WO2022227533A1 - Cleaning control method and apparatus, and air conditioner - Google Patents

Cleaning control method and apparatus, and air conditioner Download PDF

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Publication number
WO2022227533A1
WO2022227533A1 PCT/CN2021/132798 CN2021132798W WO2022227533A1 WO 2022227533 A1 WO2022227533 A1 WO 2022227533A1 CN 2021132798 W CN2021132798 W CN 2021132798W WO 2022227533 A1 WO2022227533 A1 WO 2022227533A1
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WIPO (PCT)
Prior art keywords
cleaning
detection area
air
target detection
video stream
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PCT/CN2021/132798
Other languages
French (fr)
Chinese (zh)
Inventor
郭蕾
郝本华
刘庆赟
李红
罗欢
Original Assignee
青岛海尔空调器有限总公司
青岛海尔空调电子有限公司
海尔智家股份有限公司
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Application filed by 青岛海尔空调器有限总公司, 青岛海尔空调电子有限公司, 海尔智家股份有限公司 filed Critical 青岛海尔空调器有限总公司
Publication of WO2022227533A1 publication Critical patent/WO2022227533A1/en

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    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/24—Floor-sweeping machines, motor-driven
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
    • A47L11/4002—Installations of electric equipment
    • A47L11/4008—Arrangements of switches, indicators or the like
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
    • A47L11/4011—Regulation of the cleaning machine by electric means; Control systems and remote control systems therefor
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
    • A47L11/4061—Steering means; Means for avoiding obstacles; Details related to the place where the driver is accommodated
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L2201/00—Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L2201/00—Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
    • A47L2201/04—Automatic control of the travelling movement; Automatic obstacle detection
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L2201/00—Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
    • A47L2201/06—Control of the cleaning action for autonomous devices; Automatic detection of the surface condition before, during or after cleaning

Definitions

  • the present application relates to the field of smart home technology, and in particular, to a cleaning control method, device, and air conditioner.
  • Sweeping robots as a kind of intelligent household appliances, can automatically complete the floor cleaning work in the room with certain artificial intelligence, thereby freeing the user's hands.
  • the existing sweeping robots require users to actively find the dirt on the ground, so as to control the sweeping robot to clean through the APP, which is not intelligent enough. Once the ash layer on the floor of the room is not discovered by the user in time, it will affect the user's health.
  • the present application provides a cleaning control method, device and air conditioner, which are used to solve the defect in the prior art that a user is required to check the sanitary condition of the ground and then control the cleaning by a cleaning robot, so as to realize the intelligent cleaning of the cleaning robot.
  • the application provides a cleaning control method, including:
  • the sweeping robot is controlled to clean.
  • the air quality parameter includes the density of air particles before and after the person walks
  • the controlling the sweeping robot to clean based on the air quality parameters of the target detection area includes:
  • the sweeping robot is controlled to clean.
  • the controlling the cleaning robot to perform cleaning includes:
  • the cleaning robot is controlled to perform cleaning.
  • the controlling the cleaning robot to perform cleaning includes:
  • the cleaning robot is controlled to perform cleaning.
  • the obtaining of the air quality parameters of the target detection area includes:
  • the air quality parameters of each detection area are collected by an air sensor corresponding to the detection area, and the air sensor is arranged at a position close to the ground of the corresponding detection area.
  • control of the cleaning robot to perform cleaning further includes:
  • the air purification equipment is controlled to be activated.
  • the obtaining of the indoor video stream collected by the camera includes:
  • the cleaning robot is controlled to perform zoned cleaning.
  • the camera is arranged on the air conditioner.
  • the application also provides a cleaning control device, comprising:
  • the acquisition module is used to acquire the indoor video stream collected by the camera
  • the detection module is used for detecting human motion on the indoor video stream. If a person with walking motion is detected, then based on the walking position of the person in the indoor video stream, a target detection area is determined, and the target is obtained. Air quality parameters in the detection area;
  • the control module is configured to control the sweeping robot to clean based on the air quality parameters of the target detection area.
  • the present application also provides an air conditioner including the aforementioned cleaning control device.
  • the present application also provides an electronic device, including a memory, a processor, and a computer program stored in the memory and running on the processor, wherein the processor implements any one of the cleaning control methods described above when the processor executes the program A step of.
  • the present application also provides a non-transitory computer-readable storage medium on which a computer program is stored, and when the computer program is executed by a processor, implements the steps of any one of the above cleaning control methods.
  • the cleaning control method, device and air conditioner provided by the present application, by performing human motion detection on the indoor video stream, determining the target detection area according to the walking position of the person, and judging the sanitary condition of the indoor ground according to the air quality parameter of the target detection area, and controlling the sweeping
  • the robot cleans, so that the user does not need to check the ground hygiene status, realizes the intelligent cleaning of the sweeping robot, improves the convenience of the sweeping robot, and provides users with a cleaner air environment.
  • FIG. 1 is a schematic flowchart of a cleaning control method provided by an embodiment of the present application.
  • FIG. 2 is a schematic flowchart of a cleaning control method for cleaning dirt provided by an embodiment of the present application
  • FIG. 3 is a schematic flowchart of a cleaning control method for cleaning dust provided by an embodiment of the present application
  • FIG. 4 is a schematic structural diagram of a cleaning control device provided by an embodiment of the present application.
  • FIG. 5 is a schematic structural diagram of an air conditioner provided by an embodiment of the present application.
  • FIG. 6 is a schematic structural diagram of an electronic device provided by an embodiment of the present application.
  • the existing sweeping robot requires users to actively discover the dirt on the ground, so as to control the sweeping robot to clean through the APP.
  • the control method of the existing sweeping robot is not intelligent enough, which will add trouble to the user, and sometimes the accumulation of dust on the ground is not easy to be detected.
  • FIG. 1 is a schematic flowchart of a cleaning control method provided by an embodiment of the present application. As shown in FIG. 1 , the method includes:
  • Step 110 acquiring the indoor video stream collected by the camera
  • Step 120 Perform human motion detection on the indoor video stream, and if a walking motion is detected, a target detection area is determined based on the walking position of the person in the indoor video stream, and air quality parameters of the target detection area are obtained.
  • the indoor video stream collected by the camera is first acquired, and then the indoor video stream is subjected to human body analysis.
  • Motion detection if a person walking is detected, it means that there is a person walking indoors, then the walking position of the person in the indoor video stream can be determined, and the target detection area that needs to be tested for air quality parameters can be determined according to the walking position.
  • the air quality parameters of the target detection area can be obtained, which can be used for subsequent judgment of the sanitary condition of the indoor floor.
  • the indoor video stream can be sampled to obtain a video image sequence, and then image processing technology can be used to extract relevant human features from the video image sequence to determine whether there are people walking. Detect in the trained human motion detection model, so as to obtain the detection result of whether there is a walking motion.
  • the human motion detection model here may be a single neural network model, or a combination of multiple neural network models.
  • Step 130 Control the sweeping robot to clean based on the air quality parameters of the target detection area.
  • the sanitation condition of the indoor floor can be judged according to the air quality parameter. If it is judged that the sanitation condition of the indoor floor is poor, that means the indoor floor needs to be cleaned, then Control the sweeping robot to clean.
  • the sweeping robot may be a robot that only implements the sweeping function, or may be a robot that can implement both the sweeping function and the mopping function, which is not specifically limited in this embodiment of the present application.
  • the cleaning robot can be directly controlled to perform cleaning, or a cleaning prompt can be sent to the client for confirmation by the user, and then the cleaning robot can be controlled to perform cleaning, which is not specifically limited in the embodiments of the present application.
  • a target detection area is determined according to the walking position of the person, and the sanitary condition of the indoor floor is judged according to the air quality parameter of the target detection area, and the cleaning robot is controlled to clean, thereby Realize the intelligent cleaning of the sweeping robot, without the need for the user to check the sanitary condition of the ground, improve the convenience of the sweeping robot, and provide users with a cleaner air environment.
  • the air quality parameter includes the density of air particles before and after the person walks
  • Step 130 includes:
  • the sweeping robot is controlled to clean.
  • the air quality parameter in the embodiment of the present application includes the air particles before and after the person walks. Density, when the air quality parameters of the target detection area are obtained, it can be judged that if the difference between the density of air particles in the target detection area before and after the person walks is greater than the preset threshold, it means that the airflow generated by the person's walking action drives more air.
  • the dust on the ground is in the air, that is, there is a lot of dust on the ground, and the sweeping robot can be controlled to clean.
  • the preset threshold may be arbitrarily set according to user requirements, which is not specifically limited in this embodiment of the present application.
  • step 130 controlling the sweeping robot to clean, including:
  • the embodiment of the present application determines the degree of dust accumulation according to the difference in the density of air particles before and after the person walks, so as to select the corresponding cleaning according to the amount of dust accumulation. intensity level, and then the cleaning robot can be controlled to clean the indoor floor at the cleaning intensity level.
  • step 130 controlling the sweeping robot to clean, including:
  • the cleaning robot is controlled to clean.
  • a cleaning prompt is sent to the client, so that the user can know the indoor needs through the client. Carry out cleaning, and confirm the cleaning prompt. Then, you can control the cleaning robot to clean according to the cleaning confirmation command returned by the client.
  • step 120 the air quality parameters of the target detection area are obtained, including:
  • the air quality parameters of each detection area are collected by an air sensor corresponding to the detection area, and the air sensor is set at a position close to the ground in the corresponding detection area.
  • the indoor area may be divided into various detection areas in advance, and an air sensor may be set at the position of each detection area close to the ground to collect the air quality of the corresponding detection area.
  • the corresponding detection area can be determined as the target detection area according to the walking position of the indoor walking person in the indoor video stream, and the air quality parameters of the target detection area can be obtained.
  • controlling the sweeping robot to clean and then further comprising:
  • the air purification equipment is controlled to start.
  • an air sensor is pre-installed on the sweeping robot.
  • the real-time air particle density of the cleaning area can be obtained according to the air sensor. If the real-time air particle density is greater than the purification opening threshold, the air purification equipment can be controlled to start, so as to provide users with a healthier cleaning mode, which not only frees the user's hands , can also provide users with a cleaner air environment.
  • the purification opening threshold may be arbitrarily set according to user requirements, and may be a standard value of air particle density, or may be lower or higher than the standard value, which is not specifically limited in this embodiment of the present application.
  • the air purification equipment can be an air purifier placed indoors, an air purification module in an air conditioner, or other equipment capable of air purification.
  • a water spray box can also be installed on the sweeping robot.
  • the ground can be sprayed with water, thereby reducing dust during the cleaning process and further ensuring a cleaner air environment.
  • step 110 includes:
  • the embodiment of the present application can also perform dirt detection on the indoor video stream. If dirt is detected, the location of the dirt can be determined, thereby After obtaining the area to be cleaned, the sweeping robot can be controlled to arrive at the area to be cleaned to perform zoned cleaning, thereby solving the problem of low cleaning efficiency of the sweeping robot in the prior art.
  • the camera is arranged on the air conditioner.
  • the camera is arranged on the air-conditioning device, and the air-conditioning device and the cleaning robot can be bound to realize the realization of the air-conditioning device and the cleaning robot.
  • FIG. 2 is a schematic flowchart of a cleaning control method for cleaning dirt provided by an embodiment of the present application.
  • the cleaning robot is bound to the air-conditioning equipment, and the air-conditioning equipment is in a power-on state, that is,
  • the indoor video stream can be collected through the camera, and the indoor video stream can be detected for dirt. If dirt is detected on the indoor floor, the cleaning instruction can be sent to the cleaning robot to control the cleaning robot to clean.
  • FIG. 3 is a schematic flowchart of a cleaning control method for cleaning dust provided by an embodiment of the present application.
  • the cleaning robot and the air conditioner are bound, and the air conditioner is in a power-on state, that is,
  • the indoor video stream can be collected through the camera, and human motion detection can be performed on the indoor video stream.
  • the target detection area can be determined according to the walking position of the person, and the air quality parameters of the target detection area can be obtained. If the target detection area is When the difference between the density of air particles before and after the person walks is greater than the preset threshold, a cleaning prompt can be sent to the client to remind the user that the room needs to be cleaned, and the user can confirm the cleaning prompt in the client.
  • the air conditioner controller When the air conditioner controller receives the cleaning confirmation command returned by the client, it can control the cleaning robot to clean. During the cleaning process, if the real-time air particle density obtained by the air sensor on the sweeping robot is greater than the purification opening threshold, the air purification equipment can be controlled to start, and the air purification function can be turned on to ensure the user's health.
  • the cleaning control device provided by the present application is described below, and the cleaning control device described below and the cleaning control method described above can be referred to each other correspondingly.
  • FIG. 4 is a schematic structural diagram of a cleaning control device provided by an embodiment of the present application. As shown in FIG. 4 , the device includes:
  • an acquisition module 410 configured to acquire the indoor video stream collected by the camera
  • the detection module 420 is configured to perform human motion detection on the indoor video stream, and if a person with walking motion is detected, the target detection area is determined based on the walking position of the person in the indoor video stream, and the air quality parameter of the target detection area is obtained;
  • the control module 430 is configured to control the cleaning robot to perform cleaning based on the air quality parameters of the target detection area.
  • the device provided by the embodiment of the present application detects the human motion of the indoor video stream, determines the target detection area according to the walking position of the person, judges the sanitary condition of the indoor floor according to the air quality parameter of the target detection area, and controls the cleaning robot to clean, thereby Realize the intelligent cleaning of the sweeping robot, without the need for the user to check the sanitary condition of the ground, improve the convenience of the sweeping robot, and provide users with a cleaner air environment.
  • the air quality parameter includes the density of air particles before and after the person walks
  • Control module 430 is used to:
  • the sweeping robot is controlled to clean.
  • control module 430 includes a control sub-module for:
  • control submodule is used to:
  • the cleaning robot is controlled to clean.
  • the detection module 420 includes an acquisition sub-module for:
  • the air quality parameters of each detection area are collected by an air sensor corresponding to the detection area, and the air sensor is set at a position close to the ground in the corresponding detection area.
  • the device further includes a purification control module for:
  • the air purification equipment is controlled to start.
  • the obtaining module 410 is used to:
  • the camera is arranged on the air conditioner.
  • FIG. 5 is a schematic structural diagram of an air conditioner provided by an embodiment of the present application.
  • the air conditioner 510 includes the cleaning control device 520 described in any of the foregoing embodiments.
  • a target detection area is determined according to the walking position of the person, and the sanitary condition of the indoor floor is judged according to the air quality parameter of the target detection area, and the cleaning robot is controlled to clean,
  • the intelligent cleaning of the sweeping robot is realized, and the user does not need to check the sanitary condition of the ground, which improves the convenience of use of the sweeping robot, and at the same time provides a cleaner air environment for the user.
  • FIG. 6 illustrates a schematic diagram of the physical structure of an electronic device.
  • the electronic device may include: a processor (processor) 610, a communication interface (Communications Interface) 620, a memory (memory) 630 and a communication bus 640, The processor 610 , the communication interface 620 , and the memory 830 communicate with each other through the communication bus 640 .
  • processor processor
  • Communication interface Communication interface
  • memory memory
  • FIG. 6 illustrates a schematic diagram of the physical structure of an electronic device.
  • the electronic device may include: a processor (processor) 610, a communication interface (Communications Interface) 620, a memory (memory) 630 and a communication bus 640, The processor 610 , the communication interface 620 , and the memory 830 communicate with each other through the communication bus 640 .
  • memory memory
  • the processor 610 can call the logic instructions in the memory 630 to execute the cleaning control method, the method includes: acquiring an indoor video stream collected by a camera; performing human motion detection on the indoor video stream, if a person walking motion is detected, based on the personnel Based on the walking position in the indoor video stream, the target detection area is determined, and the air quality parameters of the target detection area are obtained; based on the air quality parameters of the target detection area, the cleaning robot is controlled to clean.
  • the above-mentioned logic instructions in the memory 630 may be implemented in the form of software functional units and may be stored in a computer-readable storage medium when sold or used as an independent product.
  • the technical solution of the present application can be embodied in the form of a software product in essence, or the part that contributes to the prior art or the part of the technical solution.
  • the computer software product is stored in a storage medium, including Several instructions are used to cause a computer device (which may be a personal computer, a server, or a network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of the present application.
  • the aforementioned storage medium includes: U disk, mobile hard disk, Read-Only Memory (ROM, Read-Only Memory), Random Access Memory (RAM, Random Access Memory), magnetic disk or optical disk and other media that can store program codes .
  • the present application also provides a computer program product, the computer program product comprising a computer program stored on a non-transitory computer-readable storage medium, the computer program comprising program instructions, when the program instructions are executed by a computer
  • the computer can execute the cleaning control method provided by the above methods, the method includes: acquiring an indoor video stream collected by a camera; performing human motion detection on the indoor video stream; The walking position in the video stream determines the target detection area, and obtains the air quality parameters of the target detection area; based on the air quality parameters of the target detection area, the sweeping robot is controlled to clean.
  • the present application also provides a non-transitory computer-readable storage medium on which a computer program is stored, the computer program is implemented by a processor to execute the cleaning control methods provided above, the method includes: obtaining The indoor video stream collected by the camera; human motion detection is performed on the indoor video stream. If a person walking motion is detected, the target detection area is determined based on the walking position of the person in the indoor video stream, and the air quality parameters of the target detection area are obtained. ; Based on the air quality parameters of the target detection area, control the sweeping robot to clean.
  • the device embodiments described above are only illustrative, wherein the units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in One place, or it can be distributed over multiple network elements. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution in this embodiment. Those of ordinary skill in the art can understand and implement it without creative effort.
  • each embodiment can be implemented by means of software plus a necessary general hardware platform, and certainly can also be implemented by hardware.
  • the above-mentioned technical solutions can be embodied in the form of software products in essence or the parts that make contributions to the prior art, and the computer software products can be stored in computer-readable storage media, such as ROM/RAM, magnetic A disc, an optical disc, etc., includes several instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to perform the methods described in various embodiments or some parts of the embodiments.

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  • Air Conditioning Control Device (AREA)

Abstract

A cleaning control method and apparatus (520), and air conditioner (510). The method comprises: acquiring an indoor video stream collected by a camera (110); performing human movement detection on the indoor video stream, and if a person who is walking is detected, determining a target detection area on the basis of the walking position of the person in the indoor video stream, and acquiring air quality parameters of the target detection area (120); and controlling, on the basis of the air quality parameters of the target detection area, a robot cleaner to perform cleaning (130). By determining the sanitary conditions of the indoor ground according to the air quality parameters of the target detection area, and controlling the robot cleaner to perform cleaning, intelligent cleaning of the robot cleaner is achieved, and there is no need for a user to check the sanitary conditions of the ground, thereby providing a more clean air environment for the user while improving the use convenience of the robot cleaner.

Description

清扫控制方法、装置和空调机Cleaning control method, device, and air conditioner
相关申请的交叉引用CROSS-REFERENCE TO RELATED APPLICATIONS
本申请要求于2021年04月30日提交的申请号为202110480595.5，名称为“清扫控制方法、装置和空调机”的中国专利申请的优先权，其通过引用方式全部并入本文。This application claims the priority of the Chinese patent application with the application number 202110480595.5 filed on April 30, 2021, entitled "Cleaning Control Method, Device and Air Conditioner", which is incorporated herein by reference in its entirety.
技术领域technical field
本申请涉及智能家居技术领域，尤其涉及一种清扫控制方法、装置和空调机。The present application relates to the field of smart home technology, and in particular, to a cleaning control method, device, and air conditioner.
背景技术Background technique
随着经济的发展和人们生活水平的逐渐提高，智能家电得到普及便利了人们的生活。扫地机器人，作为智能家用电器的一种，能凭借一定的人工智能，自动在房间内完成地板清理工作，从而解放用户双手。With the development of the economy and the gradual improvement of people's living standards, the popularization of smart home appliances has facilitated people's lives. Sweeping robots, as a kind of intelligent household appliances, can automatically complete the floor cleaning work in the room with certain artificial intelligence, thereby freeing the user's hands.
目前，现有的扫地机器人需要用户主动发现地面上的脏污，从而通过APP控制扫地机器人进行清扫，不够智能，一旦房间地面上的灰层堆积用户没有及时发现，将会影响用户的健康。At present, the existing sweeping robots require users to actively find the dirt on the ground, so as to control the sweeping robot to clean through the APP, which is not intelligent enough. Once the ash layer on the floor of the room is not discovered by the user in time, it will affect the user's health.
发明内容SUMMARY OF THE INVENTION
本申请提供一种清扫控制方法、装置和空调机，用以解决现有技术中需要用户查看地面卫生状况进而控制扫地机器人清扫的缺陷，实现扫地机器人的智能清扫。The present application provides a cleaning control method, device and air conditioner, which are used to solve the defect in the prior art that a user is required to check the sanitary condition of the ground and then control the cleaning by a cleaning robot, so as to realize the intelligent cleaning of the cleaning robot.
本申请提供一种清扫控制方法，包括：The application provides a cleaning control method, including:
获取摄像头采集的室内视频流；Obtain the indoor video stream captured by the camera;
对所述室内视频流进行人体动作检测，若检测得到行走动作的人员，则基于所述人员在所述室内视频流中的行走位置，确定目标检测区域，并获取所述目标检测区域的空气质量参数；Perform human motion detection on the indoor video stream, and if a person walking motion is detected, determine a target detection area based on the walking position of the person in the indoor video stream, and obtain the air quality of the target detection area parameter;
基于所述目标检测区域的空气质量参数，控制扫地机器人进行清扫。Based on the air quality parameters of the target detection area, the sweeping robot is controlled to clean.
根据本申请提供的一种清扫控制方法，所述空气质量参数包括所述人 员行走前后的空气颗粒物密度；According to a cleaning control method provided by the present application, the air quality parameter includes the density of air particles before and after the person walks;
所述基于所述目标检测区域的空气质量参数，控制扫地机器人进行清扫，包括：The controlling the sweeping robot to clean based on the air quality parameters of the target detection area includes:
若所述目标检测区域在所述人员行走前后的空气颗粒物密度之差大于预设阈值，则控制扫地机器人进行清扫。If the difference between the density of air particles in the target detection area before and after the person walks is greater than a preset threshold, the sweeping robot is controlled to clean.
根据本申请提供的一种清扫控制方法，所述控制扫地机器人进行清扫，包括：According to a cleaning control method provided by this application, the controlling the cleaning robot to perform cleaning includes:
基于所述人员行走前后的空气颗粒物密度之差，确定清扫强度等级；Determine the cleaning intensity level based on the difference in air particle density before and after the person walks;
基于所述清扫强度等级，控制所述扫地机器人进行清扫。Based on the cleaning intensity level, the cleaning robot is controlled to perform cleaning.
根据本申请提供的一种清扫控制方法，所述控制扫地机器人进行清扫，包括：According to a cleaning control method provided by this application, the controlling the cleaning robot to perform cleaning includes:
向客户端发送清扫提示；Send a cleaning prompt to the client;
若接收到所述客户端基于所述清扫提示返回的清扫确认指令，则控制所述扫地机器人进行清扫。If a cleaning confirmation instruction returned by the client based on the cleaning prompt is received, the cleaning robot is controlled to perform cleaning.
根据本申请提供的一种清扫控制方法，所述获取所述目标检测区域的空气质量参数，包括：According to a cleaning control method provided by the present application, the obtaining of the air quality parameters of the target detection area includes:
从室内各个检测区域的空气质量参数中，选取所述目标检测区域的空气质量参数；From the air quality parameters of each indoor detection area, select the air quality parameter of the target detection area;
所述各个检测区域的空气质量参数是对应检测区域的空气传感器采集得到的，所述空气传感器设置在对应检测区域靠近地面的位置。The air quality parameters of each detection area are collected by an air sensor corresponding to the detection area, and the air sensor is arranged at a position close to the ground of the corresponding detection area.
根据本申请提供的一种清扫控制方法，所述控制扫地机器人进行清扫，之后还包括：According to a cleaning control method provided by the present application, the control of the cleaning robot to perform cleaning further includes:
基于设置在所述扫地机器人上的空气传感器，获取清扫区域的实时空气颗粒物密度；Obtain the real-time air particle density of the cleaning area based on the air sensor arranged on the cleaning robot;
若所述实时空气颗粒物密度大于净化开启阈值，则控制空气净化设备启动。If the real-time air particle density is greater than the purification activation threshold, the air purification equipment is controlled to be activated.
根据本申请提供的一种清扫控制方法，所述获取摄像头采集的室内视频流，包括：According to a cleaning control method provided by the present application, the obtaining of the indoor video stream collected by the camera includes:
对所述室内视频流进行污垢检测，得到待清扫区域；Perform dirt detection on the indoor video stream to obtain the area to be cleaned;
基于所述待清扫区域，控制所述扫地机器人进行划区清扫。Based on the area to be cleaned, the cleaning robot is controlled to perform zoned cleaning.
根据本申请提供的一种清扫控制方法，所述摄像头设置在空调设备上。According to the cleaning control method provided by the present application, the camera is arranged on the air conditioner.
本申请还提供一种清扫控制装置，包括：The application also provides a cleaning control device, comprising:
获取模块，用于获取摄像头采集的室内视频流；The acquisition module is used to acquire the indoor video stream collected by the camera;
检测模块，用于对所述室内视频流进行人体动作检测，若检测得到行走动作的人员，则基于所述人员在所述室内视频流中的行走位置，确定目标检测区域，并获取所述目标检测区域的空气质量参数；The detection module is used for detecting human motion on the indoor video stream. If a person with walking motion is detected, then based on the walking position of the person in the indoor video stream, a target detection area is determined, and the target is obtained. Air quality parameters in the detection area;
控制模块，用于基于所述目标检测区域的空气质量参数，控制扫地机器人进行清扫。The control module is configured to control the sweeping robot to clean based on the air quality parameters of the target detection area.
本申请还提供一种空调机，包括如前所述的清扫控制装置。The present application also provides an air conditioner including the aforementioned cleaning control device.
本申请还提供一种电子设备，包括存储器、处理器及存储在存储器上并可在处理器上运行的计算机程序，所述处理器执行所述程序时实现如上述任一种所述清扫控制方法的步骤。The present application also provides an electronic device, including a memory, a processor, and a computer program stored in the memory and running on the processor, wherein the processor implements any one of the cleaning control methods described above when the processor executes the program A step of.
本申请还提供一种非暂态计算机可读存储介质，其上存储有计算机程序，该计算机程序被处理器执行时实现如上述任一种所述清扫控制方法的步骤。The present application also provides a non-transitory computer-readable storage medium on which a computer program is stored, and when the computer program is executed by a processor, implements the steps of any one of the above cleaning control methods.
本申请提供的清扫控制方法、装置和空调机，通过对室内视频流进行人体动作检测，根据人员行走位置确定目标检测区域，并根据目标检测区域的空气质量参数判断室内地面的卫生状况，控制扫地机器人进行清扫，从而无需用户查看地面卫生状况，实现扫地机器人的智能清扫，提高扫地机器人的使用便捷性，同时为用户提供更洁净的空气环境。The cleaning control method, device and air conditioner provided by the present application, by performing human motion detection on the indoor video stream, determining the target detection area according to the walking position of the person, and judging the sanitary condition of the indoor ground according to the air quality parameter of the target detection area, and controlling the sweeping The robot cleans, so that the user does not need to check the ground hygiene status, realizes the intelligent cleaning of the sweeping robot, improves the convenience of the sweeping robot, and provides users with a cleaner air environment.
附图说明Description of drawings
为了更清楚地说明本申请或现有技术中的技术方案，下面将对实施例或现有技术描述中所需要使用的附图作一简单地介绍，显而易见地，下面描述中的附图是本申请的一些实施例，对于本领域普通技术人员来讲，在不付出创造性劳动的前提下，还可以根据这些附图获得其他的附图。In order to illustrate the technical solutions in the present application or the prior art more clearly, the following briefly introduces the accompanying drawings required in the description of the embodiments or the prior art. Obviously, the accompanying drawings in the following description are the For some embodiments of the application, for those of ordinary skill in the art, other drawings can also be obtained according to these drawings without any creative effort.
图1是本申请实施例提供的清扫控制方法的流程示意图；1 is a schematic flowchart of a cleaning control method provided by an embodiment of the present application;
图2是本申请实施例提供的清扫污垢的清扫控制方法的流程示意图；2 is a schematic flowchart of a cleaning control method for cleaning dirt provided by an embodiment of the present application;
图3是本申请实施例提供的清扫灰尘的清扫控制方法的流程示意图；3 is a schematic flowchart of a cleaning control method for cleaning dust provided by an embodiment of the present application;
图4是本申请实施例提供的清扫控制装置的结构示意图；4 is a schematic structural diagram of a cleaning control device provided by an embodiment of the present application;
图5是本申请实施例提供的空调机的结构示意图5 is a schematic structural diagram of an air conditioner provided by an embodiment of the present application
图6是本申请实施例提供的电子设备的结构示意图。FIG. 6 is a schematic structural diagram of an electronic device provided by an embodiment of the present application.
具体实施方式Detailed ways
为使本申请的目的、技术方案和优点更加清楚，下面将结合本申请中的附图，对本申请中的技术方案进行清楚、完整地描述，显然，所描述的实施例是本申请一部分实施例，而不是全部的实施例。基于本申请中的实施例，本领域普通技术人员在没有作出创造性劳动前提下所获得的所有其他实施例，都属于本申请保护的范围。In order to make the purpose, technical solutions and advantages of the present application clearer, the technical solutions in the present application will be described clearly and completely below with reference to the accompanying drawings in the present application. Obviously, the described embodiments are part of the embodiments of the present application. , not all examples. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative work fall within the protection scope of the present application.
目前，现有的扫地机器人需要用户主动发现地面上的脏污，从而通过APP控制扫地机器人进行清扫。现有扫地机器人的控制方式不够智能，会给用户增添麻烦，并且有时候地面上的灰尘堆积不容易被发现，一旦房间地面上的灰层堆积用户没有及时发现，将会影响用户的健康。At present, the existing sweeping robot requires users to actively discover the dirt on the ground, so as to control the sweeping robot to clean through the APP. The control method of the existing sweeping robot is not intelligent enough, which will add trouble to the user, and sometimes the accumulation of dust on the ground is not easy to be detected.
针对这一问题，本申请实施例提供一种清扫控制方法。图1是本申请实施例提供的清扫控制方法的流程示意图，如图1所示，该方法包括：In response to this problem, embodiments of the present application provide a cleaning control method. FIG. 1 is a schematic flowchart of a cleaning control method provided by an embodiment of the present application. As shown in FIG. 1 , the method includes:
步骤110，获取摄像头采集的室内视频流； Step 110, acquiring the indoor video stream collected by the camera;
步骤120，对室内视频流进行人体动作检测，若检测得到行走动作的人员，则基于人员在室内视频流中的行走位置，确定目标检测区域，并获取目标检测区域的空气质量参数。Step 120: Perform human motion detection on the indoor video stream, and if a walking motion is detected, a target detection area is determined based on the walking position of the person in the indoor video stream, and air quality parameters of the target detection area are obtained.
具体地，考虑到人走动时带动空气流动，脚部周边区域的空气质量参数可以反映室内地面的干净程度，因此，本申请实施例首先获取摄像头采集的室内视频流，然后对室内视频流进行人体动作检测，如果检测得到行走动作的人员，即说明室内有人员走动，则可以确定该人员在室内视频流中的行走位置，根据该行走位置确定需要进行空气质量参数检测的目标检测区域。随即，可以获取该目标检测区域的空气质量参数，用于后续的室内地面的卫生状况的判断。Specifically, considering that the air flows when people walk, the air quality parameters in the area around the feet can reflect the cleanliness of the indoor ground. Therefore, in this embodiment of the present application, the indoor video stream collected by the camera is first acquired, and then the indoor video stream is subjected to human body analysis. Motion detection, if a person walking is detected, it means that there is a person walking indoors, then the walking position of the person in the indoor video stream can be determined, and the target detection area that needs to be tested for air quality parameters can be determined according to the walking position. Immediately, the air quality parameters of the target detection area can be obtained, which can be used for subsequent judgment of the sanitary condition of the indoor floor.
进一步地，可以对室内视频流进行采样得到视频图像序列，进而采用图像处理技术从视频图像序列中提取相关人体特征，来判断是否存在有行走动作的人员，也可以将室内视频流直接输入至预先训练好的人体动作检测模型中进行检测，从而得到是否有行走动作的人员的检测结果，此处的人体动作检测模型可以是单一神经网络模型，也可以是多个神经网络模型的组合。Further, the indoor video stream can be sampled to obtain a video image sequence, and then image processing technology can be used to extract relevant human features from the video image sequence to determine whether there are people walking. Detect in the trained human motion detection model, so as to obtain the detection result of whether there is a walking motion. The human motion detection model here may be a single neural network model, or a combination of multiple neural network models.
步骤130，基于目标检测区域的空气质量参数，控制扫地机器人进行清扫。Step 130: Control the sweeping robot to clean based on the air quality parameters of the target detection area.
具体地，在获取到目标检测区域的空气质量参数之后，即可根据该空气质量参数判断室内地面的卫生状况，如果判断出室内地面的卫生状况较差，即说明室内地面需要进行清扫，则可以控制扫地机器人进行清扫。Specifically, after obtaining the air quality parameter of the target detection area, the sanitation condition of the indoor floor can be judged according to the air quality parameter. If it is judged that the sanitation condition of the indoor floor is poor, that means the indoor floor needs to be cleaned, then Control the sweeping robot to clean.
此处，扫地机器人可以是单一实现扫地功能的机器人，也可以是既能实现扫地功能又能实现拖地功能的机器人，本申请实施例对此不作具体限定。在判断出室内地面需要进行清扫之后，可以直接控制扫地机器人进行清扫，也可以发送清扫提示给客户端，以供用户确认后再控制扫地机器人进行清扫，本申请实施例对此也不作具体限定。Here, the sweeping robot may be a robot that only implements the sweeping function, or may be a robot that can implement both the sweeping function and the mopping function, which is not specifically limited in this embodiment of the present application. After judging that the indoor floor needs to be cleaned, the cleaning robot can be directly controlled to perform cleaning, or a cleaning prompt can be sent to the client for confirmation by the user, and then the cleaning robot can be controlled to perform cleaning, which is not specifically limited in the embodiments of the present application.
本申请实施例提供的方法，通过对室内视频流进行人体动作检测，根据人员行走位置确定目标检测区域，并根据目标检测区域的空气质量参数判断室内地面的卫生状况，控制扫地机器人进行清扫，从而实现扫地机器人的智能清扫，无需用户查看地面卫生状况，提高扫地机器人的使用便捷性，同时为用户提供更洁净的空气环境。In the method provided by the embodiment of the present application, by performing human motion detection on an indoor video stream, a target detection area is determined according to the walking position of the person, and the sanitary condition of the indoor floor is judged according to the air quality parameter of the target detection area, and the cleaning robot is controlled to clean, thereby Realize the intelligent cleaning of the sweeping robot, without the need for the user to check the sanitary condition of the ground, improve the convenience of the sweeping robot, and provide users with a cleaner air environment.
基于上述任一实施例，空气质量参数包括人员行走前后的空气颗粒物密度；Based on any of the above embodiments, the air quality parameter includes the density of air particles before and after the person walks;
步骤130包括：Step 130 includes:
若目标检测区域在人员行走前后的空气颗粒物密度之差大于预设阈值，则控制扫地机器人进行清扫。If the difference between the density of air particles in the target detection area before and after the person walks is greater than the preset threshold, the sweeping robot is controlled to clean.
具体地，考虑到当室内地面出现灰尘堆积，人员行走前后主要会影响空气中的空气颗粒物密度，因此，为了提高检测的准确性，本申请实施例中的空气质量参数包括人员行走前后的空气颗粒物密度，当获取到目标检测区域的空气质量参数之后，即可判断如果目标检测区域在人员行走前后的空气颗粒物密度之差大于预设阈值，则说明人行走动作所产生的气流带动了较多的地面灰尘到空气中，即地面灰尘较多，可以控制扫地机器人进行清扫。此处，预设阈值可以根据用户需求进行任意设定，本申请实施例对此不作具体限定。Specifically, considering that when dust accumulates on the indoor floor, the density of air particles in the air will be mainly affected before and after the person walks. Therefore, in order to improve the accuracy of detection, the air quality parameter in the embodiment of the present application includes the air particles before and after the person walks. Density, when the air quality parameters of the target detection area are obtained, it can be judged that if the difference between the density of air particles in the target detection area before and after the person walks is greater than the preset threshold, it means that the airflow generated by the person's walking action drives more air. The dust on the ground is in the air, that is, there is a lot of dust on the ground, and the sweeping robot can be controlled to clean. Here, the preset threshold may be arbitrarily set according to user requirements, which is not specifically limited in this embodiment of the present application.
基于上述任一实施例，步骤130中，控制扫地机器人进行清扫，包括：Based on any of the above embodiments, in step 130, controlling the sweeping robot to clean, including:
基于人员行走前后的空气颗粒物密度之差，确定清扫强度等级；Determine the cleaning intensity level based on the difference between the density of air particles before and after the person walks;
基于清扫强度等级，控制扫地机器人进行清扫。Based on the cleaning intensity level, control the cleaning robot to clean.
具体地，考虑到扫地机器人有不同的档位，为了实现更加高效地清扫，本申请实施例根据人员行走前后的空气颗粒物密度之差，确定积灰程度，从而根据积灰的多少选择对应的清扫强度等级，然后可以控制扫地机器人以该清扫强度等级对室内地面进行清扫。Specifically, considering that the sweeping robot has different gears, in order to achieve more efficient cleaning, the embodiment of the present application determines the degree of dust accumulation according to the difference in the density of air particles before and after the person walks, so as to select the corresponding cleaning according to the amount of dust accumulation. intensity level, and then the cleaning robot can be controlled to clean the indoor floor at the cleaning intensity level.
基于上述任一实施例，步骤130中，控制扫地机器人进行清扫，包括：Based on any of the above embodiments, in step 130, controlling the sweeping robot to clean, including:
向客户端发送清扫提示；Send a cleaning prompt to the client;
若接收到客户端基于清扫提示返回的清扫确认指令，则控制扫地机器人进行清扫。If the cleaning confirmation command returned by the client based on the cleaning prompt is received, the cleaning robot is controlled to clean.
具体地，为了让用户知道室内需要进行清扫，提升用户体验，本申请实施例在根据空气质量参数确定室内需要进行清扫之后，向客户端发送清扫提示，以供用户可以通过客户端了解到室内需要进行清扫，并对该清扫提示进行确认，随即，即可根据客户端返回的清扫确认指令，控制扫地机器人进行清扫。Specifically, in order to let the user know that the indoor needs to be cleaned and improve the user experience, in this embodiment of the present application, after determining the indoor needs to be cleaned according to the air quality parameters, a cleaning prompt is sent to the client, so that the user can know the indoor needs through the client. Carry out cleaning, and confirm the cleaning prompt. Then, you can control the cleaning robot to clean according to the cleaning confirmation command returned by the client.
基于上述任一实施例，步骤120中，获取目标检测区域的空气质量参数，包括：Based on any of the above embodiments, in step 120, the air quality parameters of the target detection area are obtained, including:
从室内各个检测区域的空气质量参数中，选取目标检测区域的空气质量参数；From the air quality parameters of each indoor detection area, select the air quality parameters of the target detection area;
各个检测区域的空气质量参数是对应检测区域的空气传感器采集得到的，空气传感器设置在对应检测区域靠近地面的位置。The air quality parameters of each detection area are collected by an air sensor corresponding to the detection area, and the air sensor is set at a position close to the ground in the corresponding detection area.
具体地，为了获取目标检测区域的空气质量参数，本申请实施例可以预先将室内区域划分为各个检测区域，并在各个检测区域靠近地面的位置设置空气传感器，用于采集对应检测区域的空气质量参数，在此基础上，即可根据室内行走人员在室内视频流中的行走位置，确定对应的检测区域作为目标检测区域，并获取该目标检测区域的空气质量参数。Specifically, in order to obtain the air quality parameters of the target detection area, in this embodiment of the present application, the indoor area may be divided into various detection areas in advance, and an air sensor may be set at the position of each detection area close to the ground to collect the air quality of the corresponding detection area. On this basis, the corresponding detection area can be determined as the target detection area according to the walking position of the indoor walking person in the indoor video stream, and the air quality parameters of the target detection area can be obtained.
基于上述任一实施例，控制扫地机器人进行清扫，之后还包括：Based on any of the above embodiments, controlling the sweeping robot to clean, and then further comprising:
基于设置在扫地机器人上的空气传感器，获取清扫区域的实时空气颗粒物密度；Based on the air sensor set on the sweeping robot, obtain the real-time air particle density of the cleaning area;
若实时空气颗粒物密度大于净化开启阈值，则控制空气净化设备启动。If the real-time air particle density is greater than the purification opening threshold, the air purification equipment is controlled to start.
具体地，考虑到扫地机器人清扫时，会带动室内地面灰尘扬起，可能 影响空气颗粒物超标，进而影响用户健康，针对这一问题，本申请实施例预先在扫地机器人上设置空气传感器，在扫地机器人进行清扫时，可以根据空气传感器获取清扫区域的实时空气颗粒物密度，如果实时空气颗粒物密度大于净化开启阈值，则可以控制空气净化设备启动，从而为用户提供更健康的清扫模式，不仅可以解放用户双手，还可以为用户提供更洁净的空气环境。Specifically, considering that when the sweeping robot cleans, it will cause dust on the indoor floor to rise, which may affect the air particles exceeding the standard, thereby affecting the health of users. In order to solve this problem, in the embodiment of the present application, an air sensor is pre-installed on the sweeping robot. When cleaning, the real-time air particle density of the cleaning area can be obtained according to the air sensor. If the real-time air particle density is greater than the purification opening threshold, the air purification equipment can be controlled to start, so as to provide users with a healthier cleaning mode, which not only frees the user's hands , can also provide users with a cleaner air environment.
此处，净化开启阈值可以根据用户需求进行任意设定，可以是空气颗粒物密度的标准值，也可以低于或高于标准值，本申请实施例对此不作具体限定。空气净化设备可以是室内放置的空气净化器，也可以是空调设备内的空气净化模块，也可以是其他能够具备空气净化功能的设备。Here, the purification opening threshold may be arbitrarily set according to user requirements, and may be a standard value of air particle density, or may be lower or higher than the standard value, which is not specifically limited in this embodiment of the present application. The air purification equipment can be an air purifier placed indoors, an air purification module in an air conditioner, or other equipment capable of air purification.
基于上述任一实施例，扫地机器人上还可以安装喷水盒，在扫地机器人进行清扫时，可以对地面进行洒水，从而减轻清扫过程中的扬尘，进一步保证更洁净的空气环境。Based on any of the above embodiments, a water spray box can also be installed on the sweeping robot. When the sweeping robot is cleaning, the ground can be sprayed with water, thereby reducing dust during the cleaning process and further ensuring a cleaner air environment.
基于上述任一实施例，步骤110包括：Based on any of the above embodiments, step 110 includes:
对室内视频流进行污垢检测，得到待清扫区域；Perform dirt detection on the indoor video stream to obtain the area to be cleaned;
基于待清扫区域，控制扫地机器人进行划区清扫。Based on the area to be cleaned, control the sweeping robot to perform zoned cleaning.
具体地，考虑到室内地面除了灰尘堆积，还会存在油垢、纸屑等污垢的情况，本申请实施例还可以对室内视频流进行污垢检测，若检测到污垢，即可确定污垢的位置，从而得到待清扫区域，随即，可以控制扫地机器人到达该待清扫区域进行划区清扫，从而解决现有技术中扫地机器人清扫效率低的问题。Specifically, considering that in addition to the accumulation of dust on the indoor floor, there will also be dirt such as oil dirt and paper scraps, the embodiment of the present application can also perform dirt detection on the indoor video stream. If dirt is detected, the location of the dirt can be determined, thereby After obtaining the area to be cleaned, the sweeping robot can be controlled to arrive at the area to be cleaned to perform zoned cleaning, thereby solving the problem of low cleaning efficiency of the sweeping robot in the prior art.
基于上述任一实施例，摄像头设置在空调设备上。Based on any of the above embodiments, the camera is arranged on the air conditioner.
具体地，为了将摄像头布置在相对较高的位置，能够全局获得室内情况，本申请实施例将摄像头设置在空调设备上，并且可以将空调设备与扫地机器人进行绑定，实现空调设备与扫地机器人的联控：空调控制器对摄像头采集的视频流进行人体动作检测，确定目标检测区域，并获取所述目标检测区域的空气质量参数，根据空气质量参数控制扫地机器人进行清扫。Specifically, in order to arrange the camera at a relatively high position and obtain the indoor situation globally, in this embodiment of the present application, the camera is arranged on the air-conditioning device, and the air-conditioning device and the cleaning robot can be bound to realize the realization of the air-conditioning device and the cleaning robot. The joint control: the air-conditioning controller performs human motion detection on the video stream collected by the camera, determines the target detection area, obtains the air quality parameters of the target detection area, and controls the sweeping robot to clean according to the air quality parameters.
基于上述任一实施例，图2是本申请实施例提供的清扫污垢的清扫控制方法的流程示意图，如图2所示，首先将扫地机器人与空调设备进行绑定，空调设备处于通电状态，即可通过摄像头采集室内视频流，并对室内 视频流进行污垢检测，如果检测到室内地面出现污垢，则可以通过发送清扫指令给扫地机器人，控制扫地机器人进行清扫。Based on any of the above embodiments, FIG. 2 is a schematic flowchart of a cleaning control method for cleaning dirt provided by an embodiment of the present application. As shown in FIG. 2 , first, the cleaning robot is bound to the air-conditioning equipment, and the air-conditioning equipment is in a power-on state, that is, The indoor video stream can be collected through the camera, and the indoor video stream can be detected for dirt. If dirt is detected on the indoor floor, the cleaning instruction can be sent to the cleaning robot to control the cleaning robot to clean.
基于上述任一实施例，图3是本申请实施例提供的清扫灰尘的清扫控制方法的流程示意图，如图3所示，首先将扫地机器人与空调设备进行绑定，空调设备处于通电状态，即可通过摄像头采集室内视频流，并对室内视频流进行人体动作检测，如果检测到人员行走，则可以根据人员的行走位置确定目标检测区域，并获取目标检测区域的空气质量参数，如果目标检测区域在人员行走前后的空气颗粒物密度之差大于预设阈值，则可以向客户端发送清扫提示，提示用户室内需要进行扫地了，用户即可在客户端中对清扫提示进行确认。Based on any of the above embodiments, FIG. 3 is a schematic flowchart of a cleaning control method for cleaning dust provided by an embodiment of the present application. As shown in FIG. 3 , first, the cleaning robot and the air conditioner are bound, and the air conditioner is in a power-on state, that is, The indoor video stream can be collected through the camera, and human motion detection can be performed on the indoor video stream. If a person is detected walking, the target detection area can be determined according to the walking position of the person, and the air quality parameters of the target detection area can be obtained. If the target detection area is When the difference between the density of air particles before and after the person walks is greater than the preset threshold, a cleaning prompt can be sent to the client to remind the user that the room needs to be cleaned, and the user can confirm the cleaning prompt in the client.
当空调控制器接收到客户端返回的清扫确认指令之后，即可控制扫地机器人进行清扫。在清扫过程中，如果扫地机器人上的空气传感器所获取到的实时空气颗粒物密度大于净化开启阈值，则可以控制空气净化设备启动，开启空气净化功能，保证用户健康。When the air conditioner controller receives the cleaning confirmation command returned by the client, it can control the cleaning robot to clean. During the cleaning process, if the real-time air particle density obtained by the air sensor on the sweeping robot is greater than the purification opening threshold, the air purification equipment can be controlled to start, and the air purification function can be turned on to ensure the user's health.
下面对本申请提供的清扫控制装置进行描述，下文描述的清扫控制装置与上文描述的清扫控制方法可相互对应参照。The cleaning control device provided by the present application is described below, and the cleaning control device described below and the cleaning control method described above can be referred to each other correspondingly.
基于上述任一实施例，图4是本申请实施例提供的清扫控制装置的结构示意图，如图4所示，该装置包括：Based on any of the above embodiments, FIG. 4 is a schematic structural diagram of a cleaning control device provided by an embodiment of the present application. As shown in FIG. 4 , the device includes:
获取模块410，用于获取摄像头采集的室内视频流；an acquisition module 410, configured to acquire the indoor video stream collected by the camera;
检测模块420，用于对室内视频流进行人体动作检测，若检测得到行走动作的人员，则基于人员在室内视频流中的行走位置，确定目标检测区域，并获取目标检测区域的空气质量参数；The detection module 420 is configured to perform human motion detection on the indoor video stream, and if a person with walking motion is detected, the target detection area is determined based on the walking position of the person in the indoor video stream, and the air quality parameter of the target detection area is obtained;
控制模块430，用于基于目标检测区域的空气质量参数，控制扫地机器人进行清扫。The control module 430 is configured to control the cleaning robot to perform cleaning based on the air quality parameters of the target detection area.
本申请实施例提供的装置，通过对室内视频流进行人体动作检测，根据人员行走位置确定目标检测区域，并根据目标检测区域的空气质量参数判断室内地面的卫生状况，控制扫地机器人进行清扫，从而实现扫地机器人的智能清扫，无需用户查看地面卫生状况，提高扫地机器人的使用便捷性，同时为用户提供更洁净的空气环境。The device provided by the embodiment of the present application detects the human motion of the indoor video stream, determines the target detection area according to the walking position of the person, judges the sanitary condition of the indoor floor according to the air quality parameter of the target detection area, and controls the cleaning robot to clean, thereby Realize the intelligent cleaning of the sweeping robot, without the need for the user to check the sanitary condition of the ground, improve the convenience of the sweeping robot, and provide users with a cleaner air environment.
基于上述任一实施例，空气质量参数包括人员行走前后的空气颗粒物 密度；Based on any of the above embodiments, the air quality parameter includes the density of air particles before and after the person walks;
控制模块430用于： Control module 430 is used to:
若目标检测区域在人员行走前后的空气颗粒物密度之差大于预设阈值，则控制扫地机器人进行清扫。If the difference between the density of air particles in the target detection area before and after the person walks is greater than the preset threshold, the sweeping robot is controlled to clean.
基于上述任一实施例，控制模块430中包括控制子模块，用于：Based on any of the above embodiments, the control module 430 includes a control sub-module for:
基于人员行走前后的空气颗粒物密度之差，确定清扫强度等级；Determine the cleaning intensity level based on the difference between the density of air particles before and after the person walks;
基于清扫强度等级，控制扫地机器人进行清扫。Based on the cleaning intensity level, control the cleaning robot to clean.
基于上述任一实施例，控制子模块用于：Based on any of the above embodiments, the control submodule is used to:
向客户端发送清扫提示；Send a cleaning prompt to the client;
若接收到客户端基于清扫提示返回的清扫确认指令，则控制扫地机器人进行清扫。If the cleaning confirmation command returned by the client based on the cleaning prompt is received, the cleaning robot is controlled to clean.
基于上述任一实施例，检测模块420中包括获取子模块，用于：Based on any of the above embodiments, the detection module 420 includes an acquisition sub-module for:
从室内各个检测区域的空气质量参数中，选取目标检测区域的空气质量参数；From the air quality parameters of each indoor detection area, select the air quality parameters of the target detection area;
各个检测区域的空气质量参数是对应检测区域的空气传感器采集得到的，空气传感器设置在对应检测区域靠近地面的位置。The air quality parameters of each detection area are collected by an air sensor corresponding to the detection area, and the air sensor is set at a position close to the ground in the corresponding detection area.
基于上述任一实施例，该装置还包括净化控制模块，用于：Based on any of the above embodiments, the device further includes a purification control module for:
基于设置在扫地机器人上的空气传感器，获取清扫区域的实时空气颗粒物密度；Based on the air sensor set on the sweeping robot, obtain the real-time air particle density of the cleaning area;
若实时空气颗粒物密度大于净化开启阈值，则控制空气净化设备启动。If the real-time air particle density is greater than the purification opening threshold, the air purification equipment is controlled to start.
基于上述任一实施例，获取模块410用于：Based on any of the above embodiments, the obtaining module 410 is used to:
对室内视频流进行污垢检测，得到待清扫区域；Perform dirt detection on the indoor video stream to obtain the area to be cleaned;
基于待清扫区域，控制扫地机器人进行划区清扫。Based on the area to be cleaned, control the sweeping robot to perform zoned cleaning.
基于上述任一实施例，摄像头设置在空调设备上。Based on any of the above embodiments, the camera is arranged on the air conditioner.
基于上述任一实施例，图5是本申请实施例提供的空调机的结构示意图，如图5所示，该空调机510包括如上述任一实施例所述的清扫控制装置520。Based on any of the foregoing embodiments, FIG. 5 is a schematic structural diagram of an air conditioner provided by an embodiment of the present application. As shown in FIG. 5 , the air conditioner 510 includes the cleaning control device 520 described in any of the foregoing embodiments.
本申请实施例提供的空调机，通过对室内视频流进行人体动作检测，根据人员行走位置确定目标检测区域，并根据目标检测区域的空气质量参数判断室内地面的卫生状况，控制扫地机器人进行清扫，从而实现扫地机 器人的智能清扫，无需用户查看地面卫生状况，提高扫地机器人的使用便捷性，同时为用户提供更洁净的空气环境。In the air conditioner provided by the embodiment of the present application, by performing human motion detection on an indoor video stream, a target detection area is determined according to the walking position of the person, and the sanitary condition of the indoor floor is judged according to the air quality parameter of the target detection area, and the cleaning robot is controlled to clean, Thereby, the intelligent cleaning of the sweeping robot is realized, and the user does not need to check the sanitary condition of the ground, which improves the convenience of use of the sweeping robot, and at the same time provides a cleaner air environment for the user.
图6示例了一种电子设备的实体结构示意图，如图6所示，该电子设备可以包括：处理器(processor)610、通信接口(Communications Interface)620、存储器(memory)630和通信总线640，其中，处理器610，通信接口620，存储器830通过通信总线640完成相互间的通信。处理器610可以调用存储器630中的逻辑指令，以执行清扫控制方法，该方法包括：获取摄像头采集的室内视频流；对室内视频流进行人体动作检测，若检测得到行走动作的人员，则基于人员在室内视频流中的行走位置，确定目标检测区域，并获取目标检测区域的空气质量参数；基于目标检测区域的空气质量参数，控制扫地机器人进行清扫。FIG. 6 illustrates a schematic diagram of the physical structure of an electronic device. As shown in FIG. 6 , the electronic device may include: a processor (processor) 610, a communication interface (Communications Interface) 620, a memory (memory) 630 and a communication bus 640, The processor 610 , the communication interface 620 , and the memory 830 communicate with each other through the communication bus 640 . The processor 610 can call the logic instructions in the memory 630 to execute the cleaning control method, the method includes: acquiring an indoor video stream collected by a camera; performing human motion detection on the indoor video stream, if a person walking motion is detected, based on the personnel Based on the walking position in the indoor video stream, the target detection area is determined, and the air quality parameters of the target detection area are obtained; based on the air quality parameters of the target detection area, the cleaning robot is controlled to clean.
此外，上述的存储器630中的逻辑指令可以通过软件功能单元的形式实现并作为独立的产品销售或使用时，可以存储在一个计算机可读取存储介质中。基于这样的理解，本申请的技术方案本质上或者说对现有技术做出贡献的部分或者该技术方案的部分可以以软件产品的形式体现出来，该计算机软件产品存储在一个存储介质中，包括若干指令用以使得一台计算机设备(可以是个人计算机，服务器，或者网络设备等)执行本申请各个实施例所述方法的全部或部分步骤。而前述的存储介质包括：U盘、移动硬盘、只读存储器(ROM，Read-Only Memory)、随机存取存储器(RAM，Random Access Memory)、磁碟或者光盘等各种可以存储程序代码的介质。In addition, the above-mentioned logic instructions in the memory 630 may be implemented in the form of software functional units and may be stored in a computer-readable storage medium when sold or used as an independent product. Based on this understanding, the technical solution of the present application can be embodied in the form of a software product in essence, or the part that contributes to the prior art or the part of the technical solution. The computer software product is stored in a storage medium, including Several instructions are used to cause a computer device (which may be a personal computer, a server, or a network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of the present application. The aforementioned storage medium includes: U disk, mobile hard disk, Read-Only Memory (ROM, Read-Only Memory), Random Access Memory (RAM, Random Access Memory), magnetic disk or optical disk and other media that can store program codes .
另一方面，本申请还提供一种计算机程序产品，所述计算机程序产品包括存储在非暂态计算机可读存储介质上的计算机程序，所述计算机程序包括程序指令，当所述程序指令被计算机执行时，计算机能够执行上述各方法所提供的清扫控制方法，该方法包括：获取摄像头采集的室内视频流；对室内视频流进行人体动作检测，若检测得到行走动作的人员，则基于人员在室内视频流中的行走位置，确定目标检测区域，并获取目标检测区域的空气质量参数；基于目标检测区域的空气质量参数，控制扫地机器人进行清扫。In another aspect, the present application also provides a computer program product, the computer program product comprising a computer program stored on a non-transitory computer-readable storage medium, the computer program comprising program instructions, when the program instructions are executed by a computer During execution, the computer can execute the cleaning control method provided by the above methods, the method includes: acquiring an indoor video stream collected by a camera; performing human motion detection on the indoor video stream; The walking position in the video stream determines the target detection area, and obtains the air quality parameters of the target detection area; based on the air quality parameters of the target detection area, the sweeping robot is controlled to clean.
又一方面，本申请还提供一种非暂态计算机可读存储介质，其上存储有计算机程序，该计算机程序被处理器执行时实现以执行上述各提供的清 扫控制方法，该方法包括：获取摄像头采集的室内视频流；对室内视频流进行人体动作检测，若检测得到行走动作的人员，则基于人员在室内视频流中的行走位置，确定目标检测区域，并获取目标检测区域的空气质量参数；基于目标检测区域的空气质量参数，控制扫地机器人进行清扫。In yet another aspect, the present application also provides a non-transitory computer-readable storage medium on which a computer program is stored, the computer program is implemented by a processor to execute the cleaning control methods provided above, the method includes: obtaining The indoor video stream collected by the camera; human motion detection is performed on the indoor video stream. If a person walking motion is detected, the target detection area is determined based on the walking position of the person in the indoor video stream, and the air quality parameters of the target detection area are obtained. ; Based on the air quality parameters of the target detection area, control the sweeping robot to clean.
以上所描述的装置实施例仅仅是示意性的，其中所述作为分离部件说明的单元可以是或者也可以不是物理上分开的，作为单元显示的部件可以是或者也可以不是物理单元，即可以位于一个地方，或者也可以分布到多个网络单元上。可以根据实际的需要选择其中的部分或者全部模块来实现本实施例方案的目的。本领域普通技术人员在不付出创造性的劳动的情况下，即可以理解并实施。The device embodiments described above are only illustrative, wherein the units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in One place, or it can be distributed over multiple network elements. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution in this embodiment. Those of ordinary skill in the art can understand and implement it without creative effort.
通过以上的实施方式的描述，本领域的技术人员可以清楚地了解到各实施方式可借助软件加必需的通用硬件平台的方式来实现，当然也可以通过硬件。基于这样的理解，上述技术方案本质上或者说对现有技术做出贡献的部分可以以软件产品的形式体现出来，该计算机软件产品可以存储在计算机可读存储介质中，如ROM/RAM、磁碟、光盘等，包括若干指令用以使得一台计算机设备(可以是个人计算机，服务器，或者网络设备等)执行各个实施例或者实施例的某些部分所述的方法。From the description of the above embodiments, those skilled in the art can clearly understand that each embodiment can be implemented by means of software plus a necessary general hardware platform, and certainly can also be implemented by hardware. Based on this understanding, the above-mentioned technical solutions can be embodied in the form of software products in essence or the parts that make contributions to the prior art, and the computer software products can be stored in computer-readable storage media, such as ROM/RAM, magnetic A disc, an optical disc, etc., includes several instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to perform the methods described in various embodiments or some parts of the embodiments.
最后应说明的是：以上实施例仅用以说明本申请的技术方案，而非对其限制；尽管参照前述实施例对本申请进行了详细的说明，本领域的普通技术人员应当理解：其依然可以对前述各实施例所记载的技术方案进行修改，或者对其中部分技术特征进行等同替换；而这些修改或者替换，并不使相应技术方案的本质脱离本申请各实施例技术方案的精神和范围。Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present application, but not to limit them; although the present application has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that: it can still be Modifications are made to the technical solutions recorded in the foregoing embodiments, or some technical features thereof are equivalently replaced; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the present application.

Claims (10)

  1. 一种清扫控制方法，其特征在于，包括：A cleaning control method, comprising:
    获取摄像头采集的室内视频流；Obtain the indoor video stream captured by the camera;
    对所述室内视频流进行人体动作检测，若检测得到行走动作的人员，则基于所述人员在所述室内视频流中的行走位置，确定目标检测区域，并获取所述目标检测区域的空气质量参数；Perform human motion detection on the indoor video stream, and if a person walking motion is detected, determine a target detection area based on the walking position of the person in the indoor video stream, and obtain the air quality of the target detection area parameter;
    基于所述目标检测区域的空气质量参数，控制扫地机器人进行清扫。Based on the air quality parameters of the target detection area, the sweeping robot is controlled to clean.
  2. 根据权利要求1所述的清扫控制方法，其特征在于，所述空气质量参数包括所述人员行走前后的空气颗粒物密度；The cleaning control method according to claim 1, wherein the air quality parameter includes the density of air particles before and after the person walks;
    所述基于所述目标检测区域的空气质量参数，控制扫地机器人进行清扫，包括：The controlling the sweeping robot to clean based on the air quality parameters of the target detection area includes:
    若所述目标检测区域在所述人员行走前后的空气颗粒物密度之差大于预设阈值，则控制扫地机器人进行清扫。If the difference between the density of air particles in the target detection area before and after the person walks is greater than a preset threshold, the sweeping robot is controlled to clean.
  3. 根据权利要求2所述的清扫控制方法，其特征在于，所述控制扫地机器人进行清扫，包括：The cleaning control method according to claim 2, wherein the controlling the cleaning robot to perform cleaning comprises:
    基于所述人员行走前后的空气颗粒物密度之差，确定清扫强度等级；Determine the cleaning intensity level based on the difference in air particle density before and after the person walks;
    基于所述清扫强度等级，控制所述扫地机器人进行清扫。Based on the cleaning intensity level, the cleaning robot is controlled to perform cleaning.
  4. 根据权利要求1至3中任一项所述的清扫控制方法，其特征在于，所述控制扫地机器人进行清扫，包括：The cleaning control method according to any one of claims 1 to 3, wherein the controlling the cleaning robot to perform cleaning comprises:
    向客户端发送清扫提示；Send a cleaning prompt to the client;
    若接收到所述客户端基于所述清扫提示返回的清扫确认指令，则控制所述扫地机器人进行清扫。If a cleaning confirmation instruction returned by the client based on the cleaning prompt is received, the cleaning robot is controlled to perform cleaning.
  5. 根据权利要求1至3中任一项所述的清扫控制方法，其特征在于，所述获取所述目标检测区域的空气质量参数，包括：The cleaning control method according to any one of claims 1 to 3, wherein the acquiring the air quality parameter of the target detection area comprises:
    从室内各个检测区域的空气质量参数中，选取所述目标检测区域的空气质量参数；From the air quality parameters of each indoor detection area, select the air quality parameter of the target detection area;
    所述各个检测区域的空气质量参数是对应检测区域的空气传感器采集得到的，所述空气传感器设置在对应检测区域靠近地面的位置。The air quality parameters of each detection area are collected by an air sensor corresponding to the detection area, and the air sensor is arranged at a position close to the ground of the corresponding detection area.
  6. 根据权利要求1至3中任一项所述的清扫控制方法，其特征在于，所述控制扫地机器人进行清扫，之后还包括：The cleaning control method according to any one of claims 1 to 3, wherein the controlling the cleaning robot to perform cleaning further comprises:
    基于设置在所述扫地机器人上的空气传感器，获取清扫区域的实时空气颗粒物密度；Obtain the real-time air particle density of the cleaning area based on the air sensor arranged on the cleaning robot;
    若所述实时空气颗粒物密度大于净化开启阈值，则控制空气净化设备启动。If the real-time air particle density is greater than the purification activation threshold, the air purification equipment is controlled to be activated.
  7. 根据权利要求1至3中任一项所述的清扫控制方法，其特征在于，所述获取摄像头采集的室内视频流，包括：The cleaning control method according to any one of claims 1 to 3, wherein the acquiring the indoor video stream collected by the camera comprises:
    对所述室内视频流进行污垢检测，得到待清扫区域；Perform dirt detection on the indoor video stream to obtain the area to be cleaned;
    基于所述待清扫区域，控制所述扫地机器人进行划区清扫。Based on the area to be cleaned, the cleaning robot is controlled to perform zoned cleaning.
  8. 根据权利要求1至3中任一项所述的清扫控制方法，其特征在于，所述摄像头设置在空调设备上。The cleaning control method according to any one of claims 1 to 3, wherein the camera is provided on an air conditioner.
  9. 一种清扫控制装置，其特征在于，包括：A cleaning control device, characterized in that it includes:
    获取模块，用于获取摄像头采集的室内视频流；The acquisition module is used to acquire the indoor video stream collected by the camera;
    检测模块，用于对所述室内视频流进行人体动作检测，若检测得到行走动作的人员，则基于所述人员在所述室内视频流中的行走位置，确定目标检测区域，并获取所述目标检测区域的空气质量参数；The detection module is used for detecting human motion on the indoor video stream. If a person with walking motion is detected, then based on the walking position of the person in the indoor video stream, a target detection area is determined, and the target is obtained. Air quality parameters in the detection area;
    控制模块，用于基于所述目标检测区域的空气质量参数，控制扫地机器人进行清扫。The control module is configured to control the sweeping robot to clean based on the air quality parameters of the target detection area.
  10. 一种空调机，其特征在于，包括如权利要求9所述的清扫控制装置。An air conditioner comprising the cleaning control device according to claim 9 .
PCT/CN2021/132798 2021-04-30 2021-11-24 Cleaning control method and apparatus, and air conditioner WO2022227533A1 (en)

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