CN112254782A

CN112254782A - Method and device for identifying garbage capacity in dust box of sweeper and computer equipment

Info

Publication number: CN112254782A
Application number: CN202011127612.9A
Authority: CN
Inventors: 许仕哲; 曹敏艳; 潘濛濛; 余俊强
Original assignee: Shenzhen Water World Co Ltd
Current assignee: Shenzhen Water World Co Ltd
Priority date: 2020-10-20
Filing date: 2020-10-20
Publication date: 2021-01-22
Anticipated expiration: 2040-10-20
Also published as: CN112254782B

Abstract

The application provides a method and a device for identifying the garbage capacity in a dust box of a sweeper and computer equipment, wherein the sweeper comprises a fan, and the method comprises the following steps: the sweeper acquires sound signals in the sweeper when the fan works, and then processes the sound signals to obtain the signal frequency of the sound signals. And finally, the sweeper calculates the garbage capacity of the sweeper dust box according to the signal frequency. The change of the garbage capacity in the dust box can cause the change of sound frequency generated when the fan works, the garbage capacity of the dust box of the sweeper is obtained through analyzing the frequency characteristic of the sound signal by the sweeper, and compared with a calculation mode of utilizing a current resistor on a circuit, the method has higher accuracy. Meanwhile, the sweeper acquires the sound signal and can be acquired through the microphone and other devices, so that a large amount of electric energy loss of the sweeper can be avoided, the production cost of the sweeper caused by a complex circuit can be reduced, and the cruising function of the sweeper is enhanced.

Description

Method and device for identifying garbage capacity in dust box of sweeper and computer equipment

Technical Field

The application relates to the technical field of intelligent household appliances, in particular to a method and a device for identifying the garbage capacity in a dust box of a sweeper and computer equipment.

Background

The sweeper is an intelligent household appliance capable of automatically sweeping household ground garbage, and in the working process of the sweeper, the garbage can be collected inside a dust box and needs to be cleared away in time after the dust box is filled with the garbage, otherwise, the sweeper cannot suck new garbage, and the purpose of cleaning the ground cannot be achieved. The existing method for detecting the garbage state in the dust box of the sweeper is to monitor the garbage capacity based on the current change of a fan of the dust box, and simply realize the detection of the current change of the fan on a current loop of a motor by serially connecting a sampling resistor, but the method has low detection precision and is easy to cause misjudgment. In order to improve the detection precision, a complex current detection circuit needs to be arranged, and the current detection circuit can consume a large amount of electric energy in the process of monitoring the current change, so that the production cost of the sweeper is increased, and the endurance time of the sweeper is greatly reduced.

Disclosure of Invention

The application mainly aims to provide a method and a device for identifying the garbage capacity in a dust box of a sweeper and computer equipment, and aims to overcome the defects that the existing method for detecting the garbage capacity state in the dust box of the sweeper is low in precision or high in production cost and needs to consume a large amount of electric energy.

In order to achieve the above object, the present application provides a method for identifying the garbage capacity in a dust box of a sweeper, wherein the sweeper comprises a fan, and the method comprises:

acquiring a sound signal in the sweeper when the fan works;

processing the sound signal to obtain the signal frequency of the sound signal;

and calculating the garbage capacity of the dust box of the sweeper according to the signal frequency.

Further, the sound signal is an air duct sound signal, the air duct sound signal is sound generated when the fan works, the fan drives the air flow to generate in the air duct, and the step of calculating the garbage capacity of the dust box of the sweeper according to the signal frequency comprises the following steps:

calculating a preset formula, and substituting the signal frequency into the preset formula to calculate the garbage capacity, wherein the preset formula is f (x) ═ a0+ a1 × cos (x × w) + b1 × sin (x × w), where f (x) is the garbage capacity, a0 is a first constant, a1 is a second constant, b1 is a third constant, w is a fourth constant, and x is the signal frequency.

Further, after the step of processing the sound signal to obtain the signal frequency of the sound signal, the method includes:

monitoring the change of the signal frequency in real time to obtain a frequency change rate;

judging whether the garbage amount per unit area of the current cleaning area exceeds a threshold value or not according to the frequency change rate;

and if the garbage amount in the unit area of the current cleaning area exceeds a threshold value, adjusting the cleaning mode of the sweeper to a preset mode.

Further, after the step of calculating the garbage capacity of the sweeper dust box according to the signal frequency, the method includes:

judging whether a first cleaning area is entered, wherein the first cleaning area is a new scene area;

if the sweeper enters a first sweeping area, recording the current first garbage capacity of the sweeper dust box, and executing a sweeping action;

after the sweeping action of the first sweeping area is finished, recording the current second garbage capacity of the dust box of the sweeper, and calculating the sweeping interval duration of the first sweeping area, wherein the sweeping interval duration is the time length between the last sweeping time and the current time of the first sweeping area;

and calculating the regional garbage density of the first cleaning region according to the first garbage capacity, the second garbage capacity and the cleaning interval duration.

judging whether the garbage capacity is larger than a capacity threshold value or not;

and if the garbage capacity is not less than the capacity threshold value, moving to a preset place, and removing the garbage in the dust box of the sweeper.

Further, after the step of determining whether the garbage capacity is greater than the capacity threshold, the method includes:

if the garbage capacity is smaller than a capacity threshold, acquiring the regional garbage density, the regional cleaning time length and the cleaning interval time length which respectively correspond to each region to be cleaned, wherein the regional cleaning time length is the time length required by the sweeper for cleaning the region to be cleaned;

calculating the residual capacity of the dust box of the sweeper according to the garbage capacity, and acquiring the battery endurance time of the sweeper;

and planning a cleaning path of the sweeper according to the garbage density of each area, the cleaning interval duration, the cleaning duration of each area, the residual capacity and the battery endurance time.

Further, the step of planning the cleaning path of the sweeper according to the garbage density of each area, the cleaning interval duration, the cleaning duration of each area, the residual capacity and the battery endurance time includes:

calculating to obtain the total area garbage amount corresponding to each area to be cleaned according to the area garbage density and the cleaning interval duration;

screening a plurality of first areas to be cleaned from the areas to be cleaned in an ascending order according to the current distance between the areas to be cleaned and the sweeper, wherein the sum of the total quantity of the garbage in the areas corresponding to the first areas to be cleaned is not more than the residual capacity;

judging whether the sum of the area cleaning time lengths corresponding to the first areas to be cleaned is greater than the battery endurance time or not;

if the sum of the area cleaning duration corresponding to each first area to be cleaned is not greater than the battery endurance time, sequentially cleaning the first areas to be cleaned in an ascending order according to the current distance to obtain the cleaning path;

and if the sum of the area cleaning time lengths corresponding to the first areas to be cleaned is greater than the battery endurance time, sequentially removing the first areas to be cleaned from the first areas to be cleaned in a descending order according to the current distance until the sum of the area cleaning time lengths corresponding to the remaining first areas to be cleaned is not greater than the battery endurance time, wherein the remaining first areas to be cleaned form the cleaning path.

The application still provides a recognition device of rubbish capacity in the quick-witted dirt box of sweeping floor, the machine of sweeping floor includes the fan, recognition device includes:

the first acquisition module is used for acquiring a sound signal in the sweeper when the fan works;

the processing module is used for processing the sound signal to obtain the signal frequency of the sound signal;

and the first calculation module is used for calculating the garbage capacity of the dust box of the sweeper according to the signal frequency.

Further, the sound signal is an air duct sound signal, the air duct sound signal is a sound generated by the fan driving the air flow in the air duct when the fan works, and the first calculating module includes:

the first calculating unit is configured to calculate a preset formula, and substitute the signal frequency into the preset formula to calculate the garbage capacity, where f (x) is a0+ a1 × cos (x × w) + b1 × sin (x × w), where f (x) is the garbage capacity, a0 is a first constant, a1 is a second constant, b1 is a third constant, w is a fourth constant, and x is the signal frequency.

Further, the identification apparatus further includes:

the monitoring module is used for monitoring the change of the signal frequency in real time to obtain the frequency change rate;

the first judgment module is used for judging whether the garbage amount of the unit area of the current cleaning area exceeds a threshold value according to the frequency change rate;

and the adjusting module is used for adjusting the cleaning mode of the sweeper to a preset mode if the garbage amount in the unit area of the current cleaning area exceeds a threshold value.

Further, the identification apparatus further includes:

the second judging module is used for judging whether the vehicle enters a first cleaning area, and the first cleaning area is a new scene area;

the execution module is used for recording the current first garbage capacity of the dust box of the sweeper and executing a sweeping action if the sweeper enters a first sweeping area;

the recording module is used for recording the current second garbage capacity of the dust box of the sweeper after the sweeping action of the first sweeping area is finished, and calculating the sweeping interval duration of the first sweeping area, wherein the sweeping interval duration is the time length between the last sweeping time and the current time of the first sweeping area;

and the second calculation module is used for calculating the regional garbage density of the first cleaning region according to the first garbage capacity, the second garbage capacity and the cleaning interval time.

Further, the identification apparatus further includes:

the third judging module is used for judging whether the garbage capacity is larger than a capacity threshold value;

and the clearing module is used for moving to a preset place and clearing the garbage in the dust box of the sweeper if the garbage capacity is not less than the capacity threshold.

Further, the identification apparatus further includes:

a second obtaining module, configured to obtain, if the garbage capacity is smaller than a capacity threshold, an area garbage density, an area cleaning duration and a cleaning interval duration that correspond to each to-be-cleaned area, where the area cleaning duration is a duration required by the sweeper to clean the to-be-cleaned area;

the third calculation module is used for calculating the residual capacity of the dust box of the sweeper according to the garbage capacity and acquiring the battery endurance time of the sweeper;

and the planning module is used for planning the cleaning path of the sweeper according to the garbage density of each area, the cleaning interval duration of each area, the cleaning duration of each area, the residual capacity and the battery endurance time.

Further, the planning module includes:

the second calculation unit is used for calculating and obtaining the total area garbage amount corresponding to each area to be cleaned according to the area garbage density and the cleaning interval duration;

the screening unit is used for screening a plurality of first areas to be cleaned from the areas to be cleaned in an ascending order according to the current distance between the areas to be cleaned and the sweeper, wherein the sum of the total quantity of the garbage in the areas respectively corresponding to the first areas to be cleaned is not greater than the residual capacity;

the judging unit is used for judging whether the sum of the area cleaning duration corresponding to each first area to be cleaned is greater than the battery endurance time;

a first determination unit, configured to sequentially clean each first area to be cleaned in an ascending order according to the current distance to obtain the cleaning path if a sum of area cleaning durations corresponding to the first areas to be cleaned is not greater than the battery endurance time;

and the second judging unit is used for sequentially removing the first to-be-cleaned areas from the first to-be-cleaned areas in a descending order according to the current distance if the sum of the area cleaning time lengths corresponding to the first to-be-cleaned areas is greater than the battery endurance time, until the sum of the area cleaning time lengths corresponding to the remaining first to-be-cleaned areas is not greater than the battery endurance time, and the cleaning path is formed by the remaining first to-be-cleaned areas.

The present application further provides a computer device comprising a memory and a processor, wherein the memory stores a computer program, and the processor implements the steps of any one of the above methods when executing the computer program.

The present application also provides a computer-readable storage medium having stored thereon a computer program which, when executed by a processor, carries out the steps of the method of any of the above.

The application provides a method and a device for identifying the garbage capacity in a dust box of a sweeper and computer equipment, wherein the sweeper comprises a fan, and the method comprises the following steps: the sweeper obtains the sound signal of fan during operation, then processes the sound signal, obtains the signal frequency of sound signal. And finally, the sweeper calculates the garbage capacity of the sweeper dust box according to the signal frequency. The change of the garbage capacity in the dust box can cause the change of sound frequency generated when the fan works, the garbage capacity of the dust box of the sweeper is obtained through analyzing the frequency characteristic of the sound signal by the sweeper, and compared with a calculation mode of utilizing a current resistor on a circuit, the method has higher accuracy. Meanwhile, the sweeper acquires the sound signal and can be acquired through the microphone and other devices, so that a large amount of electric energy loss of the sweeper can be avoided, the production cost of the sweeper caused by a complex circuit can be reduced, and the cruising function of the sweeper is enhanced.

Drawings

Fig. 1 is a schematic step diagram of a method for identifying the garbage capacity in a dust box of a sweeper according to an embodiment of the present application;

fig. 2 is a block diagram of an overall structure of a device for identifying the garbage capacity in a dust box of a sweeper in an embodiment of the present application;

fig. 3 is a block diagram schematically illustrating a structure of a computer device according to an embodiment of the present application.

The implementation, functional features and advantages of the objectives of the present application will be further explained with reference to the accompanying drawings.

Detailed Description

In order to make the objects, technical solutions and advantages of the present application more apparent, the present application is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the present application and are not intended to limit the present application.

Referring to fig. 1, an embodiment of the present application provides a method for identifying a garbage capacity in a dust box of a sweeper, where the sweeper includes a fan, and the method includes:

s1, acquiring a sound signal in the sweeper when the fan works;

s2, processing the sound signal to obtain the signal frequency of the sound signal;

and S3, calculating the garbage capacity of the dust box of the sweeper according to the signal frequency.

In this embodiment, the sweeper includes the fan, and the fan during operation is used for providing power and adsorbs rubbish. Specifically, the sweeper further includes a microphone (of course, the microphone may also be another device having a sound pickup function), and the microphone may be configured to collect sound (hereinafter referred to as a wind channel sound signal) generated by the fan driving the airflow in the wind channel when the fan works; the method can also be used for collecting the sound generated by the fan (hereinafter referred to as fan sound signal) when the fan works, namely, the sound signal when the fan works can be the sound generated by the fan driving airflow in the air duct or the sound generated by the fan. The air duct is provided with a filter screen for filtering large-volume garbage. When the step of acquiring the sound signal when the fan works is 'acquiring the sound generated by the fan driving the airflow in the air duct', then: when the garbage capacity in the dust box of the sweeper is small or the garbage suction amount is small, the filter screen is cleaner and is blocked less, and the frequency of the sound signal of the air channel is higher; when the internal garbage capacity of the dust box is large or the garbage suction amount is large, the filter screen is dirty and blocked greatly, and the airflow flowing in the air duct can be influenced, so that the frequency of the sound signal of the air duct is low. Correspondingly, when "acquiring the sound signal when the fan is working" is "acquiring the sound generated by the fan itself", then: the mode of identifying the garbage capacity and the garbage suction amount in the dust box of the sweeper according to the frequency of the sound signal of the fan is opposite to that of the sound signal of the air channel, when the garbage capacity in the dust box is small or the garbage suction amount is small, the load of the fan is relatively small, and too large working power is not needed, so that the frequency of the sound signal of the fan is low; when the garbage capacity in the dust box is large or the garbage suction amount is large, the load of the fan is relatively large, and the garbage suction can be realized by using larger working power, so that the frequency of the sound signal of the fan is high.

The following embodiments take the wind channel sound signal as an example, and the technical solution of the present application is described in detail. The microphone is preferably arranged on the rear side of the filter screen of the air duct and is far away from an air duct opening for sucking the garbage as far as possible, so that the blockage caused by the garbage is avoided. Preferably, the mark parcel of microphone has the amortization cotton, can avoid being blockked up by the small rubbish in the wind channel on the one hand, and on the other hand also can follow the interference of physical aspect noise reduction. The wind channel sound signal that the fan during operation produced is collected to the machine of sweeping the floor to utilize the microphone, because the amplitude of the analog signal wave form that sound process mark obtained is less, is unfavorable for carrying out the wave form conversion to wind channel sound signal, consequently preferred carries out the preliminary treatment. Specifically, in order for a Micro Control Unit (MCU) to effectively capture a sound signal, the duct sound signal needs to be superimposed with a dc component, and the signal trough is higher than 0V. Meanwhile, a rear-stage audio amplification circuit is arranged at the rear stage of the audio sampling circuit of the microphone, and after the air channel sound signal is amplified by the rear-stage audio amplification circuit, the amplified air channel sound signal is subjected to waveform conversion by a sine wave square wave changing circuit which is formed by adding a signal 1/2 amplitude voltage reference source to a voltage comparator, so that a square wave frequency signal is obtained. The frequency of the square wave frequency signal is sampled by the pulse capture function of a Micro Control Unit (MCU) in the sweeper, so that the signal frequency of the square wave frequency signal is obtained. After the signal frequency is obtained, the sweeper can calculate the current garbage capacity of the dust box according to the signal frequency and a preset calculation formula.

and S301, calculating a preset formula, and substituting the signal frequency into the preset formula to calculate the garbage capacity, wherein the preset formula is f (x) ═ a0+ a1 × cos (x × w) + b1 × sin (x × w), wherein f (x) is the garbage capacity, a0 is a first constant, a1 is a second constant, b1 is a third constant, w is a fourth constant, and x is the signal frequency.

In this embodiment, the sound signal is an air duct sound signal, the calculation formula of the garbage capacity of the dust box is prestored in the internal system of the sweeper or the server, the sweeper calculates the preset formula after the signal frequency related to the air duct sound signal is collected, and then the signal frequency is substituted into the preset formula, so that the garbage capacity is calculated. Specifically, the preset formula is as follows: (x) a0+ a1 × cos (x × w) + b1 × sin (x × w), where f (x) is garbage capacity, x is signal frequency, and a0, a1, b1, and w are constant terms, specific values of which are known, assuming that a0 is a first constant, a1 is a second constant, b1 is a third constant, and w is a fourth constant. In actual operation, the relation between the garbage capacity of the dust box and the signal frequency related to the air duct sound signal generated when the fan works appears as a curve. Designers obtain the relevant frequency between 0-100% of the garbage capacity and the signal frequency of a plurality of groups of dust boxes through measurement, so as to obtain a curve between the garbage capacity and the signal frequency, and obtain a curve fitting formula between the garbage capacity and the signal frequency according to the curve fitting solution (for example, a curve fitting formula is obtained by using MATLAB to perform data curve fitting solution, wherein MATLAB is commercial mathematical software produced by MathWorks corporation in the united states and is used in the fields of data analysis, wireless communication, deep learning, image processing and computer vision, signal processing, quantitative finance and risk management, robots, control systems and the like), and the fitting curve formula is the preset formula: (x) a0+ a1 × cos (x × w) + b1 × sin (x × w). In this embodiment, the optimal parameter values of each constant term are respectively: a0 is 5684, a1 is 479, b1 is-611.8, and w is 0.03168 (dust boxes with different volumes, the dust capacity of the dust box is the same as the preset formula corresponding to the signal frequency, and all of the preset formulas are f (x) -a 0+ a1 × cos (x × w) + b1 × sin (x × w), but specific parameter values of constant terms are changed and need to be measured by designers specifically).

s4, monitoring the change of the signal frequency in real time to obtain the frequency change rate;

s5, judging whether the garbage amount of the unit area of the current cleaning area exceeds a threshold value according to the frequency change rate;

and S6, if the garbage amount in the unit area of the current cleaning area exceeds a threshold value, adjusting the cleaning mode of the sweeper to a preset mode.

In this embodiment, the sweeper detects a change of the signal frequency in real time within a unit time, so as to calculate a frequency change rate of the signal frequency (specifically, the sweeper can respectively obtain a first signal frequency and a second signal frequency before and after the unit time, wherein the first signal frequency corresponds to the first signal frequency before the unit time, and the second signal frequency corresponds to the unit time after, the sweeper subtracts the first signal frequency from the second signal frequency to obtain a frequency difference between the first signal frequency and the second signal frequency, and then the frequency difference is located in the unit time, so as to calculate the frequency change rate). The frequency change rate represents the amount of the garbage sucked by the sweeper in unit time, namely, the larger the frequency change rate is, the larger the amount of the garbage sucked by the sweeper in unit time is, so that the larger the amount of the garbage per unit area of the current sweeping area is, and the larger the amount of the garbage per unit area of the current sweeping area is (namely, the frequency change rate is in direct proportion to the amount of the garbage per unit area of the current sweeping area). The sweeper correspondingly obtains the garbage amount of the current sweeping area in unit area according to the frequency change rate (specifically, a mapping relation table of the frequency change rate and the garbage amount of the unit area is built in the sweeper or in a server, and the garbage amount of the current sweeping area in unit area can be directly obtained from the mapping relation table in a matching mode according to the frequency change rate), and then the garbage amount of the current sweeping area in unit area is compared with a threshold value, and the size relation between the garbage amount of the current sweeping area in unit area and the threshold value is judged. If the quantity of the garbage in the unit area of the current cleaning area is smaller than the threshold value, the garbage in the current cleaning area can be completely absorbed with high probability in the current cleaning mode of the sweeper, and the cleaning mode does not need to be changed. If the amount of the garbage in the unit area of the current cleaning area is greater than the threshold value, it is indicated that the garbage in the current cleaning area cannot be completely absorbed in the current cleaning mode of the sweeper with a high probability (that is, the amount of the garbage which can be absorbed by the sweeper in unit time is full, and part of the garbage on the ground of the current cleaning area may not be absorbed), and therefore, the sweeper needs to adjust the cleaning mode to a preset mode in order to thoroughly clean the current cleaning area. The preset mode is a key cleaning mode, the key cleaning mode refers to the fact that the current cleaning area is cleaned in a spiral mode, and the cleaning area cannot be changed until the cleaning of the area is detected.

s7, judging whether a first cleaning area is entered, wherein the first cleaning area is a new scene area;

s8, if entering a first cleaning area, recording the current first garbage capacity of the dust box of the sweeper, and executing a cleaning action;

s9, after the sweeping action of the first sweeping area is finished, recording the current second garbage capacity of the dust box of the sweeper, and calculating the sweeping interval duration of the first sweeping area, wherein the sweeping interval duration is the time length between the last sweeping time and the current time of the first sweeping area;

and S10, calculating the regional garbage density of the first cleaning region according to the first garbage capacity, the second garbage capacity and the cleaning interval duration.

In this embodiment, the sweeper has a positioning function, and an environment map of each sweeping area is built in, so that the sweeper can recognize whether to change the sweeping area by the environment positioning function (or the sweeper can position the sweeping area by the laser Slam and the vision Slam), that is, whether to enter another new sweeping area from one sweeping area (for example, to move from a kitchen to a bedroom). After the sweeper recognizes that the sweeper enters a first sweeping area (namely a new scene area), the current first garbage capacity of a sweeper dust box is recorded, a sweeping action is executed, and the first sweeping area is swept. After the sweeping action of the first sweeping area is finished (namely the sweeper finishes sweeping the first sweeping area and prepares or just enters a second sweeping area), the sweeper records the current second garbage capacity of the dust box and calculates the sweeping interval duration of the first sweeping area. The sweeping machine is characterized in that a sweeping history database is stored in the sweeping machine or on the cloud server, and the sweeping time when the sweeping machine sweeps each area at every time is stored in the sweeping history database, for example, the sweeping time of a kitchen is respectively as follows:

year

2020, 8, 9, 12: 00, 8/10/14: 00 in 2020, and the cleaning times are arranged in order of increasing time. The sweeper calculates the time length between the last cleaning time and the current time of the first cleaning area according to the last cleaning time and the current time of the first cleaning area, and therefore the cleaning interval duration corresponding to the first cleaning area is obtained. And the sweeper calculates the regional garbage density of the first cleaning region according to the first garbage capacity, the second garbage capacity and the cleaning interval duration. Specifically, the garbage capacity difference between the first garbage capacity and the second garbage capacity is the total amount of the garbage in the first cleaning area, and the sweeper divides the total amount of the garbage by the cleaning interval duration of the first cleaning area to obtain the area garbage density, where the area garbage density in this embodiment corresponds to the cleaning interval duration. The sweeper records the garbage density of the area, establishes an incidence relation with the first cleaning area, and can estimate the total garbage amount of the first cleaning area according to the garbage density of the area and the cleaning interval duration. The reason why the total amount of garbage in the first cleaning area is not recorded directly, but the area garbage density corresponding to the cleaning interval duration is recorded is that the amount of garbage in the area is increased sequentially with time as time increases, but the duration of the uncleaned time interval is not necessarily constant. After different interval time T1 and T2 exist, the accumulated garbage amount W1 and W2 under different cleaning time intervals can be estimated by multiplying the area garbage density q, and the estimation accuracy is higher.

In another embodiment, after the step of calculating the garbage capacity of the sweeper dust box according to the signal frequency, the method includes:

s11, judging whether a first cleaning area is entered, wherein the first cleaning area is a new scene area;

s12, if entering a first cleaning area, recording the current first garbage capacity of the dust box of the sweeper, and executing a cleaning action;

s13, recording the current second garbage capacity of the dust box of the sweeper after the sweeping action of the first sweeping area is finished;

and S14, calculating the regional garbage density of the first cleaning region according to the first garbage capacity, the second garbage capacity and the cleaning time of the first cleaning region.

In this embodiment, the sweeper has a positioning function, and an environment map of each sweeping area is built in, so that the sweeper can recognize whether to change the sweeping area by the environment positioning function (or the sweeper can position the sweeping area by the laser Slam and the vision Slam), that is, whether to enter another new sweeping area from one sweeping area (for example, to move from a kitchen to a bedroom). After the sweeper recognizes that the sweeper enters a first sweeping area (namely a new scene area), the current first garbage capacity of a sweeper dust box is recorded, a sweeping action is executed, and the first sweeping area is swept. After the sweeping action for the first sweeping area is completed (i.e. the sweeper finishes sweeping the first sweeping area, prepares for or just enters the second sweeping area), the sweeper records the current second garbage capacity of the dust box. And the sweeper calculates the regional garbage density of the first cleaning region according to the first garbage capacity, the second garbage capacity and the cleaning time of the first cleaning region, wherein the regional garbage density corresponds to the time length required by cleaning the cleaning region, namely the cleaning time. Specifically, the garbage capacity difference between the first garbage capacity and the second garbage capacity is the total amount of the garbage in the first cleaning area, and the sweeper divides the total amount of the garbage by the cleaning time of the first cleaning area to obtain the area garbage density. The sweeper records the garbage density of the area, establishes an incidence relation with the first cleaning area, and can estimate the total garbage amount of the first cleaning area according to the garbage density of the area. The reason why the garbage density of the area is recorded instead of directly recording the total amount of the garbage in the first cleaning area is that the layout of the objects in the first cleaning area may be changed, which results in a change of the cleaning time of the first cleaning area (for example, when the objects directly contacting the ground are placed in the first cleaning area, the sweeper will avoid the area where the objects are located during cleaning, and after the objects move to other areas, the cleaning time of the first cleaning area will be increased, which results in an increase of the total amount of the garbage to be cleaned).

s15, judging whether the garbage capacity is larger than a capacity threshold value;

and S16, if the garbage capacity is not less than the capacity threshold value, moving to a preset place, and removing the garbage in the dust box of the sweeper.

In this embodiment, after obtaining the current garbage capacity of the dust box, the sweeper compares the garbage capacity with the capacity threshold value, and determines the size relationship between the two. If the garbage capacity is not less than the capacity threshold value, the garbage in the dust box is full or is about to be full, and the garbage in the dust box needs to be cleared in time. The sweeper moves to a preset place (the preset place is a garbage discharge place set by a user), and the garbage in the sweeper dust box is discharged to the preset place in a mode of dumping the dust box and the like so as to clean the next area. Preferably, if the sweeper does not have the function of automatically discharging the garbage, the user can be prompted to timely remove the garbage in the sweeper dust box by outputting prompt information (such as a prompt sound or a flashing prompt lamp and the like).

s17, if the garbage capacity is smaller than a capacity threshold value, acquiring the area garbage density, the area cleaning time length and the cleaning interval time length corresponding to each area to be cleaned, wherein the area cleaning time length is the time length required by the sweeper to clean the area to be cleaned;

s18, calculating the residual capacity of the dust box of the sweeper according to the garbage capacity, and acquiring the battery endurance time of the sweeper;

and S19, planning a sweeping path of the sweeper according to the garbage density of each area, the sweeping interval time, the sweeping time of each area, the residual capacity and the battery endurance time.

In this embodiment, if the sweeper recognizes that the current garbage capacity of the dust box is smaller than the capacity threshold, the sweeper can sweep the next area. Preferably, the sweeper can optimally plan the next sweeping path according to the residual capacity of the dust box and the battery endurance time. Specifically, the sweeper acquires the area garbage density, the area sweeping time and the sweeping interval time which respectively correspond to each current area to be swept, wherein the area sweeping time is the time required by the sweeper to sweep the area to be swept, and the area garbage density, the area sweeping time and the sweeping interval time which respectively correspond to each area to be swept are recorded by the sweeper in the previous sweeping process.

And the sweeper plans the following sweeping path according to the garbage density of each area, the sweeping interval duration corresponding to each area, the sweeping duration of each area, the residual capacity and the battery endurance time. Specifically, the sweeper calculates the total amount of regional garbage corresponding to each to-be-cleaned region according to the regional garbage density and the cleaning interval duration corresponding to each to-be-cleaned region. Then, the sweeper calculates the difference between the total capacity (or the capacity threshold) of the dust box and the current garbage capacity to obtain the residual capacity of the dust box of the sweeper, and obtains the battery endurance time according to the current residual electric quantity of the sweeper. The sweeper firstly screens a plurality of first areas to be cleaned from the areas to be cleaned in an ascending order according to the size relationship between the areas to be cleaned and the current distance of the sweeper. In the screening process, the sweeper sequentially adds the areas to be cleaned into the first areas to be cleaned, and calculates whether the sum of the total garbage amount of the areas corresponding to the first areas to be cleaned is not more than the residual capacity or not in real time. And if the sum of the total quantity of the garbage of all the areas of the first area to be cleaned is larger than the residual capacity after a first area to be cleaned is newly added, removing the newly added first area to be cleaned so as to ensure that the sum of the total quantity of the garbage of the areas respectively corresponding to the first area to be cleaned is not larger than the residual capacity. And then, the sweeper calculates whether the sum of the cleaning time lengths of the areas corresponding to the first areas to be cleaned is greater than the battery endurance time. And if the sum of the cleaning time lengths of the areas corresponding to the first areas to be cleaned is not more than the battery endurance time, sequentially cleaning the first areas to be cleaned in an ascending order according to the size relation between the first areas to be cleaned and the current distance of the sweeper, and thus obtaining the next cleaning path. If the sum of the cleaning time lengths of the areas corresponding to the first areas to be cleaned is larger than the battery endurance time, sequentially removing the first areas to be cleaned from the first areas to be cleaned in a descending order according to the size relationship between the first areas to be cleaned and the current distance of the sweeper, removing the first areas to be cleaned one at a time until the sum of the cleaning time lengths of the areas corresponding to the remaining first areas to be cleaned is not larger than the battery endurance time, and enabling the remaining first areas to be cleaned to form a next cleaning path of the sweeper in an ascending order according to the size relationship between the remaining first areas to be cleaned and the current distance of the sweeper.

s1901, calculating to obtain the total quantity of regional garbage corresponding to each region to be cleaned according to the regional garbage density and the cleaning interval duration;

s1902, screening a plurality of first areas to be cleaned from the areas to be cleaned in an ascending order according to the current distance between the areas to be cleaned and the sweeper, wherein the sum of the total quantity of the garbage in the areas respectively corresponding to the first areas to be cleaned is not more than the residual capacity;

s1903, judging whether the sum of the cleaning time lengths of the areas corresponding to the first areas to be cleaned is greater than the battery endurance time;

s1904, if the sum of the area cleaning duration corresponding to each first area to be cleaned is not greater than the battery endurance time, sequentially cleaning the first areas to be cleaned in an ascending order according to the current distance to obtain the cleaning path;

s1905, if the sum of the area cleaning time lengths corresponding to the first areas to be cleaned is larger than the battery endurance time, sequentially removing the first areas to be cleaned from the first areas to be cleaned in a descending order according to the current distance until the sum of the area cleaning time lengths corresponding to the remaining first areas to be cleaned is not larger than the battery endurance time, wherein the remaining first areas to be cleaned form the cleaning path.

In this embodiment, the sweeper first multiplies the area garbage density and the sweeping interval duration corresponding to each area to be swept to calculate the total area garbage amount corresponding to each area to be swept. And then, the sweeper screens a plurality of first areas to be cleaned from the areas to be cleaned in an ascending order according to the current distance relationship between the areas to be cleaned and the sweeper. In the process of screening the first to-be-cleaned areas, the sweeper needs to ensure that the sum of the total quantity of the area garbage of each first to-be-cleaned area is not greater than the residual capacity, and the situation that the garbage in the first to-be-cleaned area cannot be cleaned after the dust box garbage is full is avoided. Specifically, the sweeper sequentially adds the areas to be cleaned to the first areas to be cleaned in an ascending order according to the size relationship between the current distances of the areas to be cleaned and the sweeper (for example, the current distance between the area to be cleaned a and the sweeper is 2, the current distance between the area to be cleaned B and the sweeper is 5, and the current distance between the area to be cleaned C and the sweeper is 7, the area to be cleaned a is first selected as the first area to be cleaned, then the area to be cleaned B is selected, and finally the area to be cleaned C is selected), and when a new first area to be cleaned is added each time, whether the sum of the total quantity of the area garbage respectively corresponding to each first area to be cleaned is not greater than the remaining capacity is automatically calculated. And if the newly added first area to be cleaned causes the sum of the area garbage total amount of all the first area to be cleaned to be larger than the residual capacity, removing the newly added first area to be cleaned so as to ensure that the sum of the area garbage total amount corresponding to each first area to be cleaned is not larger than the residual capacity. After the screening of all the first to-be-cleaned areas is completed, the sweeper calculates the sum of the area cleaning time lengths corresponding to the first to-be-cleaned areas respectively, compares the sum of the area cleaning time lengths with the battery endurance time, and judges the size relation between the sum and the battery endurance time. If the sum of the area cleaning time lengths of the first areas to be cleaned is not more than the battery endurance time, the current electric quantity of the battery of the sweeper is enough to support the sweeper to complete the cleaning action of the first areas to be cleaned. If the sum of the cleaning time lengths of the areas of the first areas to be cleaned is greater than the battery endurance time, it is indicated that the current electric quantity of the battery of the sweeper cannot support the sweeper to complete the cleaning action on the first areas to be cleaned, and part of the first areas to be cleaned needs to be removed. Specifically, the sweeper successively removes the first to-be-cleaned areas in a descending order from the first to-be-cleaned areas according to the size relationship between the first to-be-cleaned areas and the current distance of the sweeper (namely, only one first to-be-cleaned area which is farthest from the sweeper is removed each time), and calculates whether the sum of the area cleaning time lengths of the remaining first to-be-cleaned areas is greater than the battery endurance time after each removal. And circulating the step of eliminating the first areas to be cleaned until the sum of the area cleaning time lengths of the plurality of remaining first areas to be cleaned is not more than the battery endurance time, and cleaning each remaining first area to be cleaned by the sweeper in an ascending order according to the current distance to form a cleaning path.

In another embodiment, after the step of determining whether the garbage capacity is greater than the capacity threshold, the method includes:

s20, if the garbage capacity is smaller than the capacity threshold, acquiring the area garbage density and the area cleaning duration corresponding to each area to be cleaned;

s21, calculating the residual capacity of the dust box of the sweeper according to the garbage capacity, and acquiring the battery endurance time of the sweeper;

and S22, planning a sweeping path of the sweeper according to the garbage density of each area, the sweeping time of each area, the residual capacity and the battery endurance time.

In this embodiment, if the sweeper recognizes that the current garbage capacity of the dust box is smaller than the capacity threshold, the sweeper can sweep the next area. Preferably, the sweeper can optimally plan the next sweeping path according to the residual capacity of the dust box and the battery endurance time. Specifically, the sweeper acquires the area garbage density and the area sweeping time corresponding to each current area to be swept, wherein the area sweeping time is the time required by the sweeper to sweep the area to be swept, and the area garbage density and the area sweeping time corresponding to each area to be swept are recorded by the sweeper in the previous sweeping process.

And the sweeper plans the next sweeping path according to the garbage density of each area, the sweeping time length of each area, the residual capacity and the battery endurance time. Specifically, the sweeper calculates the total amount of regional garbage corresponding to each to-be-cleaned region according to the regional garbage density and the regional cleaning duration corresponding to each to-be-cleaned region. Then, the sweeper calculates the difference between the total capacity (or the threshold capacity) of the dust box and the current garbage capacity to obtain the residual capacity of the dust box of the sweeper, and obtains the battery endurance time according to the current residual capacity of the sweeper. The sweeper firstly screens a plurality of first areas to be cleaned from the areas to be cleaned in an ascending order according to the size relationship between the areas to be cleaned and the current distance of the sweeper. In the screening process, the sweeper sequentially adds the areas to be cleaned into the first areas to be cleaned, and calculates whether the sum of the total garbage amount of the areas corresponding to the first areas to be cleaned is not more than the residual capacity or not in real time. And if the sum of the total quantity of the garbage of all the areas of the first area to be cleaned is larger than the residual capacity after a first area to be cleaned is newly added, removing the newly added first area to be cleaned so as to ensure that the sum of the total quantity of the garbage of the areas respectively corresponding to the first area to be cleaned is not larger than the residual capacity. And then, the sweeper calculates that the sum of the cleaning time lengths of the areas corresponding to the first areas to be cleaned is greater than the battery endurance time. And if the sum of the cleaning time lengths of the areas corresponding to the first areas to be cleaned is not more than the battery endurance time, sequentially cleaning the first areas to be cleaned in an ascending order according to the size relation between the first areas to be cleaned and the current distance of the sweeper, and thus obtaining the next cleaning path. If the sum of the cleaning time lengths of the areas corresponding to the first areas to be cleaned is larger than the battery endurance time, sequentially removing the first areas to be cleaned from the first areas to be cleaned in a descending order according to the size relationship between the first areas to be cleaned and the current distance of the sweeper, removing the first areas to be cleaned one at a time until the sum of the cleaning time lengths of the areas corresponding to the remaining first areas to be cleaned is not larger than the battery endurance time, and enabling the remaining first areas to be cleaned to form a next cleaning path of the sweeper in an ascending order according to the size relationship between the remaining first areas to be cleaned and the current distance of the sweeper.

Further, the step of planning the cleaning path of the sweeper according to the garbage density of each area, the cleaning duration of each area, the residual capacity and the battery endurance time comprises:

s2201, calculating to obtain the total quantity of regional garbage corresponding to each region to be cleaned according to the regional garbage density and the regional cleaning duration;

s2202, screening a plurality of first areas to be cleaned from the areas to be cleaned in an ascending order according to the current distance between the areas to be cleaned and the sweeper, wherein the sum of the total quantity of the garbage in the areas corresponding to the areas to be cleaned is not more than the residual capacity;

s2203, judging whether the sum of the cleaning time lengths of the areas corresponding to the first areas to be cleaned is greater than the battery endurance time;

s2204, if the sum of the area cleaning time lengths corresponding to the first areas to be cleaned is not more than the battery endurance time, sequentially cleaning the first areas to be cleaned in an ascending order according to the current distance to obtain the cleaning path;

s2205, if the sum of the area cleaning time lengths corresponding to the first areas to be cleaned is larger than the battery endurance time, sequentially removing the first areas to be cleaned from the first areas to be cleaned in a descending order according to the current distance until the sum of the area cleaning time lengths corresponding to the remaining first areas to be cleaned is not larger than the battery endurance time, and forming the cleaning path by the remaining first areas to be cleaned.

In this embodiment, the sweeper first calculates the total amount of regional garbage corresponding to each to-be-cleaned region by multiplying the regional garbage density and the regional cleaning duration, which correspond to each to-be-cleaned region, respectively. And then, the sweeper screens a plurality of first areas to be cleaned from the areas to be cleaned in an ascending order according to the current distance relationship between the areas to be cleaned and the sweeper. In the process of screening the first to-be-cleaned areas, the sweeper needs to ensure that the sum of the total quantity of the area garbage of each first to-be-cleaned area is not greater than the residual capacity, and the situation that the garbage in the first to-be-cleaned area cannot be cleaned after the dust box garbage is full is avoided. Specifically, the sweeper sequentially adds the areas to be cleaned to the first areas to be cleaned in an ascending order according to the size relationship between the current distances of the areas to be cleaned and the sweeper (for example, the current distance between the area to be cleaned a and the sweeper is 2, the current distance between the area to be cleaned B and the sweeper is 5, and the current distance between the area to be cleaned C and the sweeper is 7, the area to be cleaned a is first selected as the first area to be cleaned, then the area to be cleaned B is selected, and finally the area to be cleaned C is selected), and when a new first area to be cleaned is added each time, whether the sum of the total quantity of the area garbage respectively corresponding to each first area to be cleaned is not greater than the remaining capacity is automatically calculated. And if the newly added first area to be cleaned causes the sum of the area garbage total amount of all the first area to be cleaned to be larger than the residual capacity, removing the newly added first area to be cleaned so as to ensure that the sum of the area garbage total amount corresponding to each first area to be cleaned is not larger than the residual capacity. After the screening of all the first to-be-cleaned areas is completed, the sweeper calculates the sum of the area cleaning time lengths corresponding to the first to-be-cleaned areas respectively, compares the sum of the area cleaning time lengths with the battery endurance time, and judges the size relation between the sum and the battery endurance time. If the sum of the area cleaning time lengths of the first areas to be cleaned is not more than the battery endurance time, the current electric quantity of the battery of the sweeper is enough to support the sweeper to complete the cleaning action of the first areas to be cleaned. If the sum of the cleaning time lengths of the areas of the first areas to be cleaned is greater than the battery endurance time, it is indicated that the current electric quantity of the battery of the sweeper cannot support the sweeper to complete the cleaning action on the first areas to be cleaned, and part of the first areas to be cleaned needs to be removed. Specifically, the sweeper successively removes the first to-be-cleaned areas in a descending order from the first to-be-cleaned areas according to the size relationship between the first to-be-cleaned areas and the current distance of the sweeper (namely, only one first to-be-cleaned area which is farthest from the sweeper is removed each time), and calculates whether the sum of the area cleaning time lengths of the remaining first to-be-cleaned areas is greater than the battery endurance time after each removal. And circulating the step of eliminating the first areas to be cleaned until the sum of the area cleaning time lengths of the plurality of remaining first areas to be cleaned is not more than the battery endurance time, and cleaning each remaining first area to be cleaned by the sweeper in an ascending order according to the current distance to form a cleaning path.

The embodiment provides a method for identifying the garbage capacity in a dust box of a sweeper, wherein the sweeper comprises a fan, and the method comprises the following steps: the sweeper obtains the sound signal of fan during operation, then processes the sound signal, obtains the signal frequency of sound signal. And finally, the sweeper calculates the garbage capacity of the sweeper dust box according to the signal frequency. The change of the garbage capacity in the dust box can cause the change of sound frequency generated when the fan works, the garbage capacity of the dust box of the sweeper is obtained through analyzing the frequency characteristic of the sound signal by the sweeper, and compared with a calculation mode of utilizing a current resistor on a circuit, the method has higher accuracy. Meanwhile, the sweeper acquires the sound signal and can be acquired through the microphone and other devices, so that a large amount of electric energy loss of the sweeper can be avoided, the production cost of the sweeper caused by a complex circuit can be reduced, and the cruising function of the sweeper is enhanced.

Referring to fig. 2, an embodiment of the present application further provides an identification apparatus for a garbage capacity in a dust box of a sweeper, the sweeper includes a fan, and the identification apparatus includes:

the first acquisition module 1 is used for acquiring a sound signal in the sweeper when the fan works;

the processing module 2 is used for processing the sound signal to obtain the signal frequency of the sound signal;

and the first calculating module 3 is used for calculating the garbage capacity of the dust box of the sweeper according to the signal frequency.

Further, the first calculating module 3 includes:

Further, the identification apparatus further includes:

the monitoring module 4 is used for monitoring the change of the signal frequency in real time to obtain a frequency change rate;

the first judging module 5 is used for judging whether the garbage amount in the unit area of the current cleaning area exceeds a threshold value according to the frequency change rate;

and the adjusting module 6 is used for adjusting the cleaning mode of the sweeper to a preset mode if the garbage amount in the unit area of the current cleaning area exceeds a threshold value.

Further, the identification apparatus further includes:

the second judging module 7 is used for judging whether the vehicle enters a first cleaning area, and the first cleaning area is a new scene area;

the execution module 8 is used for recording the current first garbage capacity of the dust box of the sweeper and executing a sweeping action if the sweeper enters a first sweeping area;

the recording module 9 is configured to record a current second garbage capacity of the dust box of the sweeper after the sweeping action of the first sweeping area is completed, and calculate a sweeping interval duration of the first sweeping area, where the sweeping interval duration is a time length between a last sweeping time and a current time of the first sweeping area;

a second calculating module 10, configured to calculate, according to the first garbage volume, the second garbage volume, and the cleaning interval time, an area garbage density of the first cleaning area

year

Further, the identification apparatus further includes:

a third judging module 11, configured to judge whether the garbage capacity is greater than a capacity threshold;

and the clearing module 12 is used for moving to a preset place and clearing the garbage in the dust box of the sweeper if the garbage capacity is not less than the capacity threshold.

The identification device further comprises:

a second obtaining module 13, configured to obtain, if the garbage capacity is smaller than a capacity threshold, an area garbage density, an area cleaning duration and a cleaning interval duration that correspond to each to-be-cleaned area, where the area cleaning duration is a duration that is required by the sweeper to clean the to-be-cleaned area;

the third calculating module 14 is configured to calculate a remaining capacity of the dust box of the sweeper according to the garbage capacity, and obtain a battery endurance time of the sweeper;

and the planning module 15 is configured to plan a cleaning path of the sweeper according to the garbage density of each area, the cleaning interval duration of each area, the cleaning duration of each area, the remaining capacity, and the battery endurance.

And the sweeper plans the following sweeping path according to the garbage density of each area, the sweeping interval duration corresponding to each area, the sweeping duration of each area, the residual capacity and the battery endurance time. Specifically, the sweeper calculates the total amount of regional garbage corresponding to each to-be-cleaned region according to the regional garbage density and the cleaning interval duration corresponding to each to-be-cleaned region. And then, the sweeper calculates the difference between the total capacity of the dust box and the current garbage capacity to obtain the residual capacity of the dust box of the sweeper, and obtains the battery endurance time according to the current residual electric quantity of the sweeper. The sweeper firstly screens a plurality of first areas to be cleaned from the areas to be cleaned in an ascending order according to the size relationship between the areas to be cleaned and the current distance of the sweeper. In the screening process, the sweeper sequentially adds the areas to be cleaned into the first areas to be cleaned, and calculates whether the sum of the total garbage amount of the areas corresponding to the first areas to be cleaned is not more than the residual capacity or not in real time. And if the sum of the total quantity of the garbage of all the areas of the first area to be cleaned is larger than the residual capacity after a first area to be cleaned is newly added, removing the newly added first area to be cleaned so as to ensure that the sum of the total quantity of the garbage of the areas respectively corresponding to the first area to be cleaned is not larger than the residual capacity. And then, the sweeper calculates whether the sum of the cleaning time lengths of the areas corresponding to the first areas to be cleaned is greater than the battery endurance time. And if the sum of the cleaning time lengths of the areas corresponding to the first areas to be cleaned is not more than the battery endurance time, sequentially cleaning the first areas to be cleaned in an ascending order according to the size relation between the first areas to be cleaned and the current distance of the sweeper, and thus obtaining the next cleaning path. If the sum of the cleaning time lengths of the areas corresponding to the first areas to be cleaned is larger than the battery endurance time, sequentially removing the first areas to be cleaned from the first areas to be cleaned in a descending order according to the size relationship between the first areas to be cleaned and the current distance of the sweeper, removing the first areas to be cleaned one at a time until the sum of the cleaning time lengths of the areas corresponding to the remaining first areas to be cleaned is not larger than the battery endurance time, and enabling the remaining first areas to be cleaned to form a next cleaning path of the sweeper in an ascending order according to the size relationship between the remaining first areas to be cleaned and the current distance of the sweeper.

Further, the planning module 15 includes:

In another embodiment, the identification apparatus further includes:

the recording module 9 is configured to record a current second garbage capacity of the dust box of the sweeper after the sweeping action of the first sweeping area is completed;

and a second calculating module 10, configured to calculate, according to the first garbage capacity, the second garbage capacity, and the cleaning time of the first cleaning area, an area garbage density of the first cleaning area.

In this embodiment, the sweeper has a positioning function, and an environment map of each sweeping area is built in, so that the sweeper can recognize whether to change the sweeping area by the environment positioning function (or the sweeper can position the sweeping area by the laser Slam and the vision Slam), that is, whether to enter another new sweeping area from one sweeping area (for example, to move from a kitchen to a bedroom). After the sweeper recognizes that the sweeper enters a first sweeping area (namely a new scene area), the current first garbage capacity of a sweeper dust box is recorded, a sweeping action is executed, and the first sweeping area is swept. After the sweeping action for the first sweeping area is completed (i.e. the sweeper finishes sweeping the first sweeping area, prepares for or just enters the second sweeping area), the sweeper records the current second garbage capacity of the dust box. And the sweeper calculates the regional garbage density of the first cleaning region according to the first garbage capacity, the second garbage capacity and the cleaning time of the first cleaning region, wherein the regional garbage density corresponds to the time length required by cleaning the cleaning region, namely the cleaning time. Specifically, the garbage capacity difference between the first garbage capacity and the second garbage capacity is the total amount of the garbage in the first cleaning area, and the sweeper divides the total amount of the garbage by the cleaning time of the first cleaning area to obtain the area garbage density. The sweeper records the garbage density of the area, establishes an incidence relation with the first cleaning area, and can estimate the total garbage amount of the first cleaning area according to the garbage density of the area. The reason why the garbage density of the area is recorded instead of directly recording the total amount of the garbage in the first cleaning area is that the layout of the objects in the first cleaning area may be changed, which results in a change of the cleaning time of the first cleaning area (for example, when the objects directly contacting the ground are placed in the first cleaning area, the sweeper will avoid the area where the objects are located during cleaning, and after the objects move to other areas, the cleaning time of the first cleaning area will be increased, which results in an increase of the total amount of the garbage to be cleaned.

Further, the identification apparatus further includes:

a second obtaining module 13, configured to obtain, if the garbage capacity is smaller than a capacity threshold, a region garbage density and a region cleaning duration that correspond to each region to be cleaned;

and the planning module 15 is configured to plan a cleaning path of the sweeper according to the garbage density of each area, the cleaning duration of each area, the remaining capacity, and the battery endurance.

In this embodiment, if the sweeper recognizes that the current garbage capacity of the dust box is smaller than the capacity threshold, the sweeper can sweep the next area. Preferably, the sweeper can optimally plan the next sweeping path according to the residual capacity of the dust box and the battery endurance time. Specifically, the sweeper acquires the area garbage density and the area sweeping time length respectively corresponding to each current area to be swept, wherein the area garbage density and the area sweeping time length respectively corresponding to each area to be swept are recorded by the sweeper in the previous sweeping process.

And the sweeper plans the next sweeping path according to the garbage density of each area, the sweeping time length of each area, the residual capacity and the battery endurance time. Specifically, the sweeper calculates the total amount of regional garbage corresponding to each to-be-cleaned region according to the regional garbage density and the regional cleaning duration corresponding to each to-be-cleaned region. Then, the ground machine calculates the difference between the total capacity (or the threshold capacity) of the dust box and the current garbage capacity to obtain the residual capacity of the dust box of the sweeper, and obtains the battery endurance time according to the current residual capacity of the sweeper. The sweeper firstly screens a plurality of first areas to be cleaned from the areas to be cleaned in an ascending order according to the size relationship between the areas to be cleaned and the current distance of the sweeper. In the screening process, the sweeper sequentially adds the areas to be cleaned into the first areas to be cleaned, and calculates whether the sum of the total garbage amount of the areas corresponding to the first areas to be cleaned is not more than the residual capacity or not in real time. And if the sum of the total quantity of the garbage of all the areas of the first area to be cleaned is larger than the residual capacity after a first area to be cleaned is newly added, removing the newly added first area to be cleaned so as to ensure that the sum of the total quantity of the garbage of the areas respectively corresponding to the first area to be cleaned is not larger than the residual capacity. And then, the sweeper calculates that the sum of the cleaning time lengths of the areas corresponding to the first areas to be cleaned is greater than the battery endurance time. And if the sum of the cleaning time lengths of the areas corresponding to the first areas to be cleaned is not more than the battery endurance time, sequentially cleaning the first areas to be cleaned in an ascending order according to the size relation between the first areas to be cleaned and the current distance of the sweeper, and thus obtaining the next cleaning path. If the sum of the cleaning time lengths of the areas corresponding to the first areas to be cleaned is larger than the battery endurance time, sequentially removing the first areas to be cleaned from the first areas to be cleaned in a descending order according to the size relationship between the first areas to be cleaned and the current distance of the sweeper, removing the first areas to be cleaned one at a time until the sum of the cleaning time lengths of the areas corresponding to the remaining first areas to be cleaned is not larger than the battery endurance time, and enabling the remaining first areas to be cleaned to form a next cleaning path of the sweeper in an ascending order according to the size relationship between the remaining first areas to be cleaned and the current distance of the sweeper.

Further, the planning module 15 includes:

the second calculation unit is used for calculating and obtaining the total area garbage amount corresponding to each area to be cleaned according to the area garbage density and the area cleaning duration;

The embodiment provides a device for identifying the garbage capacity in a dust box of a sweeper, wherein the sweeper comprises a fan, and the method comprises the following steps: the sweeper obtains the sound signal of fan during operation, then processes the sound signal, obtains the signal frequency of sound signal. And finally, the sweeper calculates the garbage capacity of the sweeper dust box according to the signal frequency. The change of the garbage capacity in the dust box can cause the change of sound frequency generated when the fan works, the garbage capacity of the dust box of the sweeper is obtained through analyzing the frequency characteristic of the sound signal by the sweeper, and compared with a calculation mode of utilizing a current resistor on a circuit, the method has higher accuracy. Meanwhile, the sweeper acquires the sound signal and can be acquired through the microphone and other devices, so that a large amount of electric energy loss of the sweeper can be avoided, the production cost of the sweeper caused by a complex circuit can be reduced, and the cruising function of the sweeper is enhanced.

Referring to fig. 3, a computer device, which may be a server and whose internal structure may be as shown in fig. 3, is also provided in the embodiment of the present application. The computer device includes a processor, a memory, a network interface, and a database connected by a system bus. Wherein the computer designed processor is used to provide computational and control capabilities. The memory of the computer device comprises a nonvolatile storage medium and an internal memory. The non-volatile storage medium stores an operating system, a computer program, and a database. The internal memory provides an environment for the operation of an operating system and computer programs in the non-volatile storage medium. The database of the computer equipment is used for storing data such as preset formulas and the like. The network interface of the computer device is used for communicating with an external terminal through a network connection. The computer program is executed by a processor to implement a method of identifying the volume of refuse in a dust bin of a sweeper, the sweeper including a fan.

The processor executes the method for identifying the garbage capacity in the dust box of the sweeper:

s1, acquiring a sound signal in the sweeper when the fan works;

An embodiment of the present application further provides a computer-readable storage medium, where a computer program is stored on the computer-readable storage medium, and when the computer program is executed by a processor, the method for identifying the garbage capacity in the dust box of the sweeper is implemented, where the sweeper includes a fan, and the identifying method specifically includes:

s1, acquiring a sound signal in the sweeper when the fan works;

It will be understood by those skilled in the art that all or part of the processes of the methods of the above embodiments may be implemented by hardware associated with instructions of a computer program, which may be stored on a non-volatile computer-readable storage medium, and when executed, may include processes of the above embodiments of the methods. Any reference to memory, storage, database, or other medium provided herein and used in the examples may include non-volatile and/or volatile memory. Non-volatile memory can include read-only memory (ROM), Programmable ROM (PROM), Electrically Programmable ROM (EPROM), Electrically Erasable Programmable ROM (EEPROM), or flash memory. Volatile memory can include Random Access Memory (RAM) or external cache memory. By way of illustration and not limitation, RAM is available in a variety of forms such as Static RAM (SRAM), Dynamic RAM (DRAM), Synchronous DRAM (SDRAM), double-rate SDRAM (SSRSDRAM), Enhanced SDRAM (ESDRAM), synchronous link (Synchlink) DRAM (SLDRAM), Rambus Direct RAM (RDRAM), direct bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM).

It should be noted that, in this document, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, apparatus, article, or method that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, apparatus, article, or method. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other like elements in a process, apparatus, article, or method that includes the element.

The above description is only for the preferred embodiment of the present application and not intended to limit the scope of the present application, and all modifications of equivalent structures and equivalent processes, which are made by the contents of the specification and the drawings of the present application, or which are directly or indirectly applied to other related technical fields, are intended to be included within the scope of the present application.

Claims

1. A method for identifying the garbage capacity in a dust box of a sweeper is characterized in that the sweeper comprises a fan, and the method comprises the following steps:

acquiring a sound signal in the sweeper when the fan works;

processing the sound signal to obtain the signal frequency of the sound signal;

2. The method for identifying the garbage capacity in the dust box of the sweeper according to claim 1, wherein the sound signal is an air duct sound signal, the air duct sound signal is a sound generated when a fan operates and the fan drives an air flow in an air duct, and the step of calculating the garbage capacity of the dust box of the sweeper according to the signal frequency comprises the following steps:

3. The method for identifying the garbage capacity in the dust box of the sweeper according to claim 1, wherein the step of processing the sound signal to obtain the signal frequency of the sound signal is followed by the step of:

4. The method for identifying the garbage capacity in the sweeper dust box according to claim 1, wherein the step of calculating the garbage capacity of the sweeper dust box according to the signal frequency is followed by the steps of:

5. The method for identifying the garbage capacity in the sweeper dust box according to claim 1, wherein the step of calculating the garbage capacity of the sweeper dust box according to the signal frequency is followed by the steps of:

6. The method for identifying the garbage capacity in the dust box of the sweeper according to claim 5, wherein the step of judging whether the garbage capacity is larger than the capacity threshold value comprises the following steps:

7. The method of claim 6, wherein the step of planning the cleaning path of the sweeper according to the regional garbage density, the sweeping interval duration, the regional sweeping duration, the remaining capacity and the battery life comprises:

8. The utility model provides an identification means of rubbish capacity in quick-witted dirt box of sweeping floor, its characterized in that, the machine of sweeping floor includes the fan, identification means includes:

9. A computer device comprising a memory and a processor, the memory having stored therein a computer program, characterized in that the processor, when executing the computer program, implements the steps of the method according to any one of claims 1 to 7.

10. A computer-readable storage medium, on which a computer program is stored, which, when being executed by a processor, carries out the steps of the method of any one of claims 1 to 7.