CN106983454A - Sweeping robot cleaning method and sweeping robot - Google Patents
Sweeping robot cleaning method and sweeping robot Download PDFInfo
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- CN106983454A CN106983454A CN201710335624.2A CN201710335624A CN106983454A CN 106983454 A CN106983454 A CN 106983454A CN 201710335624 A CN201710335624 A CN 201710335624A CN 106983454 A CN106983454 A CN 106983454A
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- barrier
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- positional information
- sweeping robot
- prompting message
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- 238000004140 cleaning Methods 0.000 title claims abstract description 151
- 238000010408 sweeping Methods 0.000 title claims abstract description 109
- 238000000034 method Methods 0.000 title claims abstract description 103
- 230000004888 barrier function Effects 0.000 claims abstract description 184
- 238000012545 processing Methods 0.000 claims abstract description 133
- 238000010926 purge Methods 0.000 claims abstract description 41
- 230000005540 biological transmission Effects 0.000 claims description 27
- 230000007774 longterm Effects 0.000 claims description 20
- 230000000052 comparative effect Effects 0.000 claims description 12
- 238000010586 diagram Methods 0.000 description 24
- 238000005516 engineering process Methods 0.000 description 5
- 230000000694 effects Effects 0.000 description 3
- 238000012986 modification Methods 0.000 description 3
- 230000004048 modification Effects 0.000 description 3
- 241001417527 Pempheridae Species 0.000 description 2
- 230000006978 adaptation Effects 0.000 description 2
- 238000005406 washing Methods 0.000 description 2
- 238000010521 absorption reaction Methods 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 238000007796 conventional method Methods 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 239000000428 dust Substances 0.000 description 1
- 238000010295 mobile communication Methods 0.000 description 1
- 239000003973 paint Substances 0.000 description 1
- 238000012163 sequencing technique Methods 0.000 description 1
Classifications
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0268—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means
- G05D1/0274—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means using mapping information stored in a memory device
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/24—Floor-sweeping machines, motor-driven
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
- A47L11/4061—Steering means; Means for avoiding obstacles; Details related to the place where the driver is accommodated
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L2201/00—Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L2201/00—Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
- A47L2201/04—Automatic control of the travelling movement; Automatic obstacle detection
Landscapes
- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Aviation & Aerospace Engineering (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)
- Electric Vacuum Cleaner (AREA)
Abstract
The disclosure is directed to a kind of sweeping robot cleaning method and sweeping robot, this method includes：Treat purging zone and carry out maximum area cleaning processing.Treat purging zone and carry out cleaning processing again, it is determined that cleaning the positional information of the barrier in processing procedure again.Prompting message is sent to terminal.The disclosure can determine to clean the barrier in processing procedure again by this method, so that user removes the barrier according to prompting message, so as to ensure that sweeping robot can be cleaned to barrier position, and then improve Consumer's Experience sense.
Description
Technical field
This disclosure relates to smart home technology, more particularly to a kind of sweeping robot cleaning method and sweeping robot.
Background technology
Nowadays, the life that smart home technology gives people brings great convenience.With continuing to develop for science and technology, people
Higher requirement there has also been to the intelligent of smart home.
Sweeping robot is a Typical Representative in smart home technology.It is known to more users.It is one
The smart home of automatic dust absorption can be carried out to ground by planting.The factors such as it can put to room-size, furniture, floor cleaning degree are carried out
Detection, and rely on built-in program, formulates rational cleaning route, possesses certain intelligent.
The content of the invention
To overcome problem present in correlation technique, the disclosure provides a kind of sweeping robot cleaning method and machine of sweeping the floor
People.The technical scheme is as follows：
According to the first aspect of the embodiment of the present disclosure there is provided a kind of sweeping robot cleaning method, including：
Treat purging zone and carry out maximum area cleaning processing；
Treat purging zone and carry out cleaning processing again, and determine to clean the position letter of the barrier in processing procedure again
Breath；Barrier is that sweeping robot is being run into cleaning processing procedure again relative to the barrier in maximum area cleaning processing procedure
Hinder thing；
Prompting message is sent to terminal, prompting message includes the positional information of barrier.
The technical scheme provided by this disclosed embodiment can include the following benefits：The disclosure can be with by this method
It is determined that cleaning the barrier in processing procedure again, so that user removes the barrier according to prompting message, for example, pass through the party
Method can cause user removes to be placed on the barriers such as parlor middle ground stool, so as to ensure that sweeping robot can be to barrier institute
Cleaned in position, and then improve Consumer's Experience sense.
Alternatively, in addition to：First drawn in maximum area cleaning processing procedure cleans traveling map.
Based on this, a kind of optional mode：Treat purging zone and carry out cleaning processing again, and determine to clean treated again
The positional information of barrier in journey, including：Purging zone, which is treated, according to the first cleaning traveling map carries out cleaning processing again,
And record the positional information of the barrier cleaned again in processing procedure.
Another optional mode：Treat purging zone and carry out cleaning processing again, and determine to clean in processing procedure again
Barrier positional information, including：Treat purging zone and carry out cleaning processing again, and draw progress again and clean treated
Second in journey cleans traveling map；First cleaning traveling map and the second cleaning traveling map are compared, and obtain ratio
Relatively result；Determined to clean the positional information of the barrier in processing procedure again according to comparative result.
The positional information of barrier can be effectively determined by both optional modes, so that user is according to prompting message
The barrier is removed, so as to ensure that sweeping robot can be cleaned to barrier position, and then Consumer's Experience is improved
Sense.
Alternatively, in addition to：When sweeping robot runs into barrier, barrier is determined in the first cleaning traveling map
Positional information next positional information, and continue to the corresponding region of next positional information carry out cleaning processing.Wherein,
Next positional information is next positional information of the positional information of barrier on course is cleaned.
Alternatively, prompting message is sent to terminal, including：The history for counting the corresponding prompting message of barrier sends secondary
Number；When the history transmission times of the corresponding prompting message of barrier is less than or equal to predetermined threshold value, sends and point out to terminal
Message.
I.e. when the history transmission times of the corresponding prompting message of the barrier is more than predetermined threshold value, even if representing that user is led to
Cross terminal and have received prompting message, user does not move the barrier away.In this case, next sweeping robot is treated
Each cleaning processing that purging zone is carried out, the corresponding prompting message of the barrier is not sent.To avoid bringing not for user
Necessary trouble；The unnecessary power consumption of sweeping robot can also be reduced simultaneously.
Alternatively, in addition to：The new information that receiving terminal is sent, new information includes：Terminal is according to the position of barrier
The positional information for the long-term barrier that the history transmission times of confidence breath and the corresponding prompting message of barrier is determined；According to more
New information deletes the positional information for cleaning the long-term barrier in traveling map, and traveling map is cleaned to update.
In this way, sweeping robot for long-term barrier without recording its positional information every time, concurrently
Send prompting message.To avoid bringing unnecessary trouble for user；The unnecessary power consumption of sweeping robot can also be reduced simultaneously.
So as to improve Consumer's Experience sense.
Alternatively, prompting message is used to point out user to move the barrier away.
Inventive embodiments are explained below a kind of sweeping robot is provided, wherein the part and above-mentioned first aspect and the
The optional mode of one side is corresponding, and corresponding content technique effect is identical, will not be repeated here.
According to the second aspect of the embodiment of the present disclosure there is provided a kind of sweeping robot, including：First processing module, by with
It is set to and treats purging zone progress maximum area cleaning processing；Second processing module, is configured as treating purging zone and enters again
Row cleaning is handled, and determines to clean the positional information of the barrier in processing procedure again；Barrier is sweeping robot again
The barrier cleaned relative to maximum area in processing procedure is run into secondary cleaning processing procedure；Sending module, be configured as to
Terminal sends prompting message, and prompting message includes the positional information of barrier.
Alternatively, in addition to：3rd processing module, first be configured as in drafting maximum area cleaning processing procedure is clear
Sweep traveling map.
Alternatively, Second processing module is specifically configured to：Purging zone is treated according to the first cleaning traveling map again
Cleaning processing is carried out, and records the positional information of the barrier cleaned again in processing procedure.
Alternatively, Second processing module is specifically configured to：Treat purging zone and carry out cleaning processing again, and draw again
Secondary the second cleaning traveling map carried out in cleaning processing procedure；First cleaning traveling map and the second cleaning traveling map are entered
Row compares, and obtains comparative result；Determined to clean the positional information of the barrier in processing procedure again according to comparative result.
Alternatively, in addition to：Fourth processing module, it is clear first when being configured as sweeping robot and running into barrier
The next positional information for the positional information that barrier is determined in traveling map is swept, and is continued corresponding to next positional information
Region carries out cleaning processing；Wherein, next positional information is next on course is cleaned for the positional information of barrier
Individual positional information.
Alternatively, in addition to：Statistical module, the history for being configured as counting the corresponding prompting message of barrier sends secondary
Number；Sending module, is specifically configured to preset when the history transmission times of the corresponding prompting message of barrier is less than or equal to
During threshold value, prompting message is sent to terminal.
Alternatively, in addition to：Receiving module, is configured as the new information of receiving terminal transmission, and new information includes：Eventually
Hold the long-term barrier determined according to the history transmission times of the corresponding prompting message of positional information and barrier of barrier
Positional information；Update module, is configured as deleting the position for cleaning the long-term barrier in traveling map according to new information
Information, traveling map is cleaned to update.
Alternatively, prompting message is used to point out user to move the barrier away.
According to the third aspect of the embodiment of the present disclosure there is provided a kind of sweeping robot, sweeping robot includes：
Processor and transmitter；
For the memory for the executable instruction for storing processor；
Wherein, processor is configured as：
Treat purging zone and carry out maximum area cleaning processing；
Treat purging zone and carry out cleaning processing again, and determine to clean the position letter of the barrier in processing procedure again
Breath；Barrier is that sweeping robot is being run into cleaning processing procedure again relative to the barrier in maximum area cleaning processing procedure
Hinder thing；
Transmitter, is configured as sending prompting message to terminal, prompting message includes the positional information of barrier.
The technical scheme provided by this disclosed embodiment can include the following benefits：A kind of sweeping robot cleaning side
Method and sweeping robot, this method include：Treat purging zone and carry out maximum area cleaning processing, and draw cleaning and advance ground
Figure.Treat purging zone and carry out cleaning processing again, and record the positional information of the barrier cleaned again in processing procedure.To
Terminal sends prompting message.So that user removes the barrier according to the prompting message, for example, it can be caused by this method
User, which removes, is placed on the barriers such as parlor middle ground stool, so as to ensure that sweeping robot can be carried out to barrier position
Clean, and then improve Consumer's Experience sense.
It should be appreciated that the general description of the above and detailed description hereinafter are only exemplary and explanatory, not
The disclosure can be limited.
Brief description of the drawings
Accompanying drawing herein is merged in specification and constitutes the part of this specification, shows the implementation for meeting the disclosure
Example, and be used to together with specification to explain the principle of the disclosure.
Fig. 1 is a kind of flow chart of sweeping robot cleaning method according to an exemplary embodiment；
Fig. 2 is a kind of application scenarios schematic diagram of sweeping robot cleaning method according to an exemplary embodiment；
Fig. 3 is the cleaning traveling map schematic diagram according to an exemplary embodiment；
Fig. 4 is the interface schematic diagram according to an exemplary embodiment；
Fig. 5 is the cleaning traveling map schematic diagram according to another exemplary embodiment；
Fig. 6 is the cleaning traveling map comparison schematic diagram according to an exemplary embodiment；
Fig. 7 is a kind of flow chart of sweeping robot cleaning method according to another exemplary embodiment；
Fig. 8 is a kind of flow chart of sweeping robot cleaning method according to another exemplary embodiment；
Fig. 9 is a kind of block diagram of sweeping robot according to an exemplary embodiment；
Figure 10 is a kind of block diagram of sweeping robot according to another exemplary embodiment；
Figure 11 is a kind of block diagram of sweeping robot according to another exemplary embodiment；
Figure 12 is a kind of block diagram of sweeping robot according to further example embodiment；
Figure 13 is a kind of block diagram of sweeping robot according to another exemplary embodiment；
Figure 14 is a kind of block diagram of sweeping robot according to an exemplary embodiment；
Figure 15 is a kind of block diagram of sweeping robot according to another exemplary embodiment.
Pass through above-mentioned accompanying drawing, it has been shown that the clear and definite embodiment of the disclosure, will hereinafter be described in more detail.These accompanying drawings
It is not intended to limit the scope that the disclosure is conceived by any mode with word description, but is by reference to specific embodiment
Those skilled in the art illustrate the concept of the disclosure.
Embodiment
Here exemplary embodiment will be illustrated in detail, its example is illustrated in the accompanying drawings.Following description is related to
During accompanying drawing, unless otherwise indicated, the same numbers in different accompanying drawings represent same or analogous key element.Following exemplary embodiment
Described in embodiment do not represent all embodiments consistent with the disclosure.On the contrary, they be only with it is such as appended
The example of the consistent apparatus and method of some aspects be described in detail in claims, the disclosure.
Fig. 1 is a kind of flow chart of sweeping robot cleaning method according to an exemplary embodiment, the present embodiment
It is applied to illustrate in sweeping robot with the sweeping robot cleaning method.Fig. 2 is shown according to an exemplary embodiment
The application scenarios schematic diagram of a kind of sweeping robot cleaning method gone out, as shown in Fig. 2 the sweeping robot can pass through high in the clouds
Realize and communicate to connect with terminal.Or, the sweeping robot can not be realized by high in the clouds and terminal and communicated to connect.Wherein sweep the floor
Robot can using mobile communications network (including：2 generations (Generation, abbreviation G), 3G, 4G and 5G network) or pass through
The communication modes such as Wireless Fidelity (Wireless Fidelity, abbreviation WIFI).The sweeping robot cleaning method can be included such as
Under several steps：
In step S101：Treat purging zone and carry out maximum area cleaning processing.
In the embodiment of the present disclosure, treat purging zone progress maximum area cleaning processing and refer to：When region to be cleaned does not have
During the barrier that on-fixed is placed, sweeping robot treats the cleaning processing of purging zone progress.The obstacle that the on-fixed is placed
Thing can be toy that the stool arbitrarily placed of user, child arbitrarily abandon etc..And the furniture in room can be understood as fixing
The barrier of placement.Fig. 3 is the cleaning traveling map schematic diagram according to an exemplary embodiment, as shown in figure 3, when one
There are lines on square frame, then it represents that sweeping robot passes through the corresponding region of the square frame, based on this, the lines shown in Fig. 3 are to sweep
The whole travel track of floor-washing robot.
In step s 102：Treat purging zone and carry out cleaning processing again, and determine to clean in processing procedure again
The positional information of barrier；
The barrier runs into for sweeping robot in processing procedure is cleaned again cleans treated relative to maximum area
Barrier in journey.During wherein sweeping robot can carry out cleaning processing again treating purging zone, record barrier
Hinder the positional information of thing；Can also treat after purging zone carries out cleaning processing again, cleaned twice by contrast
Traveling map is cleaned to determine the positional information of barrier.
In step s 103：Prompting message is sent to terminal, the prompting message includes the positional information of barrier.
The prompting message includes the positional information of the barrier.Alternatively, the prompting message is used to point out user to move away
The barrier.Fig. 4 is the interface schematic diagram according to an exemplary embodiment, as shown in figure 4, terminal shows that the prompting disappears
Breath, to point out user to move the barrier away, the region during wherein circle is enclosed is barrier region.
The embodiment of the present disclosure provides a kind of sweeping robot cleaning method, including：Treat purging zone and carry out maximum area
Cleaning is handled.Treat purging zone and carry out cleaning processing again, it is determined that cleaning the position letter of the barrier in processing procedure again
Breath.Prompting message is sent to terminal.The disclosure can determine to clean the barrier in processing procedure again by this method, so that
User removes the barrier according to prompting message, for example, can cause user removes to be placed on parlor middle ground stool by this method
Deng barrier, so as to ensure that sweeping robot can be cleaned to barrier position, and then Consumer's Experience sense is improved.
Wherein this method also includes：First drawn in maximum area cleaning processing procedure cleans traveling map.Based on this,
Step S102 includes two kinds of optional modes：
The first optional mode：Purging zone is treated according to the first cleaning traveling map and carries out cleaning processing again, and is remembered
Record cleans the positional information of the barrier in processing procedure again.
Specifically, Fig. 5 is the cleaning traveling map schematic diagram according to another exemplary embodiment, as shown in figure 5, sweeping
Floor-washing robot carries out cleaning processing according to traveling map is cleaned, when the infrared sensor in sweeping robot detects barrier
When, sweeping robot can get around the barrier, and record in traveling map is cleaned the positional information of barrier.As shown in figure 5,
Position during square frame is enclosed is barrier region.
Second of optional mode：Treat purging zone and carry out cleaning processing again, and draw progress again and clean treated
Second in journey cleans traveling map；First cleaning traveling map and the second cleaning traveling map are compared, and obtain ratio
Relatively result；Determined to clean the positional information of the barrier in processing procedure again according to comparative result.
Specifically, Fig. 6 is the cleaning traveling map comparison schematic diagram according to an exemplary embodiment, as shown in fig. 6,
Left side is the first cleaning traveling map, and right side is the second cleaning traveling map.It can determine to clean treated again by comparing
The positional information of barrier in journey.As shown in fig. 6, right side second clean traveling map in by the position in square frame circle for barrier
Hinder thing region.
Alternatively, this method also includes：When sweeping robot runs into barrier, obstacle is determined in traveling map is cleaned
Next positional information of the positional information of thing, and continue to carry out cleaning processing to the corresponding region of next positional information.Its
In, next positional information is next positional information of the positional information of the barrier on course is cleaned.
As shown in figure 5, sweeping robot gets around barrier, and according to course is cleaned, continue corresponding to next positional information
Region carries out cleaning processing.
Sometimes it is not desired to remove barrier in view of user, but sweeping robot detects the barrier and also sent out every time
Prompting message is sent, unnecessary trouble is on the one hand brought to user；On the other hand, the unnecessary work(of sweeping robot will be caused
Consumption.The embodiment of the present disclosure takes following optional mode to solve the technical problem.
Specifically, Fig. 7 is a kind of flow chart of sweeping robot cleaning method according to another exemplary embodiment,
As shown in fig. 7, this method includes：
In step s 701：Treat purging zone and carry out maximum area cleaning processing；
In step S702：Treat purging zone and carry out cleaning processing again, and determine to clean in processing procedure again
The positional information of barrier；
Wherein step S701-S702 is identical with step S101-S102, will not be repeated here.
In step S703：Count the history transmission times of the corresponding prompting message of barrier；
In step S704：Judge whether the history transmission times of the corresponding prompting message of the barrier is more than default threshold
Value；If the history transmission times of the corresponding prompting message of the barrier is more than predetermined threshold value, step S705 is performed；Otherwise, then
Perform step S706；
In step S705：Next each cleaning processing of purging zone progress is treated, the barrier pair is not sent
The prompting message answered；
Illustrated with reference to step S703 to step S705：The predetermined threshold value could be arranged to 5,10 or 20 etc., user
It can be set according to the wish of oneself.When the history transmission times of the corresponding prompting message of the barrier is more than predetermined threshold value,
Even if representing that user have received prompting message by terminal, user does not move the barrier away.In this case, sweeper
Next device people treats each cleaning processing of purging zone progress, and the corresponding prompting message of the barrier is not sent.To keep away
Exempt to bring unnecessary trouble for user；The unnecessary power consumption of sweeping robot can also be reduced simultaneously.
In view of user sometimes be probably because it is too busy the reason for all do not move barrier away many times, it is not intended that
User is not desired to move the barrier away.Therefore user can reset to the history transmission times of the corresponding prompting message of the barrier.
So sweeping robot can count the transmission times of the corresponding prompting message of the barrier again.Based on this, user can be again
It is secondary to receive prompting message, to improve Consumer's Experience sense.
In step S706：Prompting message is sent to terminal.
Illustrated with reference to step S703, S704 and step S706：When the history of the corresponding prompting message of same barrier
When transmission times is less than or equal to predetermined threshold value, in this case, sweeping robot sends prompting message to terminal.To improve
Consumer's Experience sense.
Alternatively, Fig. 8 is a kind of flow chart of sweeping robot cleaning method according to another exemplary embodiment,
As shown in figure 8, this method also includes：
In step S801：The new information that receiving terminal is sent；
The new information includes：Terminal is gone through according to the corresponding prompting message of positional information and barrier of barrier
The positional information for the long-term barrier that history transmission times is determined.For example：When positional information and barrier of the terminal according to barrier
It is default that the history transmission times of the corresponding prompting message determines that the transmission times of the corresponding prompting message of the barrier is more than
During threshold value, the obstacle tag is long-term barrier by terminal.And the positional information of the long-term barrier is carried to renewal disappeared
In breath, new information is sent to sweeping robot.
In step S802：The position for cleaning the long-term barrier in traveling map is deleted according to the new information
Information, to update the cleaning traveling map.
Sweeping robot is received after new information, and the long-term barrier cleaned in traveling map is deleted according to new information
Positional information, with update clean traveling map.Think barrier of the long-term barrier equivalent to fixed placement, represent the barrier
Thing region is hindered to be cleaned without sweeping robot.Therefore sweeping robot can be carried out according to the cleaning traveling map after renewal
Cleaning is handled, to avoid the barrier region.To improve Consumer's Experience sense.
Above-mentioned steps S801 to step S802 and either steps of the step S101 into step S103 sequencing, this public affairs
Open and be not limited.
In this way, sweeping robot for long-term barrier without recording its positional information every time, concurrently
Send prompting message.To avoid bringing unnecessary trouble for user；The unnecessary power consumption of sweeping robot can also be reduced simultaneously.
So as to improve Consumer's Experience sense.
Fig. 9 is a kind of block diagram of sweeping robot according to an exemplary embodiment.As shown in figure 9, the sweeper
Device people includes：
First processing module 901, is configured as treating purging zone progress maximum area cleaning processing.
Second processing module 902, is configured as treating purging zone and carries out cleaning processing again, and determine at cleaning again
The positional information of barrier during reason；The barrier be sweeping robot again clean processing procedure in run into relative to
Maximum area cleans the barrier in processing procedure.
Sending module 903, is configured as sending prompting message to terminal, the position that the prompting message includes barrier is believed
Breath.
Alternatively, the prompting message is used to point out user to move the barrier away.
Figure 10 is a kind of block diagram of sweeping robot according to another exemplary embodiment.As shown in Figure 10, it is optional
Ground, the sweeping robot also includes：3rd processing module 904, be configured as drawing maximum area clean in processing procedure the
One cleans traveling map.
Alternatively, Second processing module 902 is specifically configured to：Purging zone is treated according to the first cleaning traveling map again
Secondary progress cleaning processing, and record the positional information of the barrier cleaned again in processing procedure.
Alternatively, Second processing module 902 is specifically configured to：Treat purging zone and carry out cleaning processing again, and paint
System carries out the second cleaning traveling map in cleaning processing procedure again；Traveling map and second is cleaned to first and cleans traveling ground
Figure is compared, and obtains comparative result；Determine to clean the position letter of the barrier in processing procedure again according to comparative result
Breath.
Figure 11 is a kind of block diagram of sweeping robot according to another exemplary embodiment.As shown in figure 11, it is optional
Ground, the sweeping robot also includes：Fourth processing module 905, when being configured as sweeping robot and running into barrier, first
The next positional information for the positional information that barrier is determined in traveling map is cleaned, and is continued to next positional information correspondence
Region carry out cleaning processing；Wherein, next positional information is the positional information of barrier in the case where cleaning in course
One positional information.
Figure 12 is a kind of block diagram of sweeping robot according to further example embodiment.As shown in figure 12, it is optional
Ground, the sweeping robot also includes：Statistical module 906, the history for being configured as counting the corresponding prompting message of barrier is sent
Number of times；Sending module 903, is specifically configured to when the history transmission times of the corresponding prompting message of barrier is less than or equal to
During predetermined threshold value, prompting message is sent to terminal.
Figure 13 is a kind of block diagram of sweeping robot according to another exemplary embodiment.As shown in figure 13, it is optional
Ground, the sweeping robot also includes：Receiving module 907, is configured as receiving the new information that the terminal is sent, the renewal
Message includes：The terminal is according to the positional information of the barrier and going through for the corresponding prompting message of the barrier
The positional information for the long-term barrier that history transmission times is determined；Update module 908, is configured as being deleted according to the new information
The positional information for cleaning the long-term barrier in traveling map, to update the cleaning traveling map.
The embodiment of the present disclosure provides a kind of sweeping robot, and the wherein sweeping robot is used to perform above method embodiment
Correspondence step, corresponding content and effect will not be repeated here.
Figure 14 is a kind of block diagram of sweeping robot according to an exemplary embodiment.As shown in figure 14, this is swept the floor
Robot includes：Processor 1401, transmitter 1402 and for the memory for the executable instruction for storing the processor 1401
1403；Wherein, the processor 1401 is configured as：Treat purging zone and carry out maximum area cleaning processing；Treat clear to described
Sweep region and carry out cleaning processing again, and determine to clean the positional information of the barrier in processing procedure again；The barrier
Run into and cleaned relative to the maximum area in processing procedure in the processing procedure of cleaning again for the sweeping robot
Barrier；The transmitter 1402, is configured as sending prompting message to terminal, the prompting message includes the barrier
Positional information.
Alternatively, the processor 1401, be additionally configured to draw in maximum area cleaning processing procedure first cleans row
Enter map.
Alternatively, the processor 1401, is specifically configured to：Purging zone is treated according to the first cleaning traveling map again
Cleaning processing is carried out, and records the positional information of the barrier cleaned again in processing procedure.
Alternatively, the processor 1401, is specifically configured to：Treat purging zone and carry out cleaning processing again, and draw
Second carried out again in cleaning processing procedure cleans traveling map；Traveling map and second is cleaned to first and cleans traveling map
It is compared, and obtains comparative result；Determined to clean the positional information of the barrier in processing procedure again according to comparative result.
Alternatively, the processor 1401, is additionally configured to when sweeping robot runs into barrier, cleans and advances first
Next positional information of the positional information of barrier is determined in map, and continues to enter the corresponding region of next positional information
Row cleaning is handled；Wherein, next positional information is next position of the positional information of barrier on course is cleaned
Information.
Alternatively, the processor 1401, is additionally configured to count the history transmission times of the corresponding prompting message of barrier；
Transmitter 1402, is specifically configured to when the history transmission times of the corresponding prompting message of barrier is less than or equal to default threshold
During value, prompting message is sent to terminal.
Further, Figure 15 is a kind of block diagram of sweeping robot according to another exemplary embodiment.Such as Figure 15
Shown, alternatively, the sweeping robot also includes：Receiver 1404, is configured as receiving the new information that the terminal is sent,
The new information includes：The terminal is according to the corresponding prompting of positional information and the barrier of the barrier
The positional information for the long-term barrier that the history transmission times of message is determined；Processor 1401 is additionally configured to be updated according to described
Message deletes the positional information for cleaning the long-term barrier in traveling map, to update the cleaning traveling map.
The embodiment of the present disclosure provides a kind of sweeping robot, and the wherein sweeping robot is used to perform above method embodiment
Correspondence step, corresponding content and effect will not be repeated here.
Those skilled in the art will readily occur to its of the disclosure after considering specification and putting into practice invention disclosed herein
Its embodiment.The application is intended to any modification, purposes or the adaptations of the disclosure, these modifications, purposes or
Person's adaptations follow the general principle of the disclosure and including the undocumented common knowledge in the art of the disclosure
Or conventional techniques.Description and embodiments are considered only as exemplary, and the true scope of the disclosure and spirit are by following
Claims are pointed out.
It should be appreciated that the precision architecture that the disclosure is not limited to be described above and is shown in the drawings, and
And various modifications and changes can be being carried out without departing from the scope.The scope of the present disclosure is only limited by appended claims
System.
Claims (17)
1. a kind of sweeping robot cleaning method, it is characterised in that including：
Treat purging zone and carry out maximum area cleaning processing；
Carry out cleaning processing again to the region to be cleaned, and determine to clean the position letter of the barrier in processing procedure again
Breath；The barrier runs into clear relative to the maximum area for the sweeping robot in the processing procedure of cleaning again
Sweep the barrier in processing procedure；
Prompting message is sent to terminal, the prompting message includes the positional information of the barrier.
2. according to the method described in claim 1, it is characterised in that also include：
First drawn in the maximum area cleaning processing procedure cleans traveling map.
3. method according to claim 2, it is characterised in that described to be carried out again at cleaning to the region to be cleaned
Reason, and determine to clean the positional information of the barrier in processing procedure again, including：
Cleaning processing is carried out again to the region to be cleaned according to the described first cleaning traveling map, and it is clear again described in record
Sweep the positional information of the barrier in processing procedure.
4. method according to claim 2, it is characterised in that described to be carried out again at cleaning to the region to be cleaned
Reason, and determine to clean the positional information of the barrier in processing procedure again, including：
Carry out cleaning processing again to the region to be cleaned, and draw second clear in the cleaning processing procedure of progress again
Sweep traveling map；
Described first cleaning traveling map and the second cleaning traveling map are compared, and obtain comparative result；
Determined to clean the positional information of the barrier in processing procedure again according to the comparative result.
5. the method according to claim any one of 1-4, it is characterised in that also include：
When the sweeping robot runs into the barrier, the barrier is determined in the described first cleaning traveling map
Next positional information of positional information, and continue to carry out cleaning processing to the corresponding region of the next positional information；
Wherein, next positional information is next position of the positional information of the barrier on course is cleaned
Information.
6. the method according to claim any one of 1-4, it is characterised in that described to send prompting message to terminal, including：
Count the history transmission times of the corresponding prompting message of the barrier；
When the history transmission times of the corresponding prompting message of the barrier is less than or equal to predetermined threshold value, to described
Terminal sends the prompting message.
7. method according to claim 6, it is characterised in that also include：
The new information that the terminal is sent is received, the new information includes：The terminal is according to the position of the barrier
The positional information for the long-term barrier that information and the history transmission times of the corresponding prompting message of the barrier are determined；
The positional information for cleaning the long-term barrier in traveling map is deleted according to the new information, to update
State cleaning traveling map.
8. the method according to claim any one of 1-4, it is characterised in that the prompting message is used to point out user to move away
The barrier.
9. a kind of sweeping robot, it is characterised in that including：
First processing module, is configured as treating purging zone progress maximum area cleaning processing；
Second processing module, is configured as carrying out the region to be cleaned again cleaning processing, and determines that cleaning again is handled
During barrier positional information；The barrier is that the sweeping robot is met in the processing procedure of cleaning again
To the barrier cleaned relative to the maximum area in processing procedure；
Sending module, is configured as sending prompting message to terminal, the prompting message includes the positional information of the barrier.
10. sweeping robot according to claim 9, it is characterised in that also include：
3rd processing module, be configured as drawing in the maximum area cleaning processing procedure first cleans traveling map.
11. sweeping robot according to claim 10, it is characterised in that the Second processing module is specifically configured
For：
Cleaning processing is carried out again to the region to be cleaned according to the described first cleaning traveling map, and it is clear again described in record
Sweep the positional information of the barrier in processing procedure.
12. sweeping robot according to claim 10, it is characterised in that the Second processing module is specifically configured
For：
Carry out cleaning processing again to the region to be cleaned, and draw second clear in the cleaning processing procedure of progress again
Sweep traveling map；
Described first cleaning traveling map and the second cleaning traveling map are compared, and obtain comparative result；
Determined to clean the positional information of the barrier in processing procedure again according to the comparative result.
13. the sweeping robot according to claim any one of 9-12, it is characterised in that also include：
Fourth processing module, when being configured as the sweeping robot and running into the barrier, cleans described first and advances
Next positional information of the positional information of the barrier is determined in map, and is continued to next positional information correspondence
Region carry out cleaning processing；
Wherein, next positional information is next position of the positional information of the barrier on course is cleaned
Information.
14. the sweeping robot according to claim any one of 9-12, it is characterised in that also include：
Statistical module, is configured as counting the history transmission times of the corresponding prompting message of the barrier；
The sending module, is specifically configured to when the history transmission times of the corresponding prompting message of the barrier is less than
Or during equal to predetermined threshold value, the prompting message is sent to the terminal.
15. sweeping robot according to claim 14, it is characterised in that also include：
Receiving module, is configured as receiving the new information that the terminal is sent, the new information includes：The terminal according to
It is long-term that the positional information of the barrier and the history transmission times of the corresponding prompting message of the barrier are determined
The positional information of barrier；
Update module, the long-term barrier for being configured as being deleted according to the new information in the cleaning traveling map
Positional information, to update the cleaning traveling map.
16. the sweeping robot according to claim any one of 9-12, it is characterised in that the prompting message is used to point out
User moves the barrier away.
17. a kind of sweeping robot, it is characterised in that the sweeping robot includes：
Processor and transmitter；
For the memory for the executable instruction for storing the processor；
Wherein, the processor is configured as：
Treat purging zone and carry out maximum area cleaning processing；
Carry out cleaning processing again to the region to be cleaned, and determine to clean the position letter of the barrier in processing procedure again
Breath；The barrier runs into clear relative to the maximum area for the sweeping robot in the processing procedure of cleaning again
Sweep the barrier in processing procedure；
The transmitter, is configured as sending prompting message to terminal, the position that the prompting message includes the barrier is believed
Breath.
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| CN201710335624.2A CN106983454B (en) | 2017-05-12 | 2017-05-12 | Sweeping robot sweeping method and sweeping robot |
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| CN201710335624.2A CN106983454B (en) | 2017-05-12 | 2017-05-12 | Sweeping robot sweeping method and sweeping robot |
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