CN113341981A

CN113341981A - Sweeping control method and device of sweeping robot and sweeping robot

Info

Publication number: CN113341981A
Application number: CN202110660736.1A
Authority: CN
Inventors: 刚登全; 范伟
Original assignee: Midea Robozone Technology Co Ltd
Current assignee: Midea Robozone Technology Co Ltd
Priority date: 2021-06-15
Filing date: 2021-06-15
Publication date: 2021-09-03

Abstract

The application provides a sweeping control method and a sweeping control device of a sweeping robot and the sweeping robot, wherein the method comprises the following steps: acquiring first air pressure information, wherein the first air pressure information is information of air pressure of a current floor detected by an air pressure sensor of the sweeping robot; determining a target map according to the first air pressure information and a first mapping relation, wherein the first mapping relation is used for indicating the mapping relation between the air pressure of each floor and the map; and controlling the sweeping robot to sweep the current floor according to the target map. According to the cleaning control method, the sweeping robot can quickly call the map corresponding to the current floor to perform the sweeping operation, and therefore the working efficiency of the sweeping robot and the use experience of a user are improved.

Description

Sweeping control method and device of sweeping robot and sweeping robot

Technical Field

The application relates to the technical field of intelligent household appliances, in particular to a sweeping robot, a sweeping control method and a sweeping control device thereof, a sweeping robot, a sweeping control device and a computer readable storage medium.

Background

With the continuous development of scientific technology, household appliances are more and more intelligent. The intelligent household appliance brings great convenience to life and work of users, and the sweeping robot is one of the intelligent household appliance. Various types of sensors, path planning, automatic obstacle avoidance, map construction and other technologies are integrated in the sweeping robot, so that the sweeping robot can independently perform cleaning operation, the intelligent degree is higher, the workload of people in the aspect of household cleaning can be effectively reduced, and the fatigue degree of people in the household cleaning process is relieved.

In the prior art, the sweeping robot can build a map for different floors, for example, a map corresponding to each floor is drawn for each floor. Before the cleaning work is started, the sweeping robot scans the furniture layout, the outline and other relevant information of the current floor, matches the drawn maps according to the relevant information, and then calls the successfully matched map to execute the cleaning operation. The process of scanning usually takes tens of seconds, and the processor also takes some time to perform calculation matching, that is, the sweeping robot needs to wait for tens of seconds or even longer before actually starting the sweeping operation, thereby reducing the work efficiency of the sweeping robot and the user experience.

Disclosure of Invention

The application provides a sweeping robot, a sweeping control method and device thereof, a sweeping robot, a sweeping control device and a computer readable storage medium, wherein the sweeping robot can quickly call a map corresponding to a current floor to perform sweeping operation, and therefore the working efficiency of the sweeping robot and the use experience of a user are improved.

In order to solve the above problem, in a first aspect, an embodiment of the present application provides a cleaning control method for a cleaning robot, where the method includes:

acquiring first air pressure information, wherein the first air pressure information is information of air pressure of a current floor detected by an air pressure sensor of the sweeping robot;

determining a target map according to the first air pressure information and a first mapping relation, wherein the first mapping relation is used for indicating the mapping relation between the air pressure of each floor and the map;

and controlling the sweeping robot to sweep the current floor according to the target map.

In one possible design, the method further includes:

acquiring temperature information, wherein the temperature information is information of the temperature of a current floor detected by a temperature sensor of the sweeping robot;

the determining a target map according to the first air pressure information and the first mapping relation includes:

correcting the first air pressure information through the temperature information to obtain second air pressure information;

and determining the target map according to the second air pressure information and the first mapping relation.

In one possible design, the first mapping relationship is a pre-trained AI model, and determining a target map according to the first barometric pressure information and the first mapping relationship includes:

and inputting the first air pressure information into the AI model, and calculating and outputting the target map by the AI model.

In one possible design, the method further includes:

determining that the target map does not match a map of a current floor;

and controlling the sweeping robot to stop sweeping, redrawing the map of the current floor and updating the first mapping relation.

In one possible design, the method further includes:

and sending map indicating information to the electronic equipment, wherein the map indicating information is used for indicating the redrawn map of the current floor.

In one possible design, the first mapping relationship is a mapping relationship between an air pressure range of each floor and a map, and the first air pressure information includes a plurality of air pressure values; the determining a target map according to the first air pressure information and the first mapping relation includes:

determining an average of the plurality of air pressure values;

and determining the target map according to the air pressure range of the average value.

In a second aspect, the present application further provides a sweeping control device of a sweeping robot, the control device includes:

the acquisition module is used for acquiring first air pressure information, wherein the first air pressure information is information of air pressure of a current floor detected by an air pressure sensor of the sweeping robot;

the determining module is used for determining a target map according to the first air pressure information and a first mapping relation, wherein the first mapping relation is used for indicating the mapping relation between the air pressure of each floor and the map;

and the control module is used for controlling the sweeping robot to sweep the current floor according to the target map.

In one possible design, the obtaining unit is further configured to: acquiring temperature information, wherein the temperature information is information of the temperature of a current floor detected by a temperature sensor of the sweeping robot;

the determination module is to: correcting the first air pressure information through the temperature information to obtain second air pressure information; and determining the target map according to the second air pressure information and the first mapping relation.

In one possible design, the first mapping relationship is a pre-trained AI model, and the determining module is configured to: and inputting the first air pressure information into the AI model, and calculating and outputting the target map by the AI model.

In one possible design, the determining module is further configured to: determining that the target map does not match a map of a current floor;

the control module is further configured to: and controlling the sweeping robot to redraw the map of the current floor and update the first mapping relation.

In one possible design, the sweeping control device further includes:

and the sending module is used for sending map indicating information to the electronic equipment, wherein the map indicating information is used for indicating the redrawn map of the current floor.

In one possible design, the first mapping relationship is a mapping relationship between an air pressure range of each floor and a map, and the first air pressure information includes a plurality of air pressure values; the determining module is specifically configured to:

determining an average of the plurality of air pressure values;

In a third aspect, the present application further provides a sweeping robot, including: a pneumatic sensor electrically connected to the cleaning control device, and the cleaning control device provided in any one of the possible designs of the second aspect.

In a fourth aspect, the present application further provides a cleaning control device of a cleaning robot, including at least one processor, which is configured to be coupled with a memory, read and execute instructions in the memory, so as to implement the method provided in any one of the possible designs of the first aspect.

Optionally, the sweeping control apparatus further comprises the memory.

In a fifth aspect, the present application further provides a computer-readable storage medium having stored thereon a computer program which, when run on a computer, causes the computer to perform the method as provided in any one of the possible designs of the first aspect.

In a sixth aspect, the present application further provides a chip system, including a processor, configured to invoke and run a computer program from a memory, so that a device in which the chip system is installed performs the method provided in any one of the possible designs of the first aspect.

In a seventh aspect, this embodiment of the present application further provides a computer program product containing instructions, which when run on a computer, causes the computer to perform the method provided in any one of the possible designs of the first aspect.

The cleaning control method provided by the embodiment of the application is used for cleaning control of the sweeping robot, the sweeping robot is provided with the air pressure sensor, the air pressure sensor can detect air pressure information of a floor where the sweeping robot is located at present, a map corresponding to the current floor can be determined (matched) according to the air pressure information, and at the moment, the sweeping robot can quickly perform cleaning operation on the current floor according to the matched map.

Compared with the prior art, the cleaning control method provided by the embodiment of the application does not need to scan the furniture layout, the outline and other relevant information of the current floor to determine the floor to which the current floor sweeping robot belongs, but directly determines the map corresponding to the current floor according to the air pressure information acquired by the air pressure sensor, so that the floor sweeping robot can be quickly put into cleaning work, the work efficiency of the floor sweeping robot is improved, the cleaning work can be completed more quickly, the waiting time of a user is saved, and the use experience of the user is improved.

Drawings

In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings needed to be used in the description of the embodiments or the prior art will be briefly introduced below, and it is obvious that the drawings in the following description are some embodiments of the present application, and for those skilled in the art, other drawings can be obtained according to these drawings without inventive exercise.

Fig. 1 is a flowchart of an example of a cleaning control method of a cleaning robot according to an embodiment of the present application.

Fig. 2 is a flowchart of another example of a cleaning control method of a cleaning robot according to an embodiment of the present application.

Fig. 3 is a flowchart of another example of a cleaning control method of a cleaning robot according to an embodiment of the present application.

Fig. 4 is a block diagram of a cleaning control device of a cleaning robot according to an embodiment of the present application.

Fig. 5 is a block diagram of a sweeping robot provided in the embodiment of the present application.

Fig. 6 is a block diagram of a cleaning control device of a cleaning robot according to an embodiment of the present application.

Detailed Description

The technical solution in the present application will be described below with reference to the accompanying drawings. It is to be understood that the embodiments described are only a few embodiments of the present application and not all embodiments.

In the following description, for purposes of explanation and not limitation, specific details are set forth, such as particular system structures, techniques, etc. in order to provide a thorough understanding of the embodiments of the present application. It will be apparent, however, to one skilled in the art that the present application may be practiced in other embodiments that depart from these specific details. In other instances, detailed descriptions of well-known systems, devices, circuits, and methods are omitted so as not to obscure the description of the present application with unnecessary detail.

The terms "comprises" and/or "comprising" when used herein, specify the presence of stated features, integers, steps, operations, elements, and/or components, but do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and/or groups thereof. The terms "comprising," "including," "having," and variations thereof mean "including, but not limited to," unless expressly specified otherwise.

The term "and/or" herein is merely an association describing an associated object, meaning that three relationships may exist, e.g., a and/or B, may mean: a exists alone, A and B exist simultaneously, and B exists alone. In addition, the character "/" herein generally indicates that the former and latter related objects are in an "or" relationship.

In the description of the present application, it is to be understood that the terms "first", "second" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implying any number of technical features indicated. Thus, features defined as "first", "second", may explicitly or implicitly include one or more of the described features. In the description of the present application, "at least one" means one or more, "a plurality" means two or more unless specifically limited otherwise.

With the continuous development of scientific technology, household appliances are more and more intelligent. The intelligent household appliance brings great convenience to life and work of users, and the sweeping robot is one of the intelligent household appliance. The floor sweeping robot can automatically finish the floor cleaning work in a room by means of certain artificial intelligence. For example, the floor sweeping robot can adopt a brushing and vacuum adsorption mode to absorb the impurities on the ground into the garbage containing box of the floor sweeping robot, so that the function of cleaning the ground is achieved.

Before the sweeping robot starts sweeping, the established map is called, navigation is performed according to the map, for example, path planning and automatic obstacle avoidance are performed according to the map, and therefore all corners in a room are swept comprehensively. The current sweeping robot is more and more intelligent, and can meet the use requirements of users in different occasions. For example, some users may live in more than one floor, some users may live in a duplex room or a villa, and the current sweeping robot can also navigate according to a map for different floors to automatically sweep the different floors.

Specifically, in the related art, the sweeping robot may map different floors, for example, a map corresponding to each floor is drawn for each floor, and the drawn map is stored for later retrieval during cleaning. After the sweeping robot is started, before the sweeping work really starts, the sweeping robot scans the furniture layout, the outline and other relevant information of the current floor through a sensor, a radar or a camera and other devices, matches with a plurality of stored maps according to the relevant information, and then calls the successfully matched map to execute the sweeping operation. The process of scanning usually takes tens of seconds, and the processor also takes some time to perform calculation matching, that is, the sweeping robot needs to wait for tens of seconds or even longer before actually starting the sweeping operation, thereby reducing the work efficiency of the sweeping robot and the user experience.

In view of the above problems, embodiments of the present application provide a sweeping control method and apparatus for a sweeping robot, a sweeping control device, and a computer-readable storage medium, which can determine a map corresponding to a current floor according to air pressure information of the current floor, so that the sweeping robot can quickly call the map corresponding to the current floor to perform a sweeping operation, thereby improving the working efficiency of the sweeping robot and the user experience.

The embodiment of the application firstly provides a sweeping control method for a sweeping robot, and an execution main body of the sweeping control method can be a controller of the sweeping robot, for example, a control circuit board built in the sweeping robot. In addition, the execution main body of the cleaning control method may also be a wireless remote controller, a mobile terminal device such as a mobile phone and a tablet, and the wireless remote controller is in wireless communication connection with the cleaning robot and can control the cleaning robot to work, which is not limited in the present application.

Fig. 1 is a flowchart of a cleaning control method 100 of a cleaning robot according to an embodiment of the present application. As shown in fig. 1, a cleaning control method 100 provided in the embodiment of the present application includes:

and 110, acquiring first air pressure information, wherein the first air pressure information is the air pressure information of the current floor detected by an air pressure sensor of the sweeping robot.

The robot of sweeping floor in this application embodiment has baroceptor, and this baroceptor can detect the atmospheric pressure information of the environment that the robot of sweeping floor is located. Before the sweeping robot performs a sweeping operation, an air pressure sensor of the sweeping robot first detects air pressure information of a current floor where the sweeping robot is located to obtain at least one detection value, and the first air pressure information may include one or more detection values.

Optionally, after the sweeping robot is powered on, the air pressure sensor may automatically start to periodically detect the air pressure information to obtain a plurality of detection values. After the sweeping robot starts sweeping, the air pressure sensor can stop working to save electric energy.

For a room with multiple floors, the air pressure sensor can detect air pressure information of different floors. In the same case, the air pressure information detected by the air pressure sensor is different for different floors (for example, floors 1 and 2). That is, the air pressure sensor in the embodiment of the present application should have sufficient detection accuracy, for example, the detection accuracy of the air pressure sensor can reach within 1 meter, and the height of each floor is usually more than 2.5 meters, so that different floors can be distinguished through the detection value of the air pressure sensor. Currently available barometric pressure sensors are generally able to meet this use requirement.

And 120, determining a target map according to the first air pressure information and a first mapping relation, wherein the first mapping relation is used for indicating the mapping relation between the air pressure information of each floor and the map.

In the embodiment of the application, the memory of the sweeping robot may store the first mapping relationship in addition to the map information of different floors, the first mapping relationship indicates a mapping relationship (corresponding relationship) between the air pressure information of each floor and the map, and the sweeping robot may control the air pressure sensor to obtain the air pressure information of the floor during the scanning and mapping process, store both the air pressure information and the map information in the memory, and establish the mapping relationship between the air pressure of each floor and the map, that is, the first mapping relationship.

Optionally, in other embodiments, the multiple maps in the first mapping relationship may also be obtained from other devices, for example, a mobile terminal such as a mobile phone, which is not limited in this application.

In step 120, after the first air pressure information and the first mapping relationship are obtained, the first air pressure information may be matched with each air pressure information in the first mapping relationship, and a map corresponding to the successfully matched air pressure information is a target map, which is a map corresponding to the determined current floor.

For convenience of explanation, table 1 shows a first mapping relationship, taking table 1 as an example, the first barometric pressure information is matched with barometric pressure #1, barometric pressure #2, barometric pressure #3, and barometric pressure #4 in table 1, and if matching with barometric pressure #3 is successful, map #3 corresponding to barometric pressure #3 is determined as the target map, and map #3 is the map corresponding to floor 3.

Table 1:

floor level	Barometric information	Map with a plurality of maps
			Floor 1	Air pressure #1	Map #1
2 storied building	Air pressure #2	Map #2
			3 storied building	Air pressure #3	Map #3
4 storied building	Air pressure #4	Map #4

The embodiment of the present application does not limit the specific manner of determining the target map according to the first air pressure information and the first mapping relationship. The first air pressure information may include one or more detection values, and may be directly matched with the air pressure information in the first mapping relationship according to the first air pressure information, or may be matched with the air pressure information according to an obtained intermediate value after processing to obtain the target map.

For example, the first mapping relationship is a mapping relationship between the atmospheric pressure range of each floor and the map, that is, atmospheric pressure #1, atmospheric pressure #2, atmospheric pressure #3, and atmospheric pressure #4 in table 1 represent each atmospheric pressure range. The first air pressure information includes a plurality of air pressure values, an average value of the plurality of air pressure values may be obtained, and a map corresponding to an air pressure range that is successfully matched is determined as the target map by matching the average value with each of the air pressure ranges (i.e., determining which air pressure range the average value is within).

Optionally, in other embodiments, the first mapping relationship may also be an Artificial Intelligence (AI) model pre-trained by big data. The AI model is built based on a large amount of training data, and the first pressure information can be input into the AI model as an input parameter, and the AI model outputs a target map after calculation.

Further, in order to improve the accuracy of the output result, the input parameters may include a plurality of (i.e. the training parameters include a plurality of) parameters, for example, temperature information of the current floor may be included, the temperature information may be obtained by a temperature sensor configured in the sweeping robot, the temperature is directly related to the air pressure, and outputting the first air pressure information together with the temperature information to the AI model will make the obtained target map more accurate.

And step 130, the control robot cleans the current floor according to the target map.

Specifically, navigation can be performed according to the target map, the floor sweeping robot is controlled to clean the current floor, and the floor sweeping robot can perform operations such as path planning, automatic obstacle avoidance and obstacle judgment according to the target map.

The cleaning control method 100 provided in the embodiment of the application is used for cleaning control of a sweeping robot, the sweeping robot is configured with an air pressure sensor, the air pressure sensor can detect air pressure information of a floor where the sweeping robot is located currently, and then a map corresponding to the current floor can be determined (matched) according to the air pressure information, and at this time, the sweeping robot can perform cleaning operation quickly according to the matched map.

Compared with the prior art, the cleaning control method 100 provided by the embodiment of the application does not need to scan the furniture layout, the outline and other relevant information of the current floor to determine the floor to which the current floor-sweeping robot belongs (the scanning process usually takes tens of seconds), but directly determines the map corresponding to the current floor according to the air pressure information acquired by the air pressure sensor, so that the floor-sweeping robot can be quickly put into cleaning work, the work efficiency of the floor-sweeping robot is improved, the cleaning work can be completed more quickly, the waiting time of a user is saved, and the use experience of the user is improved.

Fig. 2 is a flowchart of another example of a cleaning control method 100 of a cleaning robot according to an embodiment of the present application. As shown in fig. 2, in the embodiment of the present application, the sweeping control method 100 further includes:

step 140, determining that the target map does not match the map of the current floor;

and 150, controlling the sweeping robot to stop sweeping, redrawing the map of the current floor and updating the first mapping relation.

And the sweeping robot carries out sweeping operation according to the target map, and in the sweeping process, if the target map is determined not to be matched with the map of the current floor, the sweeping robot is controlled to stop sweeping work and start to redraw the map of the current floor, the newly drawn map can be kept in the memory, and the first mapping relation is updated, namely the newly drawn map is used for replacing the target map in the first mapping relation.

In the embodiment of the present application, the map of the current floor can be redrawn by a Simultaneous Localization and Mapping (SLAM) method. Specifically, the sweeping robot scans to acquire information firstly, walks along the whole floor (can be completed for multiple times), scans rooms one by one through one or more sensors configured by a binocular module, a laser radar, a video camera, a depth camera, an obstacle avoidance ultrasonic sensor and the like, and finally forms a 2D or 3D map.

The present application does not limit the manner in which the target map is determined to be unmatched with the map of the current floor. For example, the target map may be determined not to match the map of the current floor when at least one of the following occurs: the sweeping robot meets the obstacle which cannot pass through and displays that the obstacle does not exist in the target map, a collision sensor of the sweeping robot detects that the obstacle does not exist in the opposite side, and the home layout scanned by a binocular module, a laser radar, a camera and the like of the sweeping robot is different from the layout in the target map. That is to say, the determination may be performed by various sensors or cameras configured in the sweeping robot, or whether the target map is matched with the map of the current floor may be determined according to the working state of the sweeping robot (for example, the obstacle cannot be normally surmounted).

Further, the sweeping control method 100 further includes:

and step 160, sending map indicating information to the electronic equipment, wherein the map indicating information is used for indicating the redrawn map of the current floor.

Specifically, after the new map drawing is completed, in addition to being stored locally, the new map drawing may be sent to an electronic device (for example, a mobile phone or a tablet computer) in wireless communication with the sweeping robot, where the electronic device is provided with a corresponding Application program (App), and the App can display the newly drawn map as a user, so that the user can confirm and modify the newly drawn map.

Optionally, indication information indicating that the map of the corresponding floor has been changed can be sent to an electronic device in wireless communication connection with the sweeping robot. Or asking the user whether to replace the map, and replacing the map after the user confirms the map.

Fig. 3 is a flowchart of a cleaning control method 200 of a cleaning robot according to an embodiment of the present application. As shown in fig. 3, the cleaning control method 200 includes:

step 210, acquiring first air pressure information, wherein the first air pressure information is information of air pressure of a current floor detected by an air pressure sensor of the sweeping robot; acquiring temperature information, wherein the temperature information is information of the temperature of a current floor detected by a temperature sensor of the sweeping robot;

step 220, correcting the first air pressure information through the temperature information to obtain second air pressure information; determining a target map according to the second air pressure information and the first mapping relation;

and step 230, controlling the sweeping robot to sweep the current floor according to the target map.

Specifically, the influence of the temperature on the air pressure is large, the air pressure value is changed when the temperature is increased or decreased, and if the current temperature is abnormal or is different from the temperature when the first mapping relation is established, the target map may not be accurate only according to the obtained first air pressure information. In the embodiment of the application, the temperature information of the current floor detected by the temperature sensor of the sweeping robot is controlled, the first air pressure information is corrected according to the temperature information to obtain the second air pressure information, and then the target map is determined according to the second air pressure information and the first mapping relation. The sweeping robot can sweep the current floor according to a more accurate target map.

The first air pressure information is corrected according to the temperature information, and may be air pressure information at a standard temperature according to the temperature information, where the standard temperature is a temperature at which the first mapping relationship is established and air pressure measurement is performed, that is, a temperature at which the air pressure information in the first mapping relationship is obtained. The method of correcting the first air pressure information according to the temperature information is not limited in the present application.

In order to realize the sweeping control method of the sweeping robot, the application also provides a sweeping control device of the sweeping robot. Fig. 4 is a block diagram of a cleaning control device 300 of a cleaning robot according to an embodiment of the present invention. As shown in fig. 4, the cleaning control device 300 includes:

an obtaining module 310, configured to obtain first air pressure information, where the first air pressure information is information of air pressure of a current floor detected by an air pressure sensor of the sweeping robot;

a determining module 320, configured to determine a target map according to the first air pressure information and a first mapping relationship, where the first mapping relationship is used to indicate a mapping relationship between the air pressure of each floor and the map;

and the control module 330 is configured to control the sweeping robot to sweep the current floor according to the target map.

In one possible design, the obtaining unit 310 is further configured to: acquiring temperature information, wherein the temperature information is information of the temperature of a current floor detected by a temperature sensor of the sweeping robot;

the determining module 320 is specifically configured to: correcting the first air pressure information through the temperature information to obtain second air pressure information; and determining the target map according to the second air pressure information and the first mapping relation.

In one possible design, the first mapping relationship is an AI model pre-trained by big data, and the determining module 320 is specifically configured to: and inputting the first air pressure information into the AI model, and calculating and outputting the target map by the AI model.

In one possible design, the determining module 320 is further configured to: determining that the target map does not match a map of a current floor;

the control module 330 is further configured to: and controlling the sweeping robot to redraw the map of the current floor and update the first mapping relation.

In one possible design, the sweeping control device 300 further includes:

the sending module 340 is configured to send map indication information to the electronic device 400, where the map indication information is used to indicate a re-drawn map of the current floor.

The cleaning control device 300 provided by the embodiment of the application is used for cleaning and controlling the floor-sweeping robot, the floor-sweeping robot is provided with the air pressure sensor, the air pressure sensor can detect the air pressure information of the floor where the floor-sweeping robot is located currently, then the map corresponding to the current floor can be determined (matched) according to the air pressure information, and the floor-sweeping robot can perform cleaning operation rapidly according to the matched map.

Compared with the prior art, the cleaning control device 300 provided in the embodiment of the application does not need to scan the furniture layout, the profile and other related information of the current floor to determine the floor to which the current floor-sweeping robot belongs (the scanning process usually needs to spend time in tens of seconds), but directly determines the map corresponding to the current floor according to the air pressure information acquired by the air pressure sensor, so that the floor-sweeping robot can be quickly put into the cleaning work, the work efficiency of the floor-sweeping robot is improved, the cleaning work can be completed more quickly, therefore, the waiting time of a user is saved, and the use experience of the user is improved.

In order to implement the above embodiments, the embodiment of the present application further provides a sweeping robot 500. Fig. 5 is a block diagram of a sweeping robot 500 according to an embodiment of the present application. As shown in fig. 5, the sweeping robot 500 includes:

a pressure sensor 510, which is used by a user to obtain pressure information (for example, the first pressure information) of the environment where the sweeping robot 500 is located;

the temperature sensor 530 is used for acquiring the temperature information of the environment where the sweeping robot 500 is located by the user;

and a cleaning control device 520 for controlling the cleaning of the cleaning robot 500. Both the pressure sensor 510 and the temperature sensor 530 are electrically connected to the cleaning control device 520, and send the relevant pressure information and temperature information to the cleaning control device 520. The cleaning control device 520 may be the cleaning control device 300 provided in the foregoing embodiment.

Further, the bottom of the sweeping robot 500 is provided with a wiper, by which cleaning work can be performed on the floor. The wiping member may be a structure capable of cleaning the floor, such as a wiping cloth (mop, rag, sponge, etc.), a rolling brush, or an edge brush, but the present invention is not limited thereto. In some cases, the sweeping robot 500 in the embodiment of the present application may also be referred to as a mopping robot, a cleaning robot, a floor washing robot, or the like.

The sweeping robot 500 can independently walk, does not need manual direct control and operation when cleaning work is executed, and has the functions of path planning, automatic obstacle avoidance, human-computer interaction, regression charging and the like. The bottom of the sweeping robot 500 is provided with driving wheels or tracks and other driving structures to realize automatic walking.

The sweeping robot 500 in the embodiment of the application is provided with various sensors, and further has sufficient intellectualization. For example, the sweeping robot is provided with one or more of a binocular module, a laser radar, a video camera, a depth camera, an obstacle avoidance ultrasonic sensor or a collision sensor, and the like, so that relevant information such as furniture layout, outlines and the like of a room can be scanned and acquired, and a map is established according to the relevant information.

The sweeping robot 500 provided by the embodiment of the application can be further equipped with a base station, which is a stop of the sweeping robot 500 and is used for executing preset operations for the sweeping robot 500, such as charging the sweeping robot 500, recovering dust in a dust collecting box of the sweeping robot 500, and cleaning a wiper on the sweeping robot 500 through a cleaning component equipped by the base station.

The sweeping robot 500 provided by the embodiment of the application has high intelligence (higher automation degree) and can reduce the operation of a user as much as possible. When the sweeping robot 500 is operating for a period of time, the sweeping robot 500 is determining that it needs to be charged and/or that it needs to clean the wipers, the sweeping robot 500 can automatically return to the base station where it can be charged and/or wiper cleaned.

In order to implement the above embodiments, the present application further provides a cleaning control device 600 of a cleaning robot. Fig. 6 is a block diagram of a cleaning control device 600 of a cleaning robot according to an embodiment of the present application.

As shown in fig. 6, the sweeping control apparatus 600 includes: a processor 610, a memory 620, and a communication interface 630. Wherein, the memory 620 stores instructions, the processor 610 is configured to execute the instructions in the memory 620, when the instructions are executed, the processor 610 is configured to execute the method provided by the above method embodiment, and the processor 610 is further configured to control the communication interface 630 to communicate with the outside world.

Embodiments of the present application further provide a computer-readable storage medium, which includes a computer program and when the computer program runs on a computer, the computer is caused to execute the method provided by the above method embodiments.

The application also provides a chip system, which comprises a processor and is used for calling and running the computer program from the memory so that the device provided with the chip system executes the method provided by the method embodiment.

Embodiments of the present application further provide a computer program product containing instructions, which when run on a computer, cause the computer to execute the method provided by the above method embodiments.

It should be understood that in the embodiments of the present application, the processor may be a Central Processing Unit (CPU), and the processor may also be other general-purpose processors, Digital Signal Processors (DSPs), Application Specific Integrated Circuits (ASICs), Field Programmable Gate Arrays (FPGAs) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, and the like. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like.

It will also be appreciated that the memory in the embodiments of the subject application can be either volatile memory or nonvolatile memory, or can include both volatile and nonvolatile memory. The non-volatile memory may be a read-only memory (ROM), a Programmable ROM (PROM), an Erasable PROM (EPROM), an electrically Erasable EPROM (EEPROM), or a flash memory. Volatile memory can be Random Access Memory (RAM), which acts as external cache memory. By way of example, but not limitation, many forms of Random Access Memory (RAM) are available, such as Static RAM (SRAM), Dynamic RAM (DRAM), Synchronous DRAM (SDRAM), double data rate SDRAM (DDR SDRAM), Enhanced SDRAM (ESDRAM), synchlink DRAM (SLDRAM), and direct bus RAM (DR RAM).

Those of ordinary skill in the art will appreciate that the various illustrative elements and algorithm steps described in connection with the embodiments disclosed herein may be implemented as electronic hardware or combinations of computer software and electronic hardware. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the implementation. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present application.

It is clear to those skilled in the art that, for convenience and brevity of description, the specific working processes of the above-described systems, apparatuses and units may refer to the corresponding processes in the foregoing method embodiments, and are not described herein again.

In the several embodiments provided in the present application, it should be understood that the disclosed system, apparatus and method may be implemented in other ways. For example, the above-described apparatus embodiments are merely illustrative, and for example, the division of the units is only one logical division, and other divisions may be realized in practice, for example, a plurality of units or components may be combined or integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection through some interfaces, devices or units, and may be in an electrical, mechanical or other form.

The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.

In addition, functional units in the embodiments of the present application may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit.

The functions, if implemented in the form of software functional units and sold or used as a stand-alone product, may be stored in a computer readable storage medium. Based on such understanding, the technical solution of the present application or portions thereof that substantially contribute to the prior art may be embodied in the form of a software product stored in a storage medium and including instructions for causing a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the steps of the method according to the embodiments of the present application. And the aforementioned storage medium includes: various media capable of storing program codes, such as a usb disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk, or an optical disk.

The above description is only for the specific embodiments of the present application, but the scope of the present application is not limited thereto, and any person skilled in the art can easily conceive of the changes or substitutions within the technical scope of the present application, and shall be covered by the scope of the present application. Therefore, the protection scope of the present application shall be subject to the protection scope of the claims.

Claims

1. A sweeping control method of a sweeping robot is characterized by comprising the following steps:

2. The method of claim 1, further comprising:

3. The method of claim 1, wherein the first mapping relationship is a pre-trained AI model, and wherein determining the target map according to the first barometric pressure information and the first mapping relationship comprises:

4. The method according to any one of claims 1-3, further comprising:

determining that the target map does not match a map of a current floor;

5. The method of claim 4, further comprising:

6. The utility model provides a sweep floor robot's cleaning control device which characterized in that includes:

7. The apparatus of claim 6, wherein the obtaining unit is further configured to: acquiring temperature information, wherein the temperature information is information of the temperature of a current floor detected by a temperature sensor of the sweeping robot;

8. The apparatus of claim 6, wherein the first mapping is a pre-trained AI model, and wherein the determining module is configured to: and inputting the first air pressure information into the AI model, and calculating and outputting the target map by the AI model.

9. The apparatus of any of claims 6-8, wherein the determining module is further configured to: determining that the target map does not match a map of a current floor;

10. The apparatus of claim 9, wherein the sweep control means further comprises:

11. A sweeping robot is characterized by comprising: a barometric sensor and a cleaning control device according to any of claims 6 to 10, said barometric sensor being electrically connected to said cleaning control device.

12. A sweeping control apparatus of a sweeping robot, comprising at least one processor configured to be coupled with a memory, read and execute instructions in the memory, to implement the method of any one of claims 1 to 5.

13. A computer-readable storage medium, having stored thereon a computer program which, when run on a computer, causes the computer to perform the method of any one of claims 1 to 5.