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A control method and system for a cleaning robot

A technology of cleaning robot and control method, which is applied in the field of smart home, can solve the problems of consuming storage space and running time, and achieve the effects of reducing network power consumption, increasing throughput, and reducing computing power consumption

Active Publication Date: 2021-07-30
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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  • A control method and system for a cleaning robot

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Experimental program
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Effect test

Embodiment 1

[0052] This embodiment provides a control method for a cleaning robot, including:

[0053] 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;

[0054] 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;

[0055] Pre-processing the obstacle data, including:

[0056] The nonlinear irregular obstacles are bounded by the envelope method to make the irregular obstacles rectangular;

[0057] Normalize the bounded obstacles set against the wall according to the wall;

[0058] The indoor environment map is represented by the grid method, in which the sub-grid size is designed according to the size...

Embodiment 2

[0071] 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;

[0072] 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;

[0073] 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;

[0074] The controller module is configured to receive the data sent by the memory module, and perform the following operations:

[0075] 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

[0086] 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, which 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 control method and system of a cleaning robot. The method includes: acquiring the global position distance, acquiring local obstacle avoidance information, and acquiring its own angle, establishing a global coordinate system, and obtaining the Pre-process the obstacle data, express the indoor environment map through the grid method, match the size of the design sub-grid, obtain the global total path and split it into a continuous set of grid points, and establish a local coordinate system. Obtain the location information of local obstacles, control and adjust the robot's traveling direction, and execute grid points sequentially traversal according to the global total path. The invention can control the cleaning robot to perform full-coverage cleaning, can find obstacles in real time and has strong obstacle avoidance ability, can save computing resources, can traverse the actual working area with high efficiency and low energy consumption, and realizes collision-free and low path repetition rate. Efficient cleaning, with high practical value and broad application prospects.

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. cleaning machine [0003] The cleaning efficiency and cleaning coverage rate of people are one of the core focuses of consumers, and the cleaning coverage rate largely determines the quality of the cleaning effect. [0004] 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 cleanin...

Claims

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Application Information

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Patent Type & Authority Patents(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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