CN114747980B - Method, device, equipment and storage medium for determining water yield of sweeping robot - Google Patents
Method, device, equipment and storage medium for determining water yield of sweeping robot Download PDFInfo
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- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 title claims abstract description 289
- 238000010408 sweeping Methods 0.000 title claims abstract description 210
- 238000000034 method Methods 0.000 title claims abstract description 66
- 238000003860 storage Methods 0.000 title claims abstract description 14
- 239000000463 material Substances 0.000 claims abstract description 207
- 238000013507 mapping Methods 0.000 claims abstract description 68
- 238000012549 training Methods 0.000 claims description 82
- 238000004140 cleaning Methods 0.000 claims description 53
- 230000004048 modification Effects 0.000 claims description 26
- 238000012986 modification Methods 0.000 claims description 26
- 238000004364 calculation method Methods 0.000 claims description 9
- 230000008569 process Effects 0.000 description 10
- 238000004891 communication Methods 0.000 description 9
- 229910052573 porcelain Inorganic materials 0.000 description 6
- 239000002023 wood Substances 0.000 description 5
- 238000010586 diagram Methods 0.000 description 4
- 238000013527 convolutional neural network Methods 0.000 description 3
- 238000003825 pressing Methods 0.000 description 3
- 230000002093 peripheral effect Effects 0.000 description 2
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/24—Floor-sweeping machines, motor-driven
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/28—Floor-scrubbing machines, motor-driven
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- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
- A47L11/4002—Installations of electric equipment
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
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- 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
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- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L2201/00—Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
- A47L2201/06—Control of the cleaning action for autonomous devices; Automatic detection of the surface condition before, during or after cleaning
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Abstract
The application discloses a method, a device, equipment and a storage medium for determining the water yield of a sweeping robot, wherein 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 using the sweeping robot.
Description
Technical Field
The present application relates to the field of robots, and in particular, to a method, an apparatus, a device, and a storage medium for determining a water yield of a sweeping robot.
Background
With the popularization of home robots, users using sweeping robots are increasing.
Currently, when a user needs to use the sweeping robot to sweep the ground, the water yield of the sweeping robot during sweeping the ground needs to be set by touching and pressing a water yield gear key on the sweeping robot. This makes the robot of sweeping floor inadequately intelligent, and the user is when using this robot of sweeping floor, and the 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, which are used for simplifying 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 the water yield of a sweeping robot, the method comprising:
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 method for acquiring the floor material information of the floor to be cleaned by the sweeping robot when the position information meets the preset position requirement includes:
calculating a moving distance of the sweeping robot to be 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.
Illustratively, after calculating the moving distance of the sweeping robot 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 a 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.
Exemplary, the determining, based on the first preset mapping relationship, the water yield corresponding to the ground material information, and obtaining the target water yield, includes:
Acquiring water level information of a water tank arranged on the sweeping robot;
calculating the difference value between the water level information and the water consumption corresponding to the target water yield;
And if the difference is smaller than or equal to zero, outputting prompt information to remind the user to add water to the water tank.
Exemplary, when the position information meets a preset position requirement, the acquiring the ground material information of the ground to be cleaned by the sweeping robot includes:
When the position information meets the preset position requirement, acquiring a ground image of the ground to be cleaned by the sweeping robot;
inputting the ground image to a preset ground material identification model to obtain ground material information.
Exemplary, the inputting the ground image to a preset ground material identification model, before obtaining the ground material information, includes:
acquiring material identification training data and a ground material identification model to be trained;
Inputting the material identification training data to the ground material identification model to be trained to obtain a training classification label;
Calculating the gradient of the ground texture recognition model to be trained based on the training classification labels and the real classification labels corresponding to the texture recognition training data;
Determining whether the ground material identification model to be trained meets a preset iterative training ending condition or not based on the gradient;
If yes, taking the ground material identification model to be trained as the preset ground material identification model;
If the ground material identification model does not meet the preset iteration training ending condition, the ground material identification model to be trained is continuously subjected to iteration training until the ground material identification model to be trained meets the preset iteration training ending condition.
Exemplary, the obtaining the ground material information of the ground to be cleaned by the sweeping robot includes:
determining echo time based on echo signals 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.
Exemplary, the determining, based on the first preset mapping relationship, the water yield corresponding to the ground material information, and 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 aiming at the cleaning degree of the cleaned ground after the floor cleaning robot cleans the ground based on the water yield.
Exemplary, the determining, based on the first preset mapping relationship, the water yield corresponding to the ground material information, and obtaining the target water yield, includes:
Acquiring the dirt degree of the ground;
Determining the water yield adjustment quantity 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.
Exemplary, the determining, based on the first preset mapping relationship, the water yield corresponding to the ground material information, and obtaining the target water yield, includes:
and detecting that a user inputs a viewing instruction for viewing the cleaning record, and sending the cleaning record to a terminal of the user so as to enable the user to view the cleaning record.
For example, to achieve the above object, the present application further provides a device for determining a water yield of a sweeping robot, the device comprising:
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 ground material information of the ground to be cleaned by the sweeping robot when the position information meets the preset position requirement;
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 robot to be moved based on 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 location information does not meet a preset location requirement if the movement distance is less than a preset movement 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 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 to remind the user to add water to the water tank if the difference value is smaller than or equal to zero.
Illustratively, the second acquisition module includes:
The first acquisition unit is used for acquiring a ground image of the ground to be cleaned by the sweeping robot when the position information meets the preset position requirement;
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 acquisition module further includes:
The second acquisition unit is used for acquiring material identification training data and a ground material identification model to be trained;
The second input unit is used for inputting the material identification training data to the ground material identification model to be trained to obtain a training classification label;
The computing unit is used for computing the gradient of the ground texture recognition model to be trained based on the training classification labels and the real classification labels corresponding to the texture recognition training data;
The first determining unit is used for determining whether the ground material recognition model to be trained meets a preset iteration training ending condition or not based on the gradient; if yes, taking the ground material identification model to be trained as the preset ground material identification model; if the ground material identification model does not meet the preset iteration training ending condition, the ground material identification model to be trained is continuously subjected to iteration training until the ground material identification model to be trained meets the preset iteration training ending condition.
Illustratively, the second acquisition module 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 aiming at the cleaning degree of the cleaned ground after the floor cleaning robot cleans the ground based on the water yield.
In order to achieve the above object, the present application also provides an exemplary, and exemplary, sweeping robot water yield determination apparatus including a memory, a processor, and a sweeping robot water yield determination program stored on the memory and operable on the processor, which when executed by the processor, implements the steps of the sweeping robot water yield determination method as described above.
For example, to achieve the above object, the present application also provides a computer-readable storage medium having stored thereon a sweeping robot water yield determination program which, when executed by a processor, implements the steps of the sweeping robot water yield determination method as described above.
Compared with the prior art, the method has the advantages that the water yield of the sweeping robot when sweeping the ground is set by touching and pressing the water yield gear key on the sweeping robot, so that the operation flow of the sweeping robot is complicated when the user uses the sweeping robot.
Drawings
FIG. 1 is a schematic flow chart of a first embodiment of a method for determining the water yield of a sweeping robot;
FIG. 2 is a schematic diagram of functional modules of a preferred embodiment of the water yield determining apparatus of the sweeping robot of the present application;
FIG. 3 is a schematic diagram of a hardware operating environment according to an embodiment of the present application.
The achievement of the objects, functional features and advantages of the present application will be further described with reference to the accompanying drawings, in conjunction with the embodiments.
Detailed Description
It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the scope of the application.
The application provides a method for determining the water yield of a sweeping robot, and referring to fig. 1, fig. 1 is a schematic flow chart of a first embodiment of the method for determining the water yield of the sweeping robot.
The embodiments of the present application provide embodiments of a method for determining the water yield of a floor sweeping robot, and it should be noted that although a logic sequence is shown in the flowchart, in some cases, the steps shown or described may be performed in a different order than that shown or described herein. For convenience of description, each step of executing the main body description of the water yield determination method of the floor sweeping robot is omitted below, the water yield determination method of the floor sweeping robot includes:
Step S110, 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.
The sweeping robot is provided with a module capable of detecting whether the sweeping robot is moved, and the module comprises a GPS (Global Positioning System ) module, an infrared positioning module and the like, and particularly acquires position information through the module.
For example, the location cleaned by the sweeping robot will not generally change after the first determination, e.g., the sweeping robot is used to clean a living room, and the sweeping robot will then always be used to clean the living room. Based on this, in order to improve the intelligence of the robot for sweeping floor and to improve the work efficiency of the robot for sweeping floor, it is possible to avoid the robot for sweeping floor from repeatedly executing unnecessary workflows.
For example, when the floor sweeping robot needs to redetermine the water yield, the water yield is redetermined by determining the floor material, and when the water yield does not need to be redetermined, the last determined water yield is used. Wherein the water yield is the water yield in unit time, and the unit is m 3/s.
Step S120, when the position information meets the preset position requirement, acquiring the ground material information of the ground required to be cleaned by the sweeping robot.
When the position information accords with the preset position requirement, the water quantity can be determined again by the sweeping robot, and the process is realized by acquiring the ground material information of the ground to be cleaned by the sweeping robot. It will be appreciated that the amount of water required to clean the floor of different materials is different, and in general the roughness of the material is proportional to the amount of water produced, i.e. the coarser the material the greater the amount of water produced and correspondingly the smoother the material the less the amount of water produced.
Exemplary floor materials include wood, porcelain, etc., wherein the wood floor is rougher than the porcelain floor, i.e., the floor sweeping robot has a greater water yield when cleaning the wood floor than when cleaning the porcelain floor. The ground material information is information of the ground material.
For example, the ground material information may be obtained from a ground image or determined by an ultrasonic sensor.
Exemplary, for obtaining ground material information from a ground image, when the position information meets a preset position requirement, obtaining ground material information of a ground to be cleaned by the sweeping robot includes:
And a step a of acquiring a ground image of the ground to be cleaned by the sweeping robot when the position information meets the preset position requirement.
The ground image is acquired through a camera arranged on the sweeping robot or through an image acquisition device (such as a monitoring camera, a television camera and the like) outside the sweeping robot (information interaction can be realized through the Internet of things). When the floor sweeping robot needs to sweep the floor, the floor sweeping robot can shoot through a camera or an image acquisition device.
And b, inputting the ground image to a preset ground material identification model to obtain ground material information.
The ground material recognition model is a neural network model, ground material information can be recognized from a ground image, the ground material recognition model is obtained through iterative training of the ground material recognition model to be trained, and recognition accuracy is high.
Exemplary, the inputting the ground image to a preset ground material identification model, before obtaining the ground material information, includes:
And c, acquiring material identification training data and a ground material identification model to be trained.
The material recognition training data are marked ground image data, namely ground image data containing real classification labels (obtained through marking), and a ground material recognition model to be trained is constructed through CNN (Convolutional Neural Networks, convolutional neural network).
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 based on the training classification labels and the real classification labels corresponding to the material recognition training data;
step f, determining whether the ground material recognition model to be trained meets a preset iteration training ending condition or not based on the gradient; if yes, taking the ground material identification model to be trained as the preset ground material identification model; if the ground material identification model does not meet the preset iteration training ending condition, the ground material identification model to be trained is continuously subjected to iteration training until the ground material identification model to be trained meets the preset iteration training ending condition.
The training classification labels are obtained by predicting the material recognition training data by the ground material recognition model to be trained, and the difference exists between the training classification labels and the preset real labels and is used for calculating the 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 recognition model to be trained is converged is further judged. When the lowest point is found, determining that the ground material recognition model to be trained meets the preset iteration training ending condition, namely determining that the ground material recognition model to be trained converges, and taking the ground material recognition model to be trained as a preset ground material recognition model; when the minimum point is not found, determining that the ground material recognition model to be trained does not meet the preset iteration training ending condition, at the moment, acquiring material recognition training data again, and carrying out training optimization on the ground material recognition model to be trained again based on the material recognition training data until the minimum point is found.
Illustratively, determining the ground material information by an ultrasonic sensor, the obtaining the ground material information of the ground to be cleaned by the sweeping robot includes:
And g, determining echo time based on echo signals acquired by an 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 ultrasonic waves to the outside, and the ultrasonic waves are reflected back after encountering an obstacle (ground) and are received by the ultrasonic sensor, so that the echo signal is obtained. The echo time is the time difference between sending out ultrasonic waves and receiving echo signals. For different ground materials, the roughness is different, so that the echo time is different, the roughness is proportional to the echo time, for example, the echo time of a wooden ground material is 0.14 millisecond, and the echo time of a porcelain ground material is 0.13 millisecond.
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 a mapping relation between the echo time and the ground material information, for example, the ground material information is wooden, the echo time of the mapping relation between the echo time and the ground material information is 0.14 millisecond, and correspondingly, the echo time of the mapping relation between the ground material information and the ground material information is 0.13 millisecond. After the echo time is determined, the unique ground material information can be determined through the second mapping relation.
For example, whether the position information meets the preset position requirement is determined by the moving distance of the sweeping robot, specifically, before acquiring 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:
and i, calculating the moving distance of the robot to be moved based on the position information.
To calculate the moving distance, it is necessary to acquire the position information of the robot at the end of the last cleaning in addition to the current position information of the robot, and it is understood that the moving distance is the difference between the current position information and the position information at the end of the last cleaning, for example, the moving distance is 5 meters when the current position is 5 meters from the position at the end of the last cleaning.
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 placed in an area which is possibly cleaned by the sweeping robot, the distance or the angle of a signal source can be measured through the infrared sensors, and therefore 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 latitude and longitude information of the sweeping robot.
And j, 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.
The preset movement distance threshold may be specifically set as required, and the embodiment is not specifically limited. The preset position is required to ensure that the moving distance of the robot to be moved is not smaller 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, it indicates that the sweeping robot may move from the ground of one material to the ground of another material, and at this time, if the water yield used in the previous sweeping is used, the current sweeping result may not meet the user requirement, that is, the sweeping is not clean enough, so when the position information meets the preset position requirement, the ground material information needs to be acquired again, so that the water yield suitable for the current sweeping process is determined again.
Illustratively, after calculating the moving distance of the sweeping robot 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 a 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 value, the fact that the sweeping robot is not moved after the last sweeping is finished or the moving amplitude is smaller (namely, the sweeping robot is moved but not moved to the ground with one material from the ground with another material), the sweeping robot can be determined without re-determining the water quantity, and the water yield used in the last sweeping is directly used, 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, determining the water yield corresponding to the ground material information based on a first preset mapping relation, and obtaining a target water yield.
The first preset mapping relation records a mapping relation between water yield and 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 with the mapping relation exists between the water yield and the wood is the water yield of the first gear, and correspondingly, when the ground material information is porcelain, the water yield with the mapping relation exists between the water yield and the porcelain is the water yield of the second gear. After the ground material information is determined, the unique target water yield can be determined through the first mapping relation.
Exemplary, the determining, based on the first preset mapping relationship, the water yield corresponding to the ground material information, and obtaining the target water yield, includes:
and m, acquiring water level information of a water tank arranged on the sweeping robot.
The water tank arranged on 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 continue to sweep the ground, and a user of the sweeping robot cannot timely (for example, the user does not notice 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)) add water to the water tank, so that user experience is reduced, and the user viscosity is reduced.
Step n, calculating the difference value between the water level information and the water consumption corresponding to the target water yield;
and step o, if the difference value is smaller than or equal to zero, outputting prompt information to remind the user to add water to the water tank.
According to the embodiment, whether the sweeping robot can clean the ground or not is estimated through the water level information of the water tank, the problem that the sweeping robot cannot continue to clean the ground is well solved, and therefore the viscosity of a user is improved.
Specifically, the difference between the water level information and the water consumption corresponding to the target water output (since the robot is not moved, the water consumption during the current cleaning is basically the same as the water consumption during the previous cleaning, and the water consumption during the previous cleaning is directly used as the water consumption during the current cleaning). When the difference value is larger than zero, the water in the water tank is enough to meet the use requirement of the sweeping robot on the water; when the difference value is smaller than or equal to zero, a prompt message is output to remind a user to add water to 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.
Exemplary, the determining, based on the first preset mapping relationship, the water yield corresponding to the ground material information, and 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 aiming at the cleaning degree of the cleaned ground after the floor cleaning robot cleans the ground based on the water yield.
The first preset mapping relation can be updated, specifically, after the sweeping robot is finished sweeping, a water yield modification instruction input by a user for the cleaning degree of the sweeping is received, the water yield modification instruction comprises a water yield modification instruction for adjusting the water yield and a water yield modification instruction for adjusting the water yield, generally, the water yield modification instruction for adjusting the water yield is given by the user based on that the ground is not cleaned, and correspondingly, the water yield modification instruction for adjusting the water yield is given by the user based on that the ground has more residual moisture.
Exemplary, the determining, based on the first preset mapping relationship, the water yield corresponding to the ground material information, and obtaining the target water yield, includes:
Step q, obtaining the dirt degree of the ground;
step r, determining the water yield adjustment quantity corresponding to the dirt degree based on a third preset mapping relation;
And step s, adjusting the target water yield based on the water yield adjustment quantity.
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 more close to the actual situation, and the accuracy of determining the target water yield is improved.
The embodiment of the third preset mapping relationship is substantially the same as the specific implementation manners of the first preset mapping relationship and the second preset mapping relationship, and will not be described herein.
Exemplary, the determining, based on the first preset mapping relationship, the water yield corresponding to the ground material information, and obtaining the target water yield, includes:
And step t, detecting that a user inputs a viewing instruction for viewing the cleaning record, and sending the cleaning record to a terminal of the user so as to enable the user to view the cleaning record.
When a user has a need to view the cleaning record, the user can input a viewing instruction, and send the cleaning record to the user's terminal in response to the viewing instruction.
Illustratively, the sweep record includes a sweep track and a sweep route, the sweep record viewed by the user being presented in animated form by the terminal. When a user needs to adjust the cleaning track and the cleaning route, the user can input a cleaning process adjusting instruction to the cleaning robot, and the cleaning robot responds to the cleaning process adjusting instruction to clean the cleaning 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, the method has the advantages that the water yield of the sweeping robot when sweeping the ground is set by touching and pressing the water yield gear key on the sweeping robot, so that the operation flow of the sweeping robot is complicated when the user uses the sweeping robot.
Exemplary, referring to fig. 2, the present application also provides a water yield determining apparatus of a sweeping robot, the water yield determining apparatus of a sweeping robot including:
a first acquisition module 10 for 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;
The second obtaining module 20 is configured to obtain ground material information of the 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 a water yield corresponding to the ground material information based on a first preset mapping relationship, 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 robot to be moved based on 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 location information does not meet a preset location requirement if the movement distance is less than a preset movement 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 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 to remind the user to add water to the water tank if the difference value is smaller than or equal to zero.
Illustratively, the second acquisition module 20 includes:
The first acquisition unit is used for acquiring a ground image of the ground to be cleaned by the sweeping robot when the position information meets the preset position requirement;
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 acquisition module 20 further includes:
The second acquisition unit is used for acquiring material identification training data and a ground material identification model to be trained;
The second input unit is used for inputting the material identification training data to the ground material identification model to be trained to obtain a training classification label;
The computing unit is used for computing the gradient of the ground texture recognition model to be trained based on the training classification labels and the real classification labels corresponding to the texture recognition training data;
The first determining unit is used for determining whether the ground material recognition model to be trained meets a preset iteration training ending condition or not based on the gradient; if yes, taking the ground material identification model to be trained as the preset ground material identification model; if the ground material identification model does not meet the preset iteration training ending condition, the ground material identification model to be trained is continuously subjected to iteration training until the ground material identification model to be trained meets the preset iteration training ending condition.
Illustratively, the second acquisition 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 aiming at the cleaning degree of the cleaned ground after the floor cleaning robot cleans the ground based on the water yield.
Illustratively, the apparatus further comprises:
a fourth obtaining module, configured to obtain a dirt degree of the ground;
A fifth determining module, configured to determine a water output adjustment amount corresponding to the dirt degree based on a third preset mapping relationship;
and the adjusting module is used for adjusting the target water yield based on the water yield adjusting quantity.
Illustratively, the apparatus further comprises:
And the sending module is used for detecting that a user inputs a viewing instruction for viewing the cleaning record and sending the cleaning record to the terminal of the user so as to enable the user to view the cleaning record.
The specific implementation of the water yield determining device of the sweeping robot is basically the same as the embodiments of the water yield determining method of the sweeping robot, and is not repeated here.
In addition, the application also provides a device for determining the water yield of the sweeping robot. As shown in fig. 3, fig. 3 is a schematic structural diagram of a hardware running environment according to an embodiment of the present application.
In one possible implementation, fig. 3 may be a schematic structural diagram of a hardware operating environment of the water yield determining device of the sweeping robot.
As shown in fig. 3, the device for determining the water yield 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 program for determining the water yield of the sweeping robot; the processor 301 is configured to implement the steps of the method for determining the water yield of the sweeping robot when executing the program stored in the memory 303.
The communication bus 304 mentioned by the above-mentioned sweeping robot water output amount determining apparatus may be a Peripheral component interconnect standard (Peripheral ComponentInterconnect, PCI) bus or an extended industry standard architecture (Extended Industry StandardArchitecture, EISA) bus, or the like. The communication bus 304 may be divided into an address bus, a data bus, a control bus, and the like. For ease of illustration, the figures are shown with only one bold line, but not with only one bus or one type of bus.
The communication interface 302 is used for communication between the aforementioned sweeping robot water yield determination device and other devices.
The Memory 303 may include a random access Memory (Random Access Memory, RMD) or may include a Non-Volatile Memory (NM), such as at least one disk Memory. Optionally, the memory 303 may also be at least one memory device located remotely from the aforementioned processor 301.
The processor 301 may be a general-purpose processor, including a central processing unit (Central Processing Unit, CPU), a network processor (Network Processor, NP), etc.; but may also be a digital signal Processor (DIGITAL SIGNAL Processor, DSP), application SPECIFIC INTEGRATED Circuit (ASIC), field-Programmable gate array (Field-Programmable GATE ARRAY, FPGA) or other Programmable logic device, discrete gate or transistor logic device, discrete hardware components.
The specific implementation of the device for determining the water yield of the sweeping robot is basically the same as the embodiments of the method for determining the water yield of the sweeping robot, and is not repeated here.
In addition, the embodiment of the application also provides a computer readable storage medium, wherein the computer readable storage medium is stored with a water yield determining program of the sweeping robot, and the water yield determining program of the sweeping robot realizes the steps of the water yield determining method of the sweeping robot when being executed by a processor.
The specific implementation manner of the computer readable storage medium of the present application is basically the same as the embodiments of the method for determining the water yield of the sweeping robot, and is not repeated here.
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 defined by the phrase "comprising one … …" does not exclude the presence of other like elements in a process, method, article, or apparatus that comprises the element.
The foregoing embodiment numbers of the present application are merely for the purpose of description, and do not represent the advantages or disadvantages of the embodiments.
From the above description of the embodiments, it will be clear to those skilled in the art that the above-described embodiment method may be implemented by means of software plus a necessary general hardware platform, but of course may also be implemented by means of hardware, but in many cases the former is a preferred embodiment. Based on such understanding, the technical solution of the present application may be embodied essentially or in a part contributing to the prior art in the form of a software product stored in a storage medium (e.g. ROM/RAM, magnetic disk, optical disk) comprising instructions for causing a terminal device (which may be a mobile phone, a computer, a server, a device, or a network device, etc.) to perform the method according to the embodiments of the present application.
The foregoing description is only of the preferred embodiments of the present application, and is not intended to limit the scope of the application, but rather is intended to cover any equivalents of the structures or equivalent processes disclosed herein or in the alternative, which may be employed directly or indirectly in other related arts.
The application discloses a method for determining the water yield of a sweeping robot, which 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.
A2, the method of A1, before obtaining the ground material information of the ground to be cleaned by the robot when the position information meets the preset position requirement, comprises:
calculating a moving distance of the sweeping robot to be 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 of A2, after calculating the moving distance of the robot to be moved based on the position information, further comprises:
if the moving distance is smaller than a preset moving distance threshold value, determining that the position information does not meet a 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.
A4, determining the water yield corresponding to the ground material information based on a first preset mapping relation, and obtaining a target water yield, wherein the method comprises the following steps:
Acquiring water level information of a water tank arranged on the sweeping robot;
calculating the difference value between the water level information and the water consumption corresponding to the target water yield;
And if the difference is smaller than or equal to zero, outputting prompt information to remind the user to add water to the water tank.
A5, the method of any one of A1-A3, when the position information accords with the preset position requirement, obtaining the ground material information of the ground to be cleaned by the sweeping robot, wherein the method comprises the following steps:
When the position information meets the preset position requirement, acquiring a ground image of the ground to be cleaned by the sweeping robot;
inputting the ground image to a preset ground material identification model to obtain ground material information.
A6, the method of A5, before inputting the ground image to a preset ground material identification model to obtain ground material information, includes:
acquiring material identification training data and a ground material identification model to be trained;
Inputting the material identification training data to the ground material identification model to be trained to obtain a training classification label;
Calculating the gradient of the ground texture recognition model to be trained based on the training classification labels and the real classification labels corresponding to the texture recognition training data;
Determining whether the ground material identification model to be trained meets a preset iterative training ending condition or not based on the gradient;
If yes, taking the ground material identification model to be trained as the preset ground material identification model;
If the ground material identification model does not meet the preset iteration training ending condition, the ground material identification model to be trained is continuously subjected to iteration training until the ground material identification model to be trained meets the preset iteration training ending condition.
A7, the method of any one of A1-A3, the obtaining the ground material information of the ground to be cleaned by the robot comprises:
determining echo time based on echo signals 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.
A8, determining the water yield corresponding to the ground material information based on a first preset mapping relation, and obtaining a target water yield, wherein the method comprises the following steps:
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 aiming at the cleaning degree of the cleaned ground after the floor cleaning robot cleans the ground based on the water yield.
A9, determining the water yield corresponding to the ground material information based on a first preset mapping relation, and obtaining a target water yield, wherein the method comprises the following steps:
Acquiring the dirt degree of the ground;
Determining the water yield adjustment quantity 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.
A10, determining the water yield corresponding to the ground material information based on a first preset mapping relation, and obtaining a target water yield, wherein the method comprises the following steps:
and detecting that a user inputs a viewing instruction for viewing the cleaning record, and sending the cleaning record to a terminal of the user so as to enable the user to view the cleaning record.
The application also discloses a B11, a device for determining the water yield of the sweeping robot, which comprises:
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 ground material information of the ground to be cleaned by the sweeping robot when the position information meets the preset position requirement;
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, the apparatus further comprising:
the first calculation module is used for calculating the moving distance of the robot to be moved based on 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.
B13, the apparatus of B12, the apparatus further comprising:
A third determining module, configured to determine that the location information does not meet a preset location requirement if the movement distance is less than a preset movement 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.
B14, the apparatus of any one of 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 to remind the user to add water to the water tank if the difference value is smaller than or equal to zero.
B15, the apparatus of any one of B11-B13, the second acquisition module comprising:
The first acquisition unit is used for acquiring a ground image of the ground to be cleaned by the sweeping robot when the position information meets the preset position requirement;
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 of B15, the second acquisition module further comprising:
The second acquisition unit is used for acquiring material identification training data and a ground material identification model to be trained;
The second input unit is used for inputting the material identification training data to the ground material identification model to be trained to obtain a training classification label;
The computing unit is used for computing the gradient of the ground texture recognition model to be trained based on the training classification labels and the real classification labels corresponding to the texture recognition training data;
The first determining unit is used for determining whether the ground material recognition model to be trained meets a preset iteration training ending condition or not based on the gradient; if yes, taking the ground material identification model to be trained as the preset ground material identification model; if the ground material identification model does not meet the preset iteration training ending condition, the ground material identification model to be trained is continuously subjected to iteration training until the ground material identification model to be trained meets the preset iteration training ending condition.
B17, the apparatus of any one of B11-B13, the second acquisition 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.
B18, the apparatus of any one of 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 aiming at the cleaning degree of the cleaned ground after the floor cleaning robot cleans the ground based on the water yield.
The application also discloses C19, a sweeping robot water yield determining device, which comprises a memory and a processor, wherein the memory is used for storing a sweeping robot water yield determining program, and the processor is used for executing the sweeping robot water yield determining program stored on the memory so as to realize the method.
The application also discloses D20, a computer readable storage medium, wherein the storage medium stores a water yield determining program of the sweeping robot, and the water yield determining program of the sweeping robot realizes the method when being executed by a processor.
Claims (16)
1. A method for determining the water yield of a sweeping robot, the method comprising:
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;
calculating a moving distance of the sweeping robot to be moved 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 a preset position requirement;
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 greater than or equal to a preset moving distance threshold value, determining that the position information meets a preset position requirement;
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 of claim 1, wherein determining the water yield corresponding to the ground material information based on the first preset mapping relationship, after obtaining the target water yield, comprises:
Acquiring water level information of a water tank arranged on the sweeping robot;
calculating the difference value between the water level information and the water consumption corresponding to the target water yield;
and if the difference is smaller than or equal to zero, outputting prompt information to remind a user to add water to the water tank.
3. The method of claim 1, wherein when the position information meets a preset position requirement, acquiring the ground material information of the ground to be cleaned by the sweeping robot comprises:
When the position information meets the preset position requirement, acquiring a ground image of the ground to be cleaned by the sweeping robot;
inputting the ground image to a preset ground material identification model to obtain ground material information.
4. A method according to claim 3, wherein said inputting the ground image into a predetermined ground texture recognition model, before obtaining the ground texture information, comprises:
acquiring material identification training data and a ground material identification model to be trained;
Inputting the material identification training data to the ground material identification model to be trained to obtain a training classification label;
Calculating the gradient of the ground texture recognition model to be trained based on the training classification labels and the real classification labels corresponding to the texture recognition training data;
Determining whether the ground material identification model to be trained meets a preset iterative training ending condition or not based on the gradient;
If yes, taking the ground material identification model to be trained as the preset ground material identification model;
If the ground material identification model does not meet the preset iteration training ending condition, the ground material identification model to be trained is continuously subjected to iteration training until the ground material identification model to be trained meets the preset iteration training ending condition.
5. The method of claim 1, wherein the obtaining the floor material information of the floor to be cleaned by the sweeping robot comprises:
determining echo time based on echo signals 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.
6. The method of claim 1, wherein determining the water yield corresponding to the ground material information based on the first preset mapping relationship, after obtaining the target water yield, comprises:
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 a user aiming at the cleaning degree of the cleaned ground after the floor cleaning robot cleans the ground based on the water yield.
7. The method of claim 1, wherein determining the water yield corresponding to the ground material information based on the first preset mapping relationship, after obtaining the target water yield, comprises:
Acquiring the dirt degree of the ground;
Determining the water yield adjustment quantity 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.
8. The method of claim 1, wherein determining the water yield corresponding to the ground material information based on the first preset mapping relationship, after obtaining the target water yield, comprises:
And detecting that a user inputs a viewing instruction for viewing the cleaning record, and sending the cleaning record to a terminal of the user so as to enable the user to view the cleaning record.
9. A floor sweeping robot water yield determination device, the device comprising:
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 first calculation module is used for calculating the moving distance of the robot to be moved based on the position information;
A third determining module, configured to determine that the location information does not meet a preset location requirement if the movement distance is less than a preset movement distance threshold;
A fourth determining module, configured to determine, when the position information does not meet a preset position requirement, that a water yield used by the sweeping robot in a previous sweeping is a target water yield in the current sweeping;
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;
the second acquisition module is used for acquiring ground material information of the ground to be cleaned by the sweeping robot when the position information meets the preset position requirement;
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.
10. The apparatus of claim 9, wherein 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 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 to remind a user to add water to the water tank if the difference value is smaller than or equal to zero.
11. The apparatus of claim 9, wherein the second acquisition module comprises:
The first acquisition unit is used for acquiring a ground image of the ground to be cleaned by the sweeping robot when the position information meets the preset position requirement;
the first input unit is used for inputting the ground image to a preset ground material identification model to obtain ground material information.
12. The apparatus of claim 11, wherein the second acquisition module further comprises:
The second acquisition unit is used for acquiring material identification training data and a ground material identification model to be trained;
The second input unit is used for inputting the material identification training data to the ground material identification model to be trained to obtain a training classification label;
The computing unit is used for computing the gradient of the ground texture recognition model to be trained based on the training classification labels and the real classification labels corresponding to the texture recognition training data;
The first determining unit is used for determining whether the ground material recognition model to be trained meets a preset iteration training ending condition or not based on the gradient; if yes, taking the ground material identification model to be trained as the preset ground material identification model; if the ground material identification model does not meet the preset iteration training ending condition, the ground material identification model to be trained is continuously subjected to iteration training until the ground material identification model to be trained meets the preset iteration training ending condition.
13. The apparatus of claim 9, wherein the second acquisition 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.
14. The apparatus of claim 9, wherein 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 a user aiming at the cleaning degree of the cleaned ground after the floor cleaning robot cleans the ground based on the water yield.
15. A sweeping robot water yield determination device, characterized in that the sweeping robot water yield determination device comprises a memory for storing a sweeping robot water yield determination program and a processor for executing the sweeping robot water yield determination program stored on the memory to implement the method of any one of the preceding claims 1-8.
16. A computer readable storage medium, characterized in that a sweeping robot water yield determination program is stored in the storage medium, which when executed by a processor, implements the method of any one of claims 1-8.
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