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Control method and system of cleaning robot

A technology for cleaning robots and control methods, applied in the field of smart homes, can solve problems such as running time and storage space consumption, and achieve the effects of increasing throughput, reducing network power consumption, and improving speed

Active Publication Date: 2020-05-15
安徽宇润道路保洁服务有限公司
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

Since the traditional A-Star algorithm expands nodes gradually according to the neighbor nodes of the currently explored node and adds them to the OpenList, it is necessary to maintain a huge OpenList and perform a large number of query operations, which consumes a lot of storage space and costs run time

Method used

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  • Control method and system of cleaning robot
  • Control method and system of cleaning robot

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Experimental program
Comparison scheme
Effect test

Embodiment 1

[0051] This embodiment provides a control method for a cleaning robot, including:

[0052] The ultrasonic sensor is used to obtain the global position and distance, the infrared sensor is used to collect local obstacle avoidance information, and the gyroscope sensor is used to collect the robot's own angle;

[0053] Establish a global coordinate system, take the position point when the robot starts working as the origin, and take the ground as the XY plane, model according to the global position data collected by the ultrasonic sensor, and obtain the position information of each obstacle;

[0054] Pre-processing the obstacle data, including:

[0055] The nonlinear irregular obstacles are bounded by the envelope method to make the irregular obstacles rectangular;

[0056] Normalize the bounded obstacles set against the wall according to the wall;

[0057] The indoor environment map is represented by the grid method, in which the sub-grid size is designed according to the size...

Embodiment 2

[0070] Please refer to figure 1 , the present embodiment provides a control system of a cleaning robot, a data acquisition module, a memory module, a controller module, and a communication module;

[0071] The data acquisition module includes an ultrasonic sensor, an infrared sensor and a gyroscope sensor, which are used to obtain global position distance, local obstacle avoidance information collection, and self-angle collection respectively;

[0072] The memory module is used to store the data collected by the data acquisition module, and transmit the data to the controller module through the communication module for data processing;

[0073] The controller module is configured to receive the data sent by the memory module, and perform the following operations:

[0074] Establish a global coordinate system, take the position point when the robot starts working as the origin, and take the ground as the XY plane, model according to the global position data collected by the ul...

Embodiment 3

[0085] This embodiment provides a cleaning robot, which includes a robot body, a memory, a processor, and a computer program stored in the memory and operable on the processor that are connected to each other in communication, wherein the robot body receives The control instructions of the processor are matched to implement the steps of the method described in Embodiment 1 when the computer program is executed.

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Abstract

The invention relates to the technical field of smart home, and discloses a cleaning robot control method and system. The method comprises the steps of respectively carrying out the global position distance obtaining, local obstacle avoidance information collection and self angle collection, building a global coordinate system, obtaining the position information of each obstacle, carrying out thepreprocessing of obstacle data, and obtaining the position information of each obstacle; representing the indoor environment map through a grid method, matching and designing the sizes of sub grids, obtaining a global total path and splitting the global total path into a continuous grid point set, establishing a local coordinate system, obtaining local obstacle position information, controlling and adjusting the advancing direction of the robot, and executing sequential traversal of the grid points according to the global total path. The cleaning robot can be controlled to carry out full-coverage sweeping, obstacles can be found in real time, the obstacle avoidance capacity is high, computing resources can be saved, the actual working interval can be traversed efficiently at low energy consumption, collision-free and low-path-repetition-rate efficient sweeping is achieved, and high practical value and wide application prospects are achieved.

Description

technical field [0001] The invention relates to the technical field of smart home, in particular to a control method and system for a cleaning robot. Background technique [0002] With the improvement of people's living standards and the acceleration of the pace of life, more and more middle-class people want to be freed from the heavy work of indoor cleaning, and choose to buy cleaning robots to help them solve their daily cleaning problems. The cleaning efficiency and cleaning coverage of cleaning robots are one of the core focuses of consumers, and the cleaning coverage largely determines the quality of the cleaning effect. [0003] Cleaning robots currently on the market are roughly divided into random cleaning types and path planning types. Since the random cleaning robot does not have an internal map, the quality of the cleaning path depends on the quality of the random planning algorithm. Most of the random cleaning robots have low cleaning coverage and high repetiti...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J19/02B25J9/16B25J11/00
CPCB25J9/16B25J9/1674B25J9/1676B25J11/00B25J11/0085B25J19/02B25J19/021B25J19/026
Inventor 王军刘振张凡
Owner 安徽宇润道路保洁服务有限公司
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