CN107616759A - The method for cleaning and system of a kind of object - Google Patents
The method for cleaning and system of a kind of object Download PDFInfo
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- CN107616759A CN107616759A CN201710772094.8A CN201710772094A CN107616759A CN 107616759 A CN107616759 A CN 107616759A CN 201710772094 A CN201710772094 A CN 201710772094A CN 107616759 A CN107616759 A CN 107616759A
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Abstract
The embodiments of the invention provide a kind of method for cleaning of object and system, methods described is applied in mobile terminal and associated sweeping robot, and sweeping robot is configured with molecule sensor, including：The molecule sensor is driven to object emission near infrared light for clearance, and receives the object features light of the object reflection for clearance；Determine that the object belongs to the object that can be cleared up according to the object features light, then pair object that can be cleared up is cleared up；It not can determine that the object belongs to the object that can be cleared up according to the object features light, then send the view data of object for clearance to the mobile terminal, the mobile terminal makes cleaning or the instruction do not cleared up.By the molecular characterization of molecule sensor detection object, so as to verify whether the object is the object that can be cleared up exactly, so as to pointedly be cleared up, the use of the cleaning systems such as hairbrush, dust catcher can be efficiently controlled, avoid continuing unlatching, reduce power consumption, extend clearance time.
Description
Technical field
The present invention relates to the method for cleaning and system of the technical field of mobile intelligent terminal, more particularly to a kind of object.
Background technology
With the high speed development of science and technology, household electric appliances have gradually tended to intelligent, for example, sweeping robot, the electric meal of intelligence
Pot, intelligent television etc., increasing smart home electrical equipment extensive use in the life of people, substantially increase people's life
Comfortableness living and convenience.
Sweeping robot can clean the rubbish such as dust, the scurf on ground by cleaning systems such as hairbrush or dust catchers, real
A certain degree of cleaning now is carried out to ground.
But sweeping robot is to continue the unlatching cleaning systems such as hairbrush or dust catcher to be cleared up mostly, causes power consumption
Higher, clearance time is shorter.
The content of the invention
The embodiment of the present invention provides a kind of method for cleaning and system of object, with solve lasting cleaning cause power consumption it is higher,
The problem of clearance time is shorter.
First aspect, there is provided a kind of method for cleaning of object, apply in mobile terminal and associated sweeping robot
In, the sweeping robot is configured with molecule sensor, and methods described includes：
The molecule sensor is driven to object emission near infrared light for clearance, and it is anti-to receive the object for clearance
The object features light penetrated；
Determine that the object belongs to the object that can be cleared up according to the object features light, then pair object that can be cleared up carries out clear
Reason；
It not can determine that the object belongs to the object that can be cleared up according to the object features light, then by the figure of object for clearance
As data are sent to the mobile terminal, the mobile terminal makes cleaning or the instruction do not cleared up.
Second aspect, there is provided a kind of cleaning system of object, the system include associated sweeping robot and shifting
Dynamic terminal, the sweeping robot are configured with molecule sensor；
Wherein, the sweeping robot includes：
Molecule sensor drive module, for driving the molecule sensor to object emission near infrared light for clearance,
And receive the object features light of the object reflection for clearance；
Object cleaning modul can be cleared up, for determining that the object belongs to pair that can be cleared up according to the object features light
As then pair object that can be cleared up is cleared up；
View data sending module, for not can determine that the object belongs to pair that can be cleared up according to the object features light
As then the view data of object for clearance is sent to the mobile terminal；
The mobile terminal includes：
Command operating module, for making cleaning or the instruction do not cleared up according to the view data of the object for clearance.
So, in the embodiment of the present invention, by configuring molecule sensor in sweeping robot, molecule sensor is treated clearly
The object emission near infrared light of reason and the object features light for receiving its reflection, so that it is determined that the object belongs to the object that can be cleared up,
And it is cleared up, if can not determine, the view data of object for clearance is sent to associated mobile terminal, the shifting
Dynamic terminal makes cleaning or the instruction do not cleared up, by the molecular characterization of molecule sensor detection object, so as to verify exactly
Whether the object is the object that can be cleared up, and so as to pointedly be cleared up, can efficiently control the cleaning such as hairbrush, dust catcher
The use of system, avoid continuing unlatching, reduce power consumption, extend clearance time.
Brief description of the drawings
In order to illustrate the technical solution of the embodiments of the present invention more clearly, below by institute in the description to the embodiment of the present invention
The accompanying drawing needed to use is briefly described, it should be apparent that, drawings in the following description are only some implementations of the present invention
Example, for those of ordinary skill in the art, without having to pay creative labor, can also be according to these accompanying drawings
Obtain other accompanying drawings.
Fig. 1 is a kind of flow chart of the method for cleaning of object of one embodiment of the invention.
Fig. 2 is a kind of view of near infrared light molecule of one embodiment of the invention.
Fig. 3 is a kind of structural representation of molecule sensor of one embodiment of the invention.
Fig. 4 is a kind of structural representation of receiver of one embodiment of the invention.
Fig. 5 is the structural representation of another receiver of one embodiment of the invention.
Fig. 6 is the flow chart of the method for cleaning of another object of one embodiment of the invention.
Fig. 7 is a kind of infrared spectrogram of one embodiment of the invention.
Fig. 8 is a kind of block diagram of the cleaning system of object of one embodiment of the invention.
Fig. 9 is a kind of block diagram of molecule sensor drive module of one embodiment of the invention.
Figure 10 is a kind of block diagram for clearing up object cleaning modul of one embodiment of the invention.
Figure 11 is that the another kind of one embodiment of the invention can clear up the block diagram of object cleaning modul.
Figure 12 is a kind of block diagram with reference to infrared spectrogram generation submodule of one embodiment of the invention.
Figure 13 is the block diagram of another view data sending module of one embodiment of the invention.
Figure 14 is that the another kind of one embodiment of the invention can clear up the block diagram of object cleaning modul.
Embodiment
Below in conjunction with the accompanying drawing in the embodiment of the present invention, the technical scheme in the embodiment of the present invention is carried out clear, complete
Site preparation describes, it is clear that described embodiment is part of the embodiment of the present invention, rather than whole embodiments.Based on this hair
Embodiment in bright, the every other implementation that those of ordinary skill in the art are obtained under the premise of creative work is not made
Example, belongs to the scope of protection of the invention.
First embodiment
Reference picture 1, a kind of flow chart of the method for cleaning of object of one embodiment of the invention is shown, can specifically be wrapped
Include following steps：
Step 101, the molecule sensor is driven to object emission near infrared light for clearance, and is received described for clearance
Object reflection object features light.
In the specific implementation, the embodiment of the present invention can be applied in mobile terminal and associated sweeping robot.
Wherein, mobile terminal can include mobile phone, (Personal Digital Assistant, individual digital help PDA
Reason), laptop computer, palm PC etc., the present invention is not any limitation as to this.
These mobile terminals can support the operating systems such as Android (Android), IOS, WindowsPhone, windows.
In addition, sweeping robot, also known as sweeps machine, intellective dust collector, robot cleaner etc. automatically, it is smart home electricity
One kind of device, certain artificial intelligence can be relied on, complete land clearing work in room automatically.
Sweeping robot is typically swept using brush and vacuum mode, and the rubbish on ground is received into the rubbish storage into itself
Box, so as to complete the function of land clearing.
In general, by complete cleanings, dust suction, wiping etc. cleaning robot, can also uniformly be classified as sweeper
Device people.
In embodiments of the present invention, sweeping robot is configured with molecule sensor.The molecule sensor passes through MIPI
(Mobile Industry Processor Interface, mobile Industry Processor Interface) interface, I2C (Inter-
Integrated Circuit, internal integrated circuit) interface access processor, molecule sensor through I2C interface to processor send out
Handshake is sent, notifier processes device there are data to be transmitted, and the data of detection are transferred into processing through MIPI interfaces afterwards
Device is further processed.
As shown in Fig. 2 molecule sensor can be to be detected to electromagnetic radiation near infrared light (near IR) 201 to be detected
Sample molecule 202 in some group vibration frequency or rotational frequency as the frequency of the near infrared light 201 when, molecule
202 absorb energy, are absorbed by the kinetic energy order transition of shaking and (turn) of original ground state to the higher kinetic energy level of shaking and (turn) of energy, molecule 202
Vibration and the transition of rotational energy level occur after infra-red radiation, light of wavelength is absorbed by the sample and sent to molecule sensor at this.
So molecule sensor receives the light of sample reflection to be detected, the decay of the reflected light of detected sample is analyzed
Degree, the characteristic information such as the interatomic Relative Vibration of detected sample intramolecule and molecule rotation is obtained, so as to identify this
The molecular structure of detected sample.
In the specific implementation, as shown in figure 3, molecule sensor 300 can include light source 301 and receiver 302.
Wherein, light source 301 can launch near infrared light, generally, the EWL of near infrared light can be 720nm~
1070nm.For example, light source 301 can be LED (Light-Emitting Diode, light emitting diode) transmitting tube.
Receiver 302 can be the light sensor for receiving sample reflected light.Generally, the sensitivity of receiver 302 is small
In 10nm, for example, 8nm.
In an example of the embodiment of the present invention, receiver is provided with multistage dispersion means.
As shown in figure 4, receiver is internally provided with slit 421, using reflective mirror 422 as the dispersion means of the first order, with
Dispersion means of the grating 423 as the second level, the dispersion means of the third level are used as using reflective mirror 424.Detected sample reflection
Light 410 injects slit 421, injects grating 423 after the reflection of reflective mirror 422, and reflective mirror 424, warp are injected after the diffraction of grating 423
Collection vibration collection of illustrative plates after reflective mirror 424 reflects.
In this example, receiver can carry out multiple reflections, diffraction in shorter distance to the light of reflection, both ensure that
The wave-length coverage of acquisition is wide, shortens distance again.Therefore, it can reduce molecule in the case where ensureing to realize high-resolution and pass
The volume of sensor.
In another example of the embodiment of the present invention, as shown in figure 5, direction of the receiver along incident light is included just successively
Level lens array 501, filtering chip arrays 502, Secondary lens array 503, microwell array 504, supporting construction array 505, sensing
Device array 506.
The illumination of detected sample reflection, which is mapped on Primary lens array 501, produces diffused light, and diffused light is irradiated to filtering
On chip arrays 502, and microwell array 504 prevents from filtering the crosstalk in chip arrays 502 between filter plate.By filtering chip arrays
502 just by angular coding, it pass through Secondary lens array 503, Secondary lens array 503 is understood to by angular coding
Light carry out Fourier transformation, transform it into the light of space encoding, last light reaches sensor array 506.
The position of sensor unit is relevant with lens array optical axis corresponding to wavelength of light in sensor array 506, for
The wavelength of a certain pixel position, determined by the optical axis based on the lens array relevant with pixel position.Sensor unit
Luminous intensity is recorded, so as to correspond to the optical wavelength of the location resolution.
In this example, receiver has straight optical axis, short light path.Straight optical axis and short light path enable to
Molecule sensor is smaller, cost is lower, can incorporate setting into mobile terminal, and can have enough sensitivity and divide
Resolution removes to obtain the spectrogram under multiple band wavelengths of sample.
Certainly, the structure of above-mentioned molecule sensor is intended only as example., can be according to reality when implementing the embodiment of the present invention
Border situation sets the structure of other molecule sensors, and the embodiment of the present invention is not any limitation as to this.In addition, except above-mentioned molecule passes
Outside the structure of sensor, those skilled in the art can also be according to the structure being actually needed using other molecule sensors, the present invention
Embodiment is not also any limitation as to this.
In embodiments of the present invention, sweeping robot starts molecule sensor, makes molecule sensor during movement
In face of object for clearance, control molecule sensor launches the near infrared light of a certain section of wavelength to object for clearance, treats clear
The radiation of the molecule absorption of the object of reason some frequencies, its remaining light is reflected to molecule sensor, molecule sensor, which receives, to be carried
There is the object features light of object molecular characterization information for clearance.
In one embodiment of the invention, sweeping robot can drive molecule sensor pair during movement
Ground launch near infrared light, and the characteristic light of reflection is received, this feature light is likely to be the characteristic light of ground return, it may be possible to
On ground thing for clearance reflection characteristic light, or both combination.
In embodiments of the present invention, can be detected using features described above light between object for clearance and ground away from
From.
In the specific implementation, " time-of-flight method " (flying time) can be used, i.e.,：Launch light pulse (such as near-infrared
Light pulse), and this light pulse is measured from being transmitted into measurand (thing for clearance as existing for ground and ground) and reflect
Between time difference, the distance between object for clearance and ground are calculated by the time difference：
L=C*t/2；
Wherein, L represents distance, and C represents the light velocity, and t was represented from the time difference for being transmitted into measurand and between reflecting.
When distance L is less than default distance threshold, then it can determine object for clearance, and this feature on ground be present
Light is the object features light of thing for clearance.
Due to ground be usually it is smooth, the distance between sweeping robot and ground be usually it is constant, can should
Distance is arranged to distance threshold.If detecting that sweep the floor the distance between machine and object for clearance are less than the distance threshold,
It can then determine：Other objects, such as object for clearance between sweeping robot and ground be present.
Certainly, in addition to distance threshold, the embodiment of the present invention can also use other modes to identify object for clearance.
, can for example, if the distance between sweeping robot and object for clearance belong to noise (i.e. less than the distance of surrounding surrounding)
Be identified using camera, etc., the embodiment of the present invention is not any limitation as to this.
Step 102, when determining that the object belongs to the object that can be cleared up according to the object features light, then pair can clear up
Object is cleared up.
In the specific implementation, object features light can include the characteristic information of composition in object, so as to judge the object
Whether the object that can clear up is belonged to.If rubbish object components are included in object features light or the characteristic letter of object components can be cleared up
Breath, may thereby determine that the object belongs to the object that can be cleared up.
If it is determined that object for clearance is the object that can be cleared up, then the object can be cleared up.
If it is determined that object for clearance is not the object that can be cleared up, then the object is not cleared up.
In the specific implementation, sweeper robot can be cleared up by following one or more modes：
1st, single sucking mouth type
Dust, rubbish are mainly sucked by dust-collecting box by dust catcher.
2nd, middle brush wafer type
Interarea rotates against by a glue brush, a hairbrush and picks up rubbish.
3rd, it is brush to lift V
Negative pressure of vacuum is formed using lifting V brush purging systems, and in Delta Region, preferably can be bonded brush sweep system
Ground environment is cleaned.
In one embodiment of the invention, the top of sweeping robot can be provided with a rotatable Laser emission
Head and matched receiver；Or multiplexing molecule sensor, scan residing for sweeping robot itself to the sweeping robot
The distance that the border in place (such as room) is each put, so as to generate numerical map, with storage location relation.For example work as sweeper
Device people auto-returned charging because of not enough power supply, it can be cleaned automatically since being continued the position that last time returns after charging.
In the embodiment of the present invention, the location coordinate information that can clear up object can be recorded, using multiple positions in above-mentioned numerical map
Coordinate information generates the scope that can clear up object.
In embodiments of the present invention, the cleaning frequency of pair scope that can clear up object can also be improved (such as from cleaning once
It is inferior to rise to cleaning two) and/or clean-up intensity (dynamics, the speed of rotation of hairbrush that such as improve dust catcher), can be clear with pair
The object managed in the scope of object is cleared up.Generally, the quantity of frequency and/or clean-up intensity and object in rubbish scope is cleared up
The quantity of object is more in positive correlation, i.e. rubbish scope, and cleaning frequency is higher, clean-up intensity is bigger.
Step 103, when not can determine that the object belongs to the object that can be cleared up according to the object features light, then will treat clear
The view data of reason object is sent to the mobile terminal, and the mobile terminal makes cleaning or the instruction do not cleared up.
In the specific implementation, if sweeping robot can not judge whether object for clearance belongs to the object that can be cleared up,
Can then view data be gathered to object for clearance, sent to associated mobile terminal.
Mobile terminal can show the view data, prompt user to be selected.
If the user determine that object for clearance belongs to the object that can be cleared up, then the instruction for the cleaning that can set out, send extremely
Sweeping robot, sweeping robot clear up the object.
If the user determine that object for clearance is not belonging to the object that can be cleared up, then can set out the instruction do not cleared up, hair
Sweeping robot is delivered to, sweeping robot does not clear up the object.
So, in the embodiment of the present invention, by configuring molecule sensor in sweeping robot, molecule sensor is treated clearly
The object emission near infrared light of reason and the object features light for receiving its reflection, so that it is determined that the object belongs to the object that can be cleared up,
And it is cleared up, if can not determine, the view data of object for clearance is sent to associated mobile terminal, the shifting
Dynamic terminal makes cleaning or the instruction do not cleared up, by the molecular characterization of molecule sensor detection object, so as to verify exactly
Whether the object is the object that can be cleared up, and so as to pointedly be cleared up, can efficiently control the cleaning such as hairbrush, dust catcher
The use of system, avoid continuing unlatching, reduce power consumption, extend clearance time.
Second embodiment
Reference picture 6, the flow chart of the method for cleaning of another object of one embodiment of the invention is shown, applies and is moving
In dynamic terminal and associated sweeping robot, the sweeping robot is configured with molecule sensor, and methods described specifically can be with
Comprise the following steps：
Step 601, the molecule sensor is driven to object emission near infrared light for clearance, and is received described for clearance
Object reflection object features light.
Step 602, the infrared spectrogram of object for clearance is drawn using the object features light.
When the infrared light of certain frequency passes through the molecule of object for clearance, by identical vibration frequency in the molecule of object for clearance
The chemical bond of rate absorbs, and records the bent referred to as infrared spectrogram of curve that the infrared light transmittance and pictorialization are formed.
In a kind of representation of infrared spectrogram, abscissa is wavelength X (μm) and/or the λ (cm of wave number 1/-1), indulge and sit
It is designated as trap A.
In another representation of infrared spectrogram, abscissa is wavelength X (μm) and/or the λ (cm of wave number 1/-1), indulge
Coordinate is percentage transmitance T% (i.e. percentage of the light through sample).
Molecule sensor is faced into object electromagnetic radiation near infrared light for clearance, and receives the light of its reflection, it is clear using treating
The light of reason object emission can also draw infrared spectrogram.
For example, as shown in fig. 7, molecule sensor is launched near infrared light in face of desktop, there is different compositions in desk,
Such as wood, paint, different molecular links can be reflected the near infrared light of different wave length accordingly, so as to utilize reflection
Different wave length near infrared light draw out infrared spectrogram.
In embodiments of the present invention, the object features light that object for clearance can be used to reflect, draws infrared spectrogram,
Obtain the infrared spectrogram of object for clearance.Infrared spectrogram by calculating object for clearance measures the near red of different wave length
External light reflection return after attenuation degree, the characteristic that composition is included in testee can be reflected, so as to judge measured object
Whether body belongs to the object cleared up that can be cleared up.
Step 603, the infrared spectrogram of the object for clearance is matched with default Infrared Targets spectrogram.
Step 604, when the infrared spectrogram of the object for clearance matches the Infrared Targets spectrogram success, it is determined that
The object for clearance belongs to the object that can be cleared up.
In clearing up of in the specific implementation, some objects to drop on the ground, being set in advance as being cleared up
Object.For example, different types of swill, soil, hair, packaging bag, etc..
Mobile terminal can be according to Infrared Targets spectrogram, the Infrared Targets spectrum corresponding to the object lookup that this can be cleared up
Figure is the infrared spectrogram for the specified object cleared up detect acquisition using near infrared light.
In a kind of mode, spectrum chart database can be established in server, be stored in the spectrum chart database big
The infrared spectrogram of sample is measured, wherein can include the specified object cleared up is carried out using near infrared light to detect acquisition
Infrared spectrogram.
Spectrum chart database can be safeguarded that is, the whole network user can detect certain using molecule sensor by the whole network user
After the infrared spectrogram of individual sample, the information (such as title, kind) of the sample is marked, is uploaded onto the server, can also be by
The testing agency of specialty is safeguarded that is, some sample detects using the equipment such as infrared spectrometer or molecule sensor in testing agency
Infrared spectrogram after, mark the information (such as water content, sugar content) of the sample, upload onto the server, etc., the present invention
Embodiment is not any limitation as to this.
In the manner, mobile terminal can send the checking request of the object that can be cleared up to server, server foundation
The infrared spectrogram for the object cleared up that the checking request is specified in spectrogram data base querying, as Infrared Targets spectrum
Figure.
In a further mode of operation, Cellular spectroscopic picture library can be established to sample in spectrum chart database, in a cell
The infrared spectrogram of the sample with identical characteristic can be stored in spectrum picture library.
For example, establish a Cellular spectroscopic picture library to the RMB of the 5th edition, to different times (such as the growth stage, the maturity period,
After taking etc.) apple establish a Cellular spectroscopic picture library, a Cellular spectroscopic picture library is established to the human body under different body temperature, etc.
Deng
User can download one or more Cellular spectroscopic picture libraries from server, be stored in mobile terminal sheet as desired
Ground.
For example, if user manages shop, the circulation of bank note is very big, can download what the RMB of the 5th edition was established
Cellular spectroscopic picture library.
In the manner, the Cellular spectroscopic picture library for the object that can be cleared up can be locally stored in mobile terminal, can be clear at this
The Cellular spectroscopic picture library of the object of reason searches infrared spectrogram, as Infrared Targets spectrogram.
If Infrared Targets spectrogram stores in the server, server can be by the infrared spectrogram of object for clearance
Similarity is calculated with Infrared Targets spectrogram, and returns to result of calculation to mobile terminal.
If Infrared Targets spectrogram stores in the terminal, mobile terminal can be by the infrared light of object for clearance
Spectrogram calculates similarity with Infrared Targets spectrogram.
If similarity is higher than threshold value set in advance, can consider both, the match is successful, otherwise it is assumed that both matchings
Failure.
If the infrared spectrogram of object for clearance is with Infrared Targets spectrogram, the match is successful, then it represents that object for clearance with
The object cleared up that can be cleared up is of identical composition, it is believed that object for clearance is the object cleared up specified.
Step 605, the reference infrared spectrogram of object can not be cleared up by drawing.
In embodiments of the present invention, in a specific place (such as house), some arrangement objects on the ground can be with
The object that can not be cleared up is arranged to, for example, electric wire, carpet etc..
For the object that these can not be cleared up, near infrared light can be launched it, and receive the characteristic light of its transmitting, used
This feature light is drawn and refers to infrared spectrogram.
This can be stored in sweeping robot local with reference to infrared spectrogram, can also be uploaded to service using user account
In device, if being subsequently to change sweeping robot, it can be downloaded to based on the user account in the sweeping robot after changing.
In one embodiment, the object that sweeping robot can not be cleared up by the cleaning behavior autonomous learning of user.
In this embodiment, molecule sensor can be driven to launch near infrared light to the object that can not be cleared up, and received
The object features light for the object reflection that can not be cleared up.
Drawn using the object features light that can not clear up object and refer to infrared spectrogram.
The drafting frequency of statistical-reference infrared spectrogram.
When drafting frequency is higher than default frequency threshold, the reference infrared spectrogram of object that can not be cleared up is arranged to.
In general, if the reference substance object in place is the object that can be cleared up, meeting is clear by user within a short period of time
Sweep, if the reference substance object in place is the object that can not be cleared up, can exist in a long time, and do not cleaned.
By the drafting frequency of statistical-reference infrared spectrogram, the detection frequency of some reference substance object can be reflected,
If above some frequency threshold, represent that the detection frequency of the reference substance object is higher, it is believed that be the object that can not be cleared up.
In other apply mode, sweeping robot determines the object that can not be cleared up by other means, for example, user passes through
Mobile terminal detects the reference infrared spectrogram of some object that can not be cleared up, send to rubbish robot, etc., the present invention is real
Example is applied not to be any limitation as this.
Step 606, when the infrared spectrogram of the object for clearance matches the Infrared Targets spectrogram failure, by institute
The infrared spectrogram for stating object for clearance is matched with described with reference to infrared spectrogram.
If the infrared spectrogram of object for clearance is with Infrared Targets spectrogram, the match is successful, then it represents that object for clearance with
The object cleared up that can be cleared up has different compositions, can be further red by the infrared spectrogram of object for clearance and reference
External spectrum figure is matched, and calculates the infrared spectrogram of object for clearance and with reference to similarity between infrared spectrogram.
If the similarity is higher than threshold value set in advance, it is considered that both the match is successful, otherwise it is assumed that both
With failure.
Step 607, when matching the success with reference to infrared spectrogram, determine that the object belongs to pair that can not be cleared up
As.
Step 608, when matching the failure with reference to infrared spectrogram, picture number is gathered to the object for clearance
According to.
Step 609, described image data are sent to the mobile terminal of association.
If the infrared spectrogram of object for clearance with the match is successful with reference to infrared spectrogram, then it represents that object for clearance with
The object that can not be cleared up is of identical composition, it is believed that object to be detected is the object that can not be cleared up, and it is not carried out
Cleaning.
If the infrared spectrogram of object for clearance with it fails to match with reference to infrared spectrogram, then it represents that object for clearance with
The object that can not be cleared up has different compositions, camera can be called to gather view data to it.
View data is sent to the mobile terminal of association, shows user, allows user further to be confirmed.
Step 610, when receiving the cleaning instruction of mobile terminal feedback, determining that the object for clearance belongs to can
The object of cleaning.
Step 611, when receiving when not clearing up instruction of mobile terminal feedback, determining that the object belongs to can not be clear
The object of reason.
If user confirms that the object is the object that can be cleared up, mobile terminal can be operated, selects the option of cleaning, is moved
Dynamic terminal generation cleaning is instructed and sent to sweeping robot, and sweeping robot determines that the object belongs to according to the cleaning information can
The object of cleaning.
If user confirms that the object is the object that can not be cleared up, mobile terminal can be operated, selects the choosing do not cleared up
, mobile terminal generation does not clear up to instruct and send to sweeping robot, sweeping robot determines the thing according to the reservation information
Body belongs to the object that can not be cleared up.
Step 612, pair object that can be cleared up is cleared up.
It should be noted that for embodiment of the method, in order to be briefly described, therefore it is all expressed as to a series of action group
Close, but those skilled in the art should know, the embodiment of the present invention is not limited by described sequence of movement, because according to
According to the embodiment of the present invention, some steps can use other orders or carry out simultaneously.Secondly, those skilled in the art also should
Know, embodiment described in this description belongs to preferred embodiment, and the involved action not necessarily present invention is implemented
Necessary to example.
3rd embodiment
Reference picture 8, shows a kind of block diagram of the cleaning system of object of one embodiment of the invention, and the system includes
Associated sweeping robot 800 and mobile terminal 810, the sweeping robot 800 are configured with molecule sensor.
Wherein, sweeping robot 800 can specifically include following module：
Molecule sensor drive module 801, for driving the molecule sensor to object emission near-infrared for clearance
Light, and receive the object features light of the object reflection for clearance；
Object cleaning modul 802 can be cleared up, for determining that the object belongs to what can be cleared up according to the object features light
Object, then pair object that can be cleared up clear up；
View data sending module 803, it can be cleared up for not can determine that the object belongs to according to the object features light
Object, then the view data of object for clearance is sent to the mobile terminal；
The mobile terminal 810 can specifically include following module：
Command operating module 811, for making cleaning or the finger do not cleared up according to the view data of the object for clearance
Order.
In one embodiment of the invention, the block diagram of the molecule sensor drive module with reference to shown in figure 9, the molecule
Sensor drive module 801 can further include following submodule：
Ground launch submodule 8011, for driving the molecule sensor to ground launch near infrared light, and receive anti-
The characteristic light penetrated；
Apart from detection sub-module 8012, for using the distance between characteristic light detection and described ground；
Object determination sub-module 8013, for when the distance is less than default distance threshold, determining on the ground
Object for clearance be present, and the characteristic light is the object features light of thing for clearance.
In one embodiment of the invention, the block diagram for clearing up object cleaning modul with reference to shown in figure 10, it is described can
Cleaning object cleaning modul 802 can further include following submodule：
Infrared spectrogram rendering submodule 8021, for drawing the infrared light of object for clearance using the object features light
Spectrogram；
Infrared Targets spectrogram matched sub-block 8022, for by the infrared spectrogram of the object for clearance with it is default
Infrared Targets spectrogram is matched；
First matching determination sub-module 8023, it is red for matching the target in the infrared spectrogram of the object for clearance
During the success of external spectrum figure, determine that the object belongs to the object that can be cleared up.
In one embodiment of the invention, the block diagram for clearing up object cleaning modul with reference to shown in figure 11, it is described can
Cleaning object cleaning modul 802 can further include following submodule：
Submodule 8024 is generated with reference to infrared spectrogram, for drawing the reference infrared spectrogram for the object that can not be cleared up；
With reference to infrared spectrogram matched sub-block 8025, for described in the infrared spectrogram matching in the object for clearance
When Infrared Targets spectrogram fails, by the infrared spectrogram of the object for clearance with described with reference to infrared spectrogram progress
Match somebody with somebody；
Second matching determination sub-module 8026, it is described with reference to red for the infrared spectrogram matching in the object for clearance
During the success of external spectrum figure, determine that the object belongs to the non-object cleared up.
In one embodiment of the invention, the block diagram of the reference infrared spectrogram generation submodule with reference to shown in figure 12,
It is described further to include such as lower unit with reference to infrared spectrogram generation submodule 8024：
Reference substance subject detecting unit 80241, it is near for driving the molecule sensor to launch the object that can not be cleared up
Infrared light, and the object features light for the object reflection that can not be cleared up described in reception；
With reference to infrared spectrogram drawing unit 80242, the object features light for that can not clear up object described in use is drawn
With reference to infrared spectrogram；
Frequency statistics unit 80243 is drawn, for counting the drafting frequency with reference to infrared spectrogram；
With reference to infrared spectrogram setting unit 80244, for when the drafting frequency is higher than default frequency threshold, if
It is set to the reference infrared spectrogram for the object that can not be cleared up.
In one embodiment of the invention, the block diagram of the view data sending module with reference to shown in figure 13, described image
Data transmission blocks 803 can further include following submodule：
Image data acquiring submodule 8031, it is described with reference to red for the infrared spectrogram matching in the object for clearance
When external spectrum figure fails, view data is gathered to the object for clearance；
View data sending submodule 8032, for described image data to be sent to the mobile terminal of association；
Cleaning instruction determination sub-module 8033, when the cleaning for receiving the mobile terminal feedback instructs, determine institute
State object for clearance and belong to the object that can be cleared up；
Reserve statement determination sub-module 8034, for receiving when not clearing up instruction of the mobile terminal feedback, really
The fixed object belongs to the object that can not be cleared up.
In one embodiment of the invention, the block diagram for clearing up object cleaning modul with reference to shown in figure 14, it is described can
Cleaning object cleaning modul 802 can further include following submodule：
Coordinate record submodule 8027, for recording the coordinate of the object；
Rubbish scope generates submodule 8028, for using multiple Coordinate generation rubbish scopes；
Rubbish scope clears up submodule 8029, for improving cleaning frequency and/or clean-up intensity to the rubbish scope,
To clear up the object in the rubbish scope.
Sweeping robot 800 can realize each process that sweeping robot is realized in Fig. 1 to Fig. 7 embodiment of the method,
To avoid repeating, repeat no more here.
So, in the embodiment of the present invention, by configuring molecule sensor in sweeping robot, molecule sensor is treated clearly
The object emission near infrared light of reason and the object features light for receiving its reflection, so that it is determined that the object belongs to the object that can be cleared up,
And it is cleared up, if can not determine, the view data of object for clearance is sent to associated mobile terminal, the shifting
Dynamic terminal makes cleaning or the instruction do not cleared up, by the molecular characterization of molecule sensor detection object, so as to verify exactly
Whether the object is the object that can be cleared up, and so as to pointedly be cleared up, can efficiently control the cleaning such as hairbrush, dust catcher
The use of system, avoid continuing unlatching, reduce power consumption, extend clearance time.
Those of ordinary skill in the art it is to be appreciated that with reference to disclosed in the embodiment of the present invention embodiment description it is each
The unit and algorithm steps of example, it can be realized with the combination of electronic hardware or computer software and electronic hardware.These
Function is performed with hardware or software mode actually, application-specific and design constraint depending on technical scheme.Specialty
Technical staff can realize described function using distinct methods to each specific application, but this realization should not
Think beyond the scope of this invention.
It is apparent to those skilled in the art that for convenience and simplicity of description, the system of foregoing description,
The specific work process of device and unit, the corresponding process in preceding method embodiment is may be referred to, will not be repeated here.
In embodiment provided herein, it should be understood that disclosed apparatus and method, others can be passed through
Mode is realized.For example, device embodiment described above is only schematical, for example, the division of the unit, is only
A kind of division of logic function, can there is an other dividing mode when actually realizing, for example, multiple units or component can combine or
Person is desirably integrated into another system, or some features can be ignored, or does not perform.Another, shown or discussed is mutual
Between coupling or direct-coupling or communication connection can be INDIRECT COUPLING or communication link by some interfaces, device or unit
Connect, can be electrical, mechanical or other forms.
The unit illustrated as separating component can be or may not be physically separate, show as unit
The part shown can be or may not be physical location, you can with positioned at a place, or can also be distributed to multiple
On NE.Some or all of unit therein can be selected to realize the mesh of this embodiment scheme according to the actual needs
's.
In addition, each functional unit in each embodiment of the present invention can be integrated in a processing unit, can also
That unit is individually physically present, can also two or more units it is integrated in a unit.
If the function is realized in the form of SFU software functional unit and is used as independent production marketing or in use, can be with
It is stored in a computer read/write memory medium.Based on such understanding, technical scheme is substantially in other words
The part to be contributed to prior art or the part of the technical scheme can be embodied in the form of software product, the meter
Calculation machine software product is stored in a storage medium, including some instructions are causing a computer equipment (can be
People's computer, server, or network equipment etc.) perform all or part of step of each embodiment methods described of the present invention.
And foregoing storage medium includes：USB flash disk, mobile hard disk, ROM, RAM, magnetic disc or CD etc. are various can be with store program codes
Medium.
The foregoing is only a specific embodiment of the invention, but protection scope of the present invention is not limited thereto, any
Those familiar with the art the invention discloses technical scope in, change or replacement can be readily occurred in, should all be contained
Cover within protection scope of the present invention.Therefore, protection scope of the present invention should be defined by scope of the claims.
Claims (14)
- A kind of 1. method for cleaning of object, it is characterised in that apply in mobile terminal and associated sweeping robot, it is described Sweeping robot is configured with molecule sensor, and methods described includes：The molecule sensor is driven to object emission near infrared light for clearance, and receives the object reflection for clearance Object features light；Determine that the object belongs to the object that can be cleared up according to the object features light, then pair object that can be cleared up is cleared up；It not can determine that the object belongs to the object that can be cleared up according to the object features light, then by the picture number of object for clearance According to sending to the mobile terminal, the mobile terminal makes cleaning or the instruction do not cleared up.
- 2. according to the method for claim 1, it is characterised in that the driving molecule sensor is to object for clearance Launch near infrared light, and the step for receiving the object features light of the object reflection for clearance includes：The molecule sensor is driven to ground launch near infrared light, and receives the characteristic light of reflection；Using the distance between characteristic light detection and described ground；When the distance is less than default distance threshold, determine object for clearance on the ground be present, and the feature Light is the object features light of thing for clearance.
- 3. according to the method for claim 1, it is characterised in that described that the object category is determined according to the object features light Include in the step of object that can be cleared up：The infrared spectrogram of object for clearance is drawn using the object features light；The infrared spectrogram of the object for clearance is matched with default Infrared Targets spectrogram；When the infrared spectrogram of the object for clearance matches the Infrared Targets spectrogram success, the thing for clearance is determined Body belongs to the object that can be cleared up.
- 4. according to the method for claim 3, it is characterised in that described that the object category is determined according to the object features light Also include in can clear up object the step of：Draw the reference infrared spectrogram for the object that can not be cleared up；When the infrared spectrogram of the object for clearance matches the Infrared Targets spectrogram failure, by the object for clearance Infrared spectrogram matched with described with reference to infrared spectrogram；When the infrared spectrogram matching of the object for clearance success with reference to infrared spectrogram, the thing for clearance is determined Body belongs to the object that can not be cleared up.
- 5. according to the method for claim 4, it is characterised in that the object that the drafting can not clear up refers to infrared spectrogram The step of include：The molecule sensor is driven to launch near infrared light to the object that can not be cleared up, and the object that can not be cleared up described in reception is anti- The object features light penetrated；Drawn using the object features light that can not clear up object and refer to infrared spectrogram；Count the drafting frequency with reference to infrared spectrogram；When the drafting frequency is higher than default frequency threshold, the reference infrared spectrogram of object that can not be cleared up is arranged to.
- 6. according to the method for claim 4, it is characterised in that described that the thing not can determine that according to the object features light Body belongs to the object that can be cleared up, then sends the view data of object for clearance to the mobile terminal, the mobile terminal and make The step of going out cleaning or the instruction do not cleared up includes：When the infrared spectrogram matching of the object for clearance failure with reference to infrared spectrogram, to the thing for clearance Body gathers view data；Described image data are sent to the mobile terminal of association；When receiving the cleaning instruction of the mobile terminal feedback, determine that the object for clearance belongs to the object that can be cleared up；When receiving when not clearing up instruction of the mobile terminal feedback, determine that the object belongs to the object that can not be cleared up.
- 7. according to the method described in claim any one of 1-6, it is characterised in that what the described pair of object that can be cleared up was cleared up Step includes：Record can clear up the location coordinate information of object；Using the scope that object can be cleared up described in multiple location coordinate information generations；The cleaning frequency and/or clean-up intensity to the scope for clearing up object are improved, with to the model for clearing up object Object in enclosing is cleared up.
- A kind of 8. cleaning system of object, it is characterised in that the system includes associated sweeping robot and mobile terminal, The sweeping robot is configured with molecule sensor；Wherein, the sweeping robot includes：Molecule sensor drive module, for driving the molecule sensor to object emission near infrared light for clearance, and connect Receive the object features light of the object reflection for clearance；Object cleaning modul can be cleared up, for determining that the object belongs to the object that can be cleared up according to the object features light, then Pair object that can be cleared up is cleared up；View data sending module, for not can determine that the object belongs to the object that can be cleared up according to the object features light, Then the view data of object for clearance is sent to the mobile terminal；The mobile terminal includes：Command operating module, for making cleaning or the instruction do not cleared up according to the view data of the object for clearance.
- 9. system according to claim 8, it is characterised in that the molecule sensor drive module includes：Ground launch submodule, for driving the molecule sensor to ground launch near infrared light, and receive the feature of reflection Light；Apart from detection sub-module, for using the distance between characteristic light detection and described ground；Object determination sub-module, treated clearly for when the distance is less than default distance threshold, determining to exist on the ground The object of reason, and the characteristic light is the object features light of thing for clearance.
- 10. system according to claim 8, it is characterised in that the object cleaning modul of clearing up includes：Infrared spectrogram rendering submodule, for drawing the infrared spectrogram of object for clearance using the object features light；Infrared Targets spectrogram matched sub-block, for by the infrared spectrogram of the object for clearance and default Infrared Targets Spectrogram is matched；First matching determination sub-module, the Infrared Targets spectrogram is matched for the infrared spectrogram in the object for clearance During success, determine that the object for clearance belongs to the object that can be cleared up.
- 11. system according to claim 10, it is characterised in that the object cleaning modul of clearing up also includes：Submodule is generated with reference to infrared spectrogram, for drawing the reference infrared spectrogram for the object that can not be cleared up；With reference to infrared spectrogram matched sub-block, the Infrared Targets are matched for the infrared spectrogram in the object for clearance When spectrogram fails, the infrared spectrogram of the object for clearance is matched with described with reference to infrared spectrogram；Second matching determination sub-module, described infrared spectrogram is referred to for the infrared spectrogram matching in the object for clearance During success, determine that the object for clearance belongs to the object that can not be cleared up.
- 12. system according to claim 11, it is characterised in that described to include with reference to infrared spectrogram generation submodule：Reference substance subject detecting unit, for driving the molecule sensor to launch near infrared light to the object that can not be cleared up, and The object features light for the object reflection that can not be cleared up described in reception；With reference to infrared spectrogram drawing unit, the object features light for that can not clear up object described in use, which is drawn, refers to infrared light Spectrogram；Frequency statistics unit is drawn, for counting the drafting frequency with reference to infrared spectrogram；With reference to infrared spectrogram setting unit, for when the drafting frequency is higher than default frequency threshold, being arranged to can not The reference infrared spectrogram of the object of cleaning.
- 13. system according to claim 11, it is characterised in that described image data transmission blocks include：Image data acquiring submodule, described infrared spectrogram is referred to for the infrared spectrogram matching in the object for clearance During failure, view data is gathered to the object for clearance；View data sending submodule, for described image data to be sent to the mobile terminal of association；Cleaning instruction determination sub-module, when the cleaning for receiving the mobile terminal feedback instructs, determine described for clearance Object belongs to the object that can be cleared up；Reserve statement determination sub-module, for receiving when not clearing up instruction of the mobile terminal feedback, determine the thing Body belongs to the object that can not be cleared up.
- 14. according to the system described in claim any one of 8-13, it is characterised in that described to clear up object cleaning modul bag Include：Coordinate record submodule, the location coordinate information of object can be cleared up for recording；Scope generates submodule, for using the scope that object can be cleared up described in multiple location coordinate information generations；Scope clears up submodule, for improving cleaning frequency and/or clean-up intensity to the scope for clearing up object, with right Object in the scope for clearing up object is cleared up.
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| CN201710772094.8A CN107616759A (en) | 2017-08-31 | 2017-08-31 | The method for cleaning and system of a kind of object |
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