CN114145679A - Sweeping robot control method and device - Google Patents
Sweeping robot control method and device Download PDFInfo
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- CN114145679A CN114145679A CN202111407017.5A CN202111407017A CN114145679A CN 114145679 A CN114145679 A CN 114145679A CN 202111407017 A CN202111407017 A CN 202111407017A CN 114145679 A CN114145679 A CN 114145679A
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- sweeping robot
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
- A47L11/4061—Steering means; Means for avoiding obstacles; Details related to the place where the driver is accommodated
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- 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
- 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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Abstract
The application discloses a control method and device of a sweeping robot. Wherein, the method comprises the following steps: acquiring a first position of a target object through at least one piece of intelligent household equipment in a target area; acquiring a second position of the sweeping robot, wherein the sweeping robot works according to a preset moving track; determining a distance between the first location and the second location; and when the distance is smaller than the preset distance threshold value, re-determining the target moving track based on the first position and the second position, and controlling the sweeping robot to work according to the target moving track. The technical problem that the distance between the sweeping robot and a user is too close in the working process and the walking of the user is hindered is solved.
Description
Technical Field
The application relates to the technical field of intelligent equipment control, in particular to a control method and device of a sweeping robot.
Background
At present, more and more families can choose to use the robot that sweeps floor to clean the ground, and usually, the robot that sweeps floor can carry out the work of sweeping according to predetermined movement track, and at this in-process, because the robot that sweeps floor can move ceaselessly to the robot that sweeps floor is generally highly lower, leads to the user can't observe the robot that sweeps floor in work when walking about in the room occasionally, can lead to the user to be stumbled and the dangerous condition appearance such as appearing.
In view of the above problems, no effective solution has been proposed.
Disclosure of Invention
The embodiment of the application provides a sweeping robot control method and device, and the technical problem that the walking of a user is hindered due to the fact that the distance between the sweeping robot and the user is too close in the working process is at least solved.
According to an aspect of the embodiments of the present application, there is provided a robot sweeping control method, including: acquiring a first position of a target object through at least one piece of intelligent household equipment in a target area; acquiring a second position of the sweeping robot, wherein the sweeping robot works according to a preset moving track; determining a distance between the first location and the second location; and when the distance is smaller than a preset distance threshold value, re-determining a target moving track based on the first position and the second position, and controlling the sweeping robot to work according to the target moving track.
Optionally, for any one of the smart home devices, determining, by the smart home device, relative position information between the target object and the smart home device, where a position of the smart home device is fixed; and determining a first position of the target object based on a preset map of the target area and the relative position information, wherein the map comprises the position of the intelligent household equipment.
Optionally, acquiring an image of the target object by the smart home device, and determining relative position information of the target object and the smart home device based on the image; or, establishing communication connection with the intelligent wearable device worn by the target object through the intelligent household device, and determining the relative position information of the target object and the intelligent household device through the intelligent wearable device.
Optionally, the determining the target movement trajectory based on the first position and the second position includes: determining a first area by taking the first position as a circle center and the preset distance threshold as a radius; determining a second area which is swept by the sweeping robot; determining other areas except the first area and the second area in the target area as areas to be cleaned; determining the shortest path from the second position to the area to be cleaned of the sweeping robot to obtain the first moving track; and determining the shortest path of the area to be cleaned by the cleaning robot to obtain the second moving track.
Optionally, dividing the area to be cleaned into a plurality of sub-areas; and determining the shortest path of the sweeping robot traversing the plurality of sub-areas to obtain the second movement track.
Optionally, after the floor sweeping robot finishes the work of the area to be swept, acquiring a third position of the target object; when the third position is located in the first area, controlling the sweeping robot to stop working; and when the third position is located outside the first area, controlling the sweeping robot to work in the first area.
Optionally, when the distance is smaller than a preset distance threshold, the sweeping robot is controlled to send a prompt message, where the prompt message is used to prompt the target object: the distance between the sweeping robot and the target object is smaller than the preset distance threshold value.
According to another aspect of the embodiments of the present application, there is also provided a sweeping robot control device, including: the first acquisition module is used for acquiring a first position of a target object through at least one piece of intelligent household equipment in a target area; the second acquisition module is used for acquiring a second position of the sweeping robot, wherein the sweeping robot works according to a preset movement track; a determining module for determining a distance between the first location and the second location; and the control module is used for re-determining a target moving track based on the first position and the second position and controlling the sweeping robot to work according to the target moving track when the distance is smaller than a preset distance threshold value.
According to another aspect of the embodiment of the application, a non-volatile storage medium is further provided, and the non-volatile storage medium includes a stored program, wherein when the program runs, the device where the non-volatile storage medium is located is controlled to execute the sweeping robot control method.
According to another aspect of the embodiment of the present application, a processor is further provided, where the processor is configured to execute a program, where the program executes the above sweeping robot control method when running.
In the embodiment of the application, a first position of a target object is obtained through at least one piece of intelligent home equipment in a target area; then, a second position of the sweeping robot is obtained, wherein the sweeping robot works according to a preset moving track; and determining the distance between the first position and the second position, re-determining the target moving track based on the first position and the second position when the distance is smaller than a preset distance threshold, and controlling the sweeping robot to work according to the target moving track. In the process, the current position of the user can be accurately obtained through the plurality of pieces of intelligent household equipment, then the distance between the sweeping robot and the user is determined, if the distance is smaller than a preset threshold value, the moving track of the sweeping robot is planned again, the sweeping robot is far away from the user, namely the sweeping robot works in an area range beyond the preset threshold value of the user, and therefore the technical problem that the walking of the user is hindered due to too close distance between the sweeping robot and the user in the working process is solved.
Drawings
The accompanying drawings, which are included to provide a further understanding of the application and are incorporated in and constitute a part of this application, illustrate embodiment(s) of the application and together with the description serve to explain the application and not to limit the application. In the drawings:
fig. 1 is a schematic flowchart of a control method of a sweeping robot according to an embodiment of the present application;
fig. 2 is a schematic diagram of a movement path planning of a sweeping robot according to an embodiment of the present application;
fig. 3 is a schematic structural diagram of a control device of a sweeping robot according to an embodiment of the present application.
Detailed Description
In order to make the technical solutions better understood by those skilled in the art, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only partial embodiments of the present application, but not all embodiments. 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 application.
It should be noted that the terms "first," "second," and the like in the description and claims of this application and in the drawings described above are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used is interchangeable under appropriate circumstances such that the embodiments of the application described herein are capable of operation in sequences other than those illustrated or described herein. Furthermore, the terms "comprises," "comprising," and any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed, but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.
Example 1
In accordance with an embodiment of the present application, there is provided an embodiment of a robot sweeper control method, wherein the steps illustrated in the flowchart of the figure may be performed in a computer system such as a set of computer executable instructions, and wherein although a logical order is illustrated in the flowchart, in some cases the steps illustrated or described may be performed in an order different than that illustrated or described herein.
Fig. 1 is a schematic flowchart of an alternative sweeping robot control method according to an embodiment of the present application, and as shown in fig. 1, the method at least includes steps S102-S108, where:
step S102, a first position of a target object is obtained through at least one piece of intelligent household equipment in a target area.
The target area is usually the home of the user, the smart home devices can be smart televisions, smart air conditioners, smart refrigerators, smart washing machines and other smart home devices in the home of the user, the smart home devices can be connected to the internet of things and perform information interaction with the cloud server, and therefore the real-time position of the user at home can be accurately determined through one or more smart home devices.
In some optional embodiments of the present application, for any smart home device, the relative position information of the target object and the smart home device may be determined by the smart home device.
Specifically, an image of the target object may be collected by the smart home device, and the relative position information of the target object and the smart home device may be determined based on the image. For example, the camera is arranged on the intelligent household equipment, images of the user can be collected in real time, then the images are uploaded to the cloud server, and the cloud server can determine information such as the distance between the user and the intelligent household equipment and the position of the user through analyzing the images, namely the relative position information between the user and the intelligent household equipment. Of course, the information such as the distance between the user and the smart home device, the location of the user, and the like may also be determined by detecting components such as a sensor on the smart home device, for example, an infrared sensor, so as to obtain the relative position information between the user and the smart home device.
Optionally, communication connection may be established between the smart home device and the smart wearable device worn by the target object, and the relative position information between the target object and the smart home device may be determined by the smart wearable device. Wherein, intelligence wearing equipment can be intelligent bracelet, intelligent wrist-watch etc. that the user dressed, and intelligence house equipment is through establishing communication connection with intelligence wearing equipment, can confirm positional information such as distance between the two to confirm user and intelligent house equipment's relative positional information.
The position of each intelligent household device is fixed, and the cloud server usually presets a map of a target area, wherein the map comprises the position of the intelligent household device, so that the first position of the target object can be determined based on the preset map of the target area and relative position information.
For example, the cloud server can determine that the smart television is installed in the center of a living room in a home through a map, and determine that the user is located 4m directly in front of the smart television through the smart television, so that the specific first position of the user in the home can be determined according to the position of the smart television and the relative position information of the user and the smart television.
It should be noted that, when determining the first position of the user, if the relative position of the user is determined only by one smart home device, there may be a certain deviation in the finally determined first position of the user; after the relative position of the user is determined through the plurality of intelligent household devices, mutual authentication can be achieved, and therefore the more accurate first position of the user is determined.
In some optional embodiments of the present application, for some smart wearable devices worn by a target object and having a high-precision positioning function, positioning information of the smart wearable devices may also be directly obtained, and the obtained positioning information is used as a first position of the target object.
And step S104, acquiring a second position of the sweeping robot, wherein the sweeping robot works according to a preset movement track.
Generally, the robot of sweeping the floor also connects in the thing networking, and it has the locate function by itself, and at its in-process according to predetermineeing the movement track work, can send the second position of self to high in the clouds server in real time.
Step S106, determining a distance between the first position and the second position.
And S108, when the distance is smaller than the preset distance threshold value, re-determining the target moving track based on the first position and the second position, and controlling the sweeping robot to work according to the target moving track.
After the first position of the user and the second position of the sweeping robot are obtained, the distance between the first position and the second position can be determined, usually, the user can set a preset distance threshold value according to the requirement of the user, and when the distance between the sweeping robot and the user is larger than the preset distance threshold value, the sweeping robot can be controlled to continuously work according to a preset moving track; and when the distance between the sweeping robot and the user is smaller than the preset distance threshold, the sweeping robot is considered to possibly obstruct the movement of the user, and the movement track of the sweeping robot needs to be re-planned.
Specifically, when determining a target movement track of the sweeping robot, a first area may be determined by taking a first position as a circle center and a preset distance threshold as a radius; determining a second area which is swept by the sweeping robot; and then determining other areas except the first area and the second area in the target area as the areas to be cleaned.
In order to avoid the sweeping robot from interfering with the movement of the user, the sweeping robot needs to be controlled away from the user, and therefore, the target movement track generally includes two parts, namely a first movement track and a second movement track. Firstly, determining the shortest path from a second position to an area to be cleaned by the sweeping robot to obtain a first moving track; and then determining the shortest path of the area to be cleaned by the cleaning robot to obtain a second moving track.
Fig. 2 shows an optional schematic diagram for determining a target movement track of a sweeping robot, where 1 denotes a user, 2 denotes the sweeping robot, a circular area 3 is a first area, a gray rectangular area 4 is a second area, and an area 5 is an area to be swept, and it can be seen that the sweeping robot is located in the first area, that is, the distance between the sweeping robot and the user is smaller than a preset distance threshold, so that the movement track needs to be re-planned. The line 6 represents the shortest path from the current second position to the area 5 to be cleaned, i.e. the first moving track; the line 7 is the shortest path of the cleaning robot to clean the area 5 to be cleaned, i.e. the second moving track.
When the second movement track is determined, the area to be cleaned may be divided into a plurality of sub-areas, and then the shortest path of the cleaning robot traversing the plurality of sub-areas is determined to obtain the second movement track.
In some optional embodiments of the present application, after the sweeping robot completes the work of the area to be swept, a third position of the target object may be obtained, and a process of obtaining the third position is the same as a process of obtaining the first position; when the third position is located in the first area, namely the user is still located in the first area, in order to prevent the sweeping robot from hindering the movement of the user, the sweeping robot can be controlled to stop working without sweeping the first area; when the third position is outside the first area, namely the user leaves the first area, the sweeping robot can be controlled to work in the first area.
Considering when obtaining the user and the position of the robot of sweeping the floor, the distance between the robot of sweeping the floor and the user is less than the preset distance threshold, or in the process of controlling the robot of sweeping the floor to be away from the user, namely when the robot of sweeping the floor moves in the first movement track, in order to avoid the robot of sweeping the floor to hinder the user from moving, the robot of sweeping the floor can be controlled to send out prompt information, and the prompt information is used for prompting a target object: the distance between the sweeping robot and the target object is smaller than a preset distance threshold value. For example, the sweeping robot can remind the user that the sweeping robot is close to the user in a way of playing preset alarm sound and the like, and the sweeping robot needs to pay attention when walking, so that the sweeping robot is prevented from tripping over.
In the embodiment of the application, a first position of a target object is obtained through at least one piece of intelligent home equipment in a target area; then, a second position of the sweeping robot is obtained, wherein the sweeping robot works according to a preset moving track; and determining the distance between the first position and the second position, re-determining the target moving track based on the first position and the second position when the distance is smaller than a preset distance threshold, and controlling the sweeping robot to work according to the target moving track. In the process, the current position of the user can be accurately obtained through the plurality of pieces of intelligent household equipment, then the distance between the sweeping robot and the user is determined, if the distance is smaller than a preset threshold value, the moving track of the sweeping robot is planned again, the sweeping robot is far away from the user, namely the sweeping robot works in an area range beyond the preset threshold value of the user, and therefore the technical problem that the walking of the user is hindered due to too close distance between the sweeping robot and the user in the working process is solved.
Example 2
According to an embodiment of the present application, there is also provided a sweeping robot control apparatus for implementing the sweeping robot control method, as shown in fig. 3, the apparatus at least includes a first obtaining module 30, a second obtaining module 32, a determining module 34 and a control module 36, where:
the first obtaining module 30 is configured to obtain a first position of the target object through at least one smart home device in the target area.
The target area is usually the home of the user, the intelligent household equipment can be intelligent television, intelligent air conditioner, intelligent refrigerator, intelligent washing machine and other intelligent household equipment in the home of the user, the intelligent household equipment can be connected to the Internet of things and performs information interaction with the cloud server, and therefore the real-time position of the user at home can be accurately determined through one or more intelligent household equipment.
In some optional embodiments of the present application, for any smart home device, the relative position information of the target object and the smart home device may be determined by the smart home device.
Specifically, an image of the target object may be collected by the smart home device, and the relative position information of the target object and the smart home device may be determined based on the image. For example, the camera is arranged on the intelligent household equipment, images of the user can be collected in real time, then the images are uploaded to the cloud server, and the cloud server can determine information such as the distance between the user and the intelligent household equipment and the position of the user through analyzing the images, namely the relative position information between the user and the intelligent household equipment. Of course, the information such as the distance between the user and the smart home device, the location of the user, and the like may also be determined by detecting components such as a sensor on the smart home device, for example, an infrared sensor, so as to obtain the relative position information between the user and the smart home device.
Optionally, communication connection may be established between the smart home device and the smart wearable device worn by the target object, and the relative position information between the target object and the smart home device may be determined by the smart wearable device. Wherein, intelligence wearing equipment can be intelligent bracelet, intelligent wrist-watch etc. that the user dressed, and intelligence house equipment is through establishing communication connection with intelligence wearing equipment, can confirm positional information such as distance between the two to confirm user and intelligent house equipment's relative positional information.
The position of each intelligent household device is fixed, and the cloud server usually presets a map of a target area, wherein the map comprises the position of the intelligent household device, so that the first position of the target object can be determined based on the preset map of the target area and relative position information.
For example, the cloud server can determine that the smart television is installed in the center of a living room in a home through a map, and determine that the user is located 4m directly in front of the smart television through the smart television, so that the specific first position of the user in the home can be determined according to the position of the smart television and the relative position information of the user and the smart television.
It should be noted that, when determining the first position of the user, if the relative position of the user is determined only by one smart home device, there may be a certain deviation in the finally determined first position of the user; after the relative position of the user is determined through the plurality of intelligent household devices, mutual authentication can be achieved, and therefore the more accurate first position of the user is determined.
In some optional embodiments of the present application, for some smart wearable devices worn by a target object and having a high-precision positioning function, positioning information of the smart wearable devices may also be directly obtained, and the obtained positioning information is used as a first position of the target object.
And a second obtaining module 32, configured to obtain a second position of the sweeping robot, where the sweeping robot works according to a preset moving track.
Generally, the robot of sweeping the floor also connects in the thing networking, and it has the locate function by itself, and at its in-process according to predetermineeing the movement track work, can send the second position of self to high in the clouds server in real time.
A determining module 34 for determining a distance between the first location and the second location.
And the control module 36 is configured to re-determine the target movement track based on the first position and the second position when the distance is smaller than the preset distance threshold, and control the sweeping robot to work according to the target movement track.
After the first position of the user and the second position of the sweeping robot are obtained, the distance between the first position and the second position can be determined, usually, the user can set a preset distance threshold value according to the requirement of the user, and when the distance between the sweeping robot and the user is larger than the preset distance threshold value, the sweeping robot can be controlled to continuously work according to a preset moving track; and when the distance between the sweeping robot and the user is smaller than the preset distance threshold, the sweeping robot is considered to possibly obstruct the movement of the user, and the movement track of the sweeping robot needs to be re-planned.
Specifically, when determining a target movement track of the sweeping robot, a first area may be determined by taking a first position as a circle center and a preset distance threshold as a radius; determining a second area which is swept by the sweeping robot; and then determining other areas except the first area and the second area in the target area as the areas to be cleaned.
In order to avoid the sweeping robot from interfering with the movement of the user, the sweeping robot needs to be controlled away from the user, and therefore, the target movement track generally includes two parts, namely a first movement track and a second movement track. Firstly, determining the shortest path from a second position to an area to be cleaned by the sweeping robot to obtain a first moving track; and then determining the shortest path of the area to be cleaned by the cleaning robot to obtain a second moving track.
Fig. 2 shows an optional schematic diagram for determining a target movement track of a sweeping robot, where 1 denotes a user, 2 denotes the sweeping robot, a circular area 3 is a first area, a gray rectangular area 4 is a second area, and an area 5 is an area to be swept, and it can be seen that the sweeping robot is located in the first area, that is, the distance between the sweeping robot and the user is smaller than a preset distance threshold, so that the movement track needs to be re-planned. The line 6 represents the shortest path from the current second position to the area 5 to be cleaned, i.e. the first moving track; the line 7 is the shortest path of the cleaning robot to clean the area 5 to be cleaned, i.e. the second moving track.
When the second movement track is determined, the area to be cleaned may be divided into a plurality of sub-areas, and then the shortest path of the cleaning robot traversing the plurality of sub-areas is determined to obtain the second movement track.
In some optional embodiments of the present application, after the sweeping robot completes the work of the area to be swept, a third position of the target object may be obtained, and a process of obtaining the third position is the same as a process of obtaining the first position; when the third position is located in the first area, namely the user is still located in the first area, in order to prevent the sweeping robot from hindering the movement of the user, the sweeping robot can be controlled to stop working without sweeping the first area; when the third position is outside the first area, namely the user leaves the first area, the sweeping robot can be controlled to work in the first area.
Considering when obtaining the user and the position of the robot of sweeping the floor, the distance between the robot of sweeping the floor and the user is less than the preset distance threshold, or in the process of controlling the robot of sweeping the floor to be away from the user, namely when the robot of sweeping the floor moves in the first movement track, in order to avoid the robot of sweeping the floor to hinder the user from moving, the robot of sweeping the floor can be controlled to send out prompt information, and the prompt information is used for prompting a target object: the distance between the sweeping robot and the target object is smaller than a preset distance threshold value. For example, the sweeping robot can remind the user that the sweeping robot is close to the user in a way of playing preset alarm sound and the like, and the sweeping robot needs to pay attention when walking, so that the sweeping robot is prevented from tripping over.
It should be noted that, in the embodiment of the present application, each module in the sweeping robot control device corresponds to the implementation steps of the sweeping robot control method in embodiment 1 one to one, and since the detailed description is already performed in embodiment 1, details that are not partially embodied in this embodiment may refer to embodiment 1, and are not described in detail herein.
Example 3
According to the embodiment of the application, a nonvolatile storage medium is further provided, and the nonvolatile storage medium comprises a stored program, wherein when the program runs, the device where the nonvolatile storage medium is located is controlled to execute the sweeping robot control method in the embodiment 1.
According to the embodiment of the application, a processor is further provided, and the processor is used for running a program, wherein the program executes the sweeping robot control method in the embodiment 1 when running.
Specifically, the following steps are implemented when the program runs: acquiring a first position of a target object through at least one piece of intelligent household equipment in a target area; acquiring a second position of the sweeping robot, wherein the sweeping robot works according to a preset moving track; determining a distance between the first location and the second location; and when the distance is smaller than the preset distance threshold value, re-determining the target moving track based on the first position and the second position, and controlling the sweeping robot to work according to the target moving track.
The above-mentioned serial numbers of the embodiments of the present application are merely for description and do not represent the merits of the embodiments.
In the above embodiments of the present application, the descriptions of the respective embodiments have respective emphasis, and for parts that are not described in detail in a certain embodiment, reference may be made to related descriptions of other embodiments.
In the embodiments provided in the present application, it should be understood that the disclosed technology can be implemented in other ways. The above-described embodiments of the apparatus are merely illustrative, and for example, a division of a unit may be a division of a logic function, and an actual implementation may have another division, for example, a plurality of units or components may be combined or may be integrated into another system, or some features may be omitted, or may not be executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection through some interfaces, units or modules, and may be in an electrical or other form.
The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.
In addition, functional units in the embodiments of the present application may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit. The integrated unit can be realized in a form of hardware, and can also be realized in a form of a software functional unit.
The integrated unit, if implemented in the form of a software functional unit and sold or used as a stand-alone product, may be stored in a computer readable storage medium. Based on such understanding, the technical solution of the present application may be substantially implemented or contributed to by the prior art, or all or part of the technical solution may be embodied in a software product, which is stored in a storage medium and includes instructions for causing a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the steps of the method of the embodiments of the present application. And the aforementioned storage medium includes: a U-disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a removable hard disk, a magnetic or optical disk, and other various media capable of storing program codes.
The foregoing is only a preferred embodiment of the present application and it should be noted that those skilled in the art can make several improvements and modifications without departing from the principle of the present application, and these improvements and modifications should also be considered as the protection scope of the present application.
Claims (10)
1. A control method of a sweeping robot is characterized by comprising the following steps:
acquiring a first position of a target object through at least one piece of intelligent household equipment in a target area;
acquiring a second position of the sweeping robot, wherein the sweeping robot works according to a preset moving track;
determining a distance between the first location and the second location;
and when the distance is smaller than a preset distance threshold value, re-determining a target moving track based on the first position and the second position, and controlling the sweeping robot to work according to the target moving track.
2. The method according to claim 1, wherein obtaining the first position of the target object through at least one smart home device in the target area comprises:
for any intelligent household equipment, determining the relative position information of the target object and the intelligent household equipment through the intelligent household equipment, wherein the position of the intelligent household equipment is fixed;
and determining a first position of the target object based on a preset map of the target area and the relative position information, wherein the map comprises the position of the intelligent household equipment.
3. The method according to claim 2, wherein determining the relative position information of the target object and the smart home device based on the smart home device comprises:
acquiring an image of the target object through the intelligent home equipment, and determining relative position information of the target object and the intelligent home equipment based on the image; or the like, or, alternatively,
establishing communication connection with the intelligent wearable device worn by the target object through the intelligent household device, and determining the relative position information of the target object and the intelligent household device through the intelligent wearable device.
4. The method of claim 1, wherein the target movement trajectory comprises a first movement trajectory and a second movement trajectory, and wherein re-determining the target movement trajectory based on the first location and the second location comprises:
determining a first area by taking the first position as a circle center and the preset distance threshold as a radius;
determining a second area which is swept by the sweeping robot;
determining other areas except the first area and the second area in the target area as areas to be cleaned;
determining the shortest path from the second position to the area to be cleaned of the sweeping robot to obtain the first moving track;
and determining the shortest path of the area to be cleaned by the cleaning robot to obtain the second moving track.
5. The method of claim 4, wherein determining the shortest path for the cleaning robot to clean the area to be cleaned and obtaining the second movement track comprises:
dividing the area to be cleaned into a plurality of sub-areas;
and determining the shortest path of the sweeping robot traversing the plurality of sub-areas to obtain the second movement track.
6. The method of claim 4, further comprising:
after the floor sweeping robot finishes the work of the area to be swept, acquiring a third position of the target object;
when the third position is located in the first area, controlling the sweeping robot to stop working;
and when the third position is located outside the first area, controlling the sweeping robot to work in the first area.
7. The method according to any one of claims 1 to 6, further comprising:
when the distance is smaller than a preset distance threshold value, controlling the sweeping robot to send prompt information, wherein the prompt information is used for prompting the target object: the distance between the sweeping robot and the target object is smaller than the preset distance threshold value.
8. A sweeping robot control device is characterized by comprising:
the first acquisition module is used for acquiring a first position of a target object through at least one piece of intelligent household equipment in a target area;
the second acquisition module is used for acquiring a second position of the sweeping robot, wherein the sweeping robot works according to a preset movement track;
a determining module for determining a distance between the first location and the second location;
and the control module is used for re-determining a target moving track based on the first position and the second position and controlling the sweeping robot to work according to the target moving track when the distance is smaller than a preset distance threshold value.
9. A non-volatile storage medium, comprising a stored program, wherein the program, when executed, controls a device in which the non-volatile storage medium is located to perform the robot sweeping control method according to any one of claims 1 to 7.
10. A processor, characterized in that the processor is configured to run a program, wherein the program is configured to execute the robot sweeping control method according to any one of claims 1 to 7 when running.
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