CN109077667B - Adjusting method and system of cleaning electric appliance, storable medium and cleaning electric appliance - Google Patents
Adjusting method and system of cleaning electric appliance, storable medium and cleaning electric appliance Download PDFInfo
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- CN109077667B CN109077667B CN201810778146.7A CN201810778146A CN109077667B CN 109077667 B CN109077667 B CN 109077667B CN 201810778146 A CN201810778146 A CN 201810778146A CN 109077667 B CN109077667 B CN 109077667B
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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
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/24—Floor-sweeping machines, motor-driven
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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
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
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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
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
- A47L11/4002—Installations of electric equipment
- A47L11/4008—Arrangements of switches, indicators or the like
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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
- A47L2201/06—Control of the cleaning action for autonomous devices; Automatic detection of the surface condition before, during or after cleaning
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- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
- Electric Vacuum Cleaner (AREA)
Abstract
The invention relates to an adjusting method, a system, equipment and a storage medium of a cleaning electric appliance, belonging to the technical field of cleaning, wherein a first activation signal is sent to positioning sensors arranged in each working area of the cleaning electric appliance, first response signals returned by the positioning sensors according to the first activation signals are received, the initial position of the cleaning electric appliance and the working area to be cleaned are obtained by using each first response signal, then the entrance position of the working area to be cleaned is obtained, a moving route is obtained by using the initial position and the entrance position, the cleaning electric appliance can smoothly enter the working area to be cleaned along the moving route.
Description
Technical Field
The invention relates to the technical field of cleaning, in particular to an adjusting method and an adjusting system of a cleaning electric appliance, a storable medium and the cleaning electric appliance.
Background
Along with the continuous improvement of living standard and technological level, people increasingly like pursuing convenient, intelligent life, have urged a lot of automatic products that can bring convenience for people's life from this, clean electrical apparatus also come into production by oneself, like machine of sweeping the floor, robot of sweeping the floor etc..
Taking a floor sweeper as an example, at present, the floor sweeper on the market finishes the floor sweeping function through the running track generated by back-and-forth collision, the sweeping mode is single, only one sweeping function is provided, different special sweeping areas can be damaged to different degrees, and the sweeping effect of the floor sweeper is influenced.
The cleaning appliance generally operates in a single mode, and when the cleaning appliance enters a characteristic cleaning area to be cleaned, different cleaning areas are damaged to different degrees, so that the cleaning effect of the cleaning appliance is influenced.
Disclosure of Invention
Therefore, it is necessary to provide an adjusting method and system for a cleaning appliance, a storage medium and a cleaning appliance, aiming at the problem that the conventional cleaning appliance causes different damages to different cleaning areas, which results in poor cleaning effect of the cleaning appliance.
A method of conditioning a cleaning appliance comprising the steps of:
acquiring attribute data of a current working area of the cleaning electric appliance;
acquiring an incidence relation between the attributes of the working area and the cleaning mode, and determining the cleaning mode of the current working area according to the incidence relation and the attribute data;
and selecting a corresponding cleaning tool according to the cleaning mode, and cleaning the current working area through the cleaning tool.
According to the adjusting method of the cleaning electric appliance, the attribute data of the current working area of the cleaning electric appliance is obtained, the cleaning mode of the current working area is determined by utilizing the incidence relation between the working area attribute and the cleaning mode, the corresponding cleaning tool is selected according to the cleaning mode, the current working area is cleaned through the cleaning tool, the specific cleaning of different working areas can be carried out by using the designated cleaning tool through the scheme of the application, the specific attribute of the working area is adapted, the damage to the working area is avoided, and the cleaning effect of the cleaning electric appliance is improved.
In one embodiment, the step of obtaining attribute data of the current working area of the cleaning appliance comprises the following steps:
and detecting the current working area through the inductor to obtain attribute data.
In one embodiment, the step of obtaining attribute data of the current working area of the cleaning appliance comprises the following steps:
sending a first activation signal to each positioning sensor, and receiving a first response signal returned by each positioning sensor, wherein each positioning sensor is arranged in each working area of the cleaning electric appliance, and the first activation signal is generated by the cleaning electric appliance;
and determining the current working area of the cleaning electric appliance according to each first response signal, and acquiring the attribute data of the current working area according to the corresponding relation between the preset working area and the attribute data.
In one embodiment, the adjusting method of the cleaning appliance further comprises the following steps:
determining the initial position of the cleaning electric appliance and the working area to be cleaned according to the first response signals;
when the cleaning electric appliance cleans the current working area, recording the cleaning track of the cleaning electric appliance;
and when the covering surface formed by the cleaning track is consistent with the size of the current working area, acquiring the entrance position of the working area to be cleaned, acquiring a moving route according to the initial position and the entrance position, and driving the cleaning electric appliance to enter the working area to be cleaned along the moving route.
In one embodiment, the step of determining the initial position of the cleaning appliance, the current working area and the working area to be cleaned according to the first response signals comprises the steps of:
sequencing the positioning sensors according to the first response signals to obtain a sequencing sequence, obtaining the sequencing relation of each working area according to the incidence relation between the positioning sensors and the working areas and the sequencing sequence, and determining the current working area of the cleaning electric appliance and the working area to be cleaned according to the sequencing relation;
and acquiring an initial position of the cleaning electric appliance according to the first activation signal, a first response signal corresponding to the first positioning sensor and a preset position of the first positioning sensor, wherein the first positioning sensor is arranged in a current working area of the cleaning electric appliance.
In one embodiment, the step of ordering the positioning sensors according to the first response signals comprises the steps of:
sequencing the positioning sensors according to the signal attribute of each first response signal; wherein the signal attribute comprises signal strength or signal reception time;
the step of determining the current working area of the cleaning appliance and the working area to be cleaned according to the sorting relationship comprises the following steps:
and taking the first sorted working area as the current working area of the cleaning electric appliance, and taking the second sorted working area as the working area to be cleaned.
In one embodiment, the step of determining the current working area of the cleaning appliance and the working area to be cleaned according to the ranking relationship comprises the steps of:
and if the determined working area to be cleaned is cleaned, selecting the next working area in sequence as the working area to be cleaned.
In one embodiment, the step of obtaining the entry location of the work area to be cleaned comprises the steps of:
acquiring the position of a second positioning sensor, wherein the second positioning sensor is positioned at an inlet of a working area to be cleaned;
determining an entry location based on the location of the second position sensor;
the step of acquiring the moving route according to the initial position and the entrance position includes the steps of:
acquiring the position of a third positioning sensor, wherein the third positioning sensor is positioned at an outlet of the current working area of the cleaning appliance;
determining the position of the outlet according to the position of the third positioning sensor;
and acquiring a moving route according to the initial position, the exit position and the entrance position.
In one embodiment, the adjusting method of the cleaning appliance further comprises the following steps:
recording the cleaned working area, and judging whether the current working area is the last working area to be cleaned according to the cleaned working area;
if so, after cleaning of the current working area is finished, sending second activation signals to each positioning sensor, and receiving each second response signal, wherein each second response signal is a signal returned by each positioning sensor according to the second activation signal;
acquiring the current position of the cleaning electric appliance according to the second activation signal, the second response signal and the preset positions of the positioning sensors;
the method comprises the steps of obtaining a preset position of a charging pile, obtaining a moving path according to the current position and the preset position of the charging pile, and driving the cleaning electric appliance to move to a charging interface position of the charging pile along the moving path.
A conditioning system for a cleaning appliance comprising:
the data acquisition unit is used for acquiring the attribute data of the current working area of the cleaning electric appliance;
the data processing unit is used for acquiring the incidence relation between the attributes of the working area and the cleaning mode and determining the cleaning mode of the current working area according to the incidence relation and the attribute data;
and the adjustment control unit is used for selecting a corresponding cleaning tool according to the cleaning mode and cleaning the current working area through the cleaning tool.
According to the adjusting system of the cleaning electric appliance, the data acquisition unit acquires attribute data of the current working area of the cleaning electric appliance, the data processing unit determines the cleaning mode of the current working area by utilizing the incidence relation between the attributes of the working area and the cleaning mode, the adjusting control unit selects the corresponding cleaning tool according to the cleaning mode, the current working area is cleaned by the cleaning tool, the appointed cleaning tool can be used for carrying out targeted cleaning on different working areas by the scheme of the cleaning system, the cleaning system adapts to the specific attributes of the working area, the damage to the working area is avoided, and the cleaning effect of the cleaning electric appliance is improved.
In one embodiment, the data acquisition unit detects the current working area through the sensor to acquire the attribute data.
In one embodiment, the adjusting system of the cleaning appliance further comprises a signal sending unit, a signal receiving unit and a signal processing unit;
the signal sending unit is used for sending a first activation signal to each positioning sensor, wherein each positioning sensor is arranged in each working area of the cleaning electric appliance, and the first activation signal is generated by the cleaning electric appliance;
the signal receiving unit is used for receiving first response signals returned by the positioning sensors;
the signal processing unit is used for determining the current working area of the cleaning electric appliance according to each first response signal;
the data acquisition unit acquires the attribute data of the current working area according to the corresponding relation between the preset working area and the attribute data.
In one embodiment, the adjustment system of the cleaning appliance further comprises an operation recording unit and a movement control unit;
the operation recording unit is used for recording the cleaning track of the cleaning electric appliance when the cleaning electric appliance cleans the current working area;
the signal processing unit determines the initial position of the cleaning electric appliance and the working area to be cleaned according to the first response signals;
the movement control unit is used for acquiring the entrance position of the working area to be cleaned when the covering surface formed by the cleaning track is consistent with the size of the current working area, acquiring a moving route according to the initial position and the entrance position, and driving the cleaning electric appliance to enter the working area to be cleaned along the moving route.
In one embodiment, the signal processing unit sequences the positioning sensors according to the first response signals to obtain a sequencing sequence, obtains the sequencing relation of the working areas according to the incidence relation and the sequencing sequence of the positioning sensors and the working areas, and determines the current working area and the working area to be cleaned of the cleaning electric appliance according to the sequencing relation; and acquiring an initial position of the cleaning electric appliance according to the first activation signal, a first response signal corresponding to the first positioning sensor and a preset position of the first positioning sensor, wherein the first positioning sensor is arranged in a current working area of the cleaning electric appliance.
In one embodiment, the signal processing unit sorts the positioning sensors according to the signal attribute of the first response signals; taking the first sorted working area as the current working area of the cleaning electric appliance, and taking the second sorted working area as the working area to be cleaned; wherein the signal attribute comprises signal strength or signal reception time.
In one embodiment, when the determined working area to be cleaned is cleaned, the signal processing unit selects the next working area as the working area to be cleaned.
In one embodiment, the mobile control unit acquires the position of a second positioning sensor, and determines the entrance position according to the position of the second positioning sensor; acquiring the position of a third positioning sensor, determining an exit position according to the position of the third positioning sensor, and acquiring a moving route according to an initial position, the exit position and an entrance position; the second positioning sensor is positioned at an inlet of a working area to be cleaned, and the third positioning sensor is positioned at an outlet of the current working area of the cleaning appliance.
In one embodiment, the operation recording unit records the cleaned working area;
the signal processing unit judges whether the current working area is the last working area to be cleaned according to the cleaned working area;
when the signal processing unit judges that the current working area is the last working area to be cleaned, the signal sending unit sends second activation signals to the positioning sensors after the cleaning of the current working area is finished by the cleaning electric appliance, the signal receiving unit receives second response signals, and the second response signals are signals returned by the positioning sensors according to the second activation signals;
the signal processing unit acquires the current position of the cleaning electric appliance according to the second activation signal, the second response signal and the preset position of the positioning sensor;
the mobile control unit acquires a preset position of the charging pile, acquires a moving path according to the current position and the preset position of the charging pile, and drives the cleaning electric appliance to move to a charging interface position of the charging pile along the moving path.
A cleaning electric appliance comprises a memory, a processor and an executable program which is stored on the memory and can be run on the processor, and the steps of the adjusting method of the cleaning electric appliance are realized when the processor executes the program.
According to the cleaning electric appliance, the specific cleaning of different working areas by using the designated cleaning tool can be realized through the executable program running on the processor, the specific attribute of the working areas is adapted, the damage to the working areas is avoided, and the cleaning effect of the cleaning electric appliance is improved.
A readable storage medium, on which an executable program is stored, which when executed by a processor, performs the steps of the above-described method of tuning a cleaning appliance.
The readable storage medium can realize targeted cleaning of different working areas by using a designated cleaning tool through the stored executable program, adapts to the specific attributes of the working areas, avoids damage to the working areas, and improves the cleaning effect of cleaning the electric appliance.
Drawings
FIG. 1 is a diagram of an application scenario of an adjustment method of a cleaning appliance in one embodiment;
FIG. 2 is a schematic flow diagram of an adjustment method for a cleaning appliance in one embodiment;
FIG. 3 is a schematic flow chart of an adjustment method of the cleaning appliance in another embodiment;
FIG. 4 is a schematic flow chart diagram of an adjustment method of the cleaning appliance in another embodiment;
FIG. 5 is a schematic diagram of the location of the cleaning appliance and the first positioning sensor in one embodiment;
FIG. 6 is a schematic view of the position of the cleaning appliance and the first positioning sensor in another embodiment;
FIG. 7 is a schematic view of an embodiment of a cleaning appliance entering a work area to be cleaned from a current work area;
FIG. 8 is a schematic diagram of the movement of a cleaning appliance from a current work area to a charging post in one embodiment;
FIG. 9 is a schematic diagram of the configuration of the adjustment system of the cleaning appliance in one embodiment;
FIG. 10 is a schematic view of the adjustment system of the cleaning appliance in another embodiment;
FIG. 11 is a schematic view of a conditioning system of a cleaning appliance in yet another embodiment;
FIG. 12 is a schematic view of the structure of the cleaning apparatus in one embodiment;
figure 13 is a control flow diagram of sweeper adjustment in one embodiment.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the detailed description and specific examples, while indicating the scope of the invention, are intended for purposes of illustration only and are not intended to limit the scope of the invention.
It should be noted that the terms "first \ second \ third" related to the embodiments of the present invention are merely used for distinguishing similar objects, and do not represent a specific ordering for the objects, and it should be understood that "first \ second \ third" may exchange a specific order or sequence order if allowed. It should be understood that the terms first, second, and third, as used herein, are interchangeable under appropriate circumstances such that the embodiments of the invention described herein are capable of operation in other sequences than those illustrated or otherwise described herein.
The steps in the embodiments of the present invention are not necessarily performed in the order described, and unless otherwise explicitly stated herein, the steps are not necessarily performed in the exact order described, and may be performed in other orders. Moreover, at least a portion of the steps may include multiple sub-steps or multiple stages, which are not necessarily performed at the same time, but may be performed at different times, which are not necessarily performed sequentially, but may be performed alternately or at least partially with other steps or other steps.
The adjusting method of the cleaning appliance provided by the application can be applied to the application environment shown in fig. 1, and the areas with different shades in fig. 1 represent different working areas. The cleaning electric appliance obtains attribute data of a current working area, obtains an incidence relation between the attributes of the working area and a cleaning mode, determines the cleaning mode of the current working area according to the incidence relation and the attribute data, selects a corresponding cleaning tool according to the cleaning mode, and cleans the current working area through the cleaning tool. The cleaning electric appliances can be cleaning electric appliances with different types and functions, such as a sweeper, an intelligent cleaning robot and the like.
Referring to fig. 2, a flow chart of the adjusting method of the cleaning appliance of the present invention is shown. The adjusting method of the cleaning appliance in the embodiment comprises the following steps:
step S110: acquiring attribute data of a current working area of the cleaning electric appliance;
in this step, the attribute data represents characteristics of the current working area, such as a constituent material, hardness, and the like;
step S120: acquiring an incidence relation between the attributes of the working area and the cleaning mode, and determining the cleaning mode of the current working area according to the incidence relation and the attribute data;
in this step, the attribute of the working area and the cleaning mode have a corresponding association relationship, such as a wood material corresponding to a dust collection mode, a marble material corresponding to a scrubbing mode, and the like, and the association relationship can be set according to actual needs;
step S130: selecting a corresponding cleaning tool according to the cleaning mode, and cleaning the current working area through the cleaning tool;
in this embodiment, acquire the attribute data of clean electrical apparatus current work area, utilize the incidence relation of work area attribute and clean mode to confirm the clean mode of current work area, select corresponding burnisher according to the clean mode, clean current work area through burnisher, can use appointed burnisher to carry out the pertinence cleanness to different work areas through the scheme of this application, adapt to the specific attribute of work area, avoid causing the damage to work area, improve clean electrical apparatus's cleaning performance.
In one embodiment, as shown in fig. 3, the step of acquiring the attribute data of the current working area of the cleaning appliance includes the steps of:
and detecting the current working area through the inductor to obtain attribute data.
In this embodiment, the attribute data is detected and acquired by the sensor, and can be directly acquired in real time to adapt to changes of a working area and flexibly use a targeted cleaning mode.
In one embodiment, as shown in fig. 4, the step of acquiring the attribute data of the current working area of the cleaning appliance includes the steps of:
sending a first activation signal to each positioning sensor, and receiving a first response signal returned by each positioning sensor, wherein each positioning sensor is arranged in each working area of the cleaning electric appliance, and the first activation signal is generated by the cleaning electric appliance;
and determining the current working area of the cleaning electric appliance according to each first response signal, and acquiring the attribute data of the current working area according to the corresponding relation between the preset working area and the attribute data.
In this embodiment, the first activation signal may be sent to the positioning sensor disposed in each working area of the cleaning appliance, the current working area of the cleaning appliance may be obtained by using each returned first response signal, and then the attribute data of the current working area may be obtained according to the corresponding relationship between the working area and the attribute data.
It should be noted that the positioning sensor may be, but is not limited to, various sensors triggered by a wireless signal and feeding back the first response signal, the positioning sensor may be an active or passive sensor, and the like, and in order to reduce energy consumption and cost, a passive sensor may be preferred.
In one embodiment, the method of conditioning a cleaning appliance further comprises the steps of:
determining the initial position of the cleaning electric appliance and the working area to be cleaned according to the first response signals;
when the cleaning electric appliance cleans the current working area, recording the cleaning track of the cleaning electric appliance;
and when the covering surface formed by the cleaning track is consistent with the size of the current working area, acquiring the entrance position of the working area to be cleaned, acquiring a moving route according to the initial position and the entrance position, and driving the cleaning electric appliance to enter the working area to be cleaned along the moving route.
In this embodiment, the initial position is a position where the cleaning appliance is located before transferring the working area, and the working area to be cleaned is a target working area to which the cleaning appliance is to be transferred; the method comprises the steps of sending a first activation signal to positioning sensors arranged in each working area of the cleaning electric appliance, receiving first response signals returned by the positioning sensors according to the first activation signals, obtaining an initial position of the cleaning electric appliance and the working area to be cleaned by using the first response signals, obtaining an entrance position of the working area to be cleaned, obtaining a moving route by using the initial position and the entrance position, and enabling the cleaning electric appliance to smoothly enter the working area to be cleaned along the moving route.
In addition, when the cleaning appliance performs cleaning work on the current working area, the cleaning track of the cleaning appliance can be recorded, when the covering surface formed by the cleaning track is consistent with the size of the current working area, the cleaning appliance is indicated to finish cleaning the current working area, and at the moment, the cleaning appliance can enter the working area to be cleaned. The cleaning work of all the working areas can be completed by combining the recording of the cleaning track and the transfer of the working areas.
It should be noted that the size of the current working area may be saved in advance and directly used for comparison.
Optionally, when the initial position of the cleaning appliance is determined according to each first response signal, the relative position relationship between the cleaning appliance and the positioning sensor, such as the distance value between the cleaning appliance and the positioning sensor, may be determined according to the first activation signal and the first response signal, at this time, the distance value may be calculated by using the signal transmission time of the first activation signal and the first response signal, or the distance value may be calculated by using the signal intensity difference between the first activation signal and the first response signal, the relationship between the signal intensity difference and the distance value may be detected and recorded in a relationship table in advance, and in actual application, a table is looked up according to the signal intensity difference to obtain the distance value; the distance value between the cleaning appliance and the positioning sensor, etc. can also be determined in other different ways. And then the cleaning electric appliance is positioned by combining the preset position of the positioning sensor to obtain an initial position.
Further, when the moving route is acquired by the initial position and the entrance position of the working area to be cleaned, a reasonable moving route can be generated by means of the information of the plan view of each working area.
Furthermore, after entering the working area to be cleaned, the working area to be cleaned is the current working area, the attribute data of the current working area of the cleaning electrical appliance can be obtained again, the incidence relation between the attributes of the working area and the cleaning mode is obtained, the cleaning mode of the current working area is determined according to the incidence relation and the attribute data, a corresponding cleaning tool is selected according to the cleaning mode, and the current working area is cleaned through the cleaning tool.
In one embodiment, the step of determining the initial position of the cleaning appliance, the current working area and the working area to be cleaned according to the respective first response signals comprises the steps of:
sequencing the positioning sensors according to the first response signals to obtain a sequencing sequence, obtaining the sequencing relation of each working area according to the incidence relation between the positioning sensors and the working areas and the sequencing sequence, and determining the current working area of the cleaning electric appliance and the working area to be cleaned according to the sequencing relation;
and acquiring an initial position of the cleaning electric appliance according to the first activation signal, a first response signal corresponding to the first positioning sensor and a preset position of the first positioning sensor, wherein the first positioning sensor is arranged in a current working area of the cleaning electric appliance.
In this embodiment, because the positioning sensors are arranged in different working areas, the received first response signals are different, all the positioning sensors can be sorted by using the first response signals, the positioning sensors have an association relationship with the working areas, the sorting relationship of the working areas can be obtained through the association relationship, and then the current working area of the cleaning appliance and the working area to be cleaned can be quickly determined; because the first positioning sensor is located in the current working area of the cleaning electric appliance, the quality of the signal returned by the first positioning sensor is optimal, the initial position of the cleaning electric appliance can be more accurately positioned by utilizing the first activation signal, the first response signal corresponding to the first positioning sensor and the preset position of the first positioning sensor, and the accuracy of the initial position is improved.
Specifically, the process of acquiring the initial position of the cleaning appliance may be:
the method comprises the steps of obtaining the sending time of a first activation signal and the receiving time of a first response signal of a first positioning sensor, obtaining a distance value between the cleaning electric appliance and the first positioning sensor according to the two times and the signal propagation speed, and determining the initial position of the cleaning electric appliance by combining the preset position of the first positioning sensor. The receiving time and the sending time can be recorded during signal receiving and sending, the initial position of the cleaning electric appliance can be obtained through simple operation, the process is simple, and the result is accurate.
In practical application, the number of the first positioning sensors may be multiple, each first positioning sensor and the corresponding distance value may determine a circle with the first positioning sensor as a center, and an overlapping point of the circles corresponding to the first positioning sensors is an initial position of the cleaning appliance, as shown in fig. 5; when there are only two first positioning sensors, the two first positioning sensors may be disposed at two ends of one side of the edge of the working area, and there are two overlapping points in the circle corresponding to the two first positioning sensors, where the overlapping point in the working area is the initial position of the cleaning appliance, as shown in fig. 6.
In order to distinguish all the positioning sensors, when the positioning sensors feed back the first response signals, the numbers of the corresponding positioning sensors can be attached to the first response signals, so that the positioning sensors can be identified when calculating the positions.
In a specific application, if there are three working areas, which are A, B, C respectively, and each working area has three positioning sensors, which are a1, a2, A3, B1, B2, B3, C1, C2, and C3 respectively, when all the positioning sensors can be sorted by using each first response signal, the sorting sequence that may occur is B1, B2, B3, C2, C1, C3, A3, a2, and a1, so that the sorting relationship of the working areas is B, C, A, the current working area is B, and the working area to be cleaned is C.
In one embodiment, the step of ordering the positioning sensors according to the first response signals comprises the steps of:
sequencing the positioning sensors according to the signal attribute of each first response signal; wherein the signal attribute comprises signal strength or signal reception time;
the step of determining the current working area of the cleaning appliance and the working area to be cleaned according to the sorting relationship comprises the following steps:
and taking the first sorted working area as the current working area of the cleaning electric appliance, and taking the second sorted working area as the working area to be cleaned.
In this embodiment, because the positioning sensors are disposed in different working areas, the received first response signals have different differences and different signal attributes, and the first response signals are sorted by using the difference in the signal attributes, and the earlier the sorting is, the closer the positioning sensor is to the cleaning appliance, the closer the corresponding working area is to the cleaning appliance, so that the current working area and the working area to be cleaned can be determined.
Specifically, the signal property may be, but is not limited to, signal strength, signal reception time, and the like.
Taking signal intensity as an example, the signal intensity returned by the positioning sensor in the same working area is similar, the difference of the signal intensity returned by the positioning sensor in different working areas is larger, the positioning sensor can be distinguished by utilizing the signal intensity, and then the working areas are distinguished, the higher the signal intensity is, the closer the positioning sensor is to the cleaning electrical appliance, the closer the corresponding working area is to the cleaning electrical appliance, the positioning sensor with the highest signal intensity is located in the current working area of the cleaning electrical appliance, the working area which is closest to the cleaning electrical appliance is arranged behind the current working area, namely the working area to be cleaned, and the cleaning electrical appliance can be cleaned nearby.
Taking the signal receiving time as an example, the signal receiving time returned by the positioning sensors in the same working area is close, the difference of the signal receiving time returned by the positioning sensors in different working areas is larger, the positioning sensors can be distinguished by utilizing the signal receiving time, and further the working areas are distinguished, the earlier the signal receiving time is, the closer the distance between the positioning sensors and the cleaning electrical appliance is, the closer the corresponding working area is to the cleaning electrical appliance, the positioning sensor with the earliest signal receiving time is positioned in the current working area of the cleaning electrical appliance, the working area which is closest to the cleaning electrical appliance is sequenced after the current working area, namely the working area to be cleaned, and the cleaning electrical appliance can be cleaned nearby.
In one embodiment, the step of determining the current working area of the cleaning appliance and the working area to be cleaned according to the ranking relationship comprises the steps of:
and if the determined working area to be cleaned is cleaned, selecting the next working area in sequence as the working area to be cleaned.
In this embodiment, in the process that the cleaning appliance enters the plurality of working areas, the situation that the determined working area to be cleaned has been cleaned can occur, and at this time, the next working area in the sequence can be selected as the working area to be cleaned, so that the cleaning work of all the working areas can be smoothly completed, repeated cleaning is avoided, and cleaning resources are saved.
In one embodiment, as shown in fig. 7, the step of obtaining the entrance position of the work area to be cleaned comprises the steps of:
acquiring the position of a second positioning sensor, wherein the second positioning sensor is positioned at an inlet of a working area to be cleaned;
determining an entry location based on the location of the second position sensor;
the step of acquiring the moving route according to the initial position and the entrance position includes the steps of:
acquiring the position of a third positioning sensor, wherein the third positioning sensor is positioned at an outlet of the current working area of the cleaning appliance;
determining the position of the outlet according to the position of the third positioning sensor;
and acquiring a moving route according to the initial position, the exit position and the entrance position.
In the embodiment, the position of the inlet is determined by using the second positioning sensor arranged at the inlet of the working area to be cleaned, the position of the outlet is determined by using the third positioning sensor arranged at the outlet of the current working area, the positions of the second positioning sensor and the third positioning sensor can be stored in advance, the moving route of the cleaning electric appliance for transferring the working area can be specifically planned through the initial position, the outlet position and the inlet position, and the cleaning electric appliance can move along the moving route under the condition of no retardation, smoothly leave the current working area and enter the working area to be cleaned, so that the cleaning electric appliance is ensured to be transferred to the working area.
Specifically, the second positioning sensors may be disposed on the floor at the entrance of the working area to be cleaned, or on both sides of the entrance, and when disposed on both sides of the entrance, the center position of the entrance may be determined according to the positions of the second positioning sensors on both sides, and the center position is taken as the entrance position; the third positioning sensors may be disposed on the ground at the exit of the current working area, or on both sides of the exit, and when disposed on both sides of the exit, the center position of the exit may be determined according to the positions of the third positioning sensors on both sides, and the center position is taken as the exit position. In generating the movement route, it may be the shortest movement route to shorten the movement time. The second positioning sensor and the third positioning sensor both belong to positioning sensors in a working area.
In one embodiment, as shown in fig. 8, the adjusting method of the cleaning appliance further includes the steps of:
recording the cleaned working area, and judging whether the current working area is the last working area to be cleaned according to the cleaned working area;
if so, after cleaning of the current working area is finished, sending second activation signals to each positioning sensor, and receiving each second response signal, wherein each second response signal is a signal returned by each positioning sensor according to the second activation signal;
acquiring the current position of the cleaning electric appliance according to the second activation signal, the second response signal and the preset position of the positioning sensor;
the method comprises the steps of obtaining a preset position of a charging pile, obtaining a moving path according to the current position and the preset position of the charging pile, and driving the cleaning electric appliance to move to a charging interface position of the charging pile along the moving path.
In this embodiment, after the cleaning of the working area by the cleaning electric appliance is completed, the cleaned working area is recorded, because the total number of the working area is generally fixed, whether the current working area is the last working area to be cleaned can be judged according to the recorded cleaned working area in the moving process, if so, the cleaning electric appliance can be positioned after the cleaning work is completed, a moving path is obtained according to the preset position of the charging pile, the cleaning electric appliance is driven to move to the charging interface position of the charging pile along the moving path, and the cleaning electric appliance can be charged in time after the cleaning work is completed so as to be used for the next time.
Specifically, a second activation signal is sent to the positioning sensor, a second response signal is received, and the current position of the cleaning electric appliance is obtained according to the second activation signal, the second response signal and the preset position of the positioning sensor; the utility model discloses a clean electrical apparatus is charged to electric pile, and the electric pile can adopt the wireless charging mode of contact to charge to clean electrical apparatus.
Furthermore, the position of a positioning sensor arranged at the outlet of the current working area can be obtained, the outlet position of the current working area is determined according to the position, the exit route is obtained by combining the current position of the cleaning electric appliance, the cleaning electric appliance can leave the current working area after cleaning is completed, and then the advancing route is obtained by combining the outlet position and the preset position of the charging pile, so that the cleaning electric appliance can smoothly go to the charging pile for charging.
It should be noted that the positioning sensor arranged at the outlet of the current working area may be used to position the cleaning appliance, and may also be used to determine the outlet position of the current working area; the positioning sensors can be arranged on two sides of the outlet, and when the position of the outlet is actually determined, the midpoint position of the position connecting line of the positioning sensors arranged on two sides of the outlet can be used as the outlet position, the position at 1/3 of the connecting line can also be used as the outlet position, and the adjustment can be carried out according to actual requirements.
In addition, if the size of the coverage surface formed by the recorded cleaning track is consistent with that of the current working area, the cleaning completion of the current working area is indicated.
According to the adjusting method of the cleaning appliance, the embodiment of the invention also provides an adjusting system of the cleaning appliance, and the following describes an embodiment of the adjusting system of the cleaning appliance in detail.
Referring to fig. 9, a schematic structural diagram of an adjustment system of a cleaning appliance according to an embodiment is shown. The adjustment system of the cleaning appliance in this embodiment includes:
the data acquisition unit 210 is configured to acquire attribute data of a current working area of the cleaning appliance;
the data processing unit 220 is configured to obtain an association relationship between the attributes of the working area and the cleaning manner, and determine the cleaning manner of the current working area according to the association relationship and the attribute data;
and the adjusting and controlling unit 230 is configured to select a corresponding cleaning tool according to the cleaning manner, and clean the current working area through the cleaning tool.
In this embodiment, the data obtaining unit 210 obtains attribute data of a current working area of the cleaning appliance, the data processing unit 220 determines a cleaning mode of the current working area by using an association relationship between attributes of the working area and the cleaning mode, the adjustment control unit 230 selects a corresponding cleaning tool according to the cleaning mode, and the current working area is cleaned by the cleaning tool.
In one embodiment, the data obtaining unit 210 detects the current working area through a sensor to obtain the attribute data.
In one embodiment, as shown in fig. 10, the adjustment system of the cleaning appliance further includes a signal transmitting unit 240, a signal receiving unit 250, and a signal processing unit 260;
the signal transmitting unit 240 is configured to transmit a first activation signal to each positioning sensor, wherein each positioning sensor is disposed in each working area of the cleaning appliance, and the first activation signal is generated by the cleaning appliance;
the signal receiving unit 250 is configured to receive a first response signal returned by each positioning sensor;
the signal processing unit 260 is used for determining the current working area of the cleaning appliance according to each first response signal;
the data obtaining unit 210 obtains the attribute data of the current working area according to the corresponding relationship between the preset working area and the attribute data.
In one embodiment, as shown in fig. 11, the conditioning system of the cleaning appliance further includes an operation recording unit 270 and a movement control unit 280;
the operation recording unit 270 is configured to record a cleaning track of the cleaning appliance when the cleaning appliance cleans a current working area;
the signal processing unit 260 determines an initial position of the cleaning appliance and a work area to be cleaned according to each first response signal;
the movement control unit 280 is configured to obtain an entrance position of the working area to be cleaned when a coverage area formed by the cleaning track is the same as the size of the current working area, obtain a movement path according to the initial position and the entrance position, and drive the cleaning appliance to enter the working area to be cleaned along the movement path.
In one embodiment, the signal processing unit 260 sequences the positioning sensors according to the first response signals to obtain a sequencing sequence, obtains a sequencing relationship of each working area according to the association relationship between the positioning sensors and the working areas and the sequencing sequence, and determines the current working area of the cleaning appliance and the working area to be cleaned according to the sequencing relationship; and acquiring an initial position of the cleaning electric appliance according to the first activation signal, a first response signal corresponding to the first positioning sensor and a preset position of the first positioning sensor, wherein the first positioning sensor is arranged in a current working area of the cleaning electric appliance.
In one embodiment, the signal processing unit 260 orders the positioning sensors according to the signal properties of the first response signals; taking the first sorted working area as the current working area of the cleaning electric appliance, and taking the second sorted working area as the working area to be cleaned; wherein the signal attribute comprises signal strength or signal reception time.
In one embodiment, when the determined working area to be cleaned is cleaned, the signal processing unit 260 selects the next working area as the working area to be cleaned.
In one embodiment, the mobile control unit 280 obtains the position of the second position sensor, determines the entry location based on the position of the second position sensor; acquiring the position of a third positioning sensor, determining an exit position according to the position of the third positioning sensor, and acquiring a moving route according to an initial position, the exit position and an entrance position; the second positioning sensor is positioned at an inlet of a working area to be cleaned, and the third positioning sensor is positioned at an outlet of the current working area of the cleaning appliance.
In one embodiment, the operation recording unit 270 records the cleaned work area;
the signal processing unit 260 judges whether the current working area is the last working area to be cleaned according to the cleaned working area;
when the signal processing unit 260 determines that the current working area is the last working area to be cleaned, the signal sending unit 240 sends second activation signals to the positioning sensors after the cleaning of the cleaning appliance is completed, and the signal receiving unit 250 receives second response signals, wherein the second response signals are signals returned by the positioning sensors according to the second activation signals;
the signal processing unit 260 acquires the current position of the cleaning appliance according to the second activation signal, the second response signal and the preset position of the positioning sensor;
the mobile control unit 280 acquires a preset position of the charging pile, acquires a moving path according to the current position and the preset position of the charging pile, and drives the cleaning appliance to move to a charging interface position of the charging pile along the moving path.
The adjusting system of the cleaning electric appliance of the embodiment of the invention corresponds to the adjusting method of the cleaning electric appliance one by one, and the technical characteristics and the beneficial effects described in the embodiment of the adjusting method of the cleaning electric appliance are all suitable for the embodiment of the adjusting system of the cleaning electric appliance.
According to the adjusting method of the cleaning electric appliance, the embodiment of the invention also provides the cleaning electric appliance.
A cleaning electric appliance comprises a memory, a processor and an executable program which is stored on the memory and can be run on the processor, and the steps of the adjusting method of the cleaning electric appliance are realized when the processor executes the program.
According to the cleaning electric appliance, the specific cleaning of different working areas by using the designated cleaning tool can be realized through the stored executable program, the specific attributes of the working areas are adapted, the damage to the working areas is avoided, and the cleaning effect of the cleaning electric appliance is improved.
According to the adjusting method of the cleaning appliance, the embodiment of the invention also provides a readable storage medium.
A readable storage medium, on which an executable program is stored, which when executed by a processor, performs the steps of the above-described method of tuning a cleaning appliance.
The readable storage medium can realize targeted cleaning of different working areas by using a designated cleaning tool through the stored executable program, adapts to the specific attributes of the working areas, avoids damage to the working areas, and improves the cleaning effect of cleaning the electric appliance.
It will be understood by those skilled in the art that all or part of the processes of the methods of the embodiments described above can be implemented by hardware related to instructions of a computer program, and the program can be stored in a non-volatile computer readable storage medium, for example, in the embodiments, the program can be stored in a storage medium of a computer system and executed by at least one processor in the computer system, so as to implement the processes of the embodiments including the methods described above. The storage medium may be a magnetic disk, an optical disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), or the like.
According to the adjusting method of the cleaning appliance, the embodiment of the invention also provides a cleaning device, and the following detailed description is given on the embodiment of the cleaning device.
Referring to fig. 12, a schematic structural diagram of a cleaning device according to an embodiment is shown. The cleaning apparatus in this embodiment includes a cleaning appliance 310 and a plurality of positioning sensors 320;
the cleaning appliance 310 sends a first activation signal to each positioning sensor 320 and receives a first response signal returned by each positioning sensor 320, wherein each positioning sensor 320 is arranged in each working area of the cleaning appliance 310, and the first activation signal is generated by the cleaning appliance 310;
the cleaning electric appliance 310 determines the current working area of the cleaning electric appliance 310 according to each first response signal, and obtains attribute data of the current working area according to the corresponding relation between the preset working area and the attribute data; acquiring an incidence relation between the attributes of the working area and the cleaning mode, and determining the cleaning mode of the current working area according to the incidence relation and the attribute data; and selecting a corresponding cleaning tool according to the cleaning mode, and cleaning the current working area through the cleaning tool.
Above-mentioned cleaning equipment, it acquires the attribute data of clean electrical apparatus current work area, utilizes the incidence relation of work area attribute and clean mode to confirm the clean mode of current work area, selects corresponding burnisher according to clean mode, cleans current work area through burnisher, can use appointed burnisher to carry out the pertinence cleanness to different work areas through the scheme of this application, adapts to work area's specific attribute, avoids causing the damage to work area, improves clean electrical apparatus's clean effect.
In one embodiment, the cleaning appliance 310 determines an initial position of the cleaning appliance 310 and a work area to be cleaned according to each first response signal; when the current working area is cleaned, recording the cleaning track of the cleaning electric appliance; and when the covering surface formed by the cleaning track is consistent with the size of the current working area, acquiring the entrance position of the working area to be cleaned, acquiring a moving route according to the initial position and the entrance position, and entering the working area to be cleaned along the moving route.
In one embodiment, the cleaning appliance 310 sorts the positioning sensors 320 according to the first response signals to obtain a sorting sequence, obtains a sorting relationship of the working areas according to the association relationship between the positioning sensors and the working areas and the sorting sequence, and determines the current working area and the working area to be cleaned of the cleaning appliance according to the sorting relationship; and acquiring an initial position of the cleaning electric appliance according to the first activation signal, a first response signal corresponding to the first positioning sensor and a preset position of the first positioning sensor, wherein the first positioning sensor is arranged in a current working area of the cleaning electric appliance.
In one embodiment, the cleaning appliance 310 ranks the positioning sensors 320 according to the signal attributes of the first response signals; taking the first sorted working area as the current working area of the cleaning electric appliance, and taking the second sorted working area as the working area to be cleaned; wherein the signal attribute comprises signal strength or signal reception time.
In one embodiment, when the cleaning appliance 310 determines that the cleaning of the working area to be cleaned is completed, the next working area is selected as the working area to be cleaned.
In one embodiment, the cleaning appliance 310 obtains the location of a second position sensor, determines the entry location based on the location of the second position sensor; acquiring the position of a third positioning sensor, determining an exit position according to the position of the third positioning sensor, and acquiring a moving route according to an initial position, the exit position and an entrance position; the second positioning sensor is positioned at an inlet of a working area to be cleaned, and the third positioning sensor is positioned at an outlet of the current working area of the cleaning appliance.
In one embodiment, the cleaning appliance 310 records the cleaned working area, and determines whether the current working area is the last working area to be cleaned according to the cleaned working area; when the current working area is determined to be the last working area to be cleaned, after the cleaning appliance 310 finishes cleaning the current working area, sending a second activation signal to each positioning sensor 320, and receiving each second response signal, wherein each second response signal is a signal returned by each positioning sensor 320 according to the second activation signal;
the cleaning appliance 310 acquires the current position of the cleaning appliance according to the second activation signal, the second response signal and the preset position of the positioning sensor; the method comprises the steps of obtaining a preset position of a charging pile, obtaining a moving path according to the current position and the preset position of the charging pile, and moving to a charging interface position of the charging pile along the moving path.
The cleaning equipment of the embodiment of the invention corresponds to the adjusting method of the cleaning electric appliance, and the technical characteristics and the beneficial effects thereof described in the embodiment of the adjusting method of the cleaning electric appliance are all applicable to the embodiment of the cleaning equipment.
In one embodiment, the scheme of the invention can be applied to various different types of sweeper, intelligent sweeping robots and other scenes. In the following, a general cake-shaped sweeper is taken as an example, and the control flow of the movement is shown in fig. 13, specifically as follows:
the floor sweeping machine comprises a floor sweeping machine, a positioning sensor, a signal transmitting device, a signal receiving device and a signal processing device, wherein the positioning sensor is arranged in a wall at the corner of a room to be cleaned in advance and in walls on two sides of a door opening of the room, building plan data of the room to be cleaned are stored in the floor sweeping machine in advance, a processor of the floor sweeping machine can acquire planar arrangement information of the walls, the door openings, the positioning sensor and the like of all rooms from the floor sweeping machine, and the signal transmitting device and the signal receiving.
After the sweeper is started, a processor of the sweeper controls a signal transmitting device to transmit a first activation signal, a positioning sensor immediately feeds back a first response signal after receiving the first activation signal, the processor of the sweeper receives the first response signal through a signal receiving device, calculates the distance between the initial position of the sweeper and a corresponding positioning sensor according to the time difference between the first activation signal and the first response signal, and obtains the position of the positioning sensor by reading pre-stored building plan data, so that the initial position of the sweeper is obtained;
the processor of the sweeper sorts the positioning sensors according to the signal strength of the first response signal to obtain a sorting sequence, obtains the incidence relation between the positioning sensors and the rooms by reading pre-stored building plan data, obtains the sorting relation between the rooms according to the incidence relation between the positioning sensors and the rooms and the sorting sequence, sorts the first room as the current room, and sorts the second room as the room to be cleaned;
acquiring ground attribute data of a current room according to a preset corresponding relation between the room and the ground attribute data, determining a cleaning mode, and cleaning the current room by selecting a cleaning tool corresponding to the cleaning mode;
when a current room is cleaned, a cleaning track is recorded, when a covering surface formed by the cleaning track is consistent with the size of the current room, the position of a positioning sensor at an inlet of the room to be cleaned is obtained, the position of the inlet is obtained accordingly, the position of the positioning sensor at an outlet of the current room of the cleaning appliance is obtained accordingly, the position of the outlet is obtained accordingly, the shortest moving route is obtained according to the initial position, the outlet position and the inlet position, and the cleaning appliance enters the room to be cleaned along the moving route and is cleaned next time.
The sweeper repeatedly executes the process, records the cleaned room, and judges whether the current room is the last room to be cleaned according to the cleaned room; if yes, after cleaning of the current room is completed, sending second activation signals to the positioning sensors, receiving second response signals, positioning the current position of the sweeper, obtaining a preset position of the charging pile, planning a moving path, moving the sweeper to the charging interface position of the charging pile along the moving path, and charging for reuse.
The technical features of the embodiments described above may be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the embodiments described above are not described, but should be considered as being within the scope of the present specification as long as there is no contradiction between the combinations of the technical features.
Those skilled in the art will appreciate that all or part of the steps in the method for implementing the above embodiments may be implemented by a program instructing the relevant hardware. The program may be stored in a readable storage medium. Which when executed comprises the steps of the method described above. The storage medium includes: ROM/RAM, magnetic disk, optical disk, etc.
The above-mentioned embodiments only express several embodiments of the present invention, and the description thereof is more specific and detailed, but not construed as limiting the scope of the invention. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the inventive concept, which falls within the scope of the present invention. Therefore, the protection scope of the present patent shall be subject to the appended claims.
Claims (10)
1. A method for adjusting a cleaning appliance is characterized by comprising the following steps:
acquiring attribute data of a current working area of the cleaning electric appliance;
acquiring an incidence relation between the attributes of the working area and a cleaning mode, and determining the cleaning mode of the current working area according to the incidence relation and the attribute data;
selecting a corresponding cleaning tool according to the cleaning mode, and cleaning the current working area through the cleaning tool;
the step of obtaining the attribute data of the current working area of the cleaning appliance comprises the following steps:
sending a first activation signal to each positioning sensor, and receiving a first response signal returned by each positioning sensor, wherein each positioning sensor is arranged in each working area of a cleaning electric appliance, and the first activation signal is generated by the cleaning electric appliance;
determining a current working area of the cleaning electric appliance according to each first response signal, and acquiring attribute data of the current working area according to a corresponding relation between a preset working area and the attribute data;
the adjusting method of the cleaning appliance further comprises the following steps:
determining the initial position of the cleaning electric appliance and the working area to be cleaned according to the first response signals;
when the cleaning electric appliance cleans the current working area, recording the cleaning track of the cleaning electric appliance;
when the size of a covering surface formed by the cleaning track is consistent with that of the current working area, acquiring an entrance position of the working area to be cleaned, acquiring a moving route according to the initial position and the entrance position, and driving the cleaning electric appliance to enter the working area to be cleaned along the moving route;
the step of acquiring the entrance position of the work area to be cleaned comprises the steps of:
acquiring the position of a second positioning sensor, wherein the second positioning sensor is positioned at the inlet of the working area to be cleaned;
determining the entry location based on the location of the second position sensor.
2. The adjusting method of a cleaning appliance according to claim 1, wherein the step of obtaining attribute data of a current working area of the cleaning appliance comprises the steps of:
and detecting the current working area through a sensor to obtain the attribute data.
3. The adjusting method of a cleaning appliance according to claim 1, wherein the step of determining the initial position, the current working area and the working area to be cleaned of the cleaning appliance according to each of the first response signals comprises the steps of:
sequencing the positioning sensors according to the first response signals to obtain a sequencing sequence, obtaining the sequencing relation of each working area according to the incidence relation between the positioning sensors and the working areas and the sequencing sequence, and determining the current working area of the cleaning electric appliance and the working area to be cleaned according to the sequencing relation;
and acquiring an initial position of the cleaning electric appliance according to the first activation signal, a first response signal corresponding to a first positioning sensor and a preset position of the first positioning sensor, wherein the first positioning sensor is arranged in a current working area of the cleaning electric appliance.
4. The method for adjusting a cleaning appliance according to claim 3, wherein the step of sequencing each of the positioning sensors according to each of the first response signals comprises the steps of:
sequencing each positioning sensor according to the signal attribute of each first response signal; wherein the signal attribute comprises a signal strength or a signal reception time;
the step of determining the current working area of the cleaning appliance and the working area to be cleaned according to the sorting relationship comprises the following steps:
and taking the first sorted working area as the current working area of the cleaning electric appliance, and taking the second sorted working area as the working area to be cleaned.
5. The adjusting method of the cleaning appliance according to claim 4, wherein the step of determining the current working area of the cleaning appliance and the working area to be cleaned according to the sequencing relationship comprises the steps of:
and if the determined working area to be cleaned is cleaned, selecting the next working area in sequence as the working area to be cleaned.
6. The adjustment method of a cleaning appliance according to claim 1,
the step of acquiring a moving route according to the initial position and the entrance position includes the steps of:
acquiring the position of a third positioning sensor, wherein the third positioning sensor is positioned at an outlet of a current working area of the cleaning appliance;
determining an exit position from the position of the third positioning sensor;
and acquiring the moving route according to the initial position, the exit position and the entrance position.
7. The adjusting method of a cleaning appliance according to claim 1, further comprising the steps of:
recording the cleaned working area, and judging whether the current working area is the last working area to be cleaned according to the cleaned working area;
if so, after cleaning of the current working area is completed, sending second activation signals to each positioning sensor, and receiving each second response signal, wherein each second response signal is a signal returned by each positioning sensor according to the second activation signal;
acquiring the current position of the cleaning electric appliance according to the second activation signal, the second response signal and the preset position of each positioning sensor;
and acquiring a preset position of a charging pile, acquiring a moving path according to the current position and the preset position of the charging pile, and driving the cleaning electric appliance to move to a charging interface position of the charging pile along the moving path.
8. A conditioning system for a cleaning appliance, comprising:
the data acquisition unit is used for acquiring the attribute data of the current working area of the cleaning electric appliance;
the data processing unit is used for acquiring the incidence relation between the attributes of the working area and the cleaning mode and determining the cleaning mode of the current working area according to the incidence relation and the attribute data;
the adjusting control unit is used for selecting a corresponding cleaning tool according to the cleaning mode and cleaning the current working area through the cleaning tool;
the device comprises a signal sending unit, a positioning sensor and a control unit, wherein the signal sending unit is used for sending a first activation signal to each positioning sensor, each positioning sensor is arranged in each working area of a cleaning electric appliance, and the first activation signal is generated by the cleaning electric appliance;
the signal receiving unit is used for receiving first response signals returned by the positioning sensors;
the signal processing unit is used for determining the current working area of the cleaning electric appliance according to each first response signal;
the data acquisition unit is further used for acquiring the attribute data of the current working area according to the corresponding relation between the preset working area and the attribute data;
the adjusting system of the cleaning electric appliance also comprises an operation recording unit and a mobile control unit;
the operation recording unit is used for recording the cleaning track of the cleaning electric appliance when the cleaning electric appliance cleans the current working area;
the signal processing unit is further used for determining the initial position of the cleaning electric appliance and the working area to be cleaned according to the first response signals;
the movement control unit is used for acquiring the entrance position of the working area to be cleaned when the covering surface formed by the cleaning track is consistent with the size of the current working area, acquiring a movement route according to the initial position and the entrance position, and driving the cleaning electric appliance to enter the working area to be cleaned along the movement route;
the mobile control unit is further used for acquiring the position of a second positioning sensor, and determining the position of an entrance according to the position of the second positioning sensor, wherein the second positioning sensor is positioned at the entrance of the working area to be cleaned.
9. A cleaning appliance comprising a memory, a processor and an executable program stored on the memory and executable on the processor, characterized in that the processor when executing the program performs the steps of the method of adjusting a cleaning appliance according to any one of claims 1 to 7.
10. A readable storage medium, on which an executable program is stored, characterized in that the program, when being executed by a processor, carries out the steps of the adjustment method of the cleaning appliance according to any one of claims 1 to 7.
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| JP7221817B2 (en) * | 2019-07-01 | 2023-02-14 | 東芝ライフスタイル株式会社 | autonomous vacuum cleaner |
| CN110393480B (en) * | 2019-08-12 | 2021-03-19 | 侨银城市管理股份有限公司 | A automatic robot for cleaning corridor |
| CN110477819B (en) * | 2019-09-20 | 2021-07-16 | 青岛海尔科技有限公司 | Data acquisition and decision-making method for Internet of things operating system and intelligent household equipment |
| CN113925409A (en) * | 2020-07-13 | 2022-01-14 | 宝时得科技（中国）有限公司 | Cleaning robot control method and device and robot |
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| CN109077667A (en) | 2018-12-25 |
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