CN107280590A - Family cleaning assembly and clean method - Google Patents
Family cleaning assembly and clean method Download PDFInfo
- Publication number
- CN107280590A CN107280590A CN201710658038.1A CN201710658038A CN107280590A CN 107280590 A CN107280590 A CN 107280590A CN 201710658038 A CN201710658038 A CN 201710658038A CN 107280590 A CN107280590 A CN 107280590A
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- area
- region
- sweeping robot
- detection agency
- detection
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Classifications
-
- 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
-
- 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
-
- 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
-
- 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
-
- 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
-
- 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
-
- 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
- A47L2201/06—Control of the cleaning action for autonomous devices; Automatic detection of the surface condition before, during or after cleaning
Landscapes
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
- Electric Vacuum Cleaner (AREA)
Abstract
The invention discloses a kind of family cleaning assembly, the detection agency is detected in the disengaging sweeping robot to the working face；The working face is generated first area and second area by the image detected according to the detection agency；The image detected according to the detection agency is analyzed the object material in the second area, generation first object region；The perimeter detection of object of the detection agency in first area, when the object in the first area has the passage more than predetermined width, the second target area of analysis generation is carried out to the object material in the passage；Based on the first object region and the second target area generation working region；The running route moved for the sweeping robot is generated according to the working region.Family cleaning assembly disclosed in the present application can cook up optimal route as soon as possible.
Description
Technical field
The present invention relates to a kind of household cleaning field, more particularly to a kind of family cleaning assembly and clean method.
Background technology
Sweeping robot, also known as sweeps machine, intelligent dust suction, robot cleaner etc., is the one of controlling intelligent household appliances automatically
Kind, certain artificial intelligence can be relied on, floor cleaning work is completed in room automatically.It is general to be swept and vacuum mode using brush,
Ground debris is first received into the rubbish receiver into itself, so as to complete the function of land clearing.In general, it will complete clear
Sweep, dust suction, wipe the robot that works, be also uniformly classified as sweeping robot.
In general, the sensing that existing sweeping robot is generally surveyed by the video camera being disposed thereon and its periphery
Device carrys out planning operation route, but this method in the limitation and motion process in the sweeping robot visual field due to there may be
The problem of cause sweeping robot to be stuck in some position, or the region that be able to should be swept is ignored.
The content of the invention
In order to overcome the drawbacks described above of prior art, it is clear that the technical problems to be solved by the invention there is provided a kind of family
Clean device and clean method, it can cook up optimal route as soon as possible.
The present invention concrete technical scheme be：
A kind of family cleaning assembly, including：The sweeping robot that can be moved on working face and the sweeper can be connected to
Detection agency on device people, the detection agency can depart from working face flight when departing from the sweeping robot；
The detection agency is detected in the disengaging sweeping robot to the working face；
The working face is generated first area and second area by the image detected according to the detection agency, wherein, it is described
First area is that the height of the object in the region is greater than or equal to preset height, and the second area is the object in the region
Height be less than preset height；
The image detected according to the detection agency is analyzed the object material in the second area, generates the first mesh
Region is marked, wherein the material of the object in the first object region meets the first preset requirement；
The perimeter detection of object of the detection agency in first area, is more than in advance when the object in the first area has
If during the passage of width, the second target area of analysis generation is carried out to the object material in the passage, wherein second target
The material of object in region meets the first preset requirement；
Based on the first object region and the second target area generation working region；
The running route moved for the sweeping robot is generated according to the working region.
Preferably, the working face is generated first by the image detected by photogrammetry according to the detection agency
Region and second area.
Preferably, by infrared detection technique and/or picture recognition technology in the first area and the passage
The material of object is analyzed.
Preferably, the top of the detection agency and side wall are provided with infrared sensor, and the detection agency is in detection
It can be flown along wall side wall and roof.
Preferably, wireless charging portion is provided with the top of the sweeping robot, the wireless charging portion can be visited described
Survey when mechanism is arranged on the sweeping robot and the detection agency is charged.
Preferably, the working region is produced after being superimposed according to the first object region and second target area
Overall area is produced after isolated island is excluded.
Preferably, including controller, the controller is connected with the detection agency by wirelessly carrying out data exchange, institute
State controller and pass through wired electric connection with the sweeping robot.
Preferably, the detection agency can be arranged on the machine of sweeping the floor in the case where the sweeping robot is in clean conditions
The upper running route to generation of people is proofreaded.
This application discloses the clean method that a kind of use family cleaning assembly is cleaned, the family cleaning assembly bag
The sweeping robot that can be moved on a working face and the detection agency that can be connected on the sweeping robot are included, it is described
Detection agency can depart from working face flight when departing from the sweeping robot；The detection agency is in machine of being swept the floor described in disengaging
People detects to the working face；
The detection agency is detected in the disengaging sweeping robot to the working face；
The working face is generated first area and second area by the image detected according to the detection agency, wherein, it is described
First area is that the height of the object in the region is greater than or equal to preset height, and the second area is the object in the region
Height be less than preset height；
The image detected according to the detection agency is analyzed the object material in the second area, generates the first mesh
Region is marked, wherein the material of the object in the first object region meets the first preset requirement；
The perimeter detection of object of the detection agency in first area, is more than in advance when the object in the first area has
If during the passage of width, the second target area of analysis generation is carried out to the object material in the passage, wherein second target
The material of object in region meets the first preset requirement；
Based on the first object region and the second target area generation working region；
The running route moved for the sweeping robot is generated according to the working region.
Preferably, the working region is produced after being superimposed according to the first object region and second target area
Overall area is produced after isolated island is excluded.
The present invention uses above structure and method, and it can cook up optimal route as soon as possible.
Brief description of the drawings
Accompanying drawing described here is only used for task of explanation, and is not intended in any way limit model disclosed by the invention
Enclose.In addition, shape and proportional sizes of each part in figure etc. are only schematical, the understanding of the present invention is used to help, and
It is not the shape and proportional sizes for specifically limiting each part of the invention.Those skilled in the art under the teachings of the present invention, can
To select various possible shapes and proportional sizes to implement the present invention as the case may be.
Fig. 1 shows the structural representation of the family cleaning assembly in the embodiment of the present application.
Fig. 2 shows Fig. 1 family cleaning assembly, wherein the detection agency departs from the sweeping robot.
Fig. 3 shows the principle schematic of the family cleaning assembly in Fig. 1.
Fig. 4 shows the embodiment of a working face.
Fig. 5 shows that the working face is generated first area and the secondth area by the image detected according to the detection agency
The schematic diagram in domain.
Fig. 6 shows the schematic diagram of generation first object region and the second target area.
Fig. 7 shows the schematic diagram that working region is generated based on the first object region and the second target area.
Embodiment
With reference to the description of accompanying drawing and the specific embodiment of the invention, the details of the present invention can be clearly understood.But
It is, the embodiment of invention described herein to be only used for explaining the purpose of the present invention, and can not understands in any way
Into being limitation of the present invention.Under the teachings of the present invention, technical staff is contemplated that any possible change based on the present invention
Shape, these are regarded as belonging to the scope of the present invention.
The embodiment of the invention discloses a kind of family cleaning assembly, including：The sweeping robot that can be moved on working face,
And the detection agency on the sweeping robot can be connected to, the detection agency can take off when departing from the sweeping robot
From working face flight；The detection agency is detected in the disengaging sweeping robot to the working face；Visited according to described
The working face is generated first area and second area by the image that survey means sense is arrived, wherein, the first area is the area
The height of object in domain is greater than or equal to preset height, and the second area is the height of the object in the region less than default
Highly；The image detected according to the detection agency is analyzed the object material in the second area, generation first
Target area, wherein the material of the object in the first object region meets the first preset requirement；The detection agency is
The perimeter detection of object in one region, when the object in the first area has the passage more than predetermined width, to this
Object material in passage carries out the second target area of analysis generation, wherein the material symbol of the object in second target area
Close the first preset requirement；Based on the first object region and the second target area generation working region；According to the workspace
The running route that domain generation is moved for the sweeping robot.
Figures 1 and 2 show that a kind of family cleaning assembly in the embodiment of the present application.Shown in reference picture 1, the household cleaning
Device includes sweeping robot and detection agency.In general, sweeping robot include housing, be placed under housing roller,
Setting is used for cleaning section cleaned to ground etc. on the housing.Sweeping robot in the application is referred to existing
Sweeping robot in technology, is not repeated herein.Detection agency can depart from the sweeping robot flight.The explorer
Structure include flight portion, for driving the flight portion drive division flown, it is the camera being arranged in the flight portion, probe, infrared
The sensors such as survey meter.Shown in reference picture 2, the detection agency can depart from the sweeping robot, with working face
Flight.
In the present embodiment, the detection agency is detected in the disengaging sweeping robot to the working face,
I.e. described detection agency obtains the various view data of working face in flight course by its sensor.
The working face is generated first area and second area by the image detected according to the detection agency, wherein,
The first area is that the height of the object in the region is greater than or equal to preset height, and the second area is in the region
The height of object is less than preset height.For example, can be by Dimensions recognition technology, photogrammetry etc., in working face
The height of object is analyzed.When the height of the object in working face is greater than or equal to preset height（Such as 40 centimetres）When,
When i.e. sweeping robot can not step up the object work of the height, the part is included in first area.When the thing in working face
The height of body is less than preset height（Such as 40 centimetres）When, i.e., when sweeping robot can step up the object work of the height,
The part is included in second area.
The image detected according to the detection agency is analyzed the object material in the second area, generation the
One target area, wherein the material of the object in the first object region meets the first preset requirement.For example, can be by red
Added salts or picture recognition technology identify the material of the object in second area, whether to judge sweeping robot
It can run on the object, if it is then showing to meet the first preset requirement, so that the part is included in into first object area
Domain.
The perimeter detection of object of the detection agency in first area, when the object in the first area has greatly
When the passage of predetermined width, the second target area of analysis generation is carried out to the object material in the passage, wherein described second
The material of object in target area meets the first preset requirement.The detection agency can in first area object
The week side of boss is flown, and judges the object with the presence or absence of the passage that can enter for sweeping robot by Dimensions recognition technology.Such as
Fruit has, then judges by infrared detection technology or picture recognition technology the material of the object in the passage, to judge to sweep
Whether floor-washing robot can run on the object, if it is then showing to meet the first preset requirement, so that the part be drawn
Enter the second target area.
First object region and the superposition of the second target area are collected, and exclude some isolated islands（That is, sweeping robot without
The some regions that method is reached, the region isolates with the other parts in first object region and the second target area）.
The preferably running route moved for the sweeping robot is generated further according to the working region.If for example,
Working region is generally round, and the movement locus of the sweeping robot can be twist.Or, if working region is substantially in
Square, the movement locus of the sweeping robot can be in fold-line-shaped.Or, if working region is broadly divided into several blocks,
After can a block be cleaned again, enter back into another block and swept.
Generally, sweeping robot can be run on the ground in relatively low room.But, usually can on the ground in room
Arrange some higher furniture（For example, wardrobe, tea table, desk etc.）.For sweeping robot, sweeping robot can not be climbed
Climb to the furniture to operate.Thus the upper surface in these regions can not be cleaned for sweeping robot.In addition, right
For these higher furniture, there may be some clearance spaces with ground, and the clearance space can make sweeper device
People is by cleaning.Some objects that the material that sweeping robot is bottled up may be made can be usually arranged on the floor of the room in addition
（For example, the carpet become mildewed, stone massage area etc.）, it is clear that these regions are also not suitable for sweeping robot operation.The application can be with
The region that would prove unsuitable for sweeping robot work is excluded, and the region that sweeping robot is adapted to is added in its operation interval,
So as to form preferably running route.
Family cleaning assembly can also include controller, and the controller is with the detection agency by wirelessly carrying out data
Connection is exchanged, the controller passes through wired electric connection with the sweeping robot.
In one preferred embodiment, the top of the detection agency and side wall are provided with infrared sensor, described
Detection agency can fly in detection along wall side wall and roof, to be known completely to the regional of working face as much as possible
Not.
In one preferred embodiment, in order to ensure that the detection agency has sufficiently large electricity, the sweeper
Wireless charging portion is provided with the top of device people, the wireless charging portion can be arranged on the sweeping robot in the detection agency
The detection agency was charged when upper.
In one preferred embodiment, the detection agency can be set in the case where the sweeping robot is in clean conditions
Put and the running route of generation is proofreaded on the sweeping robot, met with the running orbit for ensuring the sweeping robot
The requirement of running route.
It is described disclosed herein as well is the clean method that a kind of use family cleaning assembly is cleaned shown in reference picture 3
Family cleaning assembly includes the sweeping robot that can be moved on a working face and can be connected on the sweeping robot
Detection agency, the detection agency can depart from working face flight when departing from the sweeping robot；The detection agency is de-
The working face is detected from the sweeping robot；
The detection agency is detected in the disengaging sweeping robot to the working face；
The working face is generated first area and second area by the image detected according to the detection agency, wherein, it is described
First area is that the height of the object in the region is greater than or equal to preset height, and the second area is the object in the region
Height be less than preset height；
The image detected according to the detection agency is analyzed the object material in the second area, generates the first mesh
Region is marked, wherein the material of the object in the first object region meets the first preset requirement；
The perimeter detection of object of the detection agency in first area, is more than in advance when the object in the first area has
If during the passage of width, the second target area of analysis generation is carried out to the object material in the passage, wherein second target
The material of object in region meets the first preset requirement；
Based on the first object region and the second target area generation working region；
The running route moved for the sweeping robot is generated according to the working region.
Preferably, the working region is produced after being superimposed according to the first object region and second target area
Overall area is produced after isolated island is excluded.
A specific example is described below.Fig. 4 shows the embodiment of a working face.Fig. 5 shows
The image detected according to the detection agency is gone out and the working face is generated into first area and second area.Wherein, in Fig. 5
In,Part is first area,Part is second area.Fig. 6 shows the figure detected according to the detection agency
As analyzing the object material in the second area, generation first object region；And the detection agency is first
The perimeter detection of object in region is logical to this when the object in the first area has the passage more than predetermined width
Object material in road carries out the second target area of analysis generation.Wherein, in figure 6,Part is the second target area,Part is first object region.Fig. 7 is shown based on the first object region and the second target area generation workspace
The schematic diagram in domain.Wherein, the part for having hatching is working region.
Each embodiment in this specification is described by the way of progressive, identical similar portion between each embodiment
Divide mutually referring to what each embodiment was stressed is the difference with other embodiment.It is real especially for system
Apply for example, because it is substantially similar to embodiment of the method, so description is fairly simple, related part is referring to embodiment of the method
Part explanation.
Although depicting the application by embodiment, it will be appreciated by the skilled addressee that the application have it is many deformation and
Change is without departing from spirit herein, it is desirable to which appended claim includes these deformations and changed without departing from the application's
Spirit.
Claims (10)
1. a kind of family cleaning assembly, it is characterised in that including：The sweeping robot that can be moved on working face and it can connect
The detection agency on the sweeping robot is connected on, the detection agency can depart from working face when departing from the sweeping robot
Flight；
The detection agency is detected in the disengaging sweeping robot to the working face；
The working face is generated first area and second area by the image detected according to the detection agency, wherein, it is described
First area is that the height of the object in the region is greater than or equal to preset height, and the second area is the object in the region
Height be less than preset height；
The image detected according to the detection agency is analyzed the object material in the second area, generates the first mesh
Region is marked, wherein the material of the object in the first object region meets the first preset requirement；
The perimeter detection of object of the detection agency in first area, is more than in advance when the object in the first area has
If during the passage of width, the second target area of analysis generation is carried out to the object material in the passage, wherein second target
The material of object in region meets the first preset requirement；
Based on the first object region and the second target area generation working region；
The running route moved for the sweeping robot is generated according to the working region.
2. family cleaning assembly according to claim 1, it is characterised in that by photogrammetry according to the explorer
The working face is generated first area and second area by the image that structure is detected.
3. family cleaning assembly according to claim 1, it is characterised in that known by infrared detection technique and/or picture
Other technology is analyzed the material of the object in the first area and the passage.
4. family cleaning assembly according to claim 1, it is characterised in that the top of the detection agency and side wall are set
There is infrared sensor, the detection agency can fly in detection along wall side wall and roof.
5. family cleaning assembly according to claim 1, it is characterised in that be provided with nothing at the top of the sweeping robot
Line charging part, the wireless charging portion can be when the detection agency be arranged on the sweeping robot to the detection agency
Charged.
6. family cleaning assembly according to claim 1, it is characterised in that the working region is according to the first object
The overall area produced behind region and second target area superposition is produced after isolated island is excluded.
7. family cleaning assembly according to claim 1, it is characterised in that including controller, the controller with it is described
Detection agency passes through wired electric connection by wirelessly carrying out data exchange connection, the controller with the sweeping robot.
8. family cleaning assembly according to claim 1, it is characterised in that the detection agency is in the sweeping robot
It can be arranged under clean conditions on the sweeping robot and the running route of generation is proofreaded.
9. the clean method that a kind of use family cleaning assembly is cleaned, it is characterised in that the family cleaning assembly includes
The sweeping robot that can be moved on a working face and the detection agency that can be connected on the sweeping robot, the spy
Working face flight can be departed from when departing from the sweeping robot by surveying mechanism；The detection agency is departing from the sweeping robot
The working face is detected；
The detection agency is detected in the disengaging sweeping robot to the working face；
The working face is generated first area and second area by the image detected according to the detection agency, wherein, it is described
First area is that the height of the object in the region is greater than or equal to preset height, and the second area is the object in the region
Height be less than preset height；
The image detected according to the detection agency is analyzed the object material in the second area, generates the first mesh
Region is marked, wherein the material of the object in the first object region meets the first preset requirement；
The perimeter detection of object of the detection agency in first area, is more than in advance when the object in the first area has
If during the passage of width, the second target area of analysis generation is carried out to the object material in the passage, wherein second target
The material of object in region meets the first preset requirement；
Based on the first object region and the second target area generation working region；
The running route moved for the sweeping robot is generated according to the working region.
10. clean method according to claim 9, it is characterised in that the working region is according to the first object area
The overall area produced behind domain and second target area superposition is produced after isolated island is excluded.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710658038.1A CN107280590B (en) | 2017-08-03 | 2017-08-03 | Household cleaning device and cleaning method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710658038.1A CN107280590B (en) | 2017-08-03 | 2017-08-03 | Household cleaning device and cleaning method |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN107280590A true CN107280590A (en) | 2017-10-24 |
| CN107280590B CN107280590B (en) | 2020-10-27 |
Family
ID=60104414
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710658038.1A Expired - Fee Related CN107280590B (en) | 2017-08-03 | 2017-08-03 | Household cleaning device and cleaning method |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107280590B (en) |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN108888203A (en) * | 2018-06-04 | 2018-11-27 | 于彦霞 | A kind of control method of separate type automatic floor cleaning machine device people |
| CN109077672A (en) * | 2018-09-28 | 2018-12-25 | 北京奇虎科技有限公司 | A kind of method and device of sweeping robot selection block |
| CN114641229A (en) * | 2019-08-26 | 2022-06-17 | 苏州宝时得电动工具有限公司 | Cleaning robot and control method thereof |
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| KR100635828B1 (en) * | 2005-04-25 | 2006-10-19 | 엘지전자 주식회사 | Method for controlling navigation of a cleaning robot |
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Also Published As
| Publication number | Publication date |
|---|---|
| CN107280590B (en) | 2020-10-27 |
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