Regression method, storage medium, electronic equipment for cleaning robot utilizing charging stand coordinates records
A cleaning robot and coordinate recording technology, applied in the field of cleaning robots, can solve the problems of no effective interaction, long time consumption, and low mutual perception
Active Publication Date: 2021-04-02
KINGCLEAN ELECTRIC
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Problems solved by technology
[0003] With the upgrading of robot vacuum cleaners, the automatic charging function has become an important manifestation of the intelligence of cleaning robots. At present, the main way for cleaning robots to find the charging base is to walk along the side. After finding the guiding signal of the charging base, it locates the charging base and returns to charging. On the one hand, it takes a long time, which may cause the cleaning robot to be stranded halfway because it cannot return to the charging stand to charge; on the other hand, when the position of the charging stand changes, the robot itself cannot predict it, and can only search blindly along the edge. There is no effective interaction with the charging stand at all, and the mutual awareness is low
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[0038] Below, the present invention will be further described in conjunction with the accompanying drawings and specific implementation methods. It should be noted that, under the premise of not conflicting, the various embodiments described below or the technical features can be combined arbitrarily to form new embodiments. .
[0039] The cleaning robot uses the regression method of the coordinate record of the charging stand, such as figure 1 shown, including the following steps:
[0040] S1. Obtain the anti-collision coordinates. The cleaning robot detects the anti-collision signal during the cleaning process. When the anti-collision signal is detected, the coordinates of the collision position are recorded and stored as the first coordinate (X DY ,Y DY );
[0041] S2. Coordinate matching, obtaining the anti-collision boundary coordinate group stored by the cleaning robot, wherein the anti-collision boundary coordinate group includes a maximum coordinate (X JD ,Y JD ),...
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The invention provides a method for recording coordinates of a charging base of a cleaning robot. The method comprises the following steps: acquiring anti-collision coordinates; detecting an anti-collision signal by the cleaning robot during cleaning; recording and storing collision position coordinates when detecting the anti-collision signal; matching coordinates; acquiring an anti-collision boundary coordinate set stored by the cleaning robot, wherein the anti-collision boundary coordinate set comprises a maximum coordinate and a minimum coordinate; matching a first coordinate with an anti-collision boundary coordinate; updating the anti-collision boundary coordinate according to a matching result. The invention also relates to a storage medium and electronic equipment. The method provided by the invention records a position of the charging base during cleaning in real time, plans an optimal path according to the marked coordinate position of the charging base after starting a regression mode, and realizes direct docking charging, thereby improving regression charging efficiency and intelligent degree of the cleaning robot; the method provided by the invention is clear in logic,ingenious in conception and convenient for popularization and application of the intelligent cleaning robot.
Description
technical field [0001] The invention belongs to the field of cleaning robots, and in particular relates to a regression method, a storage medium, and electronic equipment for a cleaning robot to record coordinates of a charging stand. Background technique [0002] Robot vacuum cleaners, also known as floor sweepers, are a new generation of family nanny, which can clean up hair, melon seed shells, dust and other room garbage. With the continuous improvement of domestic living standards, cleaning robots that have been sold in European and American markets have gradually entered the homes of ordinary people, and are gradually accepted by more and more people. Cleaning robots will be like white goods in the near future. Also become an essential cleaning helper for every family. Products will also develop from the current primary intelligence to a higher degree of intelligence, gradually replacing manual cleaning. As an emerging smart household cleaning device in recent years, ...
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IPC IPC(8): A47L11/24A47L11/40
Inventor 倪祖根
Owner KINGCLEAN ELECTRIC