CN106155049A - Intelligent cleaning equipment and bootstrap technique, guiding stake, intelligent cleaning system - Google Patents
Intelligent cleaning equipment and bootstrap technique, guiding stake, intelligent cleaning system Download PDFInfo
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- 238000004140 cleaning Methods 0.000 title claims abstract description 200
- 238000000034 method Methods 0.000 title claims abstract description 27
- 230000000007 visual effect Effects 0.000 claims abstract description 130
- 230000000712 assembly Effects 0.000 claims description 23
- 238000000429 assembly Methods 0.000 claims description 23
- 238000001514 detection method Methods 0.000 claims description 18
- 239000003086 colorant Substances 0.000 claims description 6
- 238000010408 sweeping Methods 0.000 description 28
- 238000010586 diagram Methods 0.000 description 8
- 238000010521 absorption reaction Methods 0.000 description 7
- 239000000428 dust Substances 0.000 description 7
- 238000012986 modification Methods 0.000 description 3
- 230000004048 modification Effects 0.000 description 3
- 241001417527 Pempheridae Species 0.000 description 2
- 241000521257 Hydrops Species 0.000 description 1
- 206010030113 Oedema Diseases 0.000 description 1
- 230000006978 adaptation Effects 0.000 description 1
- 238000010420 art technique Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000015572 biosynthetic process Effects 0.000 description 1
- 238000007796 conventional method Methods 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 238000002372 labelling Methods 0.000 description 1
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Abstract
The disclosure is directed to intelligent cleaning equipment and bootstrap technique, guiding stake, intelligent cleaning system, this bootstrap technique includes: obtains and is positioned at the visual information guided in stake；Transferring the data base of pre-stored, this data base is associated storage to predefined visual information with guiding instruction information, and searches the guiding instruction information being associated with described visual information from described data base；When being in working region corresponding to described guiding stake, perform and the described cleaning guiding instruction information match.By the technical scheme of the disclosure, the automated cleaning of intelligent cleaning equipment can be worked and effectively guide, contribute to meeting the personalized requirement for cleaning of user.
Description
Technical field
It relates to field of terminal technology, particularly relate to intelligent cleaning equipment and bootstrap technique, guiding
Stake, intelligent cleaning system.
Background technology
Along with the development of technology, occur in that diversified automatic cleaning equipment, such as automatic sweeping machine device
People, automatic floor cleaning machine people etc..Automatic cleaning equipment can automatically carry out clean operation, facilitates user.
As a example by automatic sweeping machine device people, swept by directly brush, the technology such as vacuum cleaning realizes local
Automatically cleaning.
Summary of the invention
The disclosure provides intelligent cleaning equipment and bootstrap technique, guiding stake, intelligent cleaning system, to solve
The certainly deficiency in correlation technique.
First aspect according to disclosure embodiment, it is provided that the bootstrap technique of a kind of intelligent cleaning equipment, bag
Include:
Obtain and be positioned at the visual information guided in stake；
Transferring the data base of pre-stored, predefined visual information is entered by this data base with guiding instruction information
Row association storage, and from described data base, search the guiding instruction information being associated with described visual information；
When being in working region corresponding to described guiding stake, perform to guide instruction information match with described
Cleaning.
Optionally, described acquisition is positioned at the visual information guided in stake, including:
By the laser range sensor using some laser preset on intelligent cleaning equipment, to preset direction
Launch detection light and receive the reflection light of correspondence, and when described detection light is irradiated in described visual letter
Time on breath, described reflection light comprises the content of described visual information；
Wherein, described visual information be high light and shade contrast visual elements linearly arrange constitute figure or
Pattern-information.
Optionally, described acquisition is positioned at the visual information guided in stake, including:
By the laser range sensor using line laser preset on intelligent cleaning equipment, to preset direction
Launch detection light and receive the reflection light of correspondence, and when described detection light is irradiated in described visual letter
Time on breath, described reflection light comprises the content of described visual information；
Wherein, described visual information be high light and shade contrast visual elements planar arrangement constitute figure or
Pattern-information.
Optionally, described acquisition is positioned at and guides the figure in stake or pattern, including:
By photographic head, the visual information in described guiding stake is carried out image acquisition；
Wherein, described visual information be one or more colors visual elements constitute figure, pattern or
Word message.
Optionally, described when being in working region corresponding to described guiding stake, perform to refer to described guiding
Show the cleaning of information match, including:
When described guiding instruction information is virtual wall information, limits intelligent cleaning equipment and cross described virtual
The virtual boundary that wall information limits.
Optionally, described when being in working region corresponding to described guiding stake, perform to refer to described guiding
Show the cleaning of information match, including:
When described guiding instruction information is steep cliff information, limits intelligent cleaning equipment and cross described steep cliff letter
The virtual boundary that breath limits.
Optionally, described when being in working region corresponding to described guiding stake, perform to refer to described guiding
Show the cleaning of information match, including:
When described guiding instruction information is beacon information, described intelligent cleaning equipment is indicated to change original
Cleaning circuit, and directly the working region that described beacon information is corresponding is performed cleaning.
Optionally, described when being in working region corresponding to described guiding stake, perform to refer to described guiding
Show the cleaning of information match, including:
When described guiding instruction information is dirty instruction information, indicate described intelligent cleaning equipment to described
Working region corresponding to dirty instruction information is repeatedly cleaned, or promotes described intelligent cleaning equipment
Cleaning intensity.
Optionally, described when being in working region corresponding to described guiding stake, perform to refer to described guiding
Show the cleaning of information match, including:
When described guiding instruction information is pattern indication message, described intelligent cleaning equipment is indicated to enter
When entering working region corresponding to described pattern indication message, switch to preset mode of operation.
Optionally, described when being in working region corresponding to described guiding stake, perform to refer to described guiding
Show the cleaning of information match, including:
Indicate described intelligent cleaning equipment to enter the switching of described pattern according to described pattern indication message to refer to
When showing working region corresponding to information, switch to silent mode.
Second aspect according to disclosure embodiment, it is provided that a kind of intelligent cleaning equipment, including:
Storage assembly, pre-stored data storehouse, predefined visual information is believed by this data base with guiding instruction
Breath is associated storage；
Acquisition of information assembly, obtains and is positioned at the visual information guided in stake；
Cleaning assemblies, is connected to described storage assembly and described acquisition of information assembly, is being in described guiding
During working region corresponding to stake, the guiding instruction information according to being associated with the visual information obtained performs clear
Clean work.
Optionally, described acquisition of information assembly includes:
Use the laser range sensor of some laser, launch detection light to preset direction and receive correspondence
Reflection light, and when described detection light is irradiated in described visual information, described reflection light wraps
Content containing described visual information；Wherein, described visual information is the visual elements line of high light and shade contrast
Property arrangement constitute figure or pattern-information.
Optionally, described acquisition of information assembly includes:
Use the laser range sensor of line laser, launch detection light to preset direction and receive correspondence
Reflection light, and when described detection light is irradiated in described visual information, described reflection light wraps
Content containing described visual information；Wherein, described visual information be high light and shade contrast visual elements put down
The figure of face arrangement composition or pattern-information.
Optionally, described acquisition of information assembly includes:
Photographic head, carries out image acquisition to the visual information in described guiding stake；Wherein, described visual letter
Figure, pattern or the Word message that the visual elements that breath is one or more colors is constituted.
Optionally, described cleaning assemblies includes:
Running part；
Control portion, when described guiding instruction information is virtual wall information, controls the walking of described running part
Region, with limit described intelligent cleaning equipment cross described virtual wall information limit virtual boundary.
Optionally, described cleaning assemblies includes:
Running part；
Control portion, when described guiding instruction information is steep cliff information, controls the walking district of described running part
Territory, with limit intelligent cleaning equipment cross described steep cliff information limit virtual boundary.
Optionally, described cleaning assemblies includes:
Running part；
Control portion, when described guiding instruction information is beacon information, controls the walking district of described running part
Territory, to change original cleaning circuit of described intelligent cleaning equipment, and makes described intelligent cleaning equipment direct
The working region that described beacon information is corresponding is performed cleaning.
Optionally, described cleaning assemblies includes:
Running part；
Control portion, when described guiding instruction information is dirty instruction information, controls described intelligent cleaning and sets
For repeatedly cleaning the working region that described dirty instruction information is corresponding, or it is clear to promote described intelligence
The cleaning intensity of clean equipment.
Optionally, described cleaning assemblies includes:
Running part；
Control portion, when described guiding instruction information is pattern indication message, at described intelligent cleaning
After equipment enters the working region that described pattern indication message is corresponding, described intelligent cleaning equipment is cut
Shift to preset mode of operation.
Optionally, described intelligent cleaning equipment enters the working region that described pattern indication message is corresponding
After, described intelligent cleaning equipment is switched to preset mode of operation by described control portion.
The third aspect according to disclosure embodiment, it is provided that a kind of guide stake, for during cleaning with
In above-described embodiment, arbitrary described intelligent cleaning equipment supports the use；Described guiding stake includes:
Base；
Information displaying portion, is arranged at above described base, and described information displaying portion is provided with for guiding
The visual information of the clean operation of intelligent cleaning equipment.
Optionally, described information displaying portion includes that at least one is put down for the displaying showing described visual information
Face.
Optionally,
The card comprising described visual information is pasted on described displaying plane；
Or, described displaying plane is provided with the draw-in groove that side is open, and comprises the card of described visual information
Sheet is inserted in described draw-in groove by this open sides.
Optionally,
When described intelligent cleaning equipment is by using the laser range sensor of some laser to obtain described visual letter
During breath, described visual information be high light and shade contrast visual elements linearly arrange constitute figure or pattern
Information；
Or, when described intelligent cleaning equipment is described by using the laser range sensor of line laser to obtain
During visual information, described visual information is the figure of the visual elements planar arrangement composition of high light and shade contrast
Or pattern-information；
Or, when described intelligent cleaning equipment obtains described visual information by photographic head, described visually
Information is figure, pattern or the Word message of the visual elements composition of one or more colors.
Fourth aspect according to disclosure embodiment, it is provided that a kind of intelligent cleaning system, including:
Intelligent cleaning equipment as according to any one of above-described embodiment；And
Guiding stake as according to any one of above-described embodiment.
Embodiment of the disclosure that the technical scheme of offer can include following beneficial effect:
From above-described embodiment, the disclosure passes through reading and the analysis of the visual information to guiding in stake,
It will be seen that user wish to intelligent cleaning equipment perform control purpose so that intelligentized automatically
Cleaning process more conforms to the actual demand of user.
It should be appreciated that it is only exemplary and explanatory that above general description and details hereinafter describe
, the disclosure can not be limited.
Accompanying drawing explanation
Accompanying drawing herein is merged in description and constitutes the part of this specification, it is shown that meet these public affairs
The embodiment opened, and for explaining the principle of the disclosure together with description.
Figure 1A is the structural representation according to a kind of intelligent cleaning equipment shown in an exemplary embodiment.
Figure 1B is the stream of the bootstrap technique according to a kind of intelligent cleaning equipment shown in an exemplary embodiment
Cheng Tu.
Fig. 2 A is to obtain according to a kind of intelligent cleaning equipment shown in an exemplary embodiment to guide in stake
The schematic diagram of visual information.
Fig. 2 B is to obtain according to the another kind of intelligent cleaning equipment shown in an exemplary embodiment to guide in stake
The schematic diagram of visual information.
Fig. 3 be obtain according to a kind of intelligent cleaning equipment shown in an exemplary embodiment guide in stake can
The structural representation of visual information.
Fig. 4 is to coordinate according to a kind of intelligent cleaning equipment shown in an exemplary embodiment to guide stake to realize void
Intend the schematic diagram of wall function.
Fig. 5 is to coordinate according to a kind of intelligent cleaning equipment shown in an exemplary embodiment to guide stake to realize hanging
The schematic diagram of precipice function.
Fig. 6 is to coordinate according to a kind of intelligent cleaning equipment shown in an exemplary embodiment to guide stake to realize lamp
The schematic diagram of tower function.
Fig. 7 is to coordinate according to a kind of intelligent cleaning equipment shown in an exemplary embodiment to guide stake to realize dirty
The schematic diagram of dirty instruction function.
Fig. 8 is to coordinate according to a kind of intelligent cleaning equipment shown in an exemplary embodiment to guide stake to realize mould
The schematic diagram of formula handoff functionality.
Detailed description of the invention
Here will illustrate exemplary embodiment in detail, its example represents in the accompanying drawings.Following
When description relates to accompanying drawing, unless otherwise indicated, the same numbers in different accompanying drawings represents same or analogous
Key element.Embodiment described in following exemplary embodiment does not represent the institute consistent with the disclosure
There is embodiment.On the contrary, they only with as appended claims describes in detail, the one of the disclosure
The example of the apparatus and method that a little aspects are consistent.
Figure 1A is the structural representation according to a kind of intelligent cleaning equipment shown in an exemplary embodiment,
As shown in Figure 1A, this intelligent cleaning equipment 1 may include that storage assembly 11, acquisition of information assembly 12
With cleaning assemblies 13；Wherein:
Storage assembly 11, pre-stored data storehouse, predefined visual information is indicated by this data base with guiding
Information is associated storage；
Acquisition of information assembly 12, obtains and is positioned at the visual information guided in stake；
Cleaning assemblies 13, is connected to described storage assembly 11 and described acquisition of information assembly 12, is being in
During working region corresponding to described guiding stake, according to the guiding instruction letter being associated with the visual information obtained
Breath performs cleaning.
Correspondingly, Figure 1B is the guiding according to a kind of intelligent cleaning equipment shown in an exemplary embodiment
The flow chart of method, as shown in Figure 1B, the method, can in the intelligent cleaning equipment shown in Figure 1A
To comprise the following steps.
In a step 102, acquisition of information assembly 12 obtains and is positioned at the visual information guided in stake.
In the present embodiment, obtaining the mode of visual information based on intelligent cleaning equipment, visual information is permissible
The multi-form such as including figure, pattern, word.
As an illustrative embodiments, as shown in Figure 2 A, acquisition of information assembly 12 can be that intelligence is clear
Laser range sensor (LDS, the Laser Distance using some laser preset on clean equipment 1
Sensor), this sensor is launched detection light to preset direction and receives the reflection light of correspondence, and works as
When described detection light is irradiated in the visual information 222 guided in stake 2, described reflection light comprises
The content of described visual information 222；Wherein, corresponding to using the laser range sensor of some laser, can
Visual information 222 can be brilliant dark contrast visual elements linearly arrange constitute figure or pattern-information,
Than bar code form as shown in Figure 2 A.
Similarly, as another exemplary embodiment, when visual information 222 is high light and shade contrast's
When the figure of visual elements planar arrangement composition or pattern-information, the acquisition of information in intelligent cleaning equipment 1
Assembly 12 can be the corresponding laser range sensor using line laser, and by shown in similar Fig. 2 A
Mode obtain the visual information 222 guided in stake 2.
Certainly, the embodiment of above-mentioned employing LDS sensor is only used for illustrating, it is clear that can also lead to
The acquisition of information assembly 12 crossing other forms realizes the acquisition of visual information 222.Than as it is shown on figure 3, intelligence
Can clean the acquisition of information assembly 12 in equipment 1 can be photographic head, then this photographic head is by guiding stake
Visual information 222 in the displaying plane 221 of 2 carries out image acquisition, can complete visual information 222
Acquisition, thus perform further information read；Now, visual information 222 can be a kind of or many
Plant figure, pattern or Word message that the visual elements of color is constituted.
At step 104, cleaning assemblies 13 transfers the data base of pre-stored in storage assembly 11, this number
According to storehouse, predefined visual information is associated storage with guiding instruction information, and from described data base
Search the guiding instruction information being associated with described visual information.
In the technical scheme of the disclosure, by carrying out in advance between visual information and guiding instruction information
Association storage, can be thus real based on different visual informations to guiding stake to give multiple different implications
Existing multiple different guiding function.
In step 106, when being in working region corresponding to described guiding stake, cleaning assemblies 13 performs
With the described cleaning guiding instruction information match.
One, the structure of stake 2 is guided
As an exemplary embodiment, as it is shown on figure 3, guide stake 2 may include that
Base 21；
Information displaying portion 22, is arranged at above described base 21, and described information displaying portion 22 is provided with
For guiding the visual information 222 of the clean operation of intelligent cleaning equipment 1.
Wherein, described information displaying portion 22 includes that at least one is for the exhibition showing described visual information 222
Show plane 221；Such as in Fig. 2 A-2B, the left side plan in information displaying portion 22 is for showing plane 221.
Certainly, same guiding stake 2 can comprise multiple displaying plane 221, and each displaying plane 221
Between visual information 222 can be identical or different, thus meet the actually used demand of user.
In guiding stake 2 as seen in figs. 2a-2b, visual information 222 draw or be printed on card and
This card is pasted in displaying plane 221；Or, visual information 222 can also use other form exhibitions
Being shown in displaying plane 221, ratio is as it is shown on figure 3, guide and be provided with limit outside the displaying plane 221 of stake 2
Frame 223, forms draw-in groove between frame 223 and displaying plane 221, and this draw-in groove comprises at least one
Open sides 224 (right side in such as Fig. 3) so that the card comprising visual information 222 can be by this
Open sides 224 is inserted in above-mentioned draw-in groove.Further, based on the structure guiding stake 2 shown in Fig. 3,
The card inserted in draw-in groove can be replaced by user as required, so that same guiding stake 2 can
To use multiple visual information 222, it is achieved corresponding multiple instruction function.
Two, cleaning guides type
Below as a example by visual information is acquired and analyzes corresponding guiding instruction information by " photographic head ",
The multiple guiding function providing the disclosure is introduced.
1, virtual wall
As shown in Figure 4, it is assumed that guide drafting in stake to have " virtual wall " pattern, then sweeping robot (or
Other intelligent cleaning equipment of person) by built-in photographic head, this pattern carried out image acquisition, and according in advance
Corresponding relation between visual information and the guiding instruction information deposited, searches the guiding corresponding with this pattern
Instruction information is " virtual wall ", then sweeping robot will be avoided crossing this virtual wall letter in the process of walking
The virtual wall that breath limits.
In this embodiment, corresponding to the intelligent cleaning equipment 1 shown in Fig. 1, this intelligent cleaning equipment 1
In cleaning assemblies 13 should comprise: running part (not shown)；Control portion (not shown),
When described guiding instruction information is virtual wall information, control the travel region of described running part, to limit
Described intelligent cleaning equipment 1 crosses the virtual boundary that described virtual wall information limits.
For example, ratio is under application scenarios as shown in Figure 4, owing to the ground after using in bathroom is wet and slippery
And there is hydrops, the normal use of sweeping robot may be affected, be therefore not intended to sweeping robot and enter
Bathroom, then can place guiding stake 1 respectively and guide stake 2 in shower door both sides, then sweeping robot will
Will not cross and guide stake 1 and guiding virtual wall (the i.e. two-way arrow of dotted line in Fig. 4 formed between stake 2
Head)；The most in the diagram, this virtual wall be " virtual wall pattern " affiliated plane constitute virtual " wall
Wall ".
2, steep cliff
As shown in Figure 5, it is assumed that guide drafting in stake to have " steep cliff " pattern, then sweeping robot (or
Other intelligent cleaning equipment) by built-in photographic head, this pattern carried out image acquisition, and according to prestoring
Visual information and guide the corresponding relation between instruction information, search the guiding corresponding with this pattern and refer to
Show that information is " steep cliff ", then sweeping robot will be avoided crossing the restriction of this steep cliff information in the process of walking
Virtual boundary (i.e. dotted line four-headed arrow in Fig. 5).
In this embodiment, corresponding to the intelligent cleaning equipment 1 shown in Fig. 1, this intelligent cleaning equipment 1
In cleaning assemblies 13 should comprise: running part (not shown)；Control portion (not shown),
When described guiding instruction information is steep cliff information, control the travel region of described running part, to limit intelligence
Equipment 1 can be cleaned and cross the virtual boundary that described steep cliff information limits.
For example, ratio is under application scenarios as shown in fig. 5, owing to there are stair at parlor exit,
Thus in order to avoid sweeping robot drops from stair, guiding can be placed respectively in stair both sides
Stake 1 and guiding stake 2, then sweeping robot will not be crossed and be formed between guiding stake 1 and guiding stake 2
Border；The most in Figure 5, this border be the affiliated plane of " steep cliff pattern " constitute virtual " outstanding
Precipice ".
3, beacon
As shown in Figure 6, it is assumed that guide drafting in stake to have " beacon " pattern, then sweeping robot (or
Other intelligent cleaning equipment) by built-in photographic head, this pattern carried out image acquisition, and according to prestoring
Visual information and guide the corresponding relation between instruction information, search the guiding corresponding with this pattern and refer to
Show that information is " beacon ", then sweeping robot changes original cleaning circuit, and directly believes this beacon
The working region that breath is corresponding performs cleaning (i.e. " region 1 " in Fig. 6).
In this embodiment, corresponding to the intelligent cleaning equipment 1 shown in Fig. 1, this intelligent cleaning equipment 1
In cleaning assemblies 13 should comprise: running part (not shown)；Control portion (not shown),
When described guiding instruction information is beacon information, control the travel region of described running part, to change
State original cleaning circuit of intelligent cleaning equipment 1, and make described intelligent cleaning equipment 1 direct to described lamp
The working region execution cleaning that tower information is corresponding.
For example, such as under the application scenarios shown in Fig. 6, if the user desired that first to " region
1 " corresponding region cleans, then guide the guiding stake of instruction information to be placed in this " region by comprising beacon
1 " on border；In such as Fig. 6, by guiding stake 1, guiding stake 2, guiding stake 3 and guide stake 4
Between line, with wall jointly surround need clean " region 1 ".So, it is assumed that machine of sweeping the floor
The cleaning circuit that people originally sets is " snakelike " circuit, but works as sweeping robot and detect and guide stake and read
After taking " beacon " guiding instruction information above, cleaning circuit originally will be stopped, and directly to this lamp
" region 1 " that tower guides instruction information corresponding cleans.
4, dirty instruction
As shown in Figure 7, it is assumed that guide drafting in stake to have " dirty instruction " pattern, then sweeping robot (or
Other intelligent cleaning equipment of person) by built-in photographic head, this pattern carried out image acquisition, and according in advance
Corresponding relation between visual information and the guiding instruction information deposited, searches the guiding corresponding with this pattern
Instruction information is " dirty instruction ", then the working region that sweeping robot is corresponding to this dirty instruction information
Repeatedly clean, or promote the cleaning intensity (i.e. " region 1 " in Fig. 7) of sweeping robot.
In this embodiment, corresponding to the intelligent cleaning equipment 1 shown in Fig. 1, this intelligent cleaning equipment 1
In cleaning assemblies 13 should comprise: running part (not shown)；Control portion (not shown),
When described guiding instruction information is dirty instruction information, control described intelligent cleaning equipment 1 to described dirty
Working region corresponding to dirty instruction information is repeatedly cleaned, or promotes described intelligent cleaning equipment 1
Cleaning intensity.
For example, such as under the application scenarios shown in Fig. 7, it is assumed that user thinks " region 1 " phase
Dirtier to other regions, need to perform the cleaning operation of relatively more strength, then will comprise beacon guiding and refer to
Show that the guiding stake of information is placed on the border in this " region 1 "；In such as Fig. 7, by guiding stake 1, drawing
Line between guide pile 2, guiding stake 3 and guiding stake 4, jointly surrounds " the district needing to clean with wall
Territory 1 ".So, it is assumed that sweeping robot is detecting guiding stake and reading " dirty instruction " above
After information, clean " region 1 " that this dirty instruction information is corresponding being carried out strength, the most
Secondary cleaning or employing power mode cleaning etc..
5, pattern switching instruction
Assuming that guide drafting in stake to have the visual information of " pattern switching instruction ", than literary composition as shown in Figure 8
Word " quiet ", then sweeping robot (or other intelligent cleaning equipment) passes through built-in photographic head to this
Visual information carries out image acquisition, and corresponding with guide between instruction information according to the visual information prestored
Relation, searching the guiding instruction information corresponding with this visual information is " silent mode ", then sweeper
When the working region that this dirty instruction information is corresponding is cleaned by device people, silent mode will be automatically switched to.
Certainly, " silent mode " herein is only used for citing；And by the pattern in guiding stake is modified,
Obviously sweeping robot can be guided to switch to any mode of operation, to meet the cleaning demand of user.
In this embodiment, corresponding to the intelligent cleaning equipment 1 shown in Fig. 1, this intelligent cleaning equipment 1
In cleaning assemblies 13 should comprise: running part (not shown)；Control portion (not shown),
When described guiding instruction information is pattern indication message, enter institute at described intelligent cleaning equipment 1
After stating the working region that pattern indication message is corresponding, switch to preset by described intelligent cleaning equipment 1
Mode of operation, such as silent mode etc..
For example, such as under the application scenarios shown in Fig. 8, it is assumed that sweeping robot is just at room A
In carry out cleaning operation, and during user wishes oneself to have a rest in room B, sweeping robot energy
Enough room B is cleaned, but do not disturb and oneself have a rest；Therefore, user can be put in room B
Put the word " quiet " comprised in guiding stake, and this guiding stake shown in Fig. 8.So, it is assumed that machine of sweeping the floor
People, when room B is performed clean operation, guides stake by detecting and reads " silent mode " above
Information, can automatically switch to silent mode, thus avoid affecting the rest of user during cleaning.
In the embodiment shown in above-mentioned Fig. 4-7, concurrently form border or region by multiple guiding stakes,
Thus be cleaned sweeping robot guiding, then indicate in the guiding stake that can use at the same time and preset
Mark (not shown), makes sweeping robot understand and completes the scanning to all guiding stakes, and
Can be at the enterprising line position labelling of dynamic map based on SLAM technology；Certainly, in the reality shown in Fig. 8
Execute in example, it is also possible to only form working region by single guiding stake, such as place the room of this guiding stake
Between.
Additionally, be illustrated above purely by " photographic head ", the enforcement of above-mentioned multiple instruction type
Example, it is clear that can also be applied in the intelligent cleaning equipment of employing LDS sensor, detailed process is the most not
Repeat again.
Pre-define it should be understood that " mode of operation " in the disclosure can be manufacturer or user
Pattern, the such as cleaning assemblies parameter such as dust absorption fan rotating speed, round brush rotating speed is respectively provided with fixing numerical value group
Close.For example, it is assumed that when dust absorption fan rotating speed be 3000 revs/min, round brush rotating speed be 2800 revs/min
Time, corresponding to silent mode, noise now is minimum；When dust absorption fan rotating speed is 5000 revs/min, rolling
When brush rotating speed is 4500 revs/min, corresponding to normal mode；When dust absorption fan rotating speed be 8000 revs/min,
When round brush rotating speed is 7500 revs/min, corresponding to power mode, noise now is maximum.
Or, " mode of operation " can not also have fixing combinations of values, then sweeping robot is permissible
Every kind of cleaning assemblies parameters such as dust absorption fan rotating speed, round brush rotating speed are arranged, the most in real time to adapt to
In practical situation.In the case, it is no longer simple three kinds or multiple-working mode, but by right
The consecutive variations of dust absorption fan rotating speed, round brush rotating speed etc., any number of work in combination pattern of formation；
Wherein, for every kind of possible combining form, when dispatching from the factory, corresponding noise condition can be detected,
And form corresponding relation (the such as relation list or simulation curve shape of " speed combination noise condition "
Formula), and be stored in intelligent cleaning equipment.Wherein, the level of noise that " noise condition " can determine that,
It can also be the numerical intervals of level of noise.
Further, when the mode of operation that sweeping robot uses is revocable combinations of values, also may be used
With the restriction beforehand through logarithm value combination range, planned to " strongly ", " normally ", " quiet
Sound " etc. in the range of cleaning capacity, be such as 0～3500 rev/min, round brush rotating speed when dust absorption fan rotating speed
When being 0～3200 rev/min, in the range of being all divided into " quiet " cleaning capacity.So, now use
" silent mode " " quiet " cleaning capacity scope herein can essentially be interpreted as, and permissible
Within the range actual mode of operation (i.e. " combinations of values ") is adjusted, such as sweeper
Device people can be combined with the levels of background noise of the working region detected, at " quiet " cleaning capacity model
Enclose the operating noise of interior control self so that the operating noise of self is not higher than background noise.
From above-described embodiment, the disclosure passes through reading and the analysis of the visual information to guiding in stake,
It will be seen that user wish to intelligent cleaning equipment perform control purpose so that intelligentized automatically
Cleaning process more conforms to the actual demand of user.
Those skilled in the art, after considering description and putting into practice disclosure disclosed herein, will readily occur to this
Other embodiment disclosed.The application is intended to any modification, purposes or the adaptability of the disclosure
Change, these modification, purposes or adaptations are followed the general principle of the disclosure and include these public affairs
Open undocumented common knowledge in the art or conventional techniques means.Description and embodiments only by
Being considered as exemplary, the true scope of the disclosure and spirit are pointed out by claim below.
It should be appreciated that the disclosure be not limited to described above and illustrated in the accompanying drawings accurately
Structure, and various modifications and changes can carried out without departing from the scope.The scope of the present disclosure is only by institute
Attached claim limits.
Claims (25)
1. the bootstrap technique of an intelligent cleaning equipment, it is characterised in that including:
Obtain and be positioned at the visual information guided in stake；
Transferring the data base of pre-stored, predefined visual information is entered by this data base with guiding instruction information
Row association storage, and from described data base, search the guiding instruction information being associated with described visual information；
When being in working region corresponding to described guiding stake, perform to guide instruction information match with described
Cleaning.
Method the most according to claim 1, it is characterised in that described acquisition is positioned in guiding stake
Visual information, including:
By the laser range sensor using some laser preset on intelligent cleaning equipment, to preset direction
Launch detection light and receive the reflection light of correspondence, and when described detection light is irradiated in described visual letter
Time on breath, described reflection light comprises the content of described visual information；
Wherein, described visual information be high light and shade contrast visual elements linearly arrange constitute figure or
Pattern-information.
Method the most according to claim 1, it is characterised in that described acquisition is positioned in guiding stake
Visual information, including:
By the laser range sensor using line laser preset on intelligent cleaning equipment, to preset direction
Launch detection light and receive the reflection light of correspondence, and when described detection light is irradiated in described visual letter
Time on breath, described reflection light comprises the content of described visual information；
Wherein, described visual information be high light and shade contrast visual elements planar arrangement constitute figure or
Pattern-information.
Method the most according to claim 1, it is characterised in that described acquisition is positioned in guiding stake
Figure or pattern, including:
By photographic head, the visual information in described guiding stake is carried out image acquisition；
Wherein, described visual information be one or more colors visual elements constitute figure, pattern or
Word message.
Method the most according to claim 1, it is characterised in that described to be in described guiding stake right
During the working region answered, perform and the described cleaning guiding instruction information match, including:
When described guiding instruction information is virtual wall information, limits intelligent cleaning equipment and cross described virtual
The virtual boundary that wall information limits.
Method the most according to claim 1, it is characterised in that described to be in described guiding stake right
During the working region answered, perform and the described cleaning guiding instruction information match, including:
When described guiding instruction information is steep cliff information, limits intelligent cleaning equipment and cross described steep cliff letter
The virtual boundary that breath limits.
Method the most according to claim 1, it is characterised in that described to be in described guiding stake right
During the working region answered, perform and the described cleaning guiding instruction information match, including:
When described guiding instruction information is beacon information, described intelligent cleaning equipment is indicated to change original
Cleaning circuit, and directly the working region that described beacon information is corresponding is performed cleaning.
Method the most according to claim 1, it is characterised in that described to be in described guiding stake right
During the working region answered, perform and the described cleaning guiding instruction information match, including:
When described guiding instruction information is dirty instruction information, indicate described intelligent cleaning equipment to described
Working region corresponding to dirty instruction information is repeatedly cleaned, or promotes described intelligent cleaning equipment
Cleaning intensity.
Method the most according to claim 1, it is characterised in that described to be in described guiding stake right
During the working region answered, perform and the described cleaning guiding instruction information match, including:
When described guiding instruction information is pattern indication message, described intelligent cleaning equipment is indicated to enter
When entering working region corresponding to described pattern indication message, switch to preset mode of operation.
Method the most according to claim 9, it is characterised in that described be in described guiding stake
During corresponding working region, perform and the described cleaning guiding instruction information match, including:
Indicate described intelligent cleaning equipment to enter the switching of described pattern according to described pattern indication message to refer to
When showing working region corresponding to information, switch to silent mode.
11. 1 kinds of intelligent cleaning equipment, it is characterised in that including:
Storage assembly, pre-stored data storehouse, predefined visual information is believed by this data base with guiding instruction
Breath is associated storage；
Acquisition of information assembly, obtains and is positioned at the visual information guided in stake；
Cleaning assemblies, is connected to described storage assembly and described acquisition of information assembly, is being in described guiding
During working region corresponding to stake, the guiding instruction information according to being associated with the visual information obtained performs clear
Clean work.
12. intelligent cleaning equipment according to claim 11, it is characterised in that described acquisition of information
Assembly includes:
Use the laser range sensor of some laser, launch detection light to preset direction and receive correspondence
Reflection light, and when described detection light is irradiated in described visual information, described reflection light wraps
Content containing described visual information；Wherein, described visual information is the visual elements line of high light and shade contrast
Property arrangement constitute figure or pattern-information.
13. intelligent cleaning equipment according to claim 11, it is characterised in that described acquisition of information
Assembly includes:
Use the laser range sensor of line laser, launch detection light to preset direction and receive correspondence
Reflection light, and when described detection light is irradiated in described visual information, described reflection light wraps
Content containing described visual information；Wherein, described visual information be high light and shade contrast visual elements put down
The figure of face arrangement composition or pattern-information.
14. intelligent cleaning equipment according to claim 11, it is characterised in that described acquisition of information
Assembly includes:
Photographic head, carries out image acquisition to the visual information in described guiding stake；Wherein, described visual letter
Figure, pattern or the Word message that the visual elements that breath is one or more colors is constituted.
15. intelligent cleaning equipment according to claim 11, it is characterised in that described cleaning assemblies
Including:
Running part；
Control portion, when described guiding instruction information is virtual wall information, controls the walking of described running part
Region, with limit described intelligent cleaning equipment cross described virtual wall information limit virtual boundary.
16. intelligent cleaning equipment according to claim 11, it is characterised in that described cleaning assemblies
Including:
Running part；
Control portion, when described guiding instruction information is steep cliff information, controls the walking district of described running part
Territory, with limit intelligent cleaning equipment cross described steep cliff information limit virtual boundary.
17. intelligent cleaning equipment according to claim 11, it is characterised in that described cleaning assemblies
Including:
Running part；
Control portion, when described guiding instruction information is beacon information, controls the walking district of described running part
Territory, to change original cleaning circuit of described intelligent cleaning equipment, and makes described intelligent cleaning equipment direct
The working region that described beacon information is corresponding is performed cleaning.
18. intelligent cleaning equipment according to claim 11, it is characterised in that described cleaning assemblies
Including:
Running part；
Control portion, when described guiding instruction information is dirty instruction information, controls described intelligent cleaning and sets
For repeatedly cleaning the working region that described dirty instruction information is corresponding, or it is clear to promote described intelligence
The cleaning intensity of clean equipment.
19. intelligent cleaning equipment according to claim 11, it is characterised in that described cleaning assemblies
Including:
Running part；
Control portion, when described guiding instruction information is pattern indication message, at described intelligent cleaning
After equipment enters the working region that described pattern indication message is corresponding, described intelligent cleaning equipment is cut
Shift to preset mode of operation.
20. intelligent cleaning equipment according to claim 19, it is characterised in that described intelligent cleaning
After equipment enters the working region that described pattern indication message is corresponding, described control portion is by described intelligence
Cleaning equipment switches to preset mode of operation.
21. 1 kinds guide stakes, it is characterised in that for cleaning during with in claim 11-20
Intelligent cleaning equipment described in any one supports the use；Described guiding stake includes:
Base；
Information displaying portion, is arranged at above described base, and described information displaying portion is provided with for guiding
The visual information of the clean operation of intelligent cleaning equipment.
22. guiding stakes according to claim 21, it is characterised in that described information displaying portion includes
At least one is for showing the displaying plane of described visual information.
23. guiding stakes according to claim 22, it is characterised in that
The card comprising described visual information is pasted on described displaying plane；
Or, described displaying plane is provided with the draw-in groove that side is open, and comprises the card of described visual information
Sheet is inserted in described draw-in groove by this open sides.
24. guiding stakes according to claim 21, it is characterised in that
When described intelligent cleaning equipment is by using the laser range sensor of some laser to obtain described visual letter
During breath, described visual information be high light and shade contrast visual elements linearly arrange constitute figure or figure
Case information；
Or, when described intelligent cleaning equipment is described by using the laser range sensor of line laser to obtain
During visual information, described visual information be high light and shade contrast visual elements planar arrangement constitute figure
Shape or pattern-information；
Or, when described intelligent cleaning equipment obtains described visual information by photographic head, described visually
Information is figure, pattern or the Word message of the visual elements composition of one or more colors.
25. 1 kinds of intelligent cleaning systems, it is characterised in that including:
Intelligent cleaning equipment as according to any one of claim 11-20；
Guiding stake as according to any one of claim 21-24.
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| CN201510179227.1A CN106155049A (en) | 2015-04-15 | 2015-04-15 | Intelligent cleaning equipment and bootstrap technique, guiding stake, intelligent cleaning system |
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