CN108614556A - Control the method, apparatus and system, floor-cleaning machine of floor-cleaning machine - Google Patents
Control the method, apparatus and system, floor-cleaning machine of floor-cleaning machine Download PDFInfo
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0246—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0255—Control of position or course in two dimensions specially adapted to land vehicles using acoustic signals, e.g. ultra-sonic singals
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
- G05D1/0278—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle using satellite positioning signals, e.g. GPS
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
- G05D1/028—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle using a RF signal
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- Automation & Control Theory (AREA)
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Abstract
The invention discloses a kind of method, apparatus and system, floor-cleaning machine of control floor-cleaning machine.Wherein, this method includes：Floor-cleaning machine obtains target route and location data；Above-mentioned floor-cleaning machine determines current mobile route according to above-mentioned location data；Above-mentioned floor-cleaning machine obtains the deviation data between above-mentioned mobile route and above-mentioned target route；Above-mentioned floor-cleaning machine is adjusted above-mentioned mobile route according to above-mentioned deviation data, and controls above-mentioned floor-cleaning machine and moved according to the mobile route after adjustment.The present invention solves the technical problem that can not effectively control floor-cleaning machine movement in the prior art.
Description
Technical field
The present invention relates to field of intelligent control, method, apparatus and system in particular to a kind of control floor-cleaning machine,
Floor-cleaning machine.
Background technology
With the proposition of " internet+" theory, smart home is more close to people’s lives.But existing floor-cleaning machine
It is intelligent there is no effectively realizing, for example, during floor-cleaning machine moves, the mobile route of floor-cleaning machine and preset shifting
It is dynamic that there are deviations.Especially during floor-cleaning machine autonomous, this deviation may be such that floor-cleaning machine deviation is set in advance
Fixed route leads to not the executing cleaning ground according to projected route of the task, greatly reduces the efficiency on cleaning ground.
For above-mentioned problem, currently no effective solution has been proposed.
Invention content
It is existing at least to solve an embodiment of the present invention provides a kind of method, apparatus and system, floor-cleaning machine of control floor-cleaning machine
The technical problem of floor-cleaning machine movement can not effectively be controlled by having in technology.
One side according to the ... of the embodiment of the present invention provides a kind of method of control floor-cleaning machine, including：Floor-cleaning machine obtains
Target route and location data；Above-mentioned floor-cleaning machine determines current mobile route according to above-mentioned location data；Above-mentioned floor-cleaning machine
Obtain the deviation data between above-mentioned mobile route and above-mentioned target route；Above-mentioned floor-cleaning machine is according to above-mentioned deviation data to above-mentioned
Mobile route is adjusted, and is controlled above-mentioned floor-cleaning machine and moved according to the mobile route after adjustment.
Further, above-mentioned location data includes at least one following：The current location of above-mentioned floor-cleaning machine, above-mentioned floor-cleaning machine
Moving direction, above-mentioned floor-cleaning machine target location；Above-mentioned floor-cleaning machine determines current mobile route according to above-mentioned location data,
Including：Above-mentioned floor-cleaning machine determines the object space residing for above-mentioned floor-cleaning machine according to above-mentioned current location and above-mentioned target location；On
It states floor-cleaning machine and obtains fence information in above-mentioned object space；Above-mentioned floor-cleaning machine is according to above-mentioned fence information and above-mentioned
The moving direction of floor-cleaning machine determines the mobile route in above-mentioned object space.
Further, above-mentioned deviation data includes at least：Deviation, above-mentioned floor-cleaning machine is according to above-mentioned deviation data to above-mentioned
Mobile route is adjusted, and is controlled above-mentioned floor-cleaning machine and moved according to the mobile route after adjustment, including：Above-mentioned floor-cleaning machine determines
Whether above-mentioned deviation is more than predetermined threshold value；If above-mentioned deviation is more than above-mentioned predetermined threshold value, above-mentioned floor-cleaning machine is worked as according to above-mentioned
Front position adjusts the moving direction of above-mentioned floor-cleaning machine；It is moved on above-mentioned target route according to the moving direction after adjustment, and edge
Above-mentioned target route movement；If above-mentioned deviation is less than or equal to above-mentioned predetermined threshold value, above-mentioned floor-cleaning machine is still moved along above-mentioned
Route moves.
Further, above-mentioned floor-cleaning machine adjusts the moving direction of above-mentioned floor-cleaning machine according to above-mentioned current location, including：It is above-mentioned
Floor-cleaning machine determines the target location on above-mentioned target route according to above-mentioned current location, wherein above-mentioned target location is above-mentioned mesh
Mark the position that the above-mentioned floor-cleaning machine of distance is nearest on route；Above-mentioned floor-cleaning machine determines between above-mentioned current location and above-mentioned target location
Direction vector；Above-mentioned floor-cleaning machine adjusts the moving direction of above-mentioned floor-cleaning machine according to above-mentioned direction vector.
Further, above-mentioned floor-cleaning machine obtains the deviation data between above-mentioned mobile route and above-mentioned target route, including：
Above-mentioned floor-cleaning machine obtains the first image corresponding with above-mentioned mobile route, and extracts the fisrt feature number in above-mentioned first image
According to；Above-mentioned floor-cleaning machine obtains the second image corresponding with above-mentioned target route, and extracts the second feature in above-mentioned second image
Data；Above-mentioned fisrt feature data and above-mentioned second feature data are compared in above-mentioned floor-cleaning machine, obtain comparison result；It is above-mentioned
Floor-cleaning machine determines the deviation data of above-mentioned mobile route and above-mentioned target route according to above-mentioned comparison result.
Another aspect according to the ... of the embodiment of the present invention additionally provides a kind of device of control floor-cleaning machine, including：First obtains
Module, for obtaining target route and location data；Determining module, for determining current movement according to above-mentioned location data
Route；Second acquisition module, for obtaining the deviation data between above-mentioned mobile route and above-mentioned target route；Control module,
For being adjusted to above-mentioned mobile route according to above-mentioned deviation data, and above-mentioned floor-cleaning machine is controlled according to the mobile road after adjustment
Line moves.
Another aspect according to the ... of the embodiment of the present invention additionally provides a kind of system of control floor-cleaning machine, including：Positioning dress
It sets, for obtaining target route and location data, and determines current mobile route according to above-mentioned location data；Processor,
It is connect with above-mentioned positioning device, for obtaining the deviation data between above-mentioned mobile route and above-mentioned target route；Controller, with
Above-mentioned processor connection, for being adjusted to above-mentioned mobile route according to above-mentioned deviation data, and controls above-mentioned floor-cleaning machine root
According to the mobile route movement after adjustment.
Another aspect according to the ... of the embodiment of the present invention additionally provides a kind of floor-cleaning machine, which is characterized in that includes at least above-mentioned
Control floor-cleaning machine system.
Another aspect according to the ... of the embodiment of the present invention, additionally provides a kind of storage medium, and above-mentioned storage medium includes storage
Program, wherein where controlling above-mentioned storage medium when above procedure is run equipment execute following functions：Floor-cleaning machine obtains mesh
Mark route and location data；Above-mentioned floor-cleaning machine determines current mobile route according to above-mentioned location data；Above-mentioned floor-cleaning machine obtains
Take the deviation data between above-mentioned mobile route and above-mentioned target route；Above-mentioned floor-cleaning machine is according to above-mentioned deviation data to above-mentioned shifting
Dynamic route is adjusted, and is controlled above-mentioned floor-cleaning machine and moved according to the mobile route after adjustment.
Another aspect according to the ... of the embodiment of the present invention additionally provides a kind of processor, and above-mentioned processor is used to run program,
Wherein, following functions are executed when above procedure is run：Floor-cleaning machine obtains target route and location data；Above-mentioned floor-cleaning machine foundation
Above-mentioned location data determines current mobile route；Above-mentioned floor-cleaning machine obtains between above-mentioned mobile route and above-mentioned target route
Deviation data；Above-mentioned floor-cleaning machine is adjusted above-mentioned mobile route according to above-mentioned deviation data, and controls above-mentioned floor-cleaning machine root
According to the mobile route movement after adjustment.
In embodiments of the present invention, target route and location data are obtained by floor-cleaning machine；Above-mentioned floor-cleaning machine is according to upper
It states location data and determines current mobile route；Above-mentioned floor-cleaning machine obtains inclined between above-mentioned mobile route and above-mentioned target route
Difference data；Above-mentioned floor-cleaning machine is adjusted above-mentioned mobile route according to above-mentioned deviation data, and control above-mentioned floor-cleaning machine according to
Mobile route movement after adjustment, has achieved the purpose that effective control floor-cleaning machine is moved according to rational mobile route, to real
The deviation reduced between mobile route and target route is showed, has improved the technique effect of cleaning surface efficiency, and then has solved existing
The technical problem of floor-cleaning machine movement can not effectively be controlled by having in technology.
Description of the drawings
Attached drawing described herein is used to provide further understanding of the present invention, and is constituted part of this application, this hair
Bright illustrative embodiments and their description are not constituted improper limitations of the present invention for explaining the present invention.In the accompanying drawings：
Fig. 1 is a kind of flow chart of the method for control floor-cleaning machine according to the ... of the embodiment of the present invention；
Fig. 2 is a kind of schematic diagram of a scenario of optional route adjustment according to the ... of the embodiment of the present invention；
Fig. 3 is the schematic diagram of a scenario of another optional route adjustment according to the ... of the embodiment of the present invention；
Fig. 4 is a kind of flow chart of the method for optional control floor-cleaning machine according to the ... of the embodiment of the present invention
Fig. 5 is a kind of structural schematic diagram of the system of control floor-cleaning machine according to the ... of the embodiment of the present invention；And
Fig. 6 is a kind of structural schematic diagram of the device of control floor-cleaning machine according to the ... of the embodiment of the present invention.
Specific implementation mode
In order to enable those skilled in the art to better understand the solution of the present invention, below in conjunction in the embodiment of the present invention
Attached drawing, technical scheme in the embodiment of the invention is clearly and completely described, it is clear that described embodiment is only
The embodiment of a part of the invention, instead of all the embodiments.Based on the embodiments of the present invention, ordinary skill people
The every other embodiment that member is obtained without making creative work should all belong to the model that the present invention protects
It encloses.
It should be noted that term " first " in description and claims of this specification and above-mentioned attached drawing, "
Two " etc. be for distinguishing similar object, without being used to describe specific sequence or precedence.It should be appreciated that using in this way
Data can be interchanged in the appropriate case, so as to the embodiment of the present invention described herein can in addition to illustrating herein or
Sequence other than those of description is implemented.In addition, term " comprising " and " having " and their any deformation, it is intended that cover
It includes to be not necessarily limited to for example, containing the process of series of steps or unit, method, system, product or equipment to cover non-exclusive
Those of clearly list step or unit, but may include not listing clearly or for these processes, method, product
Or the other steps or unit that equipment is intrinsic.
First, understand the embodiment of the present invention for convenience, below by part term or noun involved in the present invention into
Row illustrates：
Less radio-frequency (RFID) equipment：It is that a kind of communication technology identifies specific objective by radio signals and reads and writes correlation
Data, without establishing mechanical or optical contact between identifying system and specific objective.
Fence：Refer to a kind of surrounding anti-theft alarm system, including electronic fence host, front end accessory, rear end control
System three parts are installed generally along original enclosure wall.
Embodiment 1
According to embodiments of the present invention, a kind of embodiment of the method for control floor-cleaning machine is provided, it should be noted that in attached drawing
Flow the step of illustrating can be executed in the computer system of such as a group of computer-executable instructions, although also,
Logical order is shown in flow charts, but in some cases, can with different from sequence herein execute it is shown or
The step of description.
Fig. 1 is a kind of flow chart of the method for control floor-cleaning machine according to the ... of the embodiment of the present invention, as shown in Figure 1, this method
Include the following steps：
Step S102, floor-cleaning machine obtain target route and location data.
In above-mentioned steps S102, above-mentioned location data includes at least one following：The current location of above-mentioned floor-cleaning machine, on
State the moving direction of floor-cleaning machine, the target location of above-mentioned floor-cleaning machine.
Optionally, above-mentioned floor-cleaning machine is that one kind being suitable for hard ground cleaning while blotting sewage, and sewage is taken away now
The cleaning machine of field can be used for Rapid Cleaning, blot ground, cleaning ground；The floor-cleaning machine can be, but not limited to be any one
The Full automatic scrubber of type or shape, for example, intelligent robot floor-cleaning machine, can also be semi-automatic floor-cleaning machine, hand propelled
Floor-cleaning machine, drive type floor cleaning machine.
It should be noted that above-mentioned floor-cleaning machine be can autonomous intelligent floor-cleaning machine, wherein above-mentioned floor-cleaning machine can be
But it is not limited to the floor-cleaning machine etc. of the floor-cleaning machine of public place, household.
In a kind of optional embodiment, above-mentioned target route can be pre-set route, or wash ground
The route that machine is independently set in moving process according to the environmental information of surrounding.
Step S104, above-mentioned floor-cleaning machine determine current mobile route according to above-mentioned location data.
In above-mentioned steps S104, above-mentioned floor-cleaning machine can be according to the current location of above-mentioned floor-cleaning machine, above-mentioned floor-cleaning machine
The target location of moving direction, above-mentioned floor-cleaning machine determines above-mentioned mobile route.
As a kind of optional embodiment, RF tag is also deployed in object space to constitute fence, when washing
Ground machine can get the fence information of fence feedback when being moved in object space, and then according to fence information
And the mobile message of floor-cleaning machine can determine the mobile route of floor-cleaning machine.
It should be noted that the route that above-mentioned mobile route is predicted by floor-cleaning machine according to the location data got, on
Target route is stated to predefine the route of the floor-cleaning machine ground cleaning of being carried out task, when floor-cleaning machine is moved according to target route
When, the working efficiency highest of ground cleaning task.
Step S106, above-mentioned floor-cleaning machine obtain the deviation data between above-mentioned mobile route and above-mentioned target route.
In above-mentioned steps S106, above-mentioned deviation data is at least deviation, can be according to the place being set in floor-cleaning machine
Device is managed, the deviation data between above-mentioned mobile route and above-mentioned target route is obtained.Wherein, above-mentioned processor can be but unlimited
In DSP processing chips, fpga chip.
As a kind of optional embodiment, mobile route and target route can be respectively converted into image by above-mentioned processor
Data, and then calculate the deviation of mobile route and target route by comparing the feature of two images.
As an alternative embodiment, above-mentioned processor can be can obtain the key position (example in mobile route
Such as, current location), and determine the shortest distance of key position and target route, according to the size of the shortest distance come determination deviation
Value, wherein the shortest distance is bigger, then deviation is bigger.
Step S108, above-mentioned floor-cleaning machine is adjusted above-mentioned mobile route according to above-mentioned deviation data, and controls above-mentioned
Floor-cleaning machine is moved according to the mobile route after adjustment.
It should be noted that after obtaining the deviation of mobile route and target route, the controller of floor-cleaning machine can be right
Mobile route is adjusted.Wherein, controller includes at least one steering engine, to control floor-cleaning machine movement.
In a kind of optional scheme, a kind of schematic diagram of a scenario of optional route adjustment as shown in Figure 2, in fig. 2,
The target route of floor-cleaning machine A is pass course F, and using node G, then pass course D reaches home B.And the shifting of floor-cleaning machine
Dynamic route is pass course E, and using node G, then pass course D reaches home B.It can be seen that target route and movement
The deviation of route is larger, at this point, the route E in mobile route is adjusted to route F by the controller of floor-cleaning machine A, and adjusts and washes ground
The moving direction of machine A makes floor-cleaning machine A be moved on route F.So far, the adjustment of the mobile route to floor-cleaning machine A is just completed.
In addition, it is necessary to illustrate, the C in Fig. 2 is fence, and Fig. 2 is the example for including 3 fences.
In embodiments of the present invention, target route and location data are obtained by floor-cleaning machine；Above-mentioned floor-cleaning machine is according to upper
It states location data and determines current mobile route；Above-mentioned floor-cleaning machine obtains inclined between above-mentioned mobile route and above-mentioned target route
Difference data；Above-mentioned floor-cleaning machine is adjusted above-mentioned mobile route according to above-mentioned deviation data, and control above-mentioned floor-cleaning machine according to
Mobile route movement after adjustment, has achieved the purpose that effective control floor-cleaning machine is moved according to rational mobile route, to real
The deviation reduced between mobile route and target route is showed, has improved the technique effect of cleaning surface efficiency, and then has solved existing
The technical problem of floor-cleaning machine movement can not effectively be controlled by having in technology.
In addition, still it should be noted that identification equipment can be provided in above-mentioned floor-cleaning machine, for example, less radio-frequency RFID
Identification equipment；Above-mentioned target object can be fence, can be installed along original enclosure wall.
Also, above-mentioned RFID recognition device identifiable RFID electronic label (electronics mark is provided on above-mentioned fence
The quantity of label can be one or more), it is can be, but not limited between RFID recognition device and electronic tag through signal (example
Such as, radio signals) connection.
As an alternative embodiment, electronics can be detected by the RFID recognition device being arranged in floor-cleaning machine
The signal transmitted by one or more electronic tags being arranged on fence.
In a kind of optional embodiment, above-mentioned floor-cleaning machine determines current mobile route according to above-mentioned location data, packet
It includes：
Step S202, above-mentioned floor-cleaning machine are determined according to above-mentioned current location and above-mentioned target location residing for above-mentioned floor-cleaning machine
Object space.
In above-mentioned steps S202, above-mentioned floor-cleaning machine determines above-mentioned wash according to above-mentioned current location and above-mentioned target location
Object space residing for ground machine.
Step S204, above-mentioned floor-cleaning machine obtain the fence information in above-mentioned object space；
In above-mentioned steps S204, object space be floor-cleaning machine required for cleaning ground region, the region can be but
It is not limited to public place (for example, market, supermarket, office) and home area (for example, parlor, bedroom).
Step S206, above-mentioned floor-cleaning machine are determined according to the moving direction of above-mentioned fence information and above-mentioned floor-cleaning machine
Mobile route in above-mentioned object space.
In object space inner periphery deployment RF tag (for example, RFID tag) to constitute fence, when floor-cleaning machine exists
When being moved in object space, processor can obtain the fence information in the object space, and according to the electricity in object space
The moving direction of sub- fence information and above-mentioned floor-cleaning machine determines mobile route when ground in floor-cleaning machine cleaning object space, such as
The mobile route of route F- node G- route D- terminals B in Fig. 2.
In a kind of optional embodiment, above-mentioned deviation data includes at least：Deviation, above-mentioned floor-cleaning machine is according to above-mentioned inclined
Difference data is adjusted above-mentioned mobile route, and controls above-mentioned floor-cleaning machine and moved according to the mobile route after adjustment, including：
Step S1082, above-mentioned floor-cleaning machine determine whether above-mentioned deviation is more than predetermined threshold value.
Optionally, in the case where above-mentioned deviation is more than predetermined threshold value, processor can determine mobile route and target road
Line deviation is larger, to improve the efficiency that floor-cleaning machine cleans ground, need to be adjusted to mobile route, execute step S1084；Upper
Deviation is stated less than or equal in the case of predetermined threshold value, executes step S1086.
Step S1084, if above-mentioned deviation is more than above-mentioned predetermined threshold value, above-mentioned floor-cleaning machine is adjusted according to above-mentioned current location
The moving direction of above-mentioned floor-cleaning machine；It is moved on above-mentioned target route according to the moving direction after adjustment, and along above-mentioned target road
Line moves.
Wherein, Fig. 3 is the schematic diagram of a scenario of another optional route adjustment according to the ... of the embodiment of the present invention, can by Fig. 3
Know, moving direction of the floor-cleaning machine in mobile route is different from the moving direction on target route, and therefore, processor is by dividing
Fisrt feature and the second characteristics of image are analysed to determine the moving direction of floor-cleaning machine, the controller control floor-cleaning machine being connect with processor
Steering engine rotation so that floor-cleaning machine is moved on target route, and moved according to target route.Wherein, when floor-cleaning machine moves
After moving to target route, the mobile route of floor-cleaning machine is revised as target route by processor.
Step S1086, if above-mentioned deviation is less than or equal to above-mentioned predetermined threshold value, above-mentioned floor-cleaning machine is still moved along above-mentioned
Route moves.
It should be noted that in the case that deviation is less than or equal to predetermined threshold value, illustrate mobile route and target route
Deviation it is little, floor-cleaning machine can clean the ground in object space, and clean effect when being moved in mobile route
Rate is identical as cleaning efficiency of the floor-cleaning machine when being moved on target route or is not much different, it is therefore not necessary to the shifting to floor-cleaning machine
Dynamic route is adjusted.
In a kind of optional embodiment, above-mentioned floor-cleaning machine adjusts the mobile side of above-mentioned floor-cleaning machine according to above-mentioned current location
To, including：
Step S302, above-mentioned floor-cleaning machine determine the target location on above-mentioned target route according to above-mentioned current location, wherein
Above-mentioned target location is the position that the above-mentioned floor-cleaning machine of distance is nearest on above-mentioned target route；
Step S304, above-mentioned floor-cleaning machine determine the direction vector between above-mentioned current location and above-mentioned target location；
Step S306, above-mentioned floor-cleaning machine adjust the moving direction of above-mentioned floor-cleaning machine according to above-mentioned direction vector.
As a kind of optional embodiment, as shown in figure 3, target location nearest apart from floor-cleaning machine on target route is
The current location of H1, floor-cleaning machine A are H2, then the direction vector between the current location and target location of floor-cleaning machine is H2H1.So
Afterwards, controller obtains the rotation angle of floor-cleaning machine according to direction vector, controls steering engine operating according to rotation angle, floor-cleaning machine is made to move
It moves on target route.After floor-cleaning machine is moved to the H2 nodes on target route, controller continues to adjust the shifting of floor-cleaning machine
Dynamic direction, keeps the moving direction of floor-cleaning machine parallel with target route.
In a kind of optional embodiment, Fig. 4 is a kind of side of optional control floor-cleaning machine according to the ... of the embodiment of the present invention
The flow chart of method, as shown in figure 4, above-mentioned floor-cleaning machine obtains the deviation data between above-mentioned mobile route and above-mentioned target route,
Including：
Step S402, above-mentioned floor-cleaning machine obtains the first image corresponding with above-mentioned mobile route, and extracts above-mentioned first figure
Fisrt feature data as in；
Step S404, above-mentioned floor-cleaning machine obtains the second image corresponding with above-mentioned target route, and extracts above-mentioned second figure
Second feature data as in；
Step S406, above-mentioned floor-cleaning machine are compared above-mentioned fisrt feature data and above-mentioned second feature data, obtain
Comparison result；
Step S508, above-mentioned floor-cleaning machine determine above-mentioned mobile route and above-mentioned target route according to above-mentioned comparison result
Deviation data.
In a kind of optional scheme, after obtaining mobile route, mobile route is converted to image by processor, and is carried
The key feature in image is taken out, and then obtains fisrt feature data；Similarly, for target route, processor is equally by it
It is converted into image, and extracts the key feature in image, and then obtains second feature data.By compare fisrt feature data and
Second feature data obtain mobile route and the deviation of target route.
In another optional scheme, after obtaining mobile route, mobile route is converted to image by processor, and
Whole features in image are extracted, and then obtain fisrt feature data；Equally, for target route, processor is equally by it
It is converted into image, and extracts whole features in image, and then obtains second feature data.By compare fisrt feature data and
Second feature data obtain mobile route and the deviation of target route.
There is also a kind of optional schemes, since the variation of target route is fewer, when floor-cleaning machine starts, place
Reason device just converts target route to image, and extracts characteristics of image.Then, whether detection target route becomes in real time
Change, if target route is changed, converts new target route to image, and extract characteristics of image again.Upper
During stating, without carrying out image conversion and feature extraction to target route every time, it need to only change in target route
When handled, and then improve processor calculate deviation treatment effeciency.
Embodiment 2
According to embodiments of the present invention, a kind of system implementation for implementing the method for above-mentioned control floor-cleaning machine is additionally provided
Example, Fig. 5 is a kind of structural schematic diagram of the system of control floor-cleaning machine according to the ... of the embodiment of the present invention, as shown in figure 5, above-mentioned control
The system of floor-cleaning machine, including：Positioning device 50, processor 52 and controller 54, wherein
Positioning device 50 determines currently for obtaining target route and location data, and according to above-mentioned location data
Mobile route；Processor 52 is connect with above-mentioned positioning device 50, for obtaining between above-mentioned mobile route and above-mentioned target route
Deviation data；Controller 54 is connect with above-mentioned processor 52, for being carried out to above-mentioned mobile route according to above-mentioned deviation data
Adjustment, and control above-mentioned floor-cleaning machine and moved according to the mobile route after adjustment.
Optionally, above-mentioned location data includes at least one following：The current location of above-mentioned floor-cleaning machine, above-mentioned floor-cleaning machine
The target location of moving direction, above-mentioned floor-cleaning machine.In the embodiment of the present application, above-mentioned processor 12 can be but be not limited to DSP
Processing chip, fpga chip, above controller can chips in order to control.
In a kind of optional embodiment, above-mentioned location data includes at least one following：The present bit of above-mentioned floor-cleaning machine
It sets, the moving direction of above-mentioned floor-cleaning machine；Above-mentioned positioning device includes：First positioning device is connect with above-mentioned processor, for obtaining
Take the current location of above-mentioned floor-cleaning machine；Second positioning device is connect with above-mentioned processor, the movement for obtaining above-mentioned floor-cleaning machine
Direction.
In a kind of optional embodiment, above-mentioned first positioning device includes at least one following：Beidou positioning module,
GPS positioning module, position sensor.
In a kind of optional embodiment, above-mentioned second positioning device includes at least one following：Gyro sensor inclines
Angle transducer.
Optionally, above-mentioned floor-cleaning machine is that one kind being suitable for hard ground cleaning while blotting sewage, and sewage is taken away now
The cleaning machine of field can be used for Rapid Cleaning, blot ground, cleaning ground；The floor-cleaning machine can be, but not limited to be any one
The Full automatic scrubber of type or shape, for example, intelligent robot floor-cleaning machine, can also be semi-automatic floor-cleaning machine, hand propelled
Floor-cleaning machine, drive type floor cleaning machine.
It should be noted that above-mentioned floor-cleaning machine be can autonomous intelligent floor-cleaning machine, wherein above-mentioned floor-cleaning machine can be
But it is not limited to the floor-cleaning machine etc. of the floor-cleaning machine of public place, household.
In a kind of optional embodiment, above-mentioned target route can be pre-set route, or wash ground
The route that machine is independently set in moving process according to the environmental information of surrounding.
In a kind of optional embodiment, above-mentioned floor-cleaning machine can according to above-mentioned floor-cleaning machine current location, above-mentioned wash ground
The target location of the moving direction of machine, above-mentioned floor-cleaning machine determines above-mentioned mobile route.
As a kind of optional embodiment, RF tag is also deployed in object space to constitute fence, when washing
Ground machine can get the fence information of fence feedback when being moved in object space, and then according to fence information
And the mobile message of floor-cleaning machine can determine the mobile route of floor-cleaning machine.
It should be noted that the route that above-mentioned mobile route is predicted by floor-cleaning machine according to the location data got, is washed
The target route of ground machine is predefines the route of the floor-cleaning machine ground cleaning of being carried out task, when floor-cleaning machine is according to target route
When mobile, the working efficiency highest of ground cleaning task.
In a kind of optional embodiment, above-mentioned floor-cleaning machine further includes：Electric quantity detection apparatus, setting is inside the housing
Portion is connect with above-mentioned storage battery, the electricity for detecting above-mentioned floor-cleaning machine.
Optionally, above-mentioned electric quantity detection apparatus may include electric quantity detecting circuit, voltage detecting meter, the detections such as Coulomb meter dress
It sets, in the alternative embodiment of above-mentioned floor-cleaning machine, in the case where the charge value of above-mentioned accumulator is equal to or less than power threshold,
Above controller can control above-mentioned floor-cleaning machine and be moved to target location progress recharging, wherein above-mentioned target location is most
The location of charging pile of high priority.
In above-mentioned optional embodiment, above-mentioned electric quantity detection apparatus includes：Sampling resistor, with above-mentioned power protecting circuit
Series connection；Voltage detection unit is connect with above-mentioned sampling resistor, the voltage value for acquiring above-mentioned sampling resistor, wherein above-mentioned to adopt
The voltage value of sample resistance characterizes the charge value of above-mentioned accumulator.
In a kind of optional embodiment, above-mentioned floor-cleaning machine further includes：Wireless remote controlled receiver is set to outside above-mentioned shell
On surface or above-mentioned enclosure interior, it is connect with above controller, the control instruction for receiving external remote.
In a kind of optional embodiment, above-mentioned floor-cleaning machine further includes：Capacity checking apparatus, setting is inside the housing
Portion is connect with above controller, the capacity for detecting slop pail in above-mentioned floor-cleaning machine.
Optionally, above-mentioned capacity checking apparatus can include but is not limited to：Ultrasonic sensor etc..
It should be noted that self-contained water tank and diaphragm type water tank can be provided in above-mentioned floor-cleaning machine, it is respectively used to device
Clear water and sewage, the water suction of above-mentioned floor-cleaning machine is taken off can be under the action of absorbing water motor and scraping band polywater, by the sewage on ground
Sucking foul water tank takes away from the scene.
In a kind of optional embodiment, above-mentioned floor-cleaning machine further includes：Battery charger is set in above-mentioned floor-cleaning machine,
For powering for above-mentioned floor-cleaning machine；Storage battery is set in above-mentioned floor-cleaning machine, is connect with above-mentioned battery charger, for storing electricity
Energy.
Optionally, above-mentioned battery charger can be fully automatic electric bottle charger, and above-mentioned battery charger is floor-cleaning machine
Power-on time longest can be 6-8 hour, and the battery capacity of the used storage electric energy of above-mentioned storage battery can be that 24V/115Ah is lied prostrate
Spy/ampere.
As a kind of optional embodiment, further include in above-mentioned floor-cleaning machine：Brush is set to above-mentioned floor-cleaning machine lower part, uses
In the ground for cleaning above-mentioned target area；Water absorber is set to above-mentioned floor-cleaning machine lower part, for adsorbing above-mentioned target area
Moisture on ground.
It should be noted that in order to improve the automated cleaning ability of washing machine, above-mentioned brush is (for example, disc type or idler wheel
Formula brush) need 3 conducts of outfit a set of, i.e., the quantity of main brush could be provided as three, wherein the work of the brush in the application
It can be, but not limited to be 66 centimetres as width.
Above-mentioned water absorber can be water absorption plate or water suction take off, for absorb water motor and scrape band polywater under the action of, will
On ground sewage sucking foul water tank take away from the scene, wherein the width of the water suction of the water absorber in the application can with but it is unlimited
In being 79 centimetres.
It should be noted that the concrete structure of the system of control floor-cleaning machine shown in Fig. 5 in the application is only signal,
When concrete application, in the application control floor-cleaning machine system can than it is shown in fig. 5 control floor-cleaning machine system have it is more or
Few structure.
Another aspect according to the ... of the embodiment of the present invention additionally provides a kind of floor-cleaning machine, which is characterized in that includes at least above-mentioned
Control floor-cleaning machine system, above-mentioned floor-cleaning machine further includes shell, positioning device 50 in the system of above-mentioned control floor-cleaning machine, place
Reason device 52 and controller 54 can be set to above-mentioned enclosure interior.
It should be noted that the method for any one optional or preferred control floor-cleaning machine in above-described embodiment 1,
It can execute or realize in the system for the control floor-cleaning machine that the present embodiment is provided.
In addition, still it should be noted that the optional or preferred embodiment of the present embodiment may refer to the phase in embodiment 1
Description is closed, details are not described herein again.
Embodiment 3
According to embodiments of the present invention, a kind of device implementation for implementing the method for above-mentioned control floor-cleaning machine is additionally provided
Example, Fig. 6 is a kind of structural schematic diagram of the device of control floor-cleaning machine according to the ... of the embodiment of the present invention, as shown in fig. 6, above-mentioned control
The device of floor-cleaning machine, including：First acquisition module 60, determining module 62, the second acquisition module 64 and control module 66, wherein
First acquisition module 60, for obtaining target route and location data；Determining module 62, for according to above-mentioned fixed
Position data determine current mobile route；Second acquisition module 64, for obtain above-mentioned mobile route and above-mentioned target route it
Between deviation data；Control module 66 for being adjusted to above-mentioned mobile route according to above-mentioned deviation data, and controls above-mentioned
Floor-cleaning machine is moved according to the mobile route after adjustment.
It should be noted that above-mentioned modules can be realized by software or hardware, for example, for the latter,
It can be accomplished by the following way：Above-mentioned modules can be located in same processor；Alternatively, above-mentioned modules are with arbitrary
The mode of combination is located in different processors.
Herein it should be noted that above-mentioned first acquisition module 60, determining module 62 and the second acquisition module 64 correspond to
Step S102 to step S106 in embodiment 1, above-mentioned module is identical as example and application scenarios that corresponding step is realized,
But it is not limited to the above embodiments 1 disclosure of that.It should be noted that above-mentioned module can be run as a part of of device
In terminal.
It is retouched it should be noted that the optional or preferred embodiment of the present embodiment may refer to the correlation in Examples 1 and 2
It states, details are not described herein again.
The device of above-mentioned control floor-cleaning machine can also include processor and memory, above-mentioned first acquisition module 60, really
Cover half block 62 and the second acquisition module 64 etc. are used as program unit storage in memory, and storage is stored in by processor execution
Above procedure unit in device realizes corresponding function.
Include kernel in processor, is gone in memory to transfer corresponding program unit by kernel, above-mentioned kernel can be arranged
One or more.Memory may include the volatile memory in computer-readable medium, random access memory (RAM)
And/or the forms such as Nonvolatile memory, such as read-only memory (ROM) or flash memory (flash RAM), memory includes at least one
Storage chip.
The embodiment of the present application also provides a kind of storage mediums.Optionally, in the present embodiment, above-mentioned storage medium includes
The program of storage, wherein equipment where controlling above-mentioned storage medium when above procedure is run executes any one of the above control
The method of floor-cleaning machine.
Optionally, in the present embodiment, above-mentioned storage medium can be located in computer network Computer terminal group
In any one terminal, or in any one mobile terminal in mobile terminal group, above-mentioned storage medium packet
Include the program of storage.
Optionally, equipment executes following functions where controlling storage medium when program is run：Obtain target route and
Location data；Current mobile route is determined according to above-mentioned location data；Obtain above-mentioned mobile route and above-mentioned target route it
Between deviation data；Above-mentioned mobile route is adjusted according to above-mentioned deviation data, and controls above-mentioned floor-cleaning machine according to adjustment
Mobile route movement afterwards.
Optionally, equipment executes following functions where controlling storage medium when program is run：According to above-mentioned current location
With above-mentioned target location, the object space residing for above-mentioned floor-cleaning machine is determined；Obtain the fence information in above-mentioned object space；
According to the moving direction of above-mentioned fence information and above-mentioned floor-cleaning machine, the mobile route in above-mentioned object space is determined.
Optionally, equipment executes following functions where controlling storage medium when program is run：Determining above-mentioned deviation is
It is no to be more than predetermined threshold value；If above-mentioned deviation is more than above-mentioned predetermined threshold value, above-mentioned floor-cleaning machine is adjusted according to above-mentioned current location
Moving direction；It is moved on above-mentioned target route according to the moving direction after adjustment, and is moved along above-mentioned target route；If above-mentioned
Deviation is less than or equal to above-mentioned predetermined threshold value, then is still moved along above-mentioned mobile route.
Optionally, equipment executes following functions where controlling storage medium when program is run：According to above-mentioned current location
Determine the target location on above-mentioned target route, wherein above-mentioned target location is the above-mentioned floor-cleaning machine of distance on above-mentioned target route
Nearest position；Determine the direction vector between above-mentioned current location and above-mentioned target location；It is adjusted according to above-mentioned direction vector
The moving direction of above-mentioned floor-cleaning machine.
Optionally, equipment executes following functions where controlling storage medium when program is run：It obtains and above-mentioned mobile road
Corresponding first image of line, and extract the fisrt feature data in above-mentioned first image；It obtains corresponding with above-mentioned target route
Second image, and extract the second feature data in above-mentioned second image；To above-mentioned fisrt feature data and above-mentioned second feature
Data are compared, and obtain comparison result；According to above-mentioned comparison result, the inclined of above-mentioned mobile route and above-mentioned target route is determined
Difference data.
The embodiment of the present application also provides a kind of processors.Optionally, in the present embodiment, above-mentioned processor is for running
Program, wherein above procedure executes any one of the above control floor-cleaning machine method when running.
The embodiment of the present application provides a kind of equipment, equipment include processor, memory and storage on a memory and can
The program run on a processor, processor realize following steps when executing program：Obtain target route and location data；According to
Current mobile route is determined according to above-mentioned location data；Obtain the variation between above-mentioned mobile route and above-mentioned target route
According to；Above-mentioned mobile route is adjusted according to above-mentioned deviation data, and controls above-mentioned floor-cleaning machine according to the mobile road after adjustment
Line moves.
Optionally, it when above-mentioned processor executes program, can also be determined according to above-mentioned current location and above-mentioned target location
Object space residing for above-mentioned floor-cleaning machine；Obtain the fence information in above-mentioned object space；Believed according to above-mentioned fence
The moving direction of breath and above-mentioned floor-cleaning machine determines the mobile route in above-mentioned object space.
Optionally, when above-mentioned processor executes program, it can also determine whether above-mentioned deviation is more than predetermined threshold value；On if
It states deviation and is more than above-mentioned predetermined threshold value, the moving direction of above-mentioned floor-cleaning machine is adjusted according to above-mentioned current location；After adjustment
Moving direction be moved on above-mentioned target route, and moved along above-mentioned target route；If above-mentioned deviation is less than or equal to upper
Predetermined threshold value is stated, then is still moved along above-mentioned mobile route.
Optionally, it when above-mentioned processor executes program, can also be determined on above-mentioned target route according to above-mentioned current location
Target location, wherein above-mentioned target location is the nearest position of the above-mentioned floor-cleaning machine of distance on above-mentioned target route；It determines above-mentioned
Direction vector between current location and above-mentioned target location；The mobile side of above-mentioned floor-cleaning machine is adjusted according to above-mentioned direction vector
To.
Optionally, when above-mentioned processor executes program, the first image corresponding with above-mentioned mobile route can also be obtained, and
Extract the fisrt feature data in above-mentioned first image；The second image corresponding with above-mentioned target route is obtained, and is extracted above-mentioned
Second feature data in second image；Above-mentioned fisrt feature data and above-mentioned second feature data are compared, are compared
To result；According to above-mentioned comparison result, the deviation data of above-mentioned mobile route and above-mentioned target route is determined.
Present invention also provides a kind of computer program products, when being executed on data processing equipment, are adapted for carrying out just
The program of beginningization there are as below methods step：Obtain target route and location data；It is determined currently according to above-mentioned location data
Mobile route；Obtain the deviation data between above-mentioned mobile route and above-mentioned target route；According to above-mentioned deviation data to above-mentioned
Mobile route is adjusted, and is controlled above-mentioned floor-cleaning machine and moved according to the mobile route after adjustment.
It optionally, can also be according to above-mentioned current location and above-mentioned target when above computer program product executes program
Position determines the object space residing for above-mentioned floor-cleaning machine；Obtain the fence information in above-mentioned object space；According to above-mentioned electricity
The moving direction of sub- fence information and above-mentioned floor-cleaning machine determines the mobile route in above-mentioned object space.
Optionally, when above computer program product executes program, it is default can also to determine whether above-mentioned deviation is more than
Threshold value；If above-mentioned deviation is more than above-mentioned predetermined threshold value, the moving direction of above-mentioned floor-cleaning machine is adjusted according to above-mentioned current location；Root
It is moved on above-mentioned target route according to the moving direction after adjustment, and is moved along above-mentioned target route；If above-mentioned deviation is less than
Or be equal to above-mentioned predetermined threshold value, then it is still moved along above-mentioned mobile route.
Optionally, when above computer program product executes program, above-mentioned mesh can also be determined according to above-mentioned current location
Mark the target location on route, wherein above-mentioned target location is the position that the above-mentioned floor-cleaning machine of distance is nearest on above-mentioned target route；
Determine the direction vector between above-mentioned current location and above-mentioned target location；Above-mentioned floor-cleaning machine is adjusted according to above-mentioned direction vector
Moving direction.
Optionally, when above computer program product executes program, corresponding with above-mentioned mobile route the can also be obtained
One image, and extract the fisrt feature data in above-mentioned first image；The second image corresponding with above-mentioned target route is obtained, and
Extract the second feature data in above-mentioned second image；Above-mentioned fisrt feature data and above-mentioned second feature data are compared
It is right, obtain comparison result；According to above-mentioned comparison result, the deviation data of above-mentioned mobile route and above-mentioned target route is determined.
The embodiments of the present invention are for illustration only, can not represent the quality of embodiment.
In the above embodiment of the present invention, all emphasizes particularly on different fields to the description of each embodiment, do not have in some embodiment
The part of detailed description may refer to the associated description of other embodiment.
In several embodiments provided herein, it should be understood that disclosed technology contents can pass through others
Mode is realized.Wherein, the apparatus embodiments described above are merely exemplary, for example, the unit division, Ke Yiwei
A kind of division of logic function, formula that in actual implementation, there may be another division manner, such as multiple units or component can combine or
Person is desirably integrated into another system, or some features can be ignored or not executed.Another point, shown or discussed is mutual
Between coupling, direct-coupling or communication connection can be INDIRECT COUPLING or communication link by some interfaces, unit or module
It connects, can be electrical or other forms.
The unit illustrated as separating component may or may not be physically separated, aobvious as unit
The component shown may or may not be physical unit, you can be located at a place, or may be distributed over multiple
On unit.Some or all of unit therein can be selected according to the actual needs to achieve the purpose of the solution of this embodiment.
In addition, each functional unit in each embodiment of the present invention can integrate in a processor, can also be
Each unit physically exists alone, can also be during two or more units are integrated in one unit.Above-mentioned integrated unit
Both the form that hardware may be used is realized, can also be realized in the form of SFU software functional unit.
If the integrated unit is realized in the form of SFU software functional unit and sells or use as independent product
When, it can be stored in a computer read/write memory medium.Based on this understanding, technical scheme of the present invention is substantially
The all or part of the part that contributes to existing technology or the technical solution can be in the form of software products in other words
It embodies, 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.) execute each embodiment the method for the present invention whole or
Part steps.And storage medium above-mentioned includes：USB flash disk, read-only memory (ROM, Read-OnlyMemory), arbitrary access are deposited
Reservoir (RAM, Random Access Memory), mobile hard disk, magnetic disc or CD etc. are various can to store program code
Medium.
The above is only a preferred embodiment of the present invention, it is noted that for the ordinary skill people of the art
For member, various improvements and modifications may be made without departing from the principle of the present invention, these improvements and modifications are also answered
It is considered as protection scope of the present invention.
Claims (10)
1. a kind of method of control floor-cleaning machine, which is characterized in that including：
Floor-cleaning machine obtains target route and location data；
The floor-cleaning machine determines current mobile route according to the location data；
The floor-cleaning machine obtains the deviation data between the mobile route and the target route；
The floor-cleaning machine is adjusted the mobile route according to the deviation data, and controls the floor-cleaning machine according to adjustment
Mobile route movement afterwards.
2. according to the method described in claim 1, it is characterized in that, the location data includes at least one following：It is described to wash
The current location of ground machine, the moving direction of the floor-cleaning machine, the floor-cleaning machine target location；The floor-cleaning machine is according to described fixed
Position data determine current mobile route, including：
The floor-cleaning machine determines the object space residing for the floor-cleaning machine according to the current location and the target location；
The floor-cleaning machine obtains the fence information in the object space；
The floor-cleaning machine is determined according to the moving direction of the fence information and the floor-cleaning machine in the object space
Mobile route.
3. according to the method described in claim 2, it is characterized in that, the deviation data includes at least：Deviation, it is described to wash ground
Machine is adjusted the mobile route according to the deviation data, and controls the floor-cleaning machine according to the mobile route after adjustment
It is mobile, including：
The floor-cleaning machine determines whether the deviation is more than predetermined threshold value；
If the deviation is more than the predetermined threshold value, the floor-cleaning machine adjusts the shifting of the floor-cleaning machine according to the current location
Dynamic direction；It is moved on the target route according to the moving direction after adjustment, and is moved along the target route；
If the deviation is less than or equal to the predetermined threshold value, the floor-cleaning machine is still moved along the mobile route.
4. according to the method described in claim 3, it is characterized in that, the floor-cleaning machine is washed according to described in the adjustment of the current location
The moving direction of ground machine, including：
The floor-cleaning machine determines the target location on the target route according to the current location, wherein the target location
For the nearest position of floor-cleaning machine described in distance on the target route；
The floor-cleaning machine determines the direction vector between the current location and the target location；
The floor-cleaning machine adjusts the moving direction of the floor-cleaning machine according to the direction vector.
5. according to the method described in claim 1, it is characterized in that, the floor-cleaning machine obtains the mobile route and the target
Deviation data between route, including：
The floor-cleaning machine obtains the first image corresponding with the mobile route, and extracts the fisrt feature in described first image
Data；
The floor-cleaning machine obtains the second image corresponding with the target route, and extracts the second feature in second image
Data；
The fisrt feature data and the second feature data are compared in the floor-cleaning machine, obtain comparison result；
The floor-cleaning machine determines the deviation data of the mobile route and the target route according to the comparison result.
6. a kind of device of control floor-cleaning machine, which is characterized in that including：
First acquisition module, for obtaining target route and location data；
Determining module, for determining current mobile route according to the location data；
Second acquisition module, for obtaining the deviation data between the mobile route and the target route；
Control module, for being adjusted to the mobile route according to the deviation data, and control the floor-cleaning machine according to
Mobile route movement after adjustment.
7. a kind of system of control floor-cleaning machine, which is characterized in that including：
Positioning device for obtaining target route and location data, and determines current mobile road according to the location data
Line；
Processor is connect with the positioning device, for obtaining the variation between the mobile route and the target route
According to；
Controller is connected to the processor, and for being adjusted to the mobile route according to the deviation data, and is controlled
The floor-cleaning machine is moved according to the mobile route after adjustment.
8. a kind of floor-cleaning machine, which is characterized in that the system for including at least the control floor-cleaning machine described in claim 7.
9. a kind of storage medium, which is characterized in that the storage medium includes the program of storage, wherein run in described program
When control the storage medium where equipment execute following functions：Obtain target route and location data；According to the positioning
Data determine current mobile route；Obtain the deviation data between the mobile route and the target route；According to described
Deviation data is adjusted the mobile route, and controls floor-cleaning machine and moved according to the mobile route after adjustment.
10. a kind of processor, which is characterized in that the processor is for running program, wherein executed when described program is run with
Lower function：Obtain target route and location data；Current mobile route is determined according to the location data；Obtain the shifting
Dynamic deviation data between route and the target route；The mobile route is adjusted according to the deviation data, and
Floor-cleaning machine is controlled to be moved according to the mobile route after adjustment.
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| CN107992054A (en) * | 2017-12-17 | 2018-05-04 | 上海物景智能科技有限公司 | A kind of method and system of the positioning of robot |
| CN208892442U (en) * | 2018-05-07 | 2019-05-24 | 北京三辰环卫机械有限公司 | Floor-cleaning machine |
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