CN109124473A

CN109124473A - A kind of cleaning control method and chip based on the clean robot spirally walked

Info

Publication number: CN109124473A
Application number: CN201811240347.8A
Authority: CN
Inventors: 赖钦伟
Original assignee: Zhuhai Amicro Semiconductor Co Ltd
Current assignee: Zhuhai Yiwei Technology Co Ltd
Priority date: 2018-10-23
Filing date: 2018-10-23
Publication date: 2019-01-04
Anticipated expiration: 2038-10-23
Also published as: CN109124473B

Abstract

The invention discloses a cleaning control method and chip for a cleaning robot based on spiral walking. The cleaning robot utilizes a garbage collection baffle installed at an assembly port of a side brush to perform garbage collection; the cleaning control method includes: The cleaning robot keeps the main brush and the vacuum cleaner closed, enters the quiet cleaning mode, and gathers the garbage to be cleaned on the spiral walking path in the current cleaning area to the spiral according to the map data of the map recording component. The spiral center position of the walking path, then turn on the main brush and the vacuum cleaner, switch from the quiet cleaning mode to the normal cleaning mode, and absorb the garbage collected at the preset collection position into the garbage box. Compared with the prior art, the embodiment of the present invention reduces the noise of the entire cleaning process.

Description

A kind of cleaning control method and chip based on the clean robot spirally walked

Technical field

It is the invention belongs to controlling intelligent household appliances field, in particular to a kind of based on the clear of the clean robot spirally walked Sweep control method and chip.

Background technique

With advances in technology, cleaning class robot function gradually can satisfy daily life, market penetration rate Constantly promoted.Clean robot sweeps the cleaning for adding the mode of dust suction to realize rubbish mainly by round brush at present, but there is noises Big problem.

Summary of the invention

The present invention proposes that its technical solution is as follows in view of the improper situation of the above-mentioned prior art:

A kind of cleaning control method based on the clean robot spirally walked, the clean robot are installed with casing, master Brush, side brush, vacuum cleaner, map recording-member, dustbin, rubbish detection part and rubbish are put together baffle, the cleaning control Method processed includes the following steps: step S1: the clean robot closes the main brush and the vacuum cleaner, into peace and quiet Cleaning modes, it is helical form walking path that its walking path, which is arranged, in the clean robot, subsequently into step S2；Step S2: According to the indicative function of the map datum of map recording-member record, the clean robot is along helical form walking path Rubbish to be cleaned in current cleaning region is put together onto default collection position, the main brush is then opened and the vacuum is inhaled Dirt device enters the garbage suction put together into the dustbin into conventional cleaning modes；Wherein, the default collection position For the spiral center position of the helical form walking path.

Further, the helical form walking path includes that the first transverse shifting path and the first transverse shifting path connect Continuous first longitudinal direction movement routine, it is parallel with the first transverse shifting path and with first longitudinal direction movement routine continuous second laterally Movement routine and with the continuous second longitudinal direction movement routine in the second transverse shifting path.

Further, in the helical form walking path, first transverse shifting path, the mobile road of the first longitudinal direction Diameter, second transverse shifting path and the second longitudinal direction movement routine constitute a cycle of the helical form walking path Path；Wherein, 1 to 2 times for being set to the main brush and cleaning width of two continuous and adjacent periodic paths.

Further, the cleaning control method further include: the real-time acquisition testing characterization of rubbish detection part is to clear The parameter for the quantity of refuse swept, then it is compared with preset threshold, when the parameter is greater than the preset threshold, open institute Main brush and the vacuum cleaner are stated, the rubbish to be cleaned so that rubbish is put together before baffle is inhaled into dustbin； When the parameter is less than the preset threshold, the main brush and the vacuum cleaner are remained turned-off.

A kind of chip, the chip store the corresponding program code of the cleaning control method.

Compared with prior art, the invention has the benefit that through control clean robot during screwdriven Rubbish is put together to a default collection position, then carries out absorption processing, to reduce the noise of cleaning process.

Detailed description of the invention

Fig. 1 is that a kind of rubbish based on clean robot provided in an embodiment of the present invention is put together the structure distribution signal of baffle Figure；

Fig. 2 is a kind of schematic diagram of the helical form walking path based on clean robot provided in an embodiment of the present invention；

Fig. 3 is a kind of cleaning control method process based on the clean robot spirally walked provided in an embodiment of the present invention Figure.

Specific embodiment

Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention is retouched in detail It states.

As shown in Figure 1, the clean robot is installed with casing 101, main brush the present embodiment provides a kind of clean robot 103, side brush, vacuum cleaner, map recording-member, dustbin and rubbish are put together baffle 102, wherein 101 bottom of casing opens up Have side brush installation opening, positioned at it is main brush 103 before, and rubbish put together baffle 102 be fixed at 101 bottom of casing side brush dress At mouth, or it is fixed at the front of original side brush configuration.The lower end inclination of baffle 102 as shown in Figure 1, rubbish is put together To it is main brush 103, rubbish put together baffle 102 upper end to far from it is main brush 103 front tilt.It is described in carrying out cleaning process Clean robot is divided into quiet cleaning modes and conventional cleaning modes.Under conventional cleaning modes, class robot is cleaned with other It is no different, opens main brush 103 and vacuum cleaner, rubbish is collected in realization when walking.Under quiet cleaning modes, the cleaning machine People remains turned-off main brush 103 and vacuum cleaner, will currently be cleaned in region according to the map datum of the map recording-member Helical form walking path rubbish to be cleaned put together to one it is default collect position, to reduce making an uproar for entire cleaning process Sound.During this rubbish is put together, rubbish baffle 102 of putting together is driven the driving effect of mechanism and travels forward, and will return The rubbish to be cleaned held together is swept toward rubbish and puts together baffle 102, until by the rubbish to be cleaned on the helical form walking path It puts together to the default collection position, then opens main brush 103 and vacuum cleaner, the clean robot is by described quiet clear It sweeps mode and enters the conventional cleaning modes.Specifically, main brush 103 rolls on the default collection position, while cooperating rubbish Rubbish is put together the barrier effect of baffle 102, so that the rubbish to be cleaned is sent to rubbish and puts together baffle along rubbish baffle 102 of putting together 102 and its top casing 101 between garbage inlet channel, then under the action of vacuum cleaner, the rubbish to be cleaned It is inhaled into dustbin.It should be noted that it is the helical form walking path that its walking path, which is arranged, in the clean robot When, the spiral center position of the helical form walking path is in the default position of collecting.

Preferably, the map recording-member marks current cleaning region in the clean robot walking process Remember and be written in map, has been marked region position around the spiral center position of the helical form walking path It sets, is then a unified garbage collection position, i.e., the described default collection position by the spiral center position mark.Describedly Figure recording-member can be provided currently by the map that existing vision prescription or laser solution generate for the clean robot The map datum in region is cleaned, the clean robot can advise in cleaning process using the map recording-member Corresponding walking path is drawn, so that the walking of spiral shape or rectangular-ambulatory-plane is carried out in currently cleaning region, rubbish since periphery Rubbish is constantly pushed away toward the spiral center position, last bleeding point (can be on wall side, can also be such as the position of Fig. 2 O), main brush 103 and vacuum cleaner are started, is uniformly absorbed into the dustbin, then terminates to clean.

Preferably, the clean robot further includes the rubbish detection part, is installed in the rubbish and puts together baffle Front, for the corresponding parameter of quantity of refuse to be cleaned that real-time acquisition testing is put together, and it is matched according to the determining parameter Main brush and the vacuum cleaner described in cleaning operation scheme control carry out cleaning operation.Wherein, the cleaning operation mode packet Include the quiet cleaning modes and the conventional cleaning modes.The rubbish detection part can be one group of infrared emission unit, It is installed in the rubbish to put together before baffle, when sensor corresponding to rubbish blocks infrared emission unit, passes through acquisition The corresponding parameter of quantity of refuse to be cleaned put together is detected compared with preset threshold, when the parameter is greater than preset threshold, characterization Rubbish is put together, and the rubbish put together in front of baffle 102 is relatively more, then the clean robot is switched to by the quiet cleaning modes The routine cleaning modes, open the main brush and the vacuum cleaner sucks rubbish.

A kind of cleaning control method spirally cleaned based on above-mentioned clean robot provided in an embodiment of the present invention, such as Shown in Fig. 3, comprising: step S1: the clean robot closes main brush 103 and vacuum cleaner, cleans mould hence into peace and quiet Formula, it is helical form walking path that its walking path, which is arranged, in the clean robot, and enters step S2, specific path such as Fig. 2 It is shown.

In step s 2, according to the indicative function of the map datum of map recording-member record, the cleaning machine People puts the rubbish to be cleaned in current cleaning region onto default collection position together along helical form walking path, then opens The main brush and the vacuum cleaner enter the garbage suction put together into the dustbin into conventional cleaning modes；Its In, the spiral center position of the helical form walking path is in the default position of collecting.As shown in Fig. 2, 201 indicate current clear Clean region, position A are the initial position of the clean robot, and position O is the spiral center position of the helical form walking path It sets, the clean robot runs to position B from position A, along path AB, then the rubbish to be cleaned on the AB of path is returned Hold together to position B, first transverse shifting path of the path AB as the helical form walking path, it should be noted that although Fig. 2 In path AB be straight line, but the path AB of Fig. 2 is only illustrated as a preferred embodiment, first transverse shifting path It can also include curve；The clean robot starts to turn in position B, so that it is run to position C along path BC, then path Rubbish to be cleaned on AB and path BC is all put together to position C, path BC and is indulged as the first of the helical form walking path To movement routine, first longitudinal direction movement routine and the first transverse shifting path are continuous, and first longitudinal direction movement routine includes straight line Or curved path；Then, the clean robot is turned at the C of position, so that it is run to position D along path CD, then path Rubbish to be cleaned on AB, path BC and path CD is all put together to position D, and path CD is as the helical form walking path Second transverse shifting path, the second transverse shifting path is parallel with first transverse shifting path and moves with the first longitudinal direction Dynamic path is continuous；Then the clean robot is turned at the D of position, so that it is run to position E along path DE, then path Rubbish to be cleaned on AB, path BC, path CD and path DE is all put together to position E, and path DE is as the helical form row Walk the second longitudinal direction movement routine in path；At this point, in the helical form walking path, first transverse shifting path (path AB), the first longitudinal direction movement routine (path BC), second transverse shifting path (path CD) and the second longitudinal direction are moved Dynamic path (path DE) constitutes first periodic path of the helical form walking path.Then the clean robot is in position It turns at E, is allowed to run to position F along path EF, then the rubbish to be cleaned on preceding cycles path is put together to position F, First transverse shifting path of the path EF as the second period path of the helical form walking path, wherein path EF with The second longitudinal direction movement routine (path DE) of first periodic path is continuous.Then the clean robot is according to above-mentioned row The spiral center position O that paths planning method moves to the helical form walking path is walked, so that the clean robot is in phase It walks in the periodic path of a plurality of continuous helical form walking path to connect, finally in the spiral shell of the helical form walking path It revolves at the O of center, the clean robot opens the main brush and the vacuum cleaner, will into conventional cleaning modes The garbage suction put together enters into the dustbin.Wherein, continuous two being spaced in Fig. 2 for periodic path indicate are as follows: road The spacing of straight line where diameter EF and the straight line where the AB of path, i.e., first transverse shifting path of first periodic path The spacing in first transverse shifting path (path EF) in (path AB) and second period path, numerical value is the cleaning Robot setting, be 1 to 2 times that main brush 102 cleans width.Compared with the existing technology, in the embodiment of the present invention, the cleaning Control method reduces the influence of noise of entire cleaning process.

It should be noted that the indicative function of the map datum of the map recording-member record is, when the cleaner When the walking path of device people is arranged to the walking path of spiral shape or rectangular-ambulatory-plane, the map recording-member is in the cleaner The cleaning region walked is marked in device people's walking process and is written in map, until the helical form walking path It has been marked regional location around spiral center position 0, then has entered conventional cleaning mould in the spiral center position O Formula, the garbage suction that current location is put together are handled.In map, the path length in first transverse shifting path (path AB) Degree is set smaller than the lateral length in current cleaning region 201, and the first longitudinal direction movement routine (path BC) is set smaller than The longitudinal length in current cleaning region 201.

In addition, the cleaning control method will not generate difference because of different cleaning regions, when the cleaning machine After people executes completion step S2, into after new cleaning region, the spiral is cooked up still according to the cleaning control method Shape walking path keeps the quiet cleaning modes to carry out the processing of putting together of rubbish to be cleaned, finally in new spiral center position It sets and is switched to the conventional cleaning modes and carries out absorption processing.

Preferably, in the cleaning control method provided by above-described embodiment, further includes: the clean robot exists Put together during rubbish to be cleaned on the helical form walking path, the real-time acquisition testing characterization of rubbish detection part to The parameter of the quantity of refuse of cleaning, then it is compared with preset threshold.The rubbish detection part can be one group it is infrared right Unit is penetrated, the quantity of refuse put together before rubbish puts baffle 102 together is bigger, blocks infrared emission unit, acquires its detection To parameter have greatly changed.When the parameter is greater than the preset threshold (such as 20%), determine by described quiet clear The mode of sweeping enters conventional cleaning modes, opens main brush 103 and the vacuum cleaner, so that rubbish be put together before baffle 102 In the rubbish to be cleaned sucking dustbin, the rubbish that avoids putting together is excessive and influences sweeping efficiency；Described in being less than when the parameter When preset threshold (such as 10%), quiet cleaning modes are retained in, keep main brush 103 and the vacuum cleaner to close, Zhi Daoyun Move the spiral center position of the helical form walking path.Absorption processing is carried out, again to reduce cleaning noise.

A kind of chip, the chip store the corresponding program code of the cleaning control method.Said program code is for controlling Robot processed executes and cleans control method described in above embodiments.It is auxiliary that the chip can be robot main control chip, robot Help control chip or robot processor chip etc..

Finally it should be noted that: the above embodiments are merely illustrative of the technical scheme of the present invention and are not intended to be limiting thereof；To the greatest extent The present invention is described in detail with reference to preferred embodiments for pipe, it should be understood by those ordinary skilled in the art that: still It can modify to a specific embodiment of the invention or some technical features can be equivalently replaced；Without departing from this hair The spirit of bright technical solution should all cover within the scope of the technical scheme claimed by the invention.

Claims

1. A cleaning control method of a cleaning robot based on spiral walking, the cleaning robot is equipped with a casing, a main brush, a side brush, a vacuum cleaner, a map recording part, a garbage box, a garbage detection part and a garbage collection baffle , characterized in that the cleaning control method comprises the following steps:

Step S1: the cleaning robot turns off the main brush and the vacuum cleaner, and enters a quiet cleaning mode, the cleaning robot sets its walking path as a spiral walking path, and then enters step S2;

Step S2: According to the indication function of the map data recorded by the map recording component, the cleaning robot collects the garbage to be cleaned in the current cleaning area to a preset collection position along the spiral walking path, and then opens the main brush and the vacuum cleaner, enter the normal cleaning mode, and absorb the collected garbage into the garbage box; wherein, the preset collection position is the spiral center position of the spiral walking path.

2 . The cleaning control method according to claim 1 , wherein the helical travel path comprises a first lateral movement path, a first longitudinal movement path continuous with the first lateral movement path, and parallel to the first lateral movement path. 3 . And a second lateral movement path continuous with the first longitudinal movement path, and a second longitudinal movement path continuous with the second lateral movement path.

3 . The cleaning control method according to claim 2 , wherein, in the helical travel path, the first lateral movement path, the first longitudinal movement path, the second lateral movement path and the The second longitudinal moving path constitutes a periodic path of the spiral walking path; wherein, the interval between two consecutive and adjacent periodic paths is set to be 1 to 2 times the cleaning width of the main brush.

4 . The cleaning control method according to claim 1 , wherein the cleaning control method further comprises: the garbage detection component collects and detects a parameter representing the amount of garbage to be cleaned in real time, and then compares it with a preset threshold. 5 . , when the parameter is greater than the preset threshold, turn on the main brush and the vacuum cleaner, so that the garbage to be cleaned before the garbage collection baffle is sucked into the garbage box; when the parameter is less than the preset threshold When the preset threshold is exceeded, the main brush and the vacuum remain off.

5 . A chip, characterized in that the chip stores program codes corresponding to the cleaning control method according to any one of claims 1 to 4 .