CN108903816A - A kind of cleaning method, controller and intelligent cleaning equipment - Google Patents
A kind of cleaning method, controller and intelligent cleaning equipment Download PDFInfo
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- CN108903816A CN108903816A CN201810642601.0A CN201810642601A CN108903816A CN 108903816 A CN108903816 A CN 108903816A CN 201810642601 A CN201810642601 A CN 201810642601A CN 108903816 A CN108903816 A CN 108903816A
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- 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
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- 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
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- 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
- A47L11/4011—Regulation of the cleaning machine by electric means; Control systems and remote control systems therefor
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- 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
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F3/00—Input arrangements for transferring data to be processed into a form capable of being handled by the computer; Output arrangements for transferring data from processing unit to output unit, e.g. interface arrangements
- G06F3/01—Input arrangements or combined input and output arrangements for interaction between user and computer
- G06F3/017—Gesture based interaction, e.g. based on a set of recognized hand gestures
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- 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
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- 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
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- Engineering & Computer Science (AREA)
- General Engineering & Computer Science (AREA)
- Theoretical Computer Science (AREA)
- Human Computer Interaction (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The present embodiments relate to Smart Home technical field, a kind of cleaning method, controller and intelligent cleaning equipment are disclosed.A kind of cleaning method is provided in the present invention, including：It treats housecleaning and establishes building model, be preset with reference frame in building model；Obtain spatial position coordinate of several positions of user's hand in reference frame；The gesture vector of user is determined according to acquired spatial position coordinate；Determine the intersecting point coordinate of gesture vector and building model；Region to be cleaned is calculated according to intersecting point coordinate；Region to be cleaned is sent to intelligent cleaning equipment, is cleaned for intelligent cleaning equipment.The cleaning range that intelligent cleaning equipment delimit the gesture of user cleans, and realizes and only cleans to the place for needing to clean in house, specific aim is stronger, it is more intelligent, and user delimit cleaning range with gesture, is convenient for the user to use, improves user experience.
Description
Technical field
The present embodiments relate to Smart Home technical field, in particular to a kind of cleaning method, controller and intelligence are clear
Sweep equipment.
Background technique
Sweeping robot is called lazyboot's sweeper, is a kind of controlling intelligent household appliances that automatic dust absorption can be carried out to ground.Cause
Room-size, furniture can be put for it, the factors such as ground cleannes detect, and rely on built-in program, it is reasonable to formulate
Cleaning route, have certain intelligence, so being referred to as robot by people.Sweeping robot is as smart home new concept
Leader will finally come into huge numbers of families for robot, and inject the power of advance.Certainly, current sweeping robot is in addition to tool
There is automatic dust-collection function, the mechanisms such as water tank being also equipped with are to carry out the operation that mops floor.
At least there are the following problems in the prior art for inventor's discovery：Existing sweeping robot is when being cleaned, no
It can be cleaned just for a certain region, specific aim is not strong, and it is not smart enough, influence user experience.
Summary of the invention
Embodiment of the present invention is designed to provide a kind of cleaning method, controller and intelligent cleaning equipment, so that intelligence
The cleaning range that energy cleaning equipment can delimit the gesture of user clean, and realize only to the ground for needing to clean in house
Fang Jinhang is cleaned, and specific aim is stronger, and more intelligently, and user delimit cleaning range with gesture, be convenient for the user to use, and is improved
User experience.
In order to solve the above technical problems, embodiments of the present invention provide a kind of cleaning method, including：To room to be clean
Building model is established in room, is preset with reference frame in building model；Several positions of user's hand are obtained in reference coordinate
Spatial position coordinate in system；The gesture vector of user is determined according to acquired spatial position coordinate；Determine gesture vector with
The intersecting point coordinate of building model；Region to be cleaned is calculated according to intersecting point coordinate；Region to be cleaned is sent to intelligence
Energy cleaning equipment, is cleaned for intelligent cleaning equipment.
Embodiments of the present invention additionally provide a kind of controller, including：At least one processor；And at least one
The memory of a processor communication connection；Wherein, memory is stored with the instruction that can be executed by least one processor, instructs quilt
At least one processor executes, so that at least one processor is able to carry out above-mentioned cleaning method.
Embodiments of the present invention additionally provide a kind of intelligent cleaning equipment, include above-mentioned control in intelligent cleaning equipment
Device.
Embodiment of the present invention in terms of existing technologies, provides a kind of cleaning method, treats housecleaning foundation
Building model is preset with reference frame in building model, obtains several positions of user's hand in reference frame
Spatial position coordinate determines the gesture vector of user according to acquired spatial position coordinate, determines gesture vector and house mould
The intersecting point coordinate of type calculates region to be cleaned according to intersecting point coordinate, that is, calculate user gesture delimited it is clear
Range is swept, region to be cleaned is sent to intelligent cleaning equipment, is cleaned for intelligent cleaning equipment.Due to existing sweeper
Device people can not be cleaned when cleaning just for a certain region, and specific aim is not strong, not smart enough, influence user's body
It tests.And the cleaning range that intelligent cleaning equipment can delimit the gesture of user in the application cleans, and realizes only to room
The place for needing to clean in room is cleaned, and specific aim is stronger, and more intelligently, and user delimit cleaning range, side with gesture
Just the use of user, improves user experience.
In addition, the step of calculating region to be cleaned according to intersecting point coordinate, specifically includes：If intersecting point coordinate is
One, then region to be cleaned is using intersecting point coordinate as origin, using pre-determined distance as the region of radius.Provide a kind of basis
Single intersecting point coordinate determines the mode in region to be cleaned.
In addition, the step of calculating region to be cleaned according to intersecting point coordinate, specifically includes：If intersecting point coordinate is
Multiple, then region to be cleaned is the region of multiple intersecting point coordinates delineation.It provides a kind of according to multiple intersecting point coordinates
Determine the mode in region to be cleaned.
In addition, spatial position coordinate of several positions in reference frame for obtaining user's hand the step of it
Before, further include：Obtain the voice messaging of user；When recognizing in the voice messaging comprising preset keyword, then execute
The step of obtaining spatial position coordinate of several positions of user's hand in reference frame.Recognizing predetermined keyword
When, then spatial position coordinate of several positions in house reference frame of user's hand is obtained, it avoids and obtains space in real time
High energy consumption issues brought by position coordinates.
Detailed description of the invention
One or more embodiments are illustrated by the picture in corresponding attached drawing, these exemplary theorys
The bright restriction not constituted to embodiment, the element in attached drawing with same reference numbers label are expressed as similar element, remove
Non- to have special statement, composition does not limit the figure in attached drawing.
Fig. 1 is a kind of specific flow chart of cleaning method of first embodiment according to the present invention；
Fig. 2 is a kind of specific flow chart of cleaning method of second embodiment according to the present invention；
Fig. 3 is a kind of structural schematic diagram of controller of third embodiment according to the present invention；
Fig. 4 is a kind of structural schematic diagram of intelligent cleaning equipment of the 4th embodiment according to the present invention.
Specific embodiment
In order to make the object, technical scheme and advantages of the embodiment of the invention clearer, below in conjunction with attached drawing to the present invention
Each embodiment be explained in detail.However, it will be understood by those skilled in the art that in each embodiment party of the present invention
In formula, in order to make the reader understand this application better, many technical details are proposed.But even if without these technical details
And various changes and modifications based on the following respective embodiments, the application technical solution claimed also may be implemented.
The first embodiment of the present invention is related to a kind of cleaning method, the core of present embodiment is to treat housecleaning
Building model is established, reference frame is preset in building model, obtains several positions of user's hand in reference frame
In spatial position coordinate, the gesture vector of user is determined according to acquired spatial position coordinate, determines gesture vector and room
The intersecting point coordinate of room model, calculates region to be cleaned according to intersecting point coordinate, and region to be cleaned is sent to intelligence
Cleaning equipment is cleaned for intelligent cleaning equipment.It, can not be just for since existing sweeping robot is when being cleaned
A certain region is cleaned, and specific aim is not strong, not smart enough, influences user experience.And intelligent cleaning equipment can be in the application
The cleaning range delimited the gesture of user cleans, and realizes and only cleans to the place for needing to clean in house, needle
Stronger to property, more intelligently, and user delimit cleaning range with gesture, is convenient for the user to use, improves user experience.Under
Realization details in face of a kind of cleaning method of present embodiment is specifically described, and the following contents only provides for convenience of understanding
Realization details, not implement this programme it is necessary.
A kind of specific flow chart of cleaning method is as shown in Figure 1, specifically include in present embodiment：
Step 101：It treats housecleaning and establishes building model, wherein be preset with reference frame in building model.
Specifically, treating housecleaning in advance establishes building model, that is, establish the threedimensional model in house.It is specific to establish
There are two types of the modes of building model, and one is the photos that house different angle is obtained using the camera in house to be cleaned；Root
Building model is obtained according to the photo of different angle.Two cameras are respectively set to placement of foot in house to be cleaned, the two
Camera shoots the photo in house respectively, obtains the photo in the house of two different angles, can obtain in conjunction with this two photos
The general image in entire house calculates equipment and carries out image procossing and three-dimensional meter to the photo in the house of obtained different angle
It calculates, to generate the threedimensional model in house.Preferably, four cameras are respectively set in the corner location in house to be cleaned, this
The photo in four cameras shooting house, obtain the photo in the house of four different angles, is carried out with this four house photos
Image procossing and three-dimensional computations generate the threedimensional model in house.The three-dimensional in house is obtained with the house photo of multiple angles
Model, so that the threedimensional model in the house obtained is more accurate.Another is using complete in acquisition for mobile terminal house
Scape photo；Building model is obtained according to distant view photograph.Such as using mobile terminal：The camera of the mobile device of mobile phone, iPad etc.
Entire house is scanned, the distant view photograph in entire house is obtained, is carried out at image according to the distant view photograph that mobile scanning terminal obtains
Reason and three-dimensional computations, generate the threedimensional model in house.It is worth noting that being built according to the photo in house to be modeled using image
The threedimensional model that mould technology establishes house belongs to the prior art, is not illustrated excessively herein.Establish the three-dimensional in house to be cleaned
After model, reference frame is established as coordinate origin using the certain point in building model, convenient for subsequent determining hand in house
Spatial position coordinate.
Step 102：Obtain spatial position coordinate of several positions of user's hand in reference frame.
Specifically, using the camera of at least two different angles in house, photo of the user in house is obtained,
Using the hand of image recognition technology identification user, adjustment camera angle makes camera be directed at user's hand, and utilizes and take the photograph
As the infrared sensor on head obtains the distance between camera and user's hand.Since position of the camera in house is solid
It is fixed, therefore according to camera and hand line relative between the angle and user's hand and camera of horizontal plane locating for camera
Distance, spatial position coordinate of the hand of user in the reference frame in house can be obtained.
Further, the step of obtaining spatial position coordinate of several positions of user's hand in reference frame
Before, further include：Obtain the voice messaging of user；When recognizing in voice messaging comprising preset keyword, then executes and obtain
The step of taking spatial position coordinate of several positions of family hand in reference frame.
Specifically, at several positions for obtaining user's hand before the spatial position coordinate of house reference frame,
I.e. at several positions for the camera acquisition user's hand for opening house before the spatial position coordinate of house reference frame,
The voice messaging for first obtaining user carries out semantics recognition to the voice messaging of user, determine in user speech information whether include
Preset keyword just opens the camera in house, it is always on to avoid house camera when comprising preset keyword
Brought high energy consumption issues.Wherein, preset keyword is to indicate that user wishes the meaning cleaned to a certain specific region
The word of think of.Such as preset keyword can be set to single word such as " this place " or " cleaning ", be also possible to one
A short sentence such as " this place is swept ".Herein by way of example only, specific keyword can be by user's sets itself.Compared with
Good, the keyword of setting should be bonded the habit of speaking of user as far as possible, facilitate user.
Step 103：The gesture vector of user is determined according to acquired spatial position coordinate.
Specifically, obtaining several portions of user's hand using the camera of at least two different angles in house
After spatial position coordinate of the position in reference frame, the hand of user is determined according to several acquired spatial position coordinates
Potential vector amount.Specifically, obtaining spatial position coordinate of several positions of user's hand in reference frame, specially：It obtains
Take the spatial position coordinate of the wrist in reference frame and the spatial position coordinate of finger；It is sat according to acquired spatial position
The step of marking the gesture vector for determining user, specially：Gesture vector is from described in the spatial position coordinate of wrist direction
The line of the spatial position coordinate of finger.A characteristic point is taken respectively in the wrist and finger of user, is obtained characteristic point and is sat in reference
Spatial position coordinate in mark system, then can determine gesture vector of user's hand in house, to sit from wrist spatial position
Mark is directed toward the line of finger space position coordinates.Preferably, multiple characteristic points are taken respectively in the wrist of user, palm and finger,
These characteristic points are obtained respectively in the line of reference frame, then can determine the position of the plane of formation of the hand in house
It sets, so that the gesture vector of user is obtained, so that the i.e. gesture vector of the direction of the user's hand got is more accurate.
Step 104：Determine the intersecting point coordinate of gesture vector and building model.
Specifically, using the camera of at least two different angles in house, several portions of user's hand are obtained
After spatial position coordinate of the position in reference frame, the hand of user is determined according to several acquired spatial position coordinates
Potential vector amount.Due to obtaining building model in advance and establishing in building model reference frame, determining user hand
After gesture vector of the portion in reference frame, gesture vector is extended in reference frame along the direction of gesture vector, is prolonged
The intersection position of long line and building model determines intersecting point coordinate according to the reference frame having built up, that is to say, that uses
Coordinate of the position that family gesture is directed toward in house.
Step 105：Region to be cleaned is calculated according to intersecting point coordinate, wherein region to be cleaned is with intersection position
Coordinate is origin, using pre-determined distance as the region of radius.
Specifically, using the camera of at least two different angles in house, several portions of user's hand are obtained
After spatial position coordinate of the position in reference frame, the hand of user is determined according to several acquired spatial position coordinates
Potential vector amount.The intersecting point coordinate for determining gesture vector and building model later, if intersecting point coordinate is determined as one, to
Purging zone is using intersecting point coordinate as origin, using pre-determined distance as the region of radius.Provide a kind of single intersection point of basis
Position coordinates determine the mode in region to be cleaned.Wherein, pre-determined distance can to the greatest extent may be used by user's sets itself, user settable one
The big distance of energy, it is ensured that the place for needing to clean in house is cleaned complete as far as possible.
Step 106：Region to be cleaned is sent to intelligent cleaning equipment, is cleaned for intelligent cleaning equipment.
Specifically, by the origin position coordinate (i.e. intersecting point coordinate) in the region to be cleaned determined and it is preset away from
It is sent to intelligent cleaning equipment from value, so that intelligent cleaning equipment is cleaned.
Compared with prior art, present embodiments provide for a kind of cleaning methods, treat housecleaning and establish building model,
It is preset with reference frame in building model, obtains spatial position of several positions of user's hand in reference frame and sits
Mark, the gesture vector of user is determined according to acquired spatial position coordinate, determines the intersection point position of gesture vector and building model
Coordinate is set, region to be cleaned is calculated according to intersecting point coordinate, that is, calculates the cleaning range that user gesture delimited, it will be to
Purging zone is sent to intelligent cleaning equipment, is cleaned for intelligent cleaning equipment.Since existing sweeping robot is carrying out
When cleaning, it can not be cleaned just for a certain region, specific aim is not strong, and it is not smart enough, influence user experience.And the application
The cleaning range that middle intelligence cleaning equipment can delimit the gesture of user clean, and realize only to needing to clean in house
Place cleaned, specific aim is stronger, more intelligently, and user with gesture delimit cleaning range, be convenient for the user to use,
Improve user experience.
Second embodiment of the present invention is related to a kind of cleaning method.Second embodiment party and first embodiment substantially phase
Together, it is in place of the main distinction：In the first embodiment, the step of region to be cleaned being calculated according to intersecting point coordinate,
It specifically includes：If intersecting point coordinate is one, region to be cleaned is to be with pre-determined distance using intersecting point coordinate as origin
The region of radius.And in present embodiment, the step of region to be cleaned is calculated according to intersecting point coordinate, specifically include：If
Intersecting point coordinate is regions multiple, then that region to be cleaned is drawn a circle to approve for multiple intersecting point coordinates.Provide another root
The mode in region to be cleaned is determined according to multiple intersecting point coordinates.
Step 201：It treats housecleaning and establishes building model, wherein be preset with reference frame in building model.
Step 202：Obtain spatial position coordinate of several positions of user's hand in reference frame.
Step 203：The gesture vector of user is determined according to acquired spatial position coordinate.
Step 204：Determine the intersecting point coordinate of gesture vector and building model.
Above-mentioned steps 201 are roughly the same to step 104 with step 101 in first embodiment to step 204, herein no longer
It is repeated.
Step 205：Region to be cleaned is calculated according to intersecting point coordinate, wherein region to be cleaned is multiple intersection point positions
Set the region of coordinate delineation.
Specifically, using the camera of at least two different angles in house, several portions of user's hand are obtained
After spatial position coordinate of the position in reference frame, the hand of user is determined according to several acquired spatial position coordinates
Potential vector amount.Later determine gesture vector and building model intersecting point coordinate, if intersecting point coordinate be it is multiple, it is to be cleaned
Region is the region of multiple intersecting point coordinates delineation.It provides and a kind of determines region to be cleaned according to multiple intersecting point coordinates
Mode.The hand of user may be it is mobile, obtain the hand of user at the different location in moving process with house mould
The intersecting point coordinate of type, it is determined that region to be cleaned be multiple intersecting point coordinates delineation region.If user's hand with
The mode drawn a circle is mobile, it is determined that region to be cleaned be the delineation of multiple intersecting point coordinates border circular areas.
Step 206：Region to be cleaned is sent to intelligent cleaning equipment, is cleaned for intelligent cleaning equipment.
Specifically, multiple intersecting point coordinates in the region to be cleaned determined are sent to intelligent cleaning equipment, supplied
Intelligent cleaning equipment is cleaned according to this multiple intersecting point coordinate.
Compared with prior art, a kind of cleaning method is provided in present embodiment, is calculated according to intersecting point coordinate
The step of region to be cleaned, specifically includes：If intersecting point coordinate be it is multiple, region to be cleaned be multiple intersecting point coordinates
The region of delineation.Provide a kind of mode that region to be cleaned is determined according to multiple intersecting point coordinates.
The step of various methods divide above, be intended merely to describe it is clear, when realization can be merged into a step or
Certain steps are split, multiple steps are decomposed into, as long as including identical logical relation, all in the protection scope of this patent
It is interior；To adding inessential modification in algorithm or in process or introducing inessential design, but its algorithm is not changed
Core design with process is all in the protection scope of the patent.
Third embodiment of the invention is related to a kind of controller, including：At least one processor 301；And at least one
The memory 302 that a processor 301 communicates to connect；Wherein, memory 302, which is stored with, to be executed by least one processor 301
Instruction, instruction executed by least one processor 301 so that at least one processor 301 is able to carry out any of the above-described implementation
The cleaning method of mode.
Wherein, memory 302 is connected with processor 301 using bus mode, and bus may include any number of interconnection
Bus and bridge, bus is by one or more processors 301 together with the various circuit connections of memory 302.Bus may be used also
With by such as peripheral equipment, voltage-stablizer, together with various other circuit connections of management circuit or the like, these are all
It is known in the art, therefore, it will not be further described herein.Bus interface provides between bus and transceiver
Interface.Transceiver can be an element, be also possible to multiple element, such as multiple receivers and transmitter, provide for
The unit communicated on transmission medium with various other devices.The data handled through processor 301 pass through antenna on the radio medium
It is transmitted, further, antenna also receives data and transfers data to processor 301.
Processor 301 is responsible for management bus and common processing, can also provide various functions, including timing, periphery connects
Mouthful, voltage adjusting, power management and other control functions.And memory 302 can be used for storage processor 301 and execute
Used data when operation.
Four embodiment of the invention is related to a kind of intelligent cleaning equipment, includes above embodiment in intelligent cleaning equipment
Controller.
It will be understood by those skilled in the art that implementing the method for the above embodiments is that can pass through
Program is completed to instruct relevant hardware, which is stored in a storage medium, including some instructions are used so that one
A equipment (can be single-chip microcontroller, chip etc.) or processor (processor) execute each embodiment the method for the application
All or part of the steps.And storage medium above-mentioned includes：USB flash disk, mobile hard disk, read-only memory (ROM, Read-Only
Memory), random access memory (RAM, Random Access Memory), magnetic or disk etc. are various can store journey
The medium of sequence code.
It will be understood by those skilled in the art that the respective embodiments described above are to realize specific embodiments of the present invention,
And in practical applications, can to it, various changes can be made in the form and details, without departing from the spirit and scope of the present invention.
Claims (9)
1. a kind of cleaning method, which is characterized in that including：
It treats housecleaning and establishes building model, be preset with reference frame in the building model；
Obtain spatial position coordinate of several positions of user's hand in the reference frame；
The gesture vector of the user is determined according to acquired spatial position coordinate；
Determine the intersecting point coordinate of the gesture vector and the building model；
Region to be cleaned is calculated according to the intersecting point coordinate；
The region to be cleaned is sent to intelligent cleaning equipment, is cleaned for the intelligent cleaning equipment.
2. cleaning method according to claim 1, which is characterized in that it is described according to the intersecting point coordinate calculate to
The step of purging zone, specifically includes：
If the intersecting point coordinate is one, the region to be cleaned is using the intersecting point coordinate as origin, with pre-
If distance is the region of radius.
3. cleaning method according to claim 1, which is characterized in that it is described according to the intersecting point coordinate calculate to
The step of purging zone, specifically includes：
If the intersecting point coordinate is areas multiple, that the region to be cleaned is drawn a circle to approve for multiple intersecting point coordinates
Domain.
4. cleaning method according to claim 1, which is characterized in that exist at described several positions for obtaining user's hand
Before the step of spatial position coordinate in the reference frame, further include：
Obtain the voice messaging of user；
When recognizing in the voice messaging comprising preset keyword, then execute described several portions for obtaining user's hand
The step of spatial position coordinate of the position in the reference frame.
5. cleaning method according to claim 1, which is characterized in that described several positions for obtaining user's hand are in institute
The spatial position coordinate in reference frame is stated, specially：Obtain the spatial position of the user's wrist in the reference frame
The spatial position coordinate of coordinate and user's finger；
The step of spatial position coordinate according to acquired in determines the gesture vector of the user, specially：
The gesture vector is the line that the spatial position coordinate of the finger is directed toward from the spatial position coordinate of the wrist.
6. cleaning method according to claim 1, which is characterized in that it is described to treat housecleaning and establish building model, have
Body includes：
The photo of the house different angle is obtained using the camera in the house to be cleaned；
The building model is obtained according to the photo of the different angle.
7. cleaning method according to claim 1, which is characterized in that it is described to treat housecleaning and establish building model, have
Body includes：
Utilize the distant view photograph in house described in acquisition for mobile terminal；
The building model is obtained according to the distant view photograph.
8. a kind of controller, which is characterized in that including：
At least one processor；And
The memory being connect at least one described processor communication；Wherein,
The memory is stored with the instruction that can be executed by least one described processor, and described instruction is by described at least one
It manages device to execute, so that at least one described processor is able to carry out the cleaning method as described in any in claim 1 to 8.
9. a kind of intelligence cleaning equipment, which is characterized in that include control as claimed in claim 8 in the intelligence cleaning equipment
Device.
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| CN201810642601.0A CN108903816A (en) | 2018-06-21 | 2018-06-21 | A kind of cleaning method, controller and intelligent cleaning equipment |
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| CN201810642601.0A CN108903816A (en) | 2018-06-21 | 2018-06-21 | A kind of cleaning method, controller and intelligent cleaning equipment |
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Cited By (5)
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| CN111830998A (en) * | 2020-06-05 | 2020-10-27 | 科沃斯机器人股份有限公司 | Operation method, virtual wall adding method, equipment and storage medium |
| CN113126632A (en) * | 2020-01-15 | 2021-07-16 | 科沃斯机器人股份有限公司 | Virtual wall defining and operating method, equipment and storage medium |
| CN113116224A (en) * | 2020-01-15 | 2021-07-16 | 科沃斯机器人股份有限公司 | Robot and control method thereof |
| CN114680739A (en) * | 2020-12-29 | 2022-07-01 | 美的集团股份有限公司 | Cleaning control method and device, intelligent equipment, mobile terminal and server |
| WO2023123457A1 (en) * | 2021-12-31 | 2023-07-06 | 深圳市闪至科技有限公司 | Robot control method and apparatus, method and apparatus for controlling robot to return to base, and robot |
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2018
- 2018-06-21 CN CN201810642601.0A patent/CN108903816A/en active Pending
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| CN113126632A (en) * | 2020-01-15 | 2021-07-16 | 科沃斯机器人股份有限公司 | Virtual wall defining and operating method, equipment and storage medium |
| CN113116224A (en) * | 2020-01-15 | 2021-07-16 | 科沃斯机器人股份有限公司 | Robot and control method thereof |
| CN113116224B (en) * | 2020-01-15 | 2022-07-05 | 科沃斯机器人股份有限公司 | Robot and control method thereof |
| CN113126632B (en) * | 2020-01-15 | 2022-08-16 | 科沃斯机器人股份有限公司 | Virtual wall defining and operating method, equipment and storage medium |
| CN111830998A (en) * | 2020-06-05 | 2020-10-27 | 科沃斯机器人股份有限公司 | Operation method, virtual wall adding method, equipment and storage medium |
| CN114680739A (en) * | 2020-12-29 | 2022-07-01 | 美的集团股份有限公司 | Cleaning control method and device, intelligent equipment, mobile terminal and server |
| CN114680739B (en) * | 2020-12-29 | 2023-08-04 | 美的集团股份有限公司 | Cleaning control method and device, intelligent equipment, mobile terminal and server |
| WO2023123457A1 (en) * | 2021-12-31 | 2023-07-06 | 深圳市闪至科技有限公司 | Robot control method and apparatus, method and apparatus for controlling robot to return to base, and robot |
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