CN112254782B

CN112254782B - Method and device for identifying garbage capacity in dust box of sweeper and computer equipment

Info

Publication number: CN112254782B
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: 2023-11-21
Anticipated expiration: 2040-10-20
Also published as: CN112254782A

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 floor sweeping machine obtains the sound signal in the floor sweeping machine when the fan works, and then processes the sound signal to obtain the signal frequency of the sound signal. And finally, calculating the garbage capacity of the dust box of the sweeper by the sweeper according to the signal frequency. The change of the garbage capacity in the dust box can cause the change of the sound frequency generated when the fan works, the dust capacity of the dust box of the sweeper is obtained by analyzing the frequency characteristic of the sound signal, and compared with a calculation mode of utilizing the current resistor on a circuit, the dust box has higher accuracy. Meanwhile, the sound signals acquired by the sweeper can be acquired through the microphone and other devices, so that a large amount of electric energy loss of electric energy cannot be caused to the sweeper, 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, garbage can be collected into the dust box in the working process of the sweeper, the dust box is required to be cleaned in time after being 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 by the sweeper is based on detecting the current change of the fan of the dust box to monitor the garbage capacity, and the current change of the fan can be simply detected on a motor current loop by connecting a sampling resistor in series, but the detection accuracy of the method is lower, and misjudgment is easy to occur. In order to improve the detection precision, a complex current detection circuit is required to be arranged, and a large amount of electric energy is also lost in the current detection circuit 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 shortened.

Disclosure of Invention

The application mainly aims to provide a method, a device and computer equipment for identifying the garbage capacity in a dust box of a sweeper, and aims to solve 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 purpose, the 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 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;

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 in an air duct by driving an air flow by a fan when the fan works, 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 obtain the garbage capacity, wherein the preset formula is f (x) =a0+a1×cos (xxw) +b1×sin (xxw), 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 in the 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 dust box of the sweeper according to the signal frequency, the method comprises the following steps:

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

if the first cleaning area is entered, recording the current first garbage capacity of the dust box of the sweeper and executing cleaning action;

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

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;

if the garbage capacity is not smaller than the capacity threshold, moving to a preset place, and cleaning 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 region garbage density, the region cleaning time length and the cleaning interval time length corresponding to each region to be cleaned, wherein the region cleaning time length is the time length required by the sweeper to clean 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 of each area, the cleaning duration of each area, the residual capacity and the battery endurance time.

Further, the step of 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 includes:

Calculating to obtain the total amount of the regional garbage corresponding to each region to be cleaned according to the regional garbage density and the cleaning interval time;

according to the current distance between each to-be-cleaned area and the sweeper, a plurality of first to-be-cleaned areas are screened from each to-be-cleaned area in ascending order, wherein the sum of the total amount of garbage in the areas corresponding to each first to-be-cleaned area is not larger than the residual capacity;

judging whether the sum of the regional cleaning time periods corresponding to the first regions to be cleaned is larger than the battery endurance time;

if the sum of the area cleaning durations corresponding to the first areas to be cleaned is not greater than the battery endurance time, sequentially cleaning the first areas to be cleaned according to the current distance to obtain the cleaning path;

and if the sum of the area cleaning durations corresponding to the first areas to be cleaned is greater than the battery endurance time, removing the first areas to be cleaned from the first areas to be cleaned according to the current distance in a descending order in sequence until the sum of the area cleaning durations 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 also provides a device for identifying the garbage capacity in the dust box of the sweeper, the sweeper comprises a fan, and the identifying device comprises:

the first acquisition module is used for acquiring sound signals 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 sound generated in an air duct by driving airflow in an air duct by a fan when the fan works, and the first computing module comprises:

the first calculation unit is configured to calculate a preset formula, and substitute the signal frequency into the preset formula to calculate the garbage capacity, where the preset formula is f (x) =a0+a1×cos (xxxw) +b1×sin (xxw), 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 device 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 judging module is used for judging whether the garbage amount in the unit area of the current cleaning area exceeds a threshold value or not according to the frequency change rate;

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

Further, the identification device further includes:

the second judging module is used for judging whether the first cleaning area is entered or not, 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 sweeping action if the dust box 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 completed, 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 of the first sweeping area and the current time;

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 device further includes:

the third judging module is used for judging whether the garbage capacity is larger than a capacity threshold value or not;

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

Further, the identification device further includes:

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

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

the planning module is used for planning 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 residual capacity and the battery endurance time.

Further, the planning module includes:

the second calculation unit is used for calculating and obtaining the total amount of the regional garbage corresponding to each region to be cleaned according to the regional 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 according to the current distance between the areas to be cleaned and the sweeper, wherein the sum of the total amount of the area garbage corresponding to the first areas to be cleaned is not more than the residual capacity;

the judging unit is used for judging whether the sum of the regional cleaning time periods corresponding to the first regions to be cleaned is larger than the battery endurance time;

the first judging unit is used for sequentially cleaning each first area to be cleaned according to the current distance if the sum of the cleaning time periods of the areas corresponding to the first areas to be cleaned is not greater than the battery endurance time, so as to obtain the cleaning path;

and the second judging unit is used for removing the first areas to be cleaned from the first areas to be cleaned according to the current distance in a descending order until the sum of the area cleaning durations corresponding to the plurality of remaining first areas to be cleaned is not more than the battery endurance time, and the remaining first areas to be cleaned form the cleaning path.

The application also provides a computer device comprising a memory and a processor, the memory having stored therein a computer program, the processor implementing the steps of any of the methods described above when the computer program is executed.

The application also provides a computer readable storage medium having stored thereon a computer program which when executed by a processor performs the steps of the method of any of the preceding claims.

The application provides a method, a device and computer equipment 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 handles the sound signal, obtains the signal frequency of sound signal. And finally, calculating the garbage capacity of the dust box of the sweeper by the sweeper according to the signal frequency. The change of the dust capacity in the dust box can cause the change of the sound frequency generated when the fan works, the dust capacity of the dust box of the sweeper is obtained by analyzing the frequency characteristic of the sound signal, and compared with a calculation mode of utilizing the current resistor on a circuit, the dust box has higher accuracy. Meanwhile, the sound signals acquired by the sweeper can be acquired through the microphone and other devices, so that a large amount of electric energy loss of electric energy cannot be caused to the sweeper, 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 diagram of steps of a method for identifying the garbage capacity in a dust box of a sweeper according to an embodiment of the application;

FIG. 2 is a block diagram showing the overall construction of a device for recognizing the garbage capacity in a dust box of a sweeper according to 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 achievement of the objects, functional features and advantages of the present application will be further described with reference to the accompanying drawings, in conjunction with the embodiments.

Detailed Description

The present application will be described in further detail with reference to the drawings and examples, in order to make the objects, technical solutions and advantages of the present application more apparent. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the scope of the application.

Referring to fig. 1, in one embodiment of the present application, there is provided a method for identifying a garbage capacity in a dust box of a sweeper, the sweeper including a fan, the method including:

s1, acquiring a sound signal in a 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 absorption rubbish. Specifically, the sweeper further comprises a microphone (of course, other devices with a sound pickup function can be also used for collecting sound generated by the fan driving the air flow in the air duct (hereinafter referred to as an air duct sound signal) 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 generated by the fan when the fan works can be obtained by the fan driving air flow in the air duct or the sound generated by the fan. A filter screen is arranged in the air duct and is used for filtering large-volume garbage. When the sound signal obtained when the fan works is "sound produced by the fan driving air flow in the air duct" is obtained, then: when the dust box of the sweeper has less garbage capacity or less garbage suction amount, the filter screen is cleaner, the blockage is smaller, and the frequency of the sound signal of the air duct is higher; when the dust box has more garbage capacity or larger garbage suction amount, the filter screen is dirty and is blocked greatly, so that the airflow in the air duct can be influenced, and the frequency of the sound signal of the air duct is lower. Correspondingly, when the "acquire sound signal when the fan works" is "acquire sound generated by the fan itself", then: the mode of identifying the dust box internal garbage capacity and the garbage suction amount of the sweeper according to the frequency of the sound signal of the blower is opposite to that of the sound signal of the air duct, when the dust box internal garbage capacity is smaller or the garbage suction amount is smaller, the load of the blower is relatively smaller, and the working power is not needed too much, so that the frequency of the sound signal of the blower is lower; when the dust box has more garbage capacity or larger garbage suction amount, the fan load is relatively larger, and larger working power is needed to realize the suction of garbage, so that the frequency of the sound signal of the fan is higher.

The following embodiments take an air duct sound signal as an example, and describe the technical scheme of the present application in detail. The microphone is preferably arranged at the rear side of the filter screen of the air duct and is far away from the air duct opening for sucking garbage as far as possible, so that the microphone is prevented from being blocked by the garbage. Preferably, the mark of microphone wraps up has amortization cotton, can avoid by the tiny rubbish jam in the wind channel on the one hand, on the other hand also can reduce the interference of noise from the physical level. The sweeping machine collects the air duct sound signals generated when the fan works by using the microphone, and the waveform of the analog signals obtained by the sound passing through the mark has smaller amplitude, so that the waveform conversion of the air duct sound signals is not facilitated, and the preprocessing is preferably performed. Specifically, in order for the micro control unit (Microcontroller Unit; MCU) to effectively capture the sound signal, the duct sound signal needs to be superimposed with a DC component, so that the signal trough is higher than 0V. Meanwhile, a rear-stage audio amplifying circuit is arranged at the rear stage of the audio sampling circuit of the microphone, after the air duct sound signals are amplified by the rear-stage audio amplifying circuit, the amplified air duct sound signals are subjected to waveform transformation by a sine wave-to-square wave circuit formed by adding a 1/2 amplitude voltage reference source into a voltage comparator, and square wave frequency signals are obtained. The square wave frequency signal is frequency sampled by the pulse capturing function of the micro control unit (Microcontroller Unit; MCU) in the sweeper, so as to obtain the signal frequency of the square wave frequency signal. 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.

s301, calculating a preset formula, substituting the signal frequency into the preset formula, and calculating to obtain the garbage capacity, wherein the preset formula is f (x) =a0+a1×cos (xxw) +b1×sin (xxw), 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, and the sweeper internal system or the server pre-stores a calculation formula of the garbage capacity of the dust box, after the signal frequency related to the air duct sound signal is collected, the sweeper calculates the preset formula, and then substitutes the signal frequency into the preset formula, so that the garbage capacity is calculated. Specifically, the preset formula is: f (x) =a0+a1×cos (xxw) +b1×sin (xxw), where f (x) is garbage capacity, x is signal frequency, a0, a1, b1, and w are constant terms, whose specific values 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 relationship between the dust capacity of the dust box and the signal frequency associated with the duct sound signal generated when the blower is in operation appears as a curve. The designer obtains the relevant frequency between 0-100% of the garbage capacity of the dust boxes and the signal frequency by measuring, so as to obtain a curve between the garbage capacity and the signal frequency, and obtains a curve fitting formula between the garbage capacity and the signal frequency according to the curve fitting solution (for example, a MATLAB is a commercial mathematical software manufactured by MathWorks company in U.S. for data analysis, wireless communication, deep learning, image processing and computer vision, signal processing, quantitative finance and risk management, robots, control systems and other fields), wherein the fitting curve formula is the preset formula: f (x) =a0+a1×cos (x×w) +b1×sin (x×w). In this embodiment, the optimal parameter values of the constant terms are respectively: a0 =5684, a1=479, b1= -611.8, w= 0.03168 (different volumes of dust boxes, dust box garbage capacity is the same as the preset formula corresponding to the signal frequency, and are f (x) =a0+a1×cos (xxxw) +b1×sin (xxw)), but specific parameter values of the constant terms are changed, and specific parameter values need to be measured by a designer.

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

s5, judging whether the garbage amount in the unit area of the current cleaning area exceeds a threshold value or not 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 the change of the value of the signal frequency in real time in a unit time, so as to calculate the 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 unit time before and the second signal frequency corresponds to the unit time after the unit time. The frequency change rate represents the amount of the garbage sucked in the unit time of the sweeper, namely, the larger the frequency change rate is, the larger the amount of the garbage sucked in the unit time of the sweeper is, so that the larger the amount of the garbage in the unit area of the current sweeping area is (namely, the frequency change rate is in direct proportion to the amount of the garbage in the unit area of the current sweeping area). The sweeper correspondingly obtains the garbage amount of the unit area of the current sweeping 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 a server, the garbage amount of the unit area of the current sweeping area can be directly obtained by matching from the mapping relation table according to the frequency change rate), then the garbage amount of the unit area of the current sweeping area is compared with a threshold value, and the size relation between the garbage amount of the unit area of the current sweeping area and the threshold value is judged. If the garbage amount in the unit area of the current cleaning area is smaller than the threshold value, the current cleaning mode of the sweeper is indicated to be capable of completely sucking garbage in the current cleaning area with high probability, and the cleaning mode is not required to be changed. If the garbage amount per unit area of the current cleaning area is greater than the threshold value, the current cleaning mode of the sweeper is indicated to be a large probability that the garbage in the current cleaning area cannot be completely sucked off (namely, the garbage amount per unit time of the sweeper is full, and part of the garbage on the ground in the current cleaning area may not be sucked off), so that the sweeper needs to adjust the cleaning mode to a preset mode in order to realize thorough cleaning of the current cleaning area. The preset mode is an important cleaning mode, wherein the important cleaning mode is to perform spiral cleaning on a current cleaning area, and the cleaning area cannot be changed until the cleaning of the area is detected.

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

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

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

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 environmental map of each cleaning area is built in, so that the sweeper can identify (or the sweeper can perform positioning of the cleaning area through the laser Slam and the vision Slam) whether the cleaning area is changed or not by itself through the environmental positioning function, that is, whether the sweeper enters another new cleaning area from one cleaning area (such as moving 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 the dust box of the sweeper is recorded first, and a sweeping action is executed to sweep the first sweeping area. After the cleaning action of the first cleaning area is completed (namely, the cleaning machine finishes cleaning the first cleaning area and prepares or just enters the second cleaning area), the cleaning machine records the current second garbage capacity of the dust box and calculates the cleaning interval duration of the first cleaning area. The cleaning history database is stored in the sweeper or on the cloud server, and the cleaning time of each area of the sweeper is stored in the cleaning history database, for example, the cleaning time of a kitchen is respectively: 8.9.12: 00 And the cleaning time is arranged according to the time increasing sequence, such as 14:00 of 8/10/2020. And the sweeper calculates the time length between the last time of the first cleaning area and the current time according to the last cleaning time of the first cleaning area, so as to obtain the cleaning interval duration corresponding to the first cleaning area. And the sweeper calculates the regional garbage density of the first sweeping region according to the first garbage capacity, the second garbage capacity and the sweeping interval duration. Specifically, the difference between the first garbage capacity and the second garbage capacity is the total garbage amount of the first cleaning area, and the sweeper divides the total garbage amount by the cleaning interval duration of the first cleaning area to obtain the area garbage density, where the area garbage density in the embodiment corresponds to the cleaning interval duration. The sweeper records the garbage density of the area, establishes an association relation with the first sweeping area, and can estimate the total garbage amount of the first sweeping area according to the garbage density of the area and the sweeping interval time. In this embodiment, the total amount of garbage in the first cleaning area is not directly recorded, but the garbage density in the area corresponding to the cleaning interval duration is recorded, because the garbage amount in the area increases orderly with time, but the time interval duration of the cleaning interval is not necessarily a constant value. When different interval time T1 and T2 exist, the product of the regional garbage density q can be multiplied, the accumulated garbage amount W1 and W2 under different cleaning time intervals can be estimated, and the estimated accuracy is higher.

In another embodiment, after the step of calculating the garbage capacity of the dust box of the sweeper 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 the cleaning machine enters a first cleaning area, recording the current first garbage capacity of the dust box of the cleaning machine, and executing cleaning action;

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

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 environmental map of each cleaning area is built in, so that the sweeper can identify (or the sweeper can perform positioning of the cleaning area through the laser Slam and the vision Slam) whether the cleaning area is changed or not by itself through the environmental positioning function, that is, whether the sweeper enters another new cleaning area from one cleaning area (such as moving 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 the dust box of the sweeper is recorded first, and a sweeping action is executed to sweep the first sweeping area. After the cleaning action on the first cleaning area is completed (i.e., the sweeper completes cleaning the first cleaning area, prepares for or just enters the second cleaning area), the sweeper records the current second garbage capacity of the dust box. The sweeper calculates the regional garbage density of the first sweeping region according to the first garbage capacity, the second garbage capacity and the sweeping time of the first sweeping region, wherein the regional garbage density corresponds to the time required by sweeping the sweeping region, namely the sweeping time. Specifically, the difference between the first garbage capacity and the second garbage capacity is the total garbage amount of the first cleaning area, and the sweeper divides the total garbage amount 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 association relation with the first sweeping area, and can estimate the total garbage amount of the first sweeping area according to the garbage density of the area. The reason why the garbage density of the area is recorded instead of the total garbage amount of the first cleaning area is directly recorded is that the layout of the objects in the first cleaning area may change, resulting in a change in cleaning time of the first cleaning area (for example, when an object directly contacting with the ground is placed in the first cleaning area, the sweeper can avoid the area where the object is located during cleaning, and after the object moves to other areas, the cleaning time of the first cleaning area may become longer, thereby resulting in an increase in the total amount of garbage to be cleaned).

s15, judging whether the garbage capacity is larger than a capacity threshold value or not;

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

In this embodiment, after the current garbage capacity of the dust box is obtained, the sweeper compares the garbage capacity with the capacity threshold value and judges the size relationship between the garbage capacity and the capacity threshold value. If the garbage capacity is not less than the capacity threshold, the garbage in the dust box is full or is about to be full, and the garbage in the dust box needs to be cleaned in time. The sweeper moves to a preset place (the preset place is a garbage discharge place set by a user), and garbage in the dust box of the sweeper is discharged at the preset place by dumping the dust box and the like so as to clean the next area. Preferably, if the sweeper has no function of automatically discharging garbage, the user can be prompted to timely remove the garbage in the dust box of the sweeper by outputting prompt information (such as a prompt sound or a flashing prompt lamp).

S17, if the garbage capacity is smaller than a capacity threshold, acquiring the region garbage density, the region cleaning time length and the cleaning interval time length corresponding to each region to be cleaned, wherein the region cleaning time length is the time length required by the sweeper to clean the region 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 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.

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 a next sweeping path according to the residual capacity of the dust box and the battery endurance time. Specifically, the sweeper obtains the current region garbage density, region sweeping time length and sweeping interval time length respectively corresponding to each region to be swept, wherein the region sweeping time length is the time length required by the sweeper to sweep the region to be swept, and the region garbage density, the region sweeping time length and the sweeping interval time length respectively corresponding to each region to be swept are all recorded by the sweeper in the previous sweeping process.

The sweeper plans a subsequent sweeping path according to the garbage density of each area, the corresponding sweeping interval duration of each area, the sweeping duration of each area, the residual capacity and the battery duration. Specifically, the sweeper calculates and obtains the total amount of the region garbage corresponding to each region to be cleaned according to the region garbage density and the cleaning interval duration corresponding to each region to be cleaned. Then, the sweeper calculates the difference between the total capacity (or the capacity threshold) of the dust box and the current garbage capacity according to the total capacity (or the capacity threshold) of the dust box, obtains 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 according to the size relation between the areas to be cleaned and the current distance of the sweeper. In the screening process, the sweeper sequentially adds the to-be-cleaned areas into the first to-be-cleaned areas, and calculates whether the sum of the total amount of the garbage in the areas corresponding to the first to-be-cleaned areas is not more than the residual capacity in real time. And if the sum of the total amount of the area garbage of all the first areas to be cleaned is larger than the residual capacity after the 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 amounts of the area garbage corresponding to each first area to be cleaned is not larger than the residual capacity. Then, the sweeper calculates whether the sum of the regional cleaning time lengths corresponding to the first regions to be cleaned is larger than the battery endurance time. And if the sum of the cleaning time periods of the areas corresponding to the first areas to be cleaned is not greater than the battery endurance time, sequentially cleaning the first areas to be cleaned according to the magnitude relation of the current distance between the first areas to be cleaned and the sweeper, so as to obtain the next cleaning path. If the sum of the area cleaning durations corresponding to the first areas to be cleaned is larger than the battery endurance time, the first areas to be cleaned are removed from the first areas to be cleaned in sequence according to the magnitude relation between the first areas to be cleaned and the current distance of the sweeper, one area to be cleaned is removed each time until the sum of the area cleaning durations corresponding to the plurality of the remaining first areas to be cleaned is not larger than the battery endurance time, and the remaining first areas to be cleaned form the next cleaning path of the sweeper in ascending order according to the magnitude relation between the first areas to be cleaned and the current distance of the sweeper.

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

s1902, according to the current distance between each to-be-cleaned area and the sweeper, a plurality of first to-be-cleaned areas are screened out from each to-be-cleaned area in ascending order, wherein the sum of the total amount of garbage in the areas corresponding to each first to-be-cleaned area is not greater than the residual capacity;

s1903, judging whether the sum of the regional cleaning time periods corresponding to the first regions to be cleaned is larger than the battery endurance time;

s1904, if the sum of the cleaning time periods of the areas corresponding to the first areas to be cleaned is not greater than the battery endurance time, sequentially cleaning the first areas to be cleaned according to the current distance to obtain the cleaning path;

and S1905, if the sum of the regional cleaning durations corresponding to the first regions to be cleaned is greater than the battery endurance time, removing the first regions to be cleaned from the first regions to be cleaned according to the current distance in a descending order until the sum of the regional cleaning durations corresponding to the remaining first regions to be cleaned is not greater than the battery endurance time, wherein the remaining first regions to be cleaned form the cleaning path.

In this embodiment, the sweeper calculates the total amount of the area garbage corresponding to each to-be-cleaned area according to the multiplying of the area garbage density and the cleaning interval duration corresponding to each to-be-cleaned area. Then, the sweeper screens a plurality of first areas to be cleaned from the areas to be cleaned according to the size relation between the areas to be cleaned and the current distance of the sweeper in an ascending order. In the process of screening the first area to be cleaned, the sweeper needs to ensure that the sum of the total amount of the area garbage of each first area to be cleaned is not larger than the residual capacity, so that the situation that the garbage of the first area to be cleaned cannot be cleaned after the dust box is full of garbage is avoided. Specifically, the sweeper sequentially adds the to-be-cleaned areas into the first to-be-cleaned area according to the size relation between each to-be-cleaned area and the current distance of the sweeper (for example, the current distance between the to-be-cleaned area A and the sweeper is 2, the current distance between the to-be-cleaned area B and the sweeper is 5, the current distance between the to-be-cleaned area C and the sweeper is 7, the to-be-cleaned area A is selected to be the first to-be-cleaned area firstly, then the to-be-cleaned area B is selected, and finally the to-be-cleaned area C is selected), and whether the sum of the total amount of the garbage of the corresponding areas of each to-be-cleaned area is not more than the residual capacity is automatically calculated when a new to-be-cleaned area is added each time. If the sum of the total amount of the area garbage of all the first areas to be cleaned is larger than the residual capacity, the newly added first areas to be cleaned are removed, so that the sum of the total amounts of the area garbage corresponding to the first areas to be cleaned is not larger than the residual capacity. After screening all the first areas to be cleaned is completed, the sweeper calculates the sum of the area cleaning time periods corresponding to the first areas to be cleaned respectively, compares the sum of the area cleaning time periods with the battery endurance time, and judges the magnitude relation between the sum and the battery endurance time. And if the sum of the area cleaning time of each first area 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 battery to complete the cleaning action of each first area to be cleaned. If the sum of the area cleaning time of each first area to be cleaned is greater than the battery endurance time, the current electric quantity of the battery of the sweeper cannot support the battery to complete the cleaning action of each first area to be cleaned, and part of the first areas to be cleaned need to be removed. Specifically, the sweeper eliminates the first areas to be cleaned from the first areas to be cleaned in a descending order according to the current distance relation between the first areas to be cleaned and the sweeper (namely, eliminates only one first area to be cleaned which is farthest from the sweeper at each time), and calculates whether the sum of the area cleaning time lengths of the plurality of the remaining first areas to be cleaned is larger than the battery endurance time after each elimination. And (3) the step of removing the first areas to be cleaned is circulated until the sum of the area cleaning time of the remaining first areas to be cleaned is not more than the battery endurance time, and the sweeper cleans each remaining first area to be cleaned according to the current distance in an ascending order to form a cleaning path.

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

s20, if the garbage capacity is smaller than a capacity threshold, acquiring the region garbage density and the region cleaning duration corresponding to each region 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;

s22, planning a 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.

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 a next sweeping path according to the residual capacity of the dust box and the battery endurance time. Specifically, the sweeper obtains the current region garbage density and region sweeping time length corresponding to each region to be swept, wherein the region sweeping time length is the time length required by the sweeper to sweep the region to be swept, and the region garbage density and the region sweeping time length corresponding to each region to be swept are recorded by the sweeper in the previous sweeping process.

The sweeper plans the next sweeping path according to the garbage density of each area, the sweeping duration of each area, the residual capacity and the battery duration. Specifically, the sweeper calculates and obtains the total amount of the region garbage corresponding to each region to be cleaned according to the region garbage density and the region cleaning time length corresponding to each region to be cleaned. Then, the sweeper calculates the difference between the total capacity (or threshold capacity) of the dust box and the current garbage capacity according to the total capacity (or threshold capacity) of the dust box, obtains 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 according to the size relation between the areas to be cleaned and the current distance of the sweeper. In the screening process, the sweeper sequentially adds the to-be-cleaned areas into the first to-be-cleaned areas, and calculates whether the sum of the total amount of the garbage in the areas corresponding to the first to-be-cleaned areas is not more than the residual capacity in real time. And if the sum of the total amount of the area garbage of all the first areas to be cleaned is larger than the residual capacity after the 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 amounts of the area garbage corresponding to each first area to be cleaned is not larger than the residual capacity. Then, the sweeper calculates that the sum of the regional cleaning time lengths corresponding to the first regions to be cleaned is larger than the battery endurance time. And if the sum of the cleaning time periods of the areas corresponding to the first areas to be cleaned is not greater than the battery endurance time, sequentially cleaning the first areas to be cleaned according to the magnitude relation of the current distance between the first areas to be cleaned and the sweeper, so as to obtain the next cleaning path. If the sum of the area cleaning durations corresponding to the first areas to be cleaned is larger than the battery endurance time, the first areas to be cleaned are removed from the first areas to be cleaned in sequence according to the magnitude relation between the first areas to be cleaned and the current distance of the sweeper, one area to be cleaned is removed each time until the sum of the area cleaning durations corresponding to the plurality of the remaining first areas to be cleaned is not larger than the battery endurance time, and the remaining first areas to be cleaned form the next cleaning path of the sweeper in ascending order according to the magnitude relation between the first areas to be cleaned and the current distance of the sweeper.

Further, the step of planning a 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 includes:

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

s2202, according to the current distance between each to-be-cleaned area and the sweeper, a plurality of first to-be-cleaned areas are screened out from each to-be-cleaned area in ascending order, wherein the sum of the total amount of garbage in the areas corresponding to each first to-be-cleaned area is not more than the residual capacity;

s2203, judging whether the sum of the regional cleaning time periods corresponding to the first regions to be cleaned is larger than the battery endurance time;

s2204, if the sum of the cleaning time periods of the areas corresponding to the first areas to be cleaned is not greater than the battery endurance time, cleaning the first areas to be cleaned according to the current distance in sequence to obtain the cleaning path;

and S2205, if the sum of the area cleaning durations corresponding to the first areas to be cleaned is greater than the battery endurance time, removing the first areas to be cleaned from the first areas to be cleaned according to the current distance in a descending order until the sum of the area cleaning durations 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.

In this embodiment, the sweeper first multiplies and calculates the total area garbage amount corresponding to each to-be-cleaned area according to the area garbage density and the area cleaning duration corresponding to each to-be-cleaned area. Then, the sweeper screens a plurality of first areas to be cleaned from the areas to be cleaned according to the size relation between the areas to be cleaned and the current distance of the sweeper in an ascending order. In the process of screening the first area to be cleaned, the sweeper needs to ensure that the sum of the total amount of the area garbage of each first area to be cleaned is not larger than the residual capacity, so that the situation that the garbage of the first area to be cleaned cannot be cleaned after the dust box is full of garbage is avoided. Specifically, the sweeper sequentially adds the to-be-cleaned areas into the first to-be-cleaned area according to the size relation between each to-be-cleaned area and the current distance of the sweeper (for example, the current distance between the to-be-cleaned area A and the sweeper is 2, the current distance between the to-be-cleaned area B and the sweeper is 5, the current distance between the to-be-cleaned area C and the sweeper is 7, the to-be-cleaned area A is selected to be the first to-be-cleaned area firstly, then the to-be-cleaned area B is selected, and finally the to-be-cleaned area C is selected), and whether the sum of the total amount of the garbage of the corresponding areas of each to-be-cleaned area is not more than the residual capacity is automatically calculated when a new to-be-cleaned area is added each time. If the sum of the total amount of the area garbage of all the first areas to be cleaned is larger than the residual capacity, the newly added first areas to be cleaned are removed, so that the sum of the total amounts of the area garbage corresponding to the first areas to be cleaned is not larger than the residual capacity. After screening all the first areas to be cleaned is completed, the sweeper calculates the sum of the area cleaning time periods corresponding to the first areas to be cleaned respectively, compares the sum of the area cleaning time periods with the battery endurance time, and judges the magnitude relation between the sum and the battery endurance time. And if the sum of the area cleaning time of each first area 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 battery to complete the cleaning action of each first area to be cleaned. If the sum of the area cleaning time of each first area to be cleaned is greater than the battery endurance time, the current electric quantity of the battery of the sweeper cannot support the battery to complete the cleaning action of each first area to be cleaned, and part of the first areas to be cleaned need to be removed. Specifically, the sweeper eliminates the first areas to be cleaned from the first areas to be cleaned in a descending order according to the current distance relation between the first areas to be cleaned and the sweeper (namely, eliminates only one first area to be cleaned which is farthest from the sweeper at each time), and calculates whether the sum of the area cleaning time lengths of the plurality of the remaining first areas to be cleaned is larger than the battery endurance time after each elimination. And (3) the step of removing the first areas to be cleaned is circulated until the sum of the area cleaning time of the remaining first areas to be cleaned is not more than the battery endurance time, and the sweeper cleans each remaining first area to be cleaned according to the current distance in an ascending order 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 handles the sound signal, obtains the signal frequency of sound signal. And finally, calculating the garbage capacity of the dust box of the sweeper by the sweeper according to the signal frequency. The change of the dust capacity in the dust box can cause the change of the sound frequency generated when the fan works, the dust capacity of the dust box of the sweeper is obtained by analyzing the frequency characteristic of the sound signal, and compared with a calculation mode of utilizing the current resistor on a circuit, the dust box has higher accuracy. Meanwhile, the sound signals acquired by the sweeper can be acquired through the microphone and other devices, so that a large amount of electric energy loss of electric energy cannot be caused to the sweeper, 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, in an embodiment of the present application, there is further provided a device for identifying a garbage capacity in a dust box of a sweeper, where the sweeper includes a fan, and the identifying device includes:

the first acquisition module 1 is used for acquiring sound signals 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 calculation module 3 is used for calculating the garbage capacity of the dust box of the sweeper according to the signal frequency.

Further, the first computing module 3 includes:

Further, the identification device further includes:

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

a first judging module 5, configured to judge whether the garbage amount in the unit area of the current cleaning area exceeds a threshold 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 device further includes:

a second judging module 7, configured to judge whether to enter a first cleaning area, where 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 sweeping action if entering a first sweeping area;

the recording module 9 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 completed, 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 of the first sweeping area and the current time;

a second calculation module 10 for calculating the area garbage density of the first cleaning area according to the first garbage capacity, the second garbage capacity and the cleaning interval time

Further, the identification device further includes:

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

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

Further, the identification device further comprises:

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

The third calculation 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 duration of the sweeper;

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, the cleaning duration of each area, the residual capacity and the battery duration.

The sweeper plans a subsequent sweeping path according to the garbage density of each area, the corresponding sweeping interval duration of each area, the sweeping duration of each area, the residual capacity and the battery duration. Specifically, the sweeper calculates and obtains the total amount of the region garbage corresponding to each region to be cleaned according to the region garbage density and the cleaning interval duration corresponding to each region to be cleaned. Then, the sweeper calculates the difference between the total capacity of the dust box and the current garbage capacity according to 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 capacity of the sweeper. The sweeper firstly screens a plurality of first areas to be cleaned from the areas to be cleaned according to the size relation between the areas to be cleaned and the current distance of the sweeper. In the screening process, the sweeper sequentially adds the to-be-cleaned areas into the first to-be-cleaned areas, and calculates whether the sum of the total amount of the garbage in the areas corresponding to the first to-be-cleaned areas is not more than the residual capacity in real time. And if the sum of the total amount of the area garbage of all the first areas to be cleaned is larger than the residual capacity after the 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 amounts of the area garbage corresponding to each first area to be cleaned is not larger than the residual capacity. Then, the sweeper calculates whether the sum of the regional cleaning time lengths corresponding to the first regions to be cleaned is larger than the battery endurance time. And if the sum of the cleaning time periods of the areas corresponding to the first areas to be cleaned is not greater than the battery endurance time, sequentially cleaning the first areas to be cleaned according to the magnitude relation of the current distance between the first areas to be cleaned and the sweeper, so as to obtain the next cleaning path. If the sum of the area cleaning durations corresponding to the first areas to be cleaned is larger than the battery endurance time, the first areas to be cleaned are removed from the first areas to be cleaned in sequence according to the magnitude relation between the first areas to be cleaned and the current distance of the sweeper, one area to be cleaned is removed each time until the sum of the area cleaning durations corresponding to the plurality of the remaining first areas to be cleaned is not larger than the battery endurance time, and the remaining first areas to be cleaned form the next cleaning path of the sweeper in ascending order according to the magnitude relation between the first areas to be cleaned and the current distance of the sweeper.

Further, the planning module 15 includes:

In another embodiment, the identification device further includes:

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

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

In this embodiment, the sweeper has a positioning function, and an environmental map of each cleaning area is built in, so that the sweeper can identify (or the sweeper can perform positioning of the cleaning area through the laser Slam and the vision Slam) whether the cleaning area is changed or not by itself through the environmental positioning function, that is, whether the sweeper enters another new cleaning area from one cleaning area (such as moving 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 the dust box of the sweeper is recorded first, and a sweeping action is executed to sweep the first sweeping area. After the cleaning action on the first cleaning area is completed (i.e., the sweeper completes cleaning the first cleaning area, prepares for or just enters the second cleaning area), the sweeper records the current second garbage capacity of the dust box. The sweeper calculates the regional garbage density of the first sweeping region according to the first garbage capacity, the second garbage capacity and the sweeping time of the first sweeping region, wherein the regional garbage density corresponds to the time required by sweeping the sweeping region, namely the sweeping time. Specifically, the difference between the first garbage capacity and the second garbage capacity is the total garbage amount of the first cleaning area, and the sweeper divides the total garbage amount 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 association relation with the first sweeping area, and can estimate the total garbage amount of the first sweeping area according to the garbage density of the area. The reason why the garbage density of the area is recorded instead of the total garbage amount of the first cleaning area is directly recorded is that the object layout of the first cleaning area may change, resulting in a change in cleaning time of the first cleaning area (for example, when an object directly contacting with the ground is placed in the first cleaning area, the sweeper can avoid the area where the object is located during cleaning, and after the object moves to other areas, the cleaning time of the first cleaning area may become large, thereby resulting in a large total amount of cleaned garbage.

Further, the identification device further includes:

the second obtaining module 13 is configured to obtain an area garbage density and an area cleaning duration corresponding to each area to be cleaned if the garbage capacity is smaller than a capacity threshold;

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 residual capacity and the battery duration.

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 a next sweeping path according to the residual capacity of the dust box and the battery endurance time. Specifically, the sweeper obtains the current region garbage density and the region sweeping time length corresponding to each region to be swept, wherein the region garbage density and the region sweeping time length corresponding to each region to be swept are recorded by the sweeper in the previous sweeping process.

The sweeper plans the next sweeping path according to the garbage density of each area, the sweeping duration of each area, the residual capacity and the battery duration. Specifically, the sweeper calculates and obtains the total amount of the region garbage corresponding to each region to be cleaned according to the region garbage density and the region cleaning time length corresponding to each region to be cleaned. Then, the ground machine calculates the difference between the total capacity (or threshold capacity) of the dust box and the current garbage capacity according to the total capacity (or threshold capacity) of the dust box, obtains the residual capacity of the dust box of the ground machine, and obtains the battery endurance time according to the current residual capacity of the ground machine. The sweeper firstly screens a plurality of first areas to be cleaned from the areas to be cleaned according to the size relation between the areas to be cleaned and the current distance of the sweeper. In the screening process, the sweeper sequentially adds the to-be-cleaned areas into the first to-be-cleaned areas, and calculates whether the sum of the total amount of the garbage in the areas corresponding to the first to-be-cleaned areas is not more than the residual capacity in real time. And if the sum of the total amount of the area garbage of all the first areas to be cleaned is larger than the residual capacity after the 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 amounts of the area garbage corresponding to each first area to be cleaned is not larger than the residual capacity. Then, the sweeper calculates that the sum of the regional cleaning time lengths corresponding to the first regions to be cleaned is larger than the battery endurance time. And if the sum of the cleaning time periods of the areas corresponding to the first areas to be cleaned is not greater than the battery endurance time, sequentially cleaning the first areas to be cleaned according to the magnitude relation of the current distance between the first areas to be cleaned and the sweeper, so as to obtain the next cleaning path. If the sum of the area cleaning durations corresponding to the first areas to be cleaned is larger than the battery endurance time, the first areas to be cleaned are removed from the first areas to be cleaned in sequence according to the magnitude relation between the first areas to be cleaned and the current distance of the sweeper, one area to be cleaned is removed each time until the sum of the area cleaning durations corresponding to the plurality of the remaining first areas to be cleaned is not larger than the battery endurance time, and the remaining first areas to be cleaned form the next cleaning path of the sweeper in ascending order according to the magnitude relation between the 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 amount of the regional garbage corresponding to each region to be cleaned according to the regional garbage density and the regional cleaning time length;

The embodiment provides a recognition device of rubbish capacity in dust box of machine of sweeping floor, the machine of sweeping floor includes the fan, and wherein the method includes: the sweeper obtains the sound signal of fan during operation, then handles the sound signal, obtains the signal frequency of sound signal. And finally, calculating the garbage capacity of the dust box of the sweeper by the sweeper according to the signal frequency. The change of the dust capacity in the dust box can cause the change of the sound frequency generated when the fan works, the dust capacity of the dust box of the sweeper is obtained by analyzing the frequency characteristic of the sound signal, and compared with a calculation mode of utilizing the current resistor on a circuit, the dust box has higher accuracy. Meanwhile, the sound signals acquired by the sweeper can be acquired through the microphone and other devices, so that a large amount of electric energy loss of electric energy cannot be caused to the sweeper, 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, in an embodiment of the present application, there is further provided a computer device, which may be a server, and an internal structure thereof may be as shown in fig. 3. The computer device includes a processor, a memory, a network interface, and a database connected by a system bus. Wherein the computer is configured to provide computing and control capabilities. The memory of the computer device includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system, computer programs, and a database. The internal memory provides an environment for the operation of the operating system and computer programs in the non-volatile storage media. 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, when executed by a processor, implements a method of identifying the capacity of waste in a dust box of a sweeper, the sweeper comprising a fan.

Executing the steps of the method for identifying the garbage capacity in the dust box of the sweeper by the processor:

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

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

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

Those skilled in the art will appreciate that implementing all or part of the above described methods may be accomplished by hardware associated with a computer program stored on a non-transitory computer readable storage medium, which when executed, may comprise the steps of the embodiments of the methods described above. Any reference to memory, storage, database, or other medium provided by the present application and used in embodiments may include non-volatile and/or volatile memory. The nonvolatile 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), dual speed data rate SDRAM (SSRSDRAM), enhanced SDRAM (ESDRAM), synchronous Link DRAM (SLDRAM), memory bus direct RAM (RDRAM), direct memory bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM), among others.

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 one … …" does not exclude the presence of other like elements in a process, apparatus, article or method that comprises the element.

The foregoing description is only of the preferred embodiments of the present application and is not intended to limit the scope of the application, and all equivalent structures or equivalent processes using the descriptions and drawings of the present application or direct or indirect application in other related technical fields are included in the scope of the present application.

Claims

1. The method for identifying the garbage capacity in the dust box of the 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;

calculating to obtain the garbage capacity of the dust box of the sweeper according to the signal frequency;

the sound signal is an air duct sound signal, the air duct sound signal is sound generated in an air duct by driving airflow by a fan when the fan works, and the step of calculating the garbage capacity of the dust box of the sweeper according to the signal frequency comprises the following steps:

2. The method for recognizing the garbage capacity in a dust box of a sweeper according to claim 1, wherein after the step of processing the sound signal to obtain the signal frequency of the sound signal, the method comprises:

3. The method for recognizing the garbage capacity of the dust box of the sweeper according to claim 1, wherein after the step of calculating the garbage capacity of the dust box of the sweeper according to the signal frequency, the method comprises the steps of:

4. The method for recognizing the garbage capacity of the dust box of the sweeper according to claim 1, wherein after the step of calculating the garbage capacity of the dust box of the sweeper according to the signal frequency, the method comprises the steps of:

Judging whether the garbage capacity is larger than a capacity threshold;

5. The method for identifying a dust capacity in a dust box of a sweeper according to claim 4, wherein after the step of determining whether the dust capacity is greater than a capacity threshold, the method comprises:

6. The method for recognizing the garbage capacity in the dust box of the sweeper according to claim 5, wherein the step of planning the sweeping path of the sweeper according to the garbage density of each region, the sweeping interval duration, the regional sweeping duration, the residual capacity and the battery duration comprises the following steps:

7. The utility model provides a recognition device of rubbish capacity in machine dust box sweeps floor, its characterized in that, the machine of sweeping floor includes the fan, recognition device includes:

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

the calculation sub-module is used for 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 (xxw) +b1×sin (xxw), 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.

8. 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, carries out the steps of the method according to any one of claims 1 to 6.

9. A computer readable storage medium, on which a computer program is stored, characterized in that the computer program, when being executed by a processor, implements the steps of the method of any of claims 1 to 6.