TW201824099A - Path planning method of self-propelled cleaning robot and self-propelled cleaning robot system - Google Patents

Abstract

A path planning method of a self-propelled cleaning robot and a self-propelled cleaning robot system are provided. The method includes the following steps: obtaining data of path information, power consumption information, work hours and water consumption of an area by using a self-propelled cleaning robot to arbitrarily move in the area; transmitting the data to a cloud server; analyzing the path information to generate an area map, and then generating best path information, best power consumption information, best work hours and best water consumption of the area according to the area map, the power consumption information, the work hours and the water consumption; controlling the self-propelled cleaning robot to move in the area for cleaning process according to the best path information, the best power consumption information, the best work hours and the best water consumption of the area.

Description

Self-propelled cleaning robot path planning method and self-propelled cleaning robot system

The invention relates to the technical field of a self-propelled robot, in particular to a self-propelled cleaning robot path planning method and a self-propelled cleaning robot system capable of planning a path according to big data analysis.

The self-propelled robot is a kind of electronic product that is gradually developed and popular at this stage. Among them, the self-propelled robot most commonly used in life is a self-propelled cleaning robot. Because it can automatically perform sweeping, washing or mopping, and automatically return to the charging station for charging, it is deeply popular among the general public. favorite.

The self-propelled cleaning robot in the prior art mostly moves in a specific area and repeatedly changes its path after the collision, thereby achieving the effect of cleaning a specific area. However, in this way, the path of travel is not good, the power consumption and the amount of water are extra, and it is often encountered that when the path is changed halfway after repeated collisions, the current or the water tank of the water tank is about to be insufficient, and the current stop is stopped. Return to the charging station. On the other hand, when the work is started next time, it is again cleaned in such a manner that the path is changed repeatedly after the collision, so that the efficiency is not good.

As described above, the inventors of the present invention have designed a self-propelled cleaning robot path planning method and a self-propelled cleaning robot system to improve the lack of the prior art, thereby enhancing the industrial implementation and utilization. .

In view of the above-mentioned problems of the prior art, it is an object of the present invention to provide a self-propelled cleaning robot path planning method and a self-propelled cleaning robot system to improve the problems caused by the above-mentioned conventional techniques.

According to an object of the present invention, a self-propelled cleaning robot path planning method is provided, which comprises the steps of: randomly moving in at least one area by using a self-propelled cleaning robot; and recording self-propelled cleaning by a processing module; a path information, a power consumption information, a working time and a water consumption when the robot moves in the area; and transmits the path information, the power consumption information, the working hours and the water consumption to a cloud server by using a transmission module; Using the cloud server to analyze each path information to construct at least one area map, the cloud server generates an optimal path information, an optimal power consumption information, and an area according to the area map, power consumption information, working hours and water consumption. An optimal working time and an optimal water consumption; and the optimal path information, optimal power consumption information, optimal working hours and most of the area controlled by the processing module according to the area where the self-propelled cleaning robot is located Good water consumption for cleaning operations.

Preferably, when the area is plural, the method further comprises the steps of: connecting to an electronic device and receiving a control signal; and the processing module controls the self-propelled cleaning robot to go to the designated area for cleaning according to the control signal.

Preferably, the method further comprises the following steps: the cloud server generates a cleaning agent information according to the optimal path information, the optimal power consumption information, the optimal working time and the optimal water consumption; and transmits the cleaning agent information to the self-propelled cleaning. The robot is stored in a storage module; when the self-propelled cleaning robot is connected to the electronic device, the cleaning agent information is transmitted to the electronic device.

Preferably, the method further comprises the following steps: the cloud server generates the detergent information according to the optimal path information, the optimal power consumption information, the optimal working time, the optimal water consumption, and a set cost.

Preferably, when there are a plurality of regions, the method further includes the following steps: detecting, by the processing module, the remaining amount of electricity and the amount of water of the self-propelled cleaning robot; and cleaning the remaining power, the amount of water, and the amount of returning power required by the self-propelled robot And the best power consumption information and the optimal water consumption in each area, control the self-propelled cleaning robot to go to the area corresponding to the remaining amount of electricity, water volume and returning the required amount of electricity for the self-propelled cleaning robot.

According to another aspect of the present invention, a self-propelled cleaning robot system includes a self-propelled cleaning robot and a cloud server. The self-propelled cleaning robot has a processing module and a transmission module; the processing module controls the self-propelled cleaning robot to randomly move in a plurality of regions, and records path information of the self-propelled cleaning robot moving in a plurality of regions , power consumption information, working hours and water consumption. The transmission module of the self-propelled cleaning robot is connected to the cloud server, and transmits path information, power consumption information, working hours and water consumption; the cloud server analyzes the path information to construct a plurality of area maps, and according to the plurality of area maps, Power consumption information, working hours and water consumption, and plan an optimal route information for each area, an optimal power consumption information, an optimal working time and an optimal water consumption. The processing module controls the area in which the self-propelled cleaning robot is located, and controls the best path information, optimal power consumption information, optimal working hours, and optimal water consumption.

Preferably, the electronic device further includes an electronic device; when the area is plural, the electronic device sends a control signal, the transmission module receives the control signal, and the processing module controls the self-propelled cleaning robot to go to the designated area for cleaning according to the control signal. .

Preferably, the cloud server generates a detergent information according to the optimal path information, the optimal power consumption information, the optimal working time and the optimal water consumption, and transmits and stores the cleaning information to a storage module of the self-propelled cleaning robot. When the self-propelled cleaning robot is connected to the electronic device, the detergent information is transmitted to the electronic device.

Preferably, the cloud server generates detergent information based on optimal path information, optimal power consumption information, optimal working hours, optimal water consumption, and a set cost.

Preferably, when the area is plural, the processing module detects the remaining amount of electricity and the amount of water of the self-propelled cleaning robot, and according to the self-propelled cleaning robot, the remaining amount of electricity, the amount of water, and the amount of electricity required for returning, and the regions The best power consumption information and the optimal water consumption, the self-propelled cleaning robot is controlled to go to the area corresponding to the remaining power, water volume and returning required power of the self-propelled cleaning robot.

The technical features of the present invention will be described in detail with reference to the accompanying drawings.

The technical features, contents, and advantages of the present invention and the efficacies that can be achieved by the present inventors will be described in conjunction with the accompanying drawings, and in the form of the embodiments. The subject matter is only for the purpose of illustration and description. It is not necessarily the true proportion and precise configuration after the implementation of the present invention. Therefore, the scope and configuration relationship of the attached drawings should not be interpreted or limited. First described.

Hereinafter, embodiments of the self-propelled cleaning robot path planning method and the self-propelled cleaning robot system according to the present invention will be described with reference to the related drawings. For ease of understanding, the same elements in the following embodiments will be denoted by the same symbols. To illustrate.

Please refer to Figures 1 to 6. Figures 1 to 4 are diagrams showing first to fourth steps of the self-propelled cleaning robot path planning method of the present invention. Fig. 5 is a block diagram showing the self-propelled cleaning robot of the present invention. Fig. 6 is a schematic view showing the analysis of the path information construction area of the self-propelled cleaning robot of the present invention. Fig. 7 is a schematic view showing the optimum path of the self-propelled cleaning robot of the present invention.

As shown in Fig. 4, the self-propelled cleaning robot path planning method of the present invention is applied to a self-propelled cleaning robot 10 to plan a clean path based on the collected big data. The self-propelled cleaning robot 10 is included in a self-propelled cleaning robot system 100, and the self-propelled cleaning robot system 100 also includes a cloud server 20 and an electronic device 30. The cloud server 20 is preferably erected by the manufacturer or supplier of the self-propelled cleaning robot 10, and the electronic device 30 can be a smart phone, a notebook computer, a desktop computer, or a home appliance control device. The self-propelled cleaning robot 10 includes a processing module 11 for controlling the operation of each component of the self-propelled cleaning robot 10, a storage module 12 for storing related data, and a transmission module 13 for signal transmission. Of course, the self-propelled cleaning robot 10 further includes components such as a vacuum module, a brush or a mopping module, a water tank, a driving module, a sensing module, a positioning module, a battery module, and the like, and these components are technical fields. It is well known to those of ordinary skill and will not be described here.

As shown in FIG. 1, the self-propelled cleaning robot path planning method of the present invention comprises the following steps: (S11) using a self-propelled cleaning robot to randomly move in one or more regions; (S12) by processing a module Recording path information, power consumption information, working hours and water consumption when the self-propelled cleaning robot moves in a plurality of areas; (S13) transmitting transmission path information, power consumption information, working hours and water consumption to the transmission module to The cloud server (S14) uses the cloud server to analyze each path information to construct a plurality of area maps, and the cloud server generates an optimal path information of each area according to the area map, power consumption information, working hours and water consumption. Optimal power consumption information, an optimal working time and an optimal water consumption; (S15) control the area with the best path information and optimal power consumption information according to the area where the self-propelled cleaning robot is located , the best working hours and the best water consumption for cleaning operations.

Wherein, the plurality of areas, for example, may be a living room, a room, etc. in a home environment, or divide a living room or a room area into a plurality of areas. In other words, the area can be used as a room, or even a tile.

When the self-propelled cleaning robot 10 randomly moves in an area, it will continuously change the path according to the collision, so that the cloud server 20 can analyze the collision process of the cloud server 20 via the transmission module 13 to obtain the area map. , as shown in Figures 6 and 7; then, according to the obtained area map, the best path information is planned, and since the self-propelled cleaning robot walks the best path, the corresponding power consumption information and operation Working hours and water consumption should also be optimal.

The cloud server 20 generates optimal path information, optimal power consumption information, optimal working hours and optimal water consumption for each area, and can be transmitted back to the self-propelled cleaning robot 10 via the transmission module 13 for storage. The storage module 12 is stored in the cloud server 20, and the self-propelled cleaning robot 10 is connected to the cloud server 20 to obtain the best path information of each area when the cleaning operation is started. Power consumption information, best working hours and optimal water consumption.

It is worth mentioning that since the furnishings in the home environment may change due to the special needs or preferences of the user, even if the processing module 11 controls the self-propelled cleaning robot 10 to walk while the current best path information is being processed, The module 11 still detects the path information, power consumption information, working hours and water consumption for a period of time or continuously, and uploads it to the cloud server 20, and the cloud server 20 can compare the actual walking path information and power consumption. Information, working hours and water consumption, and the best route information, best power consumption information, best working hours and optimal water consumption, and re-planning new best path information when the difference is too large. Best power consumption information, best working hours and optimal water consumption. The aforementioned difference is too large, for example, the difference in path information may be too large.

According to the above manner, the self-propelled cleaning robot 10 can be reduced in resources such as power and water.

As shown in FIG. 2, the self-propelled cleaning robot path planning method of the present invention may further include the following steps: (S21) connecting to an electronic device and receiving a control signal; and (S22) processing the module according to the control signal Control the self-propelled cleaning robot to go to the designated area for cleaning.

For example, when there are a plurality of areas, for example, a living room, a room, or the like in a home environment, the user can send a control signal via an application on the electronic device 30, and the designated self-propelled cleaning robot 10 in the control signal should respond. The specified area, such as the living room or room. After the self-propelled cleaning robot 10 receives the control signal via the transmission module 13, the processing module 11 can control the self-propelled cleaning robot 10 to go to a designated area for cleaning operation, and according to the best path information of the area, the best Clean power information, best working hours and optimum water consumption.

In the above manner, it is possible to increase the user's ability to control the self-propelled cleaning robot 10 in a remotely controlled manner, thereby achieving convenience in use.

Incidentally, regarding the positioning and control of the self-propelled cleaning robot 10, it is possible to utilize the currently most commonly used indoor positioning technology by Wi-Fi sensing. However, in actual use, other techniques known to those skilled in the art can be applied, and will not be described again. Of course, the user can also place the self-propelled cleaning robot 10 directly in the area to be cleaned, and set the self-propelled cleaning robot 10 to start cleaning.

As shown in FIG. 3, the self-propelled cleaning robot path planning method of the present invention may further include the following steps: (S31) The cloud server is based on optimal path information, optimal power consumption information, optimal working hours, and most Good water consumption generates detergent information; (S32) transmits detergent information to the self-propelled cleaning robot and stores it in the storage module; and (S33) when the self-propelled cleaning robot is connected to the electronic device, the detergent information is transmitted to Electronic device.

The cloud server 20 generates detergent information based on the optimal path information, optimal power consumption information, optimal working hours, and optimal water consumption of each area. For example, the cloud server 20 can store a plurality of detergent information corresponding to different optimal power consumption information per square area, optimal water consumption, and optimal working hours. The cloud server 20 can calculate the optimal power consumption information per square area in each area according to the optimal path information, the best power consumption information, the optimal working time and the optimal water consumption data of each area. , the optimal water consumption, and even the best working hours; then, the cloud server 20 can compare the optimal power consumption information, the optimal water consumption, and the optimal working time per square area of the area. One of the detergent information of the database of the cloud server 20 is met, so that the detergent information is transmitted to the electronic device 30 through the detergent information for reference by the user.

In addition, the cloud server 20 can also compare the optimal power consumption information per square area of each area, the optimal water consumption, and the optimal working time, and the best power consumption information per square area of a certain area is optimal. Water consumption, best working hours, best power consumption per square meter of other areas, optimal water consumption, best working hours, or better than the average area per square area of the entire area The power consumption information, the optimal water consumption, and the optimal working hours determine that the area with higher data is a harder to clean area, so that the cloud server 20 can determine the matching detergent information of the database of the cloud server 20. Therefore, the detergent information is transmitted to the electronic device 30 by transmitting the cleaning agent information for reference by the user.

It is worth mentioning that the user can also set a set cost by using the electronic device 30, so that the cloud server 20 can further determine the detergent information in the database of the cloud server 20 under the consideration of including the set cost. And the cleaning agent information is transmitted to the electronic device 30 by transmitting the cleaning agent information for the user's reference.

Incidentally, the cloud server 20 stores a plurality of detergent information corresponding to different optimal power consumption information, optimal water consumption, and optimal working time per square area, which can utilize a large amount of Statistics after the experiment are obtained, and will not be described here.

By the above means, it is suggested that the user can clean the area with the most effective detergent information, thereby increasing the efficiency of cleaning or the convenience of use.

As shown in FIG. 4, the self-propelled cleaning robot path planning method of the present invention may further comprise the following steps: (S41) using the processing module to detect the remaining amount of electricity and water of the self-propelled cleaning robot; (S42) according to self-propelled Clean the remaining power, water and return power, and the best power consumption information and optimal water consumption in each area. Control the self-propelled cleaning robot to go to the remaining power, water volume and return of the self-propelled cleaning robot. Clean the area in the area where the power is required.

For example, when there are a plurality of regions, for example, a living room, a room, or the like in a home environment, the processing module 11 of the self-propelled cleaning robot 10 can control related components, such as a water volume sensing module and a power sensing module. Groups, etc., to obtain the remaining amount of electricity and the amount of water of the self-propelled cleaning robot 10. Then, the processing module 11 compares the optimal power consumption information of each area, the optimal water consumption amount, and the returning power required by the area returning to the charging station to confirm the presence or absence of the current remaining power amount and the amount of water, and When there is a match, the self-propelled cleaning robot 10 is controlled to go to the area of compliance for cleaning. That is to say, the processing module 11 will weight the remaining amount of electricity and the amount of water in which area can be cleaned and return to charging, and then control the self-propelled cleaning robot 10 to go to the corresponding area for cleaning.

Thereby, it is possible to effectively utilize the power of the self-propelled cleaning robot 10 and the resources such as water, and then perform charging to increase the efficiency of the self-propelled cleaning robot 10.

The above is intended to be illustrative only and not limiting. Any equivalent modifications or alterations to the spirit and scope of the invention are intended to be included in the scope of the appended claims.

100‧‧‧Self-propelled cleaning robot system

10‧‧‧Self-propelled cleaning robot

11‧‧‧Processing module

12‧‧‧ Storage Module

13‧‧‧Transmission module

20‧‧‧Cloud Server

30‧‧‧Electronic devices

S11～S15‧‧‧Steps

S21～S22‧‧‧Steps

S31～S33‧‧‧Steps

S41～S42‧‧‧Steps

Figure 1 is a first step diagram of the self-propelled cleaning robot path planning method of the present invention.

Fig. 2 is a second step diagram of the self-propelled cleaning robot path planning method of the present invention.

Figure 3 is a third step diagram of the self-propelled cleaning robot path planning method of the present invention.

Figure 4 is a third step diagram of the self-propelled cleaning robot path planning method of the present invention.

Fig. 5 is a block diagram showing the self-propelled cleaning robot of the present invention.

Fig. 6 is a schematic diagram showing the analysis of the analysis path information of the self-propelled cleaning robot of the present invention.

Figure 7 is a schematic diagram of the optimal path of the self-propelled cleaning robot of the present invention.

Claims (10)

A self-propelled cleaning robot path planning method, the method comprising the steps of: randomly moving in at least one area by using a self-propelled cleaning robot; recording, by a processing module, moving the self-propelled cleaning robot in the area a path information, a power consumption information, a working hour and a water consumption amount; transmitting the path information, the power consumption information, the working time and the water consumption to a cloud server by using a transmission module; The cloud server analyzes each path information to construct at least one area map, and the cloud server generates an optimal path information of each area according to the area map, the power consumption information, the working time and the water consumption, An optimal power consumption information, an optimal working time and an optimal water consumption amount; and controlling, by the processing module, the optimal path information of the area according to the area where the self-propelled cleaning robot is located, The best power consumption information, the best working hours and the optimal water consumption for cleaning operations. The self-propelled cleaning robot path planning method according to claim 1, wherein when the at least one area is plural, the method further comprises the steps of: connecting to an electronic device and receiving a control signal; The group controls the self-propelled cleaning robot to go to the designated area for cleaning according to the control signal. The self-propelled cleaning robot path planning method according to claim 2, further comprising the following steps: the cloud server is based on the optimal path information, the optimal power consumption information, the optimal working time and The optimal water consumption generates a cleaning agent information; the cleaning agent information is transmitted to the self-propelled cleaning robot and stored in a storage module; when the self-propelled cleaning robot is connected to the electronic device, the cleaning is transmitted Agent information to the electronic device. The self-propelled cleaning robot path planning method according to claim 3, further comprising the following steps: the cloud server is based on the optimal path information, the optimal power consumption information, the optimal working time, The optimum water consumption and a set cost generate the detergent information. The self-propelled cleaning robot path planning method according to claim 1, wherein when the at least one area is plural, the method further includes the following steps: detecting, by the processing module, the remaining power of the self-propelled cleaning robot And the amount of water; controlling the self-propelled cleaning robot to correspond to the remaining amount of electricity, the amount of water, and the amount of electricity required for returning to the self-propelled cleaning robot, and the optimal power consumption information and the optimal water consumption amount in each area The self-propelled cleaning robot performs cleaning operations in the remaining amount of electricity, the amount of water, and the area required for the return. A self-propelled cleaning robot system, comprising: a self-propelled cleaning robot having a processing module and a transmission module, wherein the processing module controls the self-propelled cleaning robot to move randomly in at least one region, And recording a path information, a power consumption information, a working time and a water consumption when the self-propelled cleaning robot moves in the area; and a cloud server, the transmission module of the self-propelled cleaning robot Connecting to the cloud server, and transmitting the path information, the power consumption information, the working time and the water consumption, the cloud server analyzes the path information to construct at least one area map, and according to the area map, the consumption Electrical information, the working hours and the amount of water consumed, and planning an optimal route information, an optimal power consumption information, an optimal working time and an optimal water consumption amount in each area; wherein the processing module According to the area where the self-propelled cleaning robot is located, controlling the optimal path information of the area, the optimal power consumption information, the optimal working time, and the optimal water consumption for cleaning . The self-propelled cleaning robot system of claim 6, further comprising an electronic device, wherein when the at least one area is plural, the electronic device sends a control signal, and the transmission module receives the Controlling the signal, the processing module controls the self-propelled cleaning robot to go to the designated area for cleaning according to the control signal. The self-propelled cleaning robot system according to claim 7, wherein the cloud server generates the data according to the optimal path information, the optimal power consumption information, the optimal working time and the optimal water consumption. A cleaning agent information is transmitted and stored to a storage module of the self-propelled cleaning robot, and when the self-propelled cleaning robot is connected to the electronic device, the cleaning agent information is transmitted to the electronic device. The self-propelled cleaning robot system according to claim 8, wherein the cloud server is based on the optimal path information, the optimal power consumption information, the optimal working time, the optimal water consumption, and The cleaning agent information is generated at a set cost. The self-propelled cleaning robot system of claim 6, wherein when the at least one region is plural, the processing module detects remaining power and water amount of the self-propelled cleaning robot, and according to the self Controlling the self-propelled cleaning robot to correspond to the self-propelled cleaning robot, the remaining power, the amount of water, and the amount of power required for the return cleaning robot, and the optimal power consumption information and the optimal water consumption amount in each area The area where the remaining electricity, water, and the amount of electricity required for the return are cleaned.