CN112716377A - Water absorption method and device of sweeper, readable storage medium and electronic equipment - Google Patents
Water absorption method and device of sweeper, readable storage medium and electronic equipment Download PDFInfo
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- CN112716377A CN112716377A CN202011566075.8A CN202011566075A CN112716377A CN 112716377 A CN112716377 A CN 112716377A CN 202011566075 A CN202011566075 A CN 202011566075A CN 112716377 A CN112716377 A CN 112716377A
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Classifications
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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
- A47L11/29—Floor-scrubbing machines characterised by means for taking-up dirty liquid
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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
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- 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
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- 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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- 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
- A47L11/4036—Parts or details of the surface treating tools
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- A—HUMAN NECESSITIES
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- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L2201/00—Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
- A47L2201/04—Automatic control of the travelling movement; Automatic obstacle detection
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L2201/00—Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
- A47L2201/06—Control of the cleaning action for autonomous devices; Automatic detection of the surface condition before, during or after cleaning
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- Engineering & Computer Science (AREA)
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- Management, Administration, Business Operations System, And Electronic Commerce (AREA)
- Disinfection, Sterilisation Or Deodorisation Of Air (AREA)
Abstract
The invention discloses a water absorption method and a water absorption device of a sweeper, a computer readable storage medium and electronic equipment, wherein the method comprises the following steps: acquiring shooting data acquired by shooting liquid on the ground by a shooting device; identifying the shot data, and determining the liquid position of the liquid and the liquid amount of the liquid; controlling the sweeper to move to the liquid position; and adjusting the water absorption time of the water absorption material on the sweeper to the liquid according to the liquid amount. Through the technical scheme of the invention, the treatment of the liquid on the ground is realized, the dryness of the ground is ensured, and the safety of the ground is improved.
Description
Technical Field
The invention relates to the technical field of cleaning, in particular to a water absorption method and device of a sweeper, a readable storage medium and electronic equipment.
Background
The sweeper can complete cleaning work under the condition of unmanned monitoring, and can improve the living convenience of a user while ensuring the household sanitation.
At present, the sweeper mainly finishes sweeping, but at present, the ground is mainly smooth, when liquid exists in the ground, when the sweeper sweeps the ground with the liquid, the sweeper can slip, and meanwhile, the ground with a small amount of liquid is easy to dirty.
However, a method for treating the surface liquid is lacking at present.
Disclosure of Invention
The invention provides a water absorption method and device of a sweeper, a computer readable storage medium and electronic equipment.
In a first aspect, the invention provides a water absorption method of a sweeper, which comprises the following steps:
acquiring shooting data acquired by shooting liquid on the ground by a shooting device;
identifying the shot data, and determining the liquid position of the liquid and the liquid amount of the liquid;
controlling the sweeper to move to the position of the liquid;
and adjusting the water absorption time of the water absorption material on the sweeper to the liquid according to the liquid amount.
In a second aspect, the present invention provides a water suction device for a sweeper, comprising:
the shooting module is used for acquiring shooting data acquired by shooting the liquid on the ground by the shooting device;
the identification module is used for identifying the shooting data and determining the liquid position of the liquid and the liquid amount of the liquid;
the control module is used for controlling the sweeper to move to the position of the liquid;
and the adjusting module is used for adjusting the water absorption time of the water absorption material on the sweeper to the liquid according to the liquid amount.
In a third aspect, the invention provides a readable medium comprising executable instructions, which when executed by a processor of an electronic device, perform the method according to any of the first aspect.
In a fourth aspect, the present invention provides an electronic device, comprising a processor and a memory storing execution instructions, wherein when the processor executes the execution instructions stored in the memory, the processor performs the method according to any one of the first aspect.
The invention provides a water absorption method and device of a sweeper, a computer readable storage medium and electronic equipment.
Further effects of the above-mentioned unconventional preferred modes will be described below in conjunction with specific embodiments.
Drawings
In order to more clearly illustrate the embodiments or the prior art solutions of the present invention, the drawings needed to be used in the description of the embodiments or the prior art will be briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments described in the present invention, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without inventive labor.
Fig. 1 is a schematic flow chart of a water absorption method of a sweeper according to an embodiment of the present invention;
fig. 2 is a schematic structural view of a water absorption device of a sweeper according to an embodiment of the present invention;
fig. 3 is a schematic structural diagram of an electronic device according to an embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the technical solutions of the present invention will be described in detail and completely with reference to the following embodiments and accompanying drawings. It is to be understood that the described embodiments are merely exemplary of the invention, and not restrictive of the full scope of the invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
The water absorption method of the sweeper provided by the embodiment of the invention can be applied to electronic equipment, particularly to the sweeper, a server or a general computer, and is not limited herein. The embodiment of the invention is described by taking a floor sweeper as an execution subject. As shown in fig. 1, a water absorption method of a sweeper provided by an embodiment of the present invention is provided. In the embodiment of the invention, the method specifically comprises the following steps:
In the embodiment, the shooting device shoots the ground in front, so as to acquire shooting data. In a possible situation, the sweeper is provided with the shooting device, namely the shooting device and the sweeper are integrally arranged, the sweeper can control the shooting device to shoot a picture or a video on the ground in front at regular time, and the picture or the video shot by the shooting device is used as shooting data. In another possible situation, the shooting device is separated from the sweeper, and the communication device is arranged on the sweeper, so that the sweeper can communicate with the shooting device through the communication device, the shooting data acquired by shooting the liquid on the ground through the shooting device is acquired, here, the shooting device can be a monitoring camera arranged in a working space of the sweeper, the monitoring camera continuously shoots the working space to obtain shot videos or shot pictures, and then the monitoring camera can send the shot videos or the shot pictures to the sweeper through the communication device, so that the sweeper receives the shot videos or the shot pictures and takes the videos or the shot pictures as the shot data. The working space is understood to be the ground to be sucked.
In particular, the camera may be an RGB camera, which may take RGB images, also referred to as color images. For example, an RGB image, or an RGB video, including a liquid is taken of the ground with an RGB camera.
And 102, identifying the shot data, and determining the liquid position of the liquid and the liquid amount of the liquid.
Specifically, when the photographing data is acquired, it may be determined whether or not liquid is present on the ground photographed by the photographing device according to the photographing data. The liquid on the ground can be any substance which is not in a definite shape and flows and is left on the ground by a user carelessly in daily activities, such as boiled water, soup, vegetable oil, vinegar and the like. It should be noted that the above-mentioned liquid is only an example, and in practical application, the liquid may be various. If the shooting data is a video, selecting a picture frame with the best shooting effect in the video as a key frame, and adopting an image recognition technology to recognize the key frame so as to judge whether liquid exists on the ground shot by the shooting device. And when the shooting data is a picture, identifying the picture by adopting an image identification technology so as to judge whether liquid exists on the ground shot by the shooting device. Here, the image recognition technology refers to a technology of performing object recognition on an image to recognize an object, and may be any image recognition technology in the related art, such as a neural network image recognition technology. In a possible implementation manner, a large number of pictures containing liquid can be collected as a training set, a deep learning network is trained through the training set to obtain a trained deep learning network, and picture recognition is performed based on the trained deep learning network.
In a specific embodiment, in the traveling process of the sweeper, after a picture of the ground is obtained through a shooting device, the picture can be identified through a pre-trained depth learning model (or depth learning algorithm) to obtain a series of related description information of the liquid, such as pixel coordinates, a liquid profile and the like of each pixel point on the liquid, and then, based on the liquid profile, the liquid amount of the liquid on the ground shot by the shooting device is estimated, wherein the height and the liquid area of the liquid can be estimated approximately when the liquid profile is known, and the liquid amount can be estimated based on the liquid area and the liquid height considering that the liquid usually has a certain height on the ground; and transforming the image coordinate system into a world coordinate system based on the current pose of the shooting device, the pixel coordinate of each pixel point on the liquid and the internal parameters of the shooting device, and determining the liquid position of the liquid on the ground shot by the shooting device, wherein the liquid position is represented by the world coordinate in the world coordinate system. In other possible embodiments, the liquid may be identified by other image identification algorithms or sensor methods, and the liquid position of the liquid and the liquid amount of the liquid may be obtained.
In a specific embodiment, the sweeper is provided with a depth sensor, the distance from the liquid to the sweeper is obtained by the depth sensor, and the liquid position of the liquid is determined based on the current pose of the sweeper and the distance from the liquid on the ground to the sweeper.
It should be noted that the pose of the shooting device indicates the position and the posture of the shooting device in the world coordinate system, and the pose is composed of a rotation matrix and a translation matrix, the translation matrix indicates the distance between the origin of the world coordinate system and the origin of the camera coordinate system, and the rotation matrix indicates the rotation relationship between the world coordinate and the camera coordinate system.
And 103, controlling the sweeper to move to the position of the liquid.
Specifically, after the sweeper obtains the liquid position, a control instruction can be generated, and the control instruction can control the traveling wheels on the sweeper to move to the liquid position.
And 104, adjusting the water absorption time of the water absorption material on the sweeper to the liquid according to the liquid amount.
Specifically, the water-absorbing material refers to a material capable of absorbing liquid, and can be any material capable of absorbing water in the prior art, such as a water-absorbing sponge, and a water-absorbing cotton.
The liquid quantity adjusting device has the advantages that the water absorption time of the water absorption material for liquid is adjusted according to the liquid quantity, so that the water absorption time of the water absorption material is adaptive to the liquid quantity of the liquid, the water absorption time of the water absorption material can be increased when the liquid quantity is large, the water absorption effect of a region with large water absorption quantity is guaranteed, the cleaning time of the water absorption material can be correspondingly reduced when the water absorption quantity is small, and the water absorption effect and efficiency are improved.
In practical application, the water absorption time of the water absorption material to the liquid can be adjusted by changing the travelling speed of the sweeper, adjusting the water absorption times of the water absorption material on the sweeper to the liquid and the like.
In a first possible implementation, the speed of advance of the absorbent material on the sweeper is increased when the quantity of liquid is less than a first threshold.
In the embodiment of the invention, the first threshold is a threshold for judging whether the liquid amount is excessive, and can be set according to the actual water absorption amount of the water absorption material, and when the liquid amount is less than the first threshold, the water absorption amount is relatively small, so that the water absorption time of the water absorption material can be reduced, and the water absorption efficiency of the water absorption material is ensured. Here, the water absorption operation of the liquid can be efficiently completed by increasing the advancing speed of the sweeper so that the water absorption material quickly passes through the liquid. In a specific embodiment, when the amount of liquid is small, for example, only a few drops of water, the absorbent material on the sweeper can be controlled to accelerate through the liquid.
In a second possible implementation, when the amount of liquid is greater than a second threshold, the speed of advance of the absorbent material on the sweeper is reduced.
In the embodiment of the invention, the second threshold is a threshold for judging whether the liquid amount can be quickly absorbed by the water absorbing material, the threshold is set according to the actual water absorption amount of the water absorbing material, and when the liquid amount is greater than the second threshold, the water absorption amount is relatively large, so that the water absorption time of the water absorbing material can be prolonged, and the water absorption effect and efficiency of the water absorbing material are ensured. Here, the water absorption effect can be ensured by reducing the advancing speed of the sweeper, so that the water absorption material passes through liquid slowly.
In a third possible implementation manner, when the liquid amount is greater than a third threshold, determining the water absorption times according to the liquid amount and the water absorption speed of the water absorption material, and controlling the times of the water absorption material on the sweeper passing through the position of the liquid according to the water absorption times.
In the embodiment of the invention, the third threshold is a threshold for judging whether the liquid amount can be absorbed by the water absorbing material at one time, and can be set according to the actual water absorption amount of the water absorbing material, when the liquid amount is greater than the third threshold, the water absorption amount is large, the liquid area is slightly greater than or slightly smaller than the water absorption area of the water absorbing material, and the water absorbing material cannot absorb the liquid at one time, so that the water absorption frequency can be increased, and the water absorption effect of the water absorbing material can be ensured.
In a fourth possible implementation manner, when the liquid amount is greater than a fourth threshold, a water absorption route is planned based on the profile of the liquid determined by identifying the shot data, and a water absorption material on the sweeper is controlled to perform a water absorption operation according to the water absorption route.
In the embodiment of the invention, the fourth threshold is a threshold for judging whether the liquid amount can be absorbed by the water absorbing material for multiple times, and can be set according to the actual water absorption amount of the water absorbing material, when the liquid amount is greater than the fourth threshold, the water absorption amount is very large, the liquid area is very large and is greater than the water absorption area of the water absorbing material, and the water absorbing material can not absorb the water completely after absorbing the water for multiple times, so that the water absorption path can be reasonably planned, and the water absorption effect and the water absorption efficiency can be ensured.
The above details show how to adaptively adjust the cleaning time of the water absorbing material on the sweeper according to the liquid amount of the liquid in the water absorbing process, so as to achieve the instant, efficient and energy-saving cleaning effect.
Further, the shooting sequence of each unphotographed ground is determined specifically by the following method:
acquiring the priority of each un-photographed ground in the current water absorption task process;
and controlling the shooting device to shoot the ground which is not shot in sequence according to the priority of the ground which is not shot.
The current water absorption task can understand that the water absorption work is carried out. For example, the water absorption task may be to complete the water absorption work of the liquid on the floor of all rooms, or to complete the water absorption work of the liquid on the floor of a specific room.
Each of the non-photographed floors may be an area into which all of the non-photographed floors are divided. In a possible case, when all rooms need to be soaked, the non-photographed floor may be the floor of one room, or may be the floor of another room which has not been photographed in the photographed room. In one possible case, when water absorption is required for a room, the non-photographed floor is the other floor in the room that has not been photographed.
The priority of the unphotoed ground indicates the order of the sequential shots of the unphotoed ground. In one possible case, the priority of the unphotoed ground is determined based on a room type, wherein the room type characterizes attributes of the room, and a plurality of kinds of room types may be set in a preset room map. The room type may be, for example, a living room, a bedroom, a children's room, a kitchen, a bathroom. It should be noted that the room types are only used as examples, in practical applications, the dividing types of the room types may be various, and a user or a manufacturer may preset more or less room types according to an actual room, which is not limited in this application. Considering that the types of liquids possibly generated by different room types and the cleanness degrees of the ground may be different, it can be understood that the priority of the ground which is not easy to generate the liquid which dirties the water absorbing material on the sweeper is higher than the priority of the ground which is easy to generate the liquid which dirties the water absorbing material on the sweeper, for example, a living room is a dining place, a kitchen is a cooking place and is easy to generate liquids which are not easy to clean, such as soup, seasonings and the like, so when the sweeper sucks water in the living room or the kitchen, the water absorbing material is dirty, a bedroom and a child room are mainly used for resting and studying, a balcony is mainly used for clothes drying and is not easy to generate liquids which are not easy to clean, such as soup, seasonings and the like, so when the sweeper performs water absorption operation in the bedroom, the child room and the balcony, the water absorbing material is cleaner, thus, bedrooms, children's rooms, and balconies may be set to be of higher priority than living rooms and kitchens. In practical application, the determination of the priorities of different room types may be various, and a user or a manufacturer may set the priorities of different room types according to actual living habits, which is not limited in this embodiment.
According to the priority on each non-shooting ground, the shooting device shoots each non-shooting ground in turn, thereby controlling the water absorption material on the sweeper to absorb water for each non-shooting ground liquid in turn, and ensuring the water absorption effect of the water absorption material according to the water absorption sequence from relatively clean ground to relatively dirty ground.
In practical application, the sweeper can be controlled to absorb water in rooms such as balconies, child rooms and bedrooms, and then the sweeper can be controlled to absorb water in rooms such as living rooms and kitchens.
Further, the water absorbing material may be specifically air-dried by:
acquiring reference liquid types corresponding to all absorbed water grounds in the current water absorption task process;
when the type of the reference liquid corresponding to each water-absorbed ground meets a second preset condition, acquiring the water content of the water-absorbing material on the sweeper;
when the water content is not less than a first water volume threshold value, determining an air drying position of automatic air drying equipment in a room semantic map based on the pre-stored room semantic map;
and controlling the sweeper to move to the air drying position, and controlling the automatic air drying equipment to automatically air-dry the water absorbing material.
The absorbed ground refers to the ground where liquid is present and is absorbed by the absorbent material on the sweeper. The reference liquid type characterizes the property of the liquid, and a plurality of kinds of liquid types can be set in the preset room map. For example, the liquid type may be a beverage, rice juice, clean water, dirty water, seasoning, and the like. It should be noted that the liquid types are only examples, in practical applications, the classification of the liquid types may be various, and a user or a manufacturer may preset more or less liquid types according to the liquid generated by the actual room, which is not limited in this application. In a specific embodiment, after the sweeper obtains a picture of the ground through the shooting device in the traveling process, the picture can be identified through a pre-trained deep learning model (or called a deep learning algorithm) to obtain the liquid type of the liquid.
The first preset condition is a condition for judging whether the reference liquid type is not easy to dirty the water absorbing material, and can be set according to the reference liquid type and the water absorbing material, and when the reference liquid type corresponding to each water absorbing ground meets the first preset condition, the water absorbing material is relatively clean. At the moment, the water content of the water absorbing material can be obtained, and the water content of the water absorbing material can be determined through the moisture detector.
The first water amount threshold is a threshold for judging whether the water-absorbing material can not absorb water any more, and can be set by referring to the actual maximum water absorption amount of the water-absorbing material. When the water absorption capacity of the water absorbing material is not less than the first water capacity threshold value, the water absorbing material can not absorb water any more. At the moment, the air drying position of the automatic air drying equipment in the room semantic map is determined based on the pre-stored room semantic map. It will be understood that a room semantic map refers to a map that explains the meaning of an object in a room, knowing what this object is. For example, if there is a bed in the room, the bed is marked at the position corresponding to the semantic map of the room, thereby indicating that the object is a bed. The automatic air-drying equipment refers to equipment capable of automatically air-drying the water absorbing material of the sweeper, for example, a platform can be arranged, the platform is provided with an open slot, the water absorbing material is right opposite to the open slot, and a device for generating hot air is arranged below the bayonet slot and used for air-drying the water absorbing material.
In a specific embodiment, the sweeper walks along a wall, a room semantic map is built, the room semantic map is stored in advance, then an air drying position of the automatic air drying equipment is determined from the room semantic map, the sweeper is controlled to move to the air drying position, the automatic air drying equipment is controlled to generate hot air, and the water absorbing material is automatically dried.
In practical application, the automatic air drying equipment is configured in a room in advance, and a room door of the room where the automatic air drying equipment is located can be set as an automatic induction door, so that the sweeper can freely enter the room where the automatic air drying equipment is located.
In some possible cases, the water-absorbing material needs to be cleaned, since the liquid may be of a type that tends to dirty the water-absorbing material, such as spices, rice juices, etc., and for this reason, in some possible implementations, the water-absorbing material on the sweeper may also be cleaned. The water-absorbing material can be cleaned specifically by:
when the type of the reference liquid corresponding to each water-absorbed ground meets a second preset condition, determining the cleaning position of the automatic cleaning equipment in a room semantic map based on the pre-stored room semantic map;
and controlling the sweeper to move to the cleaning position, and controlling the automatic cleaning equipment to automatically clean and air-dry the water absorbing material.
In the embodiment of the invention, the second preset condition is a condition for judging whether the water absorbing material is easy to be dirty or not by the reference liquid type, and can be set according to the reference liquid type and the water absorbing material, and when the reference liquid type corresponding to each water absorbing ground meets the second preset condition, the water absorbing material is relatively dirty. At the moment, based on a pre-stored room semantic map, the cleaning position of the automatic cleaning equipment in the room semantic map is determined, the sweeper is controlled to move to the cleaning position, and the automatic cleaning equipment is controlled to automatically clean the water absorbing material, so that the cleanness of the water absorbing material is ensured.
It can be understood that self-cleaning equipment refers to the equipment that can carry out self-cleaning to the material that absorbs water of machine of sweeping floor, for example, can set up a platform, the platform sets up an open slot, the material that absorbs water is just to the open slot, bayonet slot below is equipped with water jet equipment and beats the device, it can beat the material that absorbs water to beat the device, water jet equipment can spray water on the material that absorbs water, thereby realize the cleanness to the material that absorbs water, then open slot side is equipped with and produces hot-blast device, be used for air-drying to the material that absorbs water.
In practical application, the automatic cleaning equipment is configured in a room in advance, and a room door of the room where the automatic cleaning equipment is located can be set as an automatic induction door, so that the sweeper can freely enter the room where the automatic cleaning equipment is located.
In some possible cases, considering that the cleaning capacity of the automatic cleaning device is limited, when the water absorbing material is dirty, the automatic cleaning device may not be cleaned, and for this reason, in some possible implementations, the degree of dirt of the water absorbing material on the sweeper can be notified to the user so as to be used for manual cleaning or replacement of the water absorbing material. The notification of the cleaning of the water absorbing material can be specifically realized by:
acquiring the liquid amount of each target liquid type in the current water absorption task process, wherein the reference liquid type comprises the target liquid type;
and when the liquid amount of each target liquid type meets a third preset condition, sending a specified cleaning mode to user terminal equipment.
The target liquid type refers to a type of liquid that tends to cause the water absorbing material to produce stains that are difficult to clean. For example, the target liquid type may be a condiment, a soup. The target liquid type refers to any one or more of the liquid types, and it can be understood that the third preset condition is a condition for judging whether the liquid amount of the target liquid type is easy to enable the water absorbing material to become difficult to clean, and can be set according to the target liquid type and the water absorbing material. Specifically, the designated cleaning mode may be manual cleaning, or may be replacement of the water absorbing material, and the specific need is determined by combining with the actual situation, which is not specifically limited herein.
In some possible cases, if the liquid absorbed by the water absorbing material is clean water, then if the water absorbing material is directly air-dried, waste of water resources is easily caused, and for this reason, in some possible embodiments, the water absorbing material on the sweeper can be controlled to mop the floor, so as to increase the resource utilization rate and ensure the floor mopping effect. The mopping of the water absorbing material can be realized by the following specific means:
and when the type of the reference liquid corresponding to each water-absorbed ground meets a fourth preset condition and the water content is not less than a second water content threshold value, controlling the water-absorbing material on the sweeper to mop the ground to be mopped.
In the embodiment of the invention, the fourth preset condition is a condition for judging whether the reference liquid types are clean water or not, and can be set according to actual conditions, the second water quantity threshold value is a condition for judging whether the water content of the water absorbing material is sufficient or not, and when each reference liquid type meets the fourth preset condition and the water content of the water absorbing material is not less than the second water quantity threshold value, the water absorbing material absorbs clean water, and the water content of the water absorbing material can be mopped. At the moment, the water absorption material on the sweeper is controlled to mop the floor area, so that the utilization rate of resources and the floor mopping effect are ensured. The area to be mopped can be understood as an area needing mopping, for example, when the sweeper absorbs a large amount of moisture in a toilet, the toilet can be mopped, and therefore cleanness and tidiness of the toilet are guaranteed.
According to the technical scheme, the beneficial effects of the embodiment are as follows: the liquid on the ground can be identified based on the image identification technology, the liquid position and the liquid amount are obtained, the sweeper is controlled to absorb the liquid based on the liquid position and the liquid amount, the drying degree of the ground is ensured, and the safety of the ground is improved. Determining the shooting sequence of the unphotographed ground based on the priority of the unphotographed ground, so as to ensure the water absorption effect of the water absorption material based on the water absorption sequence from relatively clean ground to relatively dirty ground; when the water absorbing material is clean and the water content of the water absorbing material is high, controlling the sweeper to move to an air drying position, and controlling automatic air drying equipment to automatically air-dry the water absorbing material; when the water absorbing material is dirty, controlling the sweeper to move to the automatic cleaning equipment, and controlling the automatic cleaning equipment to automatically clean and air-dry the water absorbing material; when the water absorbing material is dirty and cannot be cleaned through the automatic cleaning equipment, the specified cleaning mode is sent to the user terminal equipment, so that the user can clean or replace the water absorbing material, and the normal water absorbing work of the sweeper is ensured; when the water absorbing material is clean and the water content is high, the water absorbing material on the sweeper is controlled to mop the floor area, so that the utilization rate of resources and the floor mopping effect are ensured.
Based on the same concept as the method embodiment of the present invention, referring to fig. 2, an embodiment of the present invention further provides a water absorption device of a sweeper, including:
the shooting module 201 is used for acquiring shooting data acquired by shooting liquid on the ground by a shooting device;
the identification module 202 is configured to identify the captured data, and determine a liquid position of the liquid and a liquid amount of the liquid;
the control module 203 is used for controlling the sweeper to move to the position of the liquid;
and the adjusting module 204 is used for adjusting the water absorption time of the water absorption material on the sweeper to the liquid according to the liquid amount.
In one embodiment, the adjusting module 204 includes: a first adjusting unit; wherein,
the first adjusting unit is used for increasing the advancing speed of the water absorbing material on the sweeper when the liquid amount is smaller than a first threshold value.
In one embodiment, the adjusting module 204 includes: a second adjusting unit; wherein,
the second adjusting unit is used for reducing the advancing speed of the water absorbing material on the sweeper when the liquid amount is larger than a second threshold value.
In one embodiment, the adjusting module 204 includes: a third adjusting unit; wherein,
and the third adjusting unit is used for determining the water absorption times according to the liquid amount and the water absorption speed of the water absorption material when the liquid amount is larger than a third threshold value, and controlling the times of the water absorption material on the sweeper passing through the position of the liquid according to the water absorption times.
In one embodiment, the adjusting module 204 includes: a fourth adjusting unit; wherein,
and the fourth adjusting unit is used for planning a water absorption route based on the outline of the liquid identified and determined by the shooting data when the liquid amount is larger than a fourth threshold value, and controlling a water absorption material on the sweeper to perform water absorption operation according to the water absorption route.
In one embodiment, further comprising: the priority acquisition module and the second control module; wherein,
the priority acquisition module is used for acquiring the priority of each un-photographed ground in the current water absorption task process;
and the second control module is used for controlling the shooting device to shoot the ground which is not shot in sequence according to the priority of the ground which is not shot.
In one embodiment, further comprising: the device comprises a type acquisition module, a water content acquisition module, an air drying position determination module and an air drying module; wherein,
the type acquisition module is used for acquiring the type of the reference liquid corresponding to each water-absorbed ground in the current water absorption task process;
the water content acquisition module is used for acquiring the water content of the water absorbing material on the sweeper when the type of the reference liquid corresponding to each absorbed water ground meets a first preset condition;
the air drying position determining module is used for determining the air drying position of the automatic air drying equipment in a room semantic map based on a pre-stored room semantic map when the water content is not less than a first water volume threshold;
and the air drying module is used for controlling the sweeper to move to the air drying position and controlling the automatic air drying equipment to automatically air-dry the water absorbing material.
In one embodiment, further comprising: a cleaning position determining module and a cleaning module; wherein,
the cleaning position determining module is used for determining the cleaning position of the automatic cleaning equipment in the room semantic map based on a pre-stored room semantic map when the type of the reference liquid corresponding to each water-absorbed ground meets a second preset condition;
and the cleaning module is used for controlling the sweeper to move to the cleaning position and controlling the automatic cleaning equipment to automatically clean and air-dry the water absorbing material.
In one embodiment, further comprising: the device comprises a liquid amount acquisition module and a sending module; wherein,
the liquid amount obtaining module is configured to obtain liquid amounts of each target liquid type in the current water absorption task process, where the reference liquid type includes the target liquid type;
and the sending module is used for sending the designated cleaning mode to the user terminal equipment when the liquid amount of each target liquid type meets a third preset condition.
In one embodiment, further comprising: a mopping module; wherein,
and the mopping module is used for controlling the water absorbing material on the sweeper to mop the to-be-mopped area when the type of the reference liquid corresponding to each water absorbed ground meets a fourth preset condition and the water content is not less than a second water volume threshold value.
Fig. 3 is a schematic structural diagram of an electronic device according to an embodiment of the present invention. On the hardware level, the electronic device includes a processor 301 and a memory 302 storing execution instructions, and optionally further includes an internal bus 303 and a network interface 304. The Memory 302 may include a Memory 3021, such as a Random-Access Memory (RAM), and may further include a non-volatile Memory 3022 (e.g., at least 1 disk Memory); the processor 301, the network interface 304, and the memory 302 may be connected to each other by an internal bus 303, and the internal bus 303 may be an ISA (Industry Standard Architecture) bus, a PCI (Peripheral Component Interconnect) bus, an EISA (Extended Industry Standard Architecture) bus, or the like; the internal bus 303 may be divided into an address bus, a data bus, a control bus, etc., which is indicated by a single double-headed arrow in fig. 3 for ease of illustration, but does not indicate only a single bus or a single type of bus. Of course, the electronic device may also include hardware required for other services. When the processor 301 executes execution instructions stored by the memory 302, the processor 301 performs the method in any of the embodiments of the present invention and at least for performing the method as shown in fig. 1.
In a possible implementation manner, the processor reads the corresponding execution instruction from the nonvolatile memory to the memory and then runs the execution instruction, and the corresponding execution instruction can also be obtained from other equipment, so as to form a water absorption device of the sweeper on a logic level. The processor executes the execution instruction stored in the memory, so that the water absorption method of the sweeper provided by any embodiment of the invention is realized through the executed execution instruction.
The processor may be an integrated circuit chip having signal processing capabilities. In implementation, the steps of the above method may be performed by integrated logic circuits of hardware in a processor or instructions in the form of software. The Processor may be a general-purpose Processor, including a Central Processing Unit (CPU), a Network Processor (NP), and the like; but also Digital Signal Processors (DSPs), Application Specific Integrated Circuits (ASICs), Field Programmable Gate Arrays (FPGAs) or other Programmable logic devices, discrete Gate or transistor logic devices, discrete hardware components. The various methods, steps and logic blocks disclosed in the embodiments of the present invention may be implemented or performed. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like.
Embodiments of the present invention further provide a computer-readable storage medium, which includes an execution instruction, and when a processor of an electronic device executes the execution instruction, the processor executes a method provided in any one of the embodiments of the present invention. The electronic device may specifically be the electronic device shown in fig. 3; the execution instruction is a computer program corresponding to the water suction device of the sweeper.
It will be appreciated by those skilled in the art that embodiments of the present invention may be provided as a method or computer program product. Accordingly, the present invention may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects.
The embodiments of the present invention are described in a progressive manner, and the same and similar parts among the embodiments can be referred to each other, and each embodiment focuses on the differences from the other embodiments. In particular, as for the apparatus embodiment, since it is substantially similar to the method embodiment, the description is relatively simple, and for the relevant points, reference may be made to the partial description of the method embodiment.
It should also be noted that the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other like elements in a process, method, article, or apparatus that comprises the element.
The above description is only an example of the present invention, and is not intended to limit the present invention. Various modifications and alterations to this invention will become apparent to those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention should be included in the scope of the claims of the present invention.
Claims (10)
1. A water absorption method of a sweeper is characterized by comprising the following steps:
acquiring shooting data acquired by shooting liquid on the ground by a shooting device;
identifying the shot data, and determining the liquid position of the liquid and the liquid amount of the liquid;
controlling the sweeper to move to the liquid position;
and adjusting the water absorption time of the water absorption material on the sweeper to the liquid according to the liquid amount.
2. The method according to claim 1, wherein the adjusting the water absorption time of the liquid by the water absorption material on the sweeper according to the liquid amount comprises:
when the liquid amount is less than a first threshold value, increasing the advancing speed of the water absorbing material on the sweeper;
or, when the liquid amount is greater than a second threshold, reducing the advancing speed of the water absorbing material on the sweeper;
or when the liquid amount is larger than a third threshold value, determining the times of water absorption according to the liquid amount and the water absorption speed of the water absorption material, and controlling the times of the water absorption material on the sweeper passing through the position of the liquid according to the times of water absorption;
or when the liquid amount is larger than a fourth threshold value, planning a water absorption route based on the outline of the liquid identified and determined by the shooting data, and controlling a water absorption material on the sweeper to perform water absorption operation according to the water absorption route.
3. The method of claim 1, further comprising:
acquiring the priority of each un-photographed ground in the current water absorption task process;
and controlling the shooting device to shoot the ground which is not shot in sequence according to the priority of the ground which is not shot.
4. The method of claim 1, further comprising:
acquiring reference liquid types corresponding to all absorbed water grounds in the current water absorption task process;
when the type of the reference liquid corresponding to each water-absorbed ground meets a first preset condition, acquiring the water content of a water-absorbing material on the sweeper;
when the water content is not less than a first water volume threshold value, determining an air drying position of automatic air drying equipment in a room semantic map based on the pre-stored room semantic map;
and controlling the sweeper to move to the air drying position, and controlling the automatic air drying equipment to automatically air-dry the water absorbing material.
5. The method of claim 4, further comprising:
when the type of the reference liquid corresponding to each water-absorbed ground meets a second preset condition, determining the cleaning position of the automatic cleaning equipment in a room semantic map based on the pre-stored room semantic map;
and controlling the sweeper to move to the cleaning position, and controlling the automatic cleaning equipment to automatically clean and air-dry the water absorbing material.
6. The method of claim 4, further comprising:
acquiring the liquid amount of each target liquid type in the current water absorption task process, wherein the reference liquid type comprises the target liquid type;
and when the liquid amount of each target liquid type meets a third preset condition, sending a specified cleaning mode to user terminal equipment.
7. The method of claim 4, further comprising:
and when the type of the reference liquid corresponding to each water-absorbed ground meets a fourth preset condition and the water content is not less than a second water content threshold value, controlling the water-absorbing material on the sweeper to mop the ground to be mopped.
8. The utility model provides a water absorption device of sweeper which characterized in that includes:
the shooting module is used for acquiring shooting data acquired by shooting the liquid on the ground by the shooting device;
the identification module is used for identifying the shooting data and determining the liquid position of the liquid and the liquid amount of the liquid;
the control module is used for controlling the sweeper to move to the position of the liquid;
and the adjusting module is used for adjusting the water absorption time of the water absorption material on the sweeper to the liquid according to the liquid amount.
9. A computer-readable storage medium comprising executable instructions that, when executed by a processor of an electronic device, cause the processor to perform the method of any of claims 1-7.
10. An electronic device comprising a processor and a memory storing execution instructions, the processor performing the method of any of claims 1-7 when the processor executes the execution instructions stored by the memory.
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