CN111973078A - Sweeping control method and device of sweeper, sweeper and storage medium - Google Patents
Sweeping control method and device of sweeper, sweeper and storage medium Download PDFInfo
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- CN111973078A CN111973078A CN202010853893.XA CN202010853893A CN111973078A CN 111973078 A CN111973078 A CN 111973078A CN 202010853893 A CN202010853893 A CN 202010853893A CN 111973078 A CN111973078 A CN 111973078A
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- sweeper
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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
- 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 relates to the technical field of intelligent home furnishing, and discloses a sweeping control method and device of a sweeper, the sweeper and a storage medium, wherein the method comprises the following steps: acquiring a reflected electrical signal in the sweeping process of the sweeper, and determining the material of a sweeping surface according to the reflected electrical signal; if the material of the cleaning surface is a non-smooth material, carrying out region detection on the non-smooth material to obtain a non-smooth region; and controlling the sweeper to sweep the non-smooth area for multiple times. In this way, if the cleaning surface material determined from the reflected electric signal is a non-smooth material, the non-smooth area corresponding to the non-smooth material is cleaned a plurality of times, and the cleaning effect on the non-smooth material can be significantly improved.
Description
Technical Field
The invention relates to the technical field of smart home, in particular to a sweeping control method and device of a sweeping robot, a sweeper and a storage medium.
Background
With the development of science and technology, people put higher demands on the quality of life. The appearance of the sweeper greatly improves the quality of the living environment of people. The sweeper can automatically identify obstacles in the process of sweeping indoors and adjust the running mode according to the quality of the sweeping surface material. Currently, when a sweeper is used to clean a carpet that is difficult to clean, the suction force is generally increased. However, since dust, particles, etc. in non-smooth materials such as carpets are often difficult to clean, it is often difficult to achieve a desired cleaning effect by merely increasing the suction force.
Disclosure of Invention
The invention provides a sweeping control method and device of a sweeper, the sweeper and a storage medium, and aims to improve the cleaning effect on non-smooth materials.
In order to achieve the above object, the present invention provides a sweeping control method of a sweeper, including:
acquiring a reflected electrical signal of a cleaning surface in the cleaning process of the sweeper, and determining the material of the cleaning surface according to the reflected electrical signal;
if the material of the cleaning surface is a non-smooth material, carrying out region detection on the non-smooth material to obtain a non-smooth region;
and controlling the sweeper to sweep the non-smooth area for multiple times.
Optionally, the step of controlling the sweeper to sweep the non-smooth area for multiple times includes:
acquiring a number parameter for controlling the sending of an application program, and determining the cleaning number based on the number parameter;
and controlling the sweeper to sweep the non-smooth area for multiple times according to the sweeping times.
Optionally, the step of controlling the sweeper to sweep the non-smooth area for multiple times includes:
after the non-smooth area is cleaned for one time, the quality of the cleaned material at this time is obtained;
and comparing the quality of the cleaning substance with a threshold value of the quality of the cleaning substance, if the quality of the cleaning substance is greater than or equal to the threshold value of the quality of the cleaning substance, cleaning the non-smooth area again, and controlling the sweeper to stop cleaning until the quality of the cleaning substance is less than the threshold value of the quality of the cleaning substance.
Optionally, the step of acquiring the quality of the cleaning substance of the cleaning includes:
comparing the first mass and the second mass uploaded by a mass sensor arranged in a dust box in the sweeper before and after the sweeping;
calculating a quality difference value between the second quality and the first quality, and determining the area of a non-smooth material based on a non-smooth area;
and determining the quotient of the mass difference and the area of the non-smooth material as the quantity of the cleaning material cleaned per unit area of the non-smooth material at this time.
Optionally, the step of controlling the sweeper to sweep the non-smooth area for multiple times includes:
and acquiring the cleaning parameters of each cleaning, and controlling the sweeper to clean the non-smooth area for multiple times according to the cleaning parameters.
Optionally, the sweeping parameters include a moving speed, a suction force, and a path, the step of obtaining the sweeping parameters for each sweeping, and the step of controlling the sweeper to sweep the non-smooth area for multiple times according to the sweeping parameters includes:
acquiring preset moving speed, suction force and path of each cleaning;
and controlling the sweeper to sweep the non-smooth area for multiple times according to the corresponding moving speed, suction and path during each sweeping.
Optionally, the step of performing region detection on the non-smooth material to obtain a non-smooth region includes:
determining a plurality of edges of the non-smooth area according to the reflected electric signals, determining an area surrounded by the edges as the non-smooth area, and marking the position of an obstacle in the non-smooth area.
In addition, in order to achieve the above object, the present invention further provides a sweeping control device of a sweeper, including:
the determining module is used for acquiring a reflected electric signal in the sweeping process of the sweeper and determining the material of a sweeping surface according to the reflected electric signal;
an obtaining module, configured to perform region detection on the non-smooth material to obtain a non-smooth region if the cleaning surface material is a non-smooth material;
and the control module is used for controlling the sweeper to sweep the non-smooth area for multiple times.
In addition, for the purpose of real-time, the invention further provides a sweeper, which includes a processor, a memory and a sweeping control program of the sweeper stored in the memory, wherein when the sweeping control program of the sweeper is executed by the processor, the steps of the sweeping control method of the sweeper are implemented.
In addition, for the purpose of real-time foregoing, the present invention further provides a computer storage medium, where a cleaning control program of the sweeper is stored, and when the cleaning control program of the sweeper is executed by a processor, the steps of the cleaning control method of the sweeper are implemented.
Compared with the prior art, the invention provides a sweeping control method and device of a sweeper, the sweeper and a storage medium, wherein the method comprises the following steps: acquiring a reflected electrical signal in the sweeping process of the sweeper, and determining the material of a sweeping surface according to the reflected electrical signal; if the material of the cleaning surface is a non-smooth material, carrying out region detection on the non-smooth material to obtain a non-smooth region; and controlling the sweeper to sweep the non-smooth area for multiple times. In this way, if the cleaning surface material determined from the reflected electric signal is a non-smooth material, the non-smooth area corresponding to the non-smooth material is cleaned a plurality of times, and the cleaning effect on the non-smooth material can be significantly improved.
Drawings
Fig. 1 is a schematic diagram of a hardware structure of a sweeper according to embodiments of the present invention;
fig. 2 is a schematic flow chart of a sweeping control method of the sweeper according to the first embodiment of the invention;
fig. 3 is a functional block diagram of a sweeping control device of a sweeper according to a first embodiment 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 embodiment of the invention mainly relates to network connection equipment for realizing network connection of a sweeper.
Referring to fig. 1, fig. 1 is a schematic diagram of a hardware structure of a sweeper according to embodiments of the present invention. In the embodiment of the present invention, the sweeper may include a processor 1001 (e.g., a Central Processing Unit, CPU), a communication bus 1002, an input port 1003, an output port 1004, and a memory 1005. The communication bus 1002 is used for realizing connection communication among the components; the input port 1003 is used for data input; the output port 1004 is used for data output, the memory 1005 may be a high-speed RAM memory, or a non-volatile memory (non-volatile memory), such as a magnetic disk memory, and the memory 1005 may optionally be a storage device independent of the processor 1001. Those skilled in the art will appreciate that the hardware configuration depicted in FIG. 1 is not intended to be limiting of the present invention, and may include more or less components than those shown, or some components in combination, or a different arrangement of components.
With continued reference to fig. 1, the memory 1005 of fig. 1, which is one type of readable storage medium, may include an operating system, a network communication module, an application module, and a sweeping control program of the sweeper. In fig. 1, the network communication module is mainly used for connecting to a server and performing data communication with the server; the processor 1001 may call the cleaning control program of the sweeper stored in the memory 1005, and execute the cleaning control method of the sweeper provided by the embodiment of the present invention.
The embodiment of the invention provides a sweeping control method of a sweeper.
Referring to fig. 2, fig. 2 is a schematic flow chart of a sweeping control method of the sweeper according to the first embodiment of the invention.
In this embodiment, the sweeping control method of the sweeper is applied to the sweeper, and the method includes:
step S101, acquiring a reflected electric signal in the sweeping process of the sweeper, and determining the material of a sweeping surface according to the reflected electric signal;
step S102, if the material of the cleaning surface is a non-smooth material, carrying out region detection on the non-smooth material to obtain a non-smooth region;
and S103, controlling the sweeper to sweep the non-smooth area for multiple times.
The sweeper related to the embodiment is a sweeping robot. The sweeper comprises a shell, a dust box, a fan, an ultrasonic sensor and the like. The probe of the ultrasonic sensor is internally provided with two piezoelectric wafers and a resonance plate. When the frequency of the external electric signal is equal to the natural oscillation frequency of the piezoelectric wafer, the piezoelectric wafer will resonate, and the resonance plate is driven to vibrate, thereby generating ultrasonic waves. On the contrary, when the sound board receives the ultrasonic wave, the sound board presses the piezoelectric wafer to vibrate, and the mechanical energy is converted into an electric signal, thereby becoming the ultrasonic wave receiver. The ultrasonic sensor converts electric energy and ultrasonic waves into each other by utilizing the principle of piezoelectric effect, namely when the ultrasonic waves are transmitted, the electric energy is converted into the ultrasonic waves to be transmitted; and upon reception, converts the ultrasonic vibrations into electrical signals.
In this embodiment, the step S101 specifically includes: after the sweeper receives the starting instruction, sweeping the sweeping surface according to a preset flow, wherein the sweeping surface is generally the ground. In the sweeping process of the sweeper, an ultrasonic sensor arranged in the sweeper is used for transmitting ultrasonic signals and receiving reflected ultrasonic signals reflected by a sweeping surface, and the reflected ultrasonic signals are subjected to analog-to-digital conversion to obtain reflected electric signals. Wherein the reflected electrical signal may be a voltage signal or a current signal. For the transmitted ultrasonic signals with the same frequency, the reflected ultrasonic signals reflected by the cleaning surfaces made of different materials can be distinguished. Generally, the reflected ultrasonic signal of a hard material is stronger, and the hard material can be ceramic tiles and wood boards; the reflected ultrasonic signal of the soft material, which may be a carpet, is weaker than the reflected ultrasonic signal of the hard material. And the reflected electric signal and the reflected ultrasonic signal have a corresponding relation, so that the material of the cleaning surface can be determined according to the reflected electric signal. Specifically, the range of the reflected electric signals of various materials is preset, the range of the reflected electric signals of the carpet is set to be a first range, and the range of the reflected electric signals of the tile or the wood board is set to be a second range. The non-smooth material according to the present embodiment may be a ground mat made of natural fibers such as cotton, hemp, wool, silk, and grass yarn, or chemically synthesized fibers, which is knitted, tufted, or woven by a manual or mechanical process. For example, the non-smooth material may be a carpet made of plastic, cotton wool, or the like.
After the material of the cleaning surface is determined, step S102 is executed: and if the material of the cleaning surface is a non-smooth material, carrying out region detection on the non-smooth material to obtain a non-smooth region.
Specifically, a plurality of edges of the non-smooth area are determined according to the reflected electric signals, an area surrounded by the plurality of edges is determined as the non-smooth area, and the position of an obstacle in the non-smooth area is marked. And marking the position of the obstacle as a forbidden zone.
And moving according to a preset mapping path, marking boundary position points of the reflected electric signals falling into the first range and the second range, and marking inflection points. The inflection point is a turning point of a boundary position point, and for example, if the non-smooth region is a rectangle, the inflection point is a boundary position point at which four corners of the rectangle are located. And dividing the edge into a plurality of edges with the inflection point, and then determining an inner region surrounded by the plurality of edges as a non-smooth region.
Generally, an obstacle such as a tea table, a stool, a decorative ornament and the like which hinders the sweeper from sweeping may be placed on the non-smooth material, so that a forbidden area occupied by the obstacle exists in the non-smooth area. The forbidden zone can be determined according to the ultrasonic reflection signal.
Further, after determining the non-smooth area, step S103 is executed: and controlling the sweeper to sweep the non-smooth area for multiple times.
Generally, after the sweeper is started, an area to be cleaned is cleaned, generally only once, and if a carpet area with high cleaning difficulty needs to be cleaned for multiple times, a user needs to manually set the area. The embodiment adopts a mode of automatically sweeping the non-smooth area for multiple times to improve the cleaning effect.
In this embodiment, the number of times of cleaning may be set in advance in a number parameter in a parameter setting module, for example, the number parameter is set to 2, 3, 5, and the like. The number parameter may be selected or entered by the user at his or her discretion. Generally, a default number parameter may be set to 2. In addition, in order to prevent the energy waste caused by the excessive number of times of sweeping by the sweeper, in this embodiment, the maximum sweeping number is set, and when the sweeping number reaches the maximum sweeping number, the sweeping is ended, and in this embodiment, the maximum sweeping number may be set to 5.
And when the cleaning times are acquired, cleaning the non-smooth area according to the cleaning times.
Furthermore, the cleaning times can be flexibly determined according to the quality of the cleaning substance.
Specifically, after the non-smooth area is cleaned for one time, the quality of the cleaned material at this time is obtained;
and comparing the quality of the cleaning substance with a threshold value of the quality of the cleaning substance, if the quality of the cleaning substance is greater than or equal to the threshold value of the quality of the cleaning substance, cleaning the non-smooth area again, and controlling the sweeper to stop cleaning until the quality of the cleaning substance is less than the threshold value of the quality of the cleaning substance.
The sweeper that this embodiment relates to is configured with the dirt box, there is quality sensor dirt box inside, quality sensor can obtain the inside quality of waiting to clean the thing of dirt box. Real-time quality is obtained after each cleaning. Comparing the first mass and the second mass uploaded by a mass sensor arranged in a dust box in the sweeper before and after the sweeping; calculating a quality difference value between the second quality and the first quality, and determining the area of a non-smooth material based on a non-smooth area; and determining the quotient of the mass difference and the area of the non-smooth material as the quantity of the cleaning material cleaned per unit area of the non-smooth material at this time. Understandably, if the quality of the cleaning material is large, secondary or even tertiary cleaning is needed; if the amount of the cleaning material is small, the cleaning is not required to be performed again. In this embodiment, the cleaning material amount threshold is set in advance. And then comparing the quality of the cleaning substance with a threshold value of the quality of the cleaning substance, if the quality of the cleaning substance is greater than or equal to the threshold value of the quality of the cleaning substance, cleaning the non-smooth area again, and controlling the sweeper to stop cleaning until the quality of the cleaning substance is less than the threshold value of the quality of the cleaning substance.
Further, the step of controlling the sweeper to sweep the non-smooth area for multiple times comprises:
and acquiring the cleaning parameters of each cleaning, and controlling the sweeper to clean the non-smooth area for multiple times according to the cleaning parameters.
The sweeping parameter includes a moving speed. Acquiring a preset moving speed of each cleaning; and controlling the sweeper to sweep the non-smooth area for multiple times according to the corresponding moving speed when sweeping each time. As the cleaning is performed, the non-smooth area to be cleaned is cleaner, so that the moving speed of the subsequent cleaning can be increased if the cleaning is performed for multiple times. For example, the moving speed for the first cleaning is set to 3m/s, the moving speed for the second cleaning is set to 4m/s, and the moving speed for the third cleaning is set to 5 m/s. Therefore, the cleaning efficiency can be improved while the cleaning effect is ensured.
Further, the sweeping parameters comprise suction force, and preset suction force for each sweeping is acquired; and controlling the sweeper to sweep the non-smooth area for multiple times according to the corresponding suction force during each sweeping. The first preset suction force is set as a first suction force for cleaning for the first time, the second preset suction force is set as a second suction force for cleaning again, and the suction forces for cleaning each time are sequentially set. Generally, the suction of the sweeper is 600Pa-2000 Pa. The suction force can be set to 600Pa to 1200Pa for the area of the cleaning surface made of ceramic tiles and wood, and the suction force needs to be set to 1200Pa to 2000Pa for the non-smooth area which is difficult to clean. Moreover, for multiple times of cleaning, the objects to be cleaned which are left on the non-smooth material along with the cleaning are difficult to clean, so that the suction force for cleaning each time can be gradually increased. For example, the first suction force for the first sweep is set to 1300Pa, the second suction force for the second sweep is set to 1600Pa, and the third suction force for the third sweep is set to 1800 Pa. Therefore, the objects to be cleaned with different cleaning difficulties can be cleaned step by step. And the object to be cleaned which is not sucked into the dust box in the previous cleaning process can be sucked by the large suction force of the next cleaning, so that the omission of the object to be cleaned is reduced. It can be understood that if the cleaning is performed by a large suction force and then by a small suction force, it is difficult to clean the remaining objects to be cleaned; if the cleaning is carried out by fixed suction every time, the residual stubborn objects to be cleaned are difficult to clean; if a large suction force is used for cleaning every time, the energy consumption is high. Therefore, the suction force for cleaning at each time is gradually improved, and the cleaning effect of non-smooth materials is greatly improved.
Further, the cleaning parameters comprise paths, and a target cleaning path for cleaning each time is determined from preset paths according to the non-smooth area plan, wherein the preset paths comprise a Chinese field path, a straight path, a return path, a Chinese character bowing path and a spiral path; and controlling the sweeper to sweep the non-smooth area according to the target sweeping path corresponding to the target sweeping times during each sweeping. The zigzag path is a point-to-point path planning, and a path is planned from a starting point to an end point, so that the sweeper can complete a cleaning task in a working space in a high coverage manner. When the path is a Chinese character 'hui' path, the sweeper walks in a 'hui' shape all the time, and the cleaning radius is continuously enlarged from the central area, so that the cleaning area is gradually enlarged, the cleaning time is shortened, and the Chinese character 'hui' path has the advantages of wide cleaning area, high coverage rate and high requirements on the suction force and the cleaning capability of the sweeper. In addition, the sweeper also has an oblique line path, wherein the oblique line path is that the sweeper collides with an object in the environment and then turns around, moves on the floor without rules, looks regular, and has low cleaning efficiency, and the oblique line path has the advantages that the long-time cleaning can achieve high coverage rate, and has the defects of long working time, low efficiency, high repetition rate and strong randomness. Because each cleaning path has advantages and disadvantages, different cleaning paths can be selected for cleaning for multiple times, so that the lengths of the cleaning paths are mutually promoted, and the cleaning effect is improved. For example, the path cleaned for the first time may be set as a rectangular path, the path cleaned again may be set as a rectangular path, and the path cleaned for the third time may be set as a spiral path.
In the process of cleaning by the sweeper, if the cleaning times are 2, the moving speed of the first cleaning can be set to be 3m/s, the first suction force can be set to be 1800Pa, and the cleaning path can be set to be in a Chinese character 'gong' shape; the moving speed of the second cleaning was set to 5m/s, the second suction force was set to 1500Pa, and the cleaning path was set to a rectangular shape. Therefore, the cleaning effect can be greatly improved by cleaning twice with different cleaning parameters.
Further, the step S103: after the step of controlling the sweeper to sweep the non-smooth area for multiple times, the method further comprises the following steps:
and sending the cleaning state to a user terminal, wherein the user terminal displays the cleaning state through a display screen and returns the received cleaning instruction to the sweeper.
The current sweeper can be connected with user terminals such as a mobile phone, a computer and an ipad in a wireless connection mode, and a control App (Application program) provided by a user terminal installation service provider can send sweeping instructions such as start, pause and end through the user terminals and check the running state of the sweeper.
In this embodiment, the sweeper sends the current cleaning state to the associated and bound user terminal, wherein the cleaning state includes cleaning times, cleaning surface material, cleaning path, suction force and the like. And after receiving the cleaning state, the user terminal displays the cleaning state on a cleaning state display page preset by a control App, and displays the cleaning state through a display screen of the user terminal. And the user can also trigger a cleaning instruction in a touch and voice mode, and after the user terminal receives the cleaning instruction, the cleaning instruction is transmitted to the sweeper so that the sweeper can operate according to the cleaning instruction.
According to the scheme, the reflected electric signals are obtained in the sweeping process of the sweeper, and the material of the sweeping surface is determined according to the reflected electric signals; if the material of the cleaning surface is a non-smooth material, carrying out region detection on the non-smooth material to obtain a non-smooth region; and controlling the sweeper to sweep the non-smooth area for multiple times. In this way, if the cleaning surface material determined from the reflected electric signal is a non-smooth material, the non-smooth area corresponding to the non-smooth material is cleaned a plurality of times, and the cleaning effect on the non-smooth material can be significantly improved.
In addition, this embodiment still provides a sweeping control device of machine of sweeping floor. Referring to fig. 3, fig. 3 is a functional module schematic diagram of a cleaning control device of a sweeper according to a first embodiment of the present invention.
In this embodiment, the cleaning control device of the sweeper is a virtual device, and is stored in the memory 1005 of the cleaning control device of the sweeper shown in fig. 1, so as to implement all functions of the cleaning control program of the sweeper: the device is used for acquiring a reflected electric signal in the sweeping process of the sweeper and determining the material of a sweeping surface according to the reflected electric signal; the cleaning surface material is used for carrying out area detection on the non-smooth material to obtain a non-smooth area if the cleaning surface material is the non-smooth material; the sweeper is used for controlling the sweeper to sweep the non-smooth area for multiple times.
The sweeping control device of the sweeper comprises:
the determining module 10 is used for acquiring a reflected electrical signal in the sweeping process of the sweeper and determining the material of a sweeping surface according to the reflected electrical signal;
an obtaining module 20, configured to perform region detection on the non-smooth material to obtain a non-smooth region if the cleaning surface material is a non-smooth material;
and the control module 30 is used for controlling the sweeper to sweep the non-smooth area for multiple times.
Further, the control module further comprises:
the first determining unit is used for acquiring a frequency parameter for controlling the sending of the application program and determining the cleaning frequency based on the frequency parameter;
and the first control unit is used for controlling the sweeper to sweep the non-smooth area for multiple times according to the sweeping times.
Further, the control module further comprises:
the first acquisition unit is used for acquiring the quality of the cleaned material after the non-smooth area is cleaned for one time;
and the comparison unit is used for comparing the cleaning substance quantity with a cleaning substance quantity threshold value, if the cleaning substance quantity is greater than or equal to the cleaning substance quantity threshold value, cleaning the non-smooth area again, and controlling the sweeper to stop cleaning until the cleaning substance quantity is less than the cleaning substance quantity threshold value.
Further, the comparing unit further includes:
the comparison subunit is used for comparing the first mass and the second mass uploaded by a mass sensor arranged in a dust box in the sweeper before and after the cleaning;
a calculating subunit, configured to calculate a quality difference between the second quality and the first quality, and determine a non-smooth material area based on a non-smooth region;
and the determining subunit is used for determining the quotient of the mass difference value and the area of the non-smooth material as the cleaning material amount of the non-smooth material per unit area cleaned at this time.
Further, the control module further comprises:
and the second acquisition unit is used for acquiring the cleaning parameters of each cleaning and controlling the sweeper to clean the non-smooth area for multiple times according to the cleaning parameters.
Further, the second obtaining unit further includes:
the first acquisition subunit is used for acquiring the preset moving speed, suction force and path of each cleaning;
and the second control subunit is used for controlling the sweeper to sweep the non-smooth area for multiple times according to the corresponding moving speed, suction and path during each sweeping.
Further, the control module further comprises:
the determining unit is used for determining a plurality of edges of the non-smooth area according to the reflected electric signals, determining an area surrounded by the edges as the non-smooth area, and marking the position of an obstacle in the non-smooth area.
In addition, an embodiment of the present invention further provides a computer storage medium, where a cleaning control program of a sweeper is stored on the computer storage medium, and when the cleaning control program of the sweeper is executed by a processor, the steps of the cleaning control method of the sweeper are implemented, which are not described herein again.
Compared with the prior art, the sweeping control method and device of the sweeper, the sweeper and the storage medium provided by the invention comprise the following steps: acquiring a reflected electrical signal in the sweeping process of the sweeper, and determining the material of a sweeping surface according to the reflected electrical signal; if the material of the cleaning surface is a non-smooth material, carrying out region detection on the non-smooth material to obtain a non-smooth region; and controlling the sweeper to sweep the non-smooth area for multiple times. In this way, if the cleaning surface material determined from the reflected electric signal is a non-smooth material, the non-smooth area corresponding to the non-smooth material is cleaned a plurality of times, and the cleaning effect on the non-smooth material can be significantly improved.
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 causing a terminal device to execute the method according to the embodiments of the present invention.
The above description is only for the preferred embodiment of the present invention and is not intended to limit the scope of the present invention, and all equivalent structures or flow transformations made by the present specification and drawings, or applied directly or indirectly to other related arts, are included in the scope of the present invention.
Claims (10)
1. A sweeping control method of a sweeper is characterized by comprising the following steps:
acquiring a reflected electrical signal of a cleaning surface in the cleaning process of the sweeper, and determining the material of the cleaning surface according to the reflected electrical signal;
if the material of the cleaning surface is a non-smooth material, carrying out region detection on the non-smooth material to obtain a non-smooth region;
and controlling the sweeper to sweep the non-smooth area for multiple times.
2. The method of claim 1, wherein the step of controlling the sweeper to sweep the non-smooth area a plurality of times comprises:
acquiring a number parameter for controlling the sending of an application program, and determining the cleaning number based on the number parameter;
and controlling the sweeper to sweep the non-smooth area for multiple times according to the sweeping times.
3. The method of claim 1, wherein the step of controlling the sweeper to sweep the non-smooth area a plurality of times comprises:
after the non-smooth area is cleaned for one time, the quality of the cleaned material at this time is obtained;
and comparing the quality of the cleaning substance with a threshold value of the quality of the cleaning substance, if the quality of the cleaning substance is greater than or equal to the threshold value of the quality of the cleaning substance, cleaning the non-smooth area again, and controlling the sweeper to stop cleaning until the quality of the cleaning substance is less than the threshold value of the quality of the cleaning substance.
4. The method according to claim 3, wherein the step of acquiring the quality of the cleaning material of the cleaning comprises:
comparing the first mass and the second mass uploaded by a mass sensor arranged in a dust box in the sweeper before and after the sweeping;
calculating a quality difference value between the second quality and the first quality, and determining the area of a non-smooth material based on a non-smooth area;
and determining the quotient of the mass difference and the area of the non-smooth material as the quantity of the cleaning material cleaned per unit area of the non-smooth material at this time.
5. The method of claim 1, wherein the step of controlling the sweeper to sweep the non-smooth area a plurality of times comprises:
and acquiring the cleaning parameters of each cleaning, and controlling the sweeper to clean the non-smooth area for multiple times according to the cleaning parameters.
6. The method of claim 5, wherein the sweeping parameters comprise moving speed, suction force and path, the sweeping parameters of each sweeping are obtained, and the step of controlling the sweeper to sweep the non-smooth area for multiple times according to the sweeping parameters comprises:
acquiring preset moving speed, suction force and path of each cleaning;
and controlling the sweeper to sweep the non-smooth area for multiple times according to the corresponding moving speed, suction and path during each sweeping.
7. The method of claim 1, wherein the step of performing region detection on the non-smooth material to obtain a non-smooth region comprises:
determining a plurality of edges of the non-smooth area according to the reflected electric signals, determining an area surrounded by the edges as the non-smooth area, and marking the position of an obstacle in the non-smooth area.
8. The utility model provides a sweeping control device of sweeper which characterized in that, sweeping control device of sweeper includes:
the determining module is used for acquiring a reflected electric signal in the sweeping process of the sweeper and determining the material of a sweeping surface according to the reflected electric signal;
an obtaining module, configured to perform region detection on the non-smooth material to obtain a non-smooth region if the cleaning surface material is a non-smooth material;
and the control module is used for controlling the sweeper to sweep the non-smooth area for multiple times.
9. A sweeper, characterized in that the sweeper comprises a processor, a memory and a sweeper control program of the sweeper stored in the memory, wherein when the sweeper control program of the sweeper is executed by the processor, the steps of the sweeper control method of any one of claims 1-7 are realized.
10. A computer storage medium, characterized in that the computer storage medium stores thereon a sweeping control program of a sweeper, the sweeping control program of the sweeper when executed by a processor implementing the steps of the sweeping control method of the sweeper according to any one of claims 1-7.
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