CN111820822A - Sweeping robot, illuminating method thereof and computer readable storage medium - Google Patents
Sweeping robot, illuminating method thereof and computer readable storage medium Download PDFInfo
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- CN111820822A CN111820822A CN202010756797.3A CN202010756797A CN111820822A CN 111820822 A CN111820822 A CN 111820822A CN 202010756797 A CN202010756797 A CN 202010756797A CN 111820822 A CN111820822 A CN 111820822A
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/24—Floor-sweeping machines, motor-driven
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
- A47L11/4002—Installations of electric equipment
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
- A47L11/4011—Regulation of the cleaning machine by electric means; Control systems and remote control systems therefor
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Abstract
The invention discloses a lighting method of a sweeping robot, which comprises the following steps: acquiring heat source information detected by an infrared detection module; and if the target heat source is identified according to the heat source information, turning on a lamp to illuminate the target heat source. The invention also discloses a sweeping robot and a computer readable storage medium. The infrared detection module is used for detecting the heat source information, so that when a target heat source is identified, the lamp is turned on to illuminate the target heat source, potential safety hazards caused when the target heat source moves in a dark scene without a light source are avoided, and the moving safety of the target heat source is improved.
Description
Technical Field
The invention relates to the technical field of intelligent control, in particular to a sweeping robot lighting method, a sweeping robot and a computer readable storage medium.
Background
After the lamp is turned off at night or in a dark place, when a user wants to move from one place to another place, if the lamp is turned on for illumination, the light is dazzled because the vision is suddenly turned from dark to bright. Thus, people do not usually choose to turn on the light when moving without lighting at night. However, the lamp is not turned on, and the lamp is easy to collide or kick to an obstacle, and the like, so that potential safety hazards exist. Namely, there is a safety hazard when the user moves in a dark scene without a light source.
Disclosure of Invention
The invention mainly aims to provide a sweeping robot lighting method, a sweeping robot and a computer readable storage medium, and aims to solve the problem that potential safety hazards exist when a user moves in a dark scene without a light source in the prior art.
In order to achieve the above object, the present invention provides a lighting method for a cleaning robot, comprising the following steps:
acquiring heat source information detected by an infrared detection module;
and if the target heat source is identified according to the heat source information, turning on a lamp to illuminate the target heat source.
Optionally, the sweeping robot follows or directs the target heat source to move.
Optionally, the sweeping robot moves according to a preset route.
Optionally, the target heat source is a human.
Optionally, the infrared detection module detects heat source information of a horizontal plane where the infrared detection module is located, and if the target heat source is identified as a human body according to the detected heat source information, the lamp is turned on to illuminate the moving target heat source.
Optionally, the step of illuminating the target heat source comprises:
acquiring the distance between the sweeping robot and the target heat source detected by the infrared detection module;
and if the distance is greater than the preset distance, the sweeping robot moves towards the target heat source.
Optionally, the step of illuminating the target heat source comprises:
and acquiring the moving speed of the target heat source detected by the infrared detection module, wherein the sweeping robot moves by matching with the corresponding moving speed.
Optionally, the step of illuminating the target heat source comprises:
acquiring position information or angle information of the target heat source detected by an infrared detection module;
and determining the moving direction of the sweeping robot according to the position information or the angle information, wherein the sweeping robot moves to the target heat source.
Optionally, after the step of illuminating the target heat source, the method further includes:
if the target heat source cannot be detected, judging whether the target heat source is detected within a preset time period;
if not, the sweeping robot turns off the lamp.
Optionally, after the step of illuminating the target heat source, the method further includes:
and judging whether the target heat source returns to the initial area or not, and if so, moving the sweeping robot to a preset area or a charging area.
In addition, in order to achieve the above object, the present invention further provides a sweeping robot, where the sweeping robot includes a memory, a processor, and a sweeping robot lighting program stored on the processor and capable of running on the processor, and the processor implements the steps of the sweeping robot lighting method when executing the sweeping robot lighting program.
In addition, to achieve the above object, the present invention further provides a computer readable storage medium, which stores a sweeping robot lighting program, and when the sweeping robot lighting program is executed by a processor, the steps of the sweeping robot lighting method as described above are implemented.
According to the embodiment of the invention, the heat source information detected by the infrared detection module is obtained, and the lamp is turned on to illuminate the target heat source when the target heat source is identified according to the heat source information. Namely, the sweeping robot turns on the lamp for illumination, so that the situation that a target heat source is easily caught by or collides with an obstacle when moving in dark scenes such as no light source and the like to cause potential safety hazards is avoided, and the moving safety of the target heat source is improved.
Drawings
Fig. 1 is a schematic structural diagram of a sweeping robot in a hardware operating environment according to an embodiment of the present invention;
fig. 2 is a schematic flow chart of a first embodiment of the lighting method of the cleaning robot of the invention;
fig. 3 is a schematic flow chart of a lighting method of the cleaning robot according to a second embodiment of the invention;
fig. 4 is a schematic flow chart of a third embodiment of the illumination method of the cleaning robot of the invention;
fig. 5 is a schematic flow chart of a fourth embodiment of the lighting method of the cleaning robot of the present invention.
The implementation, functional features and advantages of the objects of the present invention will be further explained with reference to the accompanying drawings.
Detailed Description
It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
The main solution of the invention is: acquiring heat source information detected by an infrared detection module; and if the target heat source is identified according to the heat source information, turning on a lamp to illuminate the target heat source.
The target heat source is a user, namely a human, and of course, other objects or animals capable of being detected by the infrared detection module may also be used.
At present, when a user moves in dark scenes such as no light source and the like, the user can only be illuminated by turning on a night lamp. However, the user usually chooses not to turn on the night light because the light is dazzling when the light is turned on at night, so that the user is easy to hit foreign matters and the like in the moving process and has potential safety hazards. Therefore, the invention provides a floor sweeping robot lighting method, a floor sweeping robot and a computer readable storage medium, wherein by obtaining heat source information detected by an infrared detection module, if a target heat source is identified according to the heat source information, a lamp is turned on to light the target heat source. When a target heat source is identified, the sweeping robot is used for starting the lamp to illuminate the target heat source, so that a user can safely move under the night scenes such as no light source and the like and the illumination of the sweeping robot, the potential safety hazard caused by the existence of obstacles in the moving process is avoided, and the moving safety of the target heat source under the dark scenes such as no light source and the like is improved.
Referring to fig. 1, fig. 1 is a schematic structural diagram of a sweeping robot in a hardware operating environment according to an embodiment of the present invention.
As shown in fig. 1, the sweeping robot may include: a communication bus 1002, a processor 1001, such as a CPU, a user interface 1003, a network interface 1004, and a memory 1005. Wherein a communication bus 1002 is used to enable connective communication between these components. The user interface 1003 may include a Display screen (Display), an input unit such as a Keyboard (Keyboard), and the optional user interface 1003 may also include a standard wired interface, a wireless interface. The network interface 1004 may optionally include a standard wired interface, a wireless interface (e.g., WI-FI interface). The memory 1005 may be a high-speed RAM memory or a non-volatile memory (e.g., a magnetic disk memory). The memory 1005 may alternatively be a storage device separate from the processor 1001.
It will be appreciated by those skilled in the art that the sweeping robot configuration shown in figure 1 does not constitute a limitation of the sweeping robot and may include more or fewer components than shown, or some components in combination, or a different arrangement of components.
In the cleaning robot shown in fig. 1, the network interface 1004 is mainly used for connecting to a background server and performing data communication with the background server; the user interface 1003 is mainly used for connecting a client (user side) and performing data communication with the client; and the processor 1001 may be configured to call the sweeping robot lighting program stored in the memory 1005, and perform the following operations:
acquiring heat source information detected by an infrared detection module;
and if the target heat source is identified according to the heat source information, turning on a lamp to illuminate the target heat source.
Alternatively, the processor 1001 may call the sweeping robot lighting program stored in the memory 1005, and further perform the following operations:
the sweeping robot follows or guides the target heat source to move.
Alternatively, the processor 1001 may call the sweeping robot lighting program stored in the memory 1005, and further perform the following operations:
the sweeping robot moves according to a preset route.
Alternatively, the target heat source is a human, and the processor 1001 calls the lighting program of the sweeping robot stored in the memory 1005 and performs the following operations:
the infrared detection module detects heat source information of a horizontal plane where the infrared detection module is located, and if the target heat source is identified to be a human body according to the detected heat source information, the lamp is turned on to illuminate the moving target heat source.
Alternatively, the processor 1001 may call the sweeping robot lighting program stored in the memory 1005, and further perform the following operations:
the step of illuminating the target heat source comprises:
acquiring the distance between the sweeping robot and the target heat source detected by the infrared detection module;
and if the distance is greater than the preset distance, the sweeping robot moves towards the target heat source.
Alternatively, the processor 1001 may call the sweeping robot lighting program stored in the memory 1005, and further perform the following operations:
the step of illuminating the target heat source comprises:
and acquiring the moving speed of the target heat source detected by the infrared detection module, wherein the sweeping robot moves by matching with the corresponding moving speed.
Alternatively, the processor 1001 may call the sweeping robot lighting program stored in the memory 1005, and further perform the following operations:
the step of illuminating the target heat source comprises:
acquiring position information or angle information of the target heat source detected by an infrared detection module;
and determining the moving direction of the sweeping robot according to the position information or the angle information, wherein the sweeping robot moves to the target heat source.
Optionally, after the step of illuminating the target heat source, the processor 1001 may call the lighting program of the sweeping robot stored in the memory 1005, and further perform the following operations:
if the target heat source cannot be detected, judging whether the target heat source is detected within a preset time period;
if not, the sweeping robot turns off the lamp.
Optionally, after the step of illuminating the target heat source, the processor 1001 may call the lighting program of the sweeping robot stored in the memory 1005, and further perform the following operations:
and judging whether the target heat source returns to the initial area or not, and if so, moving the sweeping robot to a preset area or a charging area.
Referring to fig. 2, fig. 2 is a flowchart of a lighting method of a sweeping robot according to a first embodiment of the present invention, in this embodiment, the lighting method of the sweeping robot includes the following steps:
step S10: acquiring heat source information detected by an infrared detection module;
in this embodiment, in order to illuminate the target heat source in a dark scene such as a light-free source, it is necessary to determine whether the target heat source exists in the detection area and whether the target heat source is in a moving state. Only when a target heat source exists in the detection area and the target heat source is in a moving state, the sweeping robot can turn on the lamp to illuminate the target heat source, so that potential safety hazards caused by the fact that the target heat source moves under the dark condition without the light source are avoided; when the target heat source does not exist in the detection area or exists in the detection area but is in a static state (or a small-range active state, such as sleeping), the user is not required to be illuminated temporarily, and the standby state is maintained.
In order to determine whether a human body exists in the detection area and whether the human body is in a moving state, the floor sweeping robot is provided with an infrared detection module, and the infrared detection module can comprise sensors such as an infrared thermopile sensor and the like which can be used for detecting heat source information in the detection area. The heat source information may include heat radiation information of the heat source, status information of the heat source, and the like. Wherein whether a heat source exists in the detection area may be determined based on the heat radiation information, and whether a heat source movement exists in the detection area may be determined based on the state information.
Therefore, the sweeping robot can firstly acquire the heat source information detected by the infrared detection module and then identify whether a target heat source exists in the detection area according to the heat source information. On this basis, the step of identifying whether the target heat source exists in the detection area according to the heat source information may be: firstly, judging whether heat source movement exists in a detection area or not according to heat radiation information in the heat source information; and when the heat source moves in the detection area, determining whether the heat source is a target heat source based on the heat source intensity of the heat source. The manner of determining whether the heat source is a target heat source according to the heat source intensity may be: the method comprises the steps of collecting heat source intensity information of a target heat source in advance, comparing the heat source intensity of a moving heat source in a detection area with the pre-collected heat source intensity information, and if the heat source intensity of the moving heat source is consistent with the pre-collected heat source intensity information in a certain range, determining the heat source in the detection area as the target heat source; the heat source having the highest heat source intensity among the heat sources moving in the detection area may be used as the target heat source, and the like, depending on the specific application scenario. In this embodiment, the target heat source is especially a person, and therefore, when the infrared detection module detects the heat source information of the horizontal plane where the infrared detection module is located, if the target heat source is identified as a human body according to the detected heat source information, the sweeping robot turns on a lamp to illuminate the moving target heat source (i.e., the person); of course, in other application scenarios, the method may also be applied to other creatures (such as kittens) and the like, in which the infrared detection module can detect heat source information, and different application scenarios may correspond to different target heat source determination conditions. The detection area is particularly a detectable area of the infrared detection module, and can be specifically determined according to a detectable range of the infrared detection module.
Step S20: and if the target heat source is identified according to the heat source information, turning on a lamp to illuminate the target heat source.
In addition, in order to illuminate the user in dark scenes such as a light source-free scene, the sweeping robot is further provided with a lamp, and when the target heat source is identified in the detection area, the lamp is turned on to illuminate the target heat source. In order to avoid that the light source with high brightness (light source intensity) is directly turned on in a dark scene without a light source, and thus the eyes are easily punctured, the lamp is preferably illuminated by a dark light source with low brightness. Of course, the lamp may be a light source with adjustable brightness, which can be changed according to the change of the ambient light, so as to adapt to different application environments. Therefore, when a target heat source is identified according to the heat source information, the sweeping robot can turn on a lamp to illuminate the target heat source. The sweeping robot has the characteristic of mobility, and can move along with a target heat source in real time while turning on a lamp, so that the sweeping robot is not limited by distance in the process of illuminating the target heat source; or, the target heat source is guided to move in real time, so that the target heat source is guided to a target position where the target heat source is expected to arrive, and the situation that the target heat source falls down or collides under the condition of unfamiliar road conditions and the potential safety hazard exists, or the situation that the target heat source is easy to go wrong under the condition of unfamiliar routes and the like, which influences the moving efficiency and the reliability of the target heat source, is avoided.
In an embodiment, in order to avoid the above situation, the sweeping robot may move along a preset route while turning on the light, so as to guide or follow the target heat source to move, so as to illuminate the target heat source. Specifically, the preset route may be: and guiding the preset route of the target heat source to move along with the preset route of the target heat source, or moving to a preset area or a preset route of a charging area after following or guiding the target heat source to a target position. On one hand, if the sweeping robot moves along with the target heat source, the relative position information of the target heat source and the sweeping robot can be detected in real time through the infrared detection module, a following path is planned according to the target heat source and the relative position information, the planned following path is taken as a preset path, the planned following path moves along with the target heat source according to the preset path, and a lamp is kept on in the process of moving along with the target heat source, so that the aim of illuminating the target heat source is fulfilled; on the other hand, if the sweeping robot guides the target heat source to move, an application environment map (including an indoor floor map, a home furnishing map and the like) can be stored for the sweeping robot in advance, the target heat source only needs to perform voice interaction with the sweeping robot to determine a desired target position, the sweeping robot can automatically plan a path based on the stored environment map and the determined target position, the planned path is used as a preset path, the target heat source can be guided to the target position according to the preset path, and a lamp is kept in an on state in the process of guiding the target heat source to the target position so as to illuminate the target heat source. Certainly, in the process of guiding the movement of the target heat source, the sweeping robot can also automatically match target positions corresponding to different times according to historical use information of the user, plan corresponding preset routes for the different target positions, and then guide the target heat source to the corresponding target positions according to the planned preset routes at different times.
In yet another aspect, after following or directing the target heat source to the target location, there are two cases: the first is that the target heat source stays at the target position, and the second is that the target heat source returns to the start area. Thus, the preset area may be a preset first preset area corresponding to the target position where the sweeping robot can stop, a preset second preset area corresponding to the start area where the sweeping robot can stop, or a preset third preset area (non-charging area) not associated with any target position. Accordingly, the preset route may be a moving route moving to a first preset area, a moving route moving to a second preset area, a moving route moving to a third preset area, or a moving route corresponding to a charging area. The preset area is particularly suitable for the area where the sweeping robot stays, can be pre-designated, and can also be determined by the sweeping robot through environment recognition, so that the infrared detection module can conveniently acquire heat source information, and the stay area of the pillar aisle cannot be generated. Therefore, before moving to a preset area or a charging area, whether the target heat source returns to the starting area is judged. (1) If the target heat source returns to the initial area, the sweeping robot can move to a second preset area from the current position according to a second preset route and continuously keep a standby state; (2) when the target heat source stays at the target position, the sweeping robot can move from the current position to the first preset area according to the first preset route, and keeps a standby state after reaching the first preset area. Of course, no matter what kind of circumstances, the robot of sweeping the floor all can be according to self electric quantity condition selection whether return to fill electric pile or move to third preset area. Specifically, different electric quantity thresholds can be set under different conditions, and the different electric quantity thresholds can be determined according to the distance between the current position of the sweeping robot and the position of the charging area, the current electric quantity condition of the sweeping robot and the like. Namely, the electric quantity loss of the sweeping robot moving from the current position to the charging area or the third preset area can be calculated according to the distance between the current position of the sweeping robot and the charging area or the third preset area, and then whether the condition of reaching the charging area is met or not is determined by combining the current electric quantity condition of the sweeping robot. When the condition of reaching the charging area is met, returning to the charging area or a third preset area according to a preset route corresponding to the charging area; when the condition of reaching the charging area is not met, the mobile terminal can directly move to a preset area corresponding to the target heat source stop position for standby and the like.
Further, if the target heat source is not identified from the heat source information, there is a possibility that: if the target heat source does not exist in the detection area or is in a static state, the sweeping robot can continuously keep a standby state and acquire heat source information detected by the infrared detection module; and if the target heat source moves out of the detection area to the non-detection area and reaches the preset time, or the target heat source is converted from a moving state to a static state in the detection area and reaches the preset time, turning off the lamp.
In this embodiment, by obtaining heat source information detected by the infrared detection module, if it is determined that a target heat source moves according to the heat source information, the lamp is turned on to illuminate the target heat source. Namely, the sweeping robot turns on the lamp to illuminate the target heat source, so that the potential safety hazard problems of collision and the like when the target heat source moves in dark scenes without light sources and the like are avoided, and the moving safety of the target heat source is improved.
Referring to fig. 3, fig. 3 is a flowchart illustrating a lighting method of a cleaning robot according to a second embodiment of the present invention. A second embodiment of the lighting method of the sweeping robot is provided based on the first embodiment. In this embodiment, the lighting method of the cleaning robot includes the following steps:
step S11: acquiring heat source information detected by an infrared detection module;
step S12: if a target heat source is identified according to the heat source information, a lamp is started, and the distance between the sweeping robot and the target heat source detected by the infrared detection module is obtained;
step S13: and if the distance is greater than the preset distance, the sweeping robot moves towards the target heat source.
In this embodiment, when heat source information detected by the infrared detection module is acquired and a target heat source is identified according to the heat source information, in order to illuminate the target heat source, the sweeping robot needs to acquire a distance between the sweeping robot and the target heat source detected by the infrared detection module while turning on a lamp. When the distance between the sweeping robot and the target heat source is larger than the preset distance, the sweeping robot can move towards the target heat source, and when the distance between the sweeping robot and the target heat source is smaller than or equal to the preset distance, the sweeping robot can guide the target heat source to move forwards in front, so that the situation that the target heat source cannot follow the sweeping robot in time when the sweeping robot is in a guide mode due to the fact that the distance is too large or the sweeping robot is easy to collide with the target heat source when the distance is too small is avoided. That is, the robot of sweeping the floor can possess two kinds of modes of removal, one kind is the mode of following, one kind is the guide mode, and what kind of mode specifically adopts can be according to the robot of sweeping the floor with the distance of target heat source is confirmed with the result of comparison of preset distance, specifically can be based on initial distance when infrared detection module detects heat source information and the result of comparison of preset distance confirms etc.. At this moment, the infrared detection module can include distance measurement elements such as infrared distance sensors which can be used for distance detection between a target heat source and the sweeping robot besides the infrared thermopile sensors for detecting heat source information, wherein the infrared thermopile sensors can be installed at the top of the sweeping robot, and the infrared distance sensors can be installed at the bottom of the sweeping robot to avoid mutual interference between the infrared thermopile sensors and the sweeping robot. Of course, the infrared distance sensor may be installed at the top of the sweeping robot, and the infrared thermopile sensor may be installed at the bottom of the sweeping robot, and may be set according to a specific application scenario; the preset distance can be determined according to the moving speed of the sweeping robot, the moving speed of the target heat source, the inertia parameter of the sweeping robot and the like, and is not particularly limited herein. In an embodiment, the infrared detection module may further include a speed measurement element, such as an infrared speed measurement sensor, which is used to detect the moving speed of the target heat source. Therefore, after the sweeping robot acquires the moving speed of the target heat source detected by the infrared detection module, the moving robot can move by matching the moving speed of the target heat source, so that the distance between the target heat source and the sweeping robot is always kept at the preset distance in the moving process.
In an embodiment, after it is determined that the sweeping robot moves towards the target heat source in the following mode, although the sweeping robot may move towards the target heat source according to the moving speed of the target heat source in the moving process, when special situations such as corners or obstacles are encountered, the distance between the sweeping robot and the target heat source may still be inconsistent with the preset distance. At this time, if the distance between the target heat source and the sweeping robot is too far, the sweeping robot can move to the target heat source in an accelerated manner, and the situation that the target heat source cannot be effectively illuminated due to the fact that the sweeping robot loses the target heat source and the like due to the fact that the distance between the sweeping robot and the target heat source is too far is avoided; when the distance between the target heat source and the sweeping robot is too close, the sweeping robot can move towards the target heat source in a decelerating mode, the situations that the sweeping robot collides with the target heat source due to too close distance are avoided, and safety in the moving process cannot be guaranteed. That is, in the process that the sweeping robot moves towards the target heat source, a safe moving distance needs to be kept between the sweeping robot and the target heat source, so that not only can illumination for the target heat source be ensured, but also collision with the target heat source due to inertia and the like can be avoided, the safe moving distance can be determined according to performance parameters of the sweeping robot, the moving average speed of the target heat source and the like, certainly, the safe moving distance can also be set in a self-defined manner according to specific application requirements, and no specific limitation is made here.
In one embodiment, in order to keep the distance between the sweeping robot and the target heat source at the safe moving distance, the moving speed of the sweeping robot needs to be adjusted in real time according to the distance between the sweeping robot and the target heat source. The moving speed of the sweeping robot to be adjusted can be as follows: when the acquired distance is greater than the safe moving distance, the target heat source is moved in an accelerated mode, when the acquired distance is smaller than the safe moving distance, the target heat source is moved in a decelerated mode or is suspended for a period of time until the acquired distance is consistent with the safe moving distance, and then the target heat source is moved at a moving speed matched with the target heat source; the mapping relationship between the distance ranges of different distances and the moving speed can also be preset, and the moving speed and the like corresponding to the current distance can be directly searched from the mapping relationship based on the distance range of the current distance.
In a specific embodiment, the moving speed of the sweeping robot can be determined according to the difference between the distance and the safe moving distance. Specifically, a plurality of difference ranges may be divided in advance for the difference between the distance and the safe moving distance, and corresponding moving speeds may be set for the different difference ranges. Therefore, after calculating the difference value between the distance and the safe moving distance, the moving speed of the sweeping robot can be directly determined. For example, three difference ranges are pre-divided, the first difference range is a difference range smaller than zero (e.g., smaller than-20 cm), the second difference range is a difference range close to zero (e.g., ± 20cm), the third difference range is a difference range larger than zero (e.g., + 20cm), and a corresponding movement speed is set for each divided difference range, e.g., a first movement speed (e.g., 0.1m/s) is set for the first difference range, a second movement speed (e.g., 0.3m/s) is set for the second difference range, and a third movement speed (e.g., 0.5m/s) is set for the third difference range. That is, when the difference is within a first difference range, the speed of the sweeping robot can be determined to be a first moving speed; when the difference is in a second difference range, the speed of the sweeping robot can be determined to be a second moving speed; when the difference is in a third difference range, the speed of the sweeping robot can be determined to be a third moving speed. Of course, it may be noneSetting corresponding acceleration for the same difference range, e.g. setting a first acceleration for a first difference range (e.g. 0.1m/s)2) Setting a second acceleration (e.g., 0.3m/s) for a second range of difference values2) Setting a third acceleration (e.g., 0.5m/s) for a third difference range2) Then, the moving speed of the sweeping robot can be determined based on the difference value and the set acceleration. Wherein the first difference range is less than the second difference range, which is less than the third difference range; the first moving speed is less than the second moving speed, and the second moving speed is less than the third moving speed; the first acceleration is less than the second acceleration, which is less than the third acceleration.
In addition, after it is determined that the sweeping robot guides the target heat source to move in the guiding mode, although the sweeping robot may guide the target heat source to move by matching the moving speed of the target heat source in the guiding process, when special situations such as corners or obstacles are encountered, the distance between the sweeping robot and the target heat source may also be inconsistent with the preset distance. At this time, if the distance between the target heat source and the sweeping robot is too far, the sweeping robot can move forwards at a reduced speed, so that the situation that the target heat source cannot follow the sweeping robot due to the fact that the distance between the sweeping robot and the target heat source is too far is avoided, and effective illumination cannot be performed on the target heat source; when the distance between the target heat source and the sweeping robot is too close, the sweeping robot can move forwards at an accelerated speed, and the situation that the sweeping robot collides with the target heat source too close is avoided, so that the safety in the moving process cannot be ensured. That is, in the process of guiding the target heat source to move by the sweeping robot, a safe moving distance needs to be kept between the sweeping robot and the target heat source, so that the sweeping robot can be ensured to effectively illuminate the target heat source, and the target heat source is ensured not to collide with the sweeping robot due to inertia and other reasons.
In this embodiment, by acquiring heat source information detected by the infrared detection module, if a target heat source is identified according to the heat source information, a distance between the robot for sweeping and the target heat source detected by the infrared detection module is acquired, and if the distance is greater than a preset distance, the robot for sweeping moves to the target heat source, and the lamp is kept on during the moving process to illuminate the target heat source. The distance between the sweeping robot and the target heat source is detected through the infrared detection module, so that when the distance is larger than a preset distance, the sweeping robot moves towards the target heat source, and the situation that when the distance is not matched with the preset distance, the sweeping robot cannot move in a proper moving mode, potential safety hazards exist when the target heat source moves in dark scenes without light sources and the like is avoided, the effectiveness of lighting for the target heat source is improved, and the safety of the target heat source when the target heat source moves in dark scenes without light sources and the like is improved.
Referring to fig. 4, fig. 4 is a flowchart illustrating a lighting method of a cleaning robot according to a third embodiment of the present invention. Based on the first embodiment, a third embodiment of the lighting method of the sweeping robot of the present invention is provided. In this embodiment, the lighting method of the cleaning robot includes the following steps:
step S21: acquiring heat source information detected by an infrared detection module;
step S22: if the target heat source is identified according to the heat source information, turning on a lamp, and acquiring position information or angle information detected by an infrared detection module;
step S23: and determining the moving direction of the sweeping robot according to the position information or the angle information, wherein the sweeping robot moves to the target heat source.
After the heat source information detected by the infrared detection module is acquired and the target heat source is identified according to the heat source information, the moving direction needs to be adjusted in time to more effectively illuminate the target heat source while the lamp is turned on, so that the situation that the lamp is collided with an obstacle or cannot timely follow the target heat source under the conditions of meeting a corner or an obstacle and the like is avoided, and effective illumination cannot be provided for the target heat source. Therefore, in this embodiment, the infrared detection module may be configured to detect heat source information, and may also be configured to locate position information of a target heat source or angle information of the target heat source relative to the sweeping robot, specifically, the infrared thermopile sensor in the infrared detection module may be used to detect the heat source information and locate the position information or the angle information of the target heat source, and of course, different sensors may also be used to detect the heat source information and the position information or the angle information of the target heat source, for example, the infrared thermopile sensor may be used to detect the heat source information, and the infrared distance measurement sensor may be used to detect the position information of the target heat source.
Therefore, if the sweeping robot moves towards the target heat source, after the position information or the angle information detected by the infrared detection module is acquired, the moving direction of the sweeping robot can be determined according to the position information or the angle information, and the sweeping robot can effectively illuminate the target heat source by moving according to the determined moving direction while turning on the lamp. The angle information refers to angle information relative to the light outlet, with the direction of the light outlet of the infrared detection module as a starting point and the clockwise direction as a positive direction; and calculating angle information between the sweeping robot and the target heat source according to the position information, the direction of the light outlet and the specified positive direction, for example, when the position information detected by the infrared detection module is the position of 30 degrees in the east direction, if the direction of the light outlet is the north direction, the angle information between the target heat source and the sweeping robot is 60 degrees. Therefore, if the position information is acquired, the angle information can be calculated from the position information, and if the angle information is acquired, the moving direction can be determined directly from the angle information. That is, the moving direction of the sweeping robot can be determined according to the comparison result of the angle information and the preset angle information. If the angle information is smaller than the preset angle information, clockwise rotating according to the angle information, and if the angle information is larger than the preset angle information, anticlockwise rotating according to the angle information; the angle information can be set to be within a preset angle range, if the angle information is within the preset angle range, the rotation is not needed, if the angle information exceeds the preset angle range, the rotation can be carried out according to the angle information, and the like.
In a specific embodiment, it is preferable to determine the moving direction of the sweeping robot according to a difference between the angle information and the preset angle information. Specifically, a plurality of difference ranges are pre-divided, for example, three difference ranges are pre-divided, where a first difference range is a difference range (for example, a range with a difference of ± 10 ° from a light outlet direction) with respect to a light outlet, a second difference range is a range smaller than the first difference range (for example, a range with a difference of greater than 10 ° from the light outlet direction), and a third difference range is a difference range larger than zero (for example, a range with a difference of less than-10 ° from the light outlet direction), and when the difference between the angle information and a preset angle is in the first difference range, the moving direction of the sweeping robot is determined to be a direction after counterclockwise rotation according to the calculated angle information; when the difference value between the angle information and the preset angle is within a second difference value range, the rotation is temporarily not needed; and when the difference value between the angle information and the preset angle is within a third difference value range, determining the moving direction of the sweeping robot to be the direction after clockwise rotation according to the calculated angle information. The first difference range is smaller than a second difference range, the second difference range is smaller than a third difference range, and the preset angle information is information of the right angle of the light outlet.
In addition, if the sweeping robot guides the target heat source to move, the sweeping robot can plan and adjust the moving direction through obstacle identification, or directly adjust the moving direction according to a preset route.
Of course, in another embodiment, the moving direction of the sweeping robot may be determined and the moving speed of the sweeping robot may be determined at the same time, that is, the second embodiment and the third embodiment are combined to determine the moving direction and the moving speed of the sweeping robot at the same time, so that the target heat source is effectively illuminated while the lamp is turned on and moving based on the determined moving direction and moving speed. For the specific manner of determining the moving direction and the moving speed, reference may be made to the second embodiment and the third embodiment, which are not described herein again.
In this embodiment, by acquiring heat source information detected by the infrared detection module, if a target heat source is identified according to the heat source information, the lamp is turned on, position information or angle information detected by the infrared detection module is acquired, then the moving direction of the sweeping robot is determined according to the position information or the angle information, and the sweeping robot moves to the target heat source. The infrared detection module is used for detecting the position information or the angle information of the target heat source to determine the moving direction of the sweeping robot, so that the sweeping robot turns along with the target heat source according to the determined moving direction, collision is avoided, or the sweeping robot cannot follow the target heat source, effective illumination cannot be performed on the target heat source, and reliability and effectiveness of illumination are improved.
Referring to fig. 5, fig. 5 is a flowchart illustrating a lighting method of a cleaning robot according to a fourth embodiment of the present invention. Based on the first embodiment, a fourth embodiment of the lighting method of the sweeping robot of the present invention is provided. In this embodiment, the lighting method of the cleaning robot includes the following steps:
step S31: acquiring heat source information detected by an infrared detection module;
step S32: if a target heat source is identified according to the heat source information, a lamp is started to illuminate the target heat source;
step S33: if the target heat source cannot be detected, judging whether the target heat source is detected within a preset time period;
step S34: if so, keeping the lamp on to illuminate the target heat source;
step S35: if not, the sweeping robot turns off the lamp.
In this embodiment, the lighting method of the sweeping robot is mainly applied to a special time period, so as to light a target heat source in the special time period. The method specifically comprises the following steps: after the sweeping robot turns on the lamp to illuminate the target heat source, if the target heat source cannot be identified according to the acquired heat source information, whether the target heat source cannot be detected within a preset time period is judged. If the target heat source cannot be detected within the preset time period, it is not necessary to keep the lamp on for the target heat source, and at this time, the sweeping robot can turn off the lamp to enter a standby state, so that resources are saved. The preset time period can be set according to a specific application scene. For example, when performing a performance test on a photosensitive material, it is necessary to keep an indoor environment as a dark environment, and at this time, if a user wants to move indoors, for example, when switching samples or switching test conditions, there are problems that a sampling sample cannot be found or a corresponding test node cannot be found without illumination. However, since the material is sensitive to light and cannot turn on indoor light, the sweeping robot can turn on the light to illuminate the target heat source, so that a user can find a test sample or find a test node which needs to be subjected to condition switching; for another example, when the method is applied to a home scene, the preset time period may be set according to the habit or the historical use information of the user after the window is turned off at night to before the window is lit in the morning or before the window curtain is opened in the morning, or may be set arbitrarily by the user, or may be automatically set according to factors such as season. On the one hand, the soft light that lamp emission intensity is low, on the other hand, the robot of sweeping the floor is highly lower, can satisfy the visual demand under the dark environment, can reach the purpose for the illumination of target heat source again. Of course, the present invention is also applicable to other application scenarios that require moving in a dark environment without light source, and is only exemplary and not limiting.
In addition, if the target heat source cannot be detected after the target heat source is illuminated, and the target heat source is identified again within the preset time period, namely the target heat source is not present in the detection area and then appears in the detection area temporarily, the lamp is kept turned on to illuminate the target heat source.
In this embodiment, by obtaining heat source information detected by the infrared detection module, if a target heat source is identified according to the heat source information, after the lamp is turned on to illuminate the target heat source, if the target heat source is not detected, whether the target heat source is detected within a preset time period is continuously determined, and if the target heat source is not detected within the preset time period, the sweeping robot should turn off the lamp and return to a preset area or a charging area for standby. Namely, after the lamp is turned on to illuminate as the target heat source, the lamp is turned off when the target heat source cannot be detected and the target heat source cannot be detected within a preset time period, so that the purpose of saving resources is achieved, resource waste caused by the fact that the lamp is still turned on when the lamp is not required to illuminate as the target heat source is avoided, and the resource utilization rate is improved.
In addition, the embodiment of the invention also provides a sweeping robot, which comprises a memory, a processor and a sweeping robot lighting program which is stored on the processor and can run on the processor, wherein the steps of the sweeping robot lighting method are realized when the processor executes the sweeping robot lighting program.
In addition, an embodiment of the present invention further provides a computer-readable storage medium, where a sweeping robot lighting program is stored on the computer-readable storage medium, and when the sweeping robot lighting program is executed by a processor, the steps of the sweeping robot lighting method described above are implemented.
It should be noted that, in this document, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or system 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 system. 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 system that comprises the element.
The above-mentioned serial numbers of the embodiments of the present invention are merely for description and do not represent the merits of the embodiments.
Through the above description of the embodiments, those skilled in the art will clearly understand that the method of the above embodiments can be implemented by software plus a necessary general hardware platform, and certainly can also be implemented by hardware, but in many cases, the former is a better implementation manner. Based on such understanding, the technical solution of the present invention may be embodied in the form of a software product, which is stored in a storage medium (e.g., ROM/RAM, magnetic disk, optical disk) as described above and includes instructions for enabling a terminal device (e.g., a mobile phone, a computer, a server, a television, or a network device) to execute the method according to the embodiments of the present invention.
The above description is only a preferred embodiment of the present invention, and not intended to limit the scope of the present invention, and all modifications of equivalent structures and equivalent processes, which are made by using the contents of the present specification and the accompanying drawings, or directly or indirectly applied to other related technical fields, are included in the scope of the present invention.
Claims (12)
1. The lighting method of the sweeping robot is characterized in that the sweeping robot comprises an infrared detection module and a lamp, and the lighting method of the sweeping robot comprises the following steps:
acquiring heat source information detected by an infrared detection module;
and if the target heat source is identified according to the heat source information, turning on a lamp to illuminate the target heat source.
2. The method of claim 1, wherein the sweeping robot follows or directs the target heat source to move.
3. The method of claim 1, wherein the sweeping robot moves along a predetermined path.
4. The method of claim 1, wherein the target heat source is a human.
5. The lighting method of claim 4, wherein the infrared detection module detects heat source information of a horizontal plane where the infrared detection module is located, and if the target heat source is identified as a human body according to the detected heat source information, a lamp is turned on to illuminate the moving target heat source.
6. The method of claim 1, wherein the step of illuminating the target heat source comprises:
acquiring the distance between the sweeping robot and the target heat source detected by the infrared detection module;
and if the distance is greater than the preset distance, the sweeping robot moves towards the target heat source.
7. A method as claimed in any one of claims 2 to 4, wherein the step of illuminating the target heat source comprises:
and acquiring the moving speed of the target heat source detected by the infrared detection module, wherein the sweeping robot moves by matching with the corresponding moving speed.
8. A method as claimed in any one of claims 2 to 4, wherein the step of illuminating the target heat source comprises:
acquiring position information or angle information of the target heat source detected by an infrared detection module;
and determining the moving direction of the sweeping robot according to the position information or the angle information, wherein the sweeping robot moves to the target heat source.
9. The method of claim 1, further comprising, after the step of illuminating the target heat source:
if the target heat source cannot be detected, judging whether the target heat source is detected within a preset time period;
if not, the sweeping robot turns off the lamp.
10. The method of claim 1, further comprising, after the step of illuminating the target heat source:
and judging whether the target heat source returns to the initial area or not, and if so, moving the sweeping robot to a preset area or a charging area.
11. A sweeping robot comprising a memory, a processor and a sweeping robot illumination program stored in the memory and executable on the processor, wherein the processor implements the steps of the sweeping robot illumination method according to any one of claims 1-10 when executing the sweeping robot illumination program.
12. A computer-readable storage medium, having stored thereon a sweeping robot lighting program which, when executed by a processor, implements the steps of the sweeping robot lighting method of any one of claims 1-10.
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