![\"\"](\"http:\/\/blog.wenzlaff.de\/wp-content\/uploads\/2021\/02\/wenzlaff.de-2021-02-28-um-13.47.02.png\")
<\/a><\/p>\nHabe \u00fcbrigens die Navigation \u00fcber die Zeit gesteuert, da ich bisher noch keine m\u00f6glichkeit gefunden habe, die richtigen Koordinaten des M\u00fclleimers zu ermitteln. Das Dock ist ja auf ca. 26000,26000. Tut aber auch so!<\/p>\n
Und hier das Programm dazu <\/p>\n
[\r\n {\r\n \"id\": \"c0ac9884.bcaff8\",\r\n \"type\": \"comment\",\r\n \"z\": \"65d1d0fe.3c4c08\",\r\n \"name\": \"(c) 2021 Thomas Wenzlaff www.wenzlaff.info\",\r\n \"info\": \"Verwendeter Node: node-red-contrib-miio-roborock\",\r\n \"x\": 1070,\r\n \"y\": 40,\r\n \"wires\": []\r\n },\r\n {\r\n \"id\": \"e458d371.6bce4\",\r\n \"type\": \"group\",\r\n \"z\": \"65d1d0fe.3c4c08\",\r\n \"name\": \"Staubbeh\u00e4lter leeren\",\r\n \"style\": {\r\n \"fill\": \"#ffefbf\",\r\n \"label\": true\r\n },\r\n \"nodes\": [\r\n \"f1ed66df.7b27a8\",\r\n \"278e3180.dec406\",\r\n \"281515f8.a6829a\",\r\n \"e2f7f3b7.94d638\",\r\n \"b34ed276.ade78\",\r\n \"eda2f1e6.4bbc6\",\r\n \"ed859d7d.7f1538\"\r\n ],\r\n \"x\": 894,\r\n \"y\": 79,\r\n \"w\": 832,\r\n \"h\": 202\r\n },\r\n {\r\n \"id\": \"f1ed66df.7b27a8\",\r\n \"type\": \"ui_button\",\r\n \"z\": \"65d1d0fe.3c4c08\",\r\n \"g\": \"e458d371.6bce4\",\r\n \"name\": \"\",\r\n \"group\": \"86b9a6db.87a35\",\r\n \"order\": 5,\r\n \"width\": 0,\r\n \"height\": 0,\r\n \"passthru\": true,\r\n \"label\": \"Entlehren\",\r\n \"tooltip\": \"\",\r\n \"color\": \"\",\r\n \"bgcolor\": \"\",\r\n \"icon\": \"\",\r\n \"payload\": \"16\",\r\n \"payloadType\": \"num\",\r\n \"topic\": \"topic\",\r\n \"topicType\": \"msg\",\r\n \"x\": 1140,\r\n \"y\": 120,\r\n \"wires\": [\r\n [\r\n \"eda2f1e6.4bbc6\",\r\n \"281515f8.a6829a\"\r\n ]\r\n ]\r\n },\r\n {\r\n \"id\": \"278e3180.dec406\",\r\n \"type\": \"inject\",\r\n \"z\": \"65d1d0fe.3c4c08\",\r\n \"g\": \"e458d371.6bce4\",\r\n \"name\": \"Entlehren\",\r\n \"props\": [\r\n {\r\n \"p\": \"payload\"\r\n }\r\n ],\r\n \"repeat\": \"\",\r\n \"crontab\": \"\",\r\n \"once\": false,\r\n \"onceDelay\": 0.1,\r\n \"topic\": \"\",\r\n \"payload\": \"16\",\r\n \"payloadType\": \"num\",\r\n \"x\": 1000,\r\n \"y\": 120,\r\n \"wires\": [\r\n [\r\n \"f1ed66df.7b27a8\"\r\n ]\r\n ]\r\n },\r\n {\r\n \"id\": \"281515f8.a6829a\",\r\n \"type\": \"miio-roborock-command\",\r\n \"z\": \"65d1d0fe.3c4c08\",\r\n \"g\": \"e458d371.6bce4\",\r\n \"name\": \"K\u00fcche\",\r\n \"server\": \"49f6cbbe.77c9c4\",\r\n \"command_name\": \"\u25ba Start room cleaning\",\r\n \"command\": \"app_segment_clean\",\r\n \"commandType\": \"vacuum_cmd\",\r\n \"payload\": \"payload\",\r\n \"payloadType\": \"msg\",\r\n \"coordinates\": \"\",\r\n \"fan_speed\": 100,\r\n \"voice_pack\": null,\r\n \"homekit_stop_to_dock\": false,\r\n \"x\": 1510,\r\n \"y\": 240,\r\n \"wires\": [\r\n []\r\n ]\r\n },\r\n {\r\n \"id\": \"e2f7f3b7.94d638\",\r\n \"type\": \"miio-roborock-command\",\r\n \"z\": \"65d1d0fe.3c4c08\",\r\n \"g\": \"e458d371.6bce4\",\r\n \"name\": \"\",\r\n \"server\": \"49f6cbbe.77c9c4\",\r\n \"command_name\": \"Find me\",\r\n \"command\": \"find_me\",\r\n \"commandType\": \"vacuum_cmd\",\r\n \"payload\": \"payload\",\r\n \"payloadType\": \"msg\",\r\n \"coordinates\": \"\",\r\n \"fan_speed\": \"\",\r\n \"homekit_stop_to_dock\": true,\r\n \"x\": 1500,\r\n \"y\": 120,\r\n \"wires\": [\r\n [\r\n \"b34ed276.ade78\"\r\n ]\r\n ]\r\n },\r\n {\r\n \"id\": \"b34ed276.ade78\",\r\n \"type\": \"miio-roborock-command\",\r\n \"z\": \"65d1d0fe.3c4c08\",\r\n \"g\": \"e458d371.6bce4\",\r\n \"name\": \"\",\r\n \"server\": \"49f6cbbe.77c9c4\",\r\n \"command_name\": \"\u2759\u2759 Pause\",\r\n \"command\": \"app_pause\",\r\n \"commandType\": \"vacuum_cmd\",\r\n \"payload\": \"payload\",\r\n \"payloadType\": \"msg\",\r\n \"coordinates\": \"\",\r\n \"fan_speed\": 100,\r\n \"voice_pack\": null,\r\n \"homekit_stop_to_dock\": false,\r\n \"x\": 1640,\r\n \"y\": 120,\r\n \"wires\": [\r\n []\r\n ]\r\n },\r\n {\r\n \"id\": \"eda2f1e6.4bbc6\",\r\n \"type\": \"delay\",\r\n \"z\": \"65d1d0fe.3c4c08\",\r\n \"g\": \"e458d371.6bce4\",\r\n \"name\": \"Fahre zum M\u00fclleimer\",\r\n \"pauseType\": \"delay\",\r\n \"timeout\": \"46\",\r\n \"timeoutUnits\": \"seconds\",\r\n \"rate\": \"1\",\r\n \"nbRateUnits\": \"1\",\r\n \"rateUnits\": \"second\",\r\n \"randomFirst\": \"1\",\r\n \"randomLast\": \"5\",\r\n \"randomUnits\": \"seconds\",\r\n \"drop\": false,\r\n \"x\": 1320,\r\n \"y\": 120,\r\n \"wires\": [\r\n [\r\n \"e2f7f3b7.94d638\",\r\n \"ed859d7d.7f1538\"\r\n ]\r\n ]\r\n },\r\n {\r\n \"id\": \"ed859d7d.7f1538\",\r\n \"type\": \"delay\",\r\n \"z\": \"65d1d0fe.3c4c08\",\r\n \"g\": \"e458d371.6bce4\",\r\n \"name\": \"Leere den Staubcontainer (2 Minuten)\",\r\n \"pauseType\": \"delay\",\r\n \"timeout\": \"2\",\r\n \"timeoutUnits\": \"minutes\",\r\n \"rate\": \"1\",\r\n \"nbRateUnits\": \"1\",\r\n \"rateUnits\": \"second\",\r\n \"randomFirst\": \"1\",\r\n \"randomLast\": \"5\",\r\n \"randomUnits\": \"seconds\",\r\n \"drop\": false,\r\n \"x\": 1510,\r\n \"y\": 180,\r\n \"wires\": [\r\n [\r\n \"281515f8.a6829a\"\r\n ]\r\n ]\r\n },\r\n {\r\n \"id\": \"86b9a6db.87a35\",\r\n \"type\": \"ui_group\",\r\n \"name\": \"Staubsauger\",\r\n \"tab\": \"10f74434.26e3bc\",\r\n \"order\": 1,\r\n \"disp\": true,\r\n \"width\": \"6\",\r\n \"collapse\": false\r\n },\r\n {\r\n \"id\": \"49f6cbbe.77c9c4\",\r\n \"type\": \"miio-roborock-server\",\r\n \"name\": \"Roborock S6\",\r\n \"ip\": \"IP-HIER-EINTRAGEN\",\r\n \"token\": \"TOKEN-HIER-EINTRAGEN\",\r\n \"polling\": \"10\"\r\n },\r\n {\r\n \"id\": \"10f74434.26e3bc\",\r\n \"type\": \"ui_tab\",\r\n \"name\": \"Staubsauger\",\r\n \"icon\": \"toys\",\r\n \"order\": 1,\r\n \"disabled\": false,\r\n \"hidden\": false\r\n }\r\n]<\/pre>\n","protected":false},"excerpt":{"rendered":"F\u00fcr den Saugroboter habe ich noch eben eine weitere Funktion programmiert. Wenn man auf den „Staubbeh\u00e4lter leeren“ Button klickt, f\u00e4hrt er automatisch zum M\u00fclleimer in der K\u00fcche. Macht eine Ansage „Hier bin ich“ wenn er da ist, das ist bei mir nach 45 Sekunden der Fall, kann aber auch leicht angepasst werden. Dann habe ich … <\/p>\n
\u201eSaugroboter: Automatische Navigation zum M\u00fclleimer mit NodeRed und Demo Video\u201c <\/span>weiterlesen<\/a><\/p>\n","protected":false},"author":2,"featured_media":0,"comment_status":"closed","ping_status":"closed","sticky":false,"template":"","format":"standard","meta":{"footnotes":""},"categories":[220,852,2520,4649,1023,4129],"tags":[4658,2516,198,2081,2824,4654,4659,4657],"class_list":["post-16402","post","type-post","status-publish","format-standard","hentry","category-anleitung","category-heimautomatisierung","category-node-red","category-nodered","category-raspberry-pi","category-raspberry-pi-4-b","tag-entlehren","tag-flow","tag-muell","tag-navigation","tag-nodered","tag-saugroboter","tag-staubbehaelter-leeren","tag-vaccum-cleaner"],"_links":{"self":[{"href":"http:\/\/blog.wenzlaff.de\/index.php?rest_route=\/wp\/v2\/posts\/16402","targetHints":{"allow":["GET"]}}],"collection":[{"href":"http:\/\/blog.wenzlaff.de\/index.php?rest_route=\/wp\/v2\/posts"}],"about":[{"href":"http:\/\/blog.wenzlaff.de\/index.php?rest_route=\/wp\/v2\/types\/post"}],"author":[{"embeddable":true,"href":"http:\/\/blog.wenzlaff.de\/index.php?rest_route=\/wp\/v2\/users\/2"}],"replies":[{"embeddable":true,"href":"http:\/\/blog.wenzlaff.de\/index.php?rest_route=%2Fwp%2Fv2%2Fcomments&post=16402"}],"version-history":[{"count":0,"href":"http:\/\/blog.wenzlaff.de\/index.php?rest_route=\/wp\/v2\/posts\/16402\/revisions"}],"wp:attachment":[{"href":"http:\/\/blog.wenzlaff.de\/index.php?rest_route=%2Fwp%2Fv2%2Fmedia&parent=16402"}],"wp:term":[{"taxonomy":"category","embeddable":true,"href":"http:\/\/blog.wenzlaff.de\/index.php?rest_route=%2Fwp%2Fv2%2Fcategories&post=16402"},{"taxonomy":"post_tag","embeddable":true,"href":"http:\/\/blog.wenzlaff.de\/index.php?rest_route=%2Fwp%2Fv2%2Ftags&post=16402"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}
![\"\"](\"http:\/\/blog.wenzlaff.de\/wp-content\/uploads\/2021\/02\/wenzlaff.de-2021-02-28-um-13.47.20.png\")
<\/a><\/p>\n