CN111743476A - Sweeping method and device of sweeping robot - Google Patents
Sweeping method and device of sweeping robot Download PDFInfo
- Publication number
- CN111743476A CN111743476A CN202010559711.8A CN202010559711A CN111743476A CN 111743476 A CN111743476 A CN 111743476A CN 202010559711 A CN202010559711 A CN 202010559711A CN 111743476 A CN111743476 A CN 111743476A
- Authority
- CN
- China
- Prior art keywords
- cleaning
- path
- determining
- user
- sweeping
- 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
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
- A47L11/40—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
-
- 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
- A47L11/4011—Regulation of the cleaning machine by electric means; Control systems and remote control systems therefor
-
- 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
- Electric Vacuum Cleaner (AREA)
Abstract
The invention discloses a sweeping method and a sweeping device of a sweeping robot, which comprise the following steps: obtaining semantic content corresponding to a sound signal collected by a voice collecting device; when the semantic content corresponding to the sound signal meets a preset condition, determining a cleaning path; determining a cleaning requirement of a user according to the sound fragment of the sound signal corresponding to the semantic content meeting the preset condition; and determining a cleaning mode corresponding to the cleaning path according to the cleaning requirement of the user, and cleaning according to the cleaning mode corresponding to the cleaning path. According to the technical scheme provided by the invention, different cleaning modes can be selected for cleaning according to the cleaning requirements of different users, the cleaning requirements of the users are met, the cleaning modes of the sweeping robot are enriched, and the user experience and the intelligence of the cleaning process are improved.
Description
Technical Field
The invention relates to the technical field of household appliances, in particular to a sweeping method and a sweeping device of a sweeping robot.
Background
Along with the development of economy and the progress of science and technology, people's requirement to living environment quality is higher and higher, and along with the rise of artificial intelligence, the market also more and more focuses on the technique of cleaning based on artificial intelligence technique, and in current intelligence cleans the technique, the robot of sweeping the floor improves people's work efficiency at home owing to can reduce people's intensity of labour at home, consequently receives extensive welcome. The floor sweeping robot is also called an automatic cleaner, intelligent dust collection, a robot dust collector and the like, is one of intelligent household appliances, and can automatically finish floor cleaning work in a room by means of certain artificial intelligence.
In the traditional automatic cleaning process, the cleaning robot usually performs cleaning operation according to a preset cleaning path in a current scene according to a preset program, so that the cleaning requirement of a user cannot be met, and the user experience is greatly reduced.
Disclosure of Invention
The sweeping robot sweeping method and device provided by the invention can select different sweeping modes for sweeping according to different user sweeping requirements, meet the user sweeping requirements, enrich the sweeping modes of the sweeping robot, and improve the user experience and the intelligence of a sweeping process.
In a first aspect, the present invention provides a cleaning method of a cleaning robot, including:
obtaining semantic content corresponding to a sound signal collected by a voice collecting device;
when the semantic content corresponding to the sound signal meets a preset condition, determining a cleaning path;
determining a cleaning requirement of a user according to the sound fragment of the sound signal corresponding to the semantic content meeting the preset condition;
and determining a cleaning mode corresponding to the cleaning path according to the cleaning requirement of the user, and cleaning according to the cleaning mode corresponding to the cleaning path.
In a second aspect, the present invention provides a cleaning device of a cleaning robot, including:
the semantic acquisition module is used for acquiring semantic contents corresponding to the sound signals acquired by the voice acquisition device;
the path determining module is used for determining a cleaning path when the semantic content corresponding to the sound signal meets a preset condition;
the requirement determining module is used for determining a cleaning requirement of a user according to the sound segment of the sound signal corresponding to the semantic content meeting the preset condition;
and the cleaning module is used for determining a cleaning mode corresponding to the cleaning path according to the cleaning requirement of the user and cleaning according to the cleaning mode corresponding to the cleaning path.
In a third aspect, the present invention provides a sweeping robot, including: the cleaning device of the sweeping robot in the second aspect, and the voice collecting device and the environmental sensor connected with the cleaning device of the sweeping robot.
In a fourth aspect, the invention provides a readable medium comprising executable instructions which, when executed by a processor of an electronic device, cause the electronic device to perform the method according to any one of the first aspect.
In a fifth aspect, the present invention provides an electronic device, comprising a processor and a memory storing execution instructions, wherein when the processor executes the execution instructions stored in the memory, the processor performs the method according to any one of the first aspect.
The invention provides a cleaning method and a cleaning device of a cleaning robot, the method acquires semantic content corresponding to a voice signal acquired by a voice acquisition device so as to know speaking content, then determines a cleaning path when the semantic content corresponding to the voice signal meets a preset condition, then determines a cleaning requirement of a user according to a voice segment of the voice signal corresponding to the semantic content meeting the preset condition, then determines a cleaning mode according to the cleaning requirement of the user, and cleans according to the cleaning mode corresponding to the cleaning path, thereby realizing cleaning according to the cleaning path and the cleaning mode corresponding to the cleaning requirement of the user. In conclusion, according to the technical scheme provided by the invention, different cleaning modes can be selected for cleaning according to different cleaning requirements of users, so that the cleaning requirements of the users are met, the cleaning modes of the cleaning robot are enriched, and the user experience and the intellectualization of the cleaning process are improved.
Further effects of the above-mentioned unconventional preferred modes will be described below in conjunction with specific embodiments.
Drawings
In order to more clearly illustrate the embodiments or the prior art solutions of the present invention, the drawings needed to be used in the description of the embodiments or the prior art will be briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments described in the present invention, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without inventive labor.
Fig. 1 is a schematic flow chart of a cleaning method of a cleaning robot according to an embodiment of the present invention;
fig. 2 is a schematic flow chart of another cleaning method of a cleaning robot according to an embodiment of the present invention;
fig. 3 is a schematic structural diagram of a cleaning device of a sweeping robot according to an embodiment of the present invention;
fig. 4 is a schematic structural diagram of a sweeping robot according to an embodiment of the present invention;
fig. 5 is a schematic structural diagram of an electronic device according to an embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the technical solutions of the present invention will be described in detail and completely with reference to the following embodiments and accompanying drawings. It is to be understood that the described embodiments are merely exemplary of the invention, and not restrictive of the full scope of the invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
As shown in fig. 1, a cleaning method of a cleaning robot according to an embodiment of the present invention is specifically implemented. In this embodiment, the method specifically includes the following steps:
In particular, the speech acquisition means particularly refers to a device capable of acquiring sound, such as a microphone array. The voice acquisition device can be installed on the sweeping robot or in a room, when the voice acquisition device is installed in the room, the voice signal acquired by the voice acquisition device needs to be sent to the sweeping robot, and therefore the sweeping robot can timely know the speaking content of a user.
Specifically, the sound signal refers to an analog signal of the amplitude of the sound wave of the external environment collected by the voice collecting device, which changes with time. Semantic content refers in particular to the meaning implied by a language, that is to say speech content.
In the embodiment of the invention, the semantic content can be obtained by performing semantic recognition on the acquired sound signal acquired by the voice acquisition device. The semantic recognition specifically refers to determining the vocabulary content included in the voice uttered by the speaker. It should be noted that semantic recognition is the prior art, and the embodiment of the present invention does not give any unnecessary details on the semantic recognition principle.
And 102, when the semantic content corresponding to the sound signal meets a preset condition, determining a cleaning path.
In the embodiment of the invention, when the semantic content corresponding to the sound signal meets the preset condition, the fact that the sweeping robot needs to carry out sweeping work can be judged, and at the moment, a sweeping path can be determined.
Specifically, the semantic content meeting the preset condition specifically means that the semantic content includes a preset cleaning instruction. The preset cleaning instruction can be one or more, and the specific requirement is determined by combining the actual situation. In the implementation of the invention, when the semantic content corresponding to the sound signal contains the preset cleaning instruction, all the ground of the house where the user lives needs to be cleaned instead of only cleaning some houses, so that the room is completely covered.
Considering that the applicable scenes of the sweeping robot may be different, the embodiment of the present invention may have various methods for determining the sweeping path, specifically as follows:
the cleaning path in the embodiment of the present invention may select a dynamic planning method, and optionally, the dynamic planning of the cleaning path in the embodiment of the present invention may specifically be determined by the following method:
acquiring an initial three-dimensional map and environmental data acquired by an environmental perception sensor; determining a three-dimensional image corresponding to the environmental data according to the environmental data acquired by the environmental perception sensor; and determining a real-time map according to the result of image recognition on the three-dimensional image and the initial three-dimensional map, planning a cleaning path according to the real-time map, and determining the cleaning path.
Specifically, the environment sensing sensor is configured to sense environment information around the sweeping robot, optionally, the environment sensing sensor includes a visual sensor and/or a depth sensor, and correspondingly, the environment data includes a depth image acquired by the depth sensor and/or an indoor image acquired by the visual sensor; the visual sensor may be an RGB camera, and the RGB camera may be a monocular camera or a fisheye camera, which is not limited herein, and any RGB camera in the prior art may be used. The depth sensor specifically refers to an instrument for collecting a distance from an external environment to the depth sensor, and may be a structured light sensor, a laser sensor, or the like. Optionally, the structured light sensor comprises a structured light emitter and a structured light receiver, in particular, the structured light emitter comprises a light line-structured light emitter or a smooth structured light emitter, preferably a light line-structured light emitter, and the structured light receiver is preferably a monocular infrared camera.
Specifically, the initial three-dimensional map may be an empty room three-dimensional map or a historical three-dimensional map, which is not specifically limited herein and specifically needs to be determined in combination with actual needs. The three-dimensional map of the empty room refers to a three-dimensional map of a room where the sweeping robot is currently located or all rooms of a house where the user lives, wherein any object does not exist inside the three-dimensional map of the room where the sweeping robot currently locates, and the three-dimensional map of all rooms of the house where the user lives is preferably selected, so that the initial three-dimensional map is called once, and when the initial three-dimensional map is the three-dimensional map of the empty room, the real-time map can be understood as a map obtained by fusing a three-dimensional image into the three-dimensional map of the empty room; the historical three-dimensional map refers to a previously stored three-dimensional map of a room where the sweeping robot is currently located or all rooms of a house where the user lives, and includes furniture, electric appliances, the user and the like, the three-dimensional map of all rooms of the house where the user lives is preferably selected, and when the initial three-dimensional map is the historical three-dimensional map, the real-time map can be understood as a map obtained by updating the historical three-dimensional map through the three-dimensional map. It should be noted that, the empty room three-dimensional map occupies a smaller storage capacity because it does not contain any object, so that the storage capacity of the sweeping robot can be saved, the calculation amount can be reduced, and meanwhile, the empty room three-dimensional map can be flexibly arranged, so that data processing is facilitated, and therefore, the empty room three-dimensional map is preferred.
Specifically, the three-dimensional image is obtained by three-dimensionally reconstructing the environmental data. The three-dimensional reconstruction can adopt an active three-dimensional reconstruction method including any one or more of a moire fringe method, a structured light method, a triangular distance measurement method and a time-of-flight method, and can also adopt a passive three-dimensional reconstruction method including any one or more of a texture restoration shape method, a shadow restoration shape method and a stereoscopic vision method, and the specific requirement is determined based on the type of the environment perception sensor. Three-dimensional reconstruction is the prior art, and this principle is not described in detail in the embodiment of the present invention.
Specifically, the target object in the real-time map specifically refers to all objects in the real-time map, such as furniture, appliances, floors, walls, and the like. It should be noted that the cleaning path planned by the real-time map comprehensively considers the current room situation, has a higher reference value, and can ensure the cleaning effect. The method for planning the cleaning path is a method in the prior art, and the method for planning the path is not described in detail in the embodiment of the invention.
According to the embodiment of the invention, the cleaning path can be dynamically planned according to the environmental data sensed by the environmental sensing sensor, so that the reference value of the cleaning path is ensured, the problems of poor cleaning effect or influence on user actions and the like caused by unreasonable cleaning path planning are reduced, and the user experience is ensured.
Considering that the application scenarios of the sweeping robot are different, the real-time maps may be different, specifically as follows:
as a possible scenario, the target object in the real-time map carries no semantic information, in other words, the real-time map has no semantic information. Specifically, the real-time map is obtained by identifying a target object in the three-dimensional image to obtain position information of the target object in the three-dimensional image, and adding the target object into the initial three-dimensional map for fusion according to the position information of the target object. It should be noted that when the target object in the real-time map does not carry semantic information, the planning of the cleaning path mainly considers avoiding the obstacle.
As another possible scenario, the target object in the real-time map carries semantic information, in other words, the real-time map has semantic information. Specifically, the real-time map is obtained by identifying a target object in a three-dimensional image to obtain position information and semantic information of the target object in the three-dimensional image, and adding the target object into an initial three-dimensional map for fusion according to the position information and the semantic information of the target object. It should be noted that when the target object in the real-time map carries semantic information, the planning of the cleaning path needs to consider not only avoiding the obstacle, but also considering the influence of the type of the obstacle on the cleaning process, so as to further improve the reference value of the cleaning path.
The cleaning path in the embodiment of the present invention may select a static planning manner, and optionally, the static planning cleaning path in the embodiment of the present invention may specifically be determined by the following method:
acquiring at least one reference sweeping path; and determining a cleaning path of the area to be cleaned according to each reference cleaning path.
As one possible case, the reference sweeping path is a historical sweeping path. The historical cleaning path specifically refers to a cleaning path of the cleaning robot in the previous cleaning process, and can be fixed or changed in real time. When the cleaning path is determined, a plurality of historical cleaning paths are directly called, so that the cleaning path can be determined quickly.
As another possible scenario, the reference sweeping path may be a historical motion trajectory corresponding to the movable object. In a feasible implementation mode, a plurality of historical images are obtained, each historical image comprises a movable object, the movable objects in the plurality of historical images are subjected to target tracking, the historical motion track of the movable object is determined, and a plurality of reference cleaning paths are determined according to the historical motion tracks corresponding to the movable objects respectively. In another possible implementation manner, in order to save the storage space of the sweeping robot and establish connection with the external device, a plurality of historical motion trajectories of the movable object sent by the external device are received. The movable object specifically refers to an object capable of moving, such as a person, a movable chair, or the like, whose position can be changed.
As another possible case, the plurality of reference cleaning paths include a plurality of historical cleaning paths and historical movement tracks corresponding to a plurality of movable objects, so that the historical cleaning paths are corrected through the historical movement tracks, and the accuracy and the reference value of the obtained cleaning paths are ensured.
It should be noted that the reference cleaning path may be a cleaning path of all rooms where the user lives, or may be a cleaning path of a designated cleaning room, and the reference cleaning path is specifically determined in combination with an actual scene.
Specifically, the cleaning path may be obtained by fusing a plurality of reference cleaning paths. It should be noted that, the merging of the multiple reference cleaning paths specifically means combining and adjusting the multiple reference cleaning paths to find an optimal path from the initial state to the target state, which can avoid the obstacle.
It should be noted that, when the semantic content corresponding to the sound signal includes the designated cleaning area, a certain distance may exist between the designated cleaning area and the sweeping robot, and a movement path of the sweeping robot moving to the designated cleaning area needs to be determined, so that the sweeping robot moves to the designated cleaning area quickly and accurately according to the movement path, thereby cleaning the designated cleaning path. Therefore, the sweeping path should include a travel path that moves to a designated sweeping area.
And 103, determining a cleaning requirement of the user according to the sound segment of the sound signal corresponding to the semantic content meeting the preset condition.
Specifically, the sound segment specifically refers to a segment in which semantic content satisfying a preset condition corresponds to a sound signal. The semantic content may include a plurality of preset cleaning instructions, and each preset cleaning instruction corresponds to one sound segment. It should be noted that semantic content corresponding to the audio clip is a preset cleaning instruction.
Specifically, the user cleaning requirement can indicate the final effect of cleaning the room, for example, the user cleaning requirement is high, which indicates that the cleaning degree of the room should be higher after the cleaning robot cleans the room, so that the user cleaning requirement is met, and the user experience is improved.
In the embodiment of the invention, the cleaning requirement of the user can be determined by the following method:
acquiring at least one sound fragment from the sound signal, wherein the semantic content corresponding to the sound fragment meets a preset condition; extracting voiceprint information in the voice fragment, matching the voiceprint information with preset candidate voiceprint information, and determining a candidate user corresponding to the voice fragment; determining reference information of candidate users corresponding to the sound segments, and determining a target user from the candidate users corresponding to the sound segments according to the reference information of the candidate users corresponding to the sound segments; and determining the cleaning requirement corresponding to the target user as the cleaning requirement of the user.
Specifically, extracting the voiceprint information of the sound clip can be realized by a voiceprint feature extraction technology. Wherein the voiceprint information specifically refers to voiceprint characteristics; the voiceprint feature extraction technology is the prior art, and the voiceprint feature extraction principle is not described in detail in the embodiment of the invention.
It should be noted that matching the voiceprint information corresponding to the sound clip with the preset candidate voiceprint information to determine the candidate user corresponding to the sound clip specifically means: and matching the voiceprint information with a plurality of preset candidate voiceprint information so as to judge which one of the pre-stored users corresponding to the plurality of preset candidate voiceprint information corresponds to the user corresponding to the voice clip, and further determining the user corresponding to the voice clip. And if the user corresponding to the voice clip is not a pre-stored user corresponding to each of the plurality of preset candidate voiceprint information, the sweeping robot does not perform sweeping work.
Specifically, there are a plurality of pieces of preset candidate voiceprint information, and in order to ensure accuracy of the recognition result, optionally, the preset candidate voiceprint information is determined by performing voiceprint feature extraction on a voice signal corresponding to a preset cleaning instruction, where each pre-stored user corresponds to one or more pieces of preset candidate voiceprint information.
It should be further noted that, for each pre-stored user, a cleaning requirement is set by the pre-stored user, in other words, a corresponding relationship between the pre-stored user and the cleaning requirement exists, and based on the corresponding relationship, the cleaning requirement of the candidate user corresponding to the sound clip can be determined.
As a possible case, when there is only one sound segment, it is only necessary to determine the cleaning requirement of the candidate user corresponding to the sound segment as the cleaning requirement of the user.
As another possible situation, when there are a plurality of sound segments, the reference information of the candidate users corresponding to the plurality of sound segments is determined, the reference information of the candidate users is comprehensively considered, the target user is determined from the candidate users, and the cleaning requirement corresponding to the target user is determined as the cleaning requirement of the user, so that the cleaning requirement of the user can meet the cleaning requirements of most users, and the user experience is improved.
Specifically, each sound clip corresponds to a candidate user, and the candidate users may be the same, different, or partially the same. For example, if there are N sound segments, there are N candidate users, and the N candidate users may be the same, may be completely different, or may be partially the same. Alternatively, only the reference information corresponding to the different candidate users may be determined.
Specifically, the reference information includes, but is not limited to, a priority level, a starting time point at which a preset cleaning instruction is issued, and a preset cleaning instruction repetition number, where the priority level indicates a priority level of the candidate user, the starting time point at which the preset cleaning instruction is issued indicates a starting time point at which the candidate user issues the preset cleaning instruction, if the candidate user issues a plurality of preset cleaning instructions, each preset cleaning instruction corresponds to one starting time point, and the preset cleaning instruction repetition number indicates a number of times that the preset cleaning instruction is said by the same candidate user, for example, when one user says 4 times of cleaning, the preset cleaning instruction repetition number is 4 times. Specifically, the target user may be a candidate user with the highest priority, may also be a candidate user with the largest number of times of repetition of the preset cleaning instruction, and may also be a candidate user with the starting time point of sending the preset cleaning instruction closest to the current time, so as to ensure user experience.
And 104, determining a cleaning mode corresponding to the cleaning path according to the cleaning requirement of the user, and cleaning according to the cleaning mode corresponding to the cleaning path.
In the embodiment of the invention, the cleaning mode is determined according to the cleaning requirement of the user, and then cleaning is carried out according to the cleaning mode and the cleaning path, so that different users can clean rooms by adopting different cleaning modes, the cleaning modes of the sweeping robot are enriched, different cleaning requirements are met, and the cleaning process is more intelligent.
Specifically, the cleaning mode is determined based on the cleaning speed and the cleaning intensity, and here, the cleaning robot can flexibly change the cleaning speed and the cleaning intensity, so that a plurality of cleaning modes are obtained, the cleaning requirements of different users are met, and the user experience is improved. A plurality of cleaning modes can also be preset for the sweeping robot, and each cleaning mode is provided with cleaning speed and cleaning intensity, for example, the cleaning mode can be normal cleaning, quick cleaning, standard cleaning, soft cleaning, power-saving cleaning, powerful cleaning, deep cleaning and the like, and can be determined by combining actual conditions.
In order to ensure the cleaning effect, in the embodiment of the present invention, the cleaning may be specifically performed by the following method:
acquiring a ground image in a cleaning process along a cleaning path in real time; determining the corresponding cleanness degree of a ground area in the ground image according to the image recognition result of the ground image, wherein the ground area is intersected with the cleaning path; determining a cleaning mode corresponding to a cleaning path in the ground area according to the cleaning degree corresponding to the ground area and the cleaning requirement of a user; cleaning is performed according to the cleaning path and the corresponding cleaning pattern in the ground area.
It should be noted that the embodiment of the present invention is applicable to a scene in which different ground areas are cleaned in different manners or a scene in which a user has a high requirement on the cleanness of the ground, for example, a dirty area is cleaned and a cleaner ground is not cleaned, or a dirty area is cleaned strongly and a cleaner ground is cleaned softly.
As a possible situation, when the cleaning path is determined based on the historical cleaning path and/or the historical movement track corresponding to the movable object, the ground image may be obtained in real time based on an environment sensing sensor on the sweeping robot, and when the environment sensing sensor includes a vision sensor, the ground image may be a two-dimensional image or a three-dimensional image, which is not specifically limited in this embodiment of the present invention.
As another possible case, when the sweeping path is determined based on a real-time map, the ground image may be selectively determined from the real-time map, and in this case, the ground image is a three-dimensional image.
Specifically, by presetting a mapping relationship between the cleaning degree and the cleaning mode, a preset relationship between the cleaning degree and the cleaning mode corresponding to each pre-stored user is obtained, the mapping relationship indicates the cleaning mode corresponding to different cleaning degrees, the preset relationship corresponding to each pre-stored user may be the same or different, the specific division of the cleaning degree and the setting of the cleaning mode need to be combined with an actual scene, and the cleaning mode that can be realized by the cleaning robot is determined, for example, the cleaning degree may include a1, a2, A3, a4, and a5, the cleaning speed-cleaning intensity corresponding to the user a in turn may be V1-I1, V2-I2, V3-I3, V4-I4, and V5-I5, and the cleaning speed-cleaning intensity corresponding to the user B in turn may be V1-I2, V3542, a cleaning speed-I3, and a cleaning, V2-I3, V3-I4, V4-I5 and V5-I6, wherein V1 to V5 represent different cleaning speeds, and I1 to I6 represent different cleaning intensities. In particular, the degree of cleanliness may be designated by a number or a letter, thereby facilitating data processing. The cleaning speed and the cleaning intensity may be represented by specific numerical values.
It should be noted that there may be a plurality of floor areas, each of which has a similar clean degree and is formed by a closed line, where the closed line intersects with the cleaning path, and the floor areas outside the cleaning path do not need to be processed, but only the floor on the cleaning path needs to be processed, and the floors with similar clean degrees are gathered together to form the floor area with the floor on the cleaning path as a reference, so as to more quickly identify the clean degree of the floor area.
In the embodiment of the invention, the cleaning effect on the ground and the user experience are ensured by detecting the cleaning degree of the ground in real time and continuously changing the cleaning mode according to the cleaning requirement and the cleaning degree of the user.
It should be noted that, in the embodiment of the present invention, once the cleaning path is planned, it is fixed, and different cleaning effects are achieved by changing the cleaning mode, so that the cleaning path needs to be covered with a full cleaning area as much as possible, and the walking paths are not overlapped, so that obstacles can be avoided, and meanwhile, the distance between adjacent paths is as small as possible on the premise of ensuring the cleaning effect, so as to ensure the cleaning effect and user experience.
According to the technical scheme, the beneficial effects of the embodiment are as follows: the voice signal who gathers through pronunciation collection system to ensure can in time catch user's speech content, when the user needs to clean, the route is cleaned in the direct definite determination, then, based on carry out speaker discernment to voice signal and clean the demand in order to confirm the user, clean the demand through the user and confirm the mode of cleaning, and clean according to cleaning the route and cleaning the mode, thereby satisfy different user's difference and clean the demand, the mode of cleaning of robot of sweeping the floor has been richened, user experience has been improved and the intellectuality of cleaning the process.
Fig. 1 shows only a basic embodiment of the method of the present invention, and based on this, certain optimization and expansion can be performed, and other preferred embodiments of the method can also be obtained.
To more clearly illustrate the technical solution of the present invention, referring to fig. 2, an embodiment of the present invention provides another cleaning method for a cleaning robot, and the present embodiment is further described with reference to specific application scenarios on the basis of the foregoing embodiment, where the specific scenarios are as follows: the chapter "please clean a room", the Liu ' e "please clean a room", the chapter and the Li's are family members, the house has 4 rooms, respectively A1, A2, A3 and A4, the chapter and the Li's are couples, and live in the room A1. In this embodiment, the method may specifically include the following steps:
Supposing that the semantic voice acquisition device is arranged on the sweeping robot, the semantic voice acquisition device acquires sound signals generated when a chapter and a Liu speak, and carries out semantic recognition on the sound signals, wherein the obtained semantic content corresponding to the sound signals is as follows: please clean a certain room.
Detecting the semantic content, judging to obtain a preset cleaning instruction that the semantic content comprises 'cleaning', and assuming that a sweeping robot is provided with an RGB camera and a structured light sensor, at this time, obtaining an empty room three-dimensional map formed by 4 rooms A1-A4, then obtaining an indoor image collected by the RGB camera and an indoor depth image collected by the structured light sensor, wherein the indoor image and the indoor depth image are corresponding, in other words, the indoor depth image comprises depth information corresponding to the indoor image, then performing three-dimensional reconstruction based on the depth image and the indoor image to obtain a three-dimensional image, performing image recognition on the three-dimensional map to obtain position information and semantic information of a target object in the three-dimensional map, based on the position information and the semantic information, fusing the three-dimensional image into the empty room three-dimensional map to obtain a real-time map with semantics, wherein the semantic content comprises a designated cleaning area, that is, a room a1 in chapter, assuming that the sweeping robot is in the room a2, the planned cleaning path includes a motion path of the sweeping robot moving from the current position to the room a1 in chapter and a cleaning path of the room a1 in chapter.
Assume that the preset purge command includes: cleaning, two cleaning are contained in the semantic content, namely two preset cleaning instructions, each preset cleaning instruction corresponds to one sound fragment and two sound fragments in total, then, according to a preset voiceprint database comprising voiceprint information of a chapter and a bang, voiceprint recognition is carried out on the sound fragments, candidate users corresponding to each sound fragment respectively are determined, and the candidate users are as follows: chapter and Liu.
Assuming that the reference information is the priority and a certain priority of the chapter is higher than that of the Liu, determining a certain cleaning requirement of the chapter as a user cleaning requirement, and assuming that a certain cleaning requirement of the chapter is high and a certain cleaning requirement of the Liu is low, determining that the user cleaning requirement is high.
The method comprises the steps of acquiring a ground image in an A1 room acquired by an RGB camera, identifying the ground image, determining the respective corresponding cleanliness degrees of a plurality of ground areas in the ground image, and forming the intersection of a closed line of the ground area and a cleaning path, so that the soil condition of the ground corresponding to the cleaning path is known, and a plurality of pixel values of each ground area corresponding to the ground image are close, in other words, are within a reasonable numerical range.
Step 207, determining a cleaning mode corresponding to a cleaning path in the ground area according to the cleaning degree corresponding to the ground area and the cleaning requirement of the user; and cleaning according to the cleaning path in the ground area and the corresponding cleaning mode.
And acquiring the corresponding relation between the corresponding cleanliness degree of the seal and the cleaning mode. Here, different numbers are used to represent different degrees of cleanliness, the larger the number, the higher the degree of cleanliness, assuming that the degree of cleanliness of the floor area is 2, and 2 represents that the degree of cleanliness is very low, that is, the floor surface is very dirty, a cleaning mode corresponding to the degree of cleanliness 2 is selected from the correspondence between the degree of cleanliness corresponding to a chapter and the cleaning mode, and then the room a1 is cleaned according to the cleaning mode along the cleaning path, thereby ensuring the cleaning effect and satisfying the user experience of the chapter.
According to the technical scheme, the beneficial effects of the embodiment are as follows: the voice signal collected by the voice collecting device can ensure that the speaking content of the user can be captured in time, when a user needs to clean, the cleaning path is determined through the constructed real-time map, the reference value of the cleaning path is ensured, then, based on speaker recognition of the voice signal, a user's cleaning needs are determined from a plurality of users to satisfy the cleaning needs of most users, and thereafter, the cleaning mode is determined by detecting the cleanness degree of the ground in real time, so that the mode can be adaptively changed according to the change of the condition of the ground, the cleaning effect is ensured, the user experience is improved, then, the cleaning is carried out according to the cleaning path and the cleaning mode, thereby satisfied the user and cleaned the demand, realized that different users clean the mode with the difference, ensured to clean the effect, richened the mode of cleaning of robot of sweeping the floor, improved user experience and the intellectuality of cleaning the process.
Based on the same concept as the method embodiment of the present invention, referring to fig. 3, an embodiment of the present invention further provides a cleaning device of a cleaning robot, including:
a semantic acquiring module 301, configured to acquire semantic content corresponding to a sound signal acquired by a voice acquisition device;
a path determining module 302, configured to determine a cleaning path when semantic content corresponding to the sound signal meets a preset condition;
a requirement determining module 303, configured to determine a cleaning requirement of the user according to a sound segment of the sound signal corresponding to the semantic content meeting the preset condition;
and a cleaning module 304, configured to determine a cleaning mode corresponding to the cleaning path according to the cleaning requirement of the user, and perform cleaning according to the cleaning mode corresponding to the cleaning path.
In addition, on the basis of the embodiment shown in fig. 3, in the embodiment of the present invention, the requirement determining module 303 includes: the system comprises a segment determining unit, a user identifying unit, a user determining unit and a requirement determining unit; wherein the content of the first and second substances,
the segment determining unit is used for acquiring at least one sound segment from the sound signal, and semantic content corresponding to the sound segment meets the preset condition;
the user identification unit is used for extracting voiceprint information in the voice fragment, matching the voiceprint information with preset candidate voiceprint information and determining a candidate user corresponding to the voice fragment;
the user determining unit is used for determining reference information of candidate users corresponding to the sound segments, and determining target users from the candidate users corresponding to the sound segments according to the reference information of the candidate users corresponding to the sound segments;
and the requirement determining unit is used for determining the cleaning requirement corresponding to the target user as the cleaning requirement of the user.
In an embodiment of the present invention, the cleaning module 304 includes: the cleaning device comprises an image acquisition unit, an image recognition unit, a mode determination unit and a cleaning unit; wherein the content of the first and second substances,
the image acquisition unit is used for acquiring a ground image in the cleaning process along the cleaning path in real time;
the image recognition unit is used for determining the corresponding cleanness degree of a ground area in the ground image according to the result of image recognition on the ground image, and the ground area is intersected with the cleaning path;
the mode determining unit is used for determining a cleaning mode corresponding to a cleaning path in the ground area according to the cleaning degree corresponding to the ground area and the cleaning requirement of the user;
and the cleaning unit is used for cleaning according to the cleaning path in the ground area and the corresponding cleaning mode.
In the embodiment of the present invention, the reference information includes any one or more of a priority, a starting time point at which a preset sweeping instruction is issued, and a number of times of repetition of the preset sweeping instruction.
In this embodiment of the present invention, the path determining module 302 includes: the device comprises an acquisition unit, an image determining unit and a first path determining unit; wherein the content of the first and second substances,
the acquisition unit is used for acquiring an initial three-dimensional map and environmental data acquired by an environmental perception sensor;
the image determining unit is used for determining a three-dimensional image corresponding to the environmental data according to the environmental data acquired by the environmental perception sensor;
the first path determining unit is used for determining a real-time map according to the result of image recognition on the three-dimensional image and the initial three-dimensional map, planning a cleaning path according to the real-time map and determining the cleaning path.
In the embodiment of the invention, the target object in the real-time map carries semantic information.
In the embodiment of the invention, when the semantic content corresponding to the sound signal comprises a designated cleaning area, the cleaning path comprises a motion path moving to the designated cleaning area.
In this embodiment of the present invention, the path determining module 302 includes: a path acquisition unit and a second path determination unit; wherein the content of the first and second substances,
the path acquisition unit is used for acquiring at least one reference sweeping path;
and the second path determining unit is used for determining the cleaning path of the area to be cleaned according to each reference cleaning path.
In an embodiment of the present invention, the at least one reference sweeping path includes a historical sweeping path and/or a historical motion track corresponding to the movable object.
In order to implement the above embodiment, referring to fig. 4, an embodiment of the present invention provides a sweeping robot, including: the cleaning device 403 of the sweeping robot as provided in the second embodiment of the invention, and the voice collecting device 402 and the environmental sensor 401 connected to the cleaning device of the sweeping robot.
Fig. 5 is a schematic structural diagram of an electronic device according to an embodiment of the present invention. On the hardware level, the electronic device includes a processor 501 and a memory 502 storing execution instructions, and optionally includes an internal bus 503 and a network interface 504. The memory 502 may include a memory 5021, such as a Random-access memory (RAM), and may further include a non-volatile memory 5022(non-volatile memory), such as at least 1 disk memory; the processor 501, the network interface 504, and the memory 502 may be connected to each other by an internal bus 503, and the internal bus 503 may be an ISA (Industry Standard Architecture) bus, a PCI (Peripheral Component Interconnect) bus, an EISA (extended Industry Standard Architecture) bus, or the like; the internal bus 503 may be divided into an address bus, a data bus, a control bus, etc., and is indicated by only one double-headed arrow in fig. 5 for convenience of illustration, but does not indicate only one bus or one type of bus. Of course, the electronic device may also include hardware required for other services. When the processor 501 executes execution instructions stored by the memory 502, the processor 501 performs a method in any of the embodiments of the present invention and at least is used to perform the method as shown in fig. 1 or fig. 2.
In a possible implementation manner, the processor reads the corresponding execution instruction from the nonvolatile memory to the memory and then runs the execution instruction, and the corresponding execution instruction can also be obtained from other equipment, so that the cleaning device of the cleaning robot is formed on a logic level. The processor executes the execution instruction stored in the memory, so that the cleaning method of the sweeping robot provided by any embodiment of the invention is realized through the executed execution instruction.
The processor may be an integrated circuit chip having signal processing capabilities. In implementation, the steps of the above method may be performed by integrated logic circuits of hardware in a processor or instructions in the form of software. The Processor may be a general-purpose Processor, including a Central Processing Unit (CPU), a Network Processor (NP), and the like; but also Digital Signal Processors (DSPs), Application Specific Integrated Circuits (ASICs), Field Programmable Gate Arrays (FPGAs) or other Programmable logic devices, discrete Gate or transistor logic devices, discrete hardware components. The various methods, steps and logic blocks disclosed in the embodiments of the present invention may be implemented or performed. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like.
Embodiments of the present invention further provide a computer-readable storage medium, which includes an execution instruction, and when a processor of an electronic device executes the execution instruction, the processor executes a method provided in any one of the embodiments of the present invention. The electronic device may specifically be the electronic device shown in fig. 5; the execution instruction is a computer program corresponding to the cleaning device of the sweeping robot.
It will be appreciated by those skilled in the art that embodiments of the present invention may be provided as a method or computer program product. Accordingly, the present invention may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects.
The embodiments of the present invention are described in a progressive manner, and the same and similar parts among the embodiments can be referred to each other, and each embodiment focuses on the differences from the other embodiments. In particular, as for the apparatus embodiment, since it is substantially similar to the method embodiment, the description is relatively simple, and for the relevant points, reference may be made to the partial description of the method embodiment.
It should also be noted that 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 like elements in a process, method, article, or apparatus that comprises the element.
The above description is only an example of the present invention, and is not intended to limit the present invention. Various modifications and alterations to this invention will become apparent to those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention should be included in the scope of the claims of the present invention.
Claims (10)
1. A sweeping method of a sweeping robot is characterized by comprising the following steps:
obtaining semantic content corresponding to a sound signal collected by a voice collecting device;
when the semantic content corresponding to the sound signal meets a preset condition, determining a cleaning path;
determining a cleaning requirement of a user according to the sound fragment of the sound signal corresponding to the semantic content meeting the preset condition;
and determining a cleaning mode corresponding to the cleaning path according to the cleaning requirement of the user, and cleaning according to the cleaning mode corresponding to the cleaning path.
2. The method according to claim 1, wherein the determining a user cleaning requirement according to the semantic content meeting the preset condition corresponding to the sound segment of the sound signal comprises:
acquiring at least one sound fragment from the sound signal, wherein the semantic content corresponding to the sound fragment meets the preset condition; extracting voiceprint information in the voice fragment, matching the voiceprint information with preset candidate voiceprint information, and determining a candidate user corresponding to the voice fragment;
determining reference information of candidate users corresponding to the sound segments, and determining a target user from the candidate users corresponding to the sound segments according to the reference information of the candidate users corresponding to the sound segments;
and determining the cleaning requirement corresponding to the target user as the cleaning requirement of the user.
3. The method according to claim 2, wherein the reference information comprises any one or more of a priority, a starting time point of issuing a preset sweeping command, and a preset sweeping command repetition number.
4. The method of claim 1, wherein the determining a sweeping path comprises:
acquiring an initial three-dimensional map and environmental data acquired by an environmental perception sensor;
determining a three-dimensional image corresponding to the environmental data according to the environmental data acquired by the environmental perception sensor;
and determining a real-time map according to the result of image recognition on the three-dimensional image and the initial three-dimensional map, and planning a cleaning path according to the real-time map to determine the cleaning path.
5. The method of claim 4, wherein the objects in the real-time map carry semantic information.
6. The method of claim 1, wherein when the semantic content to which the acoustic signal corresponds includes a designated cleaning area, the cleaning path includes a motion path moving to the designated cleaning area.
7. The method of claim 1, wherein the determining a sweeping path comprises:
acquiring at least one reference sweeping path;
and determining the cleaning path of the area to be cleaned according to each reference cleaning path.
8. The method of claim 7, wherein the at least one reference sweeping path comprises a historical sweeping path and/or a historical motion profile corresponding to a movable object.
9. The method according to claim 1, wherein the determining a cleaning mode corresponding to the cleaning path according to the user cleaning demand and performing cleaning according to the cleaning mode corresponding to the cleaning path comprises:
acquiring a ground image in the cleaning process along the cleaning path in real time;
determining the corresponding cleanness degree of a ground area in the ground image according to the result of image recognition on the ground image, wherein the ground area is intersected with the cleaning path;
determining a cleaning mode corresponding to a cleaning path in the ground area according to the cleaning degree corresponding to the ground area and the cleaning requirement of the user;
and cleaning according to the cleaning path in the ground area and the corresponding cleaning mode.
10. The utility model provides a cleaning device of robot sweeps floor which characterized in that includes:
the semantic acquisition module is used for acquiring semantic contents corresponding to the sound signals acquired by the voice acquisition device;
the path determining module is used for determining a cleaning path when the semantic content corresponding to the sound signal meets a preset condition;
the requirement determining module is used for determining a cleaning requirement of a user according to the sound segment of the sound signal corresponding to the semantic content meeting the preset condition;
and the cleaning module is used for determining a cleaning mode corresponding to the cleaning path according to the cleaning requirement of the user and cleaning according to the cleaning mode corresponding to the cleaning path.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010559711.8A CN111743476A (en) | 2020-06-18 | 2020-06-18 | Sweeping method and device of sweeping robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010559711.8A CN111743476A (en) | 2020-06-18 | 2020-06-18 | Sweeping method and device of sweeping robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN111743476A true CN111743476A (en) | 2020-10-09 |
Family
ID=72675499
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202010559711.8A Pending CN111743476A (en) | 2020-06-18 | 2020-06-18 | Sweeping method and device of sweeping robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN111743476A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114176471A (en) * | 2021-11-12 | 2022-03-15 | 深圳市倍思科技有限公司 | Control method of floor washing machine |
| CN115381335A (en) * | 2022-04-26 | 2022-11-25 | 深圳市普森斯科技有限公司 | Path control method, device, equipment and storage medium of sweeping robot |
Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107491070A (en) * | 2017-08-31 | 2017-12-19 | 成都通甲优博科技有限责任公司 | A kind of method for planning path for mobile robot and device |
| CN107808668A (en) * | 2017-09-14 | 2018-03-16 | 成都晓懋科技有限公司 | A kind of control method of smart home |
| CN108231069A (en) * | 2017-08-30 | 2018-06-29 | 深圳乐动机器人有限公司 | Sound control method, Cloud Server, clean robot and its storage medium of clean robot |
| CN109634304A (en) * | 2018-12-13 | 2019-04-16 | 中国科学院自动化研究所南京人工智能芯片创新研究院 | Unmanned plane during flying paths planning method, device and storage medium |
| KR20190095178A (en) * | 2019-03-08 | 2019-08-14 | 엘지전자 주식회사 | Artificial intelligence cleaner and operating method thereof |
| CN110275540A (en) * | 2019-07-01 | 2019-09-24 | 湖南海森格诺信息技术有限公司 | Semantic navigation method and its system for sweeping robot |
| CN110570850A (en) * | 2019-07-30 | 2019-12-13 | 珠海格力电器股份有限公司 | Voice control method, device, computer equipment and storage medium |
| CN111121218A (en) * | 2019-12-18 | 2020-05-08 | 珠海格力电器股份有限公司 | Air conditioner control method based on voiceprint recognition, computer readable storage medium and air conditioner |
| CN111128158A (en) * | 2019-12-17 | 2020-05-08 | 深圳拓邦股份有限公司 | Floor sweeping robot parameter voice setting method and floor sweeping robot |
-
2020
- 2020-06-18 CN CN202010559711.8A patent/CN111743476A/en active Pending
Patent Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108231069A (en) * | 2017-08-30 | 2018-06-29 | 深圳乐动机器人有限公司 | Sound control method, Cloud Server, clean robot and its storage medium of clean robot |
| CN107491070A (en) * | 2017-08-31 | 2017-12-19 | 成都通甲优博科技有限责任公司 | A kind of method for planning path for mobile robot and device |
| CN107808668A (en) * | 2017-09-14 | 2018-03-16 | 成都晓懋科技有限公司 | A kind of control method of smart home |
| CN109634304A (en) * | 2018-12-13 | 2019-04-16 | 中国科学院自动化研究所南京人工智能芯片创新研究院 | Unmanned plane during flying paths planning method, device and storage medium |
| KR20190095178A (en) * | 2019-03-08 | 2019-08-14 | 엘지전자 주식회사 | Artificial intelligence cleaner and operating method thereof |
| CN110275540A (en) * | 2019-07-01 | 2019-09-24 | 湖南海森格诺信息技术有限公司 | Semantic navigation method and its system for sweeping robot |
| CN110570850A (en) * | 2019-07-30 | 2019-12-13 | 珠海格力电器股份有限公司 | Voice control method, device, computer equipment and storage medium |
| CN111128158A (en) * | 2019-12-17 | 2020-05-08 | 深圳拓邦股份有限公司 | Floor sweeping robot parameter voice setting method and floor sweeping robot |
| CN111121218A (en) * | 2019-12-18 | 2020-05-08 | 珠海格力电器股份有限公司 | Air conditioner control method based on voiceprint recognition, computer readable storage medium and air conditioner |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114176471A (en) * | 2021-11-12 | 2022-03-15 | 深圳市倍思科技有限公司 | Control method of floor washing machine |
| CN115381335A (en) * | 2022-04-26 | 2022-11-25 | 深圳市普森斯科技有限公司 | Path control method, device, equipment and storage medium of sweeping robot |
| CN115381335B (en) * | 2022-04-26 | 2024-01-02 | 深圳市普森斯科技有限公司 | Path control method, device and equipment of sweeping robot and storage medium |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| Gan et al. | Look, listen, and act: Towards audio-visual embodied navigation | |
| CN111743462B (en) | Sweeping method and device of sweeping robot | |
| CN111657798B (en) | Cleaning robot control method and device based on scene information and cleaning robot | |
| CN110968083B (en) | Method for constructing grid map, method, device and medium for avoiding obstacles | |
| CN103353935B (en) | A kind of 3D dynamic gesture identification method for intelligent domestic system | |
| CN109003303A (en) | Apparatus control method and device based on voice and space object identification and positioning | |
| WO2021098536A1 (en) | Cleaning method and system employing scene recognition, sweeping device, and storage medium | |
| Majumder et al. | Move2hear: Active audio-visual source separation | |
| CN111743476A (en) | Sweeping method and device of sweeping robot | |
| WO2021008339A1 (en) | Robot, robot-based cleaning method, and computer readable storage medium | |
| CN112180931A (en) | Sweeping path planning method and device of sweeper and readable storage medium | |
| CN112075879A (en) | Information processing method, device and storage medium | |
| CN110623601A (en) | Ground material identification method and device, sweeping robot and storage medium | |
| CN112056993A (en) | Cleaning method, cleaning device, electronic equipment and computer-readable storage medium | |
| CN111643017B (en) | Cleaning robot control method and device based on schedule information and cleaning robot | |
| JP6713057B2 (en) | Mobile body control device and mobile body control program | |
| CN113787517B (en) | Self-moving robot control method, device, equipment and readable storage medium | |
| CN111743463A (en) | Cleaning method and device for target object, readable medium and electronic equipment | |
| CN111678522A (en) | Cleaning method and device for target object, readable medium and electronic equipment | |
| WO2023115658A1 (en) | Intelligent obstacle avoidance method and apparatus | |
| JP7224592B2 (en) | Information processing device, information processing method, and program | |
| CN115147637A (en) | Real-time semantic map generation method and device based on robot | |
| CN113367616A (en) | Robot control method, robot control device, robot, and storage medium | |
| EP4390599A1 (en) | Self-moving robot control method and apparatus, device, and readable storage medium | |
| Zhong et al. | Bridging the Gap between Robotic Applications and Computational Intelligence in Domestic Robotics |
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 |
Application publication date: 20201009 |
|
| RJ01 | Rejection of invention patent application after publication |