CN114747980A - Method, device and equipment for determining water yield of sweeping robot and storage medium - Google Patents
Method, device and equipment for determining water yield of sweeping robot and storage medium Download PDFInfo
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- 238000010408 sweeping Methods 0.000 title claims abstract description 227
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- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
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- 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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Abstract
The application discloses a floor sweeping robot water yield determination method, device, equipment and storage medium, and the method comprises the following steps: acquiring position information of a sweeping robot; the position information is used for determining whether the sweeping robot is moved after the last sweeping is finished; when the position information meets the preset position requirement, acquiring ground material information of the ground to be cleaned by the sweeping robot; and determining the water yield corresponding to the ground material information based on a first preset mapping relation to obtain a target water yield. The application simplifies the operation flow of the user when the sweeping robot is used.
Description
Technical Field
The application relates to the field of robots, in particular to a method, a device, equipment and a storage medium for determining water yield of a sweeping robot.
Background
With the popularization of household robots, more and more users use sweeping robots.
At present, when a user needs to use the sweeping robot to sweep the ground, the water yield of the sweeping robot when sweeping the ground needs to be set by touching and pressing a water yield gear button on the sweeping robot. This makes the robot of sweeping the floor intelligent inadequately, and the user is when using this robot of sweeping the floor, and operation flow is comparatively loaded down with trivial details.
Disclosure of Invention
The application mainly aims to provide a method, a device, equipment and a storage medium for determining the water yield of a sweeping robot, and how to simplify the operation flow of a user when the sweeping robot is used.
In order to achieve the above object, the present application provides a method for determining a water yield of a floor sweeping robot, where the method includes:
acquiring position information of a sweeping robot; the position information is used for determining whether the sweeping robot is moved after the last sweeping is finished;
when the position information meets the preset position requirement, acquiring ground material information of the ground to be cleaned by the sweeping robot;
and determining the water yield corresponding to the ground material information based on a first preset mapping relation to obtain a target water yield.
Exemplarily, when the position information meets the preset position requirement, before obtaining the ground material information of the ground to be cleaned by the cleaning robot, the method includes:
calculating a moving distance by which the sweeping robot is moved based on the position information;
and if the moving distance is greater than or equal to a preset moving distance threshold value, determining that the position information meets the preset position requirement.
For example, after calculating the moving distance of the sweeping robot to be moved based on the position information, the method further includes:
if the moving distance is smaller than a preset moving distance threshold value, determining that the position information does not meet the preset position requirement;
and when the position information does not meet the preset position requirement, determining that the water yield used by the sweeping robot in the last sweeping is the target water yield in the current sweeping.
Illustratively, the determining the water yield corresponding to the ground material information based on the first preset mapping relationship, and after obtaining the target water yield, includes:
acquiring water level information of a water tank arranged on the sweeping robot;
calculating a difference value between the water level information and the water consumption corresponding to the target water yield;
if the difference value is smaller than or equal to zero, outputting prompt information to remind the user of adding water into the water tank.
Illustratively, when the position information accords with the preset position requirement, the ground material information of the ground that the sweeping robot needs to sweep is obtained, including:
when the position information meets the preset position requirement, acquiring a ground image of the ground to be cleaned by the sweeping robot;
And inputting the ground image to a preset ground material recognition model to obtain ground material information.
For example, before the ground image is input to the preset ground material recognition model and the ground material information is obtained, the method includes:
acquiring material recognition training data and a ground material recognition model to be trained;
inputting the material recognition training data to the ground material recognition model to be trained to obtain a training classification label;
calculating the gradient of the ground material recognition model to be trained on the basis of the training classification label and the real classification label corresponding to the material recognition training data;
determining whether the ground material identification model to be trained meets a preset iteration training end condition or not based on the gradient;
if yes, taking the ground material recognition model to be trained as the preset ground material recognition model;
and if not, continuing to carry out iterative training on the to-be-trained ground material identification model until the to-be-trained ground material identification model meets a preset iterative training end condition.
For example, the obtaining the ground material information of the ground to be swept by the sweeping robot includes:
Determining echo time based on an echo signal acquired by an ultrasonic sensor arranged on the sweeping robot;
and determining the ground material information corresponding to the echo time based on a second preset mapping relation.
Illustratively, the determining the water yield corresponding to the ground material information based on the first preset mapping relationship, and after obtaining the target water yield, includes:
detecting a water yield modification instruction input by a user, and modifying the water yield in the first preset mapping relation to update the first preset mapping relation; the water yield modification instruction is input by the user according to the cleaning degree of the ground after the floor sweeping robot cleans the ground based on the water yield.
Illustratively, the determining the water yield corresponding to the ground material information based on the first preset mapping relationship, and after obtaining the target water yield, includes:
acquiring the degree of dirt on the ground;
determining a water yield adjustment amount corresponding to the dirt degree based on a third preset mapping relation;
and adjusting the target water yield based on the water yield adjustment amount.
For example, the determining the water yield corresponding to the ground material information based on the first preset mapping relationship, and after obtaining the target water yield, includes:
And sending the cleaning record to a terminal of the user to allow the user to check the cleaning record when a checking instruction for checking the cleaning record input by the user is detected.
Exemplarily, in order to achieve the above object, the present application further provides a device for determining a water yield of a cleaning robot, where the device for determining a water yield of a cleaning robot includes:
the first acquisition module is used for acquiring the position information of the sweeping robot; the position information is used for determining whether the sweeping robot is moved after the last sweeping is finished;
the second acquisition module is used for acquiring the ground material information of the ground to be cleaned by the sweeping robot when the position information meets the preset position requirement;
and the first determining module is used for determining the water yield corresponding to the ground material information based on a first preset mapping relation to obtain a target water yield.
Illustratively, the apparatus further comprises:
the first calculation module is used for calculating the moving distance of the sweeping robot on the basis of the position information;
and the second determining module is used for determining that the position information meets the preset position requirement if the moving distance is greater than or equal to a preset moving distance threshold value.
Illustratively, the apparatus further comprises:
a third determining module, configured to determine that the position information does not meet a preset position requirement if the moving distance is smaller than a preset moving distance threshold;
and the fourth determining module is used for determining that the water yield used by the sweeping robot in the last sweeping is the target water yield in the current sweeping when the position information does not meet the preset position requirement.
Illustratively, the apparatus further comprises:
the third acquisition module is used for acquiring water level information of a water tank arranged on the sweeping robot;
the second calculation module is used for calculating a difference value between the water level information and the water consumption corresponding to the target water yield;
and the output module is used for outputting prompt information if the difference value is less than or equal to zero so as to remind the user of adding water into the water tank.
Illustratively, the second obtaining module includes:
the first acquisition unit is used for acquiring a ground image of the ground required to be cleaned by the sweeping robot when the position information meets the preset position requirement;
and the first input unit is used for inputting the ground image to a preset ground material identification model to obtain ground material information.
Illustratively, the second obtaining module further comprises:
the second acquisition unit is used for acquiring material recognition training data and a ground material recognition model to be trained;
the second input unit is used for inputting the material recognition training data to the ground material recognition model to be trained to obtain a training classification label;
the calculating unit is used for calculating the gradient of the ground material recognition model to be trained on the basis of the training classification labels and the real classification labels corresponding to the material recognition training data;
the first determining unit is used for determining whether the to-be-trained ground material identification model meets a preset iterative training ending condition or not based on the gradient; if so, taking the to-be-trained ground material identification model as the preset ground material identification model; and if not, continuing to carry out iterative training on the to-be-trained ground material identification model until the to-be-trained ground material identification model meets a preset iterative training end condition.
Illustratively, the second obtaining module further comprises:
a third acquisition unit configured to acquire an echo time determined based on the ultrasonic sensor;
and the second determining unit is used for determining the ground material information corresponding to the echo time based on a second preset mapping relation.
Illustratively, the apparatus further comprises:
the modification module is used for detecting a water yield modification instruction input by a user and modifying the water yield in the first preset mapping relation so as to update the first preset mapping relation; the water yield modification instruction is input by the user according to the cleaning degree of the ground after the floor sweeping robot cleans the ground based on the water yield.
In an exemplary embodiment, to achieve the above object, the present application further provides a floor sweeping robot water yield determining device, where the floor sweeping robot water yield determining device includes a memory, a processor, and a floor sweeping robot water yield determining program that is stored in the memory and is executable on the processor, and when the floor sweeping robot water yield determining program is executed by the processor, the steps of the floor sweeping robot water yield determining method described above are implemented.
In an exemplary embodiment, to achieve the above object, the present application further provides a computer-readable storage medium, where a floor sweeping robot water yield determination program is stored, and when executed by a processor, the floor sweeping robot water yield determination program implements the steps of the floor sweeping robot water yield determination method described above.
Compared with the prior art, the user needs to set the water yield of the sweeping robot when the floor is swept by touching the water yield gear key on the sweeping robot, so that the operation flow of the user when the sweeping robot is used is complicated, the position information of the sweeping robot is obtained, the water yield is determined through the position information, specifically, when the position information meets the preset position requirement, the ground material information of the ground required to be swept by the sweeping robot is obtained, the mapping relation between the ground material information and the water yield is determined according to the first preset mapping relation, the target water yield is determined, the process does not need the user to perform any operation, namely, the water yield is set without the user, the sweeping robot can be set by the user, and the operation flow of the user when the sweeping robot is used is simplified.
Drawings
Fig. 1 is a schematic flow chart of a first embodiment of a floor sweeping robot water yield determination method according to the present application;
fig. 2 is a schematic functional module diagram of a water yield determination device of a sweeping robot according to a preferred embodiment of the present application;
fig. 3 is a schematic structural diagram of a hardware operating environment according to an embodiment of the present application.
The implementation, functional features and advantages of the object of the present application will be further explained with reference to the embodiments, and with reference to the accompanying drawings.
Detailed Description
It should be understood that the specific embodiments described herein are merely illustrative of and not restrictive on the broad application.
Referring to fig. 1, fig. 1 is a schematic flow diagram of a first embodiment of the method for determining a water yield of a sweeping robot.
The embodiments of the present application provide an embodiment of a method for determining a water yield of a sweeping robot, and it should be noted that, although a logical sequence is shown in the flowchart, in some cases, the steps shown or described may be performed in a different sequence from the sequence here. For convenience of description, the following steps of the sweeping robot water yield determination method mainly described in the description are omitted, and the sweeping robot water yield determination method includes:
step S110, acquiring position information of the sweeping robot; the position information is used for determining whether the sweeping robot is moved after the last sweeping is finished.
For example, a module capable of detecting whether the sweeping robot is moved is arranged in the sweeping robot, and the module includes a GPS (Global Positioning System) module, an infrared Positioning module, and the like, and specifically, the module is used for collecting position information.
For example, the location swept by the sweeping robot is generally not changed after the first determination, for example, the sweeping robot is used to sweep a living room, and then the sweeping robot is used to sweep the living room all the time. Therefore, in order to improve the intelligence of the sweeping robot and the working efficiency of the sweeping robot, the unnecessary work flow of the sweeping robot can be prevented from being repeatedly executed.
For example, when the floor sweeping robot needs to determine the water yield again, the water yield is determined again by determining the material of the floor, and when the water yield does not need to be determined again, the last determined water yield is used. Wherein the water yield is the amount of water discharged in unit timeUnit is m3/s。
And step S120, when the position information meets the preset position requirement, obtaining the ground material information of the ground required to be cleaned by the sweeping robot.
When the position information accords with the requirement of presetting the position, can confirm that the robot of sweeping the floor needs the redefinition water yield, this process is realized through the ground material information that acquires the ground that the robot of sweeping the floor needs to clean. It will be appreciated that the amount of water output required for cleaning floors of different materials will vary, and generally the roughness of a material will be proportional to the amount of water output, i.e. the coarser the material the greater the amount of water output, and correspondingly the smoother the material the less the amount of water output.
The floor material includes, for example, wood, porcelain, etc., wherein the wood floor is coarser than the porcelain floor, that is, the water yield of the floor sweeping robot when sweeping the wood floor is greater than the water yield of the floor sweeping robot when sweeping the porcelain floor. The ground material information is information of the ground material.
For example, the ground material information may be obtained from ground images or determined by ultrasonic sensors.
Illustratively, for obtaining the ground material information from the ground image, when the position information meets the preset position requirement, obtaining the ground material information of the ground to be cleaned by the sweeping robot includes:
step a, when the position information meets the preset position requirement, acquiring a ground image of the ground required to be cleaned by the sweeping robot.
The ground image is acquired by a camera arranged on the sweeping robot, or acquired by image acquisition equipment (such as a monitoring camera and a camera of a television) other than the sweeping robot (information interaction can be realized through the internet of things). When the sweeping robot needs to sweep the floor, the robot can shoot the floor through a camera or image acquisition equipment.
And b, inputting the ground image to a preset ground material identification model to obtain ground material information.
The preset ground material recognition model is a neural network model, ground material information can be recognized from the ground image, the preset ground material recognition model is obtained by performing iterative training on the ground material recognition model to be trained, and the recognition accuracy is high.
For example, before the ground image is input to the preset ground material recognition model and the ground material information is obtained, the method includes:
and c, acquiring material recognition training data and a ground material recognition model to be trained.
The material recognition training data is marked ground image data, that is, ground image data including real classification labels (obtained by marking), and the ground material recognition model to be trained is constructed by a CNN (Convolutional Neural Networks).
Step d, inputting the material identification training data to the ground material identification model to be trained to obtain a training classification label;
step e, calculating the gradient of the ground material recognition model to be trained on the basis of the training classification labels and the real classification labels corresponding to the material recognition training data;
step f, determining whether the ground material identification model to be trained meets a preset iterative training end condition or not based on the gradient; if yes, taking the ground material recognition model to be trained as the preset ground material recognition model; and if not, continuing to carry out iterative training on the to-be-trained ground material identification model until the to-be-trained ground material identification model meets a preset iterative training end condition.
The training classification label is an identifier obtained after the ground material recognition model to be trained predicts material recognition training data, and a difference exists between the training classification label and a preset real label, wherein the difference is used for calculating a gradient.
After the gradient is obtained through calculation, the lowest point of the model parameter on the loss function is searched through a gradient descent method, and whether the ground material identification model to be trained is converged is judged. When the lowest point is found, determining that the to-be-trained ground material recognition model meets a preset iterative training end condition, namely determining that the to-be-trained ground material recognition model is converged, and taking the to-be-trained ground material recognition model as a preset ground material recognition model; and when the lowest point is not found, determining that the to-be-trained ground material recognition model does not meet the preset iterative training end condition, acquiring the material recognition training data again, and training and optimizing the to-be-trained ground material recognition model again on the basis of the material recognition training data until the lowest point is found.
Illustratively, the determining the ground material information by the ultrasonic sensor, and the obtaining the ground material information of the ground to be swept by the sweeping robot includes:
And g, determining echo time based on the echo signal acquired by the ultrasonic sensor arranged on the sweeping robot.
The echo signal acquired based on the ultrasonic sensor is obtained after the ultrasonic sensor transmits ultrasonic waves to the outside, specifically, the ultrasonic sensor transmits the ultrasonic waves to the outside, the ultrasonic waves are reflected after encountering an obstacle (ground) and are received by the ultrasonic sensor, and therefore the echo signal is obtained. The echo time is the time difference between the sending of the ultrasonic wave and the receiving of the echo signal. For different ground materials, the roughness of the ground material causes different echo times, and the roughness is proportional to the echo time, for example, the echo time of a wood ground material is 0.14 ms, and the echo time of a porcelain ground material is 0.13 ms.
And h, determining the ground material information corresponding to the echo time based on a second preset mapping relation.
The second preset mapping relation records the mapping relation between the echo time and the ground material information, for example, if the ground material information is wood, the echo time having the mapping relation with the ground material information is 0.14 ms, and correspondingly, if the ground material information is porcelain, the echo time having the mapping relation with the ground material information is 0.13 ms. After the echo time is determined, the only ground material information can be determined through the second mapping relation.
For example, whether the position information meets the preset position requirement or not is determined by the moving distance of the sweeping robot, specifically, when the position information meets the preset position requirement, before obtaining the ground material information of the ground to be swept by the sweeping robot, the method includes:
and i, calculating the moving distance of the sweeping robot based on the position information.
To calculate the moving distance, in addition to the current position information of the sweeping robot, the position information of the sweeping robot at the last cleaning end needs to be obtained, and it can be understood that the moving distance is a position difference between the current position information and the position information at the last cleaning end, for example, if the distance between the current position and the position at the last cleaning end is 5 meters, the moving distance is 5 meters.
Illustratively, when the position information is determined through the infrared positioning module, an electronic tag capable of emitting infrared rays is attached to the sweeping robot, a plurality of infrared sensors are arranged in an area which may be swept by the sweeping robot, and the distance or the angle of a signal source can be measured through the plurality of infrared sensors, so that the position of the sweeping robot is calculated, and the position information is obtained.
Illustratively, when the position information is determined by the GPS module, the position information is longitude and latitude information of the sweeping robot.
And j, if the moving distance is larger than or equal to a preset moving distance threshold value, determining that the position information meets the preset position requirement.
The preset moving distance threshold may be specifically set according to needs, and this embodiment is not particularly limited. The preset position requirement is that the moving distance of the sweeping robot is not less than a preset moving distance threshold value. It can be understood that when the moving distance is greater than or equal to the preset moving distance threshold value, it indicates that the sweeping robot may move from the ground made of one material to the ground made of another material, and at this time, if the water yield used in the last sweeping is used, the result of the sweeping does not meet the user requirement, that is, the sweeping is not clean enough, and therefore, when the position information meets the preset position requirement, the ground material information needs to be obtained again, so that the water yield suitable for the sweeping process is determined again.
For example, after calculating the moving distance of the sweeping robot moved based on the position information, the method further includes:
step k, if the moving distance is smaller than a preset moving distance threshold value, determining that the position information does not meet the preset position requirement;
And step l, when the position information does not meet the preset position requirement, determining that the water yield used by the sweeping robot in the last sweeping is the target water yield in the current sweeping.
If the moving distance is smaller than the preset moving distance threshold, it is indicated that the sweeping robot is not moved after the last sweeping is finished, or the moved range is small (that is, although the sweeping robot is moved, the sweeping robot is not moved from the ground made of one material to the ground made of another material), it can be determined that the sweeping robot does not need to determine the water yield again, and the water yield used in the last sweeping can be directly determined, so that the time for acquiring the ground material information and the time for determining the target water yield are reduced, and the sweeping efficiency of the sweeping robot in the sweeping process is improved.
Step S130, based on the first preset mapping relation, determining the water yield corresponding to the ground material information to obtain a target water yield.
The first preset mapping relation records a mapping relation between the water yield and the ground material information, for example, the water yield comprises a first gear and a second gear, when the ground material information is wood, the water yield having the mapping relation with the wood is the water yield of the first gear, and correspondingly, when the ground material information is porcelain, the water yield having the mapping relation with the porcelain is the water yield of the second gear. After the ground material information is determined, the only target water yield can be determined through the first mapping relation.
Illustratively, the determining the water yield corresponding to the ground material information based on the first preset mapping relationship, and after obtaining the target water yield, includes:
and m, acquiring water level information of a water tank arranged in the sweeping robot.
The water tank arranged in the sweeping robot stores water required to be used in the sweeping process, if the water in the water tank is insufficient, the sweeping robot cannot continuously sweep the ground, and a user of the sweeping robot cannot timely add water to the water tank (for example, the user does not notice the sweeping robot or is not in a room where the sweeping robot is located (for example, the user is not at home, is not in an office, and the like)), so that the user experience is reduced, and the user viscosity is reduced.
Step n, calculating the difference between the water level information and the water consumption corresponding to the target water yield;
and step o, if the difference value is less than or equal to zero, outputting prompt information to remind the user of adding water into the water tank.
The embodiment estimates through the water level information of the water tank whether the sweeping robot can complete the sweeping of the ground, so that the problem that the sweeping robot cannot continue to sweep the ground due to insufficient water in the water tank is solved well, and the viscosity of a user is improved.
Specifically, the water consumption is determined by the difference between the water level information and the water consumption corresponding to the target water yield (since the sweeping robot is not moved, the water consumption during the current sweeping is basically the same as the water consumption during the previous sweeping, and the water consumption during the previous sweeping is directly used as the water consumption during the current sweeping). When the difference value is more than zero, the water in the water tank is enough to meet the use requirement of the sweeping robot on the water during the cleaning; when the difference value is smaller than or equal to zero, prompt information is output to remind a user to add water into the water tank, so that the water in the water tank can meet the use requirement of the sweeping robot on the water when the sweeping is performed.
For example, the determining the water yield corresponding to the ground material information based on the first preset mapping relationship, and after obtaining the target water yield, includes:
step p, detecting a water yield modification instruction input by a user, and modifying the water yield in the first preset mapping relation to update the first preset mapping relation; the water yield modification instruction is input by the user according to the cleaning degree of the ground after the floor sweeping robot cleans the ground based on the water yield.
The first preset mapping relationship may be updated, specifically, after the sweeping robot finishes sweeping, a water yield modification instruction input by a user for the cleaning degree of the sweeping robot is received, where the water yield modification instruction includes a water yield modification instruction for adjusting the water yield to a large value and a water yield modification instruction for adjusting the water yield to a small value, and generally, the water yield modification instruction for adjusting the water yield to a large value is given by the user based on that the ground is not completely swept, and correspondingly, the water yield modification instruction for adjusting the water yield to a small value is given by the user based on that the ground has more residual moisture.
Illustratively, the determining the water yield corresponding to the ground material information based on the first preset mapping relationship, and after obtaining the target water yield, includes:
step q, acquiring the degree of dirt on the ground;
r, determining a water yield adjustment amount corresponding to the dirt degree based on a third preset mapping relation;
and s, adjusting the target water yield based on the water yield adjustment amount.
The target water yield is not only influenced by the ground material, but also influenced by the dirt degree of the ground, namely after the target water yield is determined by the ground material, the target water yield is required to be finely adjusted by the dirt degree, so that the target water yield is closer to the actual condition, and the accuracy of determining the target water yield is improved.
The third predetermined mapping relationship is basically the same as the first predetermined mapping relationship and the second predetermined mapping relationship, and is not described herein again.
For example, the determining the water yield corresponding to the ground material information based on the first preset mapping relationship, and after obtaining the target water yield, includes:
and t, detecting a checking instruction input by a user for checking the cleaning record, and sending the cleaning record to a terminal of the user for the user to check the cleaning record.
When the user needs to check the cleaning record, the user can input a checking instruction, and the cleaning record is sent to the terminal of the user in response to the checking instruction.
Illustratively, the cleaning record comprises a cleaning track and a cleaning route, and the cleaning record viewed by the user is presented by the terminal in the form of animation. When a user needs to adjust the cleaning track and the cleaning route, the user can input a cleaning process adjusting instruction to the sweeping robot, and the sweeping robot responds to the cleaning process adjusting instruction to clean the track and the cleaning route so as to meet the requirements of the user on the cleaning track and the cleaning route.
Compared with the prior art, a user needs to set the water yield of the sweeping robot when the floor is swept by touching and pressing a water yield gear button on the sweeping robot, and the operation flow of the user when the sweeping robot is used is complicated.
Exemplarily, referring to fig. 2, the present application further provides a device for determining a water yield of a floor cleaning robot, where the device for determining a water yield of a floor cleaning robot includes:
the first acquisition module 10 is used for acquiring the position information of the sweeping robot; the position information is used for determining whether the sweeping robot is moved after the last sweeping is finished;
the second obtaining module 20 is configured to obtain ground material information of a ground to be cleaned by the sweeping robot when the position information meets a preset position requirement;
the first determining module 30 is configured to determine, based on a first preset mapping relationship, a water yield corresponding to the ground material information, so as to obtain a target water yield.
Illustratively, the apparatus further comprises:
the first calculation module is used for calculating the moving distance of the sweeping robot on the basis of the position information;
and the second determining module is used for determining that the position information meets the preset position requirement if the moving distance is greater than or equal to a preset moving distance threshold value.
Illustratively, the apparatus further comprises:
a third determining module, configured to determine that the position information does not meet a preset position requirement if the moving distance is smaller than a preset moving distance threshold;
And the fourth determining module is used for determining that the water yield used by the sweeping robot in the last sweeping is the target water yield in the current sweeping when the position information does not meet the preset position requirement.
Illustratively, the apparatus further comprises:
the third acquisition module is used for acquiring water level information of a water tank arranged on the sweeping robot;
the second calculation module is used for calculating a difference value between the water level information and the water consumption corresponding to the target water yield;
and the output module is used for outputting prompt information if the difference value is less than or equal to zero so as to remind the user of adding water into the water tank.
Illustratively, the second obtaining module 20 includes:
the first acquisition unit is used for acquiring a ground image of the ground required to be cleaned by the sweeping robot when the position information meets a preset position requirement;
and the first input unit is used for inputting the ground image to a preset ground material identification model to obtain ground material information.
Illustratively, the second obtaining module 20 further includes:
the second acquisition unit is used for acquiring the material recognition training data and the ground material recognition model to be trained;
the second input unit is used for inputting the material recognition training data to the ground material recognition model to be trained to obtain a training classification label;
The calculating unit is used for calculating the gradient of the ground material recognition model to be trained on the basis of the training classification labels and the real classification labels corresponding to the material recognition training data;
the first determining unit is used for determining whether the to-be-trained ground material identification model meets a preset iterative training end condition or not based on the gradient; if so, taking the to-be-trained ground material identification model as the preset ground material identification model; and if not, continuing to carry out iterative training on the to-be-trained ground material identification model until the to-be-trained ground material identification model meets a preset iterative training end condition.
Illustratively, the second obtaining module 20 further includes:
a third acquisition unit configured to acquire an echo time determined based on the ultrasonic sensor;
and the second determining unit is used for determining the ground material information corresponding to the echo time based on a second preset mapping relation.
Illustratively, the apparatus further comprises:
the modification module is used for detecting a water yield modification instruction input by a user and modifying the water yield in the first preset mapping relation so as to update the first preset mapping relation; the water yield modification instruction is input by the user according to the cleaning degree of the ground after the floor sweeping robot cleans the ground based on the water yield.
Illustratively, the apparatus further comprises:
the fourth acquisition module is used for acquiring the degree of dirt on the ground;
a fifth determining module, configured to determine, based on a third preset mapping relationship, a water yield adjustment amount corresponding to the degree of contamination;
and the adjusting module is used for adjusting the target water yield based on the water yield adjusting amount.
Illustratively, the apparatus further comprises:
the sending module is used for sending the cleaning record to a terminal of the user to enable the user to check the cleaning record when detecting that the user inputs a checking instruction for checking the cleaning record.
The specific implementation mode of the device for determining the water yield of the sweeping robot is basically the same as that of each embodiment of the method for determining the water yield of the sweeping robot, and the detailed description is omitted here.
In addition, this application still provides a robot water yield of sweeping floor and confirms equipment. As shown in fig. 3, fig. 3 is a schematic structural diagram of a hardware operating environment according to an embodiment of the present application.
In a possible implementation manner, fig. 3 is a schematic structural diagram of a hardware operating environment of the floor sweeping robot water yield determination device.
As shown in fig. 3, the water yield determining apparatus of the sweeping robot may include a processor 301, a communication interface 302, a memory 303 and a communication bus 304, wherein the processor 301, the communication interface 302 and the memory 303 complete communication with each other through the communication bus 304, and the memory 303 is used for storing a water yield determining program of the sweeping robot; the processor 301 is configured to implement the steps of the method for determining the water yield of the cleaning robot when executing the program stored in the memory 303.
The communication bus 304 mentioned above for the floor cleaning robot water yield determining device may be a Peripheral Component Interconnect (PCI) bus or an Extended Industry Standard Architecture (EISA) bus, etc. The communication bus 304 may be divided into an address bus, a data bus, a control bus, and the like. For ease of illustration, only one thick line is shown, but this is not intended to represent only one bus or type of bus.
The communication interface 302 is used for communication between the floor sweeping robot water yield determination device and other devices.
The Memory 303 may include a Random Access Memory (RMD) or a Non-Volatile Memory (NM), such as at least one disk Memory. Optionally, the memory 303 may also be at least one storage device located remotely from the processor 301.
The Processor 301 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 specific implementation of the floor-sweeping robot water yield determination device in the present application is substantially the same as each embodiment of the floor-sweeping robot water yield determination method described above, and is not described in detail here.
In addition, an embodiment of the present application further provides a computer-readable storage medium, where a floor sweeping robot water yield determination program is stored, and when executed by the processor, the floor sweeping robot water yield determination program implements the steps of the floor sweeping robot water yield determination method described above.
The specific implementation manner of the computer-readable storage medium of the present application is substantially the same as that of each embodiment of the method for determining the water yield of the cleaning robot, and is not described herein again.
It should be noted that, in this document, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or 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 identified by the phrase "comprising an … …" does not exclude the presence of other identical elements in the process, method, article, or apparatus that comprises the element.
The above-mentioned serial numbers of the embodiments of the present application are merely for description, and do not represent the advantages and disadvantages of the embodiments.
Through the description of the foregoing embodiments, it is clear to those skilled in the art that the method of the foregoing embodiments may be implemented by software plus a necessary general hardware platform, and certainly may also be implemented by hardware, but in many cases, the former is a better implementation. Based on such understanding, the technical solutions of the present application may be embodied in the form of a software product, which is stored in a storage medium (e.g., ROM/RAM, magnetic disk, optical disk) and includes instructions for enabling a terminal device (e.g., a mobile phone, a computer, a server, a device, or a network device) to execute the method according to the embodiments of the present application.
The above description is only a preferred embodiment of the present application, and not intended to limit the scope of the present application, and all modifications of equivalent structures and equivalent processes, which are made by the contents of the specification and the drawings of the present application, or which are directly or indirectly applied to other related technical fields, are included in the scope of the present application.
The application discloses A1, a method for determining water yield of a floor sweeping robot, the method includes:
acquiring position information of a sweeping robot; the position information is used for determining whether the sweeping robot is moved after the last sweeping is finished;
when the position information meets the preset position requirement, acquiring ground material information of the ground to be cleaned by the sweeping robot;
and determining the water yield corresponding to the ground material information based on a first preset mapping relation to obtain a target water yield.
A2, the method as in a1, wherein before the obtaining the ground material information of the ground to be swept by the sweeping robot when the position information meets the preset position requirement, the method includes:
calculating a moving distance by which the sweeping robot is moved based on the position information;
and if the moving distance is greater than or equal to a preset moving distance threshold value, determining that the position information meets the preset position requirement.
A3, the method as in a2, further comprising, after the calculating the moving distance of the sweeping robot based on the position information:
if the moving distance is smaller than a preset moving distance threshold value, determining that the position information does not meet the preset position requirement;
And when the position information does not meet the preset position requirement, determining that the water yield used by the sweeping robot in the last sweeping is the target water yield in the current sweeping.
The method of a4, as in any one of a1-A3, after determining the water yield corresponding to the ground material information based on the first preset mapping relationship and obtaining the target water yield, the method includes:
acquiring water level information of a water tank arranged on the sweeping robot;
calculating a difference value between the water level information and the water consumption corresponding to the target water yield;
and if the difference value is less than or equal to zero, outputting prompt information to remind the user of adding water into the water tank.
A5, the method according to any one of a1-A3, wherein the obtaining the ground material information of the ground to be swept by the sweeping robot when the position information meets a preset position requirement includes:
when the position information meets the preset position requirement, acquiring a ground image of the ground to be cleaned by the sweeping robot;
and inputting the ground image to a preset ground material identification model to obtain ground material information.
The method of a6, as set forth in a5, the inputting the ground image to a preset ground material recognition model, before obtaining the ground material information, comprises:
Acquiring material recognition training data and a ground material recognition model to be trained;
inputting the material recognition training data to the ground material recognition model to be trained to obtain a training classification label;
calculating the gradient of the ground material identification model to be trained based on the training classification label and the real classification label corresponding to the material identification training data;
determining whether the ground material identification model to be trained meets a preset iterative training end condition or not based on the gradient;
if so, taking the to-be-trained ground material identification model as the preset ground material identification model;
and if not, continuing to carry out iterative training on the to-be-trained ground material identification model until the to-be-trained ground material identification model meets a preset iterative training end condition.
The method of any one of a7 and a1-A3, wherein the obtaining the ground material information of the ground to be swept by the sweeping robot comprises:
determining echo time based on echo signals collected by an ultrasonic sensor arranged on the sweeping robot;
and determining the ground material information corresponding to the echo time based on a second preset mapping relation.
The method according to any one of A8 and a1-A3, wherein the determining the water yield corresponding to the ground material information based on the first preset mapping relationship and obtaining a target water yield includes:
detecting a water yield modification instruction input by a user, and modifying the water yield in the first preset mapping relation to update the first preset mapping relation; the water yield modification instruction is input by the user according to the cleaning degree of the ground after the floor sweeping robot cleans the ground based on the water yield.
The method of a9, as in any one of a1-A3, after determining the water yield corresponding to the ground material information based on the first preset mapping relationship and obtaining the target water yield, the method includes:
acquiring the degree of dirt on the ground;
determining a water yield adjustment amount corresponding to the dirt degree based on a third preset mapping relation;
and adjusting the target water yield based on the water yield adjustment amount.
The method of a10, as in any one of a1-A3, after determining the water yield corresponding to the ground material information based on the first preset mapping relationship and obtaining the target water yield, the method includes:
and when a checking instruction for checking the cleaning record input by the user is detected, sending the cleaning record to a terminal of the user so that the user can check the cleaning record.
The application also discloses B11, a robot water yield determination device sweeps floor, the device includes:
the first acquisition module is used for acquiring the position information of the sweeping robot; the position information is used for determining whether the sweeping robot is moved after the last sweeping is finished;
the second acquisition module is used for acquiring the ground material information of the ground to be cleaned by the sweeping robot when the position information meets the preset position requirement;
and the first determining module is used for determining the water yield corresponding to the ground material information based on a first preset mapping relation to obtain a target water yield.
B12, the apparatus of B11, further comprising:
the first calculation module is used for calculating the moving distance of the sweeping robot based on the position information;
and the second determining module is used for determining that the position information meets the requirement of a preset position if the moving distance is greater than or equal to a preset moving distance threshold.
B13, the apparatus of B12, further comprising:
a third determining module, configured to determine that the position information does not meet a preset position requirement if the moving distance is smaller than a preset moving distance threshold;
And the fourth determining module is used for determining that the water yield used by the sweeping robot in the last sweeping is the target water yield in the current sweeping when the position information does not meet the preset position requirement.
An apparatus of any one of B14, B11-B13, the apparatus further comprising:
the third acquisition module is used for acquiring water level information of a water tank arranged on the sweeping robot;
the second calculation module is used for calculating the difference value between the water level information and the water consumption corresponding to the target water yield;
and the output module is used for outputting prompt information if the difference value is less than or equal to zero so as to remind the user of adding water into the water tank.
The apparatus of any one of B15, B11-B13, the second obtaining module comprising:
the first acquisition unit is used for acquiring a ground image of the ground required to be cleaned by the sweeping robot when the position information meets the preset position requirement;
and the first input unit is used for inputting the ground image to a preset ground material identification model to obtain ground material information.
B16, the apparatus as in B15, the second obtaining module further comprising:
the second acquisition unit is used for acquiring the material recognition training data and the ground material recognition model to be trained;
The second input unit is used for inputting the material recognition training data to the ground material recognition model to be trained to obtain a training classification label;
the calculating unit is used for calculating the gradient of the ground material recognition model to be trained on the basis of the training classification labels and the real classification labels corresponding to the material recognition training data;
the first determining unit is used for determining whether the to-be-trained ground material identification model meets a preset iterative training ending condition or not based on the gradient; if yes, taking the ground material recognition model to be trained as the preset ground material recognition model; and if not, continuing to carry out iterative training on the to-be-trained ground material identification model until the to-be-trained ground material identification model meets a preset iterative training end condition.
The apparatus of any one of B17, B11-B13, the second obtaining module further comprising:
a third acquisition unit configured to acquire an echo time determined based on the ultrasonic sensor;
and the second determining unit is used for determining the ground material information corresponding to the echo time based on a second preset mapping relation.
An apparatus of any one of B18, B11-B13, the apparatus further comprising:
The modification module is used for detecting a water yield modification instruction input by a user and modifying the water yield in the first preset mapping relation so as to update the first preset mapping relation; the water yield modification instruction is input by the user according to the cleaning degree of the ground after the floor sweeping robot cleans the ground based on the water yield.
The application also discloses C19, a robot water yield of sweeping confirms equipment, robot water yield of sweeping confirms equipment includes memory and treater, the memory is used for depositing robot water yield of sweeping confirms the procedure, the treater is used for carrying out robot water yield of sweeping who deposits on the memory confirms the procedure to realize as above the method.
The application also discloses D20 and a computer readable storage medium, wherein the storage medium stores a floor sweeping robot water yield determination program, and the floor sweeping robot water yield determination program realizes the method when being executed by a processor.
Claims (10)
1. A method for determining water yield of a sweeping robot is characterized by comprising the following steps:
acquiring position information of a sweeping robot; the position information is used for determining whether the sweeping robot is moved after the last sweeping is finished;
When the position information meets the preset position requirement, acquiring ground material information of the ground to be cleaned by the sweeping robot;
and determining the water yield corresponding to the ground material information based on a first preset mapping relation to obtain a target water yield.
2. The method as claimed in claim 1, wherein before obtaining the floor material information of the floor to be swept by the sweeping robot when the position information meets a preset position requirement, the method comprises:
calculating a moving distance by which the sweeping robot is moved based on the position information;
and if the moving distance is greater than or equal to a preset moving distance threshold value, determining that the position information meets the preset position requirement.
3. The method of claim 2, wherein after calculating the moving distance that the sweeping robot is moved based on the location information, further comprising:
if the moving distance is smaller than a preset moving distance threshold value, determining that the position information does not meet the preset position requirement;
and when the position information does not meet the preset position requirement, determining that the water yield used by the sweeping robot in the last sweeping is the target water yield in the current sweeping.
4. The method according to any one of claims 1 to 3, wherein the determining the water yield corresponding to the ground material information based on the first preset mapping relationship comprises, after obtaining a target water yield:
acquiring water level information of a water tank arranged on the sweeping robot;
calculating a difference value between the water level information and the water consumption corresponding to the target water yield;
if the difference value is smaller than or equal to zero, outputting prompt information to remind the user of adding water into the water tank.
5. The method according to any one of claims 1 to 3, wherein the obtaining of the ground material information of the ground to be swept by the sweeping robot when the position information meets the preset position requirement comprises:
when the position information meets the preset position requirement, acquiring a ground image of the ground to be cleaned by the sweeping robot;
and inputting the ground image to a preset ground material identification model to obtain ground material information.
6. The method of claim 5, wherein inputting the ground image into a predetermined ground material recognition model comprises, before obtaining the ground material information:
acquiring material identification training data and a ground material identification model to be trained;
Inputting the material recognition training data to the ground material recognition model to be trained to obtain a training classification label;
calculating the gradient of the ground material recognition model to be trained on the basis of the training classification label and the real classification label corresponding to the material recognition training data;
determining whether the ground material identification model to be trained meets a preset iteration training end condition or not based on the gradient;
if yes, taking the ground material recognition model to be trained as the preset ground material recognition model;
and if not, continuing to carry out iterative training on the to-be-trained ground material identification model until the to-be-trained ground material identification model meets a preset iterative training end condition.
7. The method according to any one of claims 1 to 3, wherein the obtaining of the ground material information of the ground to be cleaned by the cleaning robot comprises:
determining echo time based on an echo signal acquired by an ultrasonic sensor arranged on the sweeping robot;
and determining the ground material information corresponding to the echo time based on a second preset mapping relation.
8. The utility model provides a robot water yield determination device sweeps floor, its characterized in that, the device includes:
The first acquisition module is used for acquiring the position information of the sweeping robot; the position information is used for determining whether the sweeping robot is moved after the last sweeping is finished;
the second acquisition module is used for acquiring the ground material information of the ground to be cleaned by the sweeping robot when the position information meets the preset position requirement;
and the first determining module is used for determining the water yield corresponding to the ground material information based on a first preset mapping relation to obtain a target water yield.
9. A floor sweeping robot water yield determining device is characterized by comprising a memory and a processor, wherein the memory is used for storing a floor sweeping robot water yield determining program, and the processor is used for executing the floor sweeping robot water yield determining program stored in the memory so as to realize the method of any one of claims 1 to 7.
10. A computer-readable storage medium, wherein a floor-sweeping robot output determination program is stored in the storage medium, and when executed by a processor, implements the method of any one of claims 1-7.
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