CN111012252A - Control method and device of sweeper - Google Patents
Control method and device of sweeper Download PDFInfo
- Publication number
- CN111012252A CN111012252A CN201911330915.8A CN201911330915A CN111012252A CN 111012252 A CN111012252 A CN 111012252A CN 201911330915 A CN201911330915 A CN 201911330915A CN 111012252 A CN111012252 A CN 111012252A
- Authority
- CN
- China
- Prior art keywords
- sweeper
- sound source
- determining
- user
- controlling
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 241001417527 Pempheridae Species 0.000 title claims abstract description 199
- 238000000034 method Methods 0.000 title claims abstract description 53
- 230000005236 sound signal Effects 0.000 claims abstract description 93
- 238000010408 sweeping Methods 0.000 claims description 19
- 238000004590 computer program Methods 0.000 claims description 6
- 238000010276 construction Methods 0.000 claims description 3
- 238000005516 engineering process Methods 0.000 abstract description 5
- 238000004140 cleaning Methods 0.000 description 8
- 230000008569 process Effects 0.000 description 6
- 238000010586 diagram Methods 0.000 description 4
- 239000000428 dust Substances 0.000 description 4
- 230000009471 action Effects 0.000 description 3
- 230000006698 induction Effects 0.000 description 3
- 238000013507 mapping Methods 0.000 description 2
- 230000003213 activating effect Effects 0.000 description 1
- 238000013473 artificial intelligence Methods 0.000 description 1
- 230000004888 barrier function Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 230000014509 gene expression Effects 0.000 description 1
- 230000003993 interaction Effects 0.000 description 1
- 230000004807 localization Effects 0.000 description 1
- 238000000691 measurement method Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000000750 progressive effect Effects 0.000 description 1
- 238000005096 rolling process Methods 0.000 description 1
Images
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
- A47L11/4011—Regulation of the cleaning machine by electric means; Control systems and remote control systems therefor
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0255—Control of position or course in two dimensions specially adapted to land vehicles using acoustic signals, e.g. ultra-sonic singals
-
- 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
- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Acoustics & Sound (AREA)
- Aviation & Aerospace Engineering (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Traffic Control Systems (AREA)
Abstract
The embodiment of the application discloses a sweeper control method and device, wherein a microphone module of the sweeper can collect sound signals in a space in real time, and when the collected sound signals are first sound signals, the sound source position is determined according to the first sound signals. Then, the sound source position is determined as a target position, and the sweeper is controlled to move to the target position so that the sweeper can sweep at the target position. The target position is the position of the user, namely the position of the user is the area to be cleaned. Therefore, the embodiment of the application utilizes the voice recognition technology to control the sweeper to accurately reach the area needing to be cleaned by the user through the voice command sent by the user, and the user experience is improved.
Description
Technical Field
The application relates to the technical field of automatic control, in particular to a sweeper control method and device.
Background
With the continuous development of artificial intelligence technology, more and more intelligent homes are produced, and the appearance of the sweeper gradually replaces manual cleaning and is accepted by more and more people.
At present, a sweeper can reach a designated place to carry out sweeping operation according to an instruction of a user, specifically, the sweeper stores an indoor map in advance, and simultaneously sends the map to a corresponding client. The user can select the area to be cleaned through the terminal and send a cleaning instruction to the sweeper so that the sweeper can move to the area to be cleaned for cleaning.
However, since the control method requires the sweeper to store the indoor map in advance, when the indoor layout changes (for example, positions of a table, a chair, a sofa, etc. change), if the sweeper does not update the indoor map in time, a position difference exists between the area to be cleaned determined by the user and the actually large cleaning area of the sweeper, so that the sweeper cannot accurately reach the area to be cleaned specified by the user, and the use experience is affected.
Disclosure of Invention
In view of this, the embodiment of the application provides a sweeper control method and device, so as to achieve that the sweeper accurately reaches an area designated by a user, and improve user experience.
In order to solve the above problem, the technical solution provided by the embodiment of the present application is as follows:
in a first aspect of the embodiments of the present application, a control method of a sweeper is provided, where the method includes:
determining a sound source position according to a first sound signal received by a microphone module; the first sound signal is emitted by the user, and the first sound signal comprises a position keyword;
and determining a target position of the sound source position, and controlling the sweeper to move to the target position, wherein the target position is the position of the user.
Optionally, the determining the sound source position to a target position and controlling the sweeper to move to the target position includes:
acquiring an image of a sound source direction, and identifying whether the image comprises the user;
if the image does not comprise the user, determining a first position according to the sound source direction, controlling the sweeper to move to the first position, and determining the sound source direction according to a first sound signal received by a microphone module until the acquired image of the sound source direction comprises the user, wherein the first position is an inflection point position between the position of the sweeper and the position of the user;
and if the image comprises a user, determining the target position of the sound source position, and controlling the sweeper to move to the target position.
Optionally, the determining a first position according to the sound source direction and controlling the sweeper to move to the first position includes:
determining a first position according to a preset moving distance corresponding to the sound source direction;
and controlling the sweeper to move to the first position.
Optionally, the controlling the sweeper to move to the first position includes:
planning a first path to the first location;
and controlling the sweeper to move to the first position according to the first path.
Optionally, the determining the sound source position to a target position and controlling the sweeper to move to the target position includes:
planning a second path to the target position according to the position of the sweeper and the target position;
and controlling the sweeper to reach the target position according to the second path.
Optionally, after the sweeper is moved to the target position, the method further includes:
and controlling the sweeper to sweep according to a second sound signal received by the microphone module, wherein the second sound signal comprises a sweeping instruction.
Optionally, before determining the target position of the sound source and controlling the sweeper to move to the target position, the method further includes:
determining a sound source direction according to the first sound signal;
and controlling the sweeper to rotate, so that the moving direction of the sweeper is consistent with the direction of the sound source.
Optionally, after receiving the first sound signal sent by the microphone module, before determining the sound source position according to the first sound signal, the method includes:
determining whether a position keyword in the first sound signal matches a pre-stored position keyword;
and if the position keyword in the first sound signal is matched with a position keyword stored in advance, determining the position of the sound source according to the first sound signal.
Optionally, the method further includes:
and starting a laser radar of the sweeper to perform indoor scanning, and constructing an indoor map.
In a second aspect of the embodiments of the present application, a control device for a sweeper is provided, the device including:
a first determining unit for determining a sound source position based on the first sound signal received by the microphone module; the first sound signal is emitted by the user, and the first sound signal comprises a position keyword;
and the second determining unit is used for determining a target position of the sound source position and controlling the sweeper to move to the target position, wherein the target position is the position of the user.
Optionally, the second determining unit includes:
the acquiring subunit is used for acquiring an image of a sound source direction and identifying whether the image comprises the user;
a first determining subunit, configured to determine a first position according to the sound source direction if the image does not include the user, control the sweeper to move to the first position, and determine the sound source direction according to the first sound signal received by the microphone module until the image of the sound source direction acquired by the acquiring subunit includes the user, where the first position is an inflection point position between a position of the sweeper and a position of the user;
and the second determining subunit is used for determining the target position of the sound source position and controlling the sweeper to move to the target position if the image comprises the user.
Optionally, the first determining subunit is specifically configured to determine a first position according to a preset moving distance corresponding to the sound source direction; and controlling the sweeper to move to the first position.
Optionally, the first determining subunit includes:
a first planning subunit, configured to plan a first path to the first location;
and the first moving subunit is used for controlling the sweeper to move to the first position according to the first path.
Optionally, the second determining unit includes:
the second planning subunit is used for planning a second path to the target position according to the position of the sweeper and the target position;
and the second moving subunit is used for controlling the sweeper to reach the target position according to the second path.
Optionally, the apparatus further comprises:
and the control unit is used for controlling the sweeper to sweep according to a second sound signal received by the microphone module when the sweeper moves to the target position, wherein the second sound signal comprises a sweeping instruction.
Optionally, the apparatus further comprises:
the third determining unit is used for determining the direction of a sound source according to the first sound signal before controlling the sweeper to move to the target position;
and the rotating unit is used for controlling the sweeper to rotate, so that the moving direction of the sweeper is consistent with the direction of the sound source.
Optionally, the apparatus further comprises:
a matching unit for determining whether a position keyword in the first sound signal matches a position keyword stored in advance before determining a sound source position from the first sound signal;
the first determination unit is executed if the position keyword in the first sound signal matches a position keyword stored in advance.
Optionally, the apparatus further comprises:
and the construction unit is used for starting the laser radar of the sweeper to carry out indoor scanning and construct an indoor map.
In a third aspect of the embodiments of the present application, a computer-readable storage medium is provided, where instructions are stored in the computer-readable storage medium, and when the instructions are executed on a terminal device, the terminal device is caused to execute the sweeper control method according to the first aspect.
In a fourth aspect of the embodiments of the present application, there is provided a sweeper control apparatus, including: the sweeper control method comprises a memory, a processor and a computer program which is stored on the memory and can run on the processor, wherein when the processor executes the computer program, the sweeper control method of the first aspect is realized.
Therefore, the embodiment of the application has the following beneficial effects:
the microphone module of the sweeper can collect sound signals in space in real time, and when the collected sound signals are first sound signals, the sound source position is determined according to the first sound signals. Then, the sound source position is determined as a target position, and the sweeper is controlled to move to the target position so that the sweeper can sweep at the target position. The target position is the position of the user, namely the position of the user is the area to be cleaned. Therefore, the embodiment of the application utilizes the voice recognition technology to control the sweeper to accurately reach the area needing to be cleaned by the user through the voice command sent by the user, and the user experience is improved.
Drawings
Fig. 1 is a structural view of a sweeper provided in an embodiment of the present application;
fig. 2 is an exemplary diagram of an application scenario provided in an embodiment of the present application;
fig. 3 is a diagram illustrating another exemplary application scenario provided in an embodiment of the present application;
fig. 4 is a flowchart of a control method of a sweeper according to an embodiment of the present disclosure;
fig. 5 is a structural diagram of a control device of a sweeper provided in an embodiment of the present application.
Detailed Description
In order to make the aforementioned objects, features and advantages of the present application more comprehensible, embodiments accompanying the drawings are described in detail below.
In order to understand the working principle of the sweeper, the overall working process of the sweeper will be described first with reference to the structure diagram of the sweeper shown in fig. 1.
The sweeper comprises: the sweeper comprises a sweeper body, an induction system, a driving system, a position determining system, a control system, a cleaning system, a human-computer interaction system, a voice recognition system and the like. The sweeper body comprises an upper cover, a middle frame and a bottom shell, and can be oval, round, triangular, approximately round or in other shapes.
The induction system comprises collision sensors, cliff sensors, infrared distance measuring sensors, ultrasonic sensors, gyroscopes, odometers, encoders and the like which are arranged in front of and at the sides of the middle frame, and can transmit various position information and motion state information of the sweeper to the control system.
The position determination system can be a laser radar or TOF structured light, a monocular or binocular camera, can be arranged above or in front of the sweeper body, and adopts the basic principle of a triangular distance measurement method to determine the position.
The sound collection system is a microphone unit which is arranged on the middle frame of the sweeper and comprises a plurality of microphones, and the number of the microphones is generally 2-4.
In the cleaning process, the driving system of the sweeper drives the sweeper to move forwards, the infrared sensor or the laser ranging sensor can detect one or more obstacles such as walls, tables and the like encountered in the driving process, and the control system of the sweeper controls the sweeper to rotate or retreat and to be away from the obstacles.
The control system is arranged on a circuit board on a bottom shell of the sweeper, comprises a memory, a processor, various algorithms for positioning and mapping the sweeper and the like, and judges which state the sweeper is in by combining distance, angle, speed information and the like fed back by various sensors in the induction system, for example: the road sweeper can be used for normally sweeping a carpet, being lifted, being caught and the like, a reasonable path is planned according to map information drawn based on a Simultaneous Localization and Mapping (SLAM) algorithm by the road sweeper, the sweeping of the road sweeper is controlled, and the sweeping efficiency is improved.
The driving system comprises a left driving wheel module, a right driving wheel module and a universal wheel module, wherein the driving wheel module, the right driving wheel module and the universal wheel module respectively comprise a driving motor, a control circuit for controlling the driving motor, a walking wheel and/or a universal wheel.
The cleaning system comprises a rolling brush and an edge brush for cleaning dust, paper scraps and the like on the ground, a dust collecting box for containing the dust, a fan and a dust collecting port.
For the convenience of understanding the application of the embodiment of the present application, referring to the application scenario embodiment shown in fig. 2, the sweeper and the user are located in the same space. When the user wants the sweeper to sweep the area where the user is located, the sweeper can be called, and a microphone module of the sweeper receives a first sound signal sent by the user, wherein the first sound signal comprises position keywords such as 'to sweep', 'to come' and 'to come'. The controller determines the sound source position according to the first sound signal received by the microphone module, determines the sound source position as a target position, namely, a region to be cleaned, and controls the sweeper to move to the target position, so that the sweeper can accurately reach the region which a user wants to clean.
In addition, the embodiment of the application can also be applied to an application scenario that the user and the sweeper are not in the same space, as shown in fig. 3, the sweeper is located in the room 1, and the user is located in the room 3. The user wants the sweeper to sweep the room 3, a first audible signal "to sweep", "to go" and "to go" is emitted toward the room 1. After the controller receives the first sound signal through the microphone module, the controller determines the sound source direction, namely, the sound source direction faces the door A, obtains an image of the sound source direction, and identifies whether the image includes a user. If the image does not include the user, the first position is determined according to the sound source direction, and the position of the door A is determined as the first position. Then, the floor sweeping is controlled to move to the door A.
At this time, the controller re-determines the sound source direction, i.e., the direction of the door B, based on the first sound signal received by the microphone module, acquires an image of the sound source direction, and recognizes whether the image includes a user. The image does not include the user, and the position where the door B is located is determined as the first position. Then, the sweeper is controlled to move to the door B. At the moment, the controller determines the sound source direction again according to the first sound signal received by the microphone module, acquires an image of the sound source direction, identifies that the image comprises a user, determines the sound source position as a target position, and controls the sweeper to move to the target position.
In order to facilitate understanding of the technical solutions provided by the embodiments of the present application, the control method will be described below with reference to the accompanying drawings.
Referring to fig. 4, which is a flowchart of a control method of a sweeper provided in an embodiment of the present application, as shown in fig. 4, the method may include:
s401: a sound source position is determined from the first sound signal received by the microphone module.
In this embodiment, a microphone module of the sweeper is in a working state in real time so as to collect a directive sound signal sent by a user, and after the microphone module collects a first sound signal sent by the user, the first sound signal is sent to the controller, and the controller determines the position of a sound source.
In specific implementation, in order to avoid that the first sound signal is noise and influences normal work of the sweeper, when the controller receives the first sound signal, whether the position keyword in the first sound signal is matched with the position keyword stored in advance is determined firstly, and if the position keyword in the first sound signal is matched with the position keyword stored in advance, the position of a sound source is determined according to the first sound signal. In particular, the controller may determine the sound source position based on a time difference or a sound intensity difference between different microphone units in the microphone module receiving the first sound signal.
In practical applications, the sweeper can pre-store the position keywords extracted from the instructional language given by the user. Specifically, the microphone module collects a voice signal with a location keyword, such as "to this", "to here", "to" and the like, uttered by a user, and the voice recognition unit converts the voice signal into a voice electric signal and stores the voice electric signal.
It should be noted that when it is detected that the position keyword in the first sound signal matches a position keyword stored in advance, if the sweeper is working, the sweeper is controlled to stop working; and if the sweeper is not started, activating the sweeper.
S402: and determining the target position of the sound source position, and controlling the sweeper to move to the target position.
And after the sound source position is determined, determining the target position of the sound source position, and controlling the sweeper to move to the target position. The target position is the position of the user, the sound source position is the position of the user, and the position of the user is the area to be cleaned.
It can be understood that when the sweeper is located in the same space as the user, the sound source position is the position of the user, and as shown in fig. 1, the sweeper is directly controlled to move to the target position. If the sweeper and the user are located in different spaces and a barrier exists in the middle of the sweeper, the sound source position determined by the sweeper is not the position where the user is located, and at the moment, the judgment is gradually carried out until the sound source position is the position where the user is located. Specifically, the controller determines a sound source direction according to the first sound signal, acquires an image of the sound source direction, and identifies whether the image includes a user; if the image does not comprise the user, determining a first position according to the direction of the sound source, and controlling the sweeper to move to the first position; determining the sound source direction again according to the first sound signal received by the microphone module, and acquiring an image of the sound source direction until the image comprises the user; and when the collected image comprises the user, taking the determined sound source position as a target position, and controlling the sweeper to move to the target position. That is, since the sweeper and the user are located in different spaces, when the sweeper moves from the current position to the position of the user, turning may be required, the position of the inflection point between the current position of the sweeper and the position of the user is determined as the first position, and the sweeper is planned to reach the target position from the current position.
The first position is an inflection point position between the current position of the sweeper and the position of the user, for example, in fig. 3, the position of the door a and the position of the door B. In specific implementation, when the first position is determined, the first position can be determined according to the preset moving distance corresponding to the sound source direction, and the sweeper is controlled to move to the first position. When the first position is determined, the controller may plan a first path to the first position and control the sweeper to move to the first position according to the first path. Specifically, the controller may pre-construct an indoor map and then plan a first path to the first location based on the current location of the sweeper, the first location, and the indoor map. Specifically, when planning the first path, the controller may plan an optimal path to the first location using a path planning algorithm, and use the optimal path as the first path. The path planning algorithm may be Dijkstra algorithm, BFS algorithm, etc.
Specifically, the building of the indoor map includes that the controller starts a laser radar of the sweeper to perform indoor scanning, the indoor map can be built according to an SLAM algorithm, and the indoor map is stored. Specifically, an indoor grid map can be constructed according to the outer diameter of the floor sweeper.
Based on the above description, the microphone module of the sweeper can acquire the sound signal in real time, and when the acquired sound signal is the first sound signal, the sound source position is determined according to the first sound signal. Then, the sound source position is determined as a target position, and the sweeper is controlled to move to the target position so that the sweeper can sweep at the target position. The target position is the position of the user, namely the position of the user is the area to be cleaned. Therefore, the embodiment of the application utilizes the voice recognition technology to control the sweeper to accurately reach the area needing to be cleaned by the user through the voice command sent by the user, and the user experience is improved.
It is understood that, when the user is located in the same space as the sweeper, the controller may determine the sound source position determined at this time as the target position and control the sweeper to move to the target position. Specifically, the controller plans a second path to the target position according to the position of the sweeper and the target position; and controlling the sweeper to reach the target position according to the second path. Specifically, when planning the second path, the controller may plan an optimal path to the target location according to the indoor map and the path planning algorithm, and use the optimal path as the second path. It should be noted that, after the second path is obtained through planning, in order to ensure that the sweeper moves to the target position, the controller may further determine the sound source direction according to the first sound signal, and control the sweeper to rotate, so that the moving direction of the sweeper is consistent with the sound source direction.
After the sweeper moves to the target position, the controller may control the sweeper to perform sweeping operation according to a second sound signal received by the microphone module, where the second sound signal includes a sweeping instruction, for example, the sweeping instruction may include an instruction of "focus sweeping", "mopping sweeping", or "mopping sweeping", and after detecting the sweeping instruction of the second sound signal, the controller may match the pre-stored sweeping instruction, and then control the sweeper to perform corresponding sweeping operation according to a matching result.
Based on the above method embodiment, an embodiment of the present application provides a sweeper control device, and referring to fig. 5, the device may include:
a first determining unit 501, configured to determine a sound source position according to a first sound signal received by a microphone module; the first sound signal is emitted by the user, and the first sound signal comprises a position keyword;
a second determining unit 502, configured to determine a target position of the sound source position, and control the sweeper to move to the target position, where the target position is a position where a user is located.
In a possible implementation manner, the second determining unit includes:
the acquiring subunit is used for acquiring an image of a sound source direction and identifying whether the image comprises the user;
a first determining subunit, configured to determine a first position according to the sound source direction if the image does not include the user, control the sweeper to move to the first position, and determine the sound source direction according to the first sound signal received by the microphone module until the image of the sound source direction acquired by the acquiring subunit includes the user, where the first position is an inflection point position between a position of the sweeper and a position of the user;
and the second determining subunit is used for determining the target position of the sound source position and controlling the sweeper to move to the target position if the image comprises the user.
In a possible implementation manner, the first determining subunit is specifically configured to determine a first position according to a preset moving distance corresponding to the sound source direction; and controlling the sweeper to move to the first position.
In one possible implementation manner, the first determining subunit includes:
a first planning subunit, configured to plan a first path to the first location;
and the first moving subunit is used for controlling the sweeper to move to the first position according to the first path.
In a possible implementation manner, the second determining unit includes:
the second planning subunit is used for planning a second path to the target position according to the position of the sweeper and the target position;
and the second moving subunit is used for controlling the sweeper to reach the target position according to the second path.
In one possible implementation, the apparatus further includes:
and the control unit is used for controlling the sweeper to sweep according to a second sound signal received by the microphone module when the sweeper moves to the target position, wherein the second sound signal comprises a sweeping instruction.
In one possible implementation, the apparatus further includes:
the third determining unit is used for determining the direction of a sound source according to the first sound signal before controlling the sweeper to move to the target position;
and the rotating unit is used for controlling the sweeper to rotate, so that the moving direction of the sweeper is consistent with the direction of the sound source.
In one possible implementation, the apparatus further includes:
a matching unit for determining whether a position keyword in the first sound signal matches a position keyword stored in advance before determining a sound source position from the first sound signal;
the first determination unit is executed if the position keyword in the first sound signal matches a position keyword stored in advance.
In one possible implementation, the apparatus further includes:
and the construction unit is used for starting the laser radar of the sweeper to carry out indoor scanning and construct an indoor map.
It should be noted that, implementation of each unit in this embodiment may refer to the above method embodiment, and this embodiment is not described herein again.
In addition, the embodiment of the application provides a sweeper, which comprises a controller, a voice recognition system and an image acquisition system;
the controller is used for executing the sweeper control method;
the voice recognition system comprises a microphone module and a voice recognition module, and is used for receiving and recognizing a user voice signal;
the image acquisition system comprises a camera module, and the camera module is positioned above or in front of the sweeper body and is used for acquiring images in the moving direction of the sweeper;
the controller is also used for adjusting the elevation angle of the camera module.
The embodiment of the application provides a computer-readable storage medium, wherein instructions are stored in the computer-readable storage medium, and when the instructions are run on terminal equipment, the terminal equipment is enabled to execute the sweeper control method.
The embodiment of the application provides a quick-witted controlgear sweeps floor, includes: the sweeper control method comprises a memory, a processor and a computer program which is stored on the memory and can run on the processor, wherein when the processor executes the computer program, the sweeper control method is realized.
Based on the description of the method, the microphone module of the sweeper can acquire the sound signal in the space in real time, and when the acquired sound signal is the first sound signal, the sound source position is determined according to the first sound signal. Then, the sound source position is determined as a target position, and the sweeper is controlled to move to the target position so that the sweeper can sweep at the target position. The target position is the position of the user, namely the position of the user is the area to be cleaned. Therefore, the embodiment of the application utilizes the voice recognition technology to control the sweeper to accurately reach the area needing to be cleaned by the user through the voice command sent by the user, and the user experience is improved.
It should be noted that, in the present specification, the embodiments are described in a progressive manner, each embodiment focuses on differences from other embodiments, and the same and similar parts among the embodiments may be referred to each other. For the system or the device disclosed by the embodiment, the description is simple because the system or the device corresponds to the method disclosed by the embodiment, and the relevant points can be referred to the method part for description.
It should be understood that in the present application, "at least one" means one or more, "a plurality" means two or more. "and/or" for describing an association relationship of associated objects, indicating that there may be three relationships, e.g., "a and/or B" may indicate: only A, only B and both A and B are present, wherein A and B may be singular or plural. The character "/" generally indicates that the former and latter associated objects are in an "or" relationship. "at least one of the following" or similar expressions refer to any combination of these items, including any combination of single item(s) or plural items. For example, at least one (one) of a, b, or c, may represent: a, b, c, "a and b", "a and c", "b and c", or "a and b and c", wherein a, b, c may be single or plural.
It is further noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in a process, method, article, or apparatus that comprises the element.
The steps of a method or algorithm described in connection with the embodiments disclosed herein may be embodied directly in hardware, in a software module executed by a processor, or in a combination of the two. A software module may reside in Random Access Memory (RAM), memory, Read Only Memory (ROM), electrically programmable ROM, electrically erasable programmable ROM, registers, hard disk, a removable disk, a CD-ROM, or any other form of storage medium known in the art.
The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present application. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the application. Thus, the present application is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
Claims (20)
1. A sweeper control method, characterized in that the method comprises:
determining a sound source position according to a first sound signal received by a microphone module; the first sound signal is emitted by the user, and the first sound signal comprises a position keyword;
and determining a target position of the sound source position, and controlling the sweeper to move to the target position, wherein the target position is the position of the user.
2. The method of claim 1, wherein said determining a target location for said sound source location and controlling said sweeper to move to said target location comprises:
acquiring an image of a sound source direction, and identifying whether the image comprises the user;
if the image does not comprise the user, determining a first position according to the sound source direction, controlling the sweeper to move to the first position, and determining the sound source direction according to a first sound signal received by a microphone module until the acquired image of the sound source direction comprises the user, wherein the first position is an inflection point position between the position of the sweeper and the position of the user;
and if the image comprises the user, determining the target position of the sound source position, and controlling the sweeper to move to the target position.
3. The method of claim 2, wherein said determining a first position based on said sound source direction and controlling said sweeper to move to said first position comprises:
determining a first position according to a preset moving distance corresponding to the sound source direction;
and controlling the sweeper to move to the first position.
4. The method of claim 2 or 3, said controlling said sweeper to move to said first position, comprising:
planning a first path to the first location;
and controlling the sweeper to move to the first position according to the first path.
5. The method of claim 1, wherein said determining a target location for said sound source location and controlling said sweeper to move to said target location comprises:
planning a second path to the target position according to the position of the sweeper and the target position;
and controlling the sweeper to reach the target position according to the second path.
6. The method of claim 1, wherein after the sweeper is moved to the target position, the method further comprises:
and controlling the sweeper to sweep according to a second sound signal received by the microphone module, wherein the second sound signal comprises a sweeping instruction.
7. The method of claim 1, wherein prior to determining the target location from the sound source location and controlling the sweeper to move to the target location, the method further comprises:
determining a sound source direction according to the first sound signal;
and controlling the sweeper to rotate, so that the moving direction of the sweeper is consistent with the direction of the sound source.
8. The method according to claim 1, wherein after receiving the first sound signal transmitted by the microphone module, before determining the sound source position according to the first sound signal, the method comprises:
determining whether a position keyword in the first sound signal matches a pre-stored position keyword;
and if the position keyword in the first sound signal is matched with a position keyword stored in advance, determining the position of the sound source according to the first sound signal.
9. The method according to any one of claims 1-8, further comprising:
and starting a laser radar of the sweeper to perform indoor scanning, and constructing an indoor map.
10. The utility model provides a sweeper controlling means which characterized in that, the device includes:
a first determining unit for determining a sound source position based on the first sound signal received by the microphone module; the first sound signal is emitted by the user, and the first sound signal comprises a position keyword;
and the second determining unit is used for determining a target position of the sound source position and controlling the sweeper to move to the target position, wherein the target position is the position of the user.
11. The apparatus of claim 10, wherein the second determining unit comprises:
the acquiring subunit is used for acquiring an image of a sound source direction and identifying whether the image comprises the user;
a first determining subunit, configured to determine a first position according to the sound source direction if the image does not include the user, control the sweeper to move to the first position, and determine the sound source direction according to the first sound signal received by the microphone module until the image of the sound source direction acquired by the acquiring subunit includes the user, where the first position is an inflection point position between a position of the sweeper and a position of the user;
and the second determining subunit is used for determining the target position of the sound source position and controlling the sweeper to move to the target position if the image comprises the user.
12. The apparatus according to claim 11, wherein the first determining subunit is configured to determine the first position according to a preset moving distance corresponding to the sound source direction; and controlling the sweeper to move to the first position.
13. The apparatus of claim 11 or 12, the first determining subunit comprising:
a first planning subunit, configured to plan a first path to the first location;
and the first moving subunit is used for controlling the sweeper to move to the first position according to the first path.
14. The apparatus of claim 10, wherein the second determining unit comprises:
the second planning subunit is used for planning a second path to the target position according to the position of the sweeper and the target position;
and the second moving subunit is used for controlling the sweeper to reach the target position according to the second path.
15. The apparatus of claim 10, further comprising:
and the control unit is used for controlling the sweeper to sweep according to a second sound signal received by the microphone module when the sweeper moves to the target position, wherein the second sound signal comprises a sweeping instruction.
16. The apparatus of claim 10, further comprising:
the third determining unit is used for determining the direction of a sound source according to the first sound signal before controlling the sweeper to move to the target position;
and the rotating unit is used for controlling the sweeper to rotate, so that the moving direction of the sweeper is consistent with the direction of the sound source.
17. The apparatus of claim 10, further comprising:
a matching unit for determining whether a position keyword in the first sound signal matches a position keyword stored in advance before determining a sound source position from the first sound signal;
the first determination unit is executed if the position keyword in the first sound signal matches a position keyword stored in advance.
18. The apparatus of any one of claims 10-17, further comprising:
and the construction unit is used for starting the laser radar of the sweeper to carry out indoor scanning and construct an indoor map.
19. A computer-readable storage medium having stored therein instructions that, when run on a terminal device, cause the terminal device to perform the sweeper control method of any one of claims 1-9.
20. A sweeper control apparatus, comprising: a memory, a processor, and a computer program stored on the memory and executable on the processor, when executing the computer program, implementing the sweeper control method of any one of claims 1-9.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911330915.8A CN111012252A (en) | 2019-12-20 | 2019-12-20 | Control method and device of sweeper |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911330915.8A CN111012252A (en) | 2019-12-20 | 2019-12-20 | Control method and device of sweeper |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN111012252A true CN111012252A (en) | 2020-04-17 |
Family
ID=70211362
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201911330915.8A Pending CN111012252A (en) | 2019-12-20 | 2019-12-20 | Control method and device of sweeper |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN111012252A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113303718A (en) * | 2021-05-24 | 2021-08-27 | 深圳巴诺机器人有限公司 | Sweeping robot system with carrying function and control method thereof |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103845003A (en) * | 2012-12-05 | 2014-06-11 | Lg电子株式会社 | Robot cleaner |
| CN108245099A (en) * | 2018-01-15 | 2018-07-06 | 深圳市沃特沃德股份有限公司 | Robot moving method and device |
| CN108445889A (en) * | 2018-05-15 | 2018-08-24 | 深圳市沃特沃德股份有限公司 | A kind of method and its system cleaned based on intelligent sound auxiliary sweeper |
| CN109199245A (en) * | 2018-09-30 | 2019-01-15 | 江苏美的清洁电器股份有限公司 | Sweeper and its control method and control device |
| US10452047B2 (en) * | 2016-10-12 | 2019-10-22 | Qingdao Hisense Electronics Co., Ltd. | Mobile assist device and mobile assist method |
-
2019
- 2019-12-20 CN CN201911330915.8A patent/CN111012252A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103845003A (en) * | 2012-12-05 | 2014-06-11 | Lg电子株式会社 | Robot cleaner |
| US10452047B2 (en) * | 2016-10-12 | 2019-10-22 | Qingdao Hisense Electronics Co., Ltd. | Mobile assist device and mobile assist method |
| CN108245099A (en) * | 2018-01-15 | 2018-07-06 | 深圳市沃特沃德股份有限公司 | Robot moving method and device |
| CN108445889A (en) * | 2018-05-15 | 2018-08-24 | 深圳市沃特沃德股份有限公司 | A kind of method and its system cleaned based on intelligent sound auxiliary sweeper |
| CN109199245A (en) * | 2018-09-30 | 2019-01-15 | 江苏美的清洁电器股份有限公司 | Sweeper and its control method and control device |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113303718A (en) * | 2021-05-24 | 2021-08-27 | 深圳巴诺机器人有限公司 | Sweeping robot system with carrying function and control method thereof |
| CN113303718B (en) * | 2021-05-24 | 2024-04-26 | 深圳巴诺机器人有限公司 | Sweeping robot system with carrying function and control method thereof |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| JP7374547B2 (en) | Exploration methods, devices, mobile robots and storage media | |
| US10254756B2 (en) | Cleaning robot and method for controlling the same | |
| US20220022718A1 (en) | Cleaning control method and apparatus, cleaning robot and storage medium | |
| TWI757570B (en) | Robot cleaners and controlling method thereof | |
| US20220022717A1 (en) | Cleaning control method and device, cleaning robot and storage medium | |
| CN110313867B (en) | Autonomous mobile cleaner, cleaning method for autonomous mobile cleaner, and recording medium | |
| TWI415590B (en) | Method for operating an automatically displaceable domestic appliance | |
| KR102130190B1 (en) | Robotic cleaning device | |
| US11537135B2 (en) | Moving robot and controlling method for the moving robot | |
| CN110881909A (en) | Control method and device of sweeper | |
| TWI731555B (en) | Mobile robot and method of controlling plurality of mobile robots | |
| CN112739244A (en) | Mobile robot cleaning system | |
| WO2019007038A1 (en) | Floor sweeping robot, floor sweeping robot system and working method thereof | |
| KR20190035376A (en) | A robot cleaner and control method thereof | |
| JP2022540387A (en) | Mobile robot and its control method | |
| WO2015090399A1 (en) | Robotic cleaning device and method for landmark recognition | |
| KR102301759B1 (en) | Environment Learning Device and Method in Charging Time for Autonomous Mobile Robot | |
| US20220032450A1 (en) | Mobile robot, and control method of mobile robot | |
| CN113679298B (en) | Robot control method, robot control device, robot, and readable storage medium | |
| TWI759760B (en) | Robot cleaner and method for controlling the same | |
| CN111012252A (en) | Control method and device of sweeper | |
| CN110946518A (en) | Control method and device of sweeper | |
| CN111528737A (en) | Control method and device of sweeper | |
| KR102302198B1 (en) | Cleaning apparatus and controlling method thereof | |
| CN110946519A (en) | Control method and device of sweeper |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20200417 |