CN109758038B - Cleaning robot and control method thereof - Google Patents
Cleaning robot and control method thereof Download PDFInfo
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- CN109758038B CN109758038B CN201810390359.2A CN201810390359A CN109758038B CN 109758038 B CN109758038 B CN 109758038B CN 201810390359 A CN201810390359 A CN 201810390359A CN 109758038 B CN109758038 B CN 109758038B
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- 238000004140 cleaning Methods 0.000 title claims abstract description 516
- 238000000034 method Methods 0.000 title claims description 47
- 238000001514 detection method Methods 0.000 claims abstract description 177
- 230000004888 barrier function Effects 0.000 claims abstract description 16
- 239000000428 dust Substances 0.000 claims abstract description 8
- 230000001960 triggered effect Effects 0.000 claims description 5
- 238000010521 absorption reaction Methods 0.000 abstract description 3
- 230000000694 effects Effects 0.000 description 11
- 238000010586 diagram Methods 0.000 description 4
- 230000002159 abnormal effect Effects 0.000 description 2
- 230000001174 ascending effect Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000003993 interaction Effects 0.000 description 1
- 230000002452 interceptive effect Effects 0.000 description 1
- GOLXNESZZPUPJE-UHFFFAOYSA-N spiromesifen Chemical compound CC1=CC(C)=CC(C)=C1C(C(O1)=O)=C(OC(=O)CC(C)(C)C)C11CCCC1 GOLXNESZZPUPJE-UHFFFAOYSA-N 0.000 description 1
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0219—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory ensuring the processing of the whole working surface
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0255—Control of position or course in two dimensions specially adapted to land vehicles using acoustic signals, e.g. ultra-sonic singals
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0268—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means
- G05D1/0274—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means using mapping information stored in a memory device
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- Electric Vacuum Cleaner (AREA)
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Abstract
The cleaning robot includes: including walking unit, the control unit, dust absorption unit, display element, speech unit, collision detecting element, its characterized in that: the cleaning robot is at least provided with an obstacle detection unit for detecting position data of obstacles in a cleaning area, the obstacle detection unit is installed at the top of the front side of the cleaning robot and is connected with the control unit, and the obstacle detection unit comprises a first detection module for detecting whether obstacles exist in front of the cleaning robot and a second detection module for detecting whether obstacles exist above the top of the cleaning robot. The scheme of the invention solves the problem that the existing cleaning robot cannot detect whether barriers exist on the front side and the top of the cleaning robot at the same time, and solves the problem that the existing cleaning robot is easy to stay in a lower spatial area of an indoor part and cannot automatically recharge and charge, so that a user cannot accurately find the cleaning robot in time.
Description
Technical Field
The invention relates to the field of smart homes, in particular to a cleaning robot and a control method thereof.
Background
Along with the popularization of intelligent products, more and more people use cleaning robots to replace manual cleaning of rooms, the existing cleaning robots are mainly divided into two types, one type is that a gyroscope is arranged in the cleaning robot to judge the direction and guide the cleaning robot to move forward in the correct direction, a collision detection unit is arranged on the front side of the cleaning robot to detect obstacles, and the cleaning robot avoids the obstacles to walk to perform an indoor cleaning task; the other type is that a laser navigation module is arranged at the top of the cleaning robot to realize the detection of indoor obstacles and construct an indoor map, so that the cleaning robot is guided to move forward in a correct direction and avoid the obstacles to walk to perform an indoor cleaning task.
The existing cleaning robot can only detect indoor horizontal obstacles, cannot detect whether the obstacles exist above the top of the cleaning robot, and mainly realizes the detection of the indoor horizontal obstacles by colliding a detection unit or a laser navigation module in the process of detecting the obstacles; when the cleaning robot meets a lower space area, such as a bed bottom, the bottom of a sofa, the bottom of a table and a chair and the like, the cleaning robot is easy to be stuck or damaged; at present, some cleaning robots in the market can build maps, but the built maps can only display obstacles in the horizontal direction, and can not detect and build a map corresponding to whether the obstacles exist in the vertical direction, so that the cleaning robots are easy to collide or block in the cleaning process.
The existing cleaning robot cannot detect whether an obstacle exists above the cleaning robot or not, and cannot correspondingly generate a cleaning forbidden area, namely, the cleaning robot is prevented from entering a part of a cleaning area to execute a cleaning task, and a corresponding cleaning mode, such as a regular cleaning mode, a deep cleaning mode or a limited area cleaning mode, cannot be set for the part of the cleaning area which does not need to be disturbed frequently; for example: the bottom of indoor bed or sofa usually is for not needing the region of often cleaning, only need regularly clean can or the appointed cleaning robot of user enter into the bottom of sofa or bed at a certain moment and clean, the unable ascending barrier of accurate discernment indoor vertical direction of current cleaning robot, unable corresponding generation includes the relevant local map of the ascending barrier of vertical direction, also unable corresponding setting relevant restriction clear mode, lead to user experience poor, clean effect poor, the coverage is low.
The existing cleaning robot has more abnormal power shortage conditions, and the cleaning robot can stay in an indoor space which is difficult to find, so that a user is difficult to find; lower spatial regions such as the bed bottom or the bottom of a sofa; when the cleaning robot electric quantity was low excessively, the cleaning robot entered into the bottom of the bed or the bottom of sofa, and the environment of its bottom space is complicated and leads to the cleaning robot to be difficult to timely withdraw from this region, and the cleaning robot can't independently return to charge this moment, leads to the electric quantity of cleaning robot to exhaust the back and stops in the bottom of the bed or the bottom of sofa, and the user is difficult to accurate the finding cleaning robot this moment, and user experience effect is poor.
Disclosure of Invention
The present invention is directed to solving, at least to some extent, one of the technical problems in the related art described above.
Therefore, the invention aims to provide a cleaning robot and a control method thereof, and mainly solves the problem that the existing cleaning robot cannot detect whether an obstacle exists in the cleaning area in the vertical direction, namely cannot detect whether the obstacle exists above the top of the cleaning robot; the problem that the existing cleaning robot cannot detect whether obstacles exist on the front side and the top of the cleaning robot at the same time is solved; the problem of current cleaning machines people can't set for corresponding degree of depth cleaning mode or forbid to sweep specific cleaning mode such as cleaning mode to some cleaning regions is solved, solve current cleaning machines people appear stopping easily and can't independently return the problem of charging in the lower spatial region of indoor part and the user can't in time accurately find cleaning machines people and be in indoor where problem.
An embodiment of the present invention provides a cleaning robot including: including walking unit, the control unit, dust absorption unit, display element, speech unit, collision detecting element, its characterized in that: the cleaning robot is at least provided with an obstacle detection unit for detecting position data of obstacles in a cleaning area, the obstacle detection unit is installed at the top of the front side of the cleaning robot and is connected with the control unit, and the obstacle detection unit comprises a first detection module for detecting whether obstacles exist in front of the cleaning robot and a second detection module for detecting whether obstacles exist above the top of the cleaning robot.
The first detection module comprises a first transmitting part for transmitting a horizontal detection signal and a first receiving part for receiving the horizontal detection signal transmitted by the first transmitting part; when the first receiving part receives the horizontal detection signal, the control unit judges that an obstacle exists in front of the cleaning robot at the moment; the second detection module comprises a second transmitting part for transmitting the vertical detection signal and a second receiving part for receiving the vertical detection signal transmitted by the second transmitting part; when the second receiving part receives the vertical detection signal, the control unit determines that an obstacle exists above the top of the cleaning robot at this time.
In the cleaning robot, the display unit is wirelessly connected with the control unit, the display unit is a mobile phone APP display end, and the mobile phone APP display end is used for displaying a cleaning mode, a cleaning state, a cleaning progress, a constructed map and an operation instruction of the cleaning robot; the first detection module and the second detection module are one of an infrared sensor and an ultrasonic sensor.
A control method of a cleaning robot, characterized in that: the cleaning robot comprises the cleaning robot as claimed in claim 2, wherein the cleaning robot marks the position of the cleaning robot and the position of an obstacle in the process of walking in a cleaning area and correspondingly generates an indoor map, and the obstacle detection unit is used for detecting the position data of the obstacle in the cleaning area; the position data includes at least position data of an obstacle in a horizontal direction and position data of an obstacle in a vertical direction, the obstacle detecting unit transfers the detected position data to the control unit, and the control unit wirelessly transmits the position data to the display unit and marks the position data in the indoor map.
In the control method of the cleaning robot, the second detection module transmits the vertical detection signal to synchronously detect the obstacle above the top of the cleaning robot in the walking process of the cleaning robot, and completes the detection of the obstacle in the vertical direction in the cleaning area; when the obstacle detection unit detects that an obstacle exists in the cleaning area in the vertical direction, the obstacle detection unit transmits the detected position data to the control unit, the control unit transmits the position data to the display unit and generates the scanning forbidding areas in the indoor map, and the number of the scanning forbidding areas is one or more.
In the control method of the cleaning robot, the control unit correspondingly sets the scanning prohibition cleaning mode responding to the scanning prohibition region, the display unit correspondingly sets the interface including the scanning prohibition cleaning mode, and the user can directly select the operation instruction to designate the cleaning robot to execute the scanning prohibition cleaning mode to clean the cleaning area outside the scanning prohibition region in the indoor map.
In the control method of the cleaning robot, the second detection module detects the obstacle above the top of the cleaning robot synchronously in the walking process of the cleaning robot and completes the detection of the obstacle in the vertical direction in the cleaning area; when the obstacle detection unit detects that an obstacle exists in the cleaning area in the vertical direction and the time of the obstacle exceeds a preset value, the obstacle detection unit transmits the detected position data to the control unit, the control unit transmits the position data to the display unit and generates indoor short areas in an indoor map, and the number of the scanning-forbidden areas is one or more.
In the control method of the cleaning robot, the control unit is correspondingly provided with a deep cleaning mode responding to the indoor short zone, the display unit is correspondingly provided with an interface including the deep cleaning mode, and the user can select the operation instruction to designate the cleaning robot to execute the deep cleaning mode to perform deep cleaning on the cleaning area of the indoor short zone.
In the control method of the cleaning robot, when the cleaning robot walks to a cleaning area in a low area in a room and executes a deep cleaning mode, the voice unit prompts a user that the cleaning robot will execute the deep cleaning mode through voice announcement; when the electric quantity of the cleaning robot is lower than a preset threshold value, the cleaning robot does not execute the deep cleaning mode or automatically exits the deep cleaning mode.
In the control method of the cleaning robot, the first detection module emits the horizontal detection signal to synchronously detect the obstacle in front of the cleaning robot in the walking process of the cleaning robot, and completes the detection of the obstacle in the horizontal direction in the cleaning area; when the obstacle detection unit detects that an obstacle exists in the horizontal direction, the obstacle detection unit transmits the detected position data to the control unit at this time, and the control unit transmits the position data to the display unit and marks a horizontal obstacle area in the indoor map.
According to the control method of the cleaning robot, the control unit is provided with a planning cleaning mode responding to the indoor map, the display unit is correspondingly provided with an interface of the planning cleaning mode, and a user can directly designate the cleaning robot to execute the planning cleaning mode to clean the cleaning area of the indoor map; the cleaning robot walks away from the horizontal obstacle area during execution of the planned cleaning mode; when the cleaning robot walks to the edge of the scanning forbidden zone or the edge of the indoor short zone, the collision detection unit is not triggered by the barrier and the first detection module does not detect the barrier, the voice unit can prompt a user that the cleaning robot can normally pass through the scanning forbidden zone or the indoor short zone through voice reporting, and the user can correspondingly select whether to start the scanning forbidden cleaning mode or the deep cleaning mode.
Compared with the prior art, the invention has the following beneficial effects:
according to the scheme, the obstacle detection unit is arranged to detect the position of the indoor obstacle, the cleaning robot marks the position of the cleaning robot and the position of the obstacle in the walking process and correspondingly generates an indoor map, the first detection module is mainly arranged to detect the obstacle in front of the cleaning robot, and the second detection module is arranged to detect the obstacle above the top of the cleaning robot, so that the problem that the existing cleaning robot cannot detect whether the obstacle exists above the top is solved, and the problem that the existing cleaning robot cannot detect whether the obstacle exists on the front side and the top of the cleaning robot simultaneously is solved.
According to the scheme, the second detection module is arranged and used for detecting the barrier above the top of the cleaning robot and correspondingly generating the scanning forbidding area in the indoor map, the cleaning area except the scanning forbidding area in the indoor map is cleaned by setting the scanning forbidding cleaning mode, the cleaning robot can be limited from entering the scanning forbidding area, and the problem that the existing cleaning robot is prone to stay in a lower spatial area of the indoor part and cannot be automatically recharged, so that a user cannot accurately find the cleaning robot in time is solved.
According to the scheme, the second detection module is arranged, when the time for detecting the existence of the obstacle above the top of the cleaning robot exceeds the preset value, the second detection module correspondingly generates the indoor low region in the indoor map, and the indoor low region is deeply cleaned by setting the indoor deep cleaning mode, so that the problem that the existing cleaning robot cannot perform a specified cleaning task on a part of the low cleaning region is solved, and a better cleaning effect is achieved.
According to the scheme of the invention, the obstacle detection unit is arranged to detect the obstacles in front of the cleaning robot and above the top of the cleaning robot, so that a plurality of cleaning modes can be generated correspondingly, and a user can select the corresponding cleaning mode to clean the indoor environment, so that the experience effect of the user is improved, the abnormal condition of the cleaning robot is avoided, and the use is safer and more reliable.
According to the scheme, the voice unit is arranged, when the cleaning robot walks to the edge of the scanning forbidden area or the edge of the indoor low area, the voice unit can broadcast the current state and progress of the cleaning robot through voice to remind a user in time, the user can specify the corresponding cleaning mode according to the current requirement in time, the experience effect of the user is improved, and the indoor cleaning efficiency of the cleaning robot is improved.
Drawings
FIG. 1 is a perspective view of a cleaning robot in accordance with aspects of the present invention;
fig. 2 is a schematic diagram of an obstacle detection unit according to an aspect of the present invention detecting an obstacle;
FIG. 3 is a schematic view of a cleaning robot in accordance with aspects of the present invention;
FIG. 4 is an enlarged partial schematic view at A of FIG. 3 in accordance with aspects of the present invention;
FIG. 5 is a schematic diagram of an obstacle detection unit of the present invention detecting an obstacle above a cleaning robot;
FIG. 6 is a schematic diagram of an obstacle detection unit of the present invention detecting an obstacle in front of a cleaning robot;
fig. 7 is a schematic view illustrating a detection state of the obstacle detecting unit when the cleaning robot according to the aspect of the present invention is at the bottom of the table;
FIG. 8 is a schematic view of a horizontal barrier region within a scan-inhibit region in accordance with aspects of the present invention;
FIG. 9 is a schematic view of a horizontal barrier area within a low zone of an interior of a room in accordance with aspects of the present invention;
FIG. 10 is a schematic diagram of the partial overlap of horizontal barrier zones, keep-out zones, and indoor low zones in accordance with aspects of the present invention;
FIG. 11 is a cleaning schematic of a no-sweep cleaning mode of an aspect of the present invention;
fig. 12 is a cleaning schematic of a deep cleaning mode of an aspect of the present invention.
Reference numerals: 1-cleaning robot, 2-obstacle detection unit, 201-first detection module, 2011-first transmitter, 2012-first receiver, 202-second detection module, 2021-second transmitter, 2022-second receiver, M-scan forbidden zone, N-indoor low zone, K-horizontal obstacle zone, D-table.
Detailed Description
In order to make the technical means, the creation characteristics, the achievement purposes and the effects of the invention easy to understand, the invention is further described with the specific embodiments.
Example (b): as shown in fig. 1 to 12, the cleaning robot 1 of the present invention includes: including the walking unit, the control unit, the dust absorption unit, the display element, the speech unit, collision detecting element, cleaning machines people 1 is provided with an obstacle detecting element 2 that is used for detecting the position data of the obstacle in the clean area at least, obstacle detecting element 2 installs in the top of cleaning machines people 1 front side and is connected with the control unit, obstacle detecting element 2 is including the first detection module 201 that is used for detecting whether the place ahead of cleaning machines people 1 has the obstacle and the second detection module 202 that is used for detecting whether there is the obstacle in the top of cleaning machines people 1.
The first detection module 201 includes a first transmitting part 2011 that transmits the horizontal detection signal and a first receiving part 2012 that receives the horizontal detection signal transmitted from the first transmitting part 2011; when the first receiving part 2012 receives the level detection signal, the control unit determines that an obstacle exists in front of the cleaning robot 1 at this time; the second detection module 202 includes a second transmitting section 2021 that transmits a vertical detection signal and a second receiving section 2022 that receives the vertical detection signal transmitted from the second transmitting section 2021; when the second receiving portion 2022 receives the vertical detection signal, the control unit determines that there is an obstacle above the top of the cleaning robot 1 at this time.
The display unit is wirelessly connected with the control unit and is a mobile phone APP display end which is used for displaying a cleaning mode, a cleaning state, a cleaning progress, a constructed map and an operation instruction of the cleaning robot 1; the first detection module 201 and the second detection module 202 are one of infrared sensors and ultrasonic sensors.
The control method of the cleaning robot comprises the cleaning robot 1 as claimed in claim 2, wherein the cleaning robot 1 marks the position of the cleaning robot 1 and the position of the obstacle and correspondingly generates an indoor map during the process of walking in the cleaning area, and the obstacle detection unit 2 is used for detecting the position data of the obstacle in the cleaning area; the position data includes at least position data of an obstacle in the horizontal direction and position data of an obstacle in the vertical direction, the obstacle detecting unit 2 transfers the detected position data to the control unit, and the control unit wirelessly transmits the position data to the display unit and marks in the indoor map.
The second detection module 202 transmits a vertical detection signal to synchronously detect the obstacle above the top of the cleaning robot 1 in the walking process of the cleaning robot 1, and completes the detection of the obstacle in the vertical direction in the cleaning area; when the obstacle detection unit 2 detects that an obstacle exists in the cleaning area in the vertical direction, the obstacle detection unit 2 transmits the detected position data to the control unit, the control unit transmits the position data to the display unit and generates the scanning forbidden areas M in the indoor map, and the number of the scanning forbidden areas M is one or more. .
The control unit correspondingly sets a scanning forbidding cleaning mode responding to the scanning forbidding area M, the display unit correspondingly sets an interface comprising the scanning forbidding cleaning mode, and a user can directly select an operation instruction to designate the cleaning robot 1 to execute the scanning forbidding cleaning mode to clean the cleaning area outside the scanning forbidding area M in the indoor map.
The second detection module 202 detects the obstacle above the top of the cleaning robot 1 synchronously in the walking process of the cleaning robot 1, and completes the detection of the obstacle in the vertical direction in the cleaning area; when the obstacle detection unit 2 detects that an obstacle exists in the cleaning area in the vertical direction and the time of the obstacle exceeds a preset value, the obstacle detection unit 2 transmits the detected position data to the control unit, the control unit transmits the position data to the display unit and generates indoor short regions N in an indoor map, and the number of the indoor short regions N is one or more.
The control unit is correspondingly provided with a deep cleaning mode responding to the indoor low region N, the display unit is correspondingly provided with an interface comprising the deep cleaning mode, and a user can select an operation instruction to designate the cleaning robot 1 to execute the deep cleaning mode to perform deep cleaning on the cleaning area of the indoor low region N.
When the cleaning robot 1 walks to a cleaning area of an indoor short zone N and executes a deep cleaning mode, the voice unit prompts a user through voice announcement that the cleaning robot 1 will execute the deep cleaning mode; when the power of the cleaning robot 1 is lower than a preset threshold, the cleaning robot 1 does not perform the deep cleaning mode or the cleaning robot 1 automatically exits the deep cleaning mode.
The first detection module 201 emits a horizontal detection signal to synchronously detect the obstacle in front of the cleaning robot 1 in the walking process of the cleaning robot 1 and complete the detection of the obstacle in the horizontal direction in the cleaning area; when the obstacle detecting unit 2 detects that an obstacle exists in the horizontal direction, the obstacle detecting unit 2 transmits the detected position data to the control unit at this time, and the control unit transmits the position data to the display unit and marks a horizontal obstacle area K in the indoor map.
The control unit is provided with a planning cleaning mode responding to the indoor map, the display unit is correspondingly provided with an interface of the planning cleaning mode, and a user can directly designate the cleaning robot 1 to execute the planning cleaning mode to clean the cleaning area of the indoor map; the cleaning robot 1 walks avoiding the horizontal obstacle area K in the course of executing the planned cleaning mode; when the cleaning robot 1 walks to the edge of the scan-prohibited area M or the edge of the indoor short area N, the collision detection unit is not triggered by the obstacle and the first detection module 201 does not detect the obstacle, the voice unit may prompt the user that the cleaning robot 1 may normally pass through the scan-prohibited area M or the indoor short area N through voice announcement, and the user may correspondingly select whether to start the scan-prohibited cleaning mode or the deep cleaning mode.
The cleaning robot 1 comprises a walking unit, a control unit, a dust collection unit, a display unit, a voice unit, a collision detection unit and an obstacle detection unit 2, wherein the walking unit is arranged at the bottom of the cleaning robot 1 and used for moving and walking of the cleaning robot 1, the dust collection unit is arranged at the middle position of the bottom of the cleaning robot 1 and used for cleaning and absorbing dust or particulate matters, the collision detection unit is arranged on the front end face of the cleaning robot 1 and used for collision detection of obstacles on the front side of the cleaning robot 1, the voice unit is arranged at the rear side of the cleaning robot 1 and used for voice reporting of the state, execution commands and other instructions of the cleaning robot 1, the display unit is a mobile phone APP display end and used for displaying information such as cleaning mode, cleaning state, cleaning progress, constructed map, operation instructions and the like of the cleaning robot 1, and the control unit controls the walking of the cleaning robot 1, Dust collection, voice broadcast, information display and the like.
The scheme of the invention is provided with an obstacle detection unit 2, wherein the obstacle detection unit 2 is used for detecting obstacles in front of and above the top of a cleaning robot 1, gradually completing the detection of the obstacles in the horizontal direction and the obstacles in the vertical direction in a cleaning area, recording the position data of the detected obstacles, transmitting the position data to a display unit to generate an indoor map, namely the obstacle detection unit 2 is used for detecting the position of the obstacles and constructing the map, and further walking the navigation obstacle avoidance of the cleaning robot 1 according to the obstacles marked in the area of the indoor map; the obstacle detection unit 2 mainly detects obstacles in a horizontal direction and obstacles in a vertical direction in the cleaning area, and marks various areas in the indoor map by detecting the obstacles to guide the cleaning robot 1 to walk for a cleaning task.
The first detection module 201 is used for detecting whether an obstacle exists in front of the cleaning robot 1, the first detection module 201 is located above the front side of the cleaning robot 1, and in the walking process of the cleaning robot 1, the first detection module 201 detects whether an obstacle exists in front of the cleaning robot 1 constantly and synchronously so as to guide the cleaning robot 1 to walk by avoiding the obstacle in front; in the walking process, the cleaning robot 1 continuously adjusts the advancing direction of the cleaning robot 1 through turning, turning around and the like to complete the detection of the obstacles in front of the cleaning robot 1 in the advancing direction, further complete the detection of all the obstacles in the horizontal direction in the indoor cleaning area, correspondingly form a horizontal obstacle area K and mark the horizontal obstacle area K in an indoor map; so that the cleaning robot 1 can walk for obstacle avoidance according to the horizontal obstacle area K on the indoor map when performing indoor cleaning in the next or later time, and collision between the cleaning robot 1 and the obstacle is prevented.
The first detection module 201 is provided with a first transmitting part 2011 and a first receiving part 2012, the first transmitting part 2011 is mainly used for transmitting a horizontal detection signal in the horizontal direction, the horizontal detection signal is used for detecting whether an obstacle exists in the indoor horizontal direction, when the obstacle exists in the indoor horizontal direction, the horizontal detection signal changes direction due to being blocked by the obstacle, the horizontal detection signal is reflected or refracted to the opposite direction due to being blocked by the obstacle, so that the first receiving part 2012 can receive the horizontal detection signal, and the control unit further determines that the obstacle and the position data of the obstacle exist in the indoor horizontal direction; alternatively, a plurality of first detecting modules 201 may be disposed at the top of the front of the cleaning robot 1, including a plurality of first emitting parts 2011 and a plurality of first receiving parts 2012, and the first emitting part 2011 of a single first detecting module 201 is disposed corresponding to the first receiving part 2012.
The second detection module 202 of the scheme of the invention is used for detecting whether an obstacle exists above the top of the cleaning robot 1, the cleaning robot 1 continuously adjusts the walking direction of the cleaning robot in the walking process, the second detection module 202 synchronously detects whether the obstacle exists above the top of the cleaning robot 1 in the walking process, and when the obstacle exists above the cleaning robot 1, the cleaning robot 1 marks according to the specific condition of the detected obstacle; optionally, there is the barrier cleaning robot 1 top that detects cleaning robot 1 at a certain moment, and cleaning robot 1 will detect the regional mark and generate the forbidden district M of sweeping, and there can be a plurality of forbidden districts M indoors, cleaning robot 1 only need in the indoor map a plurality of different regional marks out and generate forbidden district M can.
The second detection module 202 is provided with a second transmitting part 2021 and a second receiving part 2022, the second transmitting part 2021 is mainly used for transmitting a vertical detection signal in the vertical direction, the transmitting direction of the vertical detection signal is an area above the top of the cleaning robot 1, the vertical detection signal is used for detecting whether an obstacle exists in the indoor vertical direction, when an obstacle exists in the indoor vertical direction, the vertical detection signal changes direction due to being blocked by the obstacle, so that the vertical detection signal is reflected or refracted back to the downward direction in the vertical direction, the second receiving part 2022 can receive the vertical detection signal, and the control unit further determines that the obstacle and the position data of the obstacle exist in the indoor vertical direction; alternatively, a plurality of second detection modules 202 may be disposed at the top of the front of the cleaning robot 1, and include a plurality of second emitting portions 2021 and a plurality of second receiving portions 2022, and the second emitting portions 2021 of the single second detection module 202 are disposed corresponding to the second receiving portions 2022.
The second detection module 202 of the present invention detects an indoor low zone N in the cleaning area, and when the cleaning robot 1 continuously detects that an obstacle exists above the top of the cleaning robot 1 at a certain time, the cleaning robot 1 marks the detected area and generates the indoor low zone N; preferably, the second detection module 202 detects that an obstacle exists in the cleaning area in the vertical direction and the time of the obstacle exceeds a preset value, and on the premise that the walking direction of the cleaning robot 1 is not changed, the preset value is a preset time value, and the preset time value is greater than or equal to 3 seconds, the cleaning robot 1 marks the area and generates an indoor short area N in an indoor map; preferably, the second detection module 202 of the cleaning robot 1 detects that an obstacle exists in the cleaning area in the vertical direction and the time of the obstacle existing exceeds a preset value, the preset value is a preset time value on the premise that the cleaning robot 1 continuously changes directions at least in two or more different directions, and the preset time values in the multiple directions are greater than or equal to 3 seconds, so that the cleaning robot 1 marks the area and generates an indoor short zone N in an indoor map; the second detection module 202 is mainly used for detecting obstacles in a room and for implementing the cleaning robot 1 to construct an indoor map according to the detected position data, and marks the obstacles in the vertical direction in the indoor map to correspondingly generate a plurality of independent cleaning areas, so as to guide the cleaning robot 1 to walk or facilitate a user to designate the cleaning robot 1 to perform different cleaning modes of multiple areas.
The control method of the cleaning robot comprises cleaning modes, wherein the cleaning modes comprise a planning cleaning mode, a cleaning forbidden mode and a deep cleaning mode, the planning cleaning mode is mainly a common cleaning mode and mainly aims at cleaning areas except an indoor horizontal barrier area K, the planning cleaning mode of the cleaning robot 1 is a default cleaning mode when a user does not specify the cleaning mode, and the planning cleaning mode is executed after the cleaning robot 1 is started; the cleaning forbidden mode mainly cleans the areas outside the forbidden cleaning area M indoors, the cleaning robot 1 is prevented from entering the forbidden cleaning area M, the cleaning robot 1 can simultaneously avoid the horizontal obstacle area K to walk in the walking process of the cleaning robot 1, the cleaning efficiency of the cleaning robot 1 can be improved, and a user can appoint the cleaning robot 1 to execute the forbidden cleaning mode at any time; the deep cleaning mode mainly cleans the indoor low region N, the indoor low region N can be cleaned regularly or timely, and a user can designate the cleaning robot 1 to execute the deep cleaning mode at any time; indoor cleaning is realized by different cleaning modes which can be executed in different areas, the cleaning efficiency is higher, and the cleaning experience effect is better.
According to the scheme of the invention, a cleaning robot 1 can be appointed to carry out a planning cleaning mode on an indoor area, in the process that the cleaning robot 1 walks indoors for the first time, the detection on an indoor obstacle is completed under the detection of an obstacle detection unit 2, an indoor map is generated, the indoor map at least comprises a horizontal obstacle area K, the cleaning robot 1 carries out walking cleaning under the planning cleaning mode for avoiding the horizontal obstacle area K, and in addition to the condition that a user does not set a limit condition specially, when the cleaning robot 1 walks to the edge of a scanning forbidding area M or the edge of an indoor low area N, a collision detection unit is not triggered by the obstacle and a first detection module 201 does not detect the obstacle, the cleaning robot 1 defaults to carry out indoor cleaning normally through the indoor low area N or the scanning forbidding area M, so as to clean a ground cleaning area in a larger range indoors.
According to the scheme of the invention, a deep cleaning mode can be specified for an indoor low zone N by a cleaning robot 1, as shown in fig. 12, after an indoor map is constructed by the cleaning robot 1, the indoor map at least comprises the indoor low zone N, the indoor low zone N can be generally determined as an indoor bed bottom, a sofa bottom, a table and chair bottom or the bottoms of other common furniture, a user can set a deep cleaning mode to be executed in a specified period aiming at the indoor low zone N, or the user can specify the cleaning robot 1 to perform a cleaning task on the indoor low zone N on a mobile phone APP client at any time; in the process that the cleaning robot 1 executes the deep cleaning mode, when the electric quantity of the cleaning robot 1 is lower than the preset threshold value, the preset threshold value is that the electric quantity of the cleaning robot 1 is lower than 20%, the cleaning robot 1 automatically exits the deep cleaning mode, the cleaning robot 1 walks to an indoor open area for autonomous recharging and charging, the cleaning robot 1 is ensured to be recharged and charged normally, and the cleaning robot 1 is prevented from being exhausted and staying in an indoor low area N, being incapable of autonomous recharging and charging and being difficult to find by a user.
According to the scheme of the invention, the cleaning robot 1 can be appointed to carry out the cleaning forbidden mode of cleaning the areas except the indoor scanning forbidden area M, as shown in FIG. 11, after the cleaning robot 1 constructs an indoor map, the indoor map at least comprises the scanning forbidden area M, and the cleaning forbidden mode limits the cleaning robot 1 to enter the scanning forbidden area M; the scanning forbidden region M is mainly some indoor obstacles in the vertical direction, and may also include an indoor short region N, that is, the scanning forbidden region M may partially overlap with the indoor short region N, as shown in fig. 9, an area where there is mainly an indoor obstacle in the vertical direction and with an unlimited size is enough, and the scanning forbidden region M is generated to realize the guided walking of the cleaning robot 1, so as to complete the indoor walking cleaning more quickly, and improve the cleaning efficiency of the cleaning robot 1.
When the first detection module 201 and the second detection module 202 detect an obstacle at the same time, the first detection module 201 and the second detection module 202 respectively and independently mark and generate corresponding areas in an indoor map according to detected obstacle position data, the first detection module 201 detects and generates a horizontal obstacle area K, and the second detection module 202 detects and controls a scanning forbidden area M or an indoor short area N; the area detected by the second detection module 202 can be marked as a scan-prohibited area M or an indoor short area N, which is two detection effects that can be achieved by the scheme of the present invention, and when the area is marked as the scan-prohibited area M, a scan-prohibited cleaning mode is correspondingly set, and when the area is marked as the indoor short area N, a deep cleaning mode is correspondingly set; for example: as shown in fig. 7, the cleaning robot 1 walks in the bottom space region of the table D and detects the table legs, when the cleaning robot 1 walks to a position near the table legs, the obstacle detecting unit 2 simultaneously detects that the bottom of the table D is an obstacle in the vertical direction and the table legs are obstacles in the horizontal direction, the cleaning robot 1 correspondingly marks the bottom of the table D as an indoor low region N or a prohibited scanning region M, the correspondingly marked table legs are horizontal obstacle regions K, the two detecting modules detect each other independently without interfering with each other, and the detecting effect of each other on the position data of the obstacles is not affected; as shown in fig. 7, 8, and 9, the horizontal obstacle area K and the scanning prohibited area M or the indoor low area N may partially or completely overlap each other, and the scanning prohibited area M may include the indoor low area N in the map of the same detection area, which does not affect the cleaning robot 1 to avoid the obstacle during walking.
According to the scheme of the invention, the abnormity of automatic recharging and charging of the cleaning robot 1 can be avoided, the obstacle detection unit 2 detects the indoor scanning forbidding area M and the indoor low area N, and the scanning forbidding area M and the indoor low area N can be generally determined as the indoor bed bottom, the sofa bottom, the bottom of a table and a chair or the bottoms of other common furniture; the scanning forbidden region M or the indoor low region N does not need to be cleaned frequently generally, and the cleaning robot 1 can be limited to enter the scanning forbidden region M or the indoor low region N by the scheme of the invention; when the electric quantity of the cleaning robot 1 is lower than 20%, the cleaning robot 1 cannot execute the deep cleaning mode or the cleaning robot 1 automatically exits the deep cleaning mode, so that the cleaning robot 1 is prevented from entering a low area entering a room under the condition of low electric quantity, the cleaning robot 1 is ensured to be in an empty indoor area under the condition of low electric quantity, the cleaning robot 1 can conveniently and automatically recharge and charge, and the problem that the existing cleaning robot 1 cannot timely and automatically recharge and charge due to complex environment easily occurs in a lower indoor space area is solved; when the electric quantity of the cleaning robot 1 is low and when the cleaning robot 1 is located in the indoor low zone N, at this time, the cleaning robot 1 may be used up to finally stay in the indoor low zone N in order to walk out of the indoor low zone N, and at this time, the cleaning robot 1 fails to perform automatic recharging and charging, so that the user cannot find where the cleaning robot 1 is located indoors, especially when the indoor low zone N is a relatively low space region such as a bed bottom or a sofa bottom, the user is difficult to find the current position of the cleaning robot 1, and the user experience effect is poor.
The scheme of the invention is provided with a voice unit, wherein the voice unit is mainly used for carrying out voice broadcast to remind a user of the current position of the cleaning robot 1 or the current state of the cleaning robot 1, and the main user reminds the user of cleaning the current area or the area to be passed by the cleaning robot 1; the scheme of the invention is provided with a scanning forbidding area M, an indoor short area N and a horizontal barrier area K, and a scanning forbidding cleaning mode, a deep cleaning mode and a planning cleaning mode are correspondingly arranged; optionally, when the cleaning robot 1 walks to a cleaning area of an indoor short zone N and executes a deep cleaning mode, the voice unit prompts a user that the cleaning robot 1 will execute the deep cleaning mode through voice announcement, and the cleaning robot 1 can record the area and time of executing the deep cleaning mode this time for the user to check on the mobile phone APP; optionally, when the cleaning robot 1 starts to execute the cleaning prohibition mode, the voice unit promotes the user that the cleaning robot 1 will execute the cleaning prohibition mode through voice announcement, and the cleaning robot 1 may record the area and time of executing the cleaning prohibition mode this time for the user to view on the mobile phone APP; optionally, in the process of executing the planned cleaning mode, when the cleaning robot 1 walks to the edge of the scan-prohibited area M or the edge of the indoor short area N, at this time, the collision detection unit is not triggered by the obstacle and the first detection module 201 does not detect the obstacle, the voice unit may prompt the user that the cleaning robot 1 can normally pass through the scan-prohibited area M or the indoor short area N through voice announcement, and the user may correspondingly select whether to start the scan-prohibited cleaning mode or the deep cleaning mode.
The scheme of the invention is provided with a display unit which is mainly a mobile phone APP display end used for displaying a cleaning mode, a cleaning state, a cleaning progress, a constructed map and a relevant interface of an operation instruction of the cleaning robot 1; the cleaning robot 1 can be in wireless connection with the display unit, relevant detection data of the cleaning robot 1 are all transmitted to the mobile phone APP display end, a user can check the current position and state of the cleaning robot 1 and can also check the previous cleaning process of the cleaning robot 1, and the cleaning mode which needs to be executed by the cleaning robot 1 at present is determined by comparing the check results; for example: the cleaning robot 1 just executes the deep cleaning mode, and the user determines that the indoor short zone N does not need to be cleaned frequently, so that the user can set that the cleaning robot 1 does not execute the deep cleaning mode within a short period of time; the mobile phone APP display end is also used for a user to select an operation instruction to designate the cleaning robot 1 to execute any cleaning mode; the mobile phone APP display end displays an indoor map planned by the cleaning robot 1, displays a scanning forbidding area M, an indoor short area N and a horizontal obstacle area K in the indoor map, and displays interfaces such as a scanning forbidding cleaning mode, a deep cleaning mode and a planning cleaning mode for a user to select; the mobile phone APP display end is mainly used for interaction and control between the cleaning robot 1 and a user, the user can conveniently and directly issue an operation instruction to the cleaning robot 1, and the user can remotely control the cleaning robot 1 to execute a corresponding cleaning task.
The working principle is as follows: the scheme of the invention detects the indoor obstacles by arranging the obstacle detection unit 2, the obstacle detection unit 2 mainly plays a role of detecting the obstacles and correspondingly generating an indoor map, detects the horizontal obstacles in the indoor by arranging the first detection module 201, detects the vertical obstacles in the indoor by arranging the second detection module 202 and transmits the detected position data of the related obstacles to the control unit, the control unit wirelessly transmits the position data of the related obstacles to the display unit to display and generate the corresponding indoor map, marks the indoor obstacle regions according to the information detected by the first detection module 201 or the second detection module 202, mainly comprises a scanning forbidding region M, an indoor low region N and a horizontal obstacle region K, correspondingly sets a corresponding cleaning mode by marking the indoor cleaning region, and mainly comprises a scanning forbidding mode, The cleaning device comprises a deep cleaning module and a planning cleaning mode, so that different cleaning modes of different indoor areas are cleaned, the use experience effect of a user is improved, the cleaning efficiency of the cleaning robot 1 is further improved, and the user can specify the corresponding cleaning mode to perform a cleaning task according to the indoor cleaning requirement at that time.
It will be understood by those skilled in the art that the foregoing embodiments are specific examples of the invention, and that various changes in form and details may be made therein without departing from the spirit and scope of the invention in its practical application.
Claims (8)
1. A control method of a cleaning robot, characterized in that: the cleaning robot includes: the cleaning robot comprises a walking unit, a control unit, a dust collection unit, a display unit, a voice unit and a collision detection unit, wherein the display unit is in wireless connection with the control unit and is a mobile phone APP display end which is used for displaying a cleaning mode, a cleaning state, a cleaning progress, a constructed map and an operation instruction of the cleaning robot;
the cleaning robot is at least provided with an obstacle detection unit for detecting position data of obstacles in a cleaning area, the obstacle detection unit is arranged at the top of the front side of the cleaning robot and is connected with the control unit, and the obstacle detection unit comprises a first detection module for detecting whether obstacles exist in front of the cleaning robot and a second detection module for detecting whether obstacles exist above the top of the cleaning robot;
the first detection module comprises a first transmitting part for transmitting a horizontal detection signal and a first receiving part for receiving the horizontal detection signal transmitted by the first transmitting part; when the first receiving part receives the horizontal detection signal, the control unit judges that an obstacle exists in front of the cleaning robot at the moment;
the second detection module comprises a second transmitting part for transmitting the vertical detection signal and a second receiving part for receiving the vertical detection signal transmitted by the second transmitting part; when the second receiving part receives the vertical detection signal, the control unit judges that an obstacle exists above the top of the cleaning robot at the moment;
the first detection module and the second detection module are one of an infrared sensor or an ultrasonic sensor;
the control method of the cleaning robot comprises the steps that the cleaning robot marks the position of the cleaning robot and the position of an obstacle in the process of walking in a cleaning area and correspondingly generates an indoor map, and an obstacle detection unit is used for detecting position data of the obstacle in the cleaning area;
the position data at least comprises position data of an obstacle in the horizontal direction and position data of the obstacle in the vertical direction, the obstacle detection unit transmits the detected position data to the control unit, and the control unit wirelessly transmits the position data to the display unit and marks the position data in the indoor map;
the cleaning robot generates an indoor low zone corresponding to the indoor map and performs a deep cleaning mode in response to the indoor low zone when the second detection module detects that an obstacle exists in a vertical direction and a time during which the obstacle exists exceeds a preset value, according to the position data detected by the second detection module.
2. The control method of a cleaning robot according to claim 1, characterized in that: the second detection module transmits a vertical detection signal to synchronously detect the barrier above the top of the cleaning robot in the walking process of the cleaning robot and complete the detection of the barrier in the vertical direction in the cleaning area;
when the obstacle detection unit detects that an obstacle exists in the cleaning area in the vertical direction, the obstacle detection unit transmits the detected position data to the control unit, the control unit transmits the position data to the display unit and generates the scanning forbidding areas in the indoor map, and the number of the scanning forbidding areas is one or more.
3. The control method of a cleaning robot according to claim 2, characterized in that: the control unit correspondingly sets a scanning forbidding cleaning mode responding to the scanning forbidding area, the display unit correspondingly sets an interface comprising the scanning forbidding cleaning mode, and a user can directly select an operation instruction to designate the cleaning robot to execute the scanning forbidding cleaning mode to clean the cleaning area except the scanning forbidding area in the indoor map.
4. The control method of a cleaning robot according to claim 1, characterized in that: the second detection module synchronously detects the obstacles above the top of the cleaning robot in the walking process of the cleaning robot and completes the detection of the obstacles in the vertical direction in the cleaning area;
when the obstacle detection unit detects that an obstacle exists in the cleaning area in the vertical direction and the time of the obstacle exceeds a preset value, the obstacle detection unit transmits the detected position data to the control unit, the control unit transmits the position data to the display unit and generates indoor low regions in an indoor map, and the number of the indoor low regions is one or more.
5. The control method of a cleaning robot according to claim 4, characterized in that: the control unit is correspondingly provided with a deep cleaning mode responding to the indoor short zone, the display unit is correspondingly provided with an interface comprising the deep cleaning mode, and a user can select an operation instruction to designate the cleaning robot to execute the deep cleaning mode to perform deep cleaning on the cleaning area of the indoor short zone.
6. The control method of a cleaning robot according to claim 5, characterized in that: when the cleaning robot walks to a cleaning area of an indoor low area and executes a deep cleaning mode, the voice unit prompts a user through voice announcement that the cleaning robot will execute the deep cleaning mode;
when the electric quantity of the cleaning robot is lower than a preset threshold value, the cleaning robot does not execute the deep cleaning mode or automatically exits the deep cleaning mode.
7. The control method of a cleaning robot according to any one of claims 1 to 6, characterized in that: the first detection module transmits a horizontal detection signal to synchronously detect the obstacle in front of the cleaning robot in the walking process of the cleaning robot and finish the detection of the obstacle in the horizontal direction in the cleaning area;
when the obstacle detection unit detects that an obstacle exists in the horizontal direction, the obstacle detection unit transmits the detected position data to the control unit at this time, and the control unit transmits the position data to the display unit and marks a horizontal obstacle area in the indoor map.
8. The control method of a cleaning robot according to claim 7, characterized in that: the control unit is provided with a planning cleaning mode responding to the indoor map, the display unit is correspondingly provided with an interface of the planning cleaning mode, and a user can directly designate the cleaning robot to execute the planning cleaning mode to clean the cleaning area of the indoor map;
the cleaning robot walks away from the horizontal obstacle area during execution of the planned cleaning mode;
when the cleaning robot walks to the edge of the scanning forbidden zone or the edge of the indoor short zone, the collision detection unit is not triggered by the barrier and the first detection module does not detect the barrier, the voice unit can prompt a user that the cleaning robot can normally pass through the scanning forbidden zone or the indoor short zone through voice reporting, and the user can correspondingly select whether to start the scanning forbidden cleaning mode or the deep cleaning mode.
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| TWI743519B (en) * | 2019-07-18 | 2021-10-21 | 萬潤科技股份有限公司 | Self-propelled device and method for establishing map |
| CN112630800A (en) * | 2019-10-09 | 2021-04-09 | 科沃斯机器人股份有限公司 | Self-moving equipment |
| CN110897557A (en) * | 2019-12-05 | 2020-03-24 | 西安广源机电技术有限公司 | Floor sweeping robot system |
| CN113729572B (en) * | 2020-05-29 | 2022-12-06 | 宝时得科技（中国）有限公司 | Cleaning robot and control method thereof |
| CN112741562A (en) * | 2020-12-30 | 2021-05-04 | 苏州三六零机器人科技有限公司 | Sweeper control method, sweeper control device, sweeper control equipment and computer readable storage medium |
| CN115137254B (en) * | 2022-06-29 | 2023-05-26 | 湖南炬神电子有限公司 | Floor sweeping robot application system based on voice control |
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