CN107898377A - A kind of curtain method for cleaning and system - Google Patents
A kind of curtain method for cleaning and system Download PDFInfo
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- CN107898377A CN107898377A CN201710884251.4A CN201710884251A CN107898377A CN 107898377 A CN107898377 A CN 107898377A CN 201710884251 A CN201710884251 A CN 201710884251A CN 107898377 A CN107898377 A CN 107898377A
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L4/00—Cleaning window shades, window screens, venetian blinds
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L4/00—Cleaning window shades, window screens, venetian blinds
- A47L4/04—Accessories facilitating cleaning, e.g. venetian blind separators, spreaders, or cleaning racks
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
- B25J11/008—Manipulators for service tasks
- B25J11/0085—Cleaning
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06Q—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES; SYSTEMS OR METHODS SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES, NOT OTHERWISE PROVIDED FOR
- G06Q10/00—Administration; Management
- G06Q10/04—Forecasting or optimisation specially adapted for administrative or management purposes, e.g. linear programming or "cutting stock problem"
- G06Q10/047—Optimisation of routes or paths, e.g. travelling salesman problem
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L2201/00—Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- 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
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- General Business, Economics & Management (AREA)
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- Mechanical Engineering (AREA)
- Electric Vacuum Cleaner (AREA)
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Abstract
The present invention is suitable for intelligent robot technology field, there is provided a kind of curtain method for cleaning and system.This method includes：Terminal generates the isometric view of curtain, when detecting the operation in user setting cleaning path, the cleaning path of cleaning robot is set in isometric view, and send liquidation procedures execute instruction to cleaning machine human hair according to curtain size input by user；Clear up the isometric view, preset scaling and cleaning path of curtain of the robot in liquidation procedures execute instruction, and according to pre-set path planning algorithm, mobile route of the generation cleaning robot on curtain, start cleaning plant, moved according to mobile route on curtain and perform clean-up task.Compared to the prior art, the cleaning robot in the present invention can be moved flexibly on curtain, and can perform clean-up task, solved the problem of mobile robot function of the prior art is single, and purposes is limited to, improved product stickiness.
Description
Technical field
The invention belongs to intelligent robot technology field, more particularly to a kind of curtain method for cleaning and system.
Background technology
Robot is to automatically control being commonly called as machine (Robot), automatically control machine include all simulation human behaviors or
Thought and the machinery (such as robot dog, Doraemon etc.) of simulation other biological.The definition to robot also has many classification in the narrow sense
Method and dispute, also referred to as some computer programs or even robot.In contemporary industry, robot refers to energy automated execution task
Man-made machine device, to substitute or assist human work.
As the continuous development of science and technology, the purposes of robot are also more and more extensive.In existing robot, some can be certainly
By moving, but these mobile robots only have locomotive function mostly, and function is single, and purposes has limitation.
The content of the invention
The present invention provides a kind of curtain method for cleaning and system, it is intended to and it is single to solve existing mobile robot function,
The problem of purposes is limited to.
A kind of curtain method for cleaning provided by the invention, including：
Terminal zooms in and out the curtain size by preset scaling, generates according to curtain size input by user
The isometric view of the curtain；
When detecting the operation in user setting cleaning path, terminal sets in the isometric view and can be moved up in curtain
The cleaning path of dynamic cleaning robot, and send liquidation procedures execute instruction, the liquidation procedures to the cleaning machine human hair
Execute instruction includes the isometric view, the preset scaling and the cleaning path of the curtain, the cleaning path
Starting point be currently located at position in the corresponding isometric view in position in the curtain for the cleaning robot；
After the liquidation procedures execute instruction that the terminal is sent is received, the cleaning robot is according to the cleaning journey
The isometric view of the curtain in sequence execute instruction, the preset scaling and the cleaning path, and according to preset road
Footpath planning algorithm, generates mobile route of the cleaning robot on the curtain；
The cleaning robot starts cleaning plant, is moved according to the mobile route on the curtain and performs cleaning
Task.
A kind of curtain cleaning system provided by the invention, the system comprises：
Terminal and the cleaning robot that can be moved on curtain；
The cleaning robot includes mobile unit, direction controlling motor, connector, pitching motor, cleaning plant and puts down
Plate, the tablet include main control unit and power supply unit；
The mobile unit includes left pinch wheels, right pinch wheels, left driving motor, right driving motor and connection tablet, institute
State left pinch wheels and the right pinch wheels are tangent, the left driving motor is used to drive the left pinch wheels, the right driving electricity
Machine is used to drive the right pinch wheels, the rotation that the mobile unit passes through the tangent left pinch wheels Yu the right pinch wheels
The curtain is gripped, to drive the cleaning robot to be moved on the curtain；
The mobile unit is rotatably connected by the connection tablet with the direction controlling motor, the direction controlling
Motor is rotatably connected with the pitching motor by the connector, and the pitching motor is fixedly connected with the tablet, institute
Cleaning plant is stated to be fixedly connected with the tablet；
Terminal zooms in and out the curtain size by preset scaling, generates according to curtain size input by user
The isometric view of the curtain；
When detecting the operation in user setting cleaning path, terminal sets cleaning robot in the isometric view
Path is cleared up, and liquidation procedures execute instruction is sent to the cleaning machine human hair, the liquidation procedures execute instruction includes institute
The isometric view, the preset scaling and the cleaning path of curtain are stated, the starting point in the cleaning path is the cleaning
Robot is currently located at the position in the corresponding isometric view in position in the curtain；
After the liquidation procedures execute instruction that the terminal is sent is received, the main control unit root in the cleaning robot
According to the isometric view of the curtain in the liquidation procedures execute instruction, the preset scaling and the cleaning path,
And according to pre-set path planning algorithm, generate mobile route of the cleaning robot on the curtain；
The cleaning robot starts cleaning plant, is moved according to the mobile route on the curtain and performs cleaning
Task.
Curtain method for cleaning provided by the invention and system, terminal is according to curtain size input by user, by preset scaling
Ratio zooms in and out curtain size, generates the isometric view of curtain, when detecting the operation in user setting cleaning path,
The cleaning path for the cleaning robot that can be moved on curtain is set in isometric view, and liquidation procedures is sent to cleaning machine human hair
Execute instruction, liquidation procedures execute instruction include the isometric view, preset scaling and cleaning path of curtain, clear up path
Starting point be currently located at position in the corresponding isometric view in position in curtain for cleaning robot；When receive terminal transmission
After liquidation procedures execute instruction, isometric view, the preset scaling of curtain of the cleaning robot in liquidation procedures execute instruction
Ratio and cleaning path, and according to pre-set path planning algorithm, mobile route of the generation cleaning robot on curtain, starts clear
Device is managed, is moved according to mobile route on curtain and performs clean-up task, compared to the prior art, the descaling machine in the present invention
Device people can flexibly move on curtain, and can perform clean-up task, solve mobile robot work(of the prior art
The problem of energy is single, and purposes is limited to, improves product stickiness.
Brief description of the drawings
In order to illustrate more clearly about the embodiment of the present invention or technical scheme of the prior art, below will be to embodiment or existing
There is attached drawing needed in technology description to be briefly described, it should be apparent that, drawings in the following description are only this
Some embodiments of invention.
Fig. 1 is that the curtain method for cleaning that first embodiment of the invention provides realizes flow diagram；
Fig. 2 is that the curtain method for cleaning that second embodiment of the invention provides realizes flow diagram；
Fig. 3 is the present invention the 3rd, the structure diagram of the curtain cleaning system of fourth embodiment offer；
Fig. 4 is the structure diagram that robot is cleared up in the present invention the 3rd, the curtain cleaning system of fourth embodiment offer；
Fig. 5 is to clear up robot in the present invention the 3rd, the curtain cleaning system of fourth embodiment offer to adjust curtain material
The schematic diagram of clamping amount.
Embodiment
Goal of the invention, feature, advantage to enable the present invention is more obvious and understandable, below in conjunction with the present invention
Attached drawing in embodiment, is clearly and completely described the technical solution in the embodiment of the present invention, it is clear that described reality
It is only part of the embodiment of the present invention to apply example, and not all embodiments.Based on the embodiments of the present invention, people in the art
Member's all other embodiments obtained without making creative work, belong to the scope of protection of the invention.
Referring to Fig. 1, the curtain method for cleaning that Fig. 1 provides for first embodiment of the invention realizes flow diagram, Fig. 1
Shown curtain method for cleaning, mainly includes the following steps that：
S101, terminal zoom in and out curtain size by preset scaling, generate according to curtain size input by user
The isometric view of curtain；
After user determines the curtain for needing to clear up, by the size input terminal of curtain for clearance.Terminal presses the user
After the size of input draws out the isometric view of curtain, curtain size is zoomed in and out according still further to preset scaling, from
And generate the isometric view of certain scaling.Here isometric view is obtained by scaling, is for the ease of displayed on the terminals
The isometric view.If it should be understood that preset scaling is arranged to 1, the isometric view generated is isometric view.
S102, when detect user setting cleaning path operation when, terminal is set in isometric view can be on curtain
The cleaning path of mobile cleaning robot, and send liquidation procedures execute instruction to cleaning machine human hair；
Wherein, liquidation procedures execute instruction includes the isometric view, preset scaling and cleaning path of curtain.
The starting point in cleaning path is currently located at the position in the corresponding isometric view in position in curtain for cleaning robot.Tool
Body, when needing to clear up curtain, user is placed on a position of curtain by robot is cleared up, and is marked in isometric view
Initial position can generally be selected at this square one to be square by starting point of this position as cleaning path, most of curtain
On angle.
It is possible to further which the terminal for clearing up path to be arranged on to the position in the corresponding isometric view of marginal position of curtain
Put, can be specifically on an angle of curtain.After cleaning robot is completed liquidation procedures, the side of curtain can be rested on
Edge, even if the robot is not taken away at once, will not influence the beauty of curtain.
S103, when receive terminal transmission liquidation procedures execute instruction after, cleaning robot performed according to liquidation procedures
The isometric view of curtain in instruction, preset scaling and cleaning path, and according to pre-set path planning algorithm, generation cleaning
Mobile route of the robot on curtain；
Specifically, isometric view obtains after isometric view is zoomed in and out by preset scaling.Ratio is regarded
Figure is reduced by preset scaling, obtains the isometric view of curtain, and at the same time press the cleaning path in isometric view
Preset scaling is reduced, and the obtained path on isometric view is the mobile road for clearing up robot on curtain
Footpath.
Further, when the shape of the curtain is rectangle, the starting point for clearing up path can be set to a left side for the curtain
Inferior horn.
Mobile route is that cleaning robot is moved since the lower left corner of curtain to surface, and it is backward to reach blind head
Right translation, the distance of translation are cleared up robot to clear up the width that robot once clears up, after the completion of translation and are moved to underface,
The width once cleared up to right translation cleaning robot behind curtain bottom is reached, continues to move to surface after the completion of translation, presses
This rule moves and performs clean-up task always, until stopping after complete curtain of cleaning.If last time translation descaling machine
The width that device people once clears up, the cleaning robot may be because beyond the scope of curtain drop when, will be according to ratio
The distance of view computation last time translation, after the completion of last time is translated and is moved to surface or underface, Neng Gouqing
Complete curtain of reason, and the robot will not drop from curtain.
S104, cleaning robot start cleaning plant, are moved according to mobile route on curtain and perform clean-up task.
Curtain method for cleaning provided in this embodiment, terminal is according to curtain size input by user, by preset scaling
Curtain size is zoomed in and out, generates the isometric view of curtain, when detecting the operation in user setting cleaning path, in ratio
The cleaning path for the cleaning robot that can be moved on curtain is set in view, and send liquidation procedures to perform to cleaning machine human hair
Instruction, liquidation procedures execute instruction include the isometric view, preset scaling and cleaning path of curtain, clear up rising for path
Point is currently located at the position in the corresponding isometric view in position in curtain for cleaning robot；When the cleaning for receiving terminal transmission
After program execute instruction, isometric view, the preset scaling of curtain of the cleaning robot in liquidation procedures execute instruction
And cleaning path, and according to pre-set path planning algorithm, mobile route of the generation cleaning robot on curtain, starts cleaning dress
Put, moved according to mobile route on curtain and perform clean-up task, compared to the prior art, the cleaning robot in the present invention
It can flexibly be moved on curtain, and clean-up task can be performed, solve mobile robot function list of the prior art
One, purposes limit to the problem of, improve product stickiness.
Referring to Fig. 2, the curtain method for cleaning that Fig. 2 provides for second embodiment of the invention realizes flow diagram, Fig. 2
Shown curtain method for cleaning, mainly includes the following steps that：
S201, terminal zoom in and out curtain size by preset scaling, generate according to curtain size input by user
The isometric view of curtain；
After user determines the curtain for needing to clear up, by the size input terminal of curtain for clearance.Terminal presses the user
After the size of input draws out the isometric view of curtain, curtain size is zoomed in and out according still further to preset scaling, from
And generate the isometric view of certain scaling.Here isometric view is obtained by scaling, is for the ease of displayed on the terminals
The isometric view.If it should be understood that preset scaling is arranged to 1, the isometric view generated is isometric view.
For example, curtain size input by user is long 5 meters, high 3 meters of rectangle, when preset scaling is 0.1, then generate
The isometric view of curtain is long 50 centimetres, high 30 centimetres of rectangle.
S202, terminal do not clean duration and/or the dirty degree of curtain according to the curtain of user setting, generate corresponding target
Cleaning intensity；
The cleaning intensity of cleaning plant is divided into different brackets in advance, and it is corresponding for the cleaning intensity setting of each grade
Curtain does not clean duration and/or the dirty degree of curtain.When user setting curtain does not clean duration and/or the dirty degree of curtain,
The matched cleaning intensity of terminal searches, and using the matched cleaning intensity as target cleaning intensity.
S203, when detect user setting cleaning path operation when, terminal is set in isometric view can be on curtain
The cleaning path of mobile cleaning robot, and send liquidation procedures execute instruction to cleaning machine human hair；
Wherein, liquidation procedures execute instruction includes isometric view, preset scaling, cleaning path and the target of curtain
Cleaning intensity.
The starting point in cleaning path is currently located at the position in the corresponding isometric view in position in curtain for cleaning robot.Tool
Body, when needing to clear up curtain, user is placed on a position of curtain by robot is cleared up, and is marked in isometric view
Initial position can generally be selected at this square one to be square by starting point of this position as cleaning path, most of curtain
On angle.
It is possible to further which the terminal for clearing up path to be arranged on to the position in the corresponding isometric view of marginal position of curtain
Put, can be specifically on an angle of curtain.After cleaning robot is completed liquidation procedures, the side of curtain can be rested on
Edge, even if the robot is not taken away at once, will not influence the beauty of curtain.
S204, when receive terminal transmission liquidation procedures execute instruction after, cleaning robot performed according to liquidation procedures
The isometric view of curtain in instruction, preset scaling and cleaning path, and according to pre-set path planning algorithm, generation cleaning
Mobile route of the robot on curtain；
Specifically, isometric view obtains after isometric view is zoomed in and out by preset scaling.Ratio is regarded
Figure is reduced by preset scaling, obtains the isometric view of curtain, and at the same time press the cleaning path in isometric view
Preset scaling is reduced, and the obtained path on isometric view is the mobile road for clearing up robot on curtain
Footpath.
Further, when the shape of the curtain is rectangle, the starting point for clearing up path can be set to a left side for the curtain
Inferior horn.
Mobile route is that cleaning robot is moved since the lower left corner of curtain to surface, and it is backward to reach blind head
Right translation, the distance of translation are cleared up robot to clear up the width that robot once clears up, after the completion of translation and are moved to underface,
The width once cleared up to right translation cleaning robot behind curtain bottom is reached, continues to move to surface after the completion of translation, presses
This rule moves and performs clean-up task always, until stopping after complete curtain of cleaning.If last time translation descaling machine
The width that device people once clears up, the cleaning robot may be because beyond the scope of curtain drop when, will be according to ratio
The distance of view computation last time translation, after the completion of last time is translated and is moved to surface or underface, Neng Gouqing
Complete curtain of reason, and the robot will not drop from curtain.
S205, cleaning robot start cleaning plant and adjust the dynamics of cleaning plant to target cleaning intensity, according to
Mobile route, curtain is gripped by the rotation of tangent left pinch wheels and right pinch wheels, with driving cleaning robot on curtain
Move and perform clean-up task；
S206, cleaning machine life are sent to terminal into real-time cleaning status information, and by real-time cleaning status information.
The real-time cleaning status information includes the current cleanup area of cleaning robot, the currently dust quantity currently obtained, electricity
One or more in amount, for allowing users in real time understand by terminal the working condition of cleaning robot.
Curtain method for cleaning provided in this embodiment, terminal is according to curtain size input by user, by preset scaling
Curtain size is zoomed in and out, generates the isometric view of curtain, when detecting the operation in user setting cleaning path, in ratio
The cleaning path for the cleaning robot that can be moved on curtain is set in view, and send liquidation procedures to perform to cleaning machine human hair
Instruction, liquidation procedures execute instruction include the isometric view, preset scaling and cleaning path of curtain, clear up rising for path
Point is currently located at the position in the corresponding isometric view in position in curtain for cleaning robot；When the cleaning for receiving terminal transmission
After program execute instruction, isometric view, the preset scaling of curtain of the cleaning robot in liquidation procedures execute instruction
And cleaning path, and according to pre-set path planning algorithm, mobile route of the generation cleaning robot on curtain, starts cleaning dress
Put, moved according to mobile route on curtain and perform clean-up task, compared to the prior art, the cleaning robot in the present invention
It can flexibly be moved on curtain, and clean-up task can be performed, solve mobile robot function list of the prior art
One, purposes limit to the problem of, improve product stickiness.
Referring to Fig. 3, the structure diagram for the curtain cleaning system that Fig. 3, which is third embodiment of the invention, to be provided.Such as Fig. 3 institutes
Show, which includes terminal 301 and cleaning robot 302.
Terminal 301, for according to curtain size input by user, being zoomed in and out by preset scaling to curtain size,
Generate the isometric view of curtain；When detecting the operation in user setting cleaning path, cleaning machine is set in isometric view
The cleaning path of people 302, and liquidation procedures execute instruction is sent to cleaning robot 302, liquidation procedures execute instruction includes
The isometric view of curtain, preset scaling and cleaning path, the starting point for clearing up path are currently located at window for cleaning robot 302
Position in curtain in the corresponding isometric view in position.
Robot 302 is cleared up, for after the liquidation procedures execute instruction of the transmission of terminal 301 is received, passing through master control list
Isometric view, preset scaling and the cleaning path of curtain of the member in liquidation procedures execute instruction, and according to preset road
Footpath planning algorithm, mobile route of the generation cleaning robot 302 on curtain；Start cleaning plant, according to mobile route in window
Moved on curtain and perform clean-up task.
Specifically, as shown in figure 4, Fig. 4 is to clear up robot in the curtain cleaning system that third embodiment of the invention provides
302 structure diagram, as shown in figure 4, cleaning robot 302, mainly includes：Mobile unit (not indicated in figure), direction control
Motor 6, connector 7, cleaning plant 8, pitching motor 9 and tablet 10 processed.Wherein, tablet 10 includes main control unit and for Denso
Put.
Mobile unit includes left pinch wheels 1, right pinch wheels 2, connection tablet 3, left driving motor 4 and right driving motor 5, left
Pinch wheels 1 and right pinch wheels 2 are tangent, and left driving motor 4 is used to drive left pinch wheels 1, and right driving motor 5 is used to drive right clamping
Wheel 2, mobile unit grip curtain by the rotation of tangent left pinch wheels 1 and right pinch wheels 2, with driving cleaning robot in window
Moved on curtain.
The mobile unit is rotatably connected by connecting tablet 3 with direction controlling motor 6, direction controlling motor 6 and pitching
Motor 9 is rotatably connected by connector 7, and pitching motor 9 is fixedly connected with tablet 10, and cleaning plant 8 is fixed with tablet 10 to be connected
Connect.
Left pinch wheels 1 move ahead with the inwardly rotation at the same time of right pinch wheels 2, cleaning robot；Left pinch wheels 1 and right pinch wheels 2
Outwards rotation at the same time, cleaning robot retreat.Cleaning robot adjusts left pinch wheels 1 and right pinch wheels 2 by pitching motor 9
Clamping amount number, when the curtain material clamped is more, pitching motor 9 controls afterbody tablet 10 to tilt, and clears up robot
When moving on, the clamping amount of curtain material will be reduced, such as Fig. 5 left figures；When the cleaning left pinch wheels 1 of robot and right pinch wheels
When 2 curtain materials clamped are less, pitching motor 9 controls afterbody tablet 10 to arch, and cleaning robot is when moving on, curtain
The clamping amount of material will increase, such as Fig. 5 right figures.The curtain clamped is made by the rotating Vortex of left pinch wheels 1 and right pinch wheels 2
The fold direction of material changes, so as to change the direction of cleaning robot pinch wheels, coordinates and is driven with direction controlling motor 6
Tail swing, realizes the change of the direction of motion of cleaning robot.
Above-mentioned each element realizes the detailed process of its respective function, refers to the curtain cleaning that above-mentioned first embodiment provides
The related content of method, details are not described herein again.
Curtain provided in this embodiment clears up system, and terminal is according to curtain size input by user, by preset scaling
Curtain size is zoomed in and out, generates the isometric view of curtain, when detecting the operation in user setting cleaning path, in ratio
The cleaning path for the cleaning robot that can be moved on curtain is set in view, and send liquidation procedures to perform to cleaning machine human hair
Instruction, liquidation procedures execute instruction include the isometric view, preset scaling and cleaning path of curtain, clear up rising for path
Point is currently located at the position in the corresponding isometric view in position in curtain for cleaning robot；When the cleaning for receiving terminal transmission
After program execute instruction, isometric view, the preset scaling of curtain of the cleaning robot in liquidation procedures execute instruction
And cleaning path, and according to pre-set path planning algorithm, mobile route of the generation cleaning robot on curtain, starts cleaning dress
Put, moved according to mobile route on curtain and perform clean-up task, compared to the prior art, the cleaning robot in the present invention
It can flexibly be moved on curtain, and clean-up task can be performed, solve mobile robot function list of the prior art
One, purposes limit to the problem of, improve product stickiness.
Referring still to Fig. 3, the structure diagram of the curtain cleaning system provided for fourth embodiment of the invention.As shown in figure 3,
The system includes terminal 301 and cleaning robot 302.
Terminal 301, for according to curtain size input by user, being zoomed in and out by preset scaling to curtain size,
Generate the isometric view of curtain；When detecting the operation in user setting cleaning path, cleaning machine is set in isometric view
The cleaning path of people 302, the position terminal for clearing up path being arranged in the corresponding isometric view of marginal position of curtain, root
Duration and/or the dirty degree of curtain are not cleaned according to the curtain of user setting, generate corresponding target cleaning intensity, and to descaling machine
Device people 302 sends liquidation procedures execute instruction, and liquidation procedures execute instruction includes the isometric view of curtain, preset scaling
And cleaning path, the starting point for clearing up path are the position that cleaning robot is currently located in the corresponding isometric view in position in curtain
Put.
Robot 302 is cleared up, for after the liquidation procedures execute instruction of the transmission of terminal 301 is received, passing through master control list
Isometric view, preset scaling and the cleaning path of curtain of the member in liquidation procedures execute instruction, and according to preset road
Footpath planning algorithm, mobile route of the generation cleaning robot on curtain；Start cleaning plant and by the dynamics tune of cleaning plant
Section moves on curtain according to mobile route to target cleaning intensity and performs clean-up task.
Robot 302 is cleared up, is additionally operable to generate cleaning status information in real time, and real-time cleaning status information is sent to end
End, clearing up status information in real time includes clearing up one in the current cleanup area of robot, the dust quantity currently obtained, current electric quantity
Kind is a variety of.
Specifically, as shown in figure 4, Fig. 4 is to clear up robot in the curtain cleaning system that fourth embodiment of the invention provides
302 structure diagram, as shown in figure 4, cleaning robot 302, mainly includes：Mobile unit (not indicated in figure), direction control
Motor 6, connector 7, cleaning plant 8, pitching motor 9 and tablet 10 processed.Wherein, tablet 10 includes main control unit and for Denso
Put.
Mobile unit includes left pinch wheels 1, right pinch wheels 2, connection tablet 3, left driving motor 4 and right driving motor 5, left
Pinch wheels 1 and right pinch wheels 2 are tangent, and left driving motor 4 is used to drive left pinch wheels 1, and right driving motor 5 is used to drive right clamping
Wheel 2, mobile unit grip curtain by the rotation of tangent left pinch wheels 1 and right pinch wheels 2, with driving cleaning robot in window
Moved on curtain.
The mobile unit is rotatably connected by connecting tablet 3 with direction controlling motor 6, direction controlling motor 6 and pitching
Motor 9 is rotatably connected by connector 7, and pitching motor 9 is fixedly connected with tablet 10, and cleaning plant 8 is fixed with tablet 10 to be connected
Connect.
Left pinch wheels 1 move ahead with the inwardly rotation at the same time of right pinch wheels 2, cleaning robot；Left pinch wheels 1 and right pinch wheels 2
Outwards rotation at the same time, cleaning robot retreat.Cleaning robot adjusts left pinch wheels 1 and right pinch wheels 2 by pitching motor 9
Clamping amount number, when the curtain material clamped is more, pitching motor 9 controls afterbody tablet 10 to tilt, and clears up robot
When moving on, the clamping amount of curtain material will be reduced, such as Fig. 5 left figures；When the cleaning left pinch wheels 1 of robot and right pinch wheels
When 2 curtain materials clamped are less, pitching motor 9 controls afterbody tablet 10 to arch, and cleaning robot is when moving on, curtain
The clamping amount of material will increase, such as Fig. 5 right figures.The curtain clamped is made by the rotating Vortex of left pinch wheels 1 and right pinch wheels 2
The fold direction of material changes, so as to change the direction of cleaning robot pinch wheels, coordinates and is driven with direction controlling motor 6
Tail swing, realizes the change of the direction of motion of cleaning robot.
Above-mentioned each element realizes the detailed process of its respective function, refers to the curtain cleaning that above-mentioned second embodiment provides
The related content of method, details are not described herein again.
Curtain provided in this embodiment clears up system, and terminal is according to curtain size input by user, by preset scaling
Curtain size is zoomed in and out, generates the isometric view of curtain, when detecting the operation in user setting cleaning path, in ratio
The cleaning path for the cleaning robot that can be moved on curtain is set in view, and send liquidation procedures to perform to cleaning machine human hair
Instruction, liquidation procedures execute instruction include the isometric view, preset scaling and cleaning path of curtain, clear up rising for path
Point is currently located at the position in the corresponding isometric view in position in curtain for cleaning robot；When the cleaning for receiving terminal transmission
After program execute instruction, isometric view, the preset scaling of curtain of the cleaning robot in liquidation procedures execute instruction
And cleaning path, and according to pre-set path planning algorithm, mobile route of the generation cleaning robot on curtain, starts cleaning dress
Put, moved according to mobile route on curtain and perform clean-up task, compared to the prior art, the cleaning robot in the present invention
It can flexibly be moved on curtain, and clean-up task can be performed, solve mobile robot function list of the prior art
One, purposes limit to the problem of, improve product stickiness.
In multiple embodiments provided herein, it should be understood that disclosed system and method, can pass through it
Its mode is realized.For example, device embodiment described above is only schematical, for example, the division of the module, only
Only a kind of division of logic function, can there is other dividing mode when actually realizing, such as multiple module or components can be tied
Another system is closed or is desirably integrated into, or some features can be ignored, or do not perform.It is another, it is shown or discussed
Mutual coupling or direct-coupling or communication linkage can be the INDIRECT COUPLINGs or logical by some interfaces, device or module
Letter link, can be electrical, machinery or other forms.
The module illustrated as separating component may or may not be physically separate, be shown as module
The component shown may or may not be physical module, you can with positioned at a place, or can also be distributed to multiple
On mixed-media network modules mixed-media.Some or all of module therein can be selected to realize the mesh of this embodiment scheme according to the actual needs
's.
In addition, each function module in each embodiment of the present invention can be integrated in a processing module, can also
That modules are individually physically present, can also two or more modules be integrated in a module.Above-mentioned integrated mould
Block can both be realized in the form of hardware, can also be realized in the form of software function module.
If the integrated module is realized in the form of software function module and is used as independent production marketing or use
When, it can be stored in a computer read/write memory medium.Based on such understanding, technical scheme is substantially
The part to contribute in other words to the prior art or all or part of the technical solution can be in the form of software products
Embody, which is stored in a storage medium, including some instructions are used so that a computer
Equipment (can be personal computer, server, or network equipment etc.) performs the complete of each embodiment the method for the present invention
Portion or part steps.And foregoing storage medium includes：USB flash disk, mobile hard disk, read-only storage (ROM, Read-Only
Memory), random access memory (RAM, Random Access Memory), magnetic disc or CD etc. are various can store journey
The medium of sequence code.
It should be noted that for foregoing each method embodiment, describe, therefore it is all expressed as a series of for simplicity
Combination of actions, but those skilled in the art should know, the present invention and from the limitation of described sequence of movement because
According to the present invention, some steps can use other orders or be carried out at the same time.Secondly, those skilled in the art should also know
Know, embodiment described in this description belongs to preferred embodiment, and involved action and module might not all be this hairs
Necessary to bright.
In the above-described embodiments, the description to each embodiment all emphasizes particularly on different fields, and does not have the portion being described in detail in some embodiment
Point, it may refer to the associated description of other embodiments.
It is above description to curtain method for cleaning provided by the present invention and system, for those skilled in the art,
According to the thought of the embodiment of the present invention, there will be changes in specific embodiments and applications, to sum up, this specification
Content should not be construed as limiting the invention.
Claims (10)
- A kind of 1. curtain method for cleaning, it is characterised in that the described method includes：Terminal zooms in and out the curtain size by preset scaling, described in generation according to curtain size input by user The isometric view of curtain；When detecting the operation in user setting cleaning path, terminal sets what can be moved on curtain in the isometric view The cleaning path of robot is cleared up, and liquidation procedures execute instruction is sent to the cleaning machine human hair, the liquidation procedures performs Instruction includes the isometric view, the preset scaling and the cleaning path of the curtain, and the cleaning path is risen Point is currently located at the position in the corresponding isometric view in position in the curtain for the cleaning robot；After the liquidation procedures execute instruction that the terminal is sent is received, the cleaning robot is held according to the liquidation procedures Isometric view, the preset scaling and the cleaning path of the curtain in row instruction, and advised according to pre-set path The method of calculating, generates mobile route of the cleaning robot on the curtain；The cleaning robot starts cleaning plant, is moved according to the mobile route on the curtain and performs cleaning and appointed Business.
- 2. according to the method described in claim 1, it is characterized in that, the terminal sets cleaning machine in the isometric view The cleaning path of people, including：The terminal sets the cleaning path of cleaning robot in the isometric view, and the terminal in the cleaning path is set Position in the corresponding isometric view of marginal position of the curtain.
- 3. according to the method described in claim 1, it is characterized in that, further include cleaning power in the liquidation procedures execute instruction Degree；Before then the terminal send liquidation procedures execute instruction to the cleaning machine human hair, including：The terminal does not clean duration and/or the dirty degree of curtain according to the curtain of user setting, generates corresponding target cleaning Dynamics；Then the cleaning robot starts cleaning plant, is moved according to the mobile route on the curtain and performs cleaning and appointed Business, including：The cleaning robot starts cleaning plant and adjusts the dynamics of the cleaning plant to the target cleaning intensity, presses Moved according to the mobile route on the curtain and perform clean-up task.
- 4. according to the method described in claim 1, it is characterized in that, the cleaning robot starts cleaning plant, according to described After mobile route moves on the curtain and performs clean-up task, including：The cleaning machine life is sent to the end into real-time cleaning status information, and by the status information of cleaning in real time End, dust quantity, the current electricity that the status information of cleaning in real time includes the current cleanup area for clearing up robot, currently obtains One or more in amount.
- 5. method according to any one of claims 1 to 4, it is characterised in that the cleaning robot includes tangent Left pinch wheels and right pinch wheels, the cleaning robot is moved according to the mobile route on the curtain, including：The cleaning robot is according to the mobile route, by described in the rotation gripping of tangent left pinch wheels and right pinch wheels Curtain, to drive the cleaning robot to be moved on the curtain.
- 6. a kind of curtain clears up system, it is characterised in that the system comprises：Terminal and cleaning robot；The cleaning robot includes mobile unit, direction controlling motor, connector, pitching motor, cleaning plant and tablet, institute Stating tablet includes main control unit and power supply unit；The mobile unit includes left pinch wheels, right pinch wheels, left driving motor, right driving motor and connection tablet, the left side Pinch wheels and the right pinch wheels are tangent, and the left driving motor is used to drive the left pinch wheels, and the right driving motor is used In driving the right pinch wheels, the mobile unit is gripped by the rotation of the tangent left pinch wheels Yu the right pinch wheels The curtain, to drive the cleaning robot to be moved on the curtain；The mobile unit is rotatably connected by the connection tablet with the direction controlling motor, the direction controlling motor It is rotatably connected with the pitching motor by the connector, the pitching motor is fixedly connected with the tablet, described clear Reason device is fixedly connected with the tablet；Terminal zooms in and out the curtain size by preset scaling, described in generation according to curtain size input by user The isometric view of curtain；When detecting the operation in user setting cleaning path, terminal sets the cleaning of cleaning robot in the isometric view Path, and liquidation procedures execute instruction is sent to the cleaning machine human hair, the liquidation procedures execute instruction includes the window The isometric view of curtain, the preset scaling and the cleaning path, the starting point in the cleaning path is the cleaning machine People is currently located at the position in the corresponding isometric view in position in the curtain；After the liquidation procedures execute instruction that the terminal is sent is received, the main control unit in the cleaning robot is according to institute State the isometric view, the preset scaling and the cleaning path of the curtain in liquidation procedures execute instruction, and root According to pre-set path planning algorithm, mobile route of the cleaning robot on the curtain is generated；The cleaning robot starts cleaning plant, is moved according to the mobile route on the curtain and performs cleaning and appointed Business.
- 7. system according to claim 6, it is characterised in thatThe terminal sets the cleaning path of cleaning robot in the isometric view, and the terminal in the cleaning path is set Position in the corresponding isometric view of marginal position of the curtain.
- 8. system according to claim 6, it is characterised in that further include cleaning power in the liquidation procedures execute instruction Degree；The terminal does not clean duration and/or the dirty degree of curtain according to the curtain of user setting, generates corresponding target cleaning Dynamics；The cleaning robot starts cleaning plant and adjusts the dynamics of the cleaning plant to the target cleaning intensity, presses Moved according to the mobile route on the curtain and perform clean-up task.
- 9. device according to claim 6, it is characterised in thatThe cleaning machine life is sent to the end into real-time cleaning status information, and by the status information of cleaning in real time End, dust quantity, the current electricity that the status information of cleaning in real time includes the current cleanup area for clearing up robot, currently obtains One or more in amount.
- 10. according to claim 6 to 9 any one of them system, it is characterised in thatThe cleaning robot is according to the mobile route, by described in the rotation gripping of tangent left pinch wheels and right pinch wheels Curtain, to drive the cleaning robot to be moved on the curtain.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710884251.4A CN107898377A (en) | 2017-09-26 | 2017-09-26 | A kind of curtain method for cleaning and system |
| PCT/CN2018/106622 WO2019062628A1 (en) | 2017-09-26 | 2018-09-20 | Curtain cleaning method and system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710884251.4A CN107898377A (en) | 2017-09-26 | 2017-09-26 | A kind of curtain method for cleaning and system |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN107898377A true CN107898377A (en) | 2018-04-13 |
Family
ID=61841024
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710884251.4A Pending CN107898377A (en) | 2017-09-26 | 2017-09-26 | A kind of curtain method for cleaning and system |
Country Status (2)
| Country | Link |
|---|---|
| CN (1) | CN107898377A (en) |
| WO (1) | WO2019062628A1 (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2019062628A1 (en) * | 2017-09-26 | 2019-04-04 | 中国科学院深圳先进技术研究院 | Curtain cleaning method and system |
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| WO2019062628A1 (en) | 2019-04-04 |
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