CN115836820A - Control method of sweeping robot, sweeping robot and storage medium - Google Patents

Abstract

The invention discloses a control method of a sweeping robot, the sweeping robot and a storage medium. The floor sweeping robot comprises a liftable camera assembly and a movable cleaning assembly, a containing cavity is formed in the floor sweeping robot, the liftable camera assembly and the movable cleaning assembly are both installed in the containing cavity, and the control method comprises the following steps: acquiring a picture shot by a camera of the liftable camera component; detecting the definition of the photo, acquiring a definition value of the photo, and comparing the definition value with a preset definition value; when the definition value is smaller than the preset definition value, the movable cleaning assembly is controlled to clean the camera. Under the condition that the picture definition that the camera of over-and-under type camera subassembly was shot is less than the default, control movable clean subassembly and clean the camera to make the camera be in comparatively clean state, be favorable to promoting the definition of the picture that the camera was shot, promoted user's experience.

Description

Control method of sweeping robot, sweeping robot and storage medium

Technical Field

The invention relates to the technical field of robots, in particular to a control method of a sweeping robot, the sweeping robot and a storage medium.

Background

The floor sweeping robot is also called an automatic cleaner, intelligent dust collection, a robot dust collector and the like, is one of intelligent household appliances, and can automatically complete floor cleaning work in a room by means of certain artificial intelligence. 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. Generally, a robot that performs cleaning, dust collection and floor wiping is also collectively called a floor sweeping robot.

Along with the high-speed development of economic technology, the sweeping robots are more and more intelligent, and more sweeping robots are provided with cameras to realize the condition of monitoring indoor environment in real time.

However, indoor environment dust is more, and is coming down for a long time, can remain more dust on the camera, so can cause the picture of making a video recording clear inadequately, greatly reduced user's experience.

Disclosure of Invention

The embodiment of the invention provides a control method of a sweeping robot, the sweeping robot and a storage medium.

The sweeping robot of the embodiment of the present invention includes a liftable camera assembly and a movable cleaning assembly, the sweeping robot forms an accommodating cavity, the liftable camera assembly and the movable cleaning assembly are both installed in the accommodating cavity, a camera of the liftable camera assembly includes a first state and a second state, the camera is accommodated in the accommodating cavity in the first state, and the camera extends out of the accommodating cavity in the second state, and the control method includes:

acquiring a picture shot by a camera of the liftable camera component;

detecting the definition of the photo, acquiring a definition value of the photo, and comparing the definition value with a preset definition value;

and controlling the movable cleaning assembly to clean the camera under the condition that the definition value is smaller than the preset definition value.

According to the control method of the sweeping robot, provided by the embodiment of the invention, through the arrangement of the lifting camera assembly and the movable cleaning assembly, under the condition that the definition of a picture shot by a camera of the lifting camera assembly is smaller than a preset value, that is, the situation that stains exist on the surface of a lens of the camera is demonstrated, at the moment, the movable cleaning assembly can be controlled to clean the camera, so that the camera is in a cleaner state, the definition of the picture shot by the camera is favorably improved, and the user experience is improved.

In some embodiments, after taking a picture by the camera of the liftable camera assembly, the method includes:

acquiring the service life of the liftable camera component;

and comparing the definition values of the pictures under the condition that the using time is longer than the preset time.

In some embodiments, in the case that the definition value is smaller than the preset definition value, controlling the movable cleaning assembly to clean the camera includes:

detecting whether the camera is in the first state;

and under the condition that the camera is in the first state, the movable cleaning assembly is used for cleaning the camera.

In some embodiments, the detecting whether the camera is in the first state includes:

in the case where the camera is in the second state;

and controlling the liftable camera component to work so as to enable the camera to move from the second state to the first state.

In some embodiments, the controlling the movable cleaning assembly to clean the camera comprises:

receiving a cleaning signal;

and controlling the cleaning assembly to clean the camera according to the cleaning signal.

The sweeping robot comprises a liftable camera assembly, a movable cleaning assembly and a controller, wherein a containing cavity is formed in the sweeping robot, the liftable camera assembly and the movable cleaning assembly are both arranged in the containing cavity, a camera of the liftable camera assembly comprises a first state and a second state, the camera is contained in the containing cavity under the condition of the first state, the camera extends out of the containing cavity under the condition of the second state, and the controller is used for acquiring a picture shot by the camera of the liftable camera assembly, detecting the definition of the picture, acquiring the definition value of the picture, comparing the definition value with a preset definition value and controlling the movable cleaning assembly to clean the camera under the condition that the definition value is smaller than the preset definition value.

According to the floor sweeping robot, due to the arrangement of the lifting type camera assembly and the movable cleaning assembly, when the definition of a picture shot by a camera of the lifting type camera assembly is smaller than a preset value, the fact that stains exist on the surface of a lens of the camera is proved, at the moment, the movable cleaning assembly can be controlled to clean the camera, so that the camera is in a clean state, the definition of the picture shot by the camera is improved, and user experience is improved.

In some embodiments, the controller is configured to obtain a duration of use of the liftable camera assembly, and to compare the sharpness values of the pictures when the duration of use is greater than a preset duration.

In some embodiments, the controller is configured to detect whether the camera is in the first state, and to control the movable cleaning assembly to clean the camera if the camera is in the first state.

In some embodiments, the controller is configured to control the first state in which the liftable camera assembly operates to move the camera from the second state, and is configured to control the second state in which the liftable camera assembly operates to move the camera from the second state.

A non-transitory computer-readable storage medium containing computer-executable instructions according to an embodiment of the present invention, when the computer-executable instructions are executed by one or more processors, causes the processors to execute the control method of the sweeping robot according to any one of the above embodiments.

0 storage medium according to an embodiment of the present invention, wherein the elevating type camera assembly and the movable type cleaning assembly are provided

Under the condition that the picture definition that falls the camera of formula camera subassembly was shot was less than the default, it indicates that there is the spot on the lens surface of camera promptly, at this moment, can control movable clean subassembly and clean the camera to make the camera be in comparatively clean state, be favorable to promoting the definition of the picture that the camera was shot, promoted user's experience.

Additional aspects and advantages of the invention will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the invention.

Drawings

The above and/or additional aspects and advantages of the present invention will become apparent from the following description of the embodiments taken in conjunction with the accompanying drawings

And is readily understood, wherein:

fig. 1 is a schematic plan view of a sweeping robot according to an embodiment of the present invention; (ii) a

Fig. 2 is a schematic flow chart of a control method of a sweeping robot according to another embodiment of the present invention;

fig. 3 is a schematic flow chart of a control method of a sweeping robot according to another embodiment of the present invention;

fig. 4 is a schematic flow chart of a control method of a sweeping robot according to still another embodiment of the present invention;

fig. 5 is a schematic flow chart of a control method of a sweeping robot according to another embodiment of the present invention;

fig. 6 is a schematic flow chart of a control method of a sweeping robot according to another embodiment of the present invention;

fig. 7 is a schematic flow chart of a control method of a sweeping robot according to another embodiment of the present invention;

fig. 8 is a flowchart illustrating a control method of a cleaning robot according to another embodiment of the present invention;

fig. 9 is a flowchart illustrating a control method of a sweeping robot according to another embodiment of the present invention.

Description of the main element symbols: the cleaning robot comprises a 0 sweeping robot 100, a containing cavity 101, a liftable camera component 10 and a movable cleaning component 20.

Detailed Description

Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like reference numerals refer to the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are illustrative only for the purpose of explaining the present invention, and are not to be construed as limiting the present invention.

Referring to fig. 1 and 2, in the control method of the sweeping robot 100 according to the embodiment of the present invention, the sweeping robot 100 includes a liftable camera assembly 10 and a movable cleaning assembly 20, the sweeping robot 100 is formed with an accommodating chamber 101, the liftable camera assembly 10 and the movable cleaning assembly 20 are both installed in the accommodating chamber 101, a camera of the liftable camera assembly 10 includes a first state and a second state, the camera is accommodated in the accommodating chamber 101 in the first state, and the camera extends out of the accommodating chamber 101 in the second state, and the control method includes:

step S10: acquiring a picture shot by a camera of the liftable camera assembly 10;

step S11: detecting the definition of the photo, acquiring a definition value of the photo, and comparing the definition value with a preset definition value;

step S12: and controlling the movable cleaning assembly 20 to clean the camera under the condition that the definition value is smaller than the preset definition value.

According to the control method of the floor sweeping robot 100, provided by the embodiment of the invention, through the arrangement of the lifting camera assembly and the movable cleaning assembly 20, under the condition that the definition of a picture shot by a camera of the lifting camera assembly is smaller than a preset value, that is, the fact that stains exist on the surface of a lens of the camera is explained, at the moment, the movable cleaning assembly 20 can be controlled to clean the camera, so that the camera is in a relatively clean state, the definition of the picture shot by the camera is favorably improved, and the user experience is improved.

According to the sweeping robot 100 provided by the embodiment of the invention, the sweeping robot 100 comprises a liftable camera assembly 10, a movable cleaning assembly 20 and a controller, the sweeping robot 100 is provided with an accommodating cavity 101, the liftable camera assembly 10 and the movable cleaning assembly 20 are both arranged in the accommodating cavity 101, a camera of the liftable camera assembly 10 comprises a first state and a second state, the camera is accommodated in the accommodating cavity 101 in the case of the first state, the camera extends out of the accommodating cavity 101 in the case of the second state, and the controller is used for acquiring a picture shot by the camera of the liftable camera assembly 10, detecting the definition of the picture and acquiring the definition value of the picture, comparing the definition value with a preset definition value, and controlling the movable cleaning assembly 20 to clean the camera in the case that the definition value is smaller than the preset definition value.

That is, the control method of the sweeping robot 100 according to the embodiment of the present invention can be implemented by the sweeping robot 100 according to the embodiment of the present invention. Specifically, the control method of the sweeping robot 100 according to the embodiment of the present invention may be implemented by a controller.

In the embodiment of the invention, the sweeping robot 100 is provided with the liftable camera assembly 10, and the sweeping robot 100 comprises a first state of being accommodated in the accommodating cavity 101 and a second state of being extended out of the accommodating cavity, so that the first state of the camera moving from the second state can be controlled by the liftable camera assembly 10 under the condition that the camera is not required to be used, and by the arrangement, the situation that the camera is in the second state for a long time and dust in the external environment is easily accumulated on the surface of the camera can be avoided, the times of cleaning the camera can be reduced, and the user experience can be improved.

In addition, under the condition that the camera does not need to be used, the camera is in the second state, can protect the camera, prevents the camera from being damaged by external objects, improves the reliability of the liftable camera assembly 10, and is favorable for the work of the sweeping robot 100.

Further right, the controller can control movable cleaning assembly 20 to clean the camera, does not need the manual work to clean the camera to make robot 100 of sweeping the floor more intelligent, promoted user's experience.

Specifically, liftable formula camera subassembly 10 includes first driving piece and camera, and the one end of first driving piece can be dismantled with the bottom in holding chamber 101 and be connected, and the camera is installed in the other end of first driving piece, makes the camera activity between first state and second state through first driving piece, and simple structure easily realizes.

Wherein, first driving piece can be dismantled with the bottom in holding chamber 101 and be connected, so set up, under the condition that damage appears in first driving piece, the user can easily pull down first driving piece and maintain to ensure liftable formula camera subassembly 10's reliability.

It can be understood that, in the embodiment of the present invention, the first driving member is fixed to the bottom of the accommodating cavity 101 by screws, and the screw fixing manner is simple in structure and easy to implement. Of course, in other embodiments, the first driving element may also be connected to the bottom of the accommodating cavity 101 in other manners, and specifically may be selected according to actual conditions, and the first driving element is not limited herein, and only needs to be detachably connected to the bottom of the accommodating cavity 101. For example, in one example, the first driving member is clamped with the bottom of the accommodating cavity 101; for another example, in another example, the first driving member is engaged with the bottom of the accommodating chamber 101, and may be connected by UV glue.

In an embodiment of the invention, the first driving member is a telescopic motor. In other embodiments, the first driving member may also be a driving motor of another kind, and only needs to be able to drive the camera to move between the first state and the second state, which is not limited herein.

Specifically, clean subassembly includes support piece, digging arm and cleaning piece, clean subassembly sets up with liftable formula camera subassembly 10 opposition, more specifically, cleaning piece sets up with the camera opposition, under the condition of clean subassembly work, digging arm work drives the cleaning piece activity so that the cleaning piece moves towards the direction that is close to the camera, under the condition of cleaning piece and camera contact, dust on the cleaning piece work falls the camera, after the cleanness finishes, digging arm work is in order to drive the cleaning piece activity so that the cleaning piece moves towards the direction of keeping away from the camera, under the condition of cleaning piece activity to initial condition, digging arm stop work, cleaning task is accomplished. The cleaning process is simple in structure and easy to realize.

The cleaning piece can comprise a rotating motor and a brush, the rotating motor works to drive the brush to rotate, and dust on the surface of the camera is removed through rotation of the brush. Of course, in other embodiments, the cleaning member may further include a wet cleaning mode, a wiping mode, and the like, which may be specifically designed according to practical situations, and is not limited herein, and only needs to be capable of cleaning the camera.

Referring to fig. 3, further, step S10 includes:

step S101: judging whether the camera is in a second state;

step S102: under the condition that the camera is in the first state, the liftable camera assembly 10 is controlled to work so that the camera moves from the first state to the second state, and the camera is controlled to work so as to obtain pictures shot by the camera of the liftable camera assembly 10.

That is to say, under the condition that the camera is in the first state, the camera is in holding chamber 101, and the camera is out of work this moment, and first driving piece work is in order to drive the camera and move to the second state from the first state, and under the condition that the camera is in the second state, the camera is located the camera and stretches out outside holding chamber 101, so, the camera can shoot the surrounding environment.

Referring to fig. 4, further, after the step S12, the method includes:

s121: the cleaning assembly was controlled to operate for 60 seconds.

In the embodiment of the invention, the cleaning component cleans the camera for 60 seconds, namely after the cleaning component works for 60 seconds, the cleaning component is determined to be finished, and then the cleaning component stops working.

In other embodiments, the time for the cleaning assembly to clean the camera once may be 30 seconds, 35 seconds, 40 seconds, 45 seconds, 50 seconds, 55 seconds, 65 seconds, 70 seconds, and the like, and the specific cleaning time may be designed according to actual situations, and is not limited herein.

Wherein, the controller can be connected with intelligent communications facilities, and intelligent communications facilities includes but not limited to intelligent communications facilities such as cell-phone, flat board, intelligent wrist-watch, can be provided with the self-defined window on the intelligent communications facilities, and the user can come the operating duration of self-regulation clean subassembly according to the self-defined window, so for robot 100 that sweeps floor is more intelligent, promotes user's experience.

Certainly, the user can also realize the work of the manual control cleaning assembly according to the user-defined window, that is, under the condition that the user feels that the picture shot by the camera is not clear, the user can control the work of the cleaning assembly according to the user-defined window, so that the sweeping robot 100 is more humanized and is beneficial to the use of the user.

The cleaning camera of the cleaning assembly has two modes of automatic control and manual control, namely, the controller can automatically control the cleaning camera of the cleaning assembly according to the definition of a picture shot by the camera, and a user can also manually control the cleaning camera of the cleaning assembly according to the requirement of the user, so that the control person of the floor sweeping machine is more humanized, and the user experience is improved.

Referring to fig. 5, in some embodiments, after step S10, the method includes:

step S103: acquiring the service life of the liftable camera component 10;

step S104: and comparing the definition values of the photos under the condition that the using time length is greater than the preset time length.

In some embodiments, the controller is configured to obtain a duration of use of the liftable camera assembly 10, and to compare the sharpness values of the pictures when the duration of use is greater than a preset duration.

In the embodiment of the invention, the controller can calculate the service time of the liftable camera component, specifically, the controller can calculate the service time of the working of the camera, when the service time is longer than the preset time, the controller can compare the definition of the pictures shot by the camera and acquire the corresponding definition value, and at the moment, when the definition value is smaller than the preset definition value, the controller controls the cleaning component to clean the camera, so that the dirty condition of the camera is judged according to the running time of the camera, therefore, a user does not need to manually check, the sweeping robot 100 is more intelligent, and the user experience is improved.

Particularly, under the condition that the camera is located the second state, the camera just can work, namely, the camera stretches out outside holding chamber 101, and at this moment, the camera exposes in the air, and the dust in the air gathers on the camera surface easily, under the long-time condition of cumulating, and the dust that adheres to on the camera surface increases to influence the effect of making a video recording greatly, consequently, judge the dust quantity of camera through long time using, easy operation, easily realization.

The preset time period may be 20 hours, 22 hours, 24 hours, 25 hours, 26 hours, and the like. The specific configuration may be set according to different situations, and is not limited herein.

Further, the length of time for calculating the use of the camera can be obtained by monitoring the energization length of the camera, and the existing monitoring module can be used for detection, which is not described herein any more.

Referring to fig. 6, in some embodiments, step S12 is followed by:

step S122: detecting whether the camera is in a first state;

step S123: and controlling the movable cleaning assembly 20 to clean the camera under the condition that the camera is in the first state.

In some embodiments, the controller is configured to detect whether the camera is in the first state, and to cause the movable cleaning assembly 20 to clean the camera if the camera is in the first state.

That is, in the embodiment of the present invention, the cleaning of the camera is completed in the accommodating cavity 101, so that there is no need to provide a lifting structure for the cleaning assembly, thereby reducing the production cost of the cleaning assembly, further reducing the production cost of the sweeping robot 100, and facilitating the mass production of the sweeping robot 100.

Specifically, the condition that the controller needs to clean the camera needs to acquire the state type of the camera, and under the condition that the camera is in the first state, the controller judges that the camera is located the accommodating cavity 101, and at the moment, the controller can control the work of the cleaning assembly to clean the camera.

Wherein, be provided with hall sensor in the robot 100 of sweeping the floor, hall sensor installs in holding chamber 101, and install on the inner wall of holding chamber 101, and the camera is close to one side of hall sensor and is provided with magnet, be in the circumstances of first state at the camera of liftable formula camera subassembly 10, hall sensor sets up with the camera is upright, at this moment, magnetic field is strongest between hall sensor's the magnet, be in the circumstances of second state at the camera of liftable formula camera subassembly 10, holding chamber 101 is kept away from to the camera, at this moment, hall sensor's magnetic field is the weakest, so judge the state category that the camera was located.

Of course, in other embodiments, other manners may be used to identify the camera, which is not limited herein, and only needs to be able to identify whether the camera is located in the accommodating cavity 101.

Referring to fig. 7, in some embodiments, step S122 includes:

step S1221: when the camera is in the second state;

step S1224: a first state for controlling the operation of the liftable camera assembly 10 to move the camera from the second state.

In some embodiments, the controller is configured to control the operation of the liftable camera assembly 10 to move the camera from the second state to the first state when the camera is in the second state.

In the embodiment of the invention, under the condition that the camera is in the second state, at the moment, the camera extends out of the accommodating cavity 101, and as can be seen from the above, the cleaning component is located in the accommodating cavity 101, so that the controller controls the lifting type camera component to work to enable the camera to move from the second state to the first state, and then the cleaning component performs cleaning operation on the camera, so that the cleaning of the camera can be realized without the need of the cleaning component having a telescopic function, and the camera cleaning device is simple in structure and easy to realize.

Referring to fig. 8, step S122 then includes:

step S1222: judging whether the camera needs to continue working or not;

if yes, the flow proceeds to step S1223: the existing working state of the camera is kept;

if not, the process proceeds to step S1224.

In the embodiment of the invention, under the condition that the definition value of the picture shot by the camera is smaller than the preset cleaning value, whether the camera needs to continue to work or not is judged firstly, if the obtained feedback is to continue to work, the camera continuously keeps the existing working state, and if the obtained feedback is not to continue to work, the controller controls the liftable camera component 10 to work so as to enable the camera to move from the second state to the first state, and then controls the cleaning component to work to clean the camera, so that the sweeping robot 100 is more humanized, and the user experience is improved.

For example, when the situation that the definition value of a picture shot by the camera is smaller than the preset cleaning value is detected, the controller sends the information that the camera needs to be cleaned to the intelligent communication device, for example, a user is informed in a pop-up window mode, the user can select a result according to the pop-up window of the intelligent communication device, and whether cleaning operation is carried out or the existing working state of the camera is maintained.

For another example, the sweeping robot 100 is provided with a voice player, and when it is detected that the sharpness value of the picture taken by the camera is smaller than the preset cleaning value, the controller sends the information that the camera needs to be cleaned to the voice player, at this time, the voice player can play a voice of "whether the camera needs to be cleaned" or not, and after the user hears the voice, the result can be fed back through the voice.

Referring to fig. 9, in some embodiments, step S12 includes:

step S124: receiving a cleaning signal;

step S125: and controlling the cleaning assembly to clean the camera according to the cleaning signal.

In some embodiments, the controller is configured to receive a cleaning signal and to control the cleaning assembly to clean the camera according to the cleaning signal.

So set up, the controller can control clean subassembly after receiving clean signal and clean the camera, and the simple operation promotes user's experience.

The types of the control signals are various, and may be specifically selected according to actual situations, which is not limited herein.

In an example, the control signal is a touch signal or a pressing signal, at this time, the sweeping robot 100 may include a working key or a touch key, the working key or the touch key is electrically connected to the sweeping robot 100, and the user can control the sweeping robot 100 to start working only by pressing the working key or touching the touch key to control the cleaning component to clean the camera.

In another example, the control signal is a voice signal, in this case, the sweeping robot 100 may include a voice sensor, the voice sensor is electrically connected to the sweeping robot 100 and is configured to control the sweeping robot 100 to operate through voice so as to control the light emitting device to turn on, for example, a user speaks a voice of "start cleaning the camera", and the voice sensor receives the voice and then controls the sweeping robot 100 to operate so as to control the cleaning assembly to clean the camera. Of course, in other examples, the user may also speak a voice of "please control the cleaning device to work" to control the sweeping robot 100 to work, and the content of the specific text can be set by the user, which is not limited herein.

In another example, the control signal may be a Wireless local area network (WIFI) signal, and at this time, the sweeping robot 100 is provided with a receiver, the receiver is electrically connected to the sweeping robot 100, and the receiver is configured to receive a signal of the intelligent communication device and control the sweeping robot 100 to operate according to the signal, so as to control the cleaning component to clean the camera, and the operation is convenient and fast, so that the user experience is improved.

Furthermore, the intelligent communication equipment can be electronic equipment such as a mobile phone, a computer, an intelligent watch and an intelligent bracelet, and can be specifically set according to actual conditions, and the specific type of the external electronic equipment is not limited.

Specifically, in other embodiments, the control signal may also be another signal, for example, in other examples, the control signal may also be a bluetooth signal, an infrared signal, or the like, which may be specifically designed according to actual situations and is not limited herein.

In some embodiments, the control signal may also be a combination of any multiple of the above multiple signals, that is, in some embodiments, the user can control the sweeping robot 100 to work in multiple ways, which is convenient and fast, and improves the experience of the user.

A non-transitory computer-readable storage medium containing computer-executable instructions, which when executed by one or more processors, cause the processors to perform the control method of the sweeping robot 100 according to any one of the above embodiments.

According to the storage medium provided by the embodiment of the invention, through the arrangement of the lifting type camera assembly and the movable cleaning assembly 20, under the condition that the definition of a picture shot by a camera of the lifting type camera assembly is smaller than a preset value, that is, the fact that stains exist on the surface of a lens of the camera is demonstrated, at the moment, the movable cleaning assembly 20 can be controlled to clean the camera, so that the camera is in a cleaner state, the definition of the picture shot by the camera is favorably improved, and the user experience is improved.

In summary, in the sweeping robot 100 according to the embodiment of the present invention, when the definition of the picture taken by the camera is smaller than the preset value, the operation of cleaning the camera is started, so that the camera is in a relatively clean state, which is beneficial to improving the definition of the picture taken by the camera, and improving the user experience.

In the description of the embodiments of the present invention, the terms "first" and "second" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implying any number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more features. In the description of the embodiments of the present invention, "a plurality" means two or more unless specifically limited otherwise.

In the description of the embodiments of the present invention, it should be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as being fixedly connected, detachably connected, or integrally connected; may be mechanically connected, may be electrically connected or may be in communication with each other; either directly or indirectly through intervening media, either internally or in any other relationship. Specific meanings of the above terms in the embodiments of the present invention can be understood by those of ordinary skill in the art according to specific situations.

In the description of the present specification, reference to the terms "one embodiment", "some embodiments", "an illustrative embodiment", "an example", "a specific example" or "some examples" or the like means that a specific feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the present invention. In this specification, schematic representations of the above terms 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.

Any process or method descriptions in flow charts or otherwise described herein may be understood as representing modules, segments, or portions of code which include one or more executable instructions for implementing specific logical functions or steps of the process, and alternate implementations are included within the scope of the preferred embodiment of the present invention in which functions may be executed out of order from that shown or discussed, including substantially concurrently or in reverse order, depending on the functionality involved, as would be understood by those reasonably skilled in the art of the present invention.

The logic and/or steps represented in the flowcharts or otherwise described herein, such as an ordered listing of executable instructions that can be considered to implement logical functions, can be embodied in any computer-readable medium for use by or in connection with an instruction execution system, apparatus, or device, such as a computer-based system, processing module-containing system, or other system that can fetch the instructions from the instruction execution system, apparatus, or device and execute the instructions. For the purposes of this description, a "computer-readable medium" can be any means that can contain, store, communicate, propagate, or transport the program for use by or in connection with the instruction execution system, apparatus, or device. More specific examples (a non-exhaustive list) of the computer-readable medium would include the following: an electrical connection (electronic device) having one or more wires, a portable computer diskette (magnetic device), a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber device, and a portable compact disc read-only memory (CDROM). Additionally, the computer-readable medium could even be paper or another suitable medium upon which the program is printed, as the program can be electronically captured, via for instance optical scanning of the paper or other medium, then compiled, interpreted or otherwise processed in a suitable manner if necessary, and then stored in a computer memory.

It should be understood that portions of embodiments of the present invention may be implemented in hardware, software, firmware, or a combination thereof. In the above embodiments, the various steps or methods may be implemented in software or firmware stored in memory and executed by a suitable instruction execution system. For example, if implemented in hardware, as in another embodiment, any one or combination of the following techniques, which are known in the art, may be used: a discrete logic circuit having a logic gate circuit for implementing a logic function on a data signal, an application specific integrated circuit having an appropriate combinational logic gate circuit, a Programmable Gate Array (PGA), a Field Programmable Gate Array (FPGA), or the like.

It will be understood by those skilled in the art that all or part of the steps carried by the method for implementing the above embodiments may be implemented by hardware that is related to instructions of a program, and the program may be stored in a computer-readable storage medium, and when executed, the program includes one or a combination of the steps of the method embodiments.

In addition, functional units in the embodiments of the present invention may be integrated into one processing module, or each unit may exist alone physically, or two or more units are integrated into one module. The integrated module can be realized in a hardware mode, and can also be realized in a software functional module mode. The integrated module, if implemented in the form of a software functional module and sold or used as a separate product, may also be stored in a computer readable storage medium.

The storage medium mentioned above may be a read-only memory, a magnetic or optical disk, etc.

Although embodiments of the present invention have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention, and that variations, modifications, substitutions and alterations can be made in the above embodiments by those of ordinary skill in the art within the scope of the present invention.

Claims (10)

1. The utility model provides a control method of robot of sweeping floor, its characterized in that, the robot of sweeping floor includes liftable formula camera subassembly and movable clean subassembly, the robot of sweeping floor is formed with the holding chamber, liftable formula camera subassembly and movable clean subassembly are all installed in the holding intracavity, the camera of liftable formula camera subassembly includes first state and second state under the condition of first state, the camera accept to in the holding intracavity under the condition of second state, the camera stretches out to outside the holding chamber, control method includes:

acquiring a picture shot by a camera of the liftable camera component;

detecting the definition of the photo, acquiring a definition value of the photo, and comparing the definition value with a preset definition value;

and controlling the movable cleaning assembly to clean the camera under the condition that the definition value is smaller than the preset definition value.

2. The method for controlling the sweeping robot according to claim 1, wherein after the camera of the liftable camera assembly takes a picture, the method comprises the following steps:

acquiring the service life of the liftable camera component;

and comparing the definition values of the photos under the condition that the using time length is greater than the preset time length.

3. The method for controlling the sweeping robot according to claim 1, wherein the controlling the movable cleaning assembly to clean the camera in case that the resolution value is smaller than the preset resolution value comprises:

detecting whether the camera is in the first state;

and under the condition that the camera is in the first state, controlling the movable cleaning assembly to clean the camera.

4. The method of claim 3, wherein the detecting whether the camera is in the first state comprises:

in the case where the camera is in the second state;

and controlling the liftable camera assembly to work so as to enable the camera to move from the second state to the first state.

5. The method of claim 1, wherein the controlling the movable cleaning assembly to clean the camera comprises:

receiving a cleaning signal;

and controlling the cleaning assembly to clean the camera according to the cleaning signal.

6. The utility model provides a robot of sweeping floor, its characterized in that, the robot of sweeping floor includes liftable formula camera subassembly, movable clean subassembly and controller, the robot of sweeping floor is formed with the holding chamber, liftable formula camera subassembly and movable clean subassembly are all installed in the holding intracavity, the camera of liftable formula camera subassembly includes first state and second state under the condition of first state, the camera accept extremely under the condition of second state, the camera stretches out extremely outside the holding chamber, the controller is used for acquireing the photo that the camera of liftable formula camera subassembly was taken out, and is used for detecting the definition of photo and acquisition the definition value of photo, and will definition value compares with predetermineeing definition value, and is used for the definition value is less than predetermine the condition of definition value, control movable clean subassembly is right the camera cleans.

7. The sweeping robot of claim 6, wherein the controller is configured to obtain a duration of use of the liftable camera assembly, and to compare the sharpness values of the pictures when the duration of use is greater than a preset duration.

8. The sweeping robot of claim 6, wherein the controller is configured to detect whether the camera is in the first state, and to control the movable cleaning assembly to clean the camera when the camera is in the first state.

9. The sweeping robot of claim 8, wherein the controller is configured to control the liftable camera assembly to operate in the first state when the camera is in the second state, and to control the first state when the camera assembly is moved from the second state.

10. A non-transitory computer-readable storage medium containing computer-executable instructions that, when executed by one or more processors, cause the processors to perform the method of controlling a sweeping robot of any one of claims 1-5.

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