WO2022170713A1 - 自动清洁设备控制方法及装置、介质及电子设备 - Google Patents
自动清洁设备控制方法及装置、介质及电子设备 Download PDFInfo
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- WO2022170713A1 WO2022170713A1 PCT/CN2021/099221 CN2021099221W WO2022170713A1 WO 2022170713 A1 WO2022170713 A1 WO 2022170713A1 CN 2021099221 W CN2021099221 W CN 2021099221W WO 2022170713 A1 WO2022170713 A1 WO 2022170713A1
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Classifications
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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
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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
- A47L11/4011—Regulation of the cleaning machine by electric means; Control systems and remote control systems therefor
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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
- 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
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
- A47L11/4061—Steering means; Means for avoiding obstacles; Details related to the place where the driver is accommodated
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L2201/00—Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L2201/00—Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
- A47L2201/04—Automatic control of the travelling movement; Automatic obstacle detection
Definitions
- the present disclosure relates to the field of smart homes, and in particular, to an automatic cleaning device control method, an automatic cleaning device control device, a computer-readable storage medium, and an electronic device.
- a method for controlling an automatic cleaning device comprising: when the automatic cleaning device cleans a first surface medium region, scanning the boundary of the second surface medium region to generate a second surface medium region set; The boundary points in the second surface medium area set are used as obstacle points and are stored in the path search map; if no obstacle-free path to the target point cannot be searched based on the obstacle points, it is determined according to the path search map A passing path to the target point; determining the shortest path from the passing path, and controlling the automatic cleaning device to escape along the shortest path.
- scanning the boundary of the second surface medium region to generate the second surface medium region set includes: scanning the boundary of the second surface medium region, generating an initialization region, and recording the initialization region ; combine the boundary coordinates of the initialization area to obtain a combined area; split the combined area into a plurality of sub-areas according to a preset shape, and the plurality of sub-areas form the second surface medium area set.
- using the boundary point in the second surface medium region set as the obstacle point includes: taking the boundary point of each of the sub-regions in the second surface medium region set as the obstacle point obstacle point; and add the obstacle point to the path search map.
- determining a passage path to the target point according to the path search map includes: performing a step of deleting a target obstacle point, and the step of deleting a target obstacle point includes performing a step of deleting a target obstacle point based on the A path search map, determining the reachable area and unreachable area of the automatic cleaning device according to the current location of the automatic cleaning device; according to the connection boundary between the reachable area and the unreachable area, find the Connect the obstacle points on the boundary as the target obstacle point; delete the target obstacle point from the path search map; repeat the steps of deleting the target obstacle point until the target obstacle point is deleted from the The passage path to the target point is found in the path search map of the target obstacle point.
- searching for the target obstacle point according to the connection boundary between the reachable area and the unreachable area includes: according to the reachable area and the unreachable area The connection boundary between the two is to find the obstacle point close to the automatic cleaning device on the connection boundary as the target obstacle point.
- determining a passage path to the target point according to the path search map includes: determining an area with the smallest area from the second surface medium area set; The boundary points of the area are deleted from the path search map, and the obstacle points in the path search map are updated; from the updated obstacle points, the passing path to the target point is determined.
- the method is for the automatic cleaning device to be in a mode of cleaning only the first surface media area.
- an automatic cleaning device control device comprising: a region set generation module, configured to scan the boundary of the second surface medium region when the automatic cleaning device cleans the first surface medium region to generate a second surface medium region.
- a set of two-surface medium regions An obstacle point storage module, used for storing the boundary points in the second surface medium region set as obstacle points in the path search map; If the object point cannot search for an obstacle-free path to the target point, the passage path to the target point is determined according to the path search map; the control escape module is used to determine the shortest path from the passage path, and control the automatic The cleaning device escapes along the shortest path.
- a computer-readable storage medium on which a computer program is stored, and when the computer program is executed by a processor, implements the above-mentioned automatic cleaning device control method.
- an electronic device comprising: a processor; and a memory for storing executable instructions of the processor; wherein the processor is configured to execute via executing the executable instructions
- the above-mentioned automatic cleaning equipment control method comprising: a processor; and a memory for storing executable instructions of the processor; wherein the processor is configured to execute via executing the executable instructions
- FIG. 1 is a perspective view of an automatic cleaning device according to an embodiment of the present disclosure
- FIG. 2 is a schematic diagram of a bottom structure of an automatic cleaning device according to an embodiment of the present disclosure
- FIG. 3 is an oblique view of a one-side drive wheel assembly according to an embodiment of the present disclosure
- FIG. 4 is a front view of a side drive wheel assembly of one embodiment of the present disclosure.
- FIG. 5 is an oblique view of a dust box according to an embodiment of the present disclosure.
- FIG. 6 is a perspective view of a fan according to an embodiment of the present disclosure.
- FIG. 7 is a schematic diagram of an open state of a dust box according to an embodiment of the present disclosure.
- FIG. 8 is a schematic diagram of a combined state of a dust box and a fan according to an embodiment of the present disclosure
- FIG. 9 is an exploded view of an automatic cleaning device according to an embodiment of the present disclosure.
- FIG. 10 is a structural diagram of an automatic cleaning equipment support platform according to an embodiment of the present disclosure.
- FIG. 11 is a structural diagram of a vibration member of an automatic cleaning device according to an embodiment of the present disclosure.
- FIG. 12 is a schematic diagram of a cleaning head driving mechanism based on a crank-slider mechanism according to another embodiment of the present disclosure
- FIG. 13 is a schematic diagram of a cleaning head driving mechanism based on a double crank mechanism according to another embodiment of the present disclosure
- FIG. 14 is a schematic diagram of a cleaning head driving mechanism based on a crank mechanism according to another embodiment of the present disclosure.
- 15 is a schematic diagram of a raised state of an automatic cleaning device according to an embodiment of the present disclosure.
- 16 is a schematic diagram of a sinking state of an automatic cleaning device according to an embodiment of the present disclosure.
- FIG. 17 is a schematic diagram of a raised state of a four-link lifting structure according to an embodiment of the present disclosure.
- FIG. 18 is a schematic diagram of the sinking state of the four-link lifting structure according to an embodiment of the present disclosure.
- Fig. 19 shows a route diagram of an automatic cleaning device when cleaning along a wall according to an embodiment of the present invention
- Fig. 20 shows a schematic structural diagram of an automatic cleaning device when a jam occurs when cleaning along a wall according to an embodiment of the present invention
- Fig. 21 shows a schematic diagram 1 of a route when cleaning along the edge of a carpet of an automatic cleaning device according to an embodiment of the present invention
- Fig. 22 shows a schematic diagram 2 of the route when cleaning along the edge of the carpet of an automatic cleaning device according to an embodiment of the present invention
- Fig. 23 shows a schematic diagram 3 of a route when cleaning along a carpet edge of an automatic cleaning device according to an embodiment of the present invention
- Fig. 24 shows a schematic structural diagram of an automatic cleaning device when a jam occurs when cleaning along a carpet edge according to an embodiment of the present invention
- Fig. 25 shows a flowchart of a method for controlling an automatic cleaning device according to an embodiment of the present invention
- Figure 26 shows a schematic structural diagram of an automatic cleaning device trapped by the second surface medium region according to an embodiment of the present invention
- FIG. 27 is a schematic diagram showing the structure of the initialization area after scanning the medium area of the second surface shown in FIG. 26;
- Figure 28 shows a schematic structural diagram of a merged region obtained based on the initialization region shown in Figure 27;
- Figure 29 shows a schematic structural diagram of a sub-region determined based on the merged region shown in Figure 28;
- FIG. 30 shows a schematic structural diagram of a communication path determined based on the first method for determining a traffic path according to an embodiment of the present invention
- FIG. 31 shows a schematic structural diagram of a communication path determined based on a second method for determining a pass path according to an embodiment of the present invention
- Fig. 32 shows a block diagram of an automatic cleaning device control device according to an embodiment of the present invention.
- FIG. 33 shows a schematic block diagram of an electronic device according to an embodiment of the present invention.
- Example embodiments will now be described more fully with reference to the accompanying drawings.
- Example embodiments can be embodied in various forms and should not be construed as limited to the examples set forth herein; rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the concept of example embodiments to those skilled in the art.
- the same reference numerals in the drawings denote the same or similar structures, and thus their detailed descriptions will be omitted.
- Figures 1 to 2 are schematic structural diagrams of an automatic cleaning device according to an exemplary embodiment.
- the automatic cleaning device may be a vacuum robot, or mopping/sweeping.
- the automatic cleaning equipment may include a mobile platform 100 , a sensing system 120 , a control system 130 , a driving system 140 , a cleaning module 150 , an energy system 160 and a human-computer interaction system 170 . in:
- the mobile platform 100 may be configured to automatically move along the target direction on the operating surface.
- the operating surface may be the surface to be cleaned by the automatic cleaning device.
- the automatic cleaning device can be a mopping robot, and the automatic cleaning device works on the ground, where the ground is the operating surface; the automatic cleaning device can also be a window cleaning robot, and the automatic cleaning device is in the building.
- the outer surface of the glass works, the glass is the operation surface; the automatic cleaning equipment can also be a pipe cleaning robot, and the automatic cleaning equipment works on the inner surface of the pipe, and the inner surface of the pipe is the operation surface.
- the following description in this application takes a floor mopping robot as an example for illustration.
- the mobile platform 100 may be an autonomous mobile platform or a non-autonomous mobile platform.
- the autonomous mobile platform means that the mobile platform 100 itself can automatically and adaptively make operational decisions according to unexpected environmental inputs; the non-autonomous mobile platform itself cannot make adaptive decisions according to unexpected environmental inputs. Operational decisions, but can execute a given procedure or operate according to a certain logic.
- the target direction may be determined autonomously by the automatic cleaning device; when the mobile platform 100 is a non-autonomous mobile platform, the target direction may be set by the system or manually.
- the mobile platform 100 includes a forward portion 111 and a rearward portion 110 .
- Perception system 120 includes position determination device 121 located above mobile platform 100, buffer 122 located at forward portion 111 of mobile platform 100, cliff sensors 123 and ultrasonic sensors (not shown), infrared sensors located at the bottom of mobile platform 100 (not shown in the figure), magnetometer (not shown in the figure), accelerometer (not shown in the figure), gyroscope (not shown in the figure), odometer (not shown in the figure) and other sensors
- the device provides various position information and motion state information of the machine to the control system 130 .
- the automatic cleaning device can travel on the ground by various combinations of movements relative to the following three mutually perpendicular axes defined by the mobile platform 100: lateral axis x, Front and rear axis y and center vertical axis z.
- the forward drive direction along the front-rear axis y is designated “forward” and the rearward drive direction along the front-rear axis y is designated “rear”.
- the transverse axis x extends substantially along the axis defined by the center point of the drive wheel assembly 141 between the right and left wheels of the automatic cleaning apparatus.
- the automatic cleaning device can rotate around the x-axis.
- the automatic cleaning device can be rotated about the z-axis. In the forward direction of the automatic cleaning device, when the automatic cleaning device is inclined to the right of the Y-axis, it is “turn right", and when the automatic cleaning device is inclined to the left of the y-axis, it is “turn left”.
- cliff sensors 123 are provided on the bottom of the mobile platform 100 and at the front and rear of the driving wheel assembly 141 , and the cliff sensors 123 are used to prevent the automatic cleaning device from falling when it retreats, so that the automatic cleaning device can be avoided. damaged.
- the aforementioned "front” refers to the same side with respect to the traveling direction of the automatic cleaning device, and the aforementioned “rear” refers to the opposite side with respect to the traveling direction of the automatic cleaning device.
- the location determination device 121 includes, but is not limited to, a camera and a laser ranging device (LDS, Laser Direct Structuring).
- LDS Laser Direct Structuring
- Each component in the perception system 120 can operate independently, or can operate together to achieve the purpose function more accurately.
- the surface to be cleaned is identified by the cliff sensor 123 and the ultrasonic sensor to determine the physical properties of the surface to be cleaned, including surface medium, cleanliness, etc., and can be combined with cameras, laser ranging devices, etc. for more accurate determination.
- the ultrasonic sensor can determine whether the surface to be cleaned is a carpet. If the ultrasonic sensor determines that the surface to be cleaned is a carpet material, the control system 130 controls the automatic cleaning device to perform carpet mode cleaning.
- the forward portion 111 of the mobile platform 100 is provided with a bumper 122.
- the bumper 122 detects the travel path of the automatic cleaning device via a sensor system, such as an infrared sensor.
- a sensor system such as an infrared sensor.
- the control system 130 is provided on a circuit board in the mobile platform 100, and includes a computing processor, such as a central processing unit, an application processor, an application processing unit that communicates with non-transitory memory, such as hard disk, flash memory, random access memory,
- the device is configured to receive the environmental information sensed by the plurality of sensors from the perception system 120, and use a positioning algorithm, such as SLAM, to map the real-time situation in the environment where the automatic cleaning device is located according to the obstacle information fed back by the laser ranging device. map, and autonomously determine a driving path according to the environmental information and the environmental map, and then control the driving system 140 to perform operations such as forward, backward, and/or steering according to the autonomously determined driving path. Further, the control system 130 may also decide whether to start the cleaning module 150 to perform the cleaning operation according to the environmental information and the environmental map.
- control system 130 can combine the distance information and speed information fed back by the buffer 122 , the cliff sensor 123 and the ultrasonic sensor, infrared sensor, magnetometer, accelerometer, gyroscope, odometer and other sensing devices to comprehensively judge that the sweeper is currently in What working state, such as crossing the threshold, on the carpet, on the cliff, stuck above or below, the dust box is full, picked up, etc., will also give specific next action strategies for different situations, so that automatic cleaning The work of the device is more in line with the owner's requirements, and there is a better user experience. Further, the control system can plan the most efficient and reasonable cleaning path and cleaning method based on the real-time map information drawn by SLAM, which greatly improves the cleaning efficiency of automatic cleaning equipment.
- the drive system 140 may execute drive commands to steer the automated cleaning apparatus across the ground based on specific distance and angular information, such as x, y, and theta components.
- 3 and 4 are oblique views and front views of one side drive wheel assembly 141 in an embodiment of the present invention.
- the drive system 140 includes a drive wheel assembly 141, and the drive system 140 can control the left wheel and the right wheel at the same time.
- the drive system 140 preferably includes a left drive wheel assembly and a right drive wheel assembly, respectively.
- the left and right drive wheel assemblies are arranged symmetrically along the transverse axis defined by the mobile platform 100 .
- the drive wheel assembly includes a housing and a connecting frame, and a drive motor 146 is respectively disposed in the drive wheel assembly.
- the drive motor 146 is located outside the drive wheel assembly 141, and the axis of the drive motor 146 is located in the section of the drive wheel assembly.
- the drive wheel assembly 141 may also be connected to a circuit for measuring drive current and an odometer.
- the automatic cleaning equipment may include one or more steering assemblies 142, and the steering assemblies 142 may be driven wheels or driving wheels, and their structural forms Including but not limited to caster wheels, the steering assembly 142 may be located in front of the drive wheel assembly 141 .
- Drive motor 146 provides power for rotation of drive wheel assembly 141 and/or steering assembly 142 .
- the driving wheel assembly 141 can be detachably connected to the mobile platform 100 for easy disassembly and maintenance.
- the drive wheel may have an offset drop suspension system, movably fastened, eg, rotatably attached, to the automatic cleaning device moving platform 100, and grounded to a certain degree by elastic elements 143, such as tension springs or compression springs The force maintains the contact and traction with the ground, and at the same time, the cleaning module 150 of the automatic cleaning device also contacts the surface to be cleaned with a certain pressure.
- the energy system 160 includes rechargeable batteries, such as nickel-metal hydride batteries and lithium batteries.
- the rechargeable battery can be connected with a charging control circuit, a battery pack charging temperature detection circuit and a battery undervoltage monitoring circuit, and the charging control circuit, the battery pack charging temperature detection circuit, and the battery undervoltage monitoring circuit are then connected with the single-chip microcomputer control circuit.
- the host is charged by connecting to the charging pile through the charging electrode arranged on the side or below of the fuselage. If there is dust on the bare charging electrode, the plastic body around the electrode will melt and deform due to the accumulation effect of the charge during the charging process, and even the electrode itself will be deformed, making it impossible to continue normal charging.
- the human-computer interaction system 170 includes buttons on the host panel, and the buttons are used for user selection of functions; it may also include a display screen and/or indicator lights and/or horns, and the display screen, indicator lights and horns can show the user the current state of the machine or Feature selections; may also include mobile client programs.
- the mobile phone client can show the user a map of the environment where the equipment is located, as well as the location of the machine, which can provide users with more abundant and user-friendly function items.
- the cleaning module 150 may include the dry cleaning module 151 and/or the wet cleaning module 400 .
- the dry cleaning module 151 includes a roller brush, a dust box, a fan, and an air outlet.
- the roller brush with certain interference with the ground sweeps up the garbage on the ground and rolls it up to the front of the suction port between the roller brush and the dust box, and then is sucked into the dust box by the suction gas generated by the fan and passing through the dust box.
- the dust removal ability of the sweeper can be characterized by the dust pickup efficiency DPU (Dust pickup efficiency).
- the wind utilization rate of the formed air duct is affected by the type and power of the fan, which is a complex system design problem. Compared with ordinary plug-in vacuum cleaners, the improvement of dust removal capacity is more meaningful for cleaning automatic cleaning equipment with limited energy.
- the dry cleaning module may also include a side brush 157 having an axis of rotation angled relative to the ground for moving debris into the rolling brush area of the cleaning module 150 .
- FIG. 5 is a schematic diagram of the structure of the dust box 152 in the dry cleaning module
- FIG. 6 is a schematic diagram of the structure of the fan 156 in the dry cleaning module
- FIG. 7 is a schematic diagram of the opened state of the dust box 152
- FIG. 8 It is a schematic diagram of the assembled state of the dust box and the fan.
- the roller brush that has a certain interference with the ground sweeps up the garbage on the ground and rolls it up to the front of the dust suction port 154 between the roller brush and the dust box 152, and then is generated by the structure of the fan 156 and passes through the dust box 152.
- the suction gas The dust box 152 is inhaled, and the garbage is isolated by the filter screen 153 on the side of the dust box 152 close to the dust suction port 154.
- the filter screen 153 completely isolates the dust suction port from the air outlet, and the filtered air enters the fan 156 through the air outlet 155.
- the dust suction port 154 of the dust box 152 is located in front of the machine, the air outlet 155 is located at the side of the dust box 152, and the air suction port of the fan 156 is opposite to the air outlet of the dust box.
- the front panel of the dust box 152 can be opened for cleaning the garbage in the dust box 152 .
- the filter screen 153 and the box body of the dust box 152 are detachably connected to facilitate the removal and cleaning of the filter screen.
- the wet cleaning module 400 provided by the present invention is configured to clean at least a part of the operation surface in a wet cleaning manner; wherein, the wet cleaning module 400 includes: a cleaning head 410, A driving unit 420, wherein the cleaning head 410 is used to clean at least a part of the operation surface, and the driving unit 420 is used to drive the cleaning head 410 to reciprocate along a target surface, and the target surface is a part of the operation surface .
- the cleaning head 410 reciprocates along the surface to be cleaned, and the contact surface between the cleaning head 410 and the surface to be cleaned is provided with a cleaning cloth or a cleaning plate, which generates high-frequency friction with the surface to be cleaned through the reciprocating motion, thereby removing the surface to be cleaned. stains.
- the reciprocating motion may be repeated motion along any one or more directions within the operation surface, or may be vibration perpendicular to the operation surface, which is not strictly limited.
- the driving unit 420 includes: a driving platform 421 connected to the bottom surface of the moving platform 100 for providing driving force; a supporting platform 422 detachably connected to the driving platform 421 for supporting The cleaning head 410 can be lifted and lowered under the driving of the driving platform 421 .
- An elevating module is arranged between the cleaning module 150 and the mobile platform 100, so that the cleaning module 150 can better contact the surface to be cleaned, or different cleaning strategies are adopted for the surface to be cleaned of different materials.
- the dry cleaning module 151 can be connected to the mobile platform 100 through a passive lifting module. When the cleaning equipment encounters an obstacle, the dry cleaning module 151 can more easily overcome the obstacle through the lifting module.
- the wet cleaning module 400 can be connected to the mobile platform 100 through an active lifting module. When the wet cleaning module 400 does not work temporarily, or encounters a surface to be cleaned that cannot be cleaned by the wet cleaning module 400 At the time, the wet cleaning module 400 is lifted up by the active lifting module and separated from the surface to be cleaned, so as to realize the change of the cleaning means.
- the driving platform 421 includes: a motor 4211, which is arranged on the side of the driving platform 421 close to the moving platform 100, and outputs power through the motor output shaft; a driving wheel 4212, which is connected with the The motor output shaft is connected, and the driving wheel 4212 is an asymmetrical structure; the vibration member 4213 is arranged on the opposite side of the driving platform 421 to the motor 4211, and is connected with the driving wheel 4212. 4212 realizes reciprocating motion under asymmetrical rotation.
- the drive platform 421 may further include a drive wheel and a gear mechanism.
- the gear mechanism 235 may connect the motor 4211 and the driving wheel 4212 .
- the motor 4211 can directly drive the driving wheel 4212 to perform a rotary motion, or indirectly drive the driving wheel 4212 to perform a rotary motion through a gear mechanism.
- the gear mechanism may be one gear, or may be a gear set composed of multiple gears.
- the motor 4211 transmits the power to the cleaning head 410, the driving platform 421, the supporting platform 422, the water supply mechanism, the water tank and the like at the same time through the power transmission device.
- the energy system 160 provides power and energy for the motor 4211 and is controlled by the control system 130 as a whole.
- the power transmission device may be a gear drive, a chain drive, a belt drive, or a worm gear or the like.
- the motor 4211 includes a forward output mode and a reverse output mode. In the forward output mode, the motor 4211 rotates in the forward direction. In the reverse output mode, the motor 4211 rotates in the reverse direction. In the forward output mode of the motor 4211, the motor 4211 passes through the power transmission device.
- the cleaning head 410 and the water supply mechanism in the wet cleaning assembly 400 can be simultaneously driven to move synchronously.
- the driving platform 421 further includes: a connecting rod 4214, extending along the edge of the driving platform 421, connecting the driving wheel 4212 and the vibration member 4213, so that the vibration member 4213 extends to a preset position, wherein , the extension direction of the vibration member 4213 is perpendicular to the connecting rod 4214 .
- the motor 4211 is connected with the driving wheel 4212 , the vibration member 4213 , the connecting rod 4214 and the vibration buffer device 4215 through the power transmission device.
- the motor 4211 starts to rotate forward, the motor 4211 drives the connecting rod 4214 to reciprocate along the surface of the drive platform 421 through the drive wheel 4212, and the vibration buffer device 4215 drives the vibration member 4213 along the drive platform 421.
- the surface reciprocates, the vibrating member 4213 reciprocates along the surface of the support platform 422 with the cleaning substrate 4221, and the cleaning substrate 4221 reciprocates along the surface to be cleaned with the active area 412.
- the clean water pump makes clean water flow out from the clean water tank, and sprinkles clean water on the cleaning head 410 through the water outlet device 4217, and the cleaning head 410 cleans the surface to be cleaned by reciprocating motion.
- the cleaning intensity/efficiency of the automatic cleaning equipment can also be automatically and dynamically adjusted according to the working environment of the automatic cleaning equipment.
- the automatic cleaning equipment can realize dynamic adjustment according to the physical information of the surface to be cleaned detected by the sensing system 120 .
- the sensing system 120 can detect the flatness of the surface to be cleaned, the material of the surface to be cleaned, whether there is oil and dust, etc., and transmit the information to the control system 130 of the automatic cleaning device.
- the control system 130 can instruct the automatic cleaning equipment to automatically and dynamically adjust the rotational speed of the motor and the transmission ratio of the power transmission device according to the working environment of the automatic cleaning equipment, thereby adjusting the preset reciprocating period of the reciprocating motion of the cleaning head 410 .
- the preset reciprocating period can be automatically and dynamically adjusted to be longer, and the water volume of the water pump can be automatically and dynamically adjusted to be smaller; when the automatic cleaning device is on a less flat ground During operation, the preset reciprocating period can be automatically and dynamically adjusted to be shorter, and the water volume of the pump can be automatically and dynamically adjusted to be larger. This is because flat surfaces are easier to clean than less flat surfaces, so cleaning uneven surfaces requires faster reciprocation (ie, higher frequency) of cleaning head 410 and a larger volume of water.
- the preset reciprocating period can be automatically and dynamically adjusted to be longer, and the water volume of the pump can be automatically and dynamically adjusted to be smaller; when the automatic cleaning device 100 is working on the ground, the The preset reciprocating period can be automatically and dynamically adjusted to be shorter, and the water volume of the pump can be automatically and dynamically adjusted to be larger.
- the cleaning head 410 needs to perform fewer reciprocating movements, and the water pump can provide a relatively small amount of water to clean the desktop. clean.
- the supporting platform 422 includes a cleaning substrate 4221 , which is freely movable on the supporting platform 422 , and the cleaning substrate 4221 reciprocates under the vibration of the vibration member 4213 .
- the cleaning substrate 4221 includes: an assembly notch (not shown), which is arranged at a position in contact with the vibration member 4213 , when the support platform 422 is connected to the drive platform 421 , the vibration The member 4213 is assembled in the assembly notch, so that the cleaning substrate 4221 can reciprocate synchronously with the vibration member 4213 .
- FIG. 12 illustrates another cleaning head drive mechanism 800 based on a crank-slider mechanism according to various embodiments of the present application.
- the drive mechanism 800 may be applied to the drive platform 421 .
- the driving mechanism 800 includes a driving wheel 4212, a vibration member 4213, a cleaning substrate 4221, a chute 4222 (a first chute) and a chute 4223 (a second chute).
- the chutes 4222 and 4223 are opened on the support platform 422 . Both ends of the cleaning substrate 4221 include sliders 525 (first sliders) and sliders 528 (second sliders), respectively.
- the sliders 525 and 528 are respectively a protrusion at both ends of the cleaning substrate 4221 .
- the sliding block 525 is inserted in the sliding groove 4222 and can slide along the sliding groove 4222 ;
- the sliding block 4223 is inserted in the sliding groove 4223 and can slide along the sliding groove 4223 .
- the chute 4222 and the chute 4223 are on the same line. In some embodiments, the chute 4222 and the chute 4223 are not on the same line. In some embodiments, the chute 4222 and the chute 4223 extend in the same direction.
- the extending direction of the sliding groove 4222 and the sliding groove 4223 is the same as the extending direction of the cleaning substrate 4221 . In some embodiments, the extending directions of the sliding grooves 4222 and the sliding grooves 4223 are different from the extending directions of the cleaning substrate 4221 . In some embodiments, the extending directions of the sliding groove 4222 and the sliding groove 4223 are different. For example, as shown in FIG. 12 , the extension direction of the chute 4222 is the same as the extension direction of the cleaning substrate 4221 , and the extension direction of the chute 4223 and the extension direction of the chute 4222 are at a certain angle.
- the vibrating member 4213 includes a rotating end 512 and a sliding end 514 .
- the rotating end 512 is connected with the driving wheel 4212 through a first pivot shaft 516
- the sliding end 514 is connected with the cleaning substrate 4221 through a second pivot shaft 518 .
- the rotation center of the driving wheel 4212 is point O
- the pivot center of the first pivot shaft 516 is point A.
- Point O and point A do not coincide, and the distance between them is the preset distance d.
- the point A When the driving wheel 4212 rotates, the point A performs a circular rotary motion accordingly.
- the rotary end 512 performs a circular rotary motion following the point A; the sliding end 514 drives the cleaning substrate 4221 to perform sliding motion through the second pivot shaft 518 .
- the slider 525 for cleaning the substrate 4221 reciprocates linearly along the chute 4222 ; the slider 528 performs a reciprocating linear motion along the chute 4223 .
- the moving speed of the moving platform 210 is V0, and the moving direction is the target direction.
- the overall displacement of the cleaning substrate 4221 is substantially perpendicular to the target direction.
- the overall displacement of the cleaning substrate 4221 includes both being perpendicular to the target direction and parallel to the target direction. component in the target direction.
- a vibration buffering device 4215 is included, which is arranged on the connecting rod 4214 and is used to reduce vibration in a specific direction. In this embodiment, it is used to reduce vibration in the direction of the moving component perpendicular to the target direction of the automatic cleaning device.
- FIG. 13 shows another cleaning head driving mechanism 600 based on a double crank mechanism according to various embodiments of the present application.
- the drive mechanism 600 may be applied to the drive platform 421 .
- the driving mechanism 600 includes a driving wheel 4212 (a first driving wheel), a driving wheel 4212' (a second driving wheel), and a cleaning substrate 4221.
- the cleaning substrate 4221 has two ends. The first end is connected to the drive wheel 4212 through a pivot shaft 624 (first pivot shaft); the second end is connected to the drive wheel 4212' through a pivot shaft 626 (second pivot shaft).
- the rotation center of the driving wheel 4212 is point O
- the pivot center of the pivot shaft 624 is point A. Point O and point A do not coincide, and the distance between them is the preset distance d.
- the center of rotation of the drive wheel 236 is the point O'
- the center of rotation of the pivot shaft 626 is the point A'. Point O' and point A' do not coincide, and the distance between them is the preset distance d.
- points A, A', O, and O' lie on the same plane. Therefore, the driving wheel 4212, the driving wheel 4212' and the cleaning substrate 4221 may form a double crank mechanism (or parallelogram mechanism), wherein the cleaning substrate 4221 acts as a coupling lever and the driving wheels 4212 and 4212' act as two cranks.
- a vibration buffering device 4215 is included, which is arranged on the connecting rod 4214 and is used to reduce the vibration in a specific direction. In this embodiment, it is used to reduce the vibration in the direction of the moving component perpendicular to the target direction of the automatic cleaning device.
- FIG. 14 shows a drive mechanism 700 based on a crank-slider mechanism according to various embodiments of the present application.
- the drive mechanism 700 may be applied to the drive platform 421 .
- the driving mechanism 700 includes a driving wheel 4212 , a cleaning substrate 4221 and a chute 4222 .
- the chute 4222 is opened on the support platform 422 .
- the cleaning substrate 4221 includes a swivel end 4227 and a sliding end 4226 .
- Swivel end 4227 is connected to drive wheel 4212 by pivot 4228.
- the pivot center of the driving wheel 4212 is point O
- the pivot center of the pivot shaft 4228 at the pivot end is point A. Point O and point A do not coincide, and the distance between them is the preset distance d.
- Sliding end 4226 includes slider 4225.
- the slider 4225 is a protrusion on the sliding end 4226 .
- the slider 4225 is inserted into the chute 4222 and can slide along the chute 4222 . Therefore, the driving wheel 4221, the cleaning base plate 4221, the slider 4225 and the chute 4222 constitute a crank-slider mechanism.
- the driving wheel 4212 rotates, point A performs a circular rotary motion.
- the rotary end 4227 of the cleaning substrate 4221 performs a circular rotary motion following the point A; and the slider 4225 slides in the chute 4222 to perform a reciprocating linear motion.
- the cleaning substrate 4221 starts to reciprocate.
- the direction of the chute 4222 is approximately perpendicular to the target direction of the moving speed of the mobile platform, thus, the linear movement of the sliding end 4226 includes a component perpendicular to the target direction, and the circular swivel movement of the swivel end 4227 simultaneously Includes components perpendicular to the target direction and parallel to the target direction.
- the moving speed of the mobile platform is V0, and the moving direction is the target direction; and the chute 4222 is approximately perpendicular to the target direction.
- the reciprocating motion of the cleaning substrate 4221 as a whole has both a movement component parallel to the target direction of the automatic cleaning device and a movement component perpendicular to the target direction of the automatic cleaning device.
- a vibration buffering device 4215 is included, which is arranged on the connecting rod 4214 and is used to reduce vibration in a specific direction. In this embodiment, it is used to reduce vibration in the direction of the moving component perpendicular to the target direction of the automatic cleaning device.
- the support platform 422 further includes: an elastic disassembly button 4229, which is disposed on at least one side of the support platform 422, and is used to detachably connect the support platform 422 to the claw 4216 of the drive platform 421. .
- At least one assembling area 4224 is disposed on the supporting platform 422 for assembling the cleaning head 410 .
- the mounting area 4224 may be formed of an adhesive material with an adhesive layer.
- the cleaning head 410 includes: an active area 412 , which is connected to the cleaning substrate 4221 and reciprocates along the cleaning surface under the driving of the cleaning substrate 4221 .
- the active area 412 is disposed at a substantially central position of the cleaning head 410 .
- An adhesive layer is provided on the side where the active area 412 is connected to the cleaning substrate 4221 , and the active area 412 and the cleaning substrate 4221 are connected through the adhesive layer.
- the cleaning head 410 further includes: a fixing area 411 connected to the bottom of the support platform 422 through the at least one assembly area 4224 , and the fixing area 411 cleans the at least a portion of the operating surface.
- the cleaning head 410 further includes: a flexible connecting portion 413 disposed between the fixed area 411 and the active area 412 for connecting the fixed area 411 and the active area 412 .
- the cleaning head 410 further includes: a sliding clip 414 extending along the edge of the cleaning head 410 and detachably installed at the clipping position 4225 of the support platform 422 .
- the cleaning head 410 can be made of a certain elastic material, and the cleaning head 410 is fixed on the surface of the support platform 422 through an adhesive layer, thereby realizing reciprocating motion. When the cleaning head 410 is in operation, the cleaning head 410 is always in contact with the surface to be cleaned.
- the water supply mechanism includes a water outlet device 4217, and the water outlet device 4217 can be directly or indirectly connected with the cleaning liquid outlet of the water tank (not shown), that is, the liquid outlet of the clean water tank, wherein the cleaning liquid can pass through the cleaning liquid of the water tank.
- the outlet flows to the water outlet device 4217, and can be evenly coated on the surface to be cleaned by the water outlet device.
- a connecting piece (not shown in the figure) may be provided on the water outlet device, and the water outlet device is connected to the cleaning liquid outlet of the water tank through the connecting piece.
- the water outlet device is provided with a distribution port.
- the distribution port can be a continuous opening or a combination of several broken small openings.
- the distribution port can be provided with several nozzles.
- the cleaning liquid flows to the distribution port through the cleaning liquid outlet of the water tank and the connecting piece of the water outlet device, and is evenly coated on the operating surface through the distribution port.
- the water supply mechanism may further include a clean water pump 4219 and/or a clean water pump pipe 4218 , and the clean water pump 4219 may communicate with the clean liquid outlet of the water tank directly or through the clean water pump pipe 4218 .
- the clean water pump 4219 may be connected to the connection of the water outlet, and may be configured to draw the cleaning fluid from the water tank to the water outlet.
- the clean water pump can be a gear pump, a vane pump, a plunger pump, a peristaltic pump, and the like.
- the water supply mechanism draws out the cleaning liquid in the clean water tank through the clean water pump 4219 and the clean water pump pipe 4218, and transports it to the water outlet device. to wet the cleaning head and the surface to be cleaned. Stains on the wetted surface to be cleaned can be cleaned more easily.
- the power/flow rate of the clean water pump can be adjusted.
- the cleaning head can reciprocate, so that the surface to be cleaned can be repeatedly cleaned, so that in the movement trajectory of the cleaning robot, one pass through a certain area can achieve multiple times. cleaning, which greatly enhances the cleaning effect, especially for areas with more stains, the cleaning effect is obvious.
- the present invention provides a liftable automatic cleaning device, comprising: a mobile platform 100 configured to automatically move on an operating surface; a wet cleaning module 400 movably connected through a four-link lifting structure 500 On the mobile platform 100, it is configured to clean at least a part of the operation surface by a wet cleaning method; wherein, the four-link lifting structure 500 is a parallelogram structure, which is used to make the wet cleaning module 400 in the Switching between a rising state and a sinking state, the rising state is when the wet cleaning module 400 leaves the operation surface, as shown in FIG. 15 ; the sinking state is when the wet cleaning module 400 is attached to the Operation surface, as shown in Figure 16.
- the four-link lifting structure 500 includes: a first connecting end 501 for providing main power to switch the wet cleaning module 400 between a rising state and a sinking state; a second connection end 501
- the connecting end 502 is disposed opposite to the first connecting end 501 and rotates under the action of the main power.
- the first connection end 501 and the second connection end 502 are located on two sides of the wet cleaning module 400 respectively, and the wet cleaning module 400 is raised or lowered by stably providing a lifting force.
- the first connecting end 501 includes a first bracket 5011, which is fixedly connected to the bottom of the mobile platform 100; the first bracket 5011 is roughly in the shape of a “ji”, and the first bracket 5011 includes: a cross beam 50111, a first vertical The beam 50114 and the second longitudinal beam 50115, and the tail ends of the first longitudinal beam 50114 and the second longitudinal beam 50115 are respectively connected to the mobile platform 100 and the wet cleaning module 400 by bolts, so as to provide the supporting force when the wet cleaning module 400 is lifted and lowered. .
- the first connecting end 501 further includes a first connecting rod pair 5012 , one end of the first connecting rod pair 5012 is rotatably connected to the first bracket 5011 , and the other end is rotatably connected to the wet cleaning module 400 .
- the first connecting rod pair 5012 can be a hollow structure, which can reduce the overall weight of the lifting end.
- the first connecting rod pair 5012 includes a first connecting rod 50121 and a second connecting rod 50122 that are arranged in parallel, and the first ends of the first connecting rod 50121 and the second connecting rod 50122 can be connected through movable studs. It is rotatably connected to the first longitudinal beam 50114, and the second ends of the first connecting rod 50121 and the second connecting rod 50122 are rotatably connected to the wet cleaning module 400 through movable studs.
- both ends of the first connecting rod 50121 and the second connecting rod 50122 are respectively provided with through holes with a diameter larger than that of the movable stud, so that the movable stud can rotate freely in the through hole, and the movable stud passes through the through hole
- the rear is fixedly connected to the first longitudinal beam 50114 .
- the lifting structure 500 further includes a pulling cable 42194, which is used to provide a pulling power to rotate the first connecting rod pair 5012 within a preset angle.
- the cable 42194 includes a cable motor terminal 50131, which is connected to the drive unit 420, such as a gear winding connected to the motor output shaft, and realizes telescopic movement under the rotation of the motor.
- the cable bracket terminal 50132 is connected to the first bracket 5011, and the motor makes the second ends of the first connecting rod 50121 and the second connecting rod 50122 rise or sink through the cable 42194.
- the first bracket 5011 further includes: a chute 50112 extending along the surface of the cross beam 50111, and a snap hole 50113 extending through the cross beam 50111 and disposed at the extended end of the chute 50112 for accommodating and Snap the cable bracket terminal 50132, the cable 42194 is connected to the first ends of the first connecting rod 50121 and the second connecting rod 50122 through the sliding groove 50112 and the clamping hole 50113, and the sliding groove 50112 can restrict The moving direction of the cable ensures the stability of the lifting and lowering of the module, and the width of the chute should match the thickness of the cable.
- the second connecting end 502 includes: a second bracket 5021, which is fixedly connected to the bottom of the mobile platform 100; a second connecting rod pair 5022, one end of which is rotatably connected to the second bracket 5021, The other end is rotatably connected to the wet cleaning module 400 ; the second connecting rod pair 5022 rotates with the rotation of the first connecting rod pair 5012 .
- the second connecting rod pair 5022 can be a hollow structure, which can reduce the overall weight of the lifting end.
- the second connecting rod pair 5022 includes a third connecting rod 50221 and a fourth connecting rod 50222 arranged in parallel, and the first ends of the third connecting rod 50221 and the fourth connecting rod 50222 are rotatable through movable studs
- the second end of the third connecting rod 50221 and the fourth connecting rod 50222 are rotatably connected to the wet cleaning module 400 through movable studs.
- both ends of the third connecting rod 50221 and the fourth connecting rod 50222 are respectively provided with through holes with a diameter larger than that of the movable stud, so that the movable stud can rotate freely in the through hole, and the movable stud passes through the through hole
- the latter is fixedly connected to the second bracket 5021 and the wet cleaning module 400 .
- the first connecting end 501 When the first connecting end 501 is rotated under the driving of the motor 4211, the first ends of the third connecting rod 50221 and the fourth connecting rod 50222 simultaneously rotate around the movable stud at the first end, and the third connecting rod 50221 The second end of the fourth connecting rod 50222 rotates around the movable stud at the second end at the same time, so that the wet cleaning module 400 is raised.
- the first connecting end 501 releases the tension
- the third connecting rod 50221 and the fourth connecting rod 50222 rotate in the opposite direction around the movable stud at the same time, and descend under the action of gravity, so that the wet cleaning module 400 sinks.
- the wet cleaning module can be raised and lowered relative to the mobile platform, and when the mopping task is performed, the wet cleaning module is lowered to make the wet cleaning module In contact with the ground, when the mopping task is completed, lift the wet cleaning module to separate the wet cleaning module from the ground, so as to avoid the increased resistance due to the existence of the cleaning module when the cleaning equipment moves freely on the surface to be cleaned. .
- the lifting module can clean the wet cleaning module according to different surfaces to be cleaned. For surfaces such as floor tiles, put the wet cleaning module down for cleaning, so as to achieve a more comprehensive cleaning effect.
- the dry cleaning module 151 and the wet cleaning module 400 are installed in the automatic cleaning device 2000 as shown in FIG. 19. During the cleaning process, the dry cleaning module 151 is located at the front end of the traveling direction to clean the ground; The wet cleaning module 400 is located at the rear end of the traveling direction. After the dry cleaning module 151 has finished cleaning, the ground can be mopped and cleaned. However, the wet cleaning module 400 generally cannot be used for cleaning carpets and the like.
- a lifting mechanism for the wet cleaning module is usually provided on the automatic cleaning device 2000 .
- the wet cleaning module can be lifted, so that when the automatic cleaning device 2000 passes over the carpet, the wet cleaning module will not touch the carpet.
- the wet cleaning module 400 can be lowered again to mop and clean the floor.
- the range that the wet cleaning module 400 can lift and lower is very limited, usually only about 1 mm.
- the range that the wet cleaning module 400 can lift and lower is very limited, usually only about 1 mm.
- the automatic cleaning device 2000 completes cleaning and turns the direction, it is also easy to encounter a narrow gap surrounded by other obstacles. At this time, the automatic cleaning device 2000 is also very easy to get stuck and cannot get out of trouble.
- an exemplary embodiment of the present disclosure provides a method for controlling an automatic cleaning device, and the above situation will now be described with reference to FIGS. 19-24 .
- the automatic cleaning device 2000 when the automatic cleaning device 2000 cleans the floor without carpet along the wall, or cleans the floor in the corner of the wall far away from the carpet, the automatic cleaning device 2000 can sense the distance between the fuselage and the wall through the side distance sensor. Keep the distance between the fuselage and the wall constant and move along the edge of the wall, and sweep the dust from the edge of the wall to the main brush of the fuselage through the automatic cleaning device 2000 front side brush 157, and you can also choose to pass The wet cleaning module 400 performs mopping and cleaning on the ground. After the automatic cleaning device 2000 completes the task of cleaning along the wall, it will automatically reverse the direction to continue cleaning the ground, as shown in Figure 19.
- the automatic cleaning device 2000 when the automatic cleaning device 2000 is cleaning along the wall and encounters obstacles such as other walls and turns the direction, if the carpet 301 is detected, there will be a narrow gap 303 between the carpet 301 and the wall 302 as shown in FIG. 20 . situation.
- the surface medium sensor 103 When the automatic cleaning device 2000 enters the slit 303, the surface medium sensor 103 is located on one side of the wall 302, that is, the surface medium sensor 103 does not detect the carpet 301, and the surface medium sensor 103 is not triggered at this time. After encountering an obstacle or completing cleaning along the wall, when the automatic cleaning device 2000 turns and returns, the surface medium sensor 103 is triggered. If the width of the slit 303 is not enough for the automatic cleaning device 2000 to turn, the automatic cleaning device 2000 will be stuck in the It can't come out if it is inside, which brings trouble to the user.
- the automatic cleaning device 2000 before the automatic cleaning device 2000 cleans along the edge of the carpet, if the carpet is detected, the automatic cleaning device 2000 will control the body to rotate by a certain angle, for example, rotate 15 degrees counterclockwise as shown in FIG. 22 . In addition, the automatic cleaning device 2000 will advance a short distance in the direction of this angle; after a short distance, the automatic cleaning device 2000 will turn back to the previous angle, and continue to move in the direction of the turning back, while detecting whether There is a rug. If the carpet can still be detected, you need to continue to rotate at a certain angle and repeat the above process, until the carpet is not detected, the mode of cleaning along the edge of the carpet will be turned on, as shown in Figure 23.
- a certain angle for example, rotate 15 degrees counterclockwise as shown in FIG. 22 .
- the automatic cleaning device 2000 will advance a short distance in the direction of this angle; after a short distance, the automatic cleaning device 2000 will turn back to the previous angle, and continue to move in the direction of the turning back, while detecting whether
- the automatic cleaning device 2000 finishes sweeping along the edge of the carpet, for example, as shown in FIG. 24 , after the automatic cleaning device 2000 sweeps along the edge of the first carpet 401, the direction will be reversed, but during the process of changing the direction, it is likely to detect another One carpet, the second carpet 402 in FIG. 24 . If the gap between the first carpet 401 and the second carpet 402 is narrow, when the automatic cleaning device 2000 enters the gap, since the carpet identification device 103 is located on one side of the first carpet 401, the carpet identification device 103 does not detect it For the second carpet 402, the carpet identification device 103 is not triggered at this time. After finishing cleaning along the edge of the first carpet 401, when the automatic cleaning device 2000 turns and returns, the carpet identification device 103 is triggered. If the width of the gap is not enough for the automatic cleaning device 2000 to turn, the automatic cleaning device 2000 will be stuck inside. And can not come out, causing trouble to the user.
- FIG. 25 a flowchart of a method for controlling an automatic cleaning device provided by an exemplary embodiment of the present disclosure is shown, and the method for controlling an automatic cleaning device may include the following steps:
- Step S2610 when the automatic cleaning device cleans the first surface medium region, scan the boundary of the second surface medium region to generate a second surface medium region set;
- Step S2620 storing the boundary points in the second surface medium area set as obstacle points in the path search map
- Step S2630 if the obstacle-free path to the target point cannot be searched based on the obstacle point, then determine the access path to the target point according to the path search map;
- Step S2640 Determine the shortest path from the passing paths, and control the automatic cleaning equipment to escape along the shortest path.
- the automatic cleaning device when the automatic cleaning device sweeps along the edge of the first surface medium area such as walls and carpets and encounters obstacles and is trapped, it can be based on the second surface medium scanned during the cleaning process.
- the boundary of the area determine the obstacle point, and combine the obstacle point to determine the passage path to the target point, and determine the shortest path from the determined passage path, and then control the automatic cleaning equipment to get out of trouble along the shortest path, so as to help
- the automatic cleaning equipment gets out of trouble as soon as possible to avoid the occurrence of jamming.
- the method for controlling an automatic cleaning device provided by an exemplary embodiment of the present disclosure provides a method of how to get out of trouble after the automatic cleaning device cleans the carpet and the wall, or the narrow gap between the carpet and the carpet, so as to avoid automatic cleaning When the equipment is stuck, the ability of the automatic cleaning equipment to automatically get out of trouble is improved, the failure rate of the automatic cleaning equipment is reduced, and the user experience is improved.
- the above-mentioned automatic cleaning equipment control method is applicable to the automatic cleaning equipment in the non-carpet cleaning mode or the wet cleaning module on mode.
- the automatic cleaning equipment cannot be used on the carpet, that is, only cleaning Mode of the first surface dielectric region. Therefore, when the automatic cleaning device is trapped by the carpet, the automatic cleaning device control method provided by the exemplary embodiment of the present disclosure can control the automatic cleaning device to get out of the trap as soon as possible with the shortest path, so as to reduce the probability of the automatic cleaning device being trapped by the carpet.
- first surface medium here is one or more of wood floor, carpet, ceramic tile, cement surface and other floor surface media
- second surface medium is a wooden floor, carpet, ceramic tile, One or more of floor surface media such as cement surface
- the automatic cleaning device control method provided by the exemplary embodiment of the present disclosure can be used to get out of the trap, which specifically includes:
- the boundary of the second surface medium area 2702 may be scanned during the cleaning process to generate a set of second surface medium areas, so that the automatic cleaning device 2700 can be cleaned by the first surface medium area.
- the trapping is released according to the second surface medium region set.
- the boundary of the second surface medium area may be scanned using the second surface medium area identification device, for example, the carpet area boundary may be scanned using the carpet identification device 103 .
- an initialization area 2800 as shown in FIG. 27 can be produced according to the scanned boundary, and the initialization area 2800 is recorded in the automatic cleaning apparatus 2700 .
- the boundary coordinates of the initialization area may be merged, for example, adjacent boundary coordinates may be merged into one coordinate to obtain a merged area 2900 that is smoother than the boundary of the initialization area as shown in FIG. 28 .
- the merged region 2900 is divided according to a preset shape to form a plurality of sub-regions 3001 and 3002 , and the plurality of sub-regions 3001 and 3002 are formed into a second surface medium region set.
- the preset shape may be a square, a circle, or other shapes such as a rhombus.
- the sub-region 3001 determined according to the preset shape is a square region, and the sub-region 3002 is a circular region.
- the exemplary embodiment of the present disclosure does not specifically limit the specific preset shape.
- the boundary points in the second surface medium area set can be used as obstacle points and stored in the path search map; that is, each sub-area 3001,
- the boundary points of 3002 are used as obstacle points, and the obstacle points are added to the path search map.
- the automatic cleaning device control method can generally determine multiple travel paths, and then determine the shortest path from the multiple travel paths, so that the automatic cleaning device 2700 can be controlled to escape along the shortest path.
- a method of determining a plurality of travel paths includes:
- the first method for determining a passing path as shown in FIG. 26 and FIG. 30 , first, the step of deleting the target obstacle point is performed, wherein the step of deleting the target obstacle point includes searching a map based on a path storing the obstacle point,
- the reachable area 3101 and the unreachable area 3102 of the automatic cleaning device 2700 are determined according to the current location of the automatic cleaning device 2700; wherein, the reachable area 3101 refers to the fact that the automatic cleaning device 2700 can not touch the obstacle point
- the area that can be moved, the unreachable area 3102 refers to the area that the automatic cleaning device 2700 cannot move to without touching the obstacle point.
- the above-mentioned steps of deleting the target obstacle point are repeatedly performed until the passing path 3106 to the target point 2703 is searched from the path search map from which the target obstacle point has been deleted.
- an obstacle point close to the automatic cleaning device on the connection boundary can be found as the target obstacle If the target obstacle point is deleted, the probability that the obtained passage path is the shortest path is higher.
- the above-mentioned first method for determining a passage it is possible to obtain multiple passages, or to determine the shortest route from the above-mentioned multiple passages, so as to facilitate the passage of the automatic cleaning equipment.
- the second method of determining the passage path determines the area with the smallest area from the second surface medium area set, that is, the sub-area 3002, and selects the boundary point of the area 3002 with the smallest area from the path search map.
- Delete because the obstacle point is composed of the boundary points including the sub-area 3002, therefore, deleting the boundary point of the sub-area 3002 is equivalent to deleting the obstacle point corresponding to the sub-area 3002, and updating the obstacle point in the path search map.
- a travel path 3201 to the target point can be determined from the updated obstacle points.
- the passing path 3201 can be directly determined as the shortest path, so as to control the automatic cleaning device 2700 to pass along the path.
- the shortest path may also be determined in combination with the travel path determined by the first travel path determination method, which is not particularly limited in the exemplary embodiment of the present disclosure.
- the passage route can be determined only according to the first method of determining the passage route, and the passage route can also be determined only according to the second method of determining the passage route.
- multiple passing paths can be determined according to the first passing path determination method and the second passing path determining method at the same time, and then the shortest path is selected from the multiple passing paths as the optimal path, so as to facilitate the automatic cleaning equipment along the The shortest path out of trouble.
- the scanned boundary point of the second surface medium region can be used as an obstacle point
- the first A passing path determination method and a second passing path determination method are used to delete obstacle points, so as to determine the shortest path for the automatic cleaning equipment, so as to reduce the path of the automatic cleaning equipment from the second surface medium area, That is, the rolling of the medium area of the second surface by the automatic cleaning device is minimized, so as to facilitate the automatic cleaning device to get out of trouble as soon as possible.
- the automatic cleaning device also includes other functions that help realize the overall operation, which will not be repeated in this exemplary embodiment.
- the above method is not only used for automatic cleaning equipment with dry cleaning modules and wet cleaning modules, but also for sweeping robots with only dry cleaning modules or mopping with only wet cleaning modules.
- the robot may also be other intelligent robots that have an autonomous walking mechanism and need to recognize the shape of the ground, which is not limited in the exemplary embodiment of the present disclosure.
- an automatic cleaning device control device is also provided, which is provided in an automatic cleaning device including a surface medium sensor.
- the automatic cleaning device control device 3300 may include: a region The set generation module 3301, the obstacle point storage module 3302, the path determination module 3303 and the control escape module 3304, wherein:
- an area set generation module 3301 configured to scan the boundary of the second surface medium area to generate a second surface medium area set when the automatic cleaning device cleans the first surface medium area;
- the obstacle point storage module 3302 is used to store the boundary points in the second surface medium area set as obstacle points in the path search map;
- a path determination module 3303 configured to determine a passage path to the target point according to the path search map if no obstacle-free path to the target point can be searched based on the obstacle point;
- the control and escape module 3304 is used to determine the shortest path from the passing path, and control the automatic cleaning equipment to escape along the shortest path.
- an electronic device capable of implementing the above method is also provided.
- aspects of the present invention may be implemented as a system, method or program product. Therefore, various aspects of the present invention can be embodied in the following forms: a complete hardware implementation, a complete software implementation (including firmware, microcode, etc.), or a combination of hardware and software aspects, which may be collectively referred to herein as implementations "circuit", “module” or "system”.
- FIG. 33 An electronic device 3400 according to this embodiment of the present invention is described below with reference to FIG. 33 .
- the electronic device 3400 shown in FIG. 33 is only an example, and should not impose any limitation on the function and scope of use of the embodiment of the present invention.
- electronic device 3400 takes the form of a general-purpose computing device.
- the components of the electronic device 3400 may include, but are not limited to: the above-mentioned at least one processing unit 3410, the above-mentioned at least one storage unit 3420, a bus 3430 connecting different system components (including the storage unit 3420 and the processing unit 3410), and a display unit 3440.
- the storage unit 3420 stores program codes, which can be executed by the processing unit 3410, so that the processing unit 3410 executes various examples according to the present invention described in the above-mentioned “Exemplary Methods” section of this specification steps of sexual implementation.
- the processing unit 3410 may perform step S2610 as shown in FIG. 25 , when the automatic cleaning device cleans the first surface medium region, scan the boundary of the second surface medium region to generate a second surface medium region set; Step S2620, use the boundary points in the second surface medium area set as obstacle points, and store them in the path search map; Step S2630, if no obstacle-free path to the target point can be found based on the obstacle points, then search the map according to the path. Determine the passing path to the target point; step S2640, determine the shortest path from the passing path, and control the automatic cleaning equipment to escape along the shortest path.
- the storage unit 3420 may include a readable medium in the form of a volatile storage unit, such as a random access storage unit (RAM) 34201 and/or a cache storage unit 34202, and may further include a read only storage unit (ROM) 34203.
- RAM random access storage unit
- ROM read only storage unit
- the storage unit 3420 may also include a program/utility 34204 having a set (at least one) of program modules 34205 including, but not limited to, an operating system, one or more application programs, other program modules, and program data, An implementation of a network environment may be included in each or some combination of these examples.
- the bus 3430 may be representative of one or more of several types of bus structures, including a memory cell bus or memory cell controller, a peripheral bus, a graphics acceleration port, a processing unit, or a local area using any of a variety of bus structures bus.
- the electronic device 3400 may also communicate with one or more external devices 3470 (eg, keyboards, pointing devices, Bluetooth devices, etc.), with one or more devices that enable a user to interact with the electronic device 3400, and/or with Any device (eg, router, modem, etc.) that enables the electronic device 3400 to communicate with one or more other computing devices. Such communication may occur through input/output (I/O) interface 3450 . Also, the electronic device 3400 may also communicate with one or more networks (eg, a local area network (LAN), a wide area network (WAN), and/or a public network such as the Internet) through a network adapter 3460 . As shown, network adapter 3460 communicates with other modules of electronic device 3400 via bus 3430. It should be understood that, although not shown, other hardware and/or software modules may be used in conjunction with electronic device 3400, including but not limited to: microcode, device drivers, redundant processing units, external disk drive arrays, RAID systems, tape drives and data backup storage systems.
- the exemplary embodiments described herein may be implemented by software, or may be implemented by software combined with necessary hardware. Therefore, the technical solutions according to the embodiments of the present disclosure may be embodied in the form of software products, and the software products may be stored in a non-volatile storage medium (which may be CD-ROM, U disk, mobile hard disk, etc.) or on the network , including several instructions to cause a computing device (which may be a personal computer, a server, a terminal device, or a network device, etc.) to execute the method according to an embodiment of the present disclosure.
- a computing device which may be a personal computer, a server, a terminal device, or a network device, etc.
- a computer-readable storage medium on which a program product capable of implementing the above-described method of the present specification is stored.
- aspects of the present invention can also be implemented in the form of a program product comprising program code for enabling the program product to run on a terminal device The terminal device performs the steps according to various exemplary embodiments of the present invention described in the "Example Method" section above in this specification.
- a program product for implementing the above method according to an embodiment of the present invention may adopt a portable compact disc read only memory (CD-ROM) and include program codes, and may run on a terminal device, such as a personal computer.
- CD-ROM compact disc read only memory
- the program product of the present invention is not limited thereto, and in this document, a readable storage medium may be any tangible medium that contains or stores a program that can be used by or in conjunction with an instruction execution system, apparatus, or device.
- the program product may employ any combination of one or more readable media.
- the readable medium may be a readable signal medium or a readable storage medium.
- the readable storage medium may be, for example, but not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus or device, or a combination of any of the above. More specific examples (non-exhaustive list) of readable storage media include: electrical connections with one or more wires, portable disks, hard disks, random access memory (RAM), read only memory (ROM), erasable programmable read only memory (EPROM or flash memory), optical fiber, portable compact disk read only memory (CD-ROM), optical storage devices, magnetic storage devices, or any suitable combination of the foregoing.
- a computer readable signal medium may include a propagated data signal in baseband or as part of a carrier wave with readable program code embodied thereon. Such propagated data signals may take a variety of forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination of the foregoing.
- a readable signal medium can also be any readable medium, other than a readable storage medium, that can transmit, propagate, or transport the program for use by or in connection with the instruction execution system, apparatus, or device.
- Program code embodied on a readable medium may be transmitted using any suitable medium, including but not limited to wireless, wireline, optical fiber cable, RF, etc., or any suitable combination of the foregoing.
- Program code for carrying out operations of the present invention may be written in any combination of one or more programming languages, including object-oriented programming languages—such as Java, C++, etc., as well as conventional procedural Programming Language - such as the "C" language or similar programming language.
- the program code may execute entirely on the user computing device, partly on the user device, as a stand-alone software package, partly on the user computing device and partly on a remote computing device, or entirely on the remote computing device or server execute on.
- the remote computing device may be connected to the user computing device through any kind of network, including a local area network (LAN) or a wide area network (WAN), or may be connected to an external computing device (eg, using an Internet service provider business via an Internet connection).
- LAN local area network
- WAN wide area network
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- Remote Sensing (AREA)
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- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Electric Vacuum Cleaner (AREA)
- Cleaning In General (AREA)
Abstract
Description
Claims (10)
- 一种自动清洁设备控制方法,其特征在于,包括:在自动清洁设备于第一表面介质区域内清洁时,扫描第二表面介质区域的边界,生成第二表面介质区域集合;将所述第二表面介质区域集合中的边界点作为障碍物点,存储于路径搜索地图中;如果基于所述障碍物点搜索不到至目标点的无障碍路径,则根据所述路径搜索地图确定至所述目标点的通行路径;从所述通行路径中确定最短路径,控制所述自动清洁设备沿所述最短路径脱困。
- 根据权利要求1所述的自动清洁设备控制方法,其特征在于,扫描第二表面介质区域的边界,生成第二表面介质区域集合包括:扫描所述第二表面介质区域的边界,生成初始化区域,并记录所述初始化区域;将所述初始化区域的边界坐标进行合并,得到合并区域;将所述合并区域按照预设形状拆分成多个子区域,所述多个子区域组成所述第二表面介质区域集合。
- 根据权利要求2所述的自动清洁设备控制方法,其特征在于,将所述第二表面介质区域集合中的边界点作为障碍物点包括:将所述第二表面介质区域集合中每个所述子区域的边界点作为障碍物点;并将所述障碍物点添加到所述路径搜索地图中。
- 根据权利要求1-3任一项所述的自动清洁设备控制方法,其特征在于,根据所述路径搜索地图确定至所述目标点的通行路径包括:执行删除目标障碍物点的步骤,所述删除目标障碍物点的步骤包括基于所述路径搜索地图,根据所述自动清洁设备所在的当前位置确定所述自动清洁设备的可达区域和不可达区域;根据所述可达区域和所述不可达区域之间的连接边界,查找所述连接边界上的障碍物点,作为所述目标障碍物点;将所述目标障碍物点从所述路径搜索地图中删除;重复执行所述删除目标障碍物点的步骤,直到从删除了所述目标障碍物点的路径搜索地图中搜索到至所述目标点的所述通行路径。
- 根据权利要求4所述的自动清洁设备控制方法,其特征在于,根据所述 可达区域和所述不可达区域之间的连接边界,查找所述目标障碍物点包括:根据所述可达区域和所述不可达区域之间的连接边界,查找所述连接边界上靠近所述自动清洁设备的所述障碍物点,作为所述目标障碍物点。
- 根据权利要求1-5中任一项所述的自动清洁设备控制方法,其特征在于,根据所述路径搜索地图确定至所述目标点的通行路径包括:从所述第二表面介质区域集合中确定面积最小的区域;将所述面积最小的区域的边界点从所述路径搜索地图中删除,更新所述路径搜索地图中的障碍物点;从更新后的所述障碍物点中,确定至所述目标点的通行路径。
- 根据权利要求1-6中任一项所述的自动清洁设备控制方法,其特征在于,所述方法用于所述自动清洁设备处于仅清洁所述第一表面介质区域的模式。
- 一种自动清洁设备控制装置,其特征在于,包括:区域集合生成模块,用于在自动清洁设备于第一表面介质区域内清洁时,扫描第二表面介质区域的边界,生成第二表面介质区域集合;障碍物点存储模块,用于将所述第二表面介质区域集合中的边界点作为障碍物点,存储于路径搜索地图中;路径确定模块,用于如果基于所述障碍物点搜索不到至目标点的无障碍路径,则根据所述路径搜索地图确定至所述目标点的通行路径;控制脱困模块,用于从所述通行路径中确定最短路径,控制所述自动清洁设备沿所述最短路径脱困。
- 一种计算机可读存储介质,其上存储有计算机程序,其特征在于,所述计算机程序被处理器执行时实现权利要求1-7任一项所述的自动清洁设备控制方法。
- 一种电子设备,其特征在于,包括:处理器;以及存储器,用于存储所述处理器的可执行指令;其中,所述处理器配置为经由执行所述可执行指令来执行权利要求1-7任一项所述的自动清洁设备控制方法。
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