CN115778266A - Control method and device of sweeping robot, electronic equipment and storage medium - Google Patents

Control method and device of sweeping robot, electronic equipment and storage medium Download PDF

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Publication number
CN115778266A
CN115778266A CN202211433306.7A CN202211433306A CN115778266A CN 115778266 A CN115778266 A CN 115778266A CN 202211433306 A CN202211433306 A CN 202211433306A CN 115778266 A CN115778266 A CN 115778266A
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sweeping robot
cleaning
sweeping
cleaned
determining
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Chinese (zh)
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陈永泽
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Shenzhen Hengtian Weiyan Technology Co ltd
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Shenzhen Hengtian Weiyan Technology Co ltd
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Abstract

The invention discloses a control method and a control device of a sweeping robot, electronic equipment and a storage medium, wherein the method comprises the following steps: when a cleaning instruction is triggered, the sweeping robot is controlled to move into the area to be cleaned so as to acquire image information of the area to be cleaned through the sweeping robot; determining a global scene graph of the sweeping robot in the area to be swept based on the image information so as to determine points to be swept corresponding to the sweeping robot according to the global scene graph; determining a predicted cleaning path corresponding to the sweeping robot according to the point to be cleaned, and calculating target cleaning time corresponding to the predicted cleaning path; and determining a target control instruction of the sweeping robot based on the target sweeping time corresponding to the predicted sweeping path so as to control the sweeping robot to work through the target control instruction. Therefore, the same cleaning work is not required to be repeatedly executed, the cleaning time of the sweeping robot is shortened, the cleaning efficiency can be effectively improved, and the service life of the sweeping robot is prolonged.

Description

Control method and device of sweeping robot, electronic equipment and storage medium
Technical Field
The invention relates to the technical field of sweeping robots, in particular to a control method and device of a sweeping robot, electronic equipment and a storage medium.
Background
The floor sweeping robot can detect obstacles in modes of laser or a camera and the like, so that the floor cleaning work can be automatically completed in a room. Generally, the floor cleaning machine adopts a brushing and vacuum mode, and firstly absorbs the impurities on the floor into the garbage storage box, so that the function of cleaning the floor is achieved. In prior art, the current sweeping robot usually adopts preset programs to work in the sweeping process, so as to complete the sweeping work of a house, and the sweeping robot can repeatedly execute the same sweeping work, so that the sweeping time of the sweeping robot is long, the sweeping efficiency is difficult to be improved in a state that the house is frequently swept, and the service life of the sweeping robot is easy to reduce.
Disclosure of Invention
In a first aspect, the present invention provides a method for controlling a sweeping robot, including:
when a cleaning instruction is triggered, controlling a sweeping robot to move into an area to be cleaned so as to acquire image information of the area to be cleaned through the sweeping robot;
determining a global scene graph of the sweeping robot in the area to be swept based on the image information, so as to determine points to be swept corresponding to the sweeping robot according to the global scene graph;
determining a predicted cleaning path corresponding to the sweeping robot according to the point to be cleaned, and calculating target cleaning time corresponding to the predicted cleaning path;
and determining a target control instruction of the sweeping robot based on the target sweeping time corresponding to the predicted sweeping path so as to control the sweeping robot to work through the target control instruction.
Preferably, when a cleaning instruction is triggered, the method for controlling the cleaning robot to move into the area to be cleaned so as to acquire the image information of the area to be cleaned through the cleaning robot includes:
when a cleaning instruction is triggered, determining a region to be cleaned corresponding to the cleaning instruction;
determining the position of the central point of the area to be cleaned according to the area to be cleaned corresponding to the cleaning instruction, and controlling the sweeping robot to move to the position of the central point of the area to be cleaned;
when the sweeping robot moves to the position of the central point of the area to be swept, the sweeping robot shoots along the first direction and the second direction to obtain the image information of the area to be swept.
Preferably, the determining a global scene graph of the sweeping robot in the area to be swept based on the image information to determine a point to be swept corresponding to the sweeping robot according to the global scene graph includes:
determining a first scene graph corresponding to the sweeping robot in a first direction and a second scene graph corresponding to the sweeping robot in a second direction based on the image information;
performing feature fusion on the first scene graph and the second scene graph to obtain the global scene graph;
and performing feature detection on the global scene graph, and determining a point to be cleaned corresponding to the sweeping robot according to a detection result.
Preferably, the performing feature detection on the global scene graph and determining the point to be cleaned corresponding to the sweeping robot according to the detection result includes:
inputting the global scene graph into a pre-trained feature detection model for feature detection, and determining trace points in the global scene graph;
marking trace points in the global scene graph to determine the points to be cleaned.
Preferably, the determining a predicted cleaning path corresponding to the cleaning robot according to the point to be cleaned and calculating a target cleaning time corresponding to the predicted cleaning path include:
sequentially determining points to be cleaned with shortest paths according to the points to be cleaned;
sequentially marking the points to be cleaned on the shortest path, and associating the points to be cleaned with the current position of the sweeping robot to obtain a predicted cleaning path;
and calculating the target cleaning time corresponding to the predicted cleaning path according to the predicted cleaning path and the preset moving speed and the preset cleaning speed of the sweeping robot.
Preferably, the determining a target control instruction of the sweeping robot based on the movement time corresponding to the predicted sweeping path so as to control the sweeping robot to work through the target control instruction includes:
based on the target cleaning time corresponding to the predicted cleaning path, determining the cleaning sub-time corresponding to each point to be cleaned of the cleaning robot;
and generating a corresponding target control instruction according to the cleaning sub-time corresponding to each point to be cleaned by the cleaning robot and the target cleaning time, so as to control the cleaning robot through the target control instruction.
Preferably, the generating a corresponding target control instruction according to the cleaning sub-time corresponding to each point to be cleaned by the cleaning robot and the target cleaning time to control the cleaning robot through the target control instruction includes:
calculating the cleaning speed corresponding to each point to be cleaned according to the cleaning sub-time corresponding to each point to be cleaned by the cleaning robot and the target cleaning time;
controlling the sweeping robot according to the sweeping speed corresponding to each point to be swept, and comparing the real-time sweeping time of the sweeping robot at each point to be swept with the sweeping sub-time;
and when the real-time cleaning time is the same as the cleaning sub-time, controlling the sweeping robot to move to the next cleaning point.
In a second aspect, an embodiment of the present invention provides a control device for a sweeping robot, including:
the control module is used for controlling the sweeping robot to move into an area to be swept when a sweeping instruction is triggered so as to acquire image information of the area to be swept through the sweeping robot;
the determining module is used for determining a global scene graph of the sweeping robot in the area to be swept based on the image information so as to determine points to be swept corresponding to the sweeping robot according to the global scene graph;
the calculation module is used for determining a predicted cleaning path corresponding to the sweeping robot according to the point to be cleaned and calculating target cleaning time corresponding to the predicted cleaning path;
and the determining module is used for determining a target control instruction of the sweeping robot based on the target sweeping time corresponding to the predicted sweeping path so as to control the sweeping robot to work through the target control instruction.
In a third aspect, an embodiment of the present invention provides an electronic device, which includes a memory, a processor, and a computer program stored in the memory and executable on the processor, where the processor executes the computer program to implement the steps of the control method for the sweeping robot.
In a fourth aspect, an embodiment of the present invention provides a computer-readable storage medium, where a computer program is stored, and when the computer program is executed by a processor, the steps of the control method for a sweeping robot as described above are implemented.
The scheme of the invention at least comprises the following beneficial effects:
according to the control method of the sweeping robot, when a sweeping instruction is triggered, the sweeping robot is controlled to move into an area to be swept at first so that image information of the area to be swept is obtained through the sweeping robot; determining a global scene graph of the sweeping robot in the area to be swept based on the image information, so as to determine points to be swept corresponding to the sweeping robot according to the global scene graph; then, a predicted cleaning path corresponding to the sweeping robot is determined according to the point to be cleaned, and target cleaning time corresponding to the predicted cleaning path is calculated; and finally, determining a target control instruction of the sweeping robot based on the target sweeping time corresponding to the predicted sweeping path so as to control the sweeping robot to work through the target control instruction. Therefore, the same cleaning work is not required to be repeatedly executed, the cleaning time of the sweeping robot is shortened, the cleaning efficiency can be effectively improved, and the service life of the sweeping robot is prolonged.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the structures shown in the drawings without creative efforts.
Fig. 1 is a schematic overall flow chart of a control method of a sweeping robot according to an embodiment of the present invention;
fig. 2 is an exemplary diagram of a control method of a cleaning robot according to an embodiment of the present invention;
fig. 3 is a block diagram of a control device of a sweeping robot according to an embodiment of the present invention;
fig. 4 is a block diagram of an electronic device according to an embodiment of the present invention.
The implementation, functional features and advantages of the objects of the present invention will be further explained with reference to the accompanying drawings.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
The terms "first," "second," and "third," etc. in the description and claims of the invention and the above-described drawings are used for distinguishing between different elements and not necessarily for describing a particular sequential or chronological order. Furthermore, the terms "comprises" and any variations thereof, are intended to cover non-exclusive inclusions. For example, a process, method, system, article, or apparatus that comprises a list of steps or elements is not limited to only those steps or elements listed, but may alternatively include other steps or elements not listed, or inherent to such process, method, article, or apparatus.
The following embodiments of the present application will be described by way of example with reference to the accompanying drawings.
As shown in fig. 1, an embodiment of the present invention provides a control method for a cleaning robot, including:
s10, when a cleaning instruction is triggered, the sweeping robot is controlled to move to the area to be cleaned, so that the image information of the area to be cleaned is obtained through the sweeping robot.
The cleaning instruction can be set according to time, for example, the cleaning instruction can be triggered at a certain time point, so that when the preset time is reached, the cleaning instruction can be triggered to enable the sweeping robot to move to the area to be cleaned automatically, and the camera of the sweeping robot is used for collecting image information of the area to be cleaned; optionally, the image information may be a captured picture, an image frame captured in a video stream, and the like, and the area to be cleaned may be a living room, a room, and the like; the sweeping robot can be connected with the cloud server, collected image information is analyzed through the cloud server, the position needing to be swept in the area to be swept is determined through image information analysis, and then the sweeping robot is dynamically planned to sweep.
Specifically, above-mentioned when triggering and cleaning the instruction, control robot of sweeping the floor and remove to wait to sweep the regional interior image information that waits to sweep the region in order to acquire through the robot of sweeping the floor, include: when a cleaning instruction is triggered, determining a region to be cleaned corresponding to the cleaning instruction; determining the position of the central point of the area to be cleaned according to the area to be cleaned corresponding to the cleaning instruction, and controlling the sweeping robot to move to the position of the central point of the area to be cleaned; when the sweeping robot moves to the central point position of the area to be swept, the sweeping robot shoots along the first direction and the second direction to obtain image information of the area to be swept.
In this embodiment, the cleaning instruction may be set by an APP, for example, if a user outputs an instruction to clean a living room at the APP, it may be determined that a region to be cleaned corresponding to the cleaning instruction is the living room, the cleaning robot may be controlled to move to the central point position by determining the region to be cleaned corresponding to the cleaning instruction, when the cleaning robot moves to the region to be cleaned, the distance detection may be performed on the wall position of the region to be cleaned by using a laser sensor of the cleaning robot, so as to determine the central point position by using the distance of the wall position, and image shooting may be performed at the central point position of the region to be cleaned, so that it may be ensured that the region to be cleaned may be shot more comprehensively; optionally, the first direction and the second direction may be directions perpendicular to each other in the same horizontal plane, and after the sweeping robot sequentially photographs the area to be cleaned along the first direction and the second direction, image information of the area to be cleaned may be obtained therefrom.
And S20, determining a global scene graph of the sweeping robot in the area to be swept based on the image information, so as to determine points to be swept corresponding to the sweeping robot according to the global scene graph.
The image information collected by the sweeping robot is input into the feature extraction network model, the feature extraction network model can be obtained by pre-training, and after the image information is processed by the feature extraction network model, a global scene graph is determined so as to perform feature detection through the global scene graph; it can be understood that the points to be cleaned can be abnormal positions in the global scene graph, such as footprint positions, water stain positions, sundry positions, and the like, and the points to be cleaned can be determined from the global scene graph through a pre-trained feature extraction network model so as to control the sweeping robot to sweep the points to be cleaned.
Specifically, the determining a global scene graph of the sweeping robot in the area to be swept based on the image information to determine the point to be swept corresponding to the sweeping robot according to the global scene graph includes: determining a first scene graph corresponding to the sweeping robot in a first direction and a second scene graph corresponding to the sweeping robot in a second direction based on the image information; performing feature fusion on the first scene graph and the second scene graph to obtain a global scene graph; and carrying out feature detection on the global scene graph, and determining a point to be cleaned corresponding to the sweeping robot according to a detection result.
In this embodiment, the image information may include a first scene graph and a second scene graph, the first scene graph and the second scene graph are input into the feature extraction network model to perform image feature extraction, so as to determine a first image feature in the first scene graph and a second image feature in the second scene graph, and after feature fusion is performed on the first image feature and the second image feature, a global scene graph may be obtained; after the global scene graph is determined, the point to be cleaned is determined by carrying out feature detection on the global scene graph.
Further, the above-mentioned feature detection is performed on the global scene graph, and determining, according to the detection result, a point to be cleaned corresponding to the sweeping robot includes: inputting the global scene graph into a pre-trained feature detection model for feature detection, and determining trace points in the global scene graph; marking trace points in the global scene graph to determine points to be cleaned.
When the feature detection is carried out, pixel points of different areas can be determined by dividing the global scene graph, the brightness values corresponding to the divided different areas are calculated, the brightness values of every two areas are compared, the brightness difference value between every two areas is calculated, when the brightness difference value is large, the corresponding trace point can be determined from every two areas, when the brightness difference value is small, the operation of comparing the brightness values of every two areas can be continuously carried out, it can be understood that after the trace point existing in the global scene graph is determined, the corresponding trace point can be marked as a point to be cleaned, so that path planning can be carried out through the marked point to be cleaned, and the sweeping robot is controlled to work; for example, the tiles in the living room may be divided into a plurality of areas, brightness values of the tiles corresponding to each area are detected, brightness values of the tiles in every two areas are compared, and a corresponding brightness difference value is calculated, so that the tile area with a larger difference value may be marked as a point to be cleaned.
And S30, determining a predicted cleaning path corresponding to the sweeping robot according to the point to be cleaned, and calculating target cleaning time corresponding to the predicted cleaning path.
The predicted cleaning path can be obtained by planning the points to be cleaned, and the path planning is carried out on the sweeping robot through the predicted cleaning path, so that the sweeping robot can clean the corresponding points to be cleaned through the predicted cleaning path, and the same cleaning work does not need to be repeatedly executed; by determining the predicted cleaning path and the corresponding target cleaning time, the working parameters of the sweeping robot can be controlled in the subsequent process, so that the working efficiency of the sweeping robot is ensured to be higher; in an optional embodiment, whether an obstacle exists or not can be judged according to the predicted cleaning path, when the obstacle exists, an avoidance path can be planned according to the position of the obstacle, the predicted cleaning path is corrected according to the avoidance path, and after the predicted cleaning path is corrected through the avoidance path, the target cleaning time corresponding to the corrected predicted cleaning path is calculated.
Specifically, the determining, according to the point to be cleaned, a predicted cleaning path corresponding to the cleaning robot, and calculating a target cleaning time corresponding to the predicted cleaning path includes: sequentially determining points to be cleaned with shortest paths according to the points to be cleaned; sequentially marking the points to be cleaned on the shortest path, and correlating the points to be cleaned with the current position of the sweeping robot to obtain a predicted cleaning path; and calculating the target cleaning time corresponding to the predicted cleaning path according to the predicted cleaning path and the preset moving speed and the preset cleaning speed of the sweeping robot.
In this embodiment, after the points to be cleaned are determined, the shortest path between the adjacent points to be cleaned can be calculated, and after the shortest path between the adjacent points to be cleaned is calculated, each point to be cleaned can be sequentially marked and associated according to the shortest path, so that the sweeping robot can sequentially move to the corresponding point to be cleaned according to the shortest path to complete the cleaning work, that is, the predicted sweeping path is the shortest path of each point to be cleaned for planning, and after the predicted sweeping path is determined, the corresponding target cleaning time can be calculated according to the preset moving speed and the preset cleaning speed of the sweeping robot, the preset moving speed represents the moving speed of the sweeping robot, and the preset cleaning speed represents the brush rotating speed of the sweeping robot; in an optional embodiment, the area of the point to be cleaned can be calculated, after the area of the point to be cleaned is calculated, the cleaning speed of the sweeping robot corresponding to the point to be cleaned can be adjusted, when the area of the point to be cleaned is larger, the cleaning speed can be adjusted to be higher than the preset cleaning speed, and when the area of the point to be cleaned is smaller, the sweeping robot can perform cleaning at the preset cleaning speed, so that the cleaning efficiency of the sweeping robot corresponding to the point to be cleaned is improved, and the working time is reduced; for example, in fig. 2, a, B, C, D, E, and F are points to be cleaned, and a predicted cleaning path is determined by sequentially associating a, B, C, D, E, and F, so that the sweeping robot can sequentially complete cleaning at positions corresponding to a, B, C, D, E, and F.
And S40, determining a target control instruction of the sweeping robot based on the target sweeping time corresponding to the predicted sweeping path so as to control the sweeping robot to work through the target control instruction.
The target control instruction can correspondingly control the working parameters of the sweeping robot, the working parameters of the sweeping robot can comprise sweeping speed, moving speed and sweeping time, after the target sweeping time is determined, time distribution can be carried out on each point to be swept, the sweeping time of each point to be swept is determined, the sweeping speed is adjusted according to the sweeping time of each point to be swept, the corresponding target control instruction is determined accordingly, the sweeping robot is controlled according to the target control instruction, the sweeping robot can be selectively swept in the working process, the same sweeping action is not required to be repeatedly executed, and the sweeping efficiency is improved.
Specifically, based on the target cleaning time corresponding to the predicted cleaning path, the cleaning sub-time corresponding to each point to be cleaned of the cleaning robot is determined; and generating a corresponding target control instruction according to the cleaning sub-time and the target cleaning time corresponding to each point to be cleaned by the cleaning robot, so as to control the cleaning robot through the target control instruction.
In this embodiment, the target cleaning time represents the sum of the time and the moving time of the sweeping robot for completing the cleaning of all the points to be cleaned, the cleaning sub-time of each point to be cleaned is calculated according to the moving time and the target cleaning time of the sweeping robot, whether the point to be cleaned can be completed within the cleaning sub-time can be judged according to the cleaning sub-time, and when the point to be cleaned can be completed, the cleaning speed of the sweeping robot is determined to be the preset cleaning speed; when the sweeping robot can not be completed, the sweeping speed of the sweeping robot can be increased to be higher than the preset sweeping speed, and the sweeping efficiency is ensured to be higher.
Further, the above-mentioned sweeping robot generates corresponding target control instruction according to the sweeping sub-time and the target sweeping time corresponding to each point to be swept to control the sweeping robot through the target control instruction, including: calculating the cleaning speed corresponding to each point to be cleaned according to the cleaning sub-time and the target cleaning time of the cleaning robot corresponding to each point to be cleaned; controlling the sweeping robot according to the sweeping speed corresponding to each point to be swept, and comparing the real-time sweeping time of the sweeping robot at each point to be swept with the sweeping sub-time; and when the real-time cleaning time is the same as the cleaning sub time, controlling the sweeping robot to move to the next cleaning point.
In this embodiment, when the cleaning speed corresponding to each point to be cleaned is determined, the sweeping robot is controlled to clean each point to be cleaned, the corresponding real-time cleaning time is compared with the corresponding cleaning sub-time, when the real-time cleaning time is the same as the cleaning sub-time, a cleaning stop instruction can be triggered, a rotating brush of the sweeping robot is controlled to stop running, and the sweeping robot is controlled to move to the next cleaning point for cleaning, so that the sweeping robot can return to the starting point position when the cleaning work is completed after the sweeping robot cleans the determined point to be cleaned; it can be understood that the points to be cleaned in the area to be cleaned are determined, so that the sweeping robot can dynamically plan the cleaning path, and the cleaning efficiency is ensured to be higher.
According to the control method of the sweeping robot, when a sweeping instruction is triggered, the sweeping robot is firstly controlled to move into the area to be swept so as to obtain the image information of the area to be swept through the sweeping robot; determining a global scene graph of the sweeping robot in the area to be swept based on the image information so as to determine points to be swept corresponding to the sweeping robot according to the global scene graph; then, a predicted cleaning path corresponding to the sweeping robot is determined according to the point to be cleaned, and target cleaning time corresponding to the predicted cleaning path is calculated; and finally, determining a target control instruction of the sweeping robot based on the target sweeping time corresponding to the predicted sweeping path so as to control the sweeping robot to work through the target control instruction. Therefore, the same cleaning work does not need to be repeatedly executed, the cleaning time of the sweeping robot is shortened, the cleaning efficiency can be effectively improved, and the service life of the sweeping robot is prolonged.
As shown in fig. 3, an embodiment of the present invention provides a control device for a cleaning robot, including:
the control module is used for controlling the sweeping robot to move into the area to be swept when a sweeping instruction is triggered so as to acquire image information of the area to be swept through the sweeping robot;
the determining module is used for determining a global scene graph of the sweeping robot in the area to be swept based on the image information so as to determine points to be swept corresponding to the sweeping robot according to the global scene graph;
the calculation module is used for determining a predicted cleaning path corresponding to the sweeping robot according to the point to be cleaned and calculating target cleaning time corresponding to the predicted cleaning path;
and the determining module is used for determining a target control instruction of the sweeping robot based on the target sweeping time corresponding to the predicted sweeping path so as to control the sweeping robot to work through the target control instruction.
According to the control device of the sweeping robot, when a sweeping instruction is triggered, the sweeping robot is firstly controlled to move into the area to be swept so as to obtain the image information of the area to be swept through the sweeping robot; determining a global scene graph of the sweeping robot in the area to be swept based on the image information so as to determine points to be swept corresponding to the sweeping robot according to the global scene graph; then, a predicted cleaning path corresponding to the sweeping robot is determined according to the point to be cleaned, and target cleaning time corresponding to the predicted cleaning path is calculated; and finally, determining a target control instruction of the sweeping robot based on the target sweeping time corresponding to the predicted sweeping path so as to control the sweeping robot to work through the target control instruction. Therefore, the same cleaning work does not need to be repeatedly executed, the cleaning time of the sweeping robot is shortened, the cleaning efficiency can be effectively improved, and the service life of the sweeping robot is prolonged.
It should be noted that the control device 10 of the sweeping robot provided in the specific embodiment of the present invention is a device corresponding to the control method of the sweeping robot, all embodiments of the control method of the sweeping robot are applicable to the control device 10 of the sweeping robot, and corresponding modules in the embodiment of the control device 10 of the sweeping robot correspond to steps in the control method of the sweeping robot, so that the same or similar beneficial effects can be achieved, and in order to avoid too many repetitions, each module in the control device 2 of the sweeping robot is not described in detail herein.
As shown in fig. 4, an embodiment of the present invention further provides an electronic device 20, which includes a memory 202, a processor 201, and a computer program stored in the memory 202 and capable of running on the processor 201, where the processor 201, when executing the computer program, implements the steps of the control method for the cleaning robot.
Specifically, the processor 201 is configured to call the computer program stored in the memory 202, and execute the following steps:
when a cleaning instruction is triggered, the sweeping robot is controlled to move into the area to be cleaned so as to acquire image information of the area to be cleaned through the sweeping robot;
determining a global scene graph of the sweeping robot in the area to be swept based on the image information so as to determine points to be swept corresponding to the sweeping robot according to the global scene graph;
determining a predicted cleaning path corresponding to the sweeping robot according to the point to be cleaned, and calculating target cleaning time corresponding to the predicted cleaning path;
and determining a target control instruction of the sweeping robot based on the target sweeping time corresponding to the predicted sweeping path so as to control the sweeping robot to work through the target control instruction.
Optionally, when the processor 201 executes the trigger cleaning instruction, the sweeping robot is controlled to move into the area to be cleaned so as to obtain the image information of the area to be cleaned through the sweeping robot, including:
when a cleaning instruction is triggered, determining a region to be cleaned corresponding to the cleaning instruction;
determining the position of the central point of the area to be cleaned according to the area to be cleaned corresponding to the cleaning instruction, and controlling the sweeping robot to move to the position of the central point of the area to be cleaned;
when the sweeping robot moves to the central point position of the area to be swept, the sweeping robot shoots along the first direction and the second direction to obtain image information of the area to be swept.
Optionally, the determining, by the processor 201, a global scene graph of the sweeping robot in the area to be swept based on the image information to determine the point to be swept corresponding to the sweeping robot according to the global scene graph includes:
determining a first scene graph corresponding to the sweeping robot in a first direction and a second scene graph corresponding to the sweeping robot in a second direction based on the image information;
performing feature fusion on the first scene graph and the second scene graph to obtain a global scene graph;
and carrying out feature detection on the global scene graph, and determining a point to be cleaned corresponding to the sweeping robot according to a detection result.
Optionally, the performing, by the processor 201, the feature detection on the global scene graph, and determining, according to the detection result, a point to be cleaned corresponding to the sweeping robot includes:
inputting the global scene graph into a pre-trained feature detection model for feature detection, and determining trace points in the global scene graph;
marking trace points in the global scene graph to determine points to be cleaned.
Optionally, the determining, by the processor 201, a predicted cleaning path corresponding to the sweeping robot according to the point to be cleaned, and calculating a target cleaning time corresponding to the predicted cleaning path includes:
sequentially determining points to be cleaned with shortest paths according to the points to be cleaned;
sequentially marking the points to be cleaned with the shortest path, and associating the points to be cleaned with the current position of the sweeping robot to obtain a predicted cleaning path;
and calculating the target cleaning time corresponding to the predicted cleaning path according to the predicted cleaning path and the preset moving speed and the preset cleaning speed of the sweeping robot.
Optionally, the determining, by the processor 201, the target control instruction of the sweeping robot based on the movement time corresponding to the predicted sweeping path so as to control the sweeping robot to work through the target control instruction includes:
based on the target cleaning time corresponding to the predicted cleaning path, determining the cleaning sub-time corresponding to each point to be cleaned of the cleaning robot;
and generating a corresponding target control instruction according to the cleaning sub-time and the target cleaning time corresponding to each point to be cleaned by the cleaning robot, so as to control the cleaning robot through the target control instruction.
Optionally, the processor 201 generates a corresponding target control instruction according to the cleaning sub-time and the target cleaning time corresponding to each point to be cleaned of the cleaning robot, so as to control the cleaning robot through the target control instruction, including:
calculating the cleaning speed corresponding to each point to be cleaned according to the cleaning sub-time and the target cleaning time of the cleaning robot corresponding to each point to be cleaned;
controlling the sweeping robot according to the sweeping speed corresponding to each point to be swept, and comparing the real-time sweeping time of the sweeping robot at each point to be swept with the sweeping sub-time;
and when the real-time cleaning time is the same as the cleaning sub time, controlling the sweeping robot to move to the next cleaning point.
That is, in the embodiment of the present invention, when the processor 201 of the electronic device 20 executes the computer program, the steps of the control method of the sweeping robot are implemented, so that the same cleaning operation does not need to be repeatedly executed, the cleaning time of the sweeping robot is reduced, the cleaning efficiency can be effectively improved, and the service life of the sweeping robot is prolonged.
It should be noted that, since the steps of the control method of the sweeping robot are realized when the processor 201 of the electronic device 20 executes the computer program, all embodiments of the control method of the sweeping robot are applicable to the electronic device 20, and can achieve the same or similar beneficial effects.
The computer-readable storage medium provided in the embodiments of the present invention stores a computer program thereon, and when the computer program is executed by a processor, the computer program implements each process of the control method of the sweeping robot or the control method of the application-side sweeping robot provided in the embodiments of the present invention, and can achieve the same technical effect, and is not described herein again to avoid repetition.
It will be understood by those skilled in the art that all or part of the processes of the methods of the embodiments described above may be implemented by a computer program, which may be stored in a computer readable storage medium and executed by a computer to implement the processes of the embodiments of the methods described above. The storage medium may be a magnetic disk, an optical disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), or the like.
In the description of the specification, reference to the description of "one embodiment," "some embodiments," "an example," "a specific example," or "some examples" or the like means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.
The above description is only a preferred embodiment of the present invention, and is not intended to limit the scope of the present invention, and all equivalent structural changes made by using the contents of the specification and drawings, or any other related technical fields, which are directly or indirectly applied to the present invention, are included in the scope of the present invention.

Claims (10)

1. A control method of a sweeping robot is characterized by comprising the following steps:
when a cleaning instruction is triggered, controlling a sweeping robot to move into an area to be cleaned so as to acquire image information of the area to be cleaned through the sweeping robot;
determining a global scene graph of the sweeping robot in the area to be swept based on the image information, so as to determine points to be swept corresponding to the sweeping robot according to the global scene graph;
determining a predicted cleaning path corresponding to the sweeping robot according to the point to be cleaned, and calculating target cleaning time corresponding to the predicted cleaning path;
and determining a target control instruction of the sweeping robot based on the target sweeping time corresponding to the predicted sweeping path so as to control the sweeping robot to work through the target control instruction.
2. The method for controlling the sweeping robot according to claim 1, wherein when the sweeping instruction is triggered, controlling the sweeping robot to move into an area to be swept so as to obtain image information of the area to be swept by the sweeping robot comprises:
when a cleaning instruction is triggered, determining a region to be cleaned corresponding to the cleaning instruction;
determining the position of the central point of the area to be cleaned according to the area to be cleaned corresponding to the cleaning instruction, and controlling the sweeping robot to move to the position of the central point of the area to be cleaned;
when the sweeping robot moves to the central point position of the area to be swept, the sweeping robot shoots along a first direction and a second direction to obtain image information of the area to be swept.
3. The method for controlling the sweeping robot according to claim 2, wherein the determining a global scene graph of the sweeping robot in the area to be swept based on the image information to determine the point to be swept corresponding to the sweeping robot according to the global scene graph comprises:
determining a first scene graph corresponding to the sweeping robot in a first direction and a second scene graph corresponding to the sweeping robot in a second direction based on the image information;
performing feature fusion on the first scene graph and the second scene graph to obtain the global scene graph;
and performing feature detection on the global scene graph, and determining a point to be cleaned corresponding to the sweeping robot according to a detection result.
4. The method for controlling the sweeping robot according to claim 3, wherein the detecting the features of the global scene graph and determining the point to be swept corresponding to the sweeping robot according to the detection result comprises:
inputting the global scene graph into a pre-trained feature detection model for feature detection, and determining trace points in the global scene graph;
marking trace points in the global scene graph to determine the points to be cleaned.
5. The method for controlling the sweeping robot according to claim 1, wherein the determining a predicted sweeping path corresponding to the sweeping robot according to the point to be swept, and calculating a target sweeping time corresponding to the predicted sweeping path includes:
sequentially determining points to be cleaned with shortest paths according to the points to be cleaned;
sequentially marking the points to be cleaned on the shortest path, and associating the points to be cleaned with the current position of the sweeping robot to obtain a predicted cleaning path;
and calculating the target cleaning time corresponding to the predicted cleaning path according to the predicted cleaning path and the preset moving speed and the preset cleaning speed of the cleaning robot.
6. The method for controlling the sweeping robot according to claim 1, wherein the determining a target control command of the sweeping robot based on the movement time corresponding to the predicted sweeping path so as to control the sweeping robot to work through the target control command comprises:
based on the target cleaning time corresponding to the predicted cleaning path, determining the cleaning sub-time corresponding to each point to be cleaned of the cleaning robot;
and generating a corresponding target control instruction according to the cleaning sub-time corresponding to each point to be cleaned by the cleaning robot and the target cleaning time, so as to control the cleaning robot through the target control instruction.
7. The control method of the sweeping robot according to claim 6, wherein the step of generating a corresponding target control command according to the sweeping sub-time and the target sweeping time of the sweeping robot corresponding to each point to be swept, so as to control the sweeping robot through the target control command comprises:
calculating the cleaning speed corresponding to each point to be cleaned according to the cleaning sub-time corresponding to each point to be cleaned by the cleaning robot and the target cleaning time;
controlling the sweeping robot according to the sweeping speed corresponding to each point to be swept, and comparing the real-time sweeping time of the sweeping robot at each point to be swept with the sweeping sub-time;
and when the real-time cleaning time is the same as the cleaning sub-time, controlling the sweeping robot to move to the next cleaning point.
8. The utility model provides a control device of robot sweeps floor which characterized in that includes:
the control module is used for controlling the sweeping robot to move into an area to be swept when a sweeping instruction is triggered so as to acquire image information of the area to be swept through the sweeping robot;
the determining module is used for determining a global scene graph of the sweeping robot in the area to be swept based on the image information so as to determine points to be swept corresponding to the sweeping robot according to the global scene graph;
the calculation module is used for determining a predicted cleaning path corresponding to the sweeping robot according to the point to be cleaned and calculating target cleaning time corresponding to the predicted cleaning path;
and the determining module is used for determining a target control instruction of the sweeping robot based on the target sweeping time corresponding to the predicted sweeping path so as to control the sweeping robot to work through the target control instruction.
9. An electronic device comprising a memory, a processor and a computer program stored in the memory and executable on the processor, wherein the processor implements the steps of the method for controlling a sweeping robot according to any one of claims 1 to 7 when executing the computer program.
10. A computer-readable storage medium, in which a computer program is stored, which computer program, when being executed by a processor, carries out the steps of the control method of a sweeping robot according to any one of claims 1 to 7.
CN202211433306.7A 2022-11-16 2022-11-16 Control method and device of sweeping robot, electronic equipment and storage medium Pending CN115778266A (en)

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Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN202211433306.7A CN115778266A (en) 2022-11-16 2022-11-16 Control method and device of sweeping robot, electronic equipment and storage medium

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