CN115153355A - Cleaning robot, cleaning control method and device thereof, and storage medium - Google Patents
Cleaning robot, cleaning control method and device thereof, and storage medium Download PDFInfo
- Publication number
- CN115153355A CN115153355A CN202211027140.9A CN202211027140A CN115153355A CN 115153355 A CN115153355 A CN 115153355A CN 202211027140 A CN202211027140 A CN 202211027140A CN 115153355 A CN115153355 A CN 115153355A
- Authority
- CN
- China
- Prior art keywords
- dust box
- metal
- cleaning robot
- metal object
- detection information
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 238000004140 cleaning Methods 0.000 title claims abstract description 148
- 238000000034 method Methods 0.000 title claims abstract description 55
- 239000002184 metal Substances 0.000 claims abstract description 181
- 229910052751 metal Inorganic materials 0.000 claims abstract description 181
- 239000000428 dust Substances 0.000 claims abstract description 156
- 238000001514 detection method Methods 0.000 claims abstract description 56
- 238000004590 computer program Methods 0.000 claims description 19
- 230000008569 process Effects 0.000 claims description 18
- 238000012790 confirmation Methods 0.000 claims description 3
- 230000006870 function Effects 0.000 description 5
- 238000010586 diagram Methods 0.000 description 4
- 238000004891 communication Methods 0.000 description 3
- 230000008878 coupling Effects 0.000 description 3
- 238000010168 coupling process Methods 0.000 description 3
- 238000005859 coupling reaction Methods 0.000 description 3
- 239000010970 precious metal Substances 0.000 description 3
- 238000012545 processing Methods 0.000 description 3
- 150000002739 metals Chemical class 0.000 description 2
- 230000002159 abnormal effect Effects 0.000 description 1
- 230000003247 decreasing effect Effects 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000005674 electromagnetic induction Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000003287 optical effect Effects 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
- 238000010408 sweeping Methods 0.000 description 1
Images
Classifications
-
- 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
-
- 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
-
- 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
-
- 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
- A47L11/4011—Regulation of the cleaning machine by electric means; Control systems and remote control systems therefor
-
- 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
-
- 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
Landscapes
- Electric Vacuum Cleaner (AREA)
Abstract
The application relates to the field of robots and provides a cleaning robot, a cleaning control method and a cleaning control device of the cleaning robot and a storage medium of the cleaning robot. The cleaning robot includes a dust box and a metal detector for detecting whether there is a metal object in the dust box, the method includes: acquiring detection information of the metal detector; and when the detection information indicates that the metal object is detected in the dust box, outputting prompt information for confirming that the metal object is in the dust box. When the detection information is that the dust box comprises the metal objects, the prompt information used for confirming that the metal objects are arranged in the dust box is output, so that a user can check the dust box of the cleaning robot in time and take out the lost valuable metal objects, the valuable metal objects are prevented from being lost by mistake, and unnecessary economic loss is prevented from being brought to the user.
Description
Technical Field
The present disclosure relates to the field of robots, and particularly to a cleaning robot, a cleaning control method and apparatus thereof, and a storage medium.
Background
With the development of intelligent cleaning technology, intelligent cleaning robots are more and more widely applied to household cleaning work. The cleaning robot can conveniently enter areas such as a bed bottom, a sofa bottom and the like to clean dust and hair, and the workload of cleaning houses by people is greatly reduced.
In order to improve the cleaning effect, the dust or hair on the ground can be sucked into the dust box more effectively by improving the suction force of the cleaning robot when sweeping the dust. When the cleaning robot works in a scene, such as a room with a ring, a necklace and other precious small metal objects, if the cleaning robot is sucked into the dust box, the cleaning robot may be discarded as garbage by a user, and unnecessary economic loss is easily brought to the user.
Disclosure of Invention
In view of this, embodiments of the present disclosure provide a cleaning robot, a cleaning control method and apparatus thereof, and a storage medium, so as to solve the problem in the prior art that when precious small metals in a working scene of the cleaning robot are mistakenly sucked into a dust box, the precious small metals may be discarded as garbage by a user, and unnecessary economic loss is easily caused to the user.
A first aspect of embodiments of the present application provides a cleaning control method of a cleaning robot,
the cleaning robot includes a dust box and a metal detector for detecting whether there is a metal object in the dust box, the method includes:
acquiring detection information of the metal detector;
and when the detection information indicates that the metal object is detected in the dust box, outputting prompt information for confirming that the metal object is in the dust box.
With reference to the first aspect, in a first possible implementation manner of the first aspect,
acquiring detection information of the metal detector, including:
acquiring detection information of the metal detector in a cleaning process;
when the detection information is that the metal object is detected in the dust box, outputting prompt information for confirming that the metal object is in the dust box, wherein the prompt information comprises:
when the detection information indicates that metal objects are detected in the dust box, stopping working and outputting prompt information for confirming that the metal objects are in the dust box, and after detecting that a user checks the dust box, the cleaning robot resumes working;
or when the detection information indicates that the metal object is detected in the dust box, the dust box continues to work, and prompt information for confirming that the metal object is in the dust box is continuously output.
With reference to the first aspect, in a second possible implementation manner of the first aspect,
acquiring detection information of the metal detector, including:
acquiring the detection information when cleaning is completed;
when the detection information is that the metal object is detected in the dust box, outputting prompt information for confirming that the metal object is in the dust box, wherein the prompt information comprises:
when the detection information is that metal objects are detected in the dust box or the dust bag, continuously outputting prompt information for confirming that the metal objects exist in the dust box;
after outputting the prompt message for confirming that the dust box has the metal object, the method further comprises: a (c)
Prohibiting the cleaning robot from starting if a confirmation message of the user is not received before the user is not detected to check the dust box.
With reference to the first aspect, the first possible implementation manner of the first aspect, or the second possible implementation manner of the first aspect, in a third possible implementation manner of the first aspect, the prompt information includes one or more of a prompt information of an indicator light of the cleaning robot, a prompt information of a sound of the cleaning robot, or a prompt information displayed in an application program in a smart device of a user.
With reference to the first possible implementation manner of the first aspect or the second possible implementation manner of the first aspect, in a fourth possible implementation manner of the first aspect, the method further includes:
and when the user is detected to open the dust box, outputting voice prompt information for prompting the user to check the metal objects in the dust box.
With reference to the first aspect, in a fifth possible implementation manner of the first aspect, when the cleaning robot acquires the detection information during the cleaning process, after the detection information indicates that the metal object is detected in the dust box, and before outputting prompt information for confirming that the metal object is present in the dust box, the method further includes:
collecting an image in the dust box;
identifying the type and/or the number of the metal objects in the dust box according to the image, and determining the prompt information according to the type and/or the number of the metal objects.
With reference to the first aspect, in a sixth possible implementation manner of the first aspect, the disposing the metal object detector on a sliding rail at an upper portion of the dust box to obtain detection information of the metal object detector includes:
controlling the metal object detector to move along the sliding rail from a first side of the dust box to a second side opposite to the first side, and detecting the metal object in the moving process;
and determining the number of the metal objects according to the number of the detected metal objects in the moving process to determine the prompt message.
A second aspect of embodiments of the present application provides a cleaning control apparatus of a cleaning robot including a dust box and a metal detector for detecting whether there is a metal object in the dust box, the apparatus including:
the detection information acquisition unit is used for acquiring the detection information of the metal detector;
and the prompting unit is used for outputting prompting information for confirming that the dust box has the metal object when the detection information indicates that the metal object is detected in the dust box.
A third aspect of embodiments of the present application provides a cleaning robot comprising a memory, a processor and a computer program stored in the memory and executable on the processor, the processor implementing the steps of the method according to any one of the first aspect when executing the computer program.
A fourth aspect of embodiments of the present application provides a computer-readable storage medium, in which a computer program is stored, which, when executed by a processor, performs the steps of the method according to any one of the first aspect.
Compared with the prior art, the embodiment of the application has the advantages that: this application is through set up the metal detector who is arranged in detecting the metal object in the dirt box in cleaning machines people, through metal detector detects whether there is metal object in cleaning machines people's the dirt box. When the detection information is that the dust box comprises the metal articles, the prompt information used for confirming that the metal articles are arranged in the dust box is output, so that a user can check the dust box of the cleaning robot in time and take out the lost precious metal articles, the precious metal articles are prevented from being lost by mistake, and unnecessary economic loss brought to the user is avoided.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings required to be used in the embodiments or the prior art description will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and for those skilled in the art, other drawings may be obtained according to these drawings without inventive labor.
Fig. 1 is a schematic flow chart illustrating an implementation of a cleaning control method of a cleaning robot according to an embodiment of the present disclosure;
FIG. 2 is a schematic diagram of a metal detector and a dust box according to an embodiment of the present disclosure;
FIG. 3 is a schematic diagram of a fitting relationship between a metal detector and a dust box according to an embodiment of the present disclosure;
fig. 4 is a schematic view of a cleaning control device of a cleaning robot according to an embodiment of the present disclosure;
fig. 5 is a schematic view of a cleaning robot provided in an embodiment of the present application.
Detailed Description
In the following description, for purposes of explanation and not limitation, specific details are set forth, such as particular system structures, techniques, etc. in order to provide a thorough understanding of the embodiments of the present application. It will be apparent, however, to one skilled in the art that the present application may be practiced in other embodiments that depart from these specific details. In other instances, detailed descriptions of well-known systems, devices, circuits, and methods are omitted so as not to obscure the description of the present application with unnecessary detail.
In order to explain the technical solution described in the present application, the following description will be given by way of specific examples.
During the working process of the cleaning robot, small ornaments worn by a user, including precious metal small articles such as rings, necklaces and the like, can fall on the ground, and if the user does not timely detect the fallen articles, the ornaments can be sucked into the dust box by the cleaning robot. When a user cleans the dust box, dirt such as dust in the dust box may be discarded together with the small metal objects which are sucked by mistake, so that the user may be lost because the small metal objects cannot be retrieved.
In view of the above problems, an embodiment of the present application provides a cleaning control method for a cleaning robot including a metal detector for detecting a metal object in a dust box of the cleaning robot, as shown in fig. 1, the cleaning control method for the cleaning robot including:
in S101, detection information of the metal detector is acquired.
In this application embodiment, the metal detector can detect whether a dust box or a dust bag of the cleaning robot includes a metal object in real time in the working process of the cleaning robot. Alternatively, the metal detector may periodically detect whether a dust box or a dust bag of the cleaning robot includes a metal object at predetermined time intervals during the operation of the cleaning robot. Alternatively, the metal detector may detect whether a dust box or a dust bag of the cleaning robot includes a metal object when a cleaning task is completed.
The detection information of the metal detector comprises detected metal objects and undetected metal objects.
The metal detector may include an electromagnetic induction type metal detector, an X-ray detection type metal detector, or a microwave detection type metal controller. Fig. 2 is a schematic structural diagram of a cleaning robot and a dust box according to an embodiment of the present disclosure. As shown in fig. 2, a metal detector 12 is disposed above the dust box 11, and a detection range of the metal detector 12 covers an internal space of the dust box 11. That is, the detection distance of the metal detector 12 is the same as the distance from the metal detector to the bottom of the dust box 11. Alternatively, in a possible implementation manner, the detection distance of the metal detector 12 may be greater than the distance from the metal detector 12 to the bottom of the dust box 11, so that the detection space can effectively cover the whole space inside the dust box 11.
Alternatively, in a possible implementation, as shown in fig. 3, the detecting head of the metal detector 12 is in an elongated shape. The detection area of the metal detector is a strip-shaped area, and the detection area of the metal detector 12 is smaller than the area of the dust box 11. The metal detector 12 is mounted on a movable rail 13. During the movement of the metal detector 12 along the guide rail 13, the robot moves from the first side of the guide rail to the opposite second side, so that the metal detector 12 can complete the detection of the metal objects in the entire space of the dust box 11 by the superposition of the strip-shaped areas.
In a possible implementation manner, the cleaning robot in the embodiment of the present application may further include a camera device for capturing an image in the dust box. By arranging the camera device at the dust box of the cleaning robot, images in the dust box can be collected. By carrying out target identification on the acquired images, the type of the detected metal objects in the dust box or the information such as the number of the metal objects can be conveniently and timely confirmed.
In S102, when the detection information indicates that the metal object is detected in the dust box, prompt information for confirming that the metal object is present in the dust box is output.
In the embodiment of the application, the mode of checking the dust box can be correspondingly determined and prompted to a user according to the detection time of the metal detector.
For example, when the detection time of the metal detector is in the working process of the robot, if it is detected that the dust box of the cleaning robot includes the metal object, the cleaning robot may be controlled to stop working, and prompt information for confirming that the dust box has the metal object is output. The prompt message may include a light prompt message of the cleaning robot, a voice prompt message of the cleaning robot, and/or a prompt message of an application program in the user intelligent terminal. After the dust box of the cleaning robot has been checked and confirmed by the user, the task of cleaning work of the cleaning robot may be continuously performed.
For example, the indication light of the cleaning robot may control a red light or a yellow light to flash to prompt the user to confirm the metal objects in the dust box. The indicating lamp can comprise an indicating lamp positioned at the taking-out position of the dust box, namely, the user can conveniently confirm the current abnormal operation mode to be eliminated through the prompt message of the indicating lamp at the taking-out position of the dust box.
The voice prompt message of the cleaning robot can prompt the user to check and confirm the metal objects in the dust box through voice content. For example, the voice content may include "metal objects are detected in the current dust box, please open the dust box in time to check and confirm" and so on. The voice prompt information can be played according to a preset time interval, or the voice prompt information can be played when the user is detected to be located in the scene where the cleaning robot is located, so that the user can know the current abnormity accurately and effectively and check and confirm the dust box.
The cleaning robot may establish a connection with the internet through a wireless communication protocol. When the application program related to the cleaning robot is associated with the cleaning robot in the intelligent terminal of the user, the cleaning robot can send the prompt information to the intelligent terminal used by the user through a network, and the prompt information is played through the application program. The prompt information played by the application program includes but is not limited to voice prompt of the intelligent terminal, vibration prompt of the intelligent terminal, light prompt of the intelligent terminal, short message prompt of the intelligent terminal or backlog prompt of the intelligent terminal. When the cleaning robot detects that the user has finished checking and confirming the metal objects in the dust box, the backlog of the intelligent terminal can be eliminated, or the backlog of the intelligent terminal is automatically modified into the backlog.
When the cleaning robot sends prompt information to an intelligent terminal held by a user through a network, the positioning information of the intelligent terminal can be detected, and when the positioning of the intelligent terminal is consistent with that of the cleaning robot, the prompt information is generated on an application program of the intelligent terminal, so that the user can be effectively prompted to check and confirm according to the prompt information.
In a possible implementation manner, when the cleaning robot performs a cleaning task, if the information detected by the metal detector is that the dust box includes metal objects, the robot can be kept in a working state, and prompt information for confirming that the dust box includes the metal objects is output at the same time. The prompt message may include a prompt message that an indicator lamp of the cleaning robot is in a flashing state, or a voice prompt message sent by the cleaning robot, or a prompt message sent to an intelligent terminal held by a user through a network. When the cleaning robot does not detect that the user checks and confirms the dust box, prompt information can be continuously output through an indicator light of the cleaning robot, or voice prompt information can be sent out by the cleaning robot according to a preset time interval, or according to positioning information of an intelligent terminal of the user, when the positioning information of the intelligent terminal is located at the same position as that of the cleaning robot, the prompt information is sent to the intelligent terminal, and the prompt information is displayed in an application program of the intelligent terminal.
When the intelligent terminal is judged to be consistent with the positioning information of the cleaning robot, the judgment can be carried out according to whether the access point connected with the cleaning robot is consistent with the access point connected with the intelligent terminal or not, or according to whether the access point connected with the charging pile of the cleaning robot is consistent with the access point connected with the intelligent terminal or not. For example, when the intelligent terminal and the cleaning robot are connected to the same WIFI hotspot at the same time, it indicates that the positioning information of the intelligent terminal and the cleaning robot is consistent.
In this embodiment, the metal detector may detect the object collected in the dust box or the dust bag by the cleaning task after the robot performs the cleaning task. If it is detected that a metal object is included in the dust box or the dust bag, the cleaning robot may be controlled to be in a non-startable state, i.e., the cleaning robot cannot perform a new cleaning task. Meanwhile, prompt information for prompting a user to confirm that the dust box has the metal object can be output. The prompt message may include a prompt message that an indicator lamp of the cleaning robot is in a flashing state, or a voice prompt message sent by the cleaning robot, or a prompt message sent to an intelligent terminal held by a user through a network.
The voice prompt information can prompt the user to check and confirm the dust box and normally start the dust box. In a possible implementation, the user may also initiate the cleaning robot to perform the cleaning task by entering a confirmation instruction. For example, after the intelligent terminal confirms that the metal object is present in the dust box, the user can enable the cleaning robot to continue to perform a new cleaning task.
In the embodiment of the application, after the cleaning task is completed, if the metal object in the dust box is detected, prompt information for prompting a user to check and confirm the metal object in the dust box can be output, and the cleaning robot is allowed to be started normally.
In addition, in the embodiment of the application, when it is detected that the user is checking the dust box, for example, when it is detected that the dust box is in an open state, the voice prompt message can be played for prompting the user to check and confirm the metal objects in the dust box, so that the user is prevented from forgetting to check and confirm the metal objects in the dust box.
The metal articles in the embodiments of the present application include, but are not limited to, rings, necklaces, nails, metal clasps, and the like.
In a possible implementation manner, the embodiment of the present application may further obtain the number of the metal objects present in the dust box, or the number and the type of the metal objects present.
For example, in the schematic diagram of the fitting relationship between the metal detector and the dust box shown in fig. 3, the metal detector can be controlled to gradually move from the first side of the dust box to the second side of the dust box. Wherein the first side is opposite the second side, such as from the left side of the dust box to the right side of the dust box in the figure, or from the right side of the dust box to the left side of the dust box. And detecting whether metal objects exist in the dust box in real time in the moving process of the metal detector. And determining the number of the metal objects possibly existing in the dust box according to the times of detecting the metal objects in the moving process. For example, a metal object is detected at the position a in fig. 3, a metal object is detected at the position B, and since the detected area of the metal detector is the strip-shaped area of the position where the metal detector is located, two metal objects may exist in the dust box, and the number of metal objects in the prompt information may be determined according to the detection result.
In a possible implementation manner, the cleaning robot further comprises a camera device for collecting images in the dust box. When the metal detector shown in fig. 2 or fig. 3 detects that there are metal objects in the dust box, the image in the dust box may be collected by the image pickup device, and according to the collected image, the type and the number of the metal objects in the dust box may be identified, so as to determine the type and the number of the included metal objects. The prompting content of the prompting message can be determined according to the type and the number of the identified metal objects, such as the prompting content of voice prompting message or the prompting message sent to the intelligent terminal. The intelligent terminal can comprise intelligent equipment such as a smart phone and a tablet computer.
In a possible implementation manner, after the target recognition is performed on the image acquired by the camera device, it is determined that the metal object belongs to a non-valuable object or an object set by a user and not required to be prompted. For example, when it is detected that the metal object in the dust box is a nail, a metal button, or the like, lower-level prompt information may be generated, such as prompt by an indicator light only, prompt by a voice prompt or an intelligent terminal is not required, the work of the robot is not required to be stopped, and a new cleaning task may be performed normally.
More accurate prompt information can be generated by determining the possible number of the metal objects in the dust box through the movable metal detector or determining the number and the types of the metal objects in the dust box according to the camera device. And, different levels of prompting information can be generated according to the determined type and quantity of the metal articles. The value of the metal article can be estimated according to the type of the metal article, and when the value of the metal article is higher, prompt information with higher level can be generated, so that the discarding of the valuable metal article can be better avoided. The level of the reminder information may be related to the type and amount of reminder information. For example, the intelligent terminal prompt can be used for higher-level prompt information, and the indicator light of the cleaning robot is used for lower-level prompt information.
It should be understood that, the sequence numbers of the steps in the foregoing embodiments do not imply an execution sequence, and the execution sequence of each process should be determined by its function and inherent logic, and should not constitute any limitation to the implementation process of the embodiments of the present application.
Fig. 4 is a schematic view of a cleaning device of a cleaning robot provided in an embodiment of the present application, the cleaning robot including a dust box and a metal detector for detecting whether there is a metal object in the dust box, the device including:
a detection information obtaining unit 401, configured to obtain detection information of the metal detector.
A prompting unit 402, configured to output prompting information for confirming that a metal object exists in the dust box when the detection information indicates that a metal object is detected in the dust box.
The cleaning control device of the cleaning robot shown in fig. 4 corresponds to the cleaning control method of the cleaning robot shown in fig. 1.
Fig. 5 is a schematic view of a cleaning robot provided in an embodiment of the present application. As shown in fig. 5, the cleaning robot 5 of this embodiment includes: a processor 50, a memory 51 and a computer program 52, such as a cleaning control program for a cleaning robot, stored in said memory 51 and executable on said processor 50. The processor 50, when executing the computer program 52, implements the steps in the cleaning control method embodiments of the respective cleaning robots described above. Alternatively, the processor 50 implements the functions of the modules/units in the above-described device embodiments when executing the computer program 52.
Illustratively, the computer program 52 may be partitioned into one or more modules/units, which are stored in the memory 51 and executed by the processor 50 to accomplish the present application. The one or more modules/units may be a series of computer program instruction segments capable of performing specific functions, which are used to describe the execution process of the computer program 52 in the cleaning robot 5.
The cleaning robot may include, but is not limited to, a processor 50, a memory 51. It will be appreciated by those skilled in the art that fig. 5 is merely an example of the cleaning robot 5 and does not constitute a limitation of the cleaning robot 5 and may include more or fewer components than shown, or some components in combination, or different components, for example the cleaning robot may also include input output devices, network access devices, buses, etc.
The Processor 50 may be a Central Processing Unit (CPU), other general purpose Processor, a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), a Field Programmable Gate Array (FPGA) or other Programmable logic device, discrete Gate or transistor logic, discrete hardware components, etc. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like.
The memory 51 may be an internal storage unit of the cleaning robot 5, such as a hard disk or a memory of the cleaning robot 5. The memory 51 may also be an external storage device of the cleaning robot 5, such as a plug-in hard disk, a Smart Media Card (SMC), a Secure Digital (SD) Card, a Flash memory Card (Flash Card), or the like provided on the cleaning robot 5. Further, the memory 51 may also include both an internal storage unit and an external storage device of the cleaning robot 5. The memory 51 is used to store the computer program and other programs and data required by the cleaning robot. The memory 51 may also be used to temporarily store data that has been output or is to be output.
It will be apparent to those skilled in the art that, for convenience and brevity of description, only the above-mentioned division of the functional units and modules is illustrated, and in practical applications, the above-mentioned function distribution may be performed by different functional units and modules according to needs, that is, the internal structure of the apparatus is divided into different functional units or modules to perform all or part of the above-mentioned functions. Each functional unit and module in the embodiments may be integrated in one processing unit, or each unit may exist alone physically, or two or more units are integrated in one unit, and the integrated unit may be implemented in a form of hardware, or in a form of software functional unit. In addition, specific names of the functional units and modules are only used for distinguishing one functional unit from another, and are not used for limiting the protection scope of the present application. The specific working processes of the units and modules in the system may refer to the corresponding processes in the foregoing method embodiments, and are not described herein again.
In the above embodiments, the descriptions of the respective embodiments have respective emphasis, and reference may be made to the related descriptions of other embodiments for parts that are not described or illustrated in a certain embodiment.
Those of ordinary skill in the art will appreciate that the various illustrative elements and algorithm steps described in connection with the embodiments disclosed herein may be implemented as electronic hardware or combinations of computer software and electronic hardware. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the technical solution. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present application.
In the embodiments provided in the present application, it should be understood that the disclosed apparatus/terminal device and method may be implemented in other ways. For example, the above-described embodiments of the apparatus/terminal device are merely illustrative, and for example, the division of the modules or units is only one logical division, and there may be other divisions when actually implemented, for example, a plurality of units or components may be combined or integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection through some interfaces, devices or units, and may be in an electrical, mechanical or other form.
The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.
In addition, functional units in the embodiments of the present application may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit. The integrated unit can be realized in a form of hardware, and can also be realized in a form of a software functional unit.
The integrated module/unit, if implemented in the form of a software functional unit and sold or used as a stand-alone product, may be stored in a computer readable storage medium. Based on such understanding, all or part of the processes in the methods of the embodiments described above may be implemented by hardware related to instructions of a computer program, where the computer program may be stored in a computer-readable storage medium, and when the computer program is executed by a processor, the steps of the methods described above may be implemented. Wherein the computer program comprises computer program code, which may be in the form of source code, object code, an executable file or some intermediate form, etc. The computer-readable medium may include: any entity or device capable of carrying the computer program code, recording medium, U.S. disk, removable hard disk, magnetic diskette, optical disk, computer Memory, read-Only Memory (ROM), random Access Memory (RAM), electrical carrier wave signal, telecommunications signal, and software distribution medium, etc. It should be noted that the computer readable medium may contain other components which may be suitably increased or decreased as required by legislation and patent practice in jurisdictions, for example, in some jurisdictions, computer readable media which may not include electrical carrier signals and telecommunications signals in accordance with legislation and patent practice.
The above-mentioned embodiments are only used for illustrating the technical solutions of the present application, and not for limiting the same; although the present application has been described in detail with reference to the foregoing embodiments, it should be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; such modifications and substitutions do not depart from the spirit and scope of the embodiments of the present application, and they should be construed as being included in the present application.
Claims (10)
1. A cleaning control method of a cleaning robot including a dust box and a metal detector for detecting whether there is a metal object in the dust box, the method comprising:
acquiring detection information of the metal detector;
and when the detection information indicates that the metal object is detected in the dust box, outputting prompt information for confirming that the metal object is in the dust box.
2. The method of claim 1, wherein obtaining detection information of the metal detector comprises:
acquiring detection information of the metal detector in a cleaning process;
when the detection information is that the metal object is detected in the dust box, outputting prompt information for confirming that the metal object is in the dust box, wherein the prompt information comprises:
when the detection information indicates that the metal objects are detected in the dust box, stopping working and outputting prompt information for confirming that the metal objects are in the dust box, and after detecting that a user checks the dust box, the cleaning robot resumes working;
or when the detection information indicates that the metal object is detected in the dust box, the dust box continues to work, and prompt information for confirming that the metal object is in the dust box is continuously output.
3. The method of claim 1, wherein obtaining detection information of the metal detector comprises:
acquiring the detection information when cleaning is completed;
when the detection information is that the metal object is detected in the dust box, outputting prompt information for confirming that the metal object is in the dust box, wherein the prompt information comprises:
when the detection information is that metal objects are detected in the dust box or the dust bag, continuously outputting prompt information for confirming that the metal objects exist in the dust box;
after outputting the prompt message for confirming that the dust box has the metal object, the method further comprises:
prohibiting the cleaning robot from starting if a confirmation message of the user is not received before the user is not detected to check the dust box.
4. The method of any of claims 1-3, wherein the reminder information includes one or more of an indicator light reminder information for the cleaning robot, an audible reminder information for the cleaning robot, or a reminder information displayed in an application in the smart device of the user.
5. A method according to claim 2 or 3, characterized in that the method further comprises:
and when the user is detected to open the dust box, outputting voice prompt information for prompting the user to check the metal objects in the dust box.
6. The method of claim 1, wherein when the cleaning robot acquires the detection information during cleaning, after the detection information is that a metal object is detected in the dust box, and before outputting prompt information for confirming that the dust box has a metal object, the method further comprises:
collecting an image in the dust box;
identifying the type and/or the number of the metal objects in the dust box according to the image, and determining the prompt information according to the type and/or the number of the metal objects.
7. The method of claim 1, wherein the metal object detector is disposed on a slide rail at an upper portion of the dust box, and the acquiring of the detection information of the metal object detector comprises:
controlling the metal object detector to move along the sliding rail from a first side of the dust box to a second side opposite to the first side, and detecting the metal object in the moving process;
and determining the number of the metal objects according to the number of the detected metal objects in the moving process to determine the prompt information.
8. A cleaning control apparatus of a cleaning robot, characterized in that the cleaning robot includes a dust box and a metal detector for detecting whether there is a metal object in the dust box, the apparatus comprising:
the detection information acquisition unit is used for acquiring the detection information of the metal detector;
and the prompting unit is used for outputting prompting information for confirming that the metal object exists in the dust box when the detection information indicates that the metal object is detected in the dust box.
9. A cleaning robot comprising a memory, a processor and a computer program stored in the memory and executable on the processor, characterized in that the steps of the method according to any of claims 1 to 7 are implemented when the computer program is executed by the processor.
10. A computer-readable storage medium, in which a computer program is stored which, when being executed by a processor, carries out the steps of the method according to any one of claims 1 to 7.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211027140.9A CN115153355A (en) | 2022-08-25 | 2022-08-25 | Cleaning robot, cleaning control method and device thereof, and storage medium |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211027140.9A CN115153355A (en) | 2022-08-25 | 2022-08-25 | Cleaning robot, cleaning control method and device thereof, and storage medium |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN115153355A true CN115153355A (en) | 2022-10-11 |
Family
ID=83482094
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202211027140.9A Pending CN115153355A (en) | 2022-08-25 | 2022-08-25 | Cleaning robot, cleaning control method and device thereof, and storage medium |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN115153355A (en) |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| SE0302786D0 (en) * | 2003-02-06 | 2003-10-23 | Samsung Kwangju Electronics Co | Robot cleaner system having extemal recharging apparatus and method for docking robot cleaner with extemal recharging apparatus |
| CN112263189A (en) * | 2020-10-26 | 2021-01-26 | 中国计量大学 | Sweeping robot and method for distinguishing and cleaning garbage |
| CN213324910U (en) * | 2020-07-16 | 2021-06-01 | 合肥耀创环境技术有限公司 | Classification garbage can with metal recognition function |
| CN114468892A (en) * | 2022-01-24 | 2022-05-13 | 珠海格力电器股份有限公司 | Method and device for controlling robot to clean room and robot |
-
2022
- 2022-08-25 CN CN202211027140.9A patent/CN115153355A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| SE0302786D0 (en) * | 2003-02-06 | 2003-10-23 | Samsung Kwangju Electronics Co | Robot cleaner system having extemal recharging apparatus and method for docking robot cleaner with extemal recharging apparatus |
| US20040158357A1 (en) * | 2003-02-06 | 2004-08-12 | Samsung Gwangju Electronics Co., Ltd | Robot cleaner system having external recharging apparatus and method for docking robot cleaner with external recharging apparatus |
| CN213324910U (en) * | 2020-07-16 | 2021-06-01 | 合肥耀创环境技术有限公司 | Classification garbage can with metal recognition function |
| CN112263189A (en) * | 2020-10-26 | 2021-01-26 | 中国计量大学 | Sweeping robot and method for distinguishing and cleaning garbage |
| CN114468892A (en) * | 2022-01-24 | 2022-05-13 | 珠海格力电器股份有限公司 | Method and device for controlling robot to clean room and robot |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| US10379513B2 (en) | Monitoring system, monitoring device, and monitoring method | |
| JP7179833B2 (en) | Image Assisted Assignment Method of Processing Plans for Mobile Unit Datasets of Mobile Units in Indoor Location Systems | |
| JP7074965B2 (en) | Manufacturing control based on internal personal location identification in the metal processing industry | |
| CN106573381B (en) | The visualization of truck unloader | |
| JP5620990B2 (en) | Shape extraction method and apparatus, and dimension measuring apparatus and distance measuring apparatus | |
| CN106725127A (en) | The cleaning method and device of sweeping robot | |
| CN111562777A (en) | Sweeping path planning method and device of sweeping robot | |
| CN110680253A (en) | Robot edge cleaning method and robot | |
| CN105479461A (en) | Control method, control device and manipulator system | |
| US20180224862A1 (en) | Robot cleaner and method of controlling the same | |
| CN109086734A (en) | The method and device that pupil image is positioned in a kind of pair of eye image | |
| CN104463827B (en) | A kind of automatic testing method and corresponding electronic equipment of image capture module | |
| CN103870824A (en) | Method and device for capturing face in face detecting and tracking process | |
| CN105069420A (en) | Automatic container lockhole identifying-positioning method and system | |
| JP2014203311A (en) | Image processor, image processing method, and program | |
| CN110909684A (en) | Working state checking system and method based on human body detection | |
| CN110780982A (en) | Image processing method, device and equipment | |
| CN115153355A (en) | Cleaning robot, cleaning control method and device thereof, and storage medium | |
| CN105005867A (en) | Industrial robot processing nonconforming product statistical device based on construction synchronization and method | |
| JP7139987B2 (en) | Process information acquisition system, process information acquisition method, and process information acquisition program | |
| CN111805533A (en) | Device for workpiece blanking and workpiece blanking method based on visual positioning | |
| CN105652673A (en) | Control method, device and electronic apparatus | |
| CN109101893A (en) | A kind of Pedestrian flow detection method of view-based access control model and WiFi | |
| CN110834328B (en) | Robot control method, device and equipment | |
| CN112320182B (en) | Product sorting control method, system, equipment and storage medium |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination |