CN106227207A - Intelligence clearing apparatus control method and system - Google Patents
Intelligence clearing apparatus control method and system Download PDFInfo
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- CN106227207A CN106227207A CN201610616493.0A CN201610616493A CN106227207A CN 106227207 A CN106227207 A CN 106227207A CN 201610616493 A CN201610616493 A CN 201610616493A CN 106227207 A CN106227207 A CN 106227207A
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- 238000000034 method Methods 0.000 title claims abstract description 31
- 238000004140 cleaning Methods 0.000 claims abstract description 165
- 238000004891 communication Methods 0.000 claims description 46
- 230000005540 biological transmission Effects 0.000 claims 3
- 239000000523 sample Substances 0.000 description 17
- 241001122767 Theaceae Species 0.000 description 12
- 230000006870 function Effects 0.000 description 10
- 238000010408 sweeping Methods 0.000 description 10
- 238000010586 diagram Methods 0.000 description 9
- 230000000007 visual effect Effects 0.000 description 7
- 238000010926 purge Methods 0.000 description 6
- 238000001514 detection method Methods 0.000 description 4
- 239000000284 extract Substances 0.000 description 4
- 238000005295 random walk Methods 0.000 description 4
- 230000008859 change Effects 0.000 description 3
- 238000006073 displacement reaction Methods 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 230000007774 longterm Effects 0.000 description 2
- 238000010295 mobile communication Methods 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 239000004576 sand Substances 0.000 description 2
- 238000004364 calculation method Methods 0.000 description 1
- 230000010365 information processing Effects 0.000 description 1
- 230000003993 interaction Effects 0.000 description 1
- 238000002372 labelling Methods 0.000 description 1
- 239000000463 material Substances 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
- G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
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- Engineering & Computer Science (AREA)
- Aviation & Aerospace Engineering (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
A kind of intelligence clearing apparatus control method, is applied in electronic equipment, and described method includes: obtain the cartographic information in the region to be cleaned of described intelligence clearing apparatus；Determine at least one subregion to be cleaned in the cartographic information in described region to be cleaned and the position data of at least one subregion to be cleaned described；Receive the cleaning option that at least one subregion to be cleaned described is arranged by user；And the position data of at least one subregion to be cleaned described and the cleaning option of at least one subregion to be cleaned described are sent to described intelligence clearing apparatus.The present invention also provides for a kind of intelligence clearing apparatus control system.The present invention can control the cleaning works of described intelligence clearing apparatus by described electronic equipment, and the cleaning result of described intelligence clearing apparatus can be fed back to user.
Description
Technical field
The present invention relates to field of intelligent control technology, particularly relate to a kind of intelligence clearing apparatus control method and system.
Background technology
Existing intelligence clearing apparatus, mainly by the controller setup control path of self, is repeatedly walked in indoor and beats
Sweep, to complete indoor cleaning.But for complicated ground, or the ground that foreign material are more, in fact it could happen that the region not cleaned.Right
In clean clean or clean less than place, intelligence clearing apparatus also cannot be controlled by user.It addition, intelligence cleans
The cleaning result of device also cannot feed back to user intuitively.
Summary of the invention
In view of the foregoing, it is necessary to providing a kind of intelligence clearing apparatus control method and system, it can be set by electronics
The standby cleaning works controlling intelligence clearing apparatus, and the cleaning visual result of described intelligence clearing apparatus can be fed back to use
Family.
A kind of intelligence clearing apparatus control method, is applied in electronic equipment, described electronic equipment and intelligence clearing apparatus
Communicating, described method includes:
Obtain the cartographic information in the region to be cleaned of described intelligence clearing apparatus；
Determine at least one subregion to be cleaned in the cartographic information in described region to be cleaned and described at least one treat
Clean the position data of subregion；
Receive the cleaning option that at least one subregion to be cleaned described is arranged by user；And
By position data and the cleaning of at least one subregion to be cleaned described of at least one subregion to be cleaned described
Option sends to described intelligence clearing apparatus.
According to the preferred embodiment of the present invention, the cartographic information in described region to be cleaned include region to be cleaned plane graph and
Article location map in described region to be cleaned in region to be cleaned, treating of described acquisition described intelligence clearing apparatus is clear
The cartographic information sweeping region includes:
Receive multiple different location points in the region to be cleaned sent from the positioner that described electronic equipment communicates
Three-dimensional coordinate, and receive the position of article in the region described to be cleaned that described positioner sends；And
Three-dimensional coordinate based on the plurality of different location point is modeled and obtains the plane graph in region to be cleaned, and
Based on article position in described region to be cleaned in region to be cleaned described in the position acquisition of article in described region to be cleaned
Put scattergram.
According to the preferred embodiment of the present invention, described cleaning option includes cleaning time, cleaning modes and cleans number of times.
According to the preferred embodiment of the present invention, described method also includes:
Receive the position data in the breakables region of user setup and described intelligence clearing apparatus and described breakables
The minimum distance of breakables in region；
Receive the feedback information in the entrance breakables region that described intelligence clearing apparatus sends, and send prompting to user
Information, prompts the user whether to continue to clean；
When user selects to continue to clean, and in described intelligence clearing apparatus and described breakables region breakables away from
From during more than or equal to described minimum distance, receive that described intelligence clearing apparatus sends near the feedback letter of breakables
Breath；And
Information, the cleaning path in prompting user setup breakables region is sent to user.
According to the preferred embodiment of the present invention, described method also includes:
Obtain the picture of at least one subregion to be cleaned described after cleaning；
Based on the picture of at least one subregion to be cleaned described in after cleaning, it is determined whether described in again cleaning at least one
Individual subregion to be cleaned；
When determine again clean at least one subregion to be cleaned described time, receive user setup described at least one treat
Clean the cleaning path again of subregion；And
Again the cleaning path of at least one subregion to be cleaned described is sent to described intelligence clearing apparatus.
A kind of intelligence clearing apparatus control system, runs in electronic equipment, described electronic equipment and intelligence clearing apparatus
Communicating, described system includes:
Acquisition module, for obtaining the cartographic information in the region to be cleaned of described intelligence clearing apparatus；
Determine module, at least one subregion to be cleaned in the cartographic information obtaining described region to be cleaned and institute
State the position data of at least one subregion to be cleaned；
Receiver module, for receiving the cleaning option that at least one subregion to be cleaned described is arranged by user；And
Sending module, for by the position data of at least one subregion to be cleaned described and described at least one is to be cleaned
The cleaning option of subregion sends to described intelligence clearing apparatus.
According to the preferred embodiment of the present invention, the cartographic information in described region to be cleaned include region to be cleaned plane graph and
Article location map in described region to be cleaned in region to be cleaned, it is clear that described acquisition module is used for obtaining described intelligence
The cartographic information in the region to be cleaned of sweeping device includes:
Receive multiple different location points in the region to be cleaned sent from the positioner that described electronic equipment communicates
Three-dimensional coordinate, and receive the position of article in the region described to be cleaned that described positioner sends；And
Three-dimensional coordinate based on the plurality of different location point is modeled and obtains the plane graph in region to be cleaned, and
Based on article position in described region to be cleaned in region to be cleaned described in the position acquisition of article in described region to be cleaned
Put scattergram.
According to the preferred embodiment of the present invention, described cleaning option includes cleaning time, cleaning modes and cleans number of times.
According to the preferred embodiment of the present invention, described system also includes:
Described receiver module, is additionally operable to receive the position data in the breakables region of user setup and described intelligence cleans
Device and the minimum distance of breakables in described breakables region；
Reminding module, for receiving the feedback information in the entrance breakables region that described intelligence clearing apparatus sends, and
Send information to user, prompt the user whether to continue to clean；
Described receiver module, is additionally operable to when user selects to continue to clean, and described intelligence clearing apparatus and described breakable object
When the distance of breakables is more than or equal to described minimum distance in product region, receives described intelligence clearing apparatus and sent
Feedback information near breakables；And
Described reminding module, is additionally operable to send information, the cleaning in prompting user setup breakables region to user
Path.
According to the preferred embodiment of the present invention, described system also includes:
Described acquisition module, is additionally operable to obtain the picture of at least one subregion to be cleaned described after cleaning；
Described determine module, be additionally operable to picture based at least one subregion to be cleaned described in after cleaning, determine and be
No at least one subregion to be cleaned described of cleaning again；
Described receiver module, is additionally operable to, when determining at least one subregion to be cleaned described of cleaning again, receive user
Again the cleaning path of at least one subregion to be cleaned described arranged；And
Described sending module, is additionally operable to send to described the path of cleaning again of at least one subregion to be cleaned described
Intelligence clearing apparatus.
As can be seen from the above technical solutions, the present invention will obtain the map in the region to be cleaned of described intelligence clearing apparatus
Information, is divided into multiple described subregion to be cleaned according to the cartographic information in described region to be cleaned by described region to be cleaned,
And the option that cleans arranging each subregion to be cleaned treats the cleaning of purging zone to control described intelligence clearing apparatus.When clearly
The clean grade of the subregion to be cleaned of certain after sweeping, for time unclean, obtains the path of cleaning again of user setup to control institute
State intelligence clearing apparatus described subregion to be cleaned is cleaned again.Therefore, the present invention can be by described electronic equipment control
Make the cleaning works of described intelligence clearing apparatus, and the cleaning visual result of described intelligence clearing apparatus can be fed back to use
Family.
Accompanying drawing explanation
Fig. 1 is the applied environment figure of the preferred embodiment of intelligence clearing apparatus control method of the present invention.
Fig. 2 is the flow chart of the preferred embodiment of intelligence clearing apparatus control method of the present invention.
Fig. 3 is the schematic diagram of the location point coordinate of the acquisition of intelligence clearing apparatus control method of the present invention.
Fig. 4 is the schematic diagram of the plane graph in the region to be cleaned of intelligence clearing apparatus control method of the present invention.
Fig. 5 is the flow chart of another embodiment of intelligence clearing apparatus control method of the present invention.
Fig. 6 is the functional block diagram of the preferred embodiment of intelligence clearing apparatus control system of the present invention.
Main element symbol description
Detailed description of the invention
In order to make the object, technical solutions and advantages of the present invention clearer, below in conjunction with the accompanying drawings with specific embodiment pair
The present invention is described in detail.
As it is shown in figure 1, be the applied environment figure of the preferred embodiment of intelligence clearing apparatus control method of the present invention.Described ring
Border schematic diagram includes electronic equipment 1, positioner 2 and intelligence clearing apparatus 3.Described electronic equipment 1 includes intelligence clearing apparatus
Control system 10.Described electronic equipment 1 also includes storage device 11, processing equipment 12, display device 13 and the first communication unit
14.Described electronic equipment 1 utilizes described first communication unit 14 to carry out with described positioner 2 and described intelligence clearing apparatus 3
Communication.
Preferably, the intelligent clearing apparatus method of the present invention is by the intelligent clearing apparatus system in described electronic equipment 1
10 realize.Described electronic equipment 1 be a kind of can according to the instruction being previously set or storing, automatically carry out numerical computations and/
Or the equipment of information processing, its hardware includes but not limited to microprocessor, special IC (Application Specific
Integrated Circuit, ASIC), programmable gate array (Field-Programmable Gate Array, FPGA), number
WP (Digital Signal Processor, DSP), embedded device etc..
Described electronic equipment 1 includes but not limited to that any one can be with user by keyboard, mouse, remote controller, touch pad
Or the mode such as voice-operated device carries out the electronic product of man-machine interaction, such as, personal computer, panel computer, smart mobile phone, individual
Digital assistants (Personal Digital Assistant, PDA), IPTV (Internet Protocol
Television, IPTV), intellectual Wearable etc..Wherein, the network residing for described electronic equipment 1 includes but not limited to
The Internet, wide area network, Metropolitan Area Network (MAN), LAN, VPN (virtual private network) (Virtual Private Network, VPN) etc..Described
Electronic equipment 1 also includes but not limited to server group that single network server, multiple webserver form or based on cloud meter
Calculating the cloud being made up of a large amount of main frames or the webserver of (Cloud Computing), wherein, cloud computing is Distributed Calculation
One, the super virtual machine being made up of a group loosely-coupled computer collection.
Described positioner 2 includes the second communication unit 20 and probe unit 21.Described positioner 2 utilizes described second
Communication unit 20 communicates with described electronic equipment 1 and described intelligence clearing apparatus 3.Described positioner 2 can be to have
The distance detector of communication function, the angle displacement sensor with communication function, the photo-electric displacement with communication function pass
Sensor etc..
Described intelligence clearing apparatus 3 includes the 3rd communication unit 30 and control unit 31.Described intelligence clearing apparatus 3 utilizes
Described 3rd communication unit 30 communicates with described electronic equipment 1 and described positioner 2.Described control unit 31 is used for controlling
Make the cleaning of described intelligence clearing apparatus 3.Described intelligence clearing apparatus 3 can be sweeping robot, intelligent cleaning device etc..
Described first communication unit the 14, second communication unit 20 and the 3rd communication unit 30 can be wireless communication modules,
Including Wi-Fi module, (World Interoperability for Microwave Access, i.e. Worldwide Interoperability for Microwave connects WiMax
Enter interoperability) module, GSM (Global System for Mobile Communication, global system for mobile communications)
Module, CDMA (Code Division Multiple Access, CDMA) includes CDMA2000, CDMA, CDMA2000
1x evdo, WCDMA, TD-SCDMA etc.), ITE (Long Term Evolution, Long Term Evolution), HiperLAN (high-
Performance radio local area network, high performance radio local area network) etc.
Described intelligence clearing apparatus system 10 will obtain the cartographic information in the region to be cleaned of described intelligence clearing apparatus 3,
Described region to be cleaned is divided into multiple described subregion to be cleaned by the cartographic information according to described region to be cleaned, and arranges
The option that cleans of each subregion to be cleaned treats the cleaning of purging zone to control described intelligence clearing apparatus 3.After cleaning
The clean grade of certain subregion to be cleaned when being clean, obtain the path of cleaning again of user setup to control described intelligence
Described subregion to be cleaned can be cleaned clearing apparatus 3.Therefore, the present invention can control described by described electronic equipment 1
The cleaning works of intelligence clearing apparatus 3, and the cleaning visual result of described intelligence clearing apparatus 3 can be fed back to user.
Described storage device 11 is for storing the program code of each program segment in described intelligence clearing apparatus system 10.Should
Storage device 11 can be smart media card (smart media card), safe digital card (secure digital card),
The storage facilities such as flash memory cards (flash card).
Described processing equipment 12 can include one or more microprocessor, digital processing unit.
Described display device 13 can be the equipment that touch screen etc. has display function.
As in figure 2 it is shown, be the flow chart of the preferred embodiment of intelligence clearing apparatus control method of the present invention.According to different
Demand, in this flow chart, the order of step can change, and some step can be omitted.
S10, described intelligence clearing apparatus control system 10 obtains the map in the region to be cleaned of described intelligence clearing apparatus 3
Information.
In the present embodiment, the cartographic information in described region to be cleaned includes the plane graph in region to be cleaned.
Specifically, target object (such as described intelligence clearing apparatus 3) is put in region to be cleaned multiple different by user
Location point, utilizes the probe unit 21 of described positioner 2 to detect the three-dimensional coordinate of multiple different location point, and utilizes described
The three-dimensional coordinate of the plurality of different location point is sent to described electronic equipment 1 by the second communication unit 20.Described intelligence is clear
Sweeping device control system 10 receives the three-dimensional coordinate of the plurality of different location point, and based on the plurality of different location point
Three-dimensional coordinate be modeled and obtain the plane graph in region to be cleaned.
Such as, as it is shown on figure 3, be the schematic diagram of the location point coordinate obtained, the probe unit of described positioner 2 21
In O point, utilize distance OA of described probe unit 21 detecting location point A, and detect the angle α of OA and vertical direction.When with ground
X-axis, Y-axis are set up in face, when vertical direction is Z axis, utilize described distance OA and angle α can obtain the three-dimensional seat of described location point A
Mark.When, after the three-dimensional coordinate getting multiple different location point, three-dimensional coordinate based on the plurality of different location point enters
The plane graph in the available region to be cleaned as shown in Figure 4 of row modeling.
Further, during the cartographic information in described region to be cleaned also includes described region to be cleaned, article are treated clearly described
Sweep the location map in region.Described article include furniture, goods of furniture for display rather than for use etc..In the present embodiment, described probe unit is utilized
21 detect the position of article in described region to be cleaned, and utilize described second communication unit 20 by thing in described region to be cleaned
The position of product sends to described electronic equipment 1, and described intelligence clearing apparatus control system 10 is based on thing in described region to be cleaned
Article location map in region to be cleaned in region to be cleaned described in the position acquisition of product.
S11, described intelligence clearing apparatus control system 10 determines at least in the cartographic information in described region to be cleaned
Individual subregion to be cleaned and the position data of at least one subregion to be cleaned described.
In the present embodiment, described intelligence clearing apparatus control system 10 according to article in described region to be cleaned described
Location map in region to be cleaned, is divided at least one subregion to be cleaned by the plane graph in described region to be cleaned,
And extract the contour line of at least one subregion to be cleaned described.Contour line based at least one subregion to be cleaned described,
Described intelligence clearing apparatus control system 10 determines the position data of at least one subregion to be cleaned described.
Region the most to be cleaned is parlor, and parlor has sofa, tea table and TV bench etc., the most described intelligence clearing apparatus to control
System 10 is the location map in parlor according to sofa tea table and TV bench, parlor divides multiple subregion to be cleaned, such as sand
Send out region, tea table region, TV bench region and non-article region etc..
S12, described intelligence clearing apparatus control system 10 receives user and arranges at least one subregion to be cleaned described
Cleaning option.
In the present embodiment, described cleaning option includes, but are not limited to: cleans time, cleaning modes and cleans number of times etc.
Deng.Described cleaning modes includes: random walk cleaning modes, welt walking cleaning modes, zigzag pattern and user-defined
Pattern.User can be according to the cleaning complexity of each subregion to be cleaned or the dirty degree of regional or each district
The size self-defined cleaning option in territory.
Further, user can also arrange the position data in breakables region and described intelligence clearing apparatus 3 and institute
Stating the minimum distance of breakables in breakables region, described intelligence clearing apparatus control system 10 receives the easy of user setup
The position data in product region of mincing and described intelligence clearing apparatus 3 and the low coverage of breakables in described breakables region
From, in order to the intelligence clearing apparatus 3 cleaning to breakables region described in subsequent control.
S13, described intelligence clearing apparatus control system 10 by the position data of at least one subregion to be cleaned described and
The option that cleans of at least one subregion to be cleaned described sends the control unit 31 to described intelligence clearing apparatus 3, and controls
The clearing apparatus 3 cleaning at least one subregion to be cleaned described of described intelligence.
In the present embodiment, described intelligence clearing apparatus control system 10 utilize described first communication unit 14 by described extremely
The position data of a few subregion to be cleaned and the cleaning option of at least one subregion to be cleaned described send to described intelligence
The control unit 31 of energy clearing apparatus 3.In other embodiments, described intelligence clearing apparatus control system 10 is first with described the
One communication unit 14 is by the position data of at least one subregion to be cleaned described and at least one subregion to be cleaned described
Clean option to send to described positioner 2, described positioner 2 utilize described second communication unit 20 by described at least one
The position data of subregion to be cleaned and the cleaning option of at least one subregion to be cleaned described send to described intelligence cleaning
The control unit 31 of device 3.
Further, described intelligence clearing apparatus control system 10 is also by position data and the described intelligence in breakables region
Can send to described control unit 31 with the minimum distance of breakables in described breakables region by clearing apparatus 3.
Further, when described control unit 31 calculate the position coordinates of described intelligent clearing apparatus 3 be in described easily
When mincing in the coordinate range in product region, the most described control unit 31 determines that described intelligence clearing apparatus 3 enters described breakable object
During product region, described control unit 31 utilizes described 3rd communication unit 30 to be transmitted into breakables to described electronic equipment 1
The feedback information in region, when described intelligence clearing apparatus control system 10 receives the feedback information in entrance breakables region
After, described intelligence clearing apparatus control system 10 sends information to user, prompts the user whether to continue to clean.
When user selects to continue to clean, described intelligence clearing apparatus 3 is frangible with described according to prefixed time interval detection
The distance of breakables in article region, when described distance is more than or equal to the minimum distance of user setup, described control
Unit 31 utilizes described 3rd communication unit 30 to send near the feedback information of breakables to described electronic equipment 1, described
Intelligence clearing apparatus control system 10 receive described control unit 31 send near the feedback information of breakables, described intelligence
Clearing apparatus control system 10 can send information to user, prompting user plans cleaning path.
The present invention is by obtaining the cartographic information in the region to be cleaned of described intelligence clearing apparatus 3, according to described district to be cleaned
Described region to be cleaned is divided into multiple described subregion to be cleaned by the cartographic information in territory, and arranges each subregion to be cleaned
The option that cleans treat the cleaning of purging zone to control described intelligence clearing apparatus 3.Certain sub-district to be cleaned after cleaning
When the clean grade in territory is unclean, obtain the path of cleaning again of user setup to control described intelligence clearing apparatus 3 to institute
State subregion to be cleaned to clean.Therefore, the present invention can control described intelligence clearing apparatus 3 by described electronic equipment 1
Cleaning works, and the cleaning visual result of described intelligence clearing apparatus 3 can be fed back to user.
As it is shown in figure 5, be the flow chart of another embodiment of intelligence clearing apparatus control method of the present invention.According to different
Demand, in this flow chart, the order of step can change, and some step can be omitted.
S20, described intelligence clearing apparatus control system 10 obtains the map in the region to be cleaned of described intelligence clearing apparatus 3
Information.
In the present embodiment, the cartographic information in described region to be cleaned includes the plane graph in region to be cleaned.
Specifically, target object (such as described intelligence clearing apparatus 3) is put in region to be cleaned multiple different by user
Location point, utilizes the probe unit 21 of described positioner 2 to detect the three-dimensional coordinate of multiple different location point, and utilizes described
The three-dimensional coordinate of the plurality of different location point is sent to described electronic equipment 1 by the second communication unit 20.Described intelligence is clear
Sweeping device control system 10 receives the three-dimensional coordinate of the plurality of different location point, and based on the plurality of different location point
Three-dimensional coordinate be modeled and obtain the plane graph in region to be cleaned.
Such as, as it is shown on figure 3, be the schematic diagram of the location point coordinate obtained, the probe unit of described positioner 2 21
In O point, utilize distance OA of described probe unit 21 detecting location point A, and detect the angle α of OA and vertical direction.When with ground
X-axis, Y-axis are set up in face, when vertical direction is Z axis, utilize described distance OA and angle α can obtain the three-dimensional seat of described location point A
Mark.When, after the three-dimensional coordinate getting multiple different location point, three-dimensional coordinate based on the plurality of different location point enters
The plane graph in the available region to be cleaned as shown in Figure 4 of row modeling.
Further, during the cartographic information in described region to be cleaned also includes described region to be cleaned, article are treated clearly described
Sweep the location map in region.Described article include furniture, goods of furniture for display rather than for use etc..In the present embodiment, described probe unit is utilized
21 detect the position of article in described region to be cleaned, and utilize described second communication unit 20 by thing in described region to be cleaned
The position of product sends to described electronic equipment 1, and described intelligence clearing apparatus control system 10 is based on thing in described region to be cleaned
Article location map in region to be cleaned in region to be cleaned described in the position acquisition of product.
S21, described intelligence clearing apparatus control system 10 determines at least in the cartographic information in described region to be cleaned
Individual subregion to be cleaned and the position data of at least one subregion to be cleaned described.
In the present embodiment, described intelligence clearing apparatus control system 10 according to article in described region to be cleaned described
Location map in region to be cleaned, is divided at least one subregion to be cleaned by the plane graph in described region to be cleaned,
And extract the contour line of at least one subregion to be cleaned described.Contour line based at least one subregion to be cleaned described,
Described intelligence clearing apparatus control system 10 determines the position data of at least one subregion to be cleaned described.
Region the most to be cleaned is parlor, and parlor has sofa, tea table and TV bench etc., the most described intelligence clearing apparatus to control
System 10 is the location map in parlor according to sofa tea table and TV bench, parlor divides multiple subregion to be cleaned, such as sand
Send out region, tea table region, TV bench region and non-article region etc..
S22, described intelligence clearing apparatus control system 10 receives user and arranges at least one subregion to be cleaned described
Cleaning option.
In the present embodiment, described cleaning option includes, but are not limited to: cleans time, cleaning modes and cleans number of times etc.
Deng.Described cleaning modes includes: random walk cleaning modes, welt walking cleaning modes, zigzag pattern and user-defined
Pattern.User can be according to the cleaning complexity of each subregion to be cleaned or the dirty degree of regional or each district
The size self-defined cleaning option in territory.
Further, user can also arrange the position data in breakables region and described intelligence clearing apparatus 3 and institute
Stating the minimum distance of breakables in breakables region, described intelligence clearing apparatus control system 10 receives the easy of user setup
The position data in product region of mincing and described intelligence clearing apparatus 3 and the low coverage of breakables in described breakables region
From, in order to the intelligence clearing apparatus 3 cleaning to breakables region described in subsequent control.
S23, described intelligence clearing apparatus control system 10 by the position data of at least one subregion to be cleaned described and
The option that cleans of at least one subregion to be cleaned described sends the control unit 31 to described intelligence clearing apparatus 3, and controls
The clearing apparatus 3 cleaning at least one subregion to be cleaned described of described intelligence.
In the present embodiment, described intelligence clearing apparatus control system 10 utilize described first communication unit 14 by described extremely
The position data of a few subregion to be cleaned and the cleaning option of at least one subregion to be cleaned described send to described intelligence
The control unit 31 of energy clearing apparatus 3.In other embodiments, described intelligence clearing apparatus control system 10 is first with described the
One communication unit 14 is by the position data of at least one subregion to be cleaned described and at least one subregion to be cleaned described
Clean option to send to described positioner 2, described positioner 2 utilize described second communication unit 20 by described at least one
The position data of subregion to be cleaned and the cleaning option of at least one subregion to be cleaned described send to described intelligence cleaning
The control unit 31 of device 3.
Further, described intelligence clearing apparatus control system 10 is also by position data and the described intelligence in breakables region
Can send to described control unit 31 with the minimum distance of breakables in described breakables region by clearing apparatus 3.
Further, when described control unit 31 calculate the position coordinates of described intelligent clearing apparatus 3 be in described easily
When mincing in the coordinate range in product region, the most described control unit 31 determines that described intelligence clearing apparatus 3 enters described breakable object
During product region, described control unit 31 utilizes described 3rd communication unit 30 to be transmitted into breakables to described electronic equipment 1
The feedback information in region, when described intelligence clearing apparatus control system 10 receives the feedback information in entrance breakables region
After, described intelligence clearing apparatus control system 10 sends information to user, prompts the user whether to continue to clean.
When user selects to continue to clean, described intelligence clearing apparatus 3 is frangible with described according to prefixed time interval detection
The distance of breakables in article region, when described distance is more than or equal to the minimum distance of user setup, described control
Unit 31 utilizes described 3rd communication unit 30 to send near the feedback information of breakables to described electronic equipment 1, described
Intelligence clearing apparatus control system 10 receive described control unit 31 send near the feedback information of breakables, described intelligence
Clearing apparatus control system 10 can send information to user, prompting user plans cleaning path.
S24, described intelligence clearing apparatus control system 10 obtains at least one subregion to be cleaned described after cleaning
Picture.
In the present embodiment, described intelligence clearing apparatus 3 can farther include picture pick-up device.When described intelligence clearing apparatus
After at least one subregion to be cleaned described in 3 pairs completes to clean, it is clear that described intelligence clearing apparatus 3 utilizes described picture pick-up device to obtain
The picture of at least one subregion to be cleaned described after sweeping, and utilize described 3rd communication unit 30 will clean after described in extremely
The picture of a few subregion to be cleaned sends described electronic equipment 1.
Described intelligence clearing apparatus control system 10 will clean after described in the picture of at least one subregion to be cleaned show
Show on described display device 13, user according to the picture of at least one subregion to be cleaned described in after cleaning determine described in extremely
The cleaning requirements of a few subregion to be cleaned, to control described intelligence clearing apparatus 3 at least one sub-district to be cleaned described
The cleaning in territory.
S25, based on the picture of at least one subregion to be cleaned described in after cleaning, described intelligence clearing apparatus controls system
System 10 determines whether again to clean at least one subregion to be cleaned described.
In the present embodiment, at least one son to be cleaned described in after described intelligence clearing apparatus control system 10 will clean
The picture in region shows on display device 13, and user is true according to the picture of at least one subregion to be cleaned described in after cleaning
The clean grade of fixed at least one subregion to be cleaned described.Described intelligence clearing apparatus control system 10 receives user and is determined
The clean grade of at least one subregion to be cleaned described.Described clean grade includes totally, the cleanest.
Described intelligence clearing apparatus control system 10 determines according to the clean grade of at least one subregion to be cleaned described
The most again at least one subregion to be cleaned described is cleaned.When the picture of at least one subregion to be cleaned described has rubbish
Time, it is defined as clean, the most described intelligence clearing apparatus control system 10 determines needs again that at least one is to be cleaned to described
Subregion cleans, and performs S26.When the picture of at least one subregion to be cleaned described does not has rubbish, it is defined as doing
Only, return and perform S24, obtain the picture of at least one subregion to be cleaned described after the next one cleans, treat until all of
Cleaning sub-region processes is complete.
S26, described intelligence clearing apparatus control system 10 receives at least one subregion to be cleaned described of user setup
Cleaning path again.
In the present embodiment, user can arrange at least one subregion to be cleaned described according to the region at rubbish place
Cleaning path again.Specifically, at least one subregion to be cleaned described is shown on described display device 13, Yong Huzhi
It is connected on described display device 13 to draw and again clean path, it is simple to described intelligence clearing apparatus 3 cleans path again according to described
At least one subregion to be cleaned described is cleaned again.
S27, described intelligence clearing apparatus control system 10 is by the cleaning road again of at least one subregion to be cleaned described
Footpath sends the control unit 31 to described intelligence clearing apparatus 3.
In the present embodiment, described intelligence clearing apparatus 3 according to described again clean path to described at least one treat clearly
Sweep subregion again to clean.
The present invention is by obtaining the cartographic information in the region to be cleaned of described intelligence clearing apparatus 3, according to described district to be cleaned
Described region to be cleaned is divided into multiple described subregion to be cleaned by the cartographic information in territory, and arranges each subregion to be cleaned
The option that cleans treat the cleaning of purging zone to control described intelligence clearing apparatus system 10.Certain after cleaning is to be cleaned
When the clean grade of subregion is unclean, obtain the path of cleaning again of user setup to control described intelligence clearing apparatus 3
Described subregion to be cleaned is cleaned.Therefore, the present invention can control described intelligence clearing apparatus by described electronic equipment 1
The cleaning works of 3, and the cleaning visual result of described intelligence clearing apparatus 3 can be fed back to user.
As shown in Figure 6, described intelligence clearing apparatus system 10 includes acquisition module 100, determines module 101, receiver module
102, sending module 103, and reminding module 104.Module alleged by the present invention refers to that one can be processed performed by equipment 12
And can complete the series of computation machine program segment of fixing function, it is stored in storage device 11.In the present embodiment, close
Function in each module will describe in detail in follow-up embodiment three and enforcement four.
Embodiment three
Acquisition module 100, for obtaining the cartographic information in the region to be cleaned of described intelligence clearing apparatus 3.
In the present embodiment, the cartographic information in described region to be cleaned includes the plane graph in region to be cleaned.
Specifically, target object (such as described intelligence clearing apparatus 3) is put in region to be cleaned multiple different by user
Location point, utilizes the probe unit 21 of described positioner 2 to detect the three-dimensional coordinate of multiple different location point, and utilizes described
The three-dimensional coordinate of the plurality of different location point is sent to described electronic equipment 1 by the second communication unit 20.Described acquisition mould
Block 100 receives the three-dimensional coordinate of the plurality of different location point, and three-dimensional coordinate based on the plurality of different location point
It is modeled and obtains the plane graph in region to be cleaned.
Such as, as it is shown on figure 3, be the schematic diagram of the location point coordinate obtained, the probe unit of described positioner 2 21
In O point, utilize distance OA of described probe unit 21 detecting location point A, and detect the angle α of OA and vertical direction.When with ground
X-axis, Y-axis are set up in face, when vertical direction is Z axis, utilize described distance OA and angle α can obtain the three-dimensional seat of described location point A
Mark.When, after the three-dimensional coordinate getting multiple different location point, three-dimensional coordinate based on the plurality of different location point enters
The plane graph in the available region to be cleaned as shown in Figure 4 of row modeling.
Further, during the cartographic information in described region to be cleaned also includes described region to be cleaned, article are treated clearly described
Sweep the location map in region.Described article include furniture, goods of furniture for display rather than for use etc..In the present embodiment, described probe unit is utilized
21 detect the position of article in described region to be cleaned, and utilize described second communication unit 20 by thing in described region to be cleaned
The position of product sends to described electronic equipment 1, and described acquisition module 100 is based on the position of article in described region to be cleaned, really
Article location map in region to be cleaned in fixed described region to be cleaned.
Determine module 101, at least one subregion to be cleaned in the cartographic information obtaining described region to be cleaned
And the position data of described at least one subregion to be cleaned.
In the present embodiment, described determine module 101 according to article in described region to be cleaned in described region to be cleaned
In location map, the plane graph in described region to be cleaned is divided at least one subregion to be cleaned, and extracts described
The contour line of at least one subregion to be cleaned.Contour line based at least one subregion to be cleaned described, described determines mould
Block 101 determines the position data of at least one subregion to be cleaned described.
Region the most to be cleaned is parlor, and there are sofa, tea table and a TV bench etc. in parlor, the most described determines module 101 basis
Sofa tea table and the TV bench location map in parlor, divide multiple subregion to be cleaned, such as sofa region, tea table by parlor
Region, TV bench region and non-article region etc..
Receiver module 102, for receiving the cleaning option that at least one subregion to be cleaned described is arranged by user.
In the present embodiment, described cleaning option includes, but are not limited to: cleans time, cleaning modes and cleans number of times etc.
Deng.Described cleaning modes includes: random walk cleaning modes, welt walking cleaning modes, zigzag pattern and user-defined
Pattern.User can be according to the cleaning complexity of each subregion to be cleaned or the dirty degree of regional or each district
The size self-defined cleaning option in territory.
Further, user can also arrange the position data in breakables region and described intelligence clearing apparatus 3 and institute
Stating the minimum distance of breakables in breakables region, described receiver module 102 receives the breakables region of user setup
Position data and described intelligence clearing apparatus 3 and the minimum distance of breakables in described breakables region, in order to follow-up
Control the clearing apparatus 3 cleaning to breakables region of described intelligence.
Sending module 103, for by the position data of at least one subregion to be cleaned described and described at least one treat
The cleaning option cleaning subregion sends the control unit 31 to the most described intelligence clearing apparatus 3, and controls described intelligence cleaning dress
Put 3 cleanings at least one subregion to be cleaned described.
In the present embodiment, described sending module 103 utilize described first communication unit 14 by described at least one treat clearly
The cleaning option of the position data and at least one subregion to be cleaned described of sweeping subregion sends to described intelligence clearing apparatus 3
Control unit 31.In other embodiments, described sending module 103 first with described first communication unit 14 by described at least
The position data of one subregion to be cleaned and the cleaning option of at least one subregion to be cleaned described send to described location
Device 2, described positioner 2 utilizes described second communication unit 20 by the position data of at least one subregion to be cleaned described
And the option that cleans of described at least one subregion to be cleaned sends the control unit 31 to the most described intelligence clearing apparatus 3.
Further, described sending module 103 is also by position data and the described intelligence clearing apparatus 3 in breakables region
Send to described control unit 31 with the minimum distance of breakables in described breakables region.
Further, when described control unit 31 calculate the position coordinates of described intelligent clearing apparatus 3 be in described easily
When mincing in the coordinate range in product region, the most described control unit 31 determines that described intelligence clearing apparatus 3 enters described breakable object
During product region, described control unit 31 utilizes described 3rd communication unit 30 to be transmitted into breakables to described electronic equipment 1
The feedback information in region, after described reminding module 104 receives the feedback information in entrance breakables region, sends to user
Information, prompts the user whether to continue to clean.
When user selects to continue to clean, described intelligence clearing apparatus 3 is frangible with described according to prefixed time interval detection
The distance of breakables in article region, when described distance is more than or equal to the minimum distance of user setup, described control
Unit 31 utilizes described 3rd communication unit 30 to send near the feedback information of breakables to described electronic equipment 1, described
Receiver module 102 for receive that described control unit 31 sends near the feedback information of breakables, described reminding module
104 for sending information to user, and prompting user plans cleaning path.
The present invention is by obtaining the cartographic information in the region to be cleaned of described intelligence clearing apparatus 3, according to described district to be cleaned
Described region to be cleaned is divided into multiple described subregion to be cleaned by the cartographic information in territory, and arranges each subregion to be cleaned
The option that cleans treat the cleaning of purging zone to control described intelligence clearing apparatus 3.Certain sub-district to be cleaned after cleaning
When the clean grade in territory is unclean, obtain the path of cleaning again of user setup to control described intelligence clearing apparatus 3 to institute
State subregion to be cleaned to clean.Therefore, the present invention can control described intelligence clearing apparatus 3 by described electronic equipment 1
Cleaning works, and the cleaning visual result of described intelligence clearing apparatus 3 can be fed back to user.
Embodiment four
Acquisition module 100, for obtaining the cartographic information in the region to be cleaned of described intelligence clearing apparatus 3.
In the present embodiment, the cartographic information in described region to be cleaned includes the plane graph in region to be cleaned.
Specifically, target object (such as described intelligence clearing apparatus 3) is put in region to be cleaned multiple different by user
Location point, utilizes the probe unit 21 of described positioner 2 to detect the three-dimensional coordinate of multiple different location point, and utilizes described
The three-dimensional coordinate of the plurality of different location point is sent to described electronic equipment 1 by the second communication unit 20.Described acquisition mould
Block 100 receives the three-dimensional coordinate of the plurality of different location point, and three-dimensional coordinate based on the plurality of different location point
It is modeled and obtains the plane graph in region to be cleaned.
Such as, as it is shown on figure 3, be the schematic diagram of the location point coordinate obtained, the probe unit of described positioner 2 21
In O point, utilize distance OA of described probe unit 21 detecting location point A, and detect the angle α of OA and vertical direction.When with ground
X-axis, Y-axis are set up in face, when vertical direction is Z axis, utilize described distance OA and angle α can obtain the three-dimensional seat of described location point A
Mark.When, after the three-dimensional coordinate getting multiple different location point, three-dimensional coordinate based on the plurality of different location point enters
The plane graph in the available region to be cleaned as shown in Figure 4 of row modeling.
Further, during the cartographic information in described region to be cleaned also includes described region to be cleaned, article are treated clearly described
Sweep the location map in region.Described article include furniture, goods of furniture for display rather than for use etc..In the present embodiment, described probe unit is utilized
21 detect the position of article in described region to be cleaned, and utilize described second communication unit 20 by thing in described region to be cleaned
The position of product sends to described electronic equipment 1, and described acquisition module 100 is based on the position of article in described region to be cleaned, really
Article location map in region to be cleaned in fixed described region to be cleaned.
Determine module 101, at least one subregion to be cleaned in the cartographic information obtaining described region to be cleaned
And the position data of described at least one subregion to be cleaned.
In the present embodiment, described determine module 101 according to article in described region to be cleaned in described region to be cleaned
In location map, the plane graph in described region to be cleaned is divided at least one subregion to be cleaned, and extracts described
The contour line of at least one subregion to be cleaned.Contour line based at least one subregion to be cleaned described, described determines mould
Block 101 determines the position data of at least one subregion to be cleaned described.
Region the most to be cleaned is parlor, and there are sofa, tea table and a TV bench etc. in parlor, the most described determines module 101 basis
Sofa tea table and the TV bench location map in parlor, divide multiple subregion to be cleaned, such as sofa region, tea table by parlor
Region, TV bench region and non-article region etc..
Receiver module 102, for receiving the cleaning option that at least one subregion to be cleaned described is arranged by user.
In the present embodiment, described cleaning option includes, but are not limited to: cleans time, cleaning modes and cleans number of times etc.
Deng.Described cleaning modes includes: random walk cleaning modes, welt walking cleaning modes, zigzag pattern and user-defined
Pattern.User can be according to the cleaning complexity of each subregion to be cleaned or the dirty degree of regional or each district
The size self-defined cleaning option in territory.
Further, user can also arrange the position data in breakables region and described intelligence clearing apparatus 3 and institute
Stating the minimum distance of breakables in breakables region, described receiver module 102 receives the breakables region of user setup
Position data and described intelligence clearing apparatus 3 and the minimum distance of breakables in described breakables region, in order to follow-up
Control the clearing apparatus 3 cleaning to breakables region of described intelligence.
Sending module 103, for by the position data of at least one subregion to be cleaned described and described at least one treat
The cleaning option cleaning subregion sends the control unit 31 to the most described intelligence clearing apparatus 3, and controls described intelligence cleaning dress
Put 3 cleanings at least one subregion to be cleaned described.
In the present embodiment, described sending module 103 utilize described first communication unit 14 by described at least one treat clearly
The cleaning option of the position data and at least one subregion to be cleaned described of sweeping subregion sends to described intelligence clearing apparatus 3
Control unit 31.In other embodiments, described sending module 103 first with described first communication unit 14 by described at least
The position data of one subregion to be cleaned and the cleaning option of at least one subregion to be cleaned described send to described location
Device 2, described positioner 2 utilizes described second communication unit 20 by the position data of at least one subregion to be cleaned described
And the option that cleans of described at least one subregion to be cleaned sends the control unit 31 to the most described intelligence clearing apparatus 3.
Further, described sending module 103 is also by position data and the described intelligence clearing apparatus 3 in breakables region
Send to described control unit 31 with the minimum distance of breakables in described breakables region.
Further, when described control unit 31 calculate the position coordinates of described intelligent clearing apparatus 3 be in described easily
When mincing in the coordinate range in product region, the most described control unit 31 determines that described intelligence clearing apparatus 3 enters described breakable object
During product region, described control unit 31 utilizes described 3rd communication unit 30 to be transmitted into breakables to described electronic equipment 1
The feedback information in region, after described reminding module 104 receives the feedback information in entrance breakables region, sends to user
Information, prompts the user whether to continue to clean.
When user selects to continue to clean, described intelligence clearing apparatus 3 is frangible with described according to prefixed time interval detection
The distance of breakables in article region, when described distance is more than or equal to the minimum distance of user setup, described control
Unit 31 utilizes described 3rd communication unit 30 to send near the feedback information of breakables to described electronic equipment 1, described
Receiver module 102 for receive that described control unit 31 sends near the feedback information of breakables, described reminding module
104 for sending information to user, and prompting user plans cleaning path.
The picture of the described acquisition module 100 at least one subregion to be cleaned described after obtaining cleaning.
In the present embodiment, described intelligence clearing apparatus 3 can farther include picture pick-up device.When described intelligence clearing apparatus
After at least one subregion to be cleaned described in 3 pairs completes to clean, it is clear that described intelligence clearing apparatus 3 utilizes described picture pick-up device to obtain
The picture of at least one subregion to be cleaned described after sweeping, and utilize described 3rd communication unit 30 will clean after described in extremely
The picture of a few subregion to be cleaned sends described electronic equipment 1.
Described acquisition module 100 will clean after described in the picture of at least one subregion to be cleaned show in described display
On equipment 13, according to the picture of at least one subregion to be cleaned described in after cleaning, user determines that described at least one is to be cleaned
The cleaning requirements of subregion, to control the clearing apparatus 3 cleaning at least one subregion to be cleaned described of described intelligence.
Determine module 101, for based on the picture of at least one subregion to be cleaned described in after cleaning, it is determined whether weight
New cleaning at least one subregion to be cleaned described.
In the present embodiment, described determine module 101 will clean after described in the picture of at least one subregion to be cleaned
Display on display device 13, user according to the picture of at least one subregion to be cleaned described in after cleaning determine described at least
The clean grade of one subregion to be cleaned.Described determine that module 101 receives determined by user that described at least one is to be cleaned
The clean grade of subregion.Described clean grade includes totally, the cleanest.
Described determine that module 101 determines whether again to clean according to the clean grade of at least one subregion to be cleaned described
At least one subregion to be cleaned described.When the picture of at least one subregion to be cleaned described has rubbish, determine module
101 are defined as totally, need again to clean at least one subregion to be cleaned described.When described at least one treat clearly
Sweep time the picture of subregion does not has rubbish, determine that module 101 is defined as totally, return and perform described acquisition module 100, be used for
Obtain the picture of at least one subregion to be cleaned described after the next one cleans, until all of sub-region processes to be cleaned is complete
Finish.
Described receiver module is additionally operable to, when determining at least one subregion to be cleaned described of cleaning again, receive user setup
The cleaning path again of at least one subregion to be cleaned described.
In the present embodiment, user can arrange at least one subregion to be cleaned described according to the region at rubbish place
Cleaning path again.Specifically, at least one subregion to be cleaned described is shown on described display device 13, Yong Huzhi
It is connected on described display device 13 to draw and again clean path, it is simple to described intelligence clearing apparatus 3 cleans path again according to described
At least one subregion to be cleaned described is cleaned again.
Described sending module 103, for sending the path of cleaning again of at least one subregion to be cleaned described to institute
State the control unit 31 of intelligence clearing apparatus 3.
In the present embodiment, described intelligence clearing apparatus 3 according to described again clean path to described at least one treat clearly
Sweep subregion again to clean.
The present invention is by obtaining the cartographic information in the region to be cleaned of described intelligence clearing apparatus 3, according to described district to be cleaned
Described region to be cleaned is divided into multiple described subregion to be cleaned by the cartographic information in territory, and arranges each subregion to be cleaned
The option that cleans treat the cleaning of purging zone to control described intelligence clearing apparatus system 10.Certain after cleaning is to be cleaned
When the clean grade of subregion is unclean, obtain the path of cleaning again of user setup to control described intelligence clearing apparatus 3
Described subregion to be cleaned is cleaned.Therefore, the present invention can control described intelligence clearing apparatus by described electronic equipment 1
The cleaning works of 3, and the cleaning visual result of described intelligence clearing apparatus 3 can be fed back to user.
In several embodiments provided by the present invention, it should be understood that disclosed system, apparatus and method are permissible
Realize by another way.Such as, device embodiment described above is only schematically, such as, and described module
Dividing, be only a kind of logic function and divide, actual can have other dividing mode when realizing.
The described module illustrated as separating component can be or may not be physically separate, shows as module
The parts shown can be or may not be physical location, i.e. may be located at a place, or can also be distributed to multiple
On NE.Some or all of module therein can be selected according to the actual needs to realize the mesh of the present embodiment scheme
's.
It addition, each functional module in each embodiment of the present invention can be integrated in a processing unit, it is also possible to
It is that unit is individually physically present, it is also possible to two or more unit are integrated in a unit.Above-mentioned integrated list
Unit both can realize to use the form of hardware, it would however also be possible to employ hardware adds the form of software function module and realizes.
The above-mentioned integrated unit realized with the form of software function module, can be stored in an embodied on computer readable and deposit
In storage media.Above-mentioned software function module is stored in a storage medium, including some instructions with so that a computer
Equipment (can be personal computer, server, or the network equipment etc.) or processor (processor) perform the present invention each
The part steps of method described in embodiment.
It is obvious to a person skilled in the art that the invention is not restricted to the details of above-mentioned one exemplary embodiment, Er Qie
In the case of the spirit or essential attributes of the present invention, it is possible to realize the present invention in other specific forms.Therefore, no matter
From the point of view of which point, all should regard embodiment as exemplary, and be nonrestrictive, the scope of the present invention is by appended power
Profit requires rather than described above limits, it is intended that all by fall in the implication of equivalency and scope of claim
Change is included in the present invention.Any attached associated diagram labelling in claim should not be considered as limit involved right want
Ask.Furthermore, it is to be understood that " an including " word is not excluded for other unit or step, odd number is not excluded for plural number.System claims is stated
Multiple unit or device can also be realized by software or hardware by a unit or device.The first, the second word such as grade
It is used for representing title, and is not offered as any specific order.
Finally it should be noted that above example only in order to technical scheme to be described and unrestricted, although reference
The present invention has been described in detail by preferred embodiment, it will be understood by those within the art that, can be to the present invention's
Technical scheme is modified or equivalent, without deviating from the spirit and scope of technical solution of the present invention.
Claims (10)
1. an intelligent clearing apparatus control method, is applied in electronic equipment, and described electronic equipment enters with intelligence clearing apparatus
Row communication, it is characterised in that described method includes:
Obtain the cartographic information in the region to be cleaned of described intelligence clearing apparatus；
Determine at least one subregion to be cleaned in the cartographic information in described region to be cleaned and described at least one is to be cleaned
The position data of subregion；
Receive the cleaning option that at least one subregion to be cleaned described is arranged by user；And
By position data and the cleaning option of at least one subregion to be cleaned described of at least one subregion to be cleaned described
Send to described intelligence clearing apparatus.
2. intelligence clearing apparatus control method as claimed in claim 1, it is characterised in that the map letter in described region to be cleaned
Breath includes article location map in described region to be cleaned in the plane graph in region to be cleaned and region to be cleaned, described
The cartographic information in the region to be cleaned obtaining described intelligence clearing apparatus includes:
Receive from the region to be cleaned of the positioner transmission that described electronic equipment communicates the three of multiple different location points
Dimension coordinate, and receive the position of article in the region described to be cleaned that described positioner sends；And
Three-dimensional coordinate based on the plurality of different location point is modeled and obtains the plane graph in region to be cleaned, and based on
In described region to be cleaned, in region to be cleaned described in the position acquisition of article, article position in described region to be cleaned is divided
Butut.
3. intelligence clearing apparatus control method as claimed in claim 1, it is characterised in that when described cleaning option includes cleaning
Between, cleaning modes and clean number of times.
4. intelligence clearing apparatus control method as claimed in claim 1, it is characterised in that described method also includes:
Receive the position data in the breakables region of user setup and described intelligence clearing apparatus and described breakables region
The minimum distance of middle breakables；
Receive the feedback information in the entrance breakables region that described intelligence clearing apparatus sends, and send prompting letter to user
Breath, prompts the user whether to continue to clean；
When user selects to continue to clean, and described intelligence clearing apparatus is big with the distance of breakables in described breakables region
In or equal to described minimum distance time, receive described intelligence clearing apparatus send near the feedback information of breakables；
And
Information, the cleaning path in prompting user setup breakables region is sent to user.
5. the intelligent clearing apparatus control method as according to any one of Claims 1-4, it is characterised in that described method is also
Including:
Obtain the picture of at least one subregion to be cleaned described after cleaning；
Based on the picture of at least one subregion to be cleaned described in after cleaning, it is determined whether again clean described at least one treat
Clean subregion；
When determine again clean at least one subregion to be cleaned described time, receiving user setup described, at least one is to be cleaned
Again the cleaning path of subregion；And
Again the cleaning path of at least one subregion to be cleaned described is sent to described intelligence clearing apparatus.
6. an intelligent clearing apparatus control system, runs in electronic equipment, and described electronic equipment enters with intelligence clearing apparatus
Row communication, it is characterised in that described system includes:
Acquisition module, for obtaining the cartographic information in the region to be cleaned of described intelligence clearing apparatus；
Determine module, for obtain at least one subregion to be cleaned in the cartographic information in described region to be cleaned and described extremely
The position data of a few subregion to be cleaned；
Receiver module, for receiving the cleaning option that at least one subregion to be cleaned described is arranged by user；And
Sending module, for by the position data of at least one subregion to be cleaned described and at least one sub-district to be cleaned described
The cleaning option in territory sends to described intelligence clearing apparatus.
7. intelligence clearing apparatus control system as claimed in claim 6, it is characterised in that the map letter in described region to be cleaned
Breath includes article location map in described region to be cleaned in the plane graph in region to be cleaned and region to be cleaned, described
Acquisition module includes for the cartographic information obtaining the region to be cleaned of described intelligence clearing apparatus:
Receive from the region to be cleaned of the positioner transmission that described electronic equipment communicates the three of multiple different location points
Dimension coordinate, and receive the position of article in the region described to be cleaned that described positioner sends；And
Three-dimensional coordinate based on the plurality of different location point is modeled and obtains the plane graph in region to be cleaned, and based on
In described region to be cleaned, in region to be cleaned described in the position acquisition of article, article position in described region to be cleaned is divided
Butut.
8. intelligence clearing apparatus control system as claimed in claim 6, it is characterised in that when described cleaning option includes cleaning
Between, cleaning modes and clean number of times.
9. intelligence clearing apparatus control system as claimed in claim 6, it is characterised in that described system also includes:
Described receiver module, is additionally operable to receive the position data in the breakables region of user setup and described intelligence clearing apparatus
With the minimum distance of breakables in described breakables region；
Reminding module, for receiving the feedback information in entrance breakables region that described intelligence clearing apparatus sends, and to
Family sends information, prompts the user whether to continue to clean；
Described receiver module, is additionally operable to when user selects to continue to clean, and described intelligence clearing apparatus and described breakables district
When the distance of breakables is more than or equal to described minimum distance in territory, receive the most close of described intelligence clearing apparatus transmission
The feedback information of breakables；And
Described reminding module, is additionally operable to send information, the cleaning path in prompting user setup breakables region to user.
10. the intelligent clearing apparatus control system as described in claim 6-9, it is characterised in that described system also includes:
Described acquisition module, is additionally operable to obtain the picture of at least one subregion to be cleaned described after cleaning；
Described determine module, be additionally operable to picture based at least one subregion to be cleaned described in after cleaning, it is determined whether weight
New cleaning at least one subregion to be cleaned described；
Described receiver module, is additionally operable to, when determining at least one subregion to be cleaned described of cleaning again, receive user setup
The cleaning path again of at least one subregion to be cleaned described；And
Described sending module, is additionally operable to send to described intelligence the path of cleaning again of at least one subregion to be cleaned described
Clearing apparatus.
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| CN201610616493.0A CN106227207A (en) | 2016-07-29 | 2016-07-29 | Intelligence clearing apparatus control method and system |
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| CN201610616493.0A CN106227207A (en) | 2016-07-29 | 2016-07-29 | Intelligence clearing apparatus control method and system |
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| CN111281272A (en) * | 2020-02-20 | 2020-06-16 | 湖南炬神电子有限公司 | Method for realizing planning sweeping of sweeper by using coordinates |
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| CN113616117A (en) * | 2021-08-13 | 2021-11-09 | 珠海格力电器股份有限公司 | Cleaning area determination method, cleaning area determination device, cleaning area determination equipment and storage medium |
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| CN108803599A (en) * | 2018-05-31 | 2018-11-13 | 北京智行者科技有限公司 | A kind of cleaning works method based on operating mode |
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| CN113531806A (en) * | 2021-06-28 | 2021-10-22 | 青岛海尔空调器有限总公司 | Method and device for controlling air conditioner and air conditioner |
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