CN111166238A - Processing method, device and equipment for cleaning forbidden zone and storage medium - Google Patents
Processing method, device and equipment for cleaning forbidden zone and storage medium Download PDFInfo
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- CN111166238A CN111166238A CN201811334516.4A CN201811334516A CN111166238A CN 111166238 A CN111166238 A CN 111166238A CN 201811334516 A CN201811334516 A CN 201811334516A CN 111166238 A CN111166238 A CN 111166238A
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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
- A47L11/28—Floor-scrubbing 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
- A47L11/4002—Installations of electric equipment
- A47L11/4008—Arrangements of switches, indicators or the like
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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
- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V20/00—Scenes; Scene-specific elements
- G06V20/10—Terrestrial scenes
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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)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Multimedia (AREA)
- Theoretical Computer Science (AREA)
- Cleaning Implements For Floors, Carpets, Furniture, Walls, And The Like (AREA)
Abstract
The embodiment of the invention discloses a method, a device and equipment for processing a clean forbidden zone and a storage medium. The method comprises the following steps: identifying dragee in a working area of the cleaning equipment, and determining an area corresponding to the dragee; and marking the area corresponding to the mopping forbidden object as a cleaning forbidden zone corresponding to the mopping mode so that the cleaning equipment avoids the cleaning forbidden zone when working in the mopping mode. The embodiment of the invention improves the working reliability and the cleaning effect of the cleaning equipment.
Description
Technical Field
The embodiment of the invention relates to the technical field of cleaning equipment control, in particular to a method and a device for processing a cleaning forbidden zone, computer equipment and a storage medium.
Background
In recent years, along with the popularization of intelligent cleaning apparatuses (hereinafter referred to as cleaning apparatuses), related technologies have been rapidly developed. The cleaning device travels according to a random path or a planned path during the working process, and the cleaning component arranged on the device is used for sweeping or mopping during the traveling process.
With the development of technology, the cleaning device can be used for mopping the working area in addition to sweeping the working area, that is, the cleaning device can be used in a main sweeping mode or a mopping mode. If the cleaning device is operated in mopping mode, the cleaning device will control its water tank to release cleaning water, wet the area where it is, and the mop arranged at the bottom of the cleaning device cleans the area by mopping and dries the water.
However, in some situations, it is not desirable to use the floor mopping mode, for example, in the area of a carpet, the carpet may be wetted and damaged or may not be cleaned. However, the existing cleaning robot cannot intelligently switch the working modes in real time, so that the cleaning effect and the working reliability of the cleaning robot are influenced.
Disclosure of Invention
The embodiment of the invention provides a processing method and device for cleaning an forbidden zone, computer equipment and a storage medium, which can improve the reliability and cleaning effect of a cleaning device in the working process.
The embodiment of the invention provides the following scheme:
in a first aspect, an embodiment of the present invention provides a processing method for cleaning an exclusion zone, where the method includes:
identifying a drag forbidden object in a working area of the cleaning equipment, and determining an area corresponding to the drag forbidden object;
and marking the area corresponding to the mopping forbidden object as a cleaning forbidden zone corresponding to the mopping mode so that the cleaning equipment can avoid the cleaning forbidden zone when working in the mopping mode.
The method provided by the embodiment of the invention identifies the mopping forbidden objects in the working area, marks the corresponding area as the cleaning forbidden area corresponding to the mopping mode, and accordingly, the cleaning equipment avoids the cleaning forbidden area when working in the mopping mode, so that cleaning water cannot be sprinkled on the mopping forbidden objects, and the working reliability and the cleaning effect of the cleaning equipment are improved.
With reference to the first aspect, in a first implementation manner of the first aspect of the embodiment of the present invention, the marking the area corresponding to the drag prohibition object as the cleaning prohibition area corresponding to the mopping mode includes:
sending a cleaning forbidden zone setting prompt, wherein the cleaning forbidden zone setting prompt carries information of a zone corresponding to the forbidden dragging object;
and after receiving a cleaning forbidden zone setting instruction, marking the area corresponding to the forbidden mop as a cleaning forbidden zone corresponding to the mopping mode.
According to the method provided by the embodiment of the invention, the area corresponding to the forbidden dragging object is identified as the cleaning forbidden area after the confirmation of the user is obtained, so that the phenomenon that the cleaning forbidden area is set by mistake due to the mistaken identification of the forbidden dragging object is avoided, and the cleaning effect is influenced.
With reference to the first aspect or the first implementation manner of the first aspect, in a second implementation manner of the first aspect of the embodiment of the present invention, the identifying a drag prohibition object in a working area of the cleaning device, and determining an area corresponding to the drag prohibition object includes:
monitoring a detection value of a target sensor of the cleaning equipment in the working process of the cleaning equipment;
and identifying the drag forbidden object in the working area of the cleaning equipment according to the monitoring result, and determining the area corresponding to the drag forbidden object.
According to the method provided by the embodiment of the invention, the dragging forbidden object and the corresponding area thereof can be quickly and accurately identified through the detection value of the target sensor.
With reference to the second implementation manner of the first aspect, in a third implementation manner of the first aspect of the present invention, the identifying a drag prohibition object in a working area of the cleaning device according to the monitoring result and determining an area corresponding to the drag prohibition object includes:
identifying the drag forbidden object through an image acquired by a visual sensor;
and determining the corresponding area of the drag forbidden object by modeling the working area.
Due to the fact that the image identification and modeling technology is mature, the method provided by the embodiment of the invention can quickly identify the drag forbidden object through the image acquired by the vision sensor and determine the corresponding area.
With reference to the second implementation manner of the first aspect, in a fourth implementation manner of the first aspect of the present invention, the identifying a drag forbidden object in a working area of the cleaning device according to the monitoring result and determining an area corresponding to the drag forbidden object includes:
when the height value detected by the height sensor reaches a set height threshold value, recording a corresponding coordinate point;
and determining a connected region by using the recorded coordinate points, and taking the determined connected region as a region corresponding to the drag forbidden object.
For some mopping disabled objects, such as carpets, crawlers, etc., the height is usually higher than the ground of the working area, so that they can be identified by a height sensor, which is simple and effective to implement.
With reference to the second implementation manner of the first aspect, in a fifth implementation manner of the first aspect of the embodiment of the present invention, the identifying a drag prohibition object in a working area of the cleaning device according to the monitoring result, and determining an area corresponding to the drag prohibition object includes:
when the pressure value detected by the pressure sensor reaches a set pressure threshold value, recording a corresponding coordinate point;
and determining a connected region by using the recorded coordinate points, and taking the determined connected region as a region corresponding to the drag forbidden object.
For some mopped prohibited objects, such as carpets, when the cleaning device is operated in the sweeping mode, if the cleaning device enters the carpet area, the pressure on the area is increased to improve the cleaning effect. Therefore, a pressure sensor can be arranged, when the pressure increase with the ground is detected and the set pressure threshold value is reached, the dragging forbidding object is identified, and the corresponding area is determined. The realization mode is simple and effective.
In a second aspect, an embodiment of the present invention provides a processing apparatus for cleaning an off-limits zone, the apparatus including:
a drag forbidden identification module for: identifying dragee in a working area of the cleaning equipment, and determining an area corresponding to the dragee;
and the cleaning forbidden zone setting module is used for marking the area corresponding to the forbidden mop as a cleaning forbidden zone corresponding to the mopping mode so that the cleaning equipment can avoid the cleaning forbidden zone when working in the mopping mode.
The device provided by the embodiment of the invention identifies the mopping forbidden objects in the working area, marks the corresponding area as the cleaning forbidden area corresponding to the mopping mode, and accordingly, when the cleaning equipment works in the mopping mode, the cleaning forbidden area is avoided, so that cleaning water cannot be sprinkled on the mopping forbidden objects, and the working reliability and the cleaning effect of the cleaning equipment are improved.
With reference to the second aspect, in a first implementation manner of the second aspect of the embodiment of the present invention, the cleaning forbidden zone setting module is configured to:
sending a cleaning forbidden zone setting prompt, wherein the cleaning forbidden zone setting prompt carries information of a zone corresponding to the drag forbidden object;
and after a cleaning forbidden zone setting instruction is received, marking the area corresponding to the forbidden mop as a cleaning forbidden zone corresponding to the mopping mode.
According to the device provided by the embodiment of the invention, the area corresponding to the forbidden dragging object is identified as the cleaning forbidden area after the confirmation of the user is obtained, so that the phenomenon that the cleaning forbidden area is set by mistake due to the mistaken identification of the forbidden dragging object is avoided, and the cleaning effect is influenced.
With reference to the second aspect or the first implementation manner of the second aspect, in a second implementation manner of the second aspect of the present invention, the drag prohibition identification module is configured to:
monitoring a detection value of a target sensor of the cleaning device during the working process of the cleaning device;
and identifying the drag forbidden object in the working area of the cleaning equipment according to the monitoring result, and determining the area corresponding to the drag forbidden object.
According to the device provided by the embodiment of the invention, the dragging forbidden object and the corresponding area thereof can be quickly and accurately identified through the detection value of the target sensor.
With reference to the second implementation manner of the second aspect, in a third implementation manner of the second aspect of the present invention, the target sensor is a visual sensor, and the drag prohibition identification module is configured to:
identifying the drag forbidden object through the image collected by the vision sensor;
and determining the corresponding area of the drag forbidden object by modeling the working area.
Due to the fact that the image identification and modeling technology is mature, the device provided by the embodiment of the invention can quickly identify the drag forbidden object through the image acquired by the vision sensor and determine the corresponding area.
With reference to the second implementation manner of the second aspect, in a fourth implementation manner of the second aspect of the present invention, the target sensor is a height sensor, and the drag prohibition identification module is configured to:
when the height value detected by the height sensor reaches a set height threshold value, recording a corresponding coordinate point;
and determining a connected region by using the recorded coordinate points, and taking the determined connected region as a region corresponding to the drag forbidden object.
For some mopping disabled objects, such as carpets, crawlers, etc., the height is usually higher than the ground of the working area, so that they can be identified by a height sensor, which is simple and effective to implement.
With reference to the second implementation manner of the second aspect, in a fifth implementation manner of the second aspect of the embodiment of the present invention, the target sensor is a pressure sensor, and the drag prohibition identification module is configured to:
when the pressure value detected by the pressure sensor reaches a set pressure threshold value, recording a corresponding coordinate point;
and determining a connected region by using the recorded coordinate points, and taking the determined connected region as a region corresponding to the drag forbidden object.
For some mopped prohibited objects, such as carpets, when the cleaning device is operated in the sweeping mode, if the cleaning device enters the carpet area, the pressure on the area is increased to improve the cleaning effect. Therefore, a pressure sensor can be arranged, when the pressure increase with the ground is detected and the set pressure threshold value is reached, the dragging forbidding object is identified, and the corresponding area is determined. The realization mode is simple and effective.
In a third aspect, an embodiment of the present invention provides a computer device, including:
a memory for storing a computer program;
a processor for implementing the steps of the method of any of the above method embodiments when executing the computer program.
The cleaning equipment provided by the embodiment of the invention identifies the mopping forbidden objects in the working area, marks the corresponding area as the cleaning forbidden area corresponding to the mopping mode, and accordingly, the cleaning equipment avoids the cleaning forbidden area when working in the mopping mode, so that cleaning water cannot be sprinkled on the mopping forbidden objects, and the working reliability and the cleaning effect of the cleaning equipment are improved.
In a fourth aspect, embodiments of the present invention provide a computer-readable storage medium, on which a computer program is stored, which, when being executed by a processor, provides the steps of the method according to any of the above-mentioned method embodiments.
The storage medium provided by the embodiment of the invention identifies the mopping forbidden objects in the working area, and marks the corresponding area as the cleaning forbidden area corresponding to the mopping mode, and accordingly, the cleaning equipment avoids the cleaning forbidden area when working in the mopping mode, so that cleaning water cannot be sprinkled on the mopping forbidden objects, and the working reliability and the cleaning effect of the cleaning equipment are improved.
Drawings
In order to more clearly illustrate the embodiments of the present specification or the technical solutions in the prior art, the drawings needed to be used in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present specification, and it is obvious for those skilled in the art that other drawings can be obtained according to the drawings without creative efforts.
FIG. 1 is a flow chart of a method provided by an embodiment of the present invention;
fig. 2 is a block diagram of an apparatus provided in an embodiment of the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments obtained by a person of ordinary skill in the art based on the embodiments of the present invention belong to the protection scope of the embodiments of the present invention.
The method provided by the embodiment of the invention can be applied to computer equipment for setting a cleaning forbidden zone of cleaning equipment, such as cleaning equipment, a smart phone, a tablet computer, intelligent wearable equipment, a personal computer and the like. The method comprises the steps that computer equipment identifies dragee objects in a working area of the cleaning equipment and determines an area corresponding to the dragee objects; and marking the area corresponding to the mopping forbidden object as a cleaning forbidden zone corresponding to the mopping mode, and avoiding the cleaning forbidden zone when the cleaning equipment works in the mopping mode.
As shown in fig. 1, an embodiment of the present invention provides a processing method for cleaning an off-limits zone, including:
Wherein, the prohibited objects are generally not suitable for the wetted objects, such as carpets. In practical application, the drag prohibition object may be defined by a user, or may be defined by a manufacturer, which is not limited in the embodiment of the present invention.
The method provided by the embodiment of the invention identifies the mopping forbidden objects in the working area, marks the corresponding area as the cleaning forbidden area corresponding to the mopping mode, and accordingly, the cleaning equipment avoids the cleaning forbidden area when working in the mopping mode, so that cleaning water cannot be sprinkled on the mopping forbidden objects, and the working reliability and the cleaning effect of the cleaning equipment are improved.
In the embodiment of the invention, the cleaning forbidden zone is divided into the working modes, the cleaning forbidden zone corresponding to the floor mopping mode is only effective in the floor mopping mode, and if the cleaning equipment works in the floor sweeping mode, the cleaning forbidden zone does not need to be avoided.
Correspondingly, the cleaning forbidden zone corresponding to the sweeping mode can be marked or not marked. After the cleaning equipment is started, firstly searching whether a cleaning forbidden zone exists, if the cleaning forbidden zone is searched, further searching the mark of the working mode of the cleaning equipment, comparing the searched mark with the current working mode, and if the mark is consistent with the current working mode, loading the cleaning forbidden zone to avoid the cleaning forbidden zone in the working process.
In the embodiment of the invention, after the mopping forbidden object is identified, the corresponding area is automatically marked as the cleaning forbidden area, and a prompt can be sent to a user, so that the user determines whether to set the cleaning forbidden area corresponding to the mopping mode. If there is a user's decision, correspondingly, the marking of the area corresponding to the drag forbidding object as the cleaning forbidden zone corresponding to the mopping mode includes:
sending a cleaning forbidden zone setting prompt, wherein the cleaning forbidden zone setting prompt carries information of a zone corresponding to the forbidden dragging object;
and after receiving a cleaning forbidden zone setting instruction, marking the area corresponding to the forbidden mop as a cleaning forbidden zone corresponding to the mopping mode.
The cleaning forbidden zone setting prompt can be sent in a display control mode of a human-computer interaction interface, and specifically can be displayed on a display screen of control equipment of the cleaning equipment and also can be displayed on the display screen of the cleaning equipment. Further, the user may also be allowed to adjust the boundary of the clean exclusion zone.
According to the method provided by the embodiment of the invention, the area corresponding to the forbidden dragging object is identified as the cleaning forbidden area after the confirmation of the user is obtained, so that the phenomenon that the cleaning forbidden area is set by mistake due to the mistaken identification of the forbidden dragging object is avoided, and the cleaning effect is influenced.
On the basis of any method embodiment, there are various implementation manners for identifying the drag forbidden object in the working area of the cleaning device and determining the area corresponding to the drag forbidden object. One way of realizing the method is to monitor the detection value of a target sensor of the cleaning equipment in the working process of the cleaning equipment; and identifying the drag forbidden object in the working area of the cleaning equipment according to the monitoring result, and determining the area corresponding to the drag forbidden object.
According to the method provided by the embodiment of the invention, the dragging forbidden object and the corresponding area thereof can be quickly and accurately identified through the detection value of the target sensor.
The target sensors are predetermined, and different target sensors or combinations of target sensors can be selected according to different characteristics of the prohibited dragging objects.
For example, the object sensor may be a vision sensor, such as a visible light camera, an infrared camera, or the like. Correspondingly, the dragging forbidden object is identified through the image acquired by the visual sensor; and determining the corresponding area of the drag forbidden object by modeling the working area.
The drag forbidden object can be identified from the image by adopting any existing image identification technology, and the method and the device are not limited in this respect. On the other hand, in order to generate the map, the working area needs to be modeled, the identified drag prohibiting object is mapped into the model of the working area, and the area corresponding to the drag prohibiting object is determined in the model of the working area, specifically, the position and the boundary where the area is located are determined.
Due to the fact that the image identification and modeling technology is mature, the method provided by the embodiment of the invention can quickly identify the drag forbidden object through the image acquired by the vision sensor and determine the corresponding area.
For another example, the identifying the drag forbidden object in the working area of the cleaning device according to the monitoring result and determining the area corresponding to the drag forbidden object includes: when the height value detected by the height sensor reaches a set height threshold value, recording a corresponding coordinate point; and determining a connected region by using the recorded coordinate points, and taking the determined connected region as a region corresponding to the drag forbidden object.
Specifically, in the working process of the cleaning equipment, all coordinate points of the positions with the heights higher than the set threshold value on the map are recorded, the coordinate points are used for determining the connected regions, the coordinate points which are not in any connected region are abandoned, and the connected regions with the areas smaller than the set values are abandoned, so that the identification precision is improved.
And the object with the height higher than the height threshold value is the drag prohibiting object, and the corresponding connected area is the area corresponding to the drag prohibiting object.
For some mopping disabled objects, such as carpets, crawlers, etc., the height is usually higher than the ground of the working area, so that they can be identified by a height sensor, which is simple and effective to implement.
For another example, the identifying the drag forbidden object in the working area of the cleaning device according to the monitoring result and determining the area corresponding to the drag forbidden object includes:
when the pressure value detected by the pressure sensor reaches a set pressure threshold value, recording a corresponding coordinate point;
and determining a connected region by using the recorded coordinate points, and taking the determined connected region as a region corresponding to the drag forbidden object.
For some mopped prohibited objects, such as carpets, when the cleaning device is operated in the sweeping mode, if the cleaning device enters the carpet area, the pressure on the area is increased to improve the cleaning effect. Therefore, a pressure sensor can be arranged, when the pressure increase with the ground is detected and the set pressure threshold value is reached, the dragging forbidding object is identified, and the corresponding area is determined. The realization mode is simple and effective.
Based on the same inventive concept as the method, an embodiment of the present invention provides a processing apparatus for cleaning an exclusion zone, as shown in fig. 2, the apparatus includes:
a dragee identification module 201 to: identifying dragee in a working area of the cleaning equipment, and determining an area corresponding to the dragee;
the cleaning forbidden zone setting module 202 is configured to mark an area corresponding to the forbidden mop as a cleaning forbidden zone corresponding to the mopping mode, so that the cleaning device avoids the cleaning forbidden zone when operating in the mopping mode.
The device provided by the embodiment of the invention identifies the mopping forbidden objects in the working area, marks the corresponding area as the cleaning forbidden area corresponding to the mopping mode, and accordingly, when the cleaning equipment works in the mopping mode, the cleaning forbidden area is avoided, so that cleaning water cannot be sprinkled on the mopping forbidden objects, and the working reliability and the cleaning effect of the cleaning equipment are improved.
Wherein the cleaning forbidden zone setting module is used for:
sending a cleaning forbidden zone setting prompt, wherein the cleaning forbidden zone setting prompt carries information of a zone corresponding to the drag forbidden object;
and after a cleaning forbidden zone setting instruction is received, marking the area corresponding to the forbidden mop as a cleaning forbidden zone corresponding to the mopping mode.
According to the device provided by the embodiment of the invention, the area corresponding to the forbidden dragging object is identified as the cleaning forbidden area after the confirmation of the user is obtained, so that the phenomenon that the cleaning forbidden area is set by mistake due to the mistaken identification of the forbidden dragging object is avoided, and the cleaning effect is influenced.
Wherein the dragee identification module is configured to:
monitoring a detection value of a target sensor of the cleaning device during the working process of the cleaning device;
and identifying the drag forbidden object in the working area of the cleaning equipment according to the monitoring result, and determining the area corresponding to the drag forbidden object.
According to the device provided by the embodiment of the invention, the dragging forbidden object and the corresponding area thereof can be quickly and accurately identified through the detection value of the target sensor.
Wherein the target sensor is a visual sensor, and the dragee identification module is configured to:
identifying the drag forbidden object through the image collected by the vision sensor;
and determining the corresponding area of the drag forbidden object by modeling the working area.
Due to the fact that the image identification and modeling technology is mature, the device provided by the embodiment of the invention can quickly identify the drag forbidden object through the image acquired by the vision sensor and determine the corresponding area.
Wherein, the target sensor is a height sensor, and the dragee identification module is used for:
when the height value detected by the height sensor reaches a set height threshold value, recording a corresponding coordinate point;
and determining a connected region by using the recorded coordinate points, and taking the determined connected region as a region corresponding to the drag forbidden object.
For some mopping disabled objects, such as carpets, crawlers, etc., the height is usually higher than the ground of the working area, so that they can be identified by a height sensor, which is simple and effective to implement.
Wherein, the target sensor is a pressure sensor, and the dragee identification module is used for:
when the pressure value detected by the pressure sensor reaches a set pressure threshold value, recording a corresponding coordinate point;
and determining a connected region by using the recorded coordinate points, and taking the determined connected region as a region corresponding to the drag forbidden object.
For some mopped prohibited objects, such as carpets, when the cleaning device is operated in the sweeping mode, if the cleaning device enters the carpet area, the pressure on the area is increased to improve the cleaning effect. Therefore, a pressure sensor can be arranged, when the pressure increase with the ground is detected and the set pressure threshold value is reached, the dragging forbidding object is identified, and the corresponding area is determined. The realization mode is simple and effective.
Based on the same inventive concept as the method, an embodiment of the present invention provides a computer device, including:
a memory for storing a computer program;
a processor for implementing the steps of the method of any of the above method embodiments when executing the computer program.
The cleaning equipment provided by the embodiment of the invention identifies the mopping forbidden objects in the working area, marks the corresponding area as the cleaning forbidden area corresponding to the mopping mode, and accordingly, the cleaning equipment avoids the cleaning forbidden area when working in the mopping mode, so that cleaning water cannot be sprinkled on the mopping forbidden objects, and the working reliability and the cleaning effect of the cleaning equipment are improved.
As described above, the computer device provided in the embodiment of the present invention may be a cleaning device, or may be a control device of the cleaning device. Taking a cleaning device as an example, the specific structure of the cleaning device is described in detail as follows:
the cleaning device provided by the embodiment of the invention comprises: the processor and the memory, the sensor, the cleaning mechanism (which may include at least one of the following components: a cleaning brush, a dust collection box, a dust collection mechanism, a floor mopping mechanism), and the traveling mechanism (the roller and the driving mechanism thereof).
Based on the same inventive concept as the method, embodiments of the present invention provide a computer-readable storage medium having stored thereon a computer program, which, when being executed by a processor, provides the steps of the method according to any of the above-described method embodiments.
The storage medium provided by the embodiment of the invention identifies the mopping forbidden objects in the working area, and marks the corresponding area as the cleaning forbidden area corresponding to the mopping mode, and accordingly, the cleaning equipment avoids the cleaning forbidden area when working in the mopping mode, so that cleaning water cannot be sprinkled on the mopping forbidden objects, and the working reliability and the cleaning effect of the cleaning equipment are improved.
Those skilled in the art will appreciate that all or part of the steps in the methods of the above embodiments may be implemented by associated hardware instructed by a program, which may be stored in a computer-readable storage medium, and the storage medium may include: a Read Only Memory (ROM), a Random Access Memory (RAM), a magnetic or optical disk, or the like.
It will be understood by those skilled in the art that all or part of the steps in the method for implementing the above embodiments may be implemented by hardware that is instructed to implement by a program, and the program may be stored in a computer-readable storage medium, and the above-mentioned storage medium may be a read-only memory, a magnetic disk or an optical disk, etc.
While the invention has been described in detail with reference to specific embodiments thereof, it will be apparent to one skilled in the art that various changes in form and details may be made therein without departing from the spirit and scope of the invention.
The embodiment of the invention discloses:
a1, a method for cleaning an exclusion zone, the method comprising:
identifying dragee in a working area of the cleaning equipment, and determining an area corresponding to the dragee;
and marking the area corresponding to the mopping forbidden object as a cleaning forbidden zone corresponding to the mopping mode so that the cleaning equipment avoids the cleaning forbidden zone when working in the mopping mode.
A2, according to the method in A1, the marking the area corresponding to the prohibited mop as a cleaning forbidden zone corresponding to the mopping mode comprises:
sending a cleaning forbidden zone setting prompt, wherein the cleaning forbidden zone setting prompt carries information of a zone corresponding to the drag forbidden object;
and after a cleaning forbidden zone setting instruction is received, marking the area corresponding to the forbidden mop as a cleaning forbidden zone corresponding to the mopping mode.
A3, the method according to A1 or A2, wherein the identifying dragee in the working area of the cleaning equipment and determining the corresponding area of the dragee comprises:
monitoring a detection value of a target sensor of the cleaning device during the working process of the cleaning device;
and identifying the drag forbidden object in the working area of the cleaning equipment according to the monitoring result, and determining the area corresponding to the drag forbidden object.
A4, according to the method in A3, the target sensor is a visual sensor, and the identifying a draggable object in the working area of the cleaning equipment according to the monitoring result and determining the area corresponding to the draggable object comprise:
identifying the drag forbidden object through the image collected by the vision sensor;
and determining the corresponding area of the drag forbidden object by modeling the working area.
A5, according to the method A3, the target sensor is a height sensor, and the identifying of the prohibited dragging object in the working area of the cleaning equipment according to the monitoring result and the determining of the area corresponding to the prohibited dragging object comprise:
when the height value detected by the height sensor reaches a set height threshold value, recording a corresponding coordinate point;
and determining a connected region by using the recorded coordinate points, and taking the determined connected region as a region corresponding to the drag forbidden object.
A6, according to the method A3, the target sensor is a pressure sensor, and the identifying of the draggable object in the working area of the cleaning equipment according to the monitoring result and the determining of the area corresponding to the draggable object comprise:
when the pressure value detected by the pressure sensor reaches a set pressure threshold value, recording a corresponding coordinate point;
and determining a connected region by using the recorded coordinate points, and taking the determined connected region as a region corresponding to the drag forbidden object.
B7, a treatment device for cleaning an exclusion zone, the device comprising:
a drag forbidden identification module for: identifying dragee in a working area of the cleaning equipment, and determining an area corresponding to the dragee;
and the cleaning forbidden zone setting module is used for marking the area corresponding to the forbidden mop as a cleaning forbidden zone corresponding to the mopping mode so that the cleaning equipment can avoid the cleaning forbidden zone when working in the mopping mode.
B8, the device according to B7, the cleaning exclusion zone setting module is used for:
sending a cleaning forbidden zone setting prompt, wherein the cleaning forbidden zone setting prompt carries information of a zone corresponding to the drag forbidden object;
and after a cleaning forbidden zone setting instruction is received, marking the area corresponding to the forbidden mop as a cleaning forbidden zone corresponding to the mopping mode.
B9, the apparatus of B7 or B8, the dragee identification module to:
monitoring a detection value of a target sensor of the cleaning device during the working process of the cleaning device;
and identifying the drag forbidden object in the working area of the cleaning equipment according to the monitoring result, and determining the area corresponding to the drag forbidden object.
B10, the apparatus of B9, the target sensor being a visual sensor, the dragee recognition module being configured to:
identifying the drag forbidden object through the image collected by the vision sensor;
and determining the corresponding area of the drag forbidden object by modeling the working area.
B11, the apparatus of B9, the target sensor is a height sensor, and the dragee identification module is configured to:
when the height value detected by the height sensor reaches a set height threshold value, recording a corresponding coordinate point;
and determining a connected region by using the recorded coordinate points, and taking the determined connected region as a region corresponding to the drag forbidden object.
B12, the device according to B9, the target sensor is a pressure sensor, and the dragee identification module is used for:
when the pressure value detected by the pressure sensor reaches a set pressure threshold value, recording a corresponding coordinate point;
and determining a connected region by using the recorded coordinate points, and taking the determined connected region as a region corresponding to the drag forbidden object.
C13, a computer device, comprising:
a memory for storing a computer program;
a processor for implementing the steps of the method of any one of A1-A6 when executing the computer program.
D14, a computer-readable storage medium, on which a computer program is stored which, when being executed by a processor, carries out the steps of the method of any one of a1 to a 6.
Claims (10)
1. A process for cleaning an exclusion zone, the process comprising:
identifying dragee in a working area of the cleaning equipment, and determining an area corresponding to the dragee;
and marking the area corresponding to the mopping forbidden object as a cleaning forbidden zone corresponding to the mopping mode so that the cleaning equipment avoids the cleaning forbidden zone when working in the mopping mode.
2. The method of claim 1, wherein the marking of the area corresponding to the prohibited mop as a cleaning forbidden zone corresponding to a mopping mode comprises:
sending a cleaning forbidden zone setting prompt, wherein the cleaning forbidden zone setting prompt carries information of a zone corresponding to the drag forbidden object;
and after a cleaning forbidden zone setting instruction is received, marking the area corresponding to the forbidden mop as a cleaning forbidden zone corresponding to the mopping mode.
3. The method of claim 1 or 2, wherein the identifying dragees in a working area of a cleaning device and determining an area to which the dragees correspond comprises:
monitoring a detection value of a target sensor of the cleaning device during the working process of the cleaning device;
and identifying the drag forbidden object in the working area of the cleaning equipment according to the monitoring result, and determining the area corresponding to the drag forbidden object.
4. The method of claim 3, wherein the target sensor is a vision sensor, and identifying dragee in a working area of the cleaning device according to the monitoring result and determining an area corresponding to the dragee comprises:
identifying the drag forbidden object through the image collected by the vision sensor;
and determining the corresponding area of the drag forbidden object by modeling the working area.
5. The method of claim 3, wherein the target sensor is a height sensor, and identifying dragee in a working area of the cleaning device according to the monitoring result and determining an area corresponding to the dragee comprises:
when the height value detected by the height sensor reaches a set height threshold value, recording a corresponding coordinate point;
and determining a connected region by using the recorded coordinate points, and taking the determined connected region as a region corresponding to the drag forbidden object.
6. The method of claim 3, wherein the target sensor is a pressure sensor, and identifying dragee in a working area of the cleaning device according to the monitoring result and determining an area corresponding to the dragee comprises:
when the pressure value detected by the pressure sensor reaches a set pressure threshold value, recording a corresponding coordinate point;
and determining a connected region by using the recorded coordinate points, and taking the determined connected region as a region corresponding to the drag forbidden object.
7. A treatment device for cleaning an off-limits zone, the device comprising:
a drag forbidden identification module for: identifying dragee in a working area of the cleaning equipment, and determining an area corresponding to the dragee;
and the cleaning forbidden zone setting module is used for marking the area corresponding to the forbidden mop as a cleaning forbidden zone corresponding to the mopping mode so that the cleaning equipment can avoid the cleaning forbidden zone when working in the mopping mode.
8. The apparatus of claim 7, wherein the clean exclusion zone setting module is configured to:
sending a cleaning forbidden zone setting prompt, wherein the cleaning forbidden zone setting prompt carries information of a zone corresponding to the drag forbidden object;
and after a cleaning forbidden zone setting instruction is received, marking the area corresponding to the forbidden mop as a cleaning forbidden zone corresponding to the mopping mode.
9. A computer device, comprising:
a memory for storing a computer program;
a processor for implementing the steps of the method of any one of claims 1 to 6 when executing the computer program.
10. A computer-readable storage medium, on which a computer program is stored, which, when being executed by a processor, carries out the steps of the method according to any one of claims 1 to 6.
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| CN201811334516.4A CN111166238A (en) | 2018-11-09 | 2018-11-09 | Processing method, device and equipment for cleaning forbidden zone and storage medium |
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| CN201811334516.4A CN111166238A (en) | 2018-11-09 | 2018-11-09 | Processing method, device and equipment for cleaning forbidden zone and storage medium |
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Application publication date: 20200519 |