CN113080768A - Sweeper control method, sweeper control equipment and computer readable storage medium - Google Patents
Sweeper control method, sweeper control equipment and computer readable storage medium Download PDFInfo
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- CN113080768A CN113080768A CN201911340100.8A CN201911340100A CN113080768A CN 113080768 A CN113080768 A CN 113080768A CN 201911340100 A CN201911340100 A CN 201911340100A CN 113080768 A CN113080768 A CN 113080768A
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/24—Floor-sweeping machines, motor-driven
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
- A47L11/4002—Installations of electric equipment
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
- A47L11/4002—Installations of electric equipment
- A47L11/4008—Arrangements of switches, indicators or the like
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V20/00—Scenes; Scene-specific elements
- G06V20/10—Terrestrial scenes
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L2201/00—Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L2201/00—Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
- A47L2201/06—Control of the cleaning action for autonomous devices; Automatic detection of the surface condition before, during or after cleaning
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Abstract
The application provides a sweeper control method, control equipment and a computer readable storage medium, wherein the method comprises the following steps: acquiring ground images corresponding to each indoor area in a house, and determining whether rubbish exists on the ground of the house according to each ground image; if the garbage exists on the ground of the house, determining a target cleaning area, wherein the target cleaning area is an area to be cleaned; and controlling the sweeper to move to the target sweeping area so that the sweeper sweeps the garbage in the target sweeping area. This application can intelligent control machine of sweeping floor clean ground.
Description
Technical Field
The present application relates to the field of sweeper control technologies, and in particular, to a sweeper control method, a sweeper control device, and a computer-readable storage medium.
Background
Along with the improvement of the living standard of people and the development of technology, the use of the sweeper is more and more common, the sweeper can intelligently sweep the ground in a house, sweep the garbage on the ground, and can also wet the mop to clean the ground. At present, the machine of sweeping the floor can regularly clean ground, but the machine of sweeping the floor during operation, removes in whole room usually to clean whole room, but not whole room all need clean, and the operating time of machine of sweeping the floor is limited, cleans whole room, and the accurate region that needs to clean of cleaning, the electric quantity of extravagant machine of sweeping the floor. Therefore, how to intelligently control the sweeper to sweep the ground is an urgent problem to be solved at present.
Disclosure of Invention
The present application provides a control method, a control device and a computer readable storage medium for a sweeper, which aims to intelligently control the sweeper to sweep the ground.
In a first aspect, the present application provides a sweeper control method, comprising:
acquiring ground images corresponding to each indoor area in a house, and determining whether rubbish exists on the ground of the house according to each ground image;
if the garbage exists on the ground of the house, determining a target cleaning area, wherein the target cleaning area is an area to be cleaned;
and controlling the sweeper to move to the target sweeping area so that the sweeper sweeps the garbage in the target sweeping area.
In a second aspect, the present application also provides a control apparatus, which includes a processor, a memory, and a computer program stored on the memory and executable by the processor, wherein when the computer program is executed by the processor, the steps of the sweeper control method are realized.
In a third aspect, the present application further provides a computer-readable storage medium, on which a computer program is stored, wherein the computer program, when executed by a processor, implements the steps of the sweeper control method as described above.
The application provides a sweeper control method, control device and computer readable storage medium, the application can confirm whether rubbish exists on the ground of a house or not through the ground image corresponding to each indoor area in the house, if rubbish exists on the ground of the house, the area to be cleaned is confirmed, the sweeper is controlled to move to the area to be cleaned, so that the sweeper cleans rubbish in the area to be cleaned, the area with the rubbish can be accurately cleaned by the sweeper, the endurance time of the sweeper is prolonged, the sweeper can be intelligently controlled to clean the ground, and user experience is greatly improved.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings needed to be used in the description of the embodiments are briefly introduced below, and it is obvious that the drawings in the following description are some embodiments of the present application, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without creative efforts.
Fig. 1 is a schematic flow chart of a control method of a sweeper provided in an embodiment of the present application;
fig. 2 is a schematic view of a scene of the movement of the sweeper in the embodiment of the present application;
fig. 3 is a schematic view of another scenario of the movement of the sweeper in the embodiment of the present application;
fig. 4 is a schematic view of another scenario of the movement of the sweeper in the embodiment of the present application;
fig. 5 is a schematic view of another scenario of the movement of the sweeper in the embodiment of the present application;
fig. 6 is a block diagram schematically illustrating a structure of a control 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
The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are some, but not all, embodiments of the present application. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.
The flow diagrams depicted in the figures are merely illustrative and do not necessarily include all of the elements and operations/steps, nor do they necessarily have to be performed in the order depicted. For example, some operations/steps may be decomposed, combined or partially combined, so that the actual execution sequence may be changed according to the actual situation.
The embodiment of the application provides a sweeper control method, control equipment and a computer readable storage medium, wherein the sweeper control method is applied to the control equipment, the control equipment can be an intelligent refrigerator, an intelligent television, an intelligent sound box, a server, a PC (personal computer) and the like, and the application is not particularly limited to this.
Some embodiments of the present application will be described in detail below with reference to the accompanying drawings. The embodiments described below and the features of the embodiments can be combined with each other without conflict.
Referring to fig. 1, fig. 1 is a schematic flow chart of a sweeper control method according to an embodiment of the present application.
As shown in fig. 1, the sweeper control method includes steps S101 to S103.
Step S101, obtaining ground images corresponding to each indoor area in a house, and determining whether rubbish exists on the ground of the house according to each ground image.
Whether the ground of the house is provided with rubbish or not can be determined through the ground image corresponding to each indoor area. The camera is installed in each indoor area in the house, and ground images corresponding to each indoor area can be shot through the camera installed in each indoor area. It is understood that the indoor area includes, but is not limited to, a kitchen, a restaurant, a living room, a balcony, a study room, and a bedroom, the camera includes, but is not limited to, an infrared camera, a depth camera, a 3D camera, and a wide-angle camera, and the camera may be installed on a wall of the indoor area, and may also be installed on a ceiling of the indoor area, which is not particularly limited in this application.
In one embodiment, each ground image is input into a preset garbage recognition model, and a garbage recognition result of each ground image is obtained; and determining whether the garbage exists on the ground of the house according to the garbage recognition result of each ground image. The garbage recognition results comprise that garbage exists on the ground and garbage does not exist on the ground, if the garbage recognition result of at least one ground image is that garbage exists, the fact that garbage exists on the ground of the house can be determined, and the fact that garbage does not exist on the ground of the house can be determined if the garbage recognition results of all the grounds are that garbage does not exist.
The preset garbage recognition model is a pre-trained Neural Network model, the Neural Network model includes but is not limited to a Convolutional Neural Network (CNN), a Recurrent Neural Network (RNN), a Recurrent CNN (RCNN) and a high-speed region Convolutional Neural Network (fast-RCNN), and the garbage recognition model can be obtained by training the Neural Network model. The garbage recognition model will be explained below by taking the master-RCNN as an example.
Specifically, a sample data set is obtained, and data expansion is carried out on the sample data set to obtain a target sample data set, wherein the target sample data set comprises a plurality of ground images marked with garbage and ground images not marked with garbage; pre-training ZF-Net to obtain initial model parameters of the ZF-Net, and initializing the ZF-Net based on the initial model parameters; performing end-to-end iterative training on the initialized ZF-Net according to a target sample data set to obtain a sample output result; and performing iterative training on the faster-RCNN according to the sample output result until the faster-RCNN converges to obtain the garbage recognition model. Specific ways of data expansion include, but are not limited to, horizontal flipping, random matting, scaling, rotation, color dithering, noise perturbation, and luminance-contrast transformation.
In one embodiment, historical ground images corresponding to each indoor area are obtained, the ground images belonging to one indoor area are associated with the historical ground images to obtain a ground image group of each indoor area, wherein the ground image group comprises one historical ground image and one ground image, and the historical ground image comprises a garbage-free ground image shot at the last moment; and determining whether the garbage exists on the ground of the house according to the ground image group of each indoor area.
Specifically, dividing the historical ground image into a preset number of first image areas, and dividing the ground image into a preset number of second image areas, wherein the first image areas correspond to the second image areas one by one; comparing the first image area with the corresponding second image area to obtain an image area comparison result, and acquiring the image area comparison result as a second image area with different images; and inputting the second image area obtained by comparison into a rubbish identification model to obtain a rubbish identification result, determining that rubbish exists on the ground of the house if the rubbish identification result is that the rubbish exists, and determining that the rubbish does not exist on the ground of the house if the rubbish identification result is that the rubbish does not exist.
The comparison method between the first image area and the second image area specifically includes: calculating the similarity between the first image area and the second image area, and determining an image area comparison result according to the similarity between the first image area and the second image area, namely determining that the images are the same if the similarity between the first image area and the second image area is greater than or equal to a preset similarity threshold, and determining that the images are different if the similarity between the first image area and the second image area is less than the preset similarity threshold.
Step S102, if the garbage exists on the ground of the house, determining a target cleaning area, wherein the target cleaning area is an area to be cleaned.
If there is debris on the floor of the house, a target cleaning zone is determined. The determination method of the target cleaning area may be: and determining a target indoor area according to the garbage recognition result of each ground image, namely, taking the indoor area corresponding to the ground image with the garbage recognition result as the target indoor area, and taking the target indoor area as the target cleaning area, wherein the target indoor area is the indoor area with the garbage.
In one embodiment, a target indoor area is determined according to a garbage recognition result of each ground image, and a target image area is extracted from the ground image of the target indoor area, wherein the target image area comprises garbage; and taking a room area corresponding to the target image area as a target cleaning area, wherein the target cleaning area is a sub-area of the target indoor area. The imaging area of the garbage in the ground image of the target indoor area can be determined through the garbage recognition model, and the imaging area of the garbage is cut from the ground image of the target indoor area to obtain the target image area.
Specifically, a rectangular coordinate system is established by taking one corner point of the ground image of the target indoor area as an origin, one side including the corner point as an X axis, and the other side including the corner point as a Y axis; calculating the distance and the angle between the four corner points of the target image area and the original point, and determining the position coordinates corresponding to the four corner points respectively according to the distance and the angle between the four corner points of the target image area and the original point; acquiring a preset coordinate conversion relation, and converting position coordinates corresponding to the four corner points into real position coordinates of the four corner points in a target indoor area according to the coordinate conversion relation; and taking the room area where the four real position coordinates are located as a target cleaning area. It is to be understood that the coordinate transformation relationship may be set according to actual situations, and the present application is not limited thereto.
And S103, controlling the sweeper to move to the target sweeping area so that the sweeper can sweep the garbage in the target sweeping area.
After the target cleaning area is determined, the sweeper is controlled to move to the target cleaning area, so that the sweeper cleans garbage in the target cleaning area, namely the indoor position information of the target cleaning area is sent to the sweeper, and the sweeper automatically moves to the target cleaning area according to the indoor position information to clean the target cleaning area.
In one embodiment, planning a movement track of the sweeper to the target sweeping area; and controlling the sweeper to move based on the moving track, so that the sweeper moves to the target sweeping area. It can be understood that when the sweeper moves along the moving track, if an obstacle is found, the moving track can be corrected so as to avoid the obstacle. By planning the movement track of the sweeper to the target cleaning area, the sweeper can quickly move to the target cleaning area according to the movement track, and the target cleaning area is cleaned.
Specifically, a preset room type map is obtained, and a movement track of the sweeper to the target sweeping area is planned according to the preset room type map. The preset room type map comprises indoor position coordinates of each camera and indoor position coordinates of each indoor area. Through the room type map, the moving track of the sweeper reaching the target sweeping area can be rapidly planned.
In one embodiment, the current indoor position coordinate of the sweeper and the indoor position coordinate corresponding to the target sweeping area are obtained; marking the sweeper and the target cleaning area in a preset room type map based on the current indoor position coordinate of the sweeper and the indoor position coordinate corresponding to the target cleaning area, and planning the movement track of the sweeper to the target cleaning area based on the marked room type map after marking.
In an embodiment, if there is only one target cleaning area, the movement track of the sweeper to the target cleaning area can be planned directly through the current indoor position coordinate of the sweeper, the indoor position coordinate corresponding to the target cleaning area and the preset room type map. Illustratively, as shown in fig. 2, the house includes 5 indoor areas, which are an indoor area a, an indoor area B, an indoor area C, an indoor area D, and an indoor area F, respectively, and the target cleaning area is the indoor area B, the sweeper 10 is located in the indoor area a, and the movement track is located between the indoor areas a and B. As shown in fig. 3, the house includes 5 indoor areas, which are an inner area a, an indoor area B, an indoor area C, an indoor area D, and an indoor area F, respectively, and the target cleaning area is an area B1 in the indoor area B, the sweeper 10 is located in the indoor area a, and the moving track is located between the area B1 and the indoor area a.
In one embodiment, if the number of the target cleaning areas is at least two, determining the position relation between the sweeper and each target cleaning area according to the current indoor position coordinate of the sweeper and the indoor position coordinate of each target cleaning area; and planning the movement track of the sweeper to reach each target sweeping area according to the position relation between the sweeper and each target sweeping area and a preset room type map.
Specifically, the sequence of sweeping each target sweeping area by the sweeper is determined according to the position relation between the sweeper and each target sweeping area; and planning a moving track of the sweeper to reach each target sweeping area according to the sequence of the sweeper to sweep each target sweeping area, the position relation between the sweeper and each target sweeping area and a preset room type map.
For example, as shown in fig. 4, a house includes 5 indoor areas, which are an indoor area a, an indoor area B, an indoor area C, an indoor area D, and an indoor area F, respectively, and the target cleaning area includes the indoor area B and the indoor area F, the sweeper 10 is located in the indoor area a, the moving track is to move to the indoor area B first, and clean the indoor area B, as shown in fig. 5, after the sweeper 10 has cleaned the indoor area B, the sweeper 10 is located in the indoor area B, and the sweeper 10 moves to the indoor area F again, and cleans the indoor area F.
In one embodiment, after the target cleaning area is determined, a ground image of the target cleaning area is acquired and sent to an associated mobile terminal, so that a user can read the target cleaning area through the mobile terminal, and the user determines whether the target cleaning area needs to be cleaned; the mobile terminal displays a cleaning confirmation window, wherein the cleaning confirmation window displays a ground image of a target cleaning area and a cleaning confirmation control; when the trigger operation of the user on the cleaning confirmation control is acquired, a cleaning confirmation instruction is sent to the control equipment; the control terminal receives a cleaning confirmation instruction sent by the mobile terminal and controls the sweeper to move to the target cleaning area according to the cleaning confirmation instruction, so that the sweeper cleans garbage in the target cleaning area. The ground image of the target cleaning area is sent to the mobile terminal, so that a user can read the target cleaning area through the mobile terminal, and the user determines whether the target cleaning area needs to be cleaned or not, and the user experience is greatly improved.
In one embodiment, the electric quantity required by the sweeper to move to a target sweeping area is determined, a first electric quantity is obtained, and the current residual electric quantity of the sweeper is obtained; if the current residual electric quantity is larger than the first electric quantity, controlling the sweeper to move to a target sweeping area; if the current residual electric quantity is less than or equal to the first electric quantity, the sweeper is controlled to move to the maintenance equipment, so that after the sweeper reaches the maintenance equipment, the maintenance equipment charges the sweeper through the charging device, and after charging is completed, the sweeper moves to a target sweeping area to sweep the target sweeping area. When the electric quantity of the sweeper is insufficient, the sweeper is controlled to move to the maintenance equipment for charging, and after charging is completed, the sweeper is moved to the target cleaning area to clean the target cleaning area.
Specifically, a current indoor position coordinate of the sweeper and an indoor position coordinate corresponding to a target sweeping area are obtained, and a route of the sweeper to the target sweeping area is determined according to the current indoor position coordinate of the sweeper and the indoor position coordinate corresponding to the target sweeping area; and acquiring a mapping relation table between the pre-stored route and the electric quantity, inquiring the mapping relation table, and acquiring the electric quantity corresponding to the route, thereby acquiring the electric quantity required by the sweeper to move to the target cleaning area.
In an embodiment, if the current remaining power is greater than the first power, determining power required by the sweeper to move the position of the maintenance equipment from the target cleaning area to obtain a second power; if the current residual electric quantity is larger than the sum of the first electric quantity and the second electric quantity, controlling a sweeper to move to the target sweeping area so that the sweeper can sweep the garbage in the target sweeping area; and if the current residual electric quantity is less than or equal to the sum of the first electric quantity and the second electric quantity, controlling the sweeper to move to the maintenance equipment, so that the maintenance equipment charges the sweeper through a charging device after the sweeper reaches the maintenance equipment, and after the charging is finished, moving the sweeper to a target sweeping area to sweep the target sweeping area. When the electric quantity of the sweeper is enough, the sweeper is controlled to move to the target sweeping area, and when the electric quantity of the sweeper is not enough, the sweeper is controlled to move to the maintenance equipment to be charged, so that the condition that the sweeper stops working due to the fact that the electric quantity is not enough can be avoided, and the user experience can be improved.
According to the sweeper control method provided by the embodiment, whether rubbish exists on the ground of the house can be determined through the ground image corresponding to each indoor area in the house, if the rubbish exists on the ground of the house, the area to be cleaned is determined, the sweeper is controlled to move to the area to be cleaned, so that the sweeper cleans the rubbish in the area to be cleaned, the area with the rubbish can be accurately cleaned by the sweeper, the endurance time of the sweeper is prolonged, the sweeper can be intelligently controlled to clean the ground, and user experience is greatly improved.
Referring to fig. 6, fig. 6 is a schematic block diagram of a structure of a control device according to an embodiment of the present application.
As shown in fig. 6, the control device 200 includes a processor 202, a memory 203, which may include a nonvolatile storage medium and an internal memory, and a communication interface 204 connected by a system bus 201.
The non-volatile storage medium may store a computer program. The computer program includes program instructions that, when executed, cause a processor to perform any one of the sweeper control methods.
The processor 201 is used to provide computing and control capabilities to support the operation of the overall control device.
The memory 202 provides an environment for the execution of a computer program in a non-volatile storage medium, which when executed by the processor, causes the processor to perform any of the sweeper control methods.
The communication interface 204 is used for communication. It will be appreciated by those skilled in the art that the configuration shown in fig. 6 is a block diagram of only a portion of the configuration associated with the present application and does not constitute a limitation on the control device to which the present application is applied, and a particular control device may include more or less components than those shown in the figures, or combine certain components, or have a different arrangement of components.
It should be understood that the bus 201 is, for example, an I2C (Inter-Integrated Circuit) bus, the Memory 203 may be a Flash chip, a Read-Only Memory (ROM), a magnetic disk, an optical disk, a usb disk, or a removable hard disk, the Processor 202 may be a Central Processing Unit (CPU), and the Processor may also be other general-purpose processors, Digital Signal Processors (DSP), Application Specific Integrated Circuits (ASIC), Field Programmable Gate Arrays (FPGA) or other Programmable logic devices, discrete Gate or transistor logic devices, discrete hardware components, or the like. Wherein a general purpose processor may be a microprocessor or the processor may be any conventional processor or the like.
Wherein, in one embodiment, the processor is configured to execute a computer program stored in the memory to implement the steps of:
acquiring ground images corresponding to each indoor area in a house, and determining whether rubbish exists on the ground of the house according to each ground image;
if the garbage exists on the ground of the house, determining a target cleaning area, wherein the target cleaning area is an area to be cleaned;
and controlling the sweeper to move to the target sweeping area so that the sweeper sweeps the garbage in the target sweeping area.
In one embodiment, the processor, in effecting determining from each of the ground images whether there is debris on the ground of the house, is operative to effect:
inputting each ground image into a preset garbage recognition model to obtain a garbage recognition result of each ground image, wherein the preset garbage recognition model is a pre-trained neural network model;
and determining whether the garbage exists on the ground of the house according to the garbage recognition result of each ground image.
In one embodiment, the processor, in effecting determining the target cleaning zone, is operable to effect:
determining a target indoor area according to the garbage recognition result of each ground image, wherein the target indoor area is an indoor area with garbage;
and taking the target indoor area as a target cleaning area.
In one embodiment, the processor, in effecting control of the sweeper to move to the target sweeping area, is configured to effect:
planning a moving track of the sweeper to the target cleaning area;
and controlling the sweeper to move based on the moving track, so that the sweeper moves to the target sweeping area.
In one embodiment, the processor, when implementing the planning of the movement trajectory of the sweeper to the target sweeping area, is configured to implement:
acquiring a preset room type map;
and planning a moving track of the sweeper to the target sweeping area according to the preset room type map.
In one embodiment, the processor, prior to effecting control of the sweeper to move to the target sweeping area, is further configured to effect:
determining the electric quantity required by the sweeper to move to the target sweeping area to obtain a first electric quantity, and acquiring the current residual electric quantity of the sweeper;
if the current residual electric quantity is larger than the first electric quantity, controlling the sweeper to move to the target sweeping area;
and if the current residual electric quantity is less than or equal to the first electric quantity, controlling the sweeper to move to the maintenance equipment, so that the sweeper reaches the maintenance equipment, and then charging the sweeper through a charging device by the maintenance equipment.
In one embodiment, the processor, prior to effecting control of the sweeper to move to the target sweeping area, is further configured to effect:
if the current residual electric quantity is larger than the first electric quantity, determining the electric quantity required by the sweeper to move the position of the maintenance equipment from the target cleaning area to obtain a second electric quantity;
and if the current residual electric quantity is larger than the sum of the first electric quantity and the second electric quantity, controlling the sweeper to move to the target cleaning area.
In one embodiment, the sweeper includes a sweeping assembly including a waste placement container having a waste extraction opening; the processor, prior to effecting control of the sweeper to move to the target sweeping area, is further configured to effect:
determining whether the remaining capacity of the trash receptacle is less than or equal to a preset capacity threshold;
if the residual capacity of the garbage placing container is larger than a preset capacity threshold value, controlling the sweeper to move to the target sweeping area;
and if the residual capacity of the garbage placement container is smaller than or equal to a preset capacity threshold value, controlling the sweeper to move to maintenance equipment, so that the sweeper reaches the maintenance equipment and then controls the garbage extraction port to be opened, and extracting the garbage in the garbage placement container through the garbage extraction port by the maintenance equipment.
It should be noted that, as will be clearly understood by those skilled in the art, for convenience and brevity of description, the specific working process of the control device described above may refer to the corresponding process in the foregoing embodiment of the sweeper control method, and is not described herein again.
The embodiment of the application also provides a computer-readable storage medium, a computer program is stored on the computer-readable storage medium, the computer program comprises program instructions, and when the program instructions are executed, the method implemented can refer to the embodiments of the sweeper control method.
The computer-readable storage medium may be an internal storage unit of the control device described in the foregoing embodiment, for example, a hard disk or a memory of the control device. The computer-readable storage medium may also be an external storage device of the control device, such as a plug-in hard disk, a Smart Media Card (SMC), a Secure Digital (SD) Card, a Flash memory Card (Flash Card), or the like provided on the control device.
It is to be understood that the terminology used in the description of the present application herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the application. As used in the specification of the present application and the appended claims, the singular forms "a," "an," and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise.
It should also be understood that the term "and/or" as used in this specification and the appended claims refers to and includes any and all possible combinations of one or more of the associated listed items. 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, method, article, or system 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, method, article, or system. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other like elements in a process, method, article, or system that comprises the element.
The above-mentioned serial numbers of the embodiments of the present application are merely for description and do not represent the merits of the embodiments. While the invention has been described with reference to specific embodiments, the scope of the invention is not limited thereto, and various equivalent modifications or substitutions can be easily made by those skilled in the art within the technical scope of the invention. Therefore, the protection scope of the present application shall be subject to the protection scope of the claims.
Claims (10)
1. A sweeper control method is characterized by comprising the following steps:
acquiring ground images corresponding to each indoor area in a house, and determining whether rubbish exists on the ground of the house according to each ground image;
if the garbage exists on the ground of the house, determining a target cleaning area, wherein the target cleaning area is an area to be cleaned;
and controlling the sweeper to move to the target sweeping area so that the sweeper sweeps the garbage in the target sweeping area.
2. The sweeper control method of claim 1, wherein said determining from each of said ground images whether there is debris on the floor of said house comprises:
inputting each ground image into a preset garbage recognition model to obtain a garbage recognition result of each ground image, wherein the preset garbage recognition model is a pre-trained neural network model;
and determining whether the garbage exists on the ground of the house according to the garbage recognition result of each ground image.
3. The sweeper control method of claim 2, wherein the determining a target sweeping area comprises:
determining a target indoor area according to the garbage recognition result of each ground image, wherein the target indoor area is an indoor area with garbage;
and taking the target indoor area as a target cleaning area.
4. The sweeper control method according to any one of claims 1 to 3, wherein the controlling the sweeper to move to the target sweeping area comprises:
planning a moving track of the sweeper to the target cleaning area;
and controlling the sweeper to move based on the moving track, so that the sweeper moves to the target sweeping area.
5. The sweeper control method of claim 4, wherein the planning the movement trajectory of the sweeper to the target sweeping area comprises:
acquiring a preset room type map;
and planning a moving track of the sweeper to the target sweeping area according to the preset room type map.
6. The sweeper control method according to any one of claims 1 to 3, wherein before the controlling the sweeper to move to the target sweeping area, further comprising:
determining the electric quantity required by the sweeper to move to the target sweeping area to obtain a first electric quantity, and acquiring the current residual electric quantity of the sweeper;
if the current residual electric quantity is larger than the first electric quantity, controlling the sweeper to move to the target sweeping area;
and if the current residual electric quantity is less than or equal to the first electric quantity, controlling the sweeper to move to the maintenance equipment, so that the sweeper reaches the maintenance equipment, and then charging the sweeper through a charging device by the maintenance equipment.
7. The sweeper control method of claim 6, wherein before controlling the sweeper to move to the target sweeping area, further comprising:
if the current residual electric quantity is larger than the first electric quantity, determining the electric quantity required by the sweeper to move the position of the maintenance equipment from the target cleaning area to obtain a second electric quantity;
and if the current residual electric quantity is larger than the sum of the first electric quantity and the second electric quantity, controlling the sweeper to move to the target cleaning area.
8. The sweeper control method according to any one of claims 1 to 3, wherein the sweeper comprises a sweeping assembly including a refuse receptacle provided with a refuse extraction opening; before the control sweeper moves to the target cleaning area, the method further comprises the following steps:
determining whether the remaining capacity of the trash receptacle is less than or equal to a preset capacity threshold;
if the residual capacity of the garbage placing container is larger than a preset capacity threshold value, controlling the sweeper to move to the target sweeping area;
and if the residual capacity of the garbage placement container is smaller than or equal to a preset capacity threshold value, controlling the sweeper to move to maintenance equipment, so that the sweeper reaches the maintenance equipment and then controls the garbage extraction port to be opened, and extracting the garbage in the garbage placement container through the garbage extraction port by the maintenance equipment.
9. A control apparatus, characterized in that the control apparatus comprises a processor, a memory, and a computer program stored on the memory and executable by the processor, wherein the computer program, when executed by the processor, implements the steps of the sweeper control method according to any one of claims 1-8.
10. A computer-readable storage medium, having a computer program stored thereon, wherein the computer program, when executed by a processor, implements the steps of the sweeper control method of any one of claims 1-8.
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