CN107280590B - Household cleaning device and cleaning method - Google Patents
Household cleaning device and cleaning method Download PDFInfo
- Publication number
- CN107280590B CN107280590B CN201710658038.1A CN201710658038A CN107280590B CN 107280590 B CN107280590 B CN 107280590B CN 201710658038 A CN201710658038 A CN 201710658038A CN 107280590 B CN107280590 B CN 107280590B
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- sweeping robot
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- working surface
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/24—Floor-sweeping machines, motor-driven
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
- A47L11/4002—Installations of electric equipment
-
- 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
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
- A47L11/4061—Steering means; Means for avoiding obstacles; Details related to the place where the driver is accommodated
-
- 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
-
- 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
- A47L2201/06—Control of the cleaning action for autonomous devices; Automatic detection of the surface condition before, during or after cleaning
Landscapes
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
- Electric Vacuum Cleaner (AREA)
Abstract
The invention discloses a household cleaning device.A detection mechanism detects a working surface when the detection mechanism is separated from a sweeping robot; generating a first area and a second area on the working surface according to the image detected by the detection mechanism; analyzing the material of the object in the second area according to the image detected by the detection mechanism to generate a first target area; the detection mechanism detects the periphery of an object in a first area, and when the object in the first area has a channel with a width larger than a preset width, the material of the object in the channel is analyzed to generate a second target area; generating a working area based on the first target area and the second target area; and generating a running route for the sweeping robot to move according to the working area. The home cleaning device disclosed by the application can plan an optimal route as soon as possible.
Description
Technical Field
The invention relates to the field of household cleaning, in particular to a household cleaning device and a household cleaning method.
Background
The floor sweeping robot is also called an automatic cleaner, intelligent dust collection, a robot dust collector and the like, is one of intelligent household appliances, and can automatically complete floor cleaning work in a room by means of certain artificial intelligence. Generally, the floor cleaning machine adopts a brushing and vacuum mode, and firstly absorbs the impurities on the floor into the garbage storage box, so that the function of cleaning the floor is achieved. Generally, a robot that performs cleaning, dust collection and floor wiping is also collectively called a floor sweeping robot.
In general, the existing sweeping robot usually plans a running route through a camera arranged on the sweeping robot and a sensor arranged on the periphery of the sweeping robot, but due to the limitation of the field of view of the sweeping robot and possible problems in the moving process, the sweeping robot is stuck at a certain position, or the area which should be swept by the sweeping robot is ignored.
Disclosure of Invention
In order to overcome the above-mentioned drawbacks of the prior art, the invention provides a household cleaning device and a cleaning method, which can plan an optimal route as soon as possible.
The specific technical scheme of the invention is as follows:
a home cleaning appliance comprising: the sweeping robot comprises a sweeping robot capable of moving on a working surface and a detection mechanism capable of being connected to the sweeping robot, wherein the detection mechanism can fly away from the working surface when being separated from the sweeping robot;
the detection mechanism is separated from the sweeping robot to detect the working surface;
generating a first area and a second area on the working surface according to the image detected by the detection mechanism, wherein the first area is that the height of the object in the area is higher than or equal to a preset height, and the second area is that the height of the object in the area is smaller than the preset height;
analyzing the material of the object in the second region according to the image detected by the detection mechanism to generate a first target region, wherein the material of the object in the first target region meets a first preset requirement;
the detection mechanism detects the periphery of an object in a first area, and when the object in the first area has a channel with a width larger than a preset width, the material of the object in the channel is analyzed to generate a second target area, wherein the material of the object in the second target area meets a first preset requirement;
generating a working area based on the first target area and the second target area;
and generating a running route for the sweeping robot to move according to the working area.
Preferably, the first and second regions are generated from the working surface by photogrammetry from images detected by the detection means.
Preferably, the material of the object in the first region and the channel is analyzed by infrared detection technology and/or picture recognition technology.
Preferably, the top and side walls of the detection mechanism are provided with infrared sensors, and the detection mechanism can fly along the side walls and the top wall when detecting.
Preferably, the top of robot of sweeping the floor is provided with wireless portion of charging, wireless portion of charging can detection mechanism sets up when the robot of sweeping the floor is last right detection mechanism charges.
Preferably, the working area is generated after island removal according to a total area generated after the first target area and the second target area are superposed.
Preferably, the floor sweeping robot comprises a controller, wherein the controller is in data exchange connection with the detection mechanism in a wireless mode, and the controller is electrically connected with the floor sweeping robot in a wired mode.
Preferably, the detection mechanism can be arranged on the sweeping robot to correct the generated running route when the sweeping robot is in a cleaning state.
The application discloses a cleaning method for cleaning by adopting a household cleaning device, wherein the household cleaning device comprises a sweeping robot capable of moving on a working surface and a detection mechanism capable of being connected to the sweeping robot, and the detection mechanism can fly away from the working surface when being separated from the sweeping robot; the detection mechanism is separated from the sweeping robot to detect the working surface;
the detection mechanism is separated from the sweeping robot to detect the working surface;
generating a first area and a second area on the working surface according to the image detected by the detection mechanism, wherein the first area is that the height of the object in the area is higher than or equal to a preset height, and the second area is that the height of the object in the area is smaller than the preset height;
analyzing the material of the object in the second region according to the image detected by the detection mechanism to generate a first target region, wherein the material of the object in the first target region meets a first preset requirement;
the detection mechanism detects the periphery of an object in a first area, and when the object in the first area has a channel with a width larger than a preset width, the material of the object in the channel is analyzed to generate a second target area, wherein the material of the object in the second target area meets a first preset requirement;
generating a working area based on the first target area and the second target area;
and generating a running route for the sweeping robot to move according to the working area.
Preferably, the working area is generated after island removal according to a total area generated after the first target area and the second target area are superposed.
By adopting the structure and the method, the invention can plan the optimal route as soon as possible.
Drawings
The drawings described herein are for illustration purposes only and are not intended to limit the scope of the present disclosure in any way. In addition, the shapes, the proportional sizes, and the like of the respective members in the drawings are merely schematic for facilitating the understanding of the present invention, and do not specifically limit the shapes, the proportional sizes, and the like of the respective members of the present invention. Those skilled in the art, having the benefit of the teachings of this invention, may choose from the various possible shapes and proportional sizes to implement the invention as a matter of case.
Fig. 1 shows a schematic structural diagram of a household cleaning device in an embodiment of the present application.
Figure 2 shows the home cleaning apparatus of figure 1 with the detection mechanism disengaged from the sweeping robot.
Figure 3 shows a schematic view of the household cleaning appliance of figure 1.
Figure 4 shows an embodiment of a working surface.
Fig. 5 shows a schematic representation of the generation of a first and a second region of the work surface from the image detected by the detection means.
FIG. 6 shows a schematic diagram of generating a first target region and a second target region.
FIG. 7 shows a schematic diagram of generating a work area based on the first target area and the second target area.
Detailed Description
The details of the present invention can be more clearly understood in conjunction with the accompanying drawings and the description of the embodiments of the present invention. However, the specific embodiments of the present invention described herein are for the purpose of illustration only and are not to be construed as limiting the invention in any way. Any possible variations based on the present invention may be conceived by the skilled person in the light of the teachings of the present invention, and these should be considered to fall within the scope of the present invention.
The embodiment of the invention discloses a household cleaning device, which comprises: the sweeping robot comprises a sweeping robot capable of moving on a working surface and a detection mechanism capable of being connected to the sweeping robot, wherein the detection mechanism can fly away from the working surface when being separated from the sweeping robot; the detection mechanism is separated from the sweeping robot to detect the working surface; generating a first area and a second area on the working surface according to the image detected by the detection mechanism, wherein the first area is that the height of the object in the area is higher than or equal to a preset height, and the second area is that the height of the object in the area is smaller than the preset height; analyzing the material of the object in the second region according to the image detected by the detection mechanism to generate a first target region, wherein the material of the object in the first target region meets a first preset requirement; the detection mechanism detects the periphery of an object in a first area, and when the object in the first area has a channel with a width larger than a preset width, the material of the object in the channel is analyzed to generate a second target area, wherein the material of the object in the second target area meets a first preset requirement; generating a working area based on the first target area and the second target area; and generating a running route for the sweeping robot to move according to the working area.
Fig. 1 and 2 show a household cleaning device in an embodiment of the present application. Referring to fig. 1, the home cleaning apparatus includes a sweeping robot and a detecting mechanism. In general, a sweeping robot includes a housing, a roller disposed under the housing, a cleaning part provided on the housing for cleaning a floor, and the like. The sweeping robot in the application can refer to sweeping robots in the prior art, and the description is not repeated. The detection mechanism can be separated from the sweeping robot to fly. The detection mechanism comprises a flying part, a driving part for driving the flying part to fly, a camera arranged on the flying part, a probe, an infrared detector and other sensors. Referring to fig. 2, the detection mechanism may be disengaged from the sweeping robot to fly within the working plane.
In this embodiment, the detection mechanism detects the working surface when being detached from the sweeping robot, that is, the detection mechanism acquires various image data of the working surface through a sensor thereof in a flight process.
And generating a first area and a second area on the working surface according to the image detected by the detection mechanism, wherein the first area is formed by the height of the object in the area being higher than or equal to a preset height, and the second area is formed by the height of the object in the area being smaller than the preset height. For example, the height of the object within the working plane may be analyzed by size recognition techniques, photogrammetry, and the like. When the height of the object in the working surface is higher than or equal to a preset height (for example, forty centimeters), namely, when the sweeping robot cannot work by crossing the object with the height, the part is scratched into the first area. When the height of the object in the working plane is less than a preset height (e.g. forty centimeters), i.e. the sweeping robot can work across the object at that height, the portion is drawn into the second area.
And analyzing the material of the object in the second region according to the image detected by the detection mechanism to generate a first target region, wherein the material of the object in the first target region meets a first preset requirement. For example, the material of the object in the second area may be identified by an infrared detection technology or a picture identification technology to determine whether the sweeping robot can operate on the object, and if so, it indicates that the first preset requirement is met, so as to scratch the portion into the first target area.
The detection mechanism detects the periphery of an object in a first area, and when the object in the first area has a channel with a width larger than a preset width, the material of the object in the channel is analyzed to generate a second target area, wherein the material of the object in the second target area meets a first preset requirement. The detection mechanism can fly around the periphery of the object in the first area, and whether the object has a channel for the sweeping robot to enter is judged through a size identification technology. If so, judging the material of the object in the channel by an infrared detection technology or a picture recognition technology to judge whether the sweeping robot can run on the object, and if so, indicating that the sweeping robot meets the first preset requirement, so that the part is divided into a second target area.
The first and second target areas are aggregated in a superposition and some islands are excluded (i.e., certain areas that are inaccessible to the sweeping robot, isolated from other portions of the first and second target areas).
And generating a better running route for the sweeping robot to move according to the working area. For example, if the working area is substantially circular, the path of the sweeping robot may be helical. Alternatively, if the working area is substantially square, the motion track of the sweeping robot can be zigzag. Or, if the working area is divided into several blocks, one block can be cleaned and then moved to another block for cleaning.
Generally, the sweeping robot can run on the floor of a lower room. However, there are often some higher furniture (e.g., a wardrobe, a tea table, a desk, etc.) disposed on the floor of the room. For a sweeping robot, the sweeping robot cannot climb onto the furniture to operate. The upper surfaces of these areas are therefore not accessible for the sweeping robot. Furthermore, for these taller pieces of furniture, there may be some clearance from the floor and this clearance may allow the sweeping robot to pass through the sweep. In addition, objects made of materials (such as long-hair carpets, stone massage areas and the like) which can trap the sweeping robot are often arranged on the floor of the room, and obviously, the areas are not suitable for the sweeping robot to work. The robot sweeping system can eliminate the area which is not suitable for the robot sweeping, and the area which is suitable for the robot sweeping is added into the working area, so that a better running route is formed.
The household cleaning device can further comprise a controller, the controller is in data exchange connection with the detection mechanism in a wireless mode, and the controller is electrically connected with the sweeping robot in a wired mode.
In a preferred embodiment, the top and side walls of the detection means are provided with infrared sensors, which, when detecting, can fly along the side and top walls of the wall in order to identify as completely as possible the respective area of the work surface.
In a preferred embodiment, in order to ensure that the detection mechanism has a sufficiently large electric quantity, a wireless charging portion is arranged at the top of the sweeping robot, and the wireless charging portion can charge the detection mechanism when the detection mechanism is arranged on the sweeping robot.
In a preferred embodiment, the detection mechanism can be arranged on the sweeping robot to correct the generated running route when the sweeping robot is in a cleaning state, so as to ensure that the running track of the sweeping robot meets the requirement of the running route.
Referring to fig. 3, the application also discloses a cleaning method using a household cleaning device, the household cleaning device comprises a sweeping robot capable of moving on a working surface and a detection mechanism capable of being connected to the sweeping robot, and the detection mechanism can fly away from the working surface when being separated from the sweeping robot; the detection mechanism is separated from the sweeping robot to detect the working surface;
the detection mechanism is separated from the sweeping robot to detect the working surface;
generating a first area and a second area on the working surface according to the image detected by the detection mechanism, wherein the first area is that the height of the object in the area is higher than or equal to a preset height, and the second area is that the height of the object in the area is smaller than the preset height;
analyzing the material of the object in the second region according to the image detected by the detection mechanism to generate a first target region, wherein the material of the object in the first target region meets a first preset requirement;
the detection mechanism detects the periphery of an object in a first area, and when the object in the first area has a channel with a width larger than a preset width, the material of the object in the channel is analyzed to generate a second target area, wherein the material of the object in the second target area meets a first preset requirement;
generating a working area based on the first target area and the second target area;
and generating a running route for the sweeping robot to move according to the working area.
Preferably, the working area is generated after island removal according to a total area generated after the first target area and the second target area are superposed.
A specific example is described below. Figure 4 shows an embodiment of a working surface. Fig. 5 shows the generation of a first and a second region of the work surface from the image detected by the detection means. Wherein, in figure 5,
the part is a first area, and the part is a second area,
and part of the second area. FIG. 6 shows the analysis of the material of the object in the second region based on the image detected by the detection mechanism to generate a first target region; and the detection mechanism detects the periphery of the object in the first area, and when the object in the first area has a channel with a width larger than a preset width, the material of the object in the channel is analyzed to generate a second target area. Wherein, in figure 6,
a portion of which is a second target area,
the portion is a first target area. FIG. 7 shows a schematic diagram of generating a work area based on the first target area and the second target area. Wherein the part with the hatching is the working area.
The embodiments in the present specification are described in a progressive manner, and the same and similar parts among the embodiments are referred to each other, and each embodiment focuses on the differences from the other embodiments. In particular, for the system embodiment, since it is substantially similar to the method embodiment, the description is simple, and for the relevant points, reference may be made to the partial description of the method embodiment.
While the present application has been described with examples, those of ordinary skill in the art will appreciate that there are numerous variations and permutations of the present application without departing from the spirit of the application, and it is intended that the appended claims encompass such variations and permutations without departing from the spirit of the application.
Claims (10)
1. A household cleaning appliance, comprising: the sweeping robot comprises a sweeping robot capable of moving on a working surface and a detection mechanism capable of being connected to the sweeping robot, wherein the detection mechanism can fly away from the working surface when being separated from the sweeping robot;
when the detection mechanism is separated from the sweeping robot, the working surface is detected;
generating a first area and a second area on the working surface according to the image detected by the detection mechanism, wherein the first area is that the height of the object in the area is higher than or equal to a preset height, and the second area is that the height of the object in the area is smaller than the preset height;
analyzing the material of the object in the second region according to the image detected by the detection mechanism to generate a first target region, wherein the material of the object in the first target region meets a first preset requirement;
the detection mechanism detects the periphery of an object in a first area, and when the object in the first area has a channel with a width larger than a preset width, the material of the object in the channel is analyzed to generate a second target area, wherein the material of the object in the second target area meets a first preset requirement;
generating a working area based on the first target area and the second target area;
and generating a running route for the sweeping robot to move according to the working area.
2. A home cleaning device according to claim 1, wherein the working surface is arranged to be created into a first zone and a second zone by photogrammetry from images detected by the detection means.
3. A home cleaning device according to claim 1, wherein the material of the objects in the first area and the passageway is analysed by infrared detection techniques and/or picture recognition techniques.
4. A home cleaning device as claimed in claim 1, wherein the top and side walls of the detection means are provided with infrared sensors, the detection means being capable of flying along the wall side walls and top wall when detecting.
5. The home cleaning device according to claim 1, wherein a wireless charging part is arranged on the top of the sweeping robot, and the wireless charging part can charge the detection mechanism when the detection mechanism is arranged on the sweeping robot.
6. A home cleaning device according to claim 1, wherein the working area is created after island exclusion based on the total area created by the superposition of the first target area and the second target area.
7. The household cleaning device according to claim 1, comprising a controller, wherein the controller is in data exchange connection with the detection mechanism in a wireless manner, and the controller is electrically connected with the sweeping robot in a wired manner.
8. The home cleaning device according to claim 1, wherein the detection mechanism is configured to calibrate the generated travel route when the sweeping robot is in a cleaning state.
9. A cleaning method for cleaning by adopting a household cleaning device is characterized in that the household cleaning device comprises a sweeping robot capable of moving on a working surface and a detection mechanism capable of being connected to the sweeping robot, and the detection mechanism can fly away from the working surface when being separated from the sweeping robot;
when the detection mechanism is separated from the sweeping robot, the working surface is detected;
generating a first area and a second area on the working surface according to the image detected by the detection mechanism, wherein the first area is that the height of the object in the area is higher than or equal to a preset height, and the second area is that the height of the object in the area is smaller than the preset height;
analyzing the material of the object in the second region according to the image detected by the detection mechanism to generate a first target region, wherein the material of the object in the first target region meets a first preset requirement;
the detection mechanism detects the periphery of an object in a first area, and when the object in the first area has a channel with a width larger than a preset width, the material of the object in the channel is analyzed to generate a second target area, wherein the material of the object in the second target area meets a first preset requirement;
generating a working area based on the first target area and the second target area;
and generating a running route for the sweeping robot to move according to the working area.
10. The cleaning method of claim 9, wherein the working area is created after island exclusion based on a total area created by the superposition of the first target area and the second target area.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201710658038.1A CN107280590B (en) | 2017-08-03 | 2017-08-03 | Household cleaning device and cleaning method |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201710658038.1A CN107280590B (en) | 2017-08-03 | 2017-08-03 | Household cleaning device and cleaning method |
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| CN107280590A CN107280590A (en) | 2017-10-24 |
| CN107280590B true CN107280590B (en) | 2020-10-27 |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN108888203A (en) * | 2018-06-04 | 2018-11-27 | 于彦霞 | A kind of control method of separate type automatic floor cleaning machine device people |
| CN109077672B (en) * | 2018-09-28 | 2023-03-14 | 北京奇虎科技有限公司 | Method and device for selecting block by floor sweeping robot |
| CN112493924B (en) * | 2019-08-26 | 2023-03-10 | 苏州宝时得电动工具有限公司 | Cleaning robot and control method thereof |
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| KR100635828B1 (en) * | 2005-04-25 | 2006-10-19 | 엘지전자 주식회사 | Method for controlling navigation of a cleaning robot |
| CN105796002A (en) * | 2016-03-31 | 2016-07-27 | 北京小米移动软件有限公司 | Indoor cleaning method for cleaning robot, cleaning robot and mobile terminal |
| CN106510558A (en) * | 2017-01-03 | 2017-03-22 | 上海量明科技发展有限公司 | Flying cleaning robot and cleaning method thereof |
| CN206044547U (en) * | 2016-07-19 | 2017-03-29 | 成都通甲优博科技有限责任公司 | A kind of comprehensive clean robot device |
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- 2017-08-03 CN CN201710658038.1A patent/CN107280590B/en not_active Expired - Fee Related
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| KR100635828B1 (en) * | 2005-04-25 | 2006-10-19 | 엘지전자 주식회사 | Method for controlling navigation of a cleaning robot |
| CN106618386A (en) * | 2015-11-03 | 2017-05-10 | 深圳市银星智能科技股份有限公司 | Cleaning robot |
| CN105796002A (en) * | 2016-03-31 | 2016-07-27 | 北京小米移动软件有限公司 | Indoor cleaning method for cleaning robot, cleaning robot and mobile terminal |
| CN206044547U (en) * | 2016-07-19 | 2017-03-29 | 成都通甲优博科技有限责任公司 | A kind of comprehensive clean robot device |
| CN106510558A (en) * | 2017-01-03 | 2017-03-22 | 上海量明科技发展有限公司 | Flying cleaning robot and cleaning method thereof |
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