
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- dust collector
- intellective dust
- intellective
- owner
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- 238000000034 method Methods 0.000 title claims abstract description 24
- 239000000428 dust Substances 0.000 claims abstract description 108
- 238000004891 communication Methods 0.000 claims abstract description 26
- 230000002093 peripheral effect Effects 0.000 claims abstract description 26
- 238000001514 detection method Methods 0.000 claims abstract description 12
- 230000033001 locomotion Effects 0.000 claims description 17
- 230000005540 biological transmission Effects 0.000 claims description 7
- 238000004140 cleaning Methods 0.000 claims description 7
- 238000012544 monitoring process Methods 0.000 claims description 7
- 238000010408 sweeping Methods 0.000 abstract description 8
- 230000006870 function Effects 0.000 abstract description 5
- 239000002699 waste material Substances 0.000 abstract description 5
- 238000010586 diagram Methods 0.000 description 16
- 230000004888 barrier function Effects 0.000 description 8
- 230000008901 benefit Effects 0.000 description 2
- 230000008859 change Effects 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 230000007812 deficiency Effects 0.000 description 1
- 235000013399 edible fruits Nutrition 0.000 description 1
- 230000005283 ground state Effects 0.000 description 1
- 230000006698 induction Effects 0.000 description 1
- 230000007246 mechanism Effects 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000037361 pathway Effects 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 238000007634 remodeling Methods 0.000 description 1
- 230000008439 repair process Effects 0.000 description 1
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
- A47L5/00—Structural features of suction cleaners
- A47L5/12—Structural features of suction cleaners with power-driven air-pumps or air-compressors, e.g. driven by motor vehicle engine vacuum
-
- 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
- A47L9/00—Details or accessories of suction cleaners, e.g. mechanical means for controlling the suction or for effecting pulsating action; Storing devices specially adapted to suction cleaners or parts thereof; Carrying-vehicles specially adapted for suction cleaners
- A47L9/28—Installation of the electric equipment, e.g. adaptation or attachment to the suction cleaner; Controlling suction cleaners by electric means
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Electric Vacuum Cleaner (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The invention discloses a kind of Robot Cleaner Controlling System methods, including：Obtain the current working condition of intellective dust collector；Obtain the track that intellective dust collector is currently located；Obtain the control instruction that owner sends；Obtain the position of peripheral obstacle.The invention also discloses a kind of intellective dust collector systems, including：Main control module, position acquisition module, cleans module, mobile module, distance sensing module, obstacle detection module, power module, dust extractor, charging module at path planning module, the system also includes：Setup module, robot arm device, communication module.A kind of Robot Cleaner Controlling System method and system disclosed by the invention, on the one hand can plan the automatic running path of dust catcher, avoid sweeping back and forth and waste time and energy；On the other hand, it can assign dust catcher more functions so that dust catcher undertakes more affairs in the family.
Description
Technical field
The invention belongs to cleaner technology fields, and in particular to a kind of control method and system of intellective dust collector.
Background technology
Sweeping robot in the prior art, can only generally sweep room while moving, and function is more single.
For this reason, it is necessary to propose a kind of Robot Cleaner Controlling System method and system, dust catcher on the one hand can have been planned
Automatic running path, avoids sweeping back and forth and wastes time and energy；On the other hand, it can assign dust catcher more functions, make
It obtains dust catcher and undertakes more affairs in the family.
Invention content
In view of above-mentioned deficiencies of the prior art, the purpose of the present invention is to provide a kind of Robot Cleaner Controlling System method and it is
System, on the one hand can plan the automatic running path of dust catcher, avoid sweeping back and forth and waste time and energy；On the other hand,
It can assign dust catcher more functions so that dust catcher undertakes more affairs in the family.
To achieve the above object, the present invention adopts the following technical scheme that：
A kind of Robot Cleaner Controlling System method, including：
Obtain the current working condition of intellective dust collector；
Obtain the track that intellective dust collector is currently located；
Obtain the control instruction that owner sends；
Obtain the position of peripheral obstacle.
Wherein, the step obtains the track that intellective dust collector is currently located, including：
Obtain intellective dust collector motion track interior for a period of time；
By the motion track and Orbit Matching in a period of time；
The track where intellective dust collector is determined according to matching result.
Wherein, the step obtains the control instruction that owner sends, including：
Obtain the cleaning instruction that owner sends；
Obtain the monitoring instruction that owner sends；
Obtain owner's transmission takes object to instruct.
Wherein, the step obtains the position of peripheral obstacle, including：
Detect the distance of peripheral obstacle；
Detect the size of peripheral obstacle；
According to the distance of current location and peripheral obstacle, size, the position of peripheral obstacle is determined.
The present invention also provides a kind of intellective dust collectors, including：It is main control module, path planning module, position acquisition module, clear
Sweep module, mobile module, distance sensing module, obstacle detection module, power module, dust extractor, charging module, feature
It is, the system also includes：Setup module, robot arm device, communication module；The path planning module, position acquisition mould
Block cleans module, setup module, mobile module, robot arm device, distance sensing module, obstacle detection module, communication mould
Block, power module, dust extractor are electrically electrically connected with the main control module, and the charging module is electrically connected the power supply mould
Block.
Wherein, the system also includes camera modules, and the camera module is for obtaining intellective dust collector periphery
Scene.
Wherein, the system also includes voice module, sound identification module, the voice module is used to receive the language of user
Sound order and voice reminder is sent out, the content of sound identification module voice for identification.
Wherein, the system also includes memory modules.
Wherein, the communication mode of the communication module can be Bluetooth communication, WiFi communication, in data network communications extremely
Few one kind.
Wherein, the setup module is planned and is adjusted for the driving path to intellective dust collector.
Compared with prior art, the present invention has the advantages that：
A kind of Robot Cleaner Controlling System method and system proposed by the present invention, on the one hand can plan the automatic of dust catcher
Driving path, avoids sweeping back and forth and wastes time and energy；On the other hand, it can assign dust catcher more functions so as to inhale
Dirt device undertakes more affairs in the family.
Description of the drawings
Fig. 1 is the flow diagram of one embodiment of the invention Robot Cleaner Controlling System method；
Fig. 2 is the flow diagram of another embodiment of the present invention Robot Cleaner Controlling System method；
Fig. 3 is the flow diagram of another embodiment of the present invention Robot Cleaner Controlling System method；
Fig. 4 is the flow diagram of another embodiment of the present invention Robot Cleaner Controlling System method；
Fig. 5 is the control block diagram of one embodiment of the invention intellective dust collector system；
Fig. 6 is the control block diagram of another embodiment of the present invention intellective dust collector system；
Fig. 7 is the control block diagram of another embodiment of the present invention intellective dust collector system；
Fig. 8 is the control block diagram of another embodiment of the present invention intellective dust collector system.
Specific implementation mode
Embodying the exemplary embodiment of feature of present invention and advantage will in detail describe in above specification.It should be understood that
Various variations can be had in different embodiments by being the present invention, neither be departed from the scope of the present invention, and therein
Illustrate and illustrate inherently to be illustrated as being used, rather than to limit the present invention.
Below in conjunction with attached drawing, invention is further explained.
Fig. 1 is the flow diagram of one embodiment of the invention Robot Cleaner Controlling System method.Intellective dust collector in the present invention
Control method includes the following steps：
Step S101：Obtain the current working condition of intellective dust collector.The working condition of intellective dust collector, which can be divided into, sweeps
Ground state, takes object state, charged state, dormant state at monitor state.Get the work shape that intellective dust collector is presently in
State, such as when intellective dust collector is when sweeping the floor, determine that its working condition is state of sweeping the floor.
Step S102：Obtain the track that intellective dust collector is currently located.In the position for getting intellective dust collector and being presently in
It postpones, according to the movement locus of intellective dust collector whithin a period of time, to determine track that intellective dust collector is currently located.It needs
Illustrate, determine the track that intellective dust collector is currently located, is the movement rail by obtaining intellective dust collector in a period of time
Mark, and compared with each pre-set track, the track that intellective dust collector is currently located is determined according to comparison.
Step S103：Obtain the control instruction that owner sends.Intellective dust collector gets owner and is sent by intelligent terminal
Control instruction, including clean instruction, monitoring instruction, take object instruction etc..Owner is inhaled by intelligent terminal to intelligence of the invention
Dirt device sends control instruction, the work of remote control intellective dust collector.
Step S104：Obtain the position of peripheral obstacle.Intellective dust collector is detected surrounding enviroment in the present invention, and
Obtain the position of peripheral obstacle.It should be noted that intellective dust collector obtains the position of peripheral obstacle in the present invention, need
Distance in conjunction with intellective dust collector apart from barrier, the size for detecting barrier, the position of peripheral obstacle is determined with this
And size.
As shown in Fig. 2, Fig. 2 is the flow diagram of another embodiment of the present invention Robot Cleaner Controlling System method.Step
S102 includes the following steps：
Step S1021：Obtain intellective dust collector motion track interior for a period of time.By obtaining intellective dust collector at one section
Motion track in time, as sample, with Orbit Matching.Wherein, the motion track in a period of time specifically can be according to reality
The definition of border situation, can be the motion track in one minute, the motion track in half a minute etc., according to practical situations come
Determine the specific period.
Step S1022：By the motion track and Orbit Matching in a period of time.The intelligence that step S1021 is got is inhaled
Dirt device for a period of time in motion track, and by the motion track of intellective dust collector in this period and the track in advance delimited
Match, motion track is then determined as closest to which track by the rail running.
Step S1023：The track where intellective dust collector is determined according to matching result.According to the matching knot of step S1022
Fruit determines the track where intellective dust collector, intellective dust collector motion track interior for a period of time, closest to which track
Motion track, it is determined that intellective dust collector is moved by the track.
As shown in figure 3, Fig. 3 is the flow diagram of another embodiment of the present invention Robot Cleaner Controlling System method.The present invention
In step S103 it is further comprising the steps of：
Step S1031：Obtain the cleaning instruction that owner sends.The intelligent terminal of intellective dust collector and owner in the present invention
Communication connection is established, and receives owner and is instructed by the cleaning that intelligent terminal is sent.Owner's hair is received in intellective dust collector
After the cleaning instruction sent, start cleaning works, the position cleaned according to the needs that the track or intellective dust collector of setting are got
It sets, starts to clean.
Step S1032：Obtain the monitoring instruction that owner sends.The intelligent terminal of intellective dust collector and owner in the present invention
Between can be in communication with each other, owner can by intelligent terminal to intellective dust collector of the present invention send control command.In intelligent suction
After dirt device receives the monitoring instruction of owner's transmission, camera module is opened, the environment of surrounding is monitored, surrounding is obtained
Monitoring image.
Step S1033：Obtain owner's transmission takes object to instruct.The intelligent terminal of intellective dust collector and owner in the present invention
Communication connection, owner can control intellective dust collector on intelligent terminal.When owner sends and object is taken to instruct, intellective dust collector
Start robot arm device, with complete owner transmission take object to instruct.
As shown in figure 4, Fig. 4 is the flow diagram of another embodiment of the present invention Robot Cleaner Controlling System method.The present invention
In step S104 it is further comprising the steps of：
Step S1041：Detect the distance of peripheral obstacle.Intellective dust collector in the present invention, break the barriers detection mould
Barrier around block detection, the distance by distance sensing module senses peripheral obstacle apart from intellective dust collector.
Step S1042：Detect the size of peripheral obstacle.According to the barrier that obstacle detection module detects, and tie
The distance that distance sensing module senses go out is closed, judges the size of peripheral obstacle.
Step S1043：According to the distance of current location and peripheral obstacle, size, the position of peripheral obstacle is determined.Root
According to the size for the peripheral obstacle that the distance and step S1042 of the step S1041 peripheral obstacles detected detect, come
Determine the position of peripheral obstacle.
As shown in figure 5, Fig. 5 is the control block diagram of one embodiment of the invention intellective dust collector system.The present invention also provides one
Kind intellective dust collector system, the system comprises：It is main control module 101, path planning module 102, position acquisition module 103, clear
Sweep module 104, mobile module 106, distance sensing module 108, obstacle detection module 109, power module 111, dust extractor
112, charge 113 pieces of mould, setup module 105, robot arm device 107, communication module 110.Path planning module 102, position are obtained
Modulus block 103, clean module 104, setup module 105, mobile module 106, robot arm device 107, distance sensing module 108,
Obstacle detection module 109, communication module 110, power module 111, dust extractor 112 and the main control module 101 electrically connect
It connects.The charging module 113 is electrically connected the power module 111.
Path planning module 102 is for planning the mobile route of intellective dust collector, to ensure that room is all swept time,
It avoids leaving corner or spot as yet untouched by a clean-up campaign.Path planning module 102 can be by artificially changing, when owner thinks to need to repair to the planning in path
When changing path, can be modified to the mobile route of intellective dust collector by intelligent terminal, can be specifically owner by
Again route, and more variation route delimited or adjusted on intelligent terminal screen, you can the modification of complete paired pathways.In addition, intelligence
Dust catcher can also learn building structure, adjust travel route, avoid repeating to move.
Position acquisition module 103 is for obtaining the position that intellective dust collector is presently in, it should be noted that position of the present invention
Set acquisition module 103 obtain the position that is presently in of intellective dust collector refer to obtain that intellective dust collector is presently in it is specific which
Which position etc. information in room, room.
Module 104 is cleaned for being cleaned to house, in the moving process of intellective dust collector, in its cleaning range
Rubbish and dust cleaned.
For setup module 105 for being configured to intellective dust collector, owner can be by intelligent terminal to intellective dust collector
Be configured, the driving path of intellective dust collector planned and adjusted, for example, to the change and setting of mobile route, to clear
Change and setting of frequency sweep rate etc..
Mobile module 106 includes driving motor, transmission shaft, wheel etc. mobile mechanism, for driving intellective dust collector to move
It is dynamic.
Robot arm device 107 is for taking object, when intellective dust collector receives when object being taken to instruct of owner's transmission, intelligent dust suction
Device is moved to the position where article, and robot arm device 107 is started to work, and takes article away, intellective dust collector again moves into master
The position that people specifies.
Distance sensing module 108 is for sensing distance of the intellective dust collector apart from barrier.
Obstacle detection module 109 is used to detect the barrier on intellective dust collector periphery.The spy of obstacle detection module 109
Survey mode can be ultrasonic listening, infrared induction etc..
Communication module 110 between intellective dust collector and the intelligent terminal of owner for communicating, the communication party of communication module 110
Formula can be at least one of Bluetooth communication, WiFi communication, data network communications.
Power module 111 is used to provide electric energy for intellective dust collector, and power module 111 is electrically connected with charging module 113.
Power module 111 includes rechargeable battery.
Dust extractor 112 is used to siphon away the dust on ground.
As shown in fig. 6, Fig. 6 is the control block diagram of another embodiment of the present invention intellective dust collector system.The intelligence of the present invention
Dust catcher also includes camera module 114, and camera module 114 is used to obtain the scene on intellective dust collector periphery.In intelligent suction
In the dirt device course of work, camera module 114 captures the image on periphery, and auxiliary obtains the barrier of surrounding, also, images head mould
The image that block 114 is captured can be used for monitoring the scene of surrounding.
As shown in fig. 7, Fig. 7 is the control block diagram of another embodiment of the present invention intellective dust collector system.The intelligence of the present invention
Cleaner system further includes voice module 115, sound identification module 116, and voice module 115 is used to receive the voice command of user
And voice reminder is sent out, the content of the voice for identification of sound identification module 116.Owner can send language to intellective dust collector
Sound order, voice module 115 receive voice command, and sound identification module 116 identifies the content of voice command, when needs are sent out
When voice reminder, voice module 115 sends out voice reminder.
As shown in figure 8, Fig. 8 is the control block diagram of another embodiment of the present invention intellective dust collector system.The intelligence of the present invention
Cleaner system further includes memory module 117, and memory module 117 is used to store the hardware address of the intelligent terminal of owner, obtains
The image on dust catcher periphery, storage path etc. information.
In conclusion a kind of Robot Cleaner Controlling System method and system proposed by the present invention, on the one hand can plan suction
The automatic running path of dirt device, avoids sweeping back and forth and wastes time and energy；On the other hand, it can assign dust catcher more work(
It can so that dust catcher undertakes more affairs in the family.
Although describing the present invention with reference to exemplary embodiment, it is to be understood that, term used is explanation and example
Property, term and not restrictive.Due to the present invention spirit or essence that can be embodied in a variety of forms without departing from invention,
It should therefore be appreciated that the above embodiment is not limited to any details above-mentioned, and should be spiritual defined by appended claims
Accompanying is all should be with the whole variations and remodeling widely explained, therefore fallen into claim or its equivalent scope in range to weigh
Profit requires to be covered.
Claims (10)
1. a kind of Robot Cleaner Controlling System method, which is characterized in that including：
Obtain the current working condition of intellective dust collector；
Obtain the track that intellective dust collector is currently located；
Obtain the control instruction that owner sends；
Obtain the position of peripheral obstacle.
2. according to the method described in claim 1, it is characterized in that, the step obtains the rail that intellective dust collector is currently located
Road, including：
Obtain intellective dust collector motion track interior for a period of time；
By the motion track and Orbit Matching in a period of time；
The track where intellective dust collector is determined according to matching result.
3. according to the method described in claim 1, it is characterized in that, the step obtain owner send control instruction, including：
Obtain the cleaning instruction that owner sends；
Obtain the monitoring instruction that owner sends；
Obtain owner's transmission takes object to instruct.
4. according to the method described in claim 1, it is characterized in that, the step obtain peripheral obstacle position, including：
Detect the distance of peripheral obstacle；
Detect the size of peripheral obstacle；
According to the distance of current location and peripheral obstacle, size, the position of peripheral obstacle is determined.
5. a kind of intellective dust collector system, including：Main control module, position acquisition module, cleans module, moves path planning module
Dynamic model block, distance sensing module, obstacle detection module, power module, dust extractor, charging module, which is characterized in that described
System further includes：Setup module, robot arm device, communication module；The path planning module, cleans mould at position acquisition module
Block, setup module, mobile module, robot arm device, distance sensing module, obstacle detection module, communication module, power supply mould
Block, dust extractor and the main control module are electrically connected, and the charging module is electrically connected the power module.
6. system according to claim 5, which is characterized in that the system also includes camera module, the camera
Module is used to obtain the scene on intellective dust collector periphery.
7. system according to claim 5, which is characterized in that the system also includes voice module, sound identification module,
The voice module is used to receive the voice command of user and sends out voice reminder, sound identification module language for identification
The content of sound.
8. system according to claim 5, which is characterized in that the system also includes memory modules.
9. according to claim 5-8 any one of them systems, which is characterized in that the communication mode of the communication module can be
At least one of Bluetooth communication, WiFi communication, data network communications.
10. system according to claim 9, which is characterized in that the setup module, for the traveling to intellective dust collector
It is planned and is adjusted in path.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810250201.5A CN108634862A (en) | 2018-03-26 | 2018-03-26 | A kind of Robot Cleaner Controlling System method and system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810250201.5A CN108634862A (en) | 2018-03-26 | 2018-03-26 | A kind of Robot Cleaner Controlling System method and system |
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| Publication Number | Publication Date |
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| CN108634862A true CN108634862A (en) | 2018-10-12 |
Family
ID=63744505
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810250201.5A Pending CN108634862A (en) | 2018-03-26 | 2018-03-26 | A kind of Robot Cleaner Controlling System method and system |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN110025965A (en) * | 2019-03-13 | 2019-07-19 | 吴志伟 | A kind of artificial intelligence electric toy car of intelligence path planning |
| CN112137513A (en) * | 2020-09-29 | 2020-12-29 | 北京云迹科技有限公司 | Hotel ground cleaning method and device and electronic equipment |
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Application publication date: 20181012 |