34results about How to "Improve cleaning coverage" patented technology

The invention relates to a floor mopping robot and a cleaning path programming method. The cleaning path programming method comprises the following steps: establishing a plane coordinate system with the initial position of the floor mopping robot being a coordinate origin; establishing a blank map, the initial size of which is fixed but can be expanded, in the plane coordinate system, and dividingthe blank map into a plurality of areas, the size of each area being fixed; after the floor mopping robot receives a cleaning instruction, carrying out cleaning along a guide path, and in the cleaning process, if the robot encounters a wall, continuing to clean along the guide path after cleaning along the wall; if the robot encounters an obstacle, continuing to clean along the guide path after cleaning along the edge of the obstacle; and in the cleaning process, mapping the actually cleaned area and the established blank map to update a map. The floor mopping robot and the cleaning path programming method can enter an efficient cleaning mode directly at the beginning of cleaning, and then, update the map in the cleaning process, thereby preventing most of the repeated work, reducing cleaning repetition rate and improving cleaning coverage rate.

The invention provides a method for dividing a cleaning map region of a self-moving cleaning robot. The method comprises the following steps: placing the self-moving cleaning robot in a to-be-cleanedregion; scanning the edge of current space; determining the overall outline of the cleaning region; judging through a preset value; dividing secondary cleaning regions for an established outline map;carrying out cleaning sequencing on the secondary cleaning regions by a control unit 5 of the self-moving cleaning robot and planning a path; controlling a traveling unit 2 and a cleaning unit of theself-moving cleaning robot to clean sequentially by the control unit 5; examining mixed cleaning regions until cleaning is finished; and returning to an initial position. By the method, the cleaning coverage rate can be increased effectively, and problems of barriers of the cleaning region and missed sweeping of edge regions are avoided.

The invention provides a cleaning robot and a control method of the cleaning robot. The method comprises the steps of collecting images of multiple view angles of an obstacle; identifying the type ofthe obstacle according to the images of the plurality of view angles; respectively determining a first obstacle boundary of the obstacle corresponding to the image of each visual angle in the plurality of visual angles; obtaining a second obstacle boundary of the obstacle according to the type of the obstacle and each first obstacle boundary; and controlling the cleaning robot according to the mapmarked with the boundary of the second obstacle. By means of the method, the credibility of obstacle boundaries in a map established by the cleaning robot can be improved, the cleaning coverage rateis improved for different obstacles, and meanwhile, the cleaning risk is reduced.

The embodiment of the invention provides a map processing method and a cleaning robot. The method is applied to the cleaning robot. The method comprises the following steps: establishing a self-localization and navigation border map of the cleaning robot, wherein the border map comprises the attributes of the area based on a measured object and the position of the area, and the attributes of the area comprise the type of the area; and controlling the cleaning robot according to the border map. Due to the implementation of the technical scheme, the cleaning robot can distinguish the attributesof the obstacles in the map, and thus while the sweeping coverage rate is improved aiming at the different obstacles, the cleaning risk is reduced.

The invention discloses a robot walking control method and a robot. The method comprises the following steps: the robot is controlled to walk in circles along the wall of a room to acquire the structure and the area of the room; according to the structure and the area of the room, regional division is carried out on the room to generate multiple normal cleaning regions and multiple abnormal cleaning regions; the multiple normal cleaning regions are cleaned in a rectangular-ambulatory-plane cleaning walking mode; and after the multiple normal cleaning regions are cleaned, the multiple abnormal cleaning regions are cleaned according to the area of each abnormal cleaning region. According to the method of the embodiment, distinguished cleaning is carried out on the normal cleaning regions and the abnormal cleaning regions, the cleaning coverage rate is greatly improved, the cleaning performance is effectively enhanced, and the user experience is greatly enhanced.

The invention relates to the technical field of smart home, and discloses a partition boundary extension method, device and equipment of a cleaning robot and a storage medium, which are used for improving the accuracy of partition boundary extension. The partition boundary extension method of the cleaning robot comprises the steps: establishing a preset partition in an environment map; determininga preset partition cleaning path according to the partition boundary of the preset partition; when the cleaning robot advances to the current partition boundary according to a preset partition cleaning path, obtaining distance data, map data and state data of an adjacent region of the current partition boundary; judging whether the adjacent region is a target region or not according to the distance data and the map data; if the adjacent region is not the target region, updating the state data, and continuously performing boundary extension detection according to the preset partition cleaningpath; and if the adjacent region is the target region, judging whether a preset extension condition is met or not according to the distance data, the map data and the state data, and if YES, carryingout boundary extension on the current partition boundary.

The application discloses a garbage classification treatment method and a cleaning robot. The method applied to the cleaning robot comprises the steps: acquiring an image of an obstacle in the advancing direction of the cleaning robot; under the condition that garbage exists in the obstacle according to the obtained image, identifying the sweeping attribute of the garbage according to the obtainedimage; and controlling the cleaning robot to treat the garbage according to the garbage cleaning attribute. By implementing the method, the sweeping coverage rate can be increased for different kindsof garbage; meanwhile, the sweeping risk is reduced.

The invention discloses an anti-falling marching method of an autonomous robot. The autonomous robot is provided with a cliff sensor. And the method comprises the following steps: determining whetheran autonomous robot is located at a cliff position or not; and if so, performing anti-falling motion by the autonomous robot; to be specific, performing the anti-falling motion by moving the autonomous robot in any direction away from the cliff by starting with the cliff position and then moving in a direction close to the cliff till movement to a next cliff position or meeting of an obstacle by the autonomous robot. According to the invention, the autonomous robot can be assisted in probe the boundary of the cliff quickly and efficiently execute cleaning work near the terrain of the cliff. Besides, the invention further discloses an autonomous robot that can march according to the method. Therefore, the cliff area is swept on the premise that falling is avoided, and the sweeping coveragerate is increased.

The invention discloses a sweeping robot and a method for improve the edge coverage rate of the sweeping robot. The sweeping robot starts off at a preset position and covers a designated area in a spiral form according to the route planning algorithm. The provided sweeping robot walks along a barrier first and the path circle is gradually reduced, collision is thus reduced, the coverage rate of cleaning is improved, there is almost no repetitive sweeping, and the energy consumption is greatly reduced.

The invention provides a cleaning robot control method and a cleaning robot. The cleaning robot comprises a robot body, a controller and an image acquisition device. The image acquisition device is used for acquiring an image of an obstacle in an operation environment of the cleaning robot. The controller is used for identifying the type of the obstacle according to the image of the obstacle, andis also used for determining wall-following distances corresponding to the types of the obstacles, wherein different obstacle types correspond to different wall-following distances. The controller controls the cleaning robot to move along the wall along the boundary of the obstacle according to the wall-following distance corresponding to the type of the obstacle. By implementing the method, the sweeping coverage rate in the walking process along the wall can be increased for different obstacles, and meanwhile, the sweeping risk is reduced.

The invention discloses a spray arm device for a dish washer and a dish washer provided with the spray arm device. The spray arm device for the dish washer comprises a spray arm base, a sun gear, a planetary gear, a gear holder and a spray arm body. The sun gear is arranged at the position of a water outlet of the spray arm base, and the position of the sun gear is fixed relative to the spray arm base. The planetary gear is in transmission connection with the sun gear. The gear holder, the sun gear and the planetary gear are arranged under the gear holder in a rotary mode. The spray arm body is connected with the planetary gear in a relatively fixed mode. A spray hole and a thrust spray hole which communicate with the spray arm base are formed in the spray arm body. The thrust spray hole is used for spraying water and making the spray arm body rotate. Due to the fact that the spray arm body can rotate on its central axis synchronous with the planetary gear and the spray arm body and the planetary gear can also synchronously rotate around the central axis of the gear holder, a predetermined spray track can be formed through the spray hole in the spray arm body, so that tableware can be better washed.

The invention discloses a random path planning method of an automatic vacuum cleaner. The automatic vacuum cleaner comprises two driving wheels, and a driving motor connected with the driving wheels,and further includes a supporting wheel and an obstacle detection device arranged at the front part, wherein encoders are arranged on the driving wheels, the distance between the driving wheels is L;the driving motor, the encoders and the obstacle detection device are connected with the controller, and the random path planning method is arranged in the controller. The random path planning methodcomprises the following steps of (1), recording the coordinates (Xi,Yi) of the current point Pi, and then moving straightly forward; (2), detecting an obstacle, and recording the coordinates (Xi +1, Yi +1) of the current point Pi +1, randomly selecting a rotation direction, and moving straightly forward; (3), detecting the obstacle and recording the coordinates (Xi+2, Yi+2) of the current point Pi+2; (4), calculating the distance L0 between the two points of Pi and Pi+1, and the distance L1 between the two points of Pi+1 and Pi+2, and the distance L2 between the two points of Pi+2 and Pi; (5),comparing the L0, L1, and L2, and selecting the maximum distance direction as the new advancing direction.

The invention discloses a spray arm device for a dish washer and a dish washer provided with the spray arm device. The spray arm device for the dish washer comprises a spray arm water pipe, a sun gear, a planetary gear, a gear holder and a spray arm body. The sun gear is arranged at the position of a water outlet of the spray arm water pipe, and the position of the sun gear is fixed relative to the spray arm water pipe. The planetary gear is in transmission connection with the sun gear. The gear holder, the sun gear and the planetary gear are arranged on the gear holder in a rotary mode. The spray arm body is connected with the planetary gear in a relatively fixed mode. A spray hole which communicates with the spray arm water pipe is formed in the spray arm body. According to the spray arm device for the dish washer, water entering the spray water pipe can be sprayed out through the spray hole in the spray arm body after passing through the water outlet in the spray arm water pipe. Due to the fact that the spray arm body can rotate on its central axis synchronous with the planetary gear and the spray arm body and the planetary gear can synchronously rotate around the central axis of the gear holder, a predetermined spray track can be formed through the spray hole in the spray arm body, so that tableware can be better washed.

The invention discloses a sweeping robot sweeping method and a related device. The method comprises the steps that a sweeping robot is controlled to move along the area boundary of a to-be-swept area where the sweeping robot is located so as to obtain first path information; generating an area planning map based on the first path information, and performing full-coverage path planning on the to-be-cleaned area according to the area planning map to obtain second path information; and in response to the fact that whole house cleaning according to the second path information is not finished, scheduling the sweeping robot to the next to-be-cleaned area, and returning to the step of controlling the sweeping robot to move along the area boundary of the to-be-cleaned area where the sweeping robot is located to obtain the first path information. Therefore, the cleaning efficiency can be improved.

The present invention discloses a household robot and a control method of the household robot. The household robot comprises a shell; a plurality of ultrasonic transmitters and a plurality of ultrasonic receivers disposed on the shell and mutually arranged at intervals; and a controller, wherein the controller is connected with the plurality of ultrasonic transmitters and the plurality of ultrasonic receivers and used for controlling the plurality of ultrasonic transmitters to transmit first ultrasonic signals at intervals according to a preset period and detecting a barrier at the front according to signals received by the plurality of ultrasonic receivers. According to the household robot, orientation of the barrier can be detected without being influenced by materials of the barrier, so that the household robot can make a corresponding avoiding method according to the detected orientation of the barrier, collision between the household robot and the barrier is prevented, cleaning coverage rate can also be increased, and therefore user experience is improved.

The invention provides a robot control method. In an edgewise mode, a robot is driven to walk towards the edge and cling to an object along the edge, and whether a path turning point or completion ofa preset distance is obtained by detection is determined; and if YES, the robot is switched to a cattle plowing mode; and in the cattle plowing mode, the robot is driven to make the cattle plowing type movement based on the movement distance that is finished along the object along the edge.

The invention discloses a cleaning robot control method and device, a medium and a cleaning robot, and is applied to a cleaning robot without a gyroscope. The method comprises the following steps: when a cleaning start instruction is received, constructing a target grid map; acquiring position information of the cleaning robot according to a preset period; performing coordinate conversion on the position information according to the target grid map to obtain corresponding grid coordinates; and according to the cleaning times corresponding to the grid coordinates, generating the cleaning instruction of the cleaning robot so that by taking the coordinates of the grid map and the cleaning times as the basis, the next cleaning instruction of the cleaning robot is issued more efficiently, and the cleaning efficiency and the cleaning coverage rate are improved.

Disclosed in the invention is an intelligent path-finding method of a sweeping robot. The method comprises: a dust detector is installed at a dust-absorbing port of a sweeping robot and a control unit is arranged in a control module and is used for analyzing a detection result of the dust detector; when the robot carries out dust absorption continuously, the robot moves according to a set cleaning sweeping path; when dust absorption is interrupted, the robot selects a new direction for movement; and when the dust absorbed by the robot is lower than a set threshold value for long time, the robot has complete the cleaning work. With the method, the sweeping robot can complete cleaning work effectively according to different environments and repeated routes made by the robot can be reduced; and the cleaning coverage rate can be improved.

The invention provides a robot, a control method of the robot and a storage medium. The robot comprises a memory, a processor and a computer program which is stored on the memory and can run on the processor, when the processor executes the computer program, the material information of a working face is obtained; and g the target running speed of the robot is determined according to the material information, and the robot is controlled to run at the target running speed. The robot provided by the invention is advantaged in that the operation speed is controlled according to the material information of the working surface, therefore, the robot can sweep at different speeds according to different materials during sweeping, if the detected working surface is made of a material which is not easy to clean, the speed can be correspondingly set to be in a low-speed mode, so the working surface which is not easy to clean can be cleaned at one time by slowing down the moving speed of the robotat the same cleaning frequency when the robot passes through the working surface which is not easy to clean, and the cleaning effect of the robot is further improved.

The invention relates to the technical field of robots, and discloses a robot cleaning control device and method and electronic equipment. The device comprises a curtain detection module and a sweeping module, the curtain detection module is used for generating a first sweeping instruction when detecting that an object in the advancing direction of the robot is a curtain type object, and generating a second sweeping instruction when detecting that the object in the advancing direction of the robot is a non-curtain type object. The sweeping module is used for controlling the robot to enter a curtain sweeping mode according to the first sweeping instruction and controlling the robot to enter a normal sweeping mode according to the second sweeping instruction. According to the robot providedby the embodiment of the invention, the curtain detection module is independently arranged, so that the robot can have a function of independently detecting the flexible object, and compared with thetraditional technology of executing an undifferentiated cleaning mode on curtain or non-curtain objects, the robot provided by the embodiment of the invention can execute different cleaning modes according to object attributes; therefore, the sweeping coverage rate and the sweeping effect are improved.

The invention relates to the technical field of intelligent robots, in particular to a medical disinfection robot. The medical disinfection robot comprises a main machine body, wherein an electronic display screen is arranged at the position, close to the upper end, of the front surface of the main machine body, cameras and a plurality of sensors are regularly arranged on the inner side of the electronic display screen, a power manager, a processor and a controller are regularly arranged at the position, close to the upper end, in the main machine body, a walking mechanism is arranged in the bottom end of the main machine body, a spray head is arranged at the position, close to the front end, of the bottom end of the main machine body, a cleaning mop is hinged to the position, close to the rear end, of the bottom end of the main machine body through a hinge, a disinfectant box is arranged in the main machine body, and a self-cleaning mechanical arm is rotationally connected to the outer side of the main machine body. The designed disinfection robot can complete disinfection and cleaning work in a designated area, manual operation is not needed, the cleaning effect is improved, the cleaning coverage rate is increased, the cleaning blind area is reduced, and manpower and time are saved, so that the situation of cross infection between medical workers and patients can be reduced, and personnel safety is guaranteed.

A path planning method of a sweeper comprises a long-distance laser radar (1), a short-distance laser radar (2), a depth camera (3), an ultrasonic sensor (4), a driving wheel (5), a control processingsystem (6) and an operation interface (7). The coverage rate of the sweeper is increased.

The invention provides a method for dividing a cleaning map region of a self-moving cleaning robot. The method comprises the following steps: placing the self-moving cleaning robot in a to-be-cleanedregion; scanning the edge of current space; determining the overall outline of the cleaning region; judging through a preset value; dividing secondary cleaning regions for an established outline map;carrying out cleaning sequencing on the secondary cleaning regions by a control unit 5 of the self-moving cleaning robot and planning a path; controlling a traveling unit 2 and a cleaning unit of theself-moving cleaning robot to clean sequentially by the control unit 5; examining mixed cleaning regions until cleaning is finished; and returning to an initial position. By the method, the cleaning coverage rate can be increased effectively, and problems of barriers of the cleaning region and missed sweeping of edge regions are avoided.

The application provides an obstacle handling method and a cleaning robot. Wherein, the cleaning robot includes a controller, an image acquisition device, a fuselage main body and a side sweep, and the side sweep extends beyond the edge of the fuselage main body; image; the controller is used to, according to the first image of the obstacle, identify the type of the obstacle; determine the obstacle handling method corresponding to the obstacle type, and the obstacle handling method includes whether the cleaning robot moves ahead according to the The direction continues to move forward, and when the cleaning robot changes its forward direction in front of the obstacle, the distance information between the main body of the fuselage and the side scan and the obstacle respectively; the controller is used to control the obstacle handling method corresponding to the type of obstacle Clean robot movement. The implementation of this application can improve the cleaning coverage for different obstacles and reduce the risk of cleaning.

The disclosure discloses a cleaning robot and a control method thereof, belonging to the field of robots. The method includes: during the cleaning process, identifying the current area, if the current area is a common area, triggering the edge cleaning mode with the first distance threshold, and if the current area is an area where a predetermined obstacle is located, Entering the obstacle avoidance mode is triggered by the second distance threshold, wherein the first distance threshold is smaller than the second distance threshold; solves the problem that the cleaning robot cannot be charged due to the movement of predetermined obstacles such as charging piles due to collision with the cleaning robot; For different obstacles, different distance thresholds are used to trigger the edge cleaning mode. When the obstacle is a predetermined obstacle, a larger distance threshold is used to trigger, so that the predetermined obstacle will not be moved by the collision.

The invention discloses a sweeping robot and a sweeping method thereof, and a control device. The sweeping method comprises the steps of: recording a collision position and a collision time when the sweeping robot generates collision in a sweeping area; in response to at least two consecutive collisions of the sweeping robot in the sweeping area, dividing a first sub-sweeping area based on the collision positions of the at least two collisions; calculating the collision frequency according to the collision times of the at least two collisions, and determining a first sweeping time of the sweeping robot in the first sub-sweeping area according to the collision frequency, wherein the first sweeping time is in positive correlation with the collision frequency; and controlling the sweeping robot to sweep in the first sub-sweeping area for the first sweeping time. The first sub-sweeping area is divided according to the collision positions of the at least two collisions, and the first sweeping time is determined according to the collision frequency, a large area can be divided, and the sweeping time is determined according to the characteristics of a small area, thereby reducing the repeated sweeping, improving the sweeping coverage and further saving energy.

An optimal path planning method for an automatic vacuuming robot based on path density analysis is disclosed. The automatic vacuuming robot includes two driving wheels and two driving motors connected to the driving wheels. An encoder is installed, and an obstacle detection device installed on the front of the automatic vacuuming robot, the optimal path planning method is set inside the controller, and the optimal path planning method includes the following steps: (1) Set data linked list L 0 ; (2) when the automatic vacuuming robot detects an obstacle, it records the current position coordinates and stores them in the data link table L 0 ; (3) Obtain the data linked list L 0 The center point O, and the center point O to the data linked list L 0 point P in i (x i ,y i ) direction angle α j , and stored in the data linked list L 1 {α j}; (4), set the data linked list L 2 ={b k}, b k Represents the data linked list L 1 The number of elements in the k×π / 4 area; (5) calculate the data linked list L 1 middle element α j at b k Correspond to the number of areas, and find the minimum value, and the corresponding direction is used as the new cleaning direction.

The present application discloses a garbage sorting method and a cleaning robot. The method is applied to the cleaning robot, including: acquiring images of obstacles in the forward direction of the cleaning robot; when recognizing that there is garbage in the obstacles according to the acquired images , according to the acquired image to identify the cleaning properties of the garbage; according to the cleaning properties of the garbage, control the cleaning robot to process the garbage. The implementation of the application can improve the cleaning coverage for different garbage and reduce the risk of cleaning at the same time.

The invention discloses a walking control method of a robot and the robot. Wherein, the method includes the following steps: controlling the robot to walk in circles along the walls of the room to obtain the structure and area of ​​the room; dividing the room according to the structure and area of ​​the room to generate multiple normal cleaning areas and multiple abnormal cleaning areas area; cleaning a plurality of normal cleaning areas in the back-shaped cleaning walking mode; and cleaning a plurality of abnormal cleaning areas according to the area of ​​each abnormal cleaning area after the cleaning of the plurality of normal cleaning areas is completed. The method of the embodiment of the present invention distinguishes and cleans the normal cleaning area and the abnormal cleaning area, which greatly improves the cleaning coverage, effectively improves the cleaning performance, and thus greatly improves the user experience.