CN115137251B - Sweeping robot, control method and control system thereof and storage medium - Google Patents
Sweeping robot, control method and control system thereof and storage medium Download PDFInfo
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- CN115137251B CN115137251B CN202110343693.4A CN202110343693A CN115137251B CN 115137251 B CN115137251 B CN 115137251B CN 202110343693 A CN202110343693 A CN 202110343693A CN 115137251 B CN115137251 B CN 115137251B
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- 238000010408 sweeping Methods 0.000 title claims abstract description 167
- 238000000034 method Methods 0.000 title claims abstract description 55
- 238000004140 cleaning Methods 0.000 claims abstract description 173
- 238000001514 detection method Methods 0.000 claims abstract description 146
- 230000007613 environmental effect Effects 0.000 claims abstract description 38
- 239000000428 dust Substances 0.000 claims description 70
- 238000007689 inspection Methods 0.000 claims description 22
- 238000004590 computer program Methods 0.000 claims description 16
- 238000004659 sterilization and disinfection Methods 0.000 claims description 14
- 238000004891 communication Methods 0.000 claims description 12
- 239000007921 spray Substances 0.000 claims description 4
- 206010063385 Intellectualisation Diseases 0.000 abstract description 3
- 238000010586 diagram Methods 0.000 description 6
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- 238000003062 neural network model Methods 0.000 description 5
- 230000003749 cleanliness Effects 0.000 description 4
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- 239000002699 waste material Substances 0.000 description 4
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- 238000006467 substitution reaction Methods 0.000 description 2
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- 238000005259 measurement Methods 0.000 description 1
- 230000003287 optical effect Effects 0.000 description 1
- 239000013618 particulate matter Substances 0.000 description 1
- 230000032258 transport Effects 0.000 description 1
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/24—Floor-sweeping machines, motor-driven
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
- A47L11/4002—Installations of electric equipment
- A47L11/4008—Arrangements of switches, indicators or the like
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
- A47L11/4013—Contaminants collecting devices, i.e. hoppers, tanks or the like
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
- A47L11/4061—Steering means; Means for avoiding obstacles; Details related to the place where the driver is accommodated
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—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
- A47L11/408—Means for supplying cleaning or surface treating agents
- A47L11/4088—Supply pumps; Spraying devices; Supply conduits
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61L—METHODS OR APPARATUS FOR STERILISING MATERIALS OR OBJECTS IN GENERAL; DISINFECTION, STERILISATION OR DEODORISATION OF AIR; CHEMICAL ASPECTS OF BANDAGES, DRESSINGS, ABSORBENT PADS OR SURGICAL ARTICLES; MATERIALS FOR BANDAGES, DRESSINGS, ABSORBENT PADS OR SURGICAL ARTICLES
- A61L2/00—Methods or apparatus for disinfecting or sterilising materials or objects other than foodstuffs or contact lenses; Accessories therefor
- A61L2/16—Methods or apparatus for disinfecting or sterilising materials or objects other than foodstuffs or contact lenses; Accessories therefor using chemical substances
- A61L2/18—Liquid substances or solutions comprising solids or dissolved gases
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N15/00—Investigating characteristics of particles; Investigating permeability, pore-volume or surface-area of porous materials
- G01N15/08—Investigating permeability, pore-volume, or surface area of porous materials
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01V—GEOPHYSICS; GRAVITATIONAL MEASUREMENTS; DETECTING MASSES OR OBJECTS; TAGS
- G01V8/00—Prospecting or detecting by optical means
- G01V8/10—Detecting, e.g. by using light barriers
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L2201/00—Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L2201/00—Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
- A47L2201/04—Automatic control of the travelling movement; Automatic obstacle detection
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L2201/00—Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
- A47L2201/06—Control of the cleaning action for autonomous devices; Automatic detection of the surface condition before, during or after cleaning
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Abstract
The application relates to the technical field of intelligent household appliances, in particular to a control method of a sweeping robot, the sweeping robot, a control system and a computer readable storage medium. The control method of the sweeping robot comprises the following steps: acquiring environment data sent by a detection robot; processing the environmental data to obtain a position point to be cleaned; and determining a cleaning route based on the position points, and controlling the sweeping robot to work according to the cleaning route, so as to solve the problem that the sweeping robot cannot determine the cleaning place according to the specific environment, realize the intellectualization of the sweeping robot and improve the user experience.
Description
Technical Field
The present disclosure relates to the field of sweeping robots, and more particularly, to a control method for a sweeping robot, a control system, and a computer readable storage medium.
Background
The floor sweeping robot is one of intelligent household cleaning appliances and can automatically finish floor cleaning in a room. Because the dust box of the sweeping robot has smaller capacity, a dust collecting station with larger dust box capacity is arranged for collecting the cleaning objects cleaned by the sweeping robot each time. The existing sweeping robot is generally provided with a dust collecting station, the dust collecting station is only used for charging and collecting dust for one sweeping robot, the application is single, the sweeping robot usually needs to clean in a whole house, cleaning work cannot be performed after a place needing cleaning is determined according to a specific environment, and cleaning efficiency is poor.
Disclosure of Invention
The application provides a control method of a sweeping robot, the sweeping robot, a control system and a computer readable storage medium, and aims to solve the problem that the sweeping robot cannot determine a sweeping place according to a specific environment, realize the intellectualization of the sweeping robot and improve user experience.
In a first aspect, an embodiment of the present application provides a control method of a sweeping robot, where the sweeping robot is configured with a dust collecting station, the dust collecting station includes at least one detection robot, and the sweeping robot is in communication connection with the detection robot, and the method includes:
acquiring environment data sent by a detection robot;
processing the environmental data to obtain a position point to be cleaned; and
and determining a cleaning route based on the position points, and controlling the sweeping robot to work according to the cleaning route.
In an alternative embodiment, before acquiring the environmental data sent by the inspection robot, the method further includes: receiving a cleaning instruction sent by a user, and determining a cleaning area according to the cleaning instruction; determining a detection route according to the cleaning area; and controlling the detection robot to perform environment detection according to the detection route to obtain environment data. Therefore, the detection route can be determined according to the requirements of the user, the whole house detection is avoided, the waste of detection resources is avoided, and the detection efficiency is improved.
In an alternative embodiment, the dust collecting station comprises a plurality of detection robots, the number of detection robots required and the detection route corresponding to each detection robot are determined according to the cleaning area, wherein the detection routes corresponding to different detection robots are different. Therefore, the optimal detection route can be determined according to the cleaning area and the available detection robot, and the detection efficiency is improved.
In an alternative embodiment, the detection robot comprises a camera device, and the environmental data at least comprises environmental pictures, wherein different environmental pictures correspond to different positions; determining whether an object to be cleaned exists in the environment picture; if the object to be cleaned exists in the environment picture, determining that the position corresponding to the environment picture needs to be cleaned, and taking the position as a position point needing to be cleaned. Therefore, whether the position point needs to be cleaned or not can be determined according to the object to be cleaned, an optimal cleaning route can be formulated, and resource waste caused by unreasonable cleaning route planning is avoided.
In an alternative embodiment, the type of the object to be cleaned is determined, and the cleaning strength corresponding to the cleaning robot is determined according to the type of the object to be cleaned. Thereby, the cleaning efficiency and the cleaning cleanliness can be improved.
In an alternative embodiment, the environmental data further includes an obstacle location, and the cleaning route is determined based on the obstacle location and the location point. Therefore, the obstacle can be determined in the detection process, an optimal cleaning route is formulated, and the cleaning route is prevented from encountering the obstacle.
In an alternative embodiment, the sweeping robot further comprises a box body for storing disinfection articles, when the sweeping robot is matched with the dust collecting station, the box body is communicated with the dust collecting station, and after the sweeping robot finishes the sweeping work, the sweeping robot is controlled to spray the disinfection articles according to the sweeping route. Therefore, the cleaning route can be disinfected, the cleaning cleanliness is improved, and the cleaning route is disinfected.
In an alternative embodiment, after the sweeping robot completes the sweeping operation, a redetection signal is sent to the detection robot, and the detection robot is controlled to perform the redetection operation according to the sweeping route. Therefore, the cleaning route can be re-detected, and the condition that the cleaning route is not cleaned or is not cleaned cleanly is avoided.
In a second aspect, the present application further provides a robot for cleaning floor, the robot for cleaning floor being configured with a dust collecting station, the dust collecting station comprising at least one detection robot, the robot for cleaning floor being in communication with the detection robot, the robot for cleaning floor further comprising a tank for storing disinfection articles, the tank being in communication with the dust collecting station when the robot for cleaning floor is mated with the dust collecting station, the robot for cleaning floor comprising a memory and a processor; a memory for storing a computer program; and the processor is used for executing the computer program and realizing the control method of the sweeping robot according to any one of the embodiments of the application when the computer program is executed.
In a third aspect, the present application further provides a control system, the control system including a cleaning robot, a dust collecting station and a detection robot, the cleaning robot being configured with the dust collecting station, the dust collecting station including at least one detection robot, the cleaning robot and the detection robot being in communication connection, the cleaning robot further including a box for storing disinfection articles, the box being in communication with the dust collecting station when the cleaning robot is mated with the dust collecting station, the control system being for implementing a control method of the cleaning robot according to any one of the embodiments provided herein.
In a fourth aspect, the present application further provides a computer readable storage medium, where a computer program is stored, where the computer program, if executed by a processor, implements a method according to any one of the embodiments of the present application.
The control method of the sweeping robot, the control system and the computer readable storage medium acquire environment data sent by the detection robot; processing the environmental data to obtain a position point to be cleaned; and determining a cleaning route based on the position points, and controlling the sweeping robot to work according to the cleaning route. The intelligent floor sweeping robot has the advantages that the intelligent floor sweeping robot is realized, the floor needing to be cleaned can be intelligently determined, the floor sweeping robot can be made into a cleaning route in a targeted manner, the cleaning efficiency is improved, and the user experience is improved.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings needed in the description of the embodiments will be briefly introduced below, and it is obvious that the drawings in the following description are some embodiments of the present application, and other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
FIG. 1 is a schematic flow chart of steps of an environment detection method according to an embodiment of the present application;
fig. 2 is a schematic flowchart of steps of a control method of a sweeping robot according to an embodiment of the present application;
fig. 3 is a schematic block diagram of a structure of a sweeping robot according to an embodiment of the present application;
fig. 4 is a schematic block diagram of a control system according to an embodiment of the present application.
Detailed Description
The following description of the embodiments of the present application will be made clearly and fully with reference to the accompanying drawings, in which it is evident that the embodiments described are some, but not all, of the embodiments of the present application. All other embodiments, which can be made by one of ordinary skill in the art without undue burden from the present disclosure, are within the scope of the present disclosure.
The flow diagrams depicted in the figures are merely illustrative and not necessarily all of the elements and operations/steps are included or performed in the order described. For example, some operations/steps may be further divided, combined, or partially combined, so that the order of actual execution may be changed according to actual situations.
The embodiment of the application provides a control method of a sweeping robot, the sweeping robot, a control system and a computer readable storage medium. Some embodiments of the present application are described in detail below with reference to the accompanying drawings. The following embodiments and features of the embodiments may be combined with each other without conflict.
Because the control method of the sweeping robot provided by the embodiment of the application is realized based on the detection robot acquiring the environmental data, the environmental detection method applied to the detection robot is introduced before the control method of the sweeping robot is introduced.
Referring to fig. 1, fig. 1 illustrates an environment detection method provided in an embodiment of the present application, which is applied to a detection robot. The detection robot is configured in the dust collecting station matched with the sweeping robot, and environment detection is carried out after the detection route is determined, so that the detection route can be determined according to the requirements of users, the detection of a whole house is avoided, the waste of detection resources is avoided, and the detection efficiency is improved.
The detection robot may be a robot for detecting only, may be a robot for detecting the ground, may be a robot for detecting the air, or may be any shape such as a sphere.
In some embodiments, the detection robot may be a robot with a detection function, such as a sweeping robot or a mopping robot, and the environment detection method of the present embodiment may be implemented when the robots are in an idle state.
As shown in fig. 1, the environment detection method includes: step S101 to step S103.
S101, receiving a cleaning instruction sent by a user, and determining a cleaning area according to the cleaning instruction.
The sweeping robot receives a sweeping command sent by a user and determines a sweeping area according to the sweeping command, wherein the sweeping command can comprise a full house sweeping command or a specific area sweeping command, such as a bedroom sweeping command, a kitchen sweeping command and the like.
In some embodiments, the cleaning instructions further comprise a cleaning time, the user sending cleaning instructions to the cleaning robot, the cleaning instructions comprising a cleaning zone and a cleaning time, the cleaning robot determining the detection time and the cleaning zone based on the cleaning time. Therefore, detection work can be performed in advance according to the actual cleaning time of a user, so that inaccurate detection caused by early detection work can be avoided.
Illustratively, the cleaning time for the cleaning robot to receive the user determination is 15:00, the cleaning area is a bedroom, the time required for the cleaning robot to calculate and determine the detection bedroom of the detection robot is 10 minutes, and the time for the detection robot to start working can be determined to be 14:50.
In some embodiments, the sweeping robot may be communicatively coupled to a terminal device through which the sweeping instruction is acquired such that when the sweeping robot receives the sweeping instruction, the sweeping area is determined according to the sweeping instruction. The terminal device may comprise at least one of a cell phone, a tablet computer, a notebook computer, a personal wearable device, a customer terminal device (Customer Premise Equipment, CPE).
For example, the user may determine the cleaning area according to the cleaning instruction by inputting the cleaning instruction on the cellular phone and transmitting the cleaning area and the cleaning operation time to the cleaning robot so that the cleaning robot receives the cleaning instruction.
In some embodiments, the sweeping robot may also acquire the voice of the user, and prompt the user to issue the sweeping instruction after acquiring the voice related to the sweeping instruction of the user, such as the voice of "sweeping", and the like, so that the sweeping robot determines the sweeping area.
S102, determining a detection route according to the cleaning area.
The sweeping robot determines a detection route of the detection robot according to the determined sweeping area, and the detection route is used for providing a working path of the detection robot.
For example, if the acquired cleaning area is a bedroom and a kitchen, the cleaning robot determines an optimal detection route according to the cleaning area, wherein the optimal detection route may be a detection route with the shortest detection time or a detection route with the shortest detection distance.
In some embodiments, the dust collection station includes a plurality of inspection robots, the number of inspection robots required and the inspection route corresponding to each inspection robot are determined according to the cleaning area, wherein the inspection routes corresponding to different inspection robots are different. Therefore, the optimal detection route can be determined according to the cleaning area and the available detection robot, and the detection efficiency is improved.
For example, if the cleaning area is a bedroom and a kitchen, the cleaning robot analyzes the detection route repetition degrees of the bedroom and the kitchen, if the route repetition degrees are lower than a preset threshold, the detection routes of the bedroom and the kitchen are respectively formulated, the number of the detection robots needed is determined to be two, the two different detection robots are respectively controlled to perform environment detection according to the two different detection routes, and the preset threshold can be arbitrarily set by a user, for example, the route repetition degree is 30%. This embodiment is mainly applied to the case where there are a plurality of cleaning areas, and the respective cleaning areas are far apart and in different directions, and it takes time to perform the inspection using only one inspection robot.
In some embodiments, the detected route is determined according to a historical cleaning route, and the historical cleaning route is a last cleaning route or a last three cleaning routes of the user, which are not particularly limited herein. Thus, when the user does not determine the cleaning area, the detection route can be intelligently determined.
For example, if the plurality of cleaning routes are "dust station-bedroom-kitchen-dust station", it is indicated that the route is highly likely to need cleaning, the historical cleaning route is determined to be the detection route.
For example, if the previous cleaning route is "dust collecting station-bedroom-kitchen-dust collecting station", if the user wants to clean the whole house again in a short time, an uncleaned area is determined according to the previous cleaning route, and a detection command is sent to the detection robot so that the detection robot detects the cleaned area, and the cleaning areas are comprehensively determined, thereby determining the detection route.
And S103, controlling the detection robot to perform environment detection according to the detection route to obtain environment data.
The sweeping robot sends a control instruction to the detection robots, wherein the control instruction comprises a detection route corresponding to each detection robot, so that each detection robot can perform environment detection according to the corresponding detection route, environment data are obtained, and the environment data at least comprise environment pictures.
In some embodiments, the detection robot includes an image capturing device, which may be a camera, a video camera or a video recorder, for example, the camera may capture an environmental image, for example, the video camera may also perform video recording processing on an environment to be cleaned, and analyze each frame of environmental image, so that the object to be cleaned can be identified more accurately.
In some embodiments, the camera may be height and orientation adjustable with respect to the inspection robot.
For example, the camera may be raised in height relative to the detection robot to enable the camera to take environmental pictures at a variety of heights.
For example, the imaging device may adjust the imaging direction of the imaging device relative to the detection robot to enable the imaging device to capture an environmental picture at multiple angles.
In some embodiments, the inspection robot includes a dust detector for making dust concentration measurements such as respirable particulate matter (PM 10) concentration, total dust concentration, or dust mass concentration when the inspection robot is performing environmental inspection.
In some embodiments, the user may also set a timing environment detection, and after a preset period of time passes, the sweeping robot sends a detection instruction to the detection robot, so that the detection robot detects according to a detection route detected by the whole house, and obtains environment data. The preset time period may be any time period, such as 12 hours or 24 hours.
According to the environment detection method provided by the embodiment of the application, the environment data can be obtained, and the control method of the sweeping robot provided by the embodiment of the application is performed based on the environment data, so that the control method of the sweeping robot provided by the embodiment of the application can be introduced on the basis of the environment data.
Referring to fig. 2, fig. 2 is a schematic flowchart illustrating steps of a control method of a sweeping robot, where the control method is applied to a sweeping robot, and the sweeping robot is configured with a dust collecting station, and the dust collecting station includes at least one detection robot, and the sweeping robot is in communication connection with the detection robot, so as to solve the problem that the sweeping robot cannot determine a sweeping place according to a specific environment, realize the intellectualization of the sweeping robot, intelligently determine a point to be swept, and enable the sweeping robot to formulate a sweeping route in a targeted manner, thereby improving the sweeping efficiency and improving the user experience.
It will be appreciated that the robot cleaner may be connected to the detection robot via WIFI or bluetooth, and the dust collection station is used to collect dust and charge the robot cleaner.
As shown in fig. 2, the control method of the sweeping robot may include steps S201 to S203.
S201, acquiring environment data sent by the detection robot.
After the detection robot completes the detection work, the sweeping robot acquires environment data sent by the detection robot, and the environment data is used for determining a position point to be cleaned.
In some embodiments, the environment data at least includes an environment picture and position information corresponding to each environment picture, different environment pictures correspond to different positions, and the position information includes position points of the environment picture corresponding to an indoor map, where the indoor map is a map stored in the sweeping robot and used for displaying a placement position of furniture of the whole house.
The environment data may include a first bedroom picture and a living room specific position corresponding to the first bedroom picture, and further include a second bedroom picture and a living room specific position corresponding to the second bedroom picture, where the specific positions of the first bedroom picture and the second bedroom picture are different.
S202, processing the environment data to obtain a position point to be cleaned.
The robot carries out data processing on the obtained environmental data, determines the position points to be cleaned by analyzing the environmental data, and records the position points.
In some embodiments, determining whether an object to be cleaned is present in the environmental picture; if the object to be cleaned exists in the environment picture, determining that the position corresponding to the environment picture needs to be cleaned, and taking the position as a position point needing to be cleaned; if the object to be cleaned does not exist in the environment picture, the position corresponding to the environment picture is determined not to need cleaning. Therefore, whether the position point needs to be cleaned or not can be determined according to the object to be cleaned, an optimal cleaning route can be formulated, and resource waste caused by unreasonable cleaning route planning is avoided.
The method comprises the steps that an image recognition is conducted on an obtained environment picture by a sweeping robot, a position point corresponding to the environment picture is determined based on a pre-stored indoor map, an indoor picture of the position point in the indoor map is extracted, the furniture placement position of the position point is determined, the indoor picture and the environment picture are compared, a non-furniture object is determined, an image of the non-furniture object is extracted, the type of the non-furniture object is determined according to the image of the non-furniture object based on a pre-trained neural network model, and whether the object to be swept is determined according to the type of the non-furniture object.
Specifically, the neural network model at least comprises an input layer, a feature extraction layer and an output layer, and an image of a non-furniture object is input into the neural network model through the input layer; carrying out feature extraction on the image of the non-furniture object based on the feature extraction layer to obtain object shape features; and inputting the shape characteristics of the object into the output layer to obtain the type of the non-furniture object. Therefore, the object type can be accurately identified, and whether the object to be cleaned exists or not can be accurately identified.
The environmental data also includes dust concentration and corresponding position points, and determines whether the dust concentration at a certain position is greater than a preset threshold, if the dust concentration at a certain position is greater than the preset threshold, it is determined that the position point has an object to be cleaned, and if the dust concentration at a certain position is not greater than the preset threshold, it is determined that the position point has no object to be cleaned, where the preset threshold may be any value, specifically may be 1mg/m 3 . Therefore, whether the object to be cleaned exists at a certain position point or not can be determined according to the dust concentration, and the defect that the environment picture cannot acquire the dust concentration information can be effectively overcome.
In some embodiments, the type of the object to be cleaned is determined, and the cleaning strength corresponding to the cleaning robot is determined according to the type of the object to be cleaned. Thereby, the cleaning efficiency and the cleaning cleanliness can be improved.
The method comprises the steps of determining the type of an object to be cleaned according to an image of the object to be cleaned, and determining the cleaning strength corresponding to the cleaning robot according to the type of the object to be cleaned on the basis of a pre-trained neural network model.
Specifically, inputting an image of an object to be cleaned into a neural network model through an input layer; component feature extraction is carried out on the image of the object to be cleaned based on the feature extraction layer, so that object viscosity features are obtained; and inputting the shape characteristics of the object into the output layer to obtain the viscosity grade of the object to be cleaned. Wherein different viscosity levels correspond to different sweeping strengths.
For example, if the viscosity level of the object to be cleaned is determined to be one level, the cleaning intensity corresponding to the cleaning robot is controlled to be one level, and if the viscosity level of the object to be cleaned is determined to be two levels, the cleaning intensity corresponding to the cleaning robot is controlled to be two levels, wherein the viscosity level of the one level is higher than the viscosity level of the two levels, and correspondingly, the cleaning intensity of the one level is higher than the cleaning intensity of the two levels.
S203, determining a cleaning route based on the position points, and controlling the sweeping robot to work according to the cleaning route.
And determining a cleaning route according to the determined position points to be cleaned, and controlling the cleaning robot to work according to the cleaning route.
Specifically, the sweeping robot automatically plans an optimal sweeping route according to the determined position points to be swept, wherein the optimal sweeping route is the shortest sweeping route during sweeping, and the sweeping robot is controlled to work according to the sweeping route.
In some embodiments, the environmental data further includes obstacle locations, and the sweeping robot may determine the sweeping path based on the obstacle locations and the location points. Therefore, the obstacle can be determined in the detection process, an optimal cleaning route is formulated, and the cleaning route is prevented from encountering the obstacle.
The position of the obstacle can be determined by an environment picture, the robot for sweeping the floor can perform image recognition on the obtained environment picture, a position point corresponding to the environment picture is determined based on a pre-stored indoor map, the indoor picture of the position point in the indoor map is extracted, the furniture placement position of the position point is determined, the indoor picture and the environment picture are compared, and therefore the position of the obstacle picture is determined, and the obstacle is represented in the indoor map.
The robot further includes an infrared sensor, the position of the obstacle may be determined by the infrared sensor, the robot may determine that there is an obstacle in front if there is reflection of the infrared, and determine that there is no obstacle in front if there is no reflection of the infrared, by emitting the infrared and detecting whether there is reflection of the infrared, wherein the emission distance of the infrared may be set to be an arbitrary distance in front of the robot, and may be specifically 1m or 2m.
In some embodiments, if the detection robot detects that the obstacle exists at the same position multiple times, the sweeping robot can correct the object placement position of the indoor map according to the obstacle position.
In some embodiments, the sweeping robot may determine the capacity of the object to be swept according to the environmental image, determine the priority order of the corresponding position points according to the capacity of the object to be swept, and determine the sweeping route according to the priority order. Therefore, the object to be cleaned with larger capacity can be cleaned rapidly, and the user experience is higher.
For example, if the capacity of the bedroom object to be cleaned is determined to be large, if the capacity of the kitchen object to be cleaned is determined to be small, it is possible to determine that the bedroom has a higher priority than the kitchen, and determine the cleaning route according to the priority order.
In some embodiments, the sweeping robot may also determine the sweeping route according to a type-priority order of the sweeping area, and according to the priority order.
For example, if the cleaning area is determined to be a living room and a kitchen, since the kitchen may have stains, if the cleaning robot cleans the kitchen first, the cleaning part of the cleaning robot is likely to be stained with the stains, and at this time, the cleaning part is likely to bring the stains to the other area when cleaning the other area, so that the area other than the kitchen may be cleaned first and the kitchen may be cleaned finally according to the type of the cleaning area.
In some embodiments, the cleaning robot further comprises a box for storing the disinfection articles, the box is communicated with the dust collecting station when the cleaning robot is matched with the dust collecting station, and the cleaning robot is controlled to spray the disinfection articles according to the cleaning route after the cleaning robot finishes the cleaning work. Therefore, the cleaning route can be disinfected, the cleaning cleanliness is improved, and the cleaning route is disinfected.
Illustratively, the dust collecting station has stored therein a sterilizing product in advance, and when the cleaning robot is mated with the dust collecting station, the bin communicates with the dust collecting station and transports the sterilizing product into the bin of the cleaning robot.
In some embodiments, after the sweeping robot completes the sweeping operation, a redetection signal is sent to the detection robot, and the detection robot is controlled to perform the redetection operation according to the sweeping route. Therefore, the cleaning route can be re-detected, and the condition that the cleaning route is not cleaned or is not cleaned cleanly is avoided.
In some embodiments, the sweeping robot may also output a prompt that the sweeping work has been completed.
The prompting information may specifically include application program (APP) or Email, sms, chat tool such as sms, qq, etc.
In some embodiments, when the robot cleaner sends a prompt signal that the cleaning work has been completed, the Application (APP) may transmit a pop-up window to alert the user to the prompt that the cleaning work has been completed, and the user may also view the prompt on the Application (APP).
It can be appreciated that the user can set the reminding mode by himself, for example, can set as an Application (APP) reminder and a WeChat reminder, and then the reminding information is sent to the user through the two reminding modes.
The control method of each embodiment obtains the environmental data sent by the detection robot; processing the environmental data to obtain a position point to be cleaned; and determining a cleaning route based on the position points, and controlling the sweeping robot to work according to the cleaning route. The intelligent floor sweeping robot has the advantages that the intelligent floor sweeping robot is realized, the floor needing to be cleaned can be intelligently determined, the floor sweeping robot can be made into a cleaning route in a targeted manner, the cleaning efficiency is improved, and the user experience is improved.
Referring to fig. 3, fig. 3 is a schematic block diagram of a sweeping robot 300 according to an embodiment of the present application. The robot cleaner is provided with a dust collecting station, the dust collecting station comprises at least one detection robot, the robot cleaner is in communication connection with the detection robot, the robot cleaner further comprises a box body for storing disinfection products, when the robot cleaner is matched with the dust collecting station, the box body is communicated with the dust collecting station, as shown in fig. 3, and the robot cleaner 300 comprises a memory 301 and a processor 302.
The memory 301 may include a nonvolatile storage medium and an internal memory, among others. The non-volatile storage medium may store a computer program. The computer program comprises program instructions which, when executed, cause the processor to perform any one of the control methods of the sweeping robot.
The processor 302 is used to provide computing and control capabilities to support the operation of the sweeping robot.
The memory 301 provides an environment for the execution of a computer program in a non-volatile storage medium, which when executed by the processor 302, causes the processor 302 to execute any one of the control methods of the sweeping robot.
It will be appreciated by those skilled in the art that the structure shown in fig. 3 is merely a block diagram of a portion of the structure associated with the present application and does not constitute a limitation of the sweeping robot to which the present application is applied, and that a particular sweeping robot may include more or fewer components than shown, or may combine certain components, or may have a different arrangement of components.
It should be appreciated that the Memory 301 may be a Flash chip, a Read-Only Memory (ROM) disk, an optical disk, a U-disk, a removable hard disk, etc., and the processor 302 may be a central processing unit (Central Processing Unit, CPU) which may also be other general purpose processors, digital signal processors (Digital Signal Processor, DSP), application specific integrated circuits (Application Specific Integrated Circuit, ASIC), field programmable gate arrays (Field-Programmable Gate Array, FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. Wherein the general purpose processor may be a microprocessor or the processor may be any conventional processor or the like.
In one embodiment, the processor 302 is configured to execute a computer program stored in the memory 301 to implement the following steps:
acquiring environment data sent by a detection robot; processing the environmental data to obtain a position point to be cleaned; and determining a cleaning route based on the position points, and controlling the sweeping robot to work according to the cleaning route.
In some embodiments, before acquiring the environmental data sent by the detection robot, receiving a cleaning instruction sent by a user, and determining a cleaning area according to the cleaning instruction; determining a detection route according to the cleaning area; and controlling the detection robot to perform environment detection according to the detection route to obtain environment data.
In some embodiments, the dust collection station includes a plurality of inspection robots, the number of inspection robots required and the inspection route corresponding to each inspection robot are determined according to the cleaning area, wherein the inspection routes corresponding to different inspection robots are different.
In some embodiments, the detection robot includes a camera device, and the environmental data includes at least environmental pictures, wherein different environmental pictures correspond to different positions; determining whether an object to be cleaned exists in the environment picture; if the object to be cleaned exists in the environment picture, determining that the position corresponding to the environment picture needs to be cleaned, and taking the position as a position point needing to be cleaned.
In some embodiments, the type of the object to be cleaned is determined, and the cleaning strength corresponding to the cleaning robot is determined according to the type of the object to be cleaned.
In some embodiments, the environmental data further includes an obstacle location, and the cleaning route is determined from the obstacle location and the location point.
In some embodiments, the cleaning robot further comprises a box for storing the disinfection articles, the box is communicated with the dust collecting station when the cleaning robot is matched with the dust collecting station, and the cleaning robot is controlled to spray the disinfection articles according to the cleaning route after the cleaning robot finishes the cleaning work.
In some embodiments, after the sweeping robot completes the sweeping operation, a redetection signal is sent to the detection robot, and the detection robot is controlled to perform the redetection operation according to the sweeping route.
It should be noted that, for convenience and brevity of description, the specific working process of the sweeping robot 300 described above may refer to the corresponding process in the control method embodiment of the sweeping robot, and will not be described herein.
Referring to fig. 4, fig. 4 is a schematic block diagram of a control system 400 according to an embodiment of the present application. The control system 400 comprises a sweeping robot 300, a dust collecting station 401 and a detection robot 402, wherein the sweeping robot 300 is provided with the dust collecting station 401, the dust collecting station 401 comprises at least one detection robot 402, the sweeping robot 300 is in communication connection with the detection robot 402, the sweeping robot 300 further comprises a box body used for storing disinfection articles, and when the sweeping robot 300 is matched with the dust collecting station 401, the box body is communicated with the dust collecting station 401 and used for executing the control method of the sweeping robot.
Embodiments of the present application also provide a computer readable storage medium, where a computer program is stored, where the computer program includes program instructions, and a method implemented when the program instructions are executed may refer to various embodiments of a control method of a sweeping robot.
The specific implementation of each operation above may be referred to the previous embodiments, and will not be described herein.
The computer readable storage medium may be an internal storage unit of the sweeping robot according to the foregoing embodiment, for example, a hard disk or a memory of the sweeping robot. The computer readable storage medium may also be an external storage device of the sweeping robot, for example, a plug-in hard disk, a Smart Media Card (SMC), a Secure Digital (SD) Card, a Flash memory Card (Flash Card) or the like, which are provided on the sweeping robot.
Because the computer program stored in the computer readable storage medium can execute any of the control methods of the sweeping robot provided in the embodiments of the present application, the beneficial effects that any of the control methods of the sweeping robot provided in the embodiments of the present application can be achieved, which are detailed in the previous embodiments and are not described herein.
It is to be understood that the terminology used in the description of the present application is for the purpose of describing particular embodiments only and is not intended to be limiting of the application. As used in this specification and the appended claims, the singular forms "a," "an," and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise.
It should also be understood that the term "and/or" as used in this specification and the appended claims refers to any and all possible combinations of one or more of the associated listed items, and includes such combinations. It should be noted that, in this document, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or system that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or system. Without further limitation, an element defined by the phrase "comprising one … …" does not exclude the presence of other like elements in a process, method, article, or system that comprises the element.
The foregoing embodiment numbers of the present application are merely for describing, and do not represent advantages or disadvantages of the embodiments. While the invention has been described with reference to certain preferred embodiments, it will be understood by those skilled in the art that various changes and substitutions of equivalents may be made and equivalents will be apparent to those skilled in the art without departing from the scope of the invention. Therefore, the protection scope of the present application shall be subject to the protection scope of the claims.
While the invention has been described with reference to certain preferred embodiments, it will be understood by those skilled in the art that various changes and substitutions of equivalents may be made and equivalents will be apparent to those skilled in the art without departing from the scope of the invention. Therefore, the protection scope of the present application shall be subject to the protection scope of the claims.
Claims (9)
1. A method of controlling a sweeping robot, wherein the sweeping robot is configured with a dust collection station, the dust collection station including at least one inspection robot, the sweeping robot being communicatively coupled to the inspection robot, the method comprising:
acquiring environment data sent by the detection robot;
processing the environmental data to obtain a position point to be cleaned; and
determining a cleaning route based on the position points, and controlling the sweeping robot to work according to the cleaning route;
before the environmental data sent by the detection robot is obtained, the method comprises the following steps:
receiving a cleaning instruction sent by a user, and determining a cleaning area according to the cleaning instruction;
determining the number of required detection robots and detection routes corresponding to each detection robot according to the cleaning area, wherein the detection routes corresponding to different detection robots are different, and the route repeatability between different detection routes is lower than a preset threshold;
and controlling the detection robot to perform environment detection according to the detection route to obtain environment data.
2. The method of claim 1, wherein the inspection robot includes a camera device, the environmental data includes at least environmental pictures, wherein different environmental pictures correspond to different locations;
the processing the environmental data to obtain the position point to be cleaned comprises the following steps:
determining whether an object to be cleaned exists in the environment picture;
if the object to be cleaned exists in the environment picture, determining that the position corresponding to the environment picture needs cleaning, and taking the position as a position point needing cleaning.
3. The method of claim 2, wherein if the object to be cleaned exists in the environmental picture, determining that the position corresponding to the environmental picture needs to be cleaned further comprises:
and determining the type of the object to be cleaned, and determining the cleaning strength corresponding to the cleaning robot according to the type of the object to be cleaned.
4. The method of claim 1, wherein the environmental data further comprises an obstacle location, the determining a cleaning route based on the location point comprising:
and determining a cleaning route according to the obstacle position and the position point.
5. The method of claim 1, wherein the sweeping robot further comprises a housing for storing disinfection supplies, the housing being in communication with the dust collection station when the sweeping robot is mated with the dust collection station, the method further comprising:
when the sweeping robot finishes the sweeping work, the sweeping robot is controlled to spray the disinfection articles according to the sweeping route.
6. The method of claim 1, wherein after determining a cleaning route based on the location points and controlling the sweeping robot to operate according to the cleaning route, further comprising:
and after the sweeping robot finishes the sweeping work, sending a re-detection signal to the detection robot, and controlling the detection robot to perform re-detection work according to the sweeping route.
7. A floor sweeping robot, characterized in that the floor sweeping robot is provided with a dust collecting station, the dust collecting station comprises at least one detection robot, the floor sweeping robot is in communication connection with the detection robot, the floor sweeping robot further comprises a box body for storing disinfection articles, when the floor sweeping robot is matched with the dust collecting station, the box body is communicated with the dust collecting station, and the floor sweeping robot comprises a memory and a processor;
the memory is used for storing a computer program;
the processor being adapted to execute the computer program and to implement the method according to any of claims 1-6 when the computer program is executed.
8. A control system, characterized in that it comprises a sweeping robot according to claim 7, a dust collecting station and a detection robot, said sweeping robot being provided with a dust collecting station, said dust collecting station comprising at least one detection robot, said sweeping robot being in communication with said detection robot, said sweeping robot further comprising a tank for storing disinfection articles, said tank being in communication with said dust collecting station when said sweeping robot is mated with said dust collecting station, said sweeping robot implementing a method according to any one of claims 1-6.
9. A computer readable storage medium, characterized in that the computer readable storage medium stores a computer program which, if executed by a processor, implements the method according to any of claims 1-6.
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