CN212382582U - Floor sweeping robot - Google Patents
Floor sweeping robot Download PDFInfo
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- CN212382582U CN212382582U CN202021771453.1U CN202021771453U CN212382582U CN 212382582 U CN212382582 U CN 212382582U CN 202021771453 U CN202021771453 U CN 202021771453U CN 212382582 U CN212382582 U CN 212382582U
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Abstract
The embodiment of the application provides a robot of sweeping floor, includes: a body; the ultraviolet lamp is arranged on the machine body; the image acquisition device is arranged on the machine body and used for acquiring image data, and the image data is used for identifying whether a person or a pet exists in an image acquisition area; and the control unit is connected with the ultraviolet lamp and is used for controlling the opening and closing of the ultraviolet lamp at least according to the identification result of the image data. The floor sweeping robot provided by the embodiment of the application can timely find people and pets in a working area, and the ultraviolet rays are prevented from damaging the people or the pets.
Description
Technical Field
The application belongs to the technical field of cleaning equipment, especially, relate to a robot of sweeping floor.
Background
Environmental disinfection includes chemical disinfectant disinfection and ultraviolet disinfection. The ultraviolet light has a killing effect on bacteria, does not introduce or form new harmful substances, and is a green disinfection mode. Currently, ultraviolet disinfection generally requires special equipment, and for a common household, the independent arrangement of the ultraviolet disinfection equipment increases economic burden.
Although the ultraviolet lamp is arranged on the sweeping robot to increase the ultraviolet disinfection function, the ultraviolet lamp only disinfects the air on the ground or at the air inlet. The indoor space environment cannot be sterilized. And the sweeping robot carries out ultraviolet disinfection when working, and can cause injury to nearby people or pets.
SUMMERY OF THE UTILITY MODEL
An object of the embodiment of the application is to provide a robot of sweeping floor, can in time discover personnel and pet in the workspace, avoid ultraviolet ray to cause the injury to personnel or pet.
The embodiment of the application provides a robot of sweeping floor, includes:
a body;
the ultraviolet lamp is arranged on the machine body;
the image acquisition device is arranged on the machine body and used for acquiring image data, and the image data is used for identifying whether a person or a pet exists in an image acquisition area;
and the control unit is connected with the ultraviolet lamp and is used for controlling the opening and closing of the ultraviolet lamp at least according to the identification result of the image data.
The sweeping robot further comprises an image recognition unit, and the image recognition unit is used for carrying out human shape recognition and pet recognition on the image data so as to recognize whether a person or a pet exists in the image acquisition area.
In an optional embodiment, the sweeping robot further comprises a data transmission unit, which is used for sending the image data, so that the mobile terminal performs human shape recognition and pet recognition on the image data to recognize whether a person or a pet exists in the image acquisition area; the data transmission unit is also used for receiving the human shape recognition result and the pet recognition result of the image data.
In an optional embodiment, the sweeping robot further comprises a distance measuring unit for obtaining the distance of the person or the pet in the image acquisition area;
and the control unit controls the ultraviolet lamp to be turned on or off according to the identification result of the image data and the distance between people or pets in the image acquisition area.
In an optional embodiment, the controlling unit controls the ultraviolet lamp to be turned on or off according to the recognition result of the image data and the distance between the person or the pet in the image acquisition area includes:
and when the distance between the people or the pets in the image acquisition area is less than a first threshold value, controlling the ultraviolet lamp to be closed.
In an optional embodiment, the ultraviolet lamp is arranged at the top of the machine body and is rotatably connected with the machine body;
the sweeping robot further comprises a driving mechanism, and the driving mechanism is connected with the control unit;
the control unit is further configured to:
controlling the driving mechanism to drive the ultraviolet lamp based on the starting ultraviolet disinfection program so as to enable the ultraviolet lamp to rotate from a storage state to an extension state;
and controlling the driving mechanism to drive the ultraviolet lamp based on the execution end of the ultraviolet disinfection program so as to enable the ultraviolet lamp to rotate from the extension state to the storage state.
In an optional embodiment, the ultraviolet lamp is horizontally accommodated at the top of the machine body in the accommodating state; the extension state of the ultraviolet lamp is vertically arranged on the top of the machine body.
In an optional embodiment, the sweeping robot further comprises a pyroelectric infrared sensor, and the pyroelectric infrared sensor is used for detecting human body infrared signals; the control unit controls the ultraviolet lamp to be turned off based on the human body infrared signal detected by the pyroelectric infrared sensor.
In an alternative embodiment, the pyroelectric infrared sensor is arranged on the ultraviolet lamp.
In an optional embodiment, the control unit further stores a preset ultraviolet disinfection program starting condition, and when the preset ultraviolet disinfection program starting condition is met, the control unit executes the disinfection starting instruction to start a disinfection mode of the sweeping robot.
In the robot of sweeping floor that this application embodiment provided, the ultraviolet lamp is located on the organism, can carry out ultraviolet ray disinfection to whole space environment. The image acquisition device can acquire image data, and the acquired image data is used for identifying whether a person or a pet exists in an image acquisition area; the control unit controls the ultraviolet lamp to be turned on or off at least according to the identification result of the image data. The damage to personnel or pets in a working area is avoided when the floor sweeping robot carries out ultraviolet disinfection work.
It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the application.
The summary of various implementations or examples of the technology described in this application is not a comprehensive disclosure of the full scope or all features of the disclosed technology.
Drawings
In the drawings, which are not necessarily drawn to scale, like reference numerals may describe similar components in different views. Like reference numerals having letter suffixes or different letter suffixes may represent different instances of similar components. The drawings illustrate various embodiments, by way of example and not by way of limitation, and together with the description and claims, serve to explain embodiments of the application. The same reference numbers will be used throughout the drawings to refer to the same or like parts, where appropriate. Such embodiments are illustrative, and are not intended to be exhaustive or exclusive embodiments of the present apparatus or method.
Fig. 1 shows a block diagram of a sweeping robot according to an embodiment of the present application.
Fig. 2 shows a block diagram of another embodiment of the sweeping robot.
Fig. 3 shows a schematic structural diagram of a first state of the sweeping robot according to the embodiment of the present application.
Fig. 4 shows a schematic structural diagram of a second state of the sweeping robot according to the embodiment of the present application.
The reference numbers in the figures illustrate:
10-body; 20-an ultraviolet lamp; 30-a housing; 40-pyroelectric infrared sensor; 50-an image acquisition device; 60-a control unit.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions of the embodiments of the present application will be clearly and completely described below with reference to the drawings of the embodiments of the present application. It should be apparent that the described embodiments are only some of the embodiments of the present application, and not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the described embodiments of the application without any inventive step, are within the scope of protection of the application.
Unless defined otherwise, technical or scientific terms used herein shall have the ordinary meaning as understood by one of ordinary skill in the art to which this application belongs. As used in this application, the terms "first," "second," and the like do not denote any order, quantity, or importance, but rather are used to distinguish one element from another. The word "comprising" or "comprises", and the like, means that the element or item listed before the word covers the element or item listed after the word and its equivalents, but does not exclude other elements or items. The terms "connected" or "coupled" and the like are not restricted to physical or mechanical connections, but may include electrical connections, whether direct or indirect. "upper", "lower", "left", "right", and the like are used merely to indicate relative positional relationships, and when the absolute position of the object being described is changed, the relative positional relationships may also be changed accordingly.
Detailed descriptions of known functions and known components are omitted in the present application in order to keep the following description of the embodiments of the present application clear and concise.
The embodiment of the application provides a robot of sweeping floor, and this robot of sweeping floor can clean, also can carry out ultraviolet ray disinfection. When the sweeping robot works, the sweeping program can be started independently, and only sweeping is carried out. The ultraviolet disinfection program can be independently started, and only ultraviolet disinfection is carried out. The cleaning program and the ultraviolet disinfection program can be started simultaneously, and ultraviolet disinfection is carried out while cleaning. The floor sweeping robot provided by the embodiment of the application can timely find people or pets in a working area, and avoid injury to the people or the pets in the ultraviolet effect process.
Referring to fig. 1 to 4, a sweeping robot according to an embodiment of the present application includes:
a body 10;
an ultraviolet lamp 20 provided on the body 10;
an image acquisition device 50 provided on the body 10 for acquiring image data for identifying whether a person or a pet is present in the image acquisition area;
and a control unit 60 connected to the ultraviolet lamp 20, wherein the control unit 60 is configured to control the on/off of the ultraviolet lamp 20 at least according to the identification result of the image data.
The embodiment of the application provides a robot of sweeping floor, and ultraviolet lamp 20 locates the organism 10 outsidely, can carry out ultraviolet ray disinfection to whole space environment. The image acquisition device 50 is capable of acquiring image data for identifying whether a person or a pet is present in the image acquisition area; the control unit 60 controls the ultraviolet lamp 20 to be turned on and off at least according to the recognition result of the image data. The damage to personnel or pets in a working area is avoided when the floor sweeping robot carries out ultraviolet disinfection work.
In this embodiment, the image data collected by the image collecting device 50 may be recognized by the sweeping robot to determine whether there is a person or a pet in the image collecting area. Or the collected image data can be sent to a terminal such as a mobile phone, a computer, a server and the like for identification so as to determine whether people or pets exist in the image collection area.
In the embodiment of the present application, the image capturing device 50 may be a camera. In an exemplary embodiment, the image capture device 50 may be a panoramic camera. The panoramic camera can acquire all-round images, and dead angles of shooting and recording are avoided.
In the embodiment of the application, whether a person is in the image acquisition area or not can be identified through human shape identification so as to determine whether the person is in the image acquisition area or not. Image human shape recognition enables to find a human being close to a greater distance. The requirement on image pixels is low, and even the requirement is low in the camera 20M with 200W pixels, the image can be easily identified, so that the situation that people approach to cause UV lamp misillumination is avoided.
Based on human shape recognition without deep face recognition and personnel feature recognition, the photos with lower pixels can be used for processing, the requirement on the image acquisition device 50 is low, and the cost is favorably reduced. The requirement on the computing power required by real-time computing is low, and the DSP of the floor sweeping robot with the processor in the current market has the computing power and does not need to be configured with a processing chip with very high computing power.
Referring to fig. 2, in an exemplary embodiment, the sweeping robot further includes an image recognition unit, and the image recognition unit is configured to perform human shape recognition and pet recognition on the image data to identify whether a person or a pet is in the image acquisition area. The sweeping robot comprises an image recognition unit, can recognize human shapes and pets of image data collected by the image collection device 50, and can independently realize disinfection control.
In an exemplary embodiment, the image recognition unit may be a single image processing chip, or may be a partial unit of a main chip of the sweeping robot. The main chip of the sweeping robot may include a control unit 60 and an image recognition unit.
Referring to fig. 2, in an exemplary embodiment, the sweeping robot further includes a data transmission unit, configured to send image data, so that the mobile terminal performs human shape recognition and pet recognition on the image data to identify whether a person or a pet is in the image acquisition area; the data transmission unit is also used for receiving the human shape recognition result and the pet recognition result of the image data.
The cleaning robot can transmit the image data collected by the image collecting device 50 to the mobile terminal through the data transmission unit. For example, the data transmission unit may employ a WiFi module, and the data is forwarded to the mobile terminal through the WiFi module via the router. The image data is identified through the mobile terminal, the identification result is fed back to the sweeping robot, and the sweeping robot controls the ultraviolet lamp 20 to be turned on and off through the identification result. For example, when the recognition result shows that there is a person or a pet, the control unit 60 controls the ultraviolet lamp 20 to be turned off to prevent ultraviolet rays from damaging the person or the pet. The mobile terminal may be a mobile phone, tablet, etc. The mobile terminal carries out image recognition without additionally increasing or improving configuration. Meanwhile, the requirement of the sweeping robot on the configuration of the processor can be reduced.
Referring to fig. 2, in some embodiments, the sweeping robot further comprises a distance measuring unit for obtaining the distance of the person or pet within the image capturing area. The control unit 60 controls the ultraviolet lamp 20 to be turned on and off according to the recognition result of the image data and the distance of the person or pet in the image capturing area.
The distance measuring unit can obtain the distance of the person or the pet in the image acquisition area, and the control unit 60 controls the ultraviolet lamp 20 to be turned on and off in combination with the distance of the person or the pet when the person or the pet is in the image acquisition area according to the identification result. The damage of ultraviolet rays to people or pets is avoided, and meanwhile, the influence on the ultraviolet disinfection program is reduced.
The distance measuring unit may employ a laser distance measuring sensor (LDS). The laser range sensor is capable of measuring the distance of a person or pet within the image capture area.
In an exemplary embodiment, the controlling unit 60 to turn on and off the ultraviolet lamp 20 according to the recognition result of the image data and the distance of the person or pet in the image capturing area includes: and controlling the ultraviolet lamp 20 to be turned off when the distance between the person or the pet in the image acquisition area is less than a first threshold value. Control unit 60 controls UV lamp 20 to turn off when a person or pet is identified within the image collection area and is within a close distance to a potential UV injury, e.g., a distance less than a first threshold. Avoid the human or the pet from being hurt by ultraviolet rays. When the person or the pet is not recognized, or the distance between the person and the pet is greater than the first threshold value, it is determined that the ultraviolet rays do not harm the person or the pet, and the control unit 60 may control the ultraviolet lamp 20 to be turned on to continue the ultraviolet sterilization.
The first threshold may be set according to the radiation intensity of the uv lamp 20 configured for the sweeping robot. For example, ultravioletThe first threshold value may be larger if the radiation intensity of the lamp 20 is large. When the person or pet is far away, the ultraviolet lamp 20 is turned off. Conversely, when the radiation intensity of the ultraviolet lamp 20 is small, the first threshold value may be small. When the person or pet is close, the ultraviolet lamp 20 is turned off. The above mentioned radiation intensity level and distance are compared. For example, 70uW/cm2And 85uW/cm2In contrast, 70uW/cm2The radiation intensity is low, and 85uW/cm2This is the case when the radiation intensity is large. In contrast, the radiation intensity was 70uW/cm2When the corresponding first threshold value is less than 85uW/cm of radiation intensity2A first threshold value of time. I.e. radiation intensity of 70uW/cm2Compared with the radiation intensity of 85uW/cm2Closer proximity, the UV lamp 20 is turned off.
In the embodiment of the present application, the ultraviolet lamp 20 is disposed at a proper position of the body 10 to effectively sterilize the space. For example, the ultraviolet lamp 20 is provided on the top of the body 10.
Fig. 3 is a schematic structural view of the sweeping robot with the ultraviolet lamp 20 stored. The control unit 60 is located inside the body 10 in fig. 3, and is shown in dotted lines. Fig. 4 is a schematic structural diagram of the sweeping robot with the ultraviolet lamp 20 in an extended state. Referring to fig. 3 and 4, in some embodiments, uv lamp 20 is rotatably coupled to body 10. The ultraviolet lamp 20 is rotatably connected to the body 10, so that the ultraviolet lamp 20 can be in different postures relative to the body 10.
The sweeping robot further comprises a driving mechanism, and the driving mechanism is connected with the control unit 60. The control unit 60 is also used to control the driving mechanism to drive the ultraviolet lamp 20 to rotate relative to the machine body 10. In the exemplary embodiment, control unit 60 is further configured to: based on the start of the uv disinfection program, the driving mechanism is controlled to drive the uv lamp 20 so that the uv lamp 20 rotates from the storage state to the extended state.
Based on the end of the ultraviolet disinfection program, the driving mechanism is controlled to drive the ultraviolet lamp 20, so that the ultraviolet lamp 20 rotates from the extending state to the accommodating state.
When the cleaning robot starts the ultraviolet disinfection program, the ultraviolet lamp 20 is rotated from the storage state to the extension state. When the ultraviolet sterilization is not performed, for example, only the cleaning process is started, the ultraviolet lamp 20 is in the storage state. Influence on the cleaning area due to the extended state of the ultraviolet lamp 20 is avoided.
In some embodiments, the ultraviolet lamp 20 is horizontally accommodated at the top of the machine body 10; the ultraviolet lamp 20 is vertically disposed on the top of the body 10 in an extended state. The ultraviolet lamp 20 is accommodated at the top of the machine body 10, and can enter a lower space when only being cleaned, so that the indoor cleaning is carried out more thoroughly, and the ultraviolet lamp 20 is prevented from influencing the area where the sweeping robot can enter. And damage to the uv lamp 20 due to accidental impacts can be reduced. The ultraviolet lamp 20 is vertically disposed on the top of the body 10 in an extended state, and can perform ultraviolet sterilization on the entire space.
When the sweeping robot works in the ultraviolet disinfection mode, the height of the ultraviolet lamp 20 can exceed the original height of the sweeping robot because the ultraviolet lamp stands up from the upper side of the sweeping robot. Therefore, when the disinfection procedure is started, a new obstacle avoidance method is needed to avoid the situation that the sweeper can pass under the sofa, the bed and other common sweeping modes, but the ultraviolet lamp 20 collides with the obstacle in the area with the height lower than that of the ultraviolet lamp 20.
Referring to fig. 4, in some embodiments, the top of the body 10 may have a receiving portion 30. The receiving portion 30 serves to at least partially receive the ultraviolet lamp 20. When the ultraviolet lamp 20 is in the storage state, the height of the sweeping robot is not affected.
In some embodiments, the image data acquired by image acquisition device 50 includes obstacle image data. When the image data is recognized, an obstacle in the image data is also recognized. And detecting the distance between the sweeping robot and the obstacle through a distance measuring unit (such as a laser distance measuring sensor);
the image recognition unit calculates the height of the obstacle according to the detected obstacle distance and the acquired obstacle image. And the height H of the obstacle is (L x H)/f, wherein L is the distance from the lens of the sweeper camera to the obstacle, H is the projection height of the obstacle on the image sensor of the camera, and f is the distance between the lens of the camera and the image sensor. H is the height of the obstacle from the ground.
When the disinfection program is started, the control unit 60 controls the sweeping robot not to enter the area with the height H lower than that of the ultraviolet lamp 20, so as to avoid collision between the ultraviolet lamp 20 and the obstacle.
In the sweeping process of the sweeping robot, the height information of objects in the map is constructed, the positions of the objects lower than the vertical height of the ultraviolet lamp 20 are forbidden to be set as disinfection points. Avoiding collision of the uv lamp 20 with obstacles.
Referring to fig. 2, in some embodiments, the sweeping robot further includes a pyroelectric infrared sensor 40(PIR), and the pyroelectric infrared sensor 40 is configured to detect a human infrared signal; the control unit 60 controls the ultraviolet lamp 20 to be turned off based on the human body infrared signal detected by the pyroelectric infrared sensor 40. When the cleaning robot starts a disinfection program and the ultraviolet lamp 20 is in an on working state, if the pyroelectric infrared sensor 40 detects that a person generates a trigger signal, the control unit 60 controls the ultraviolet lamp 20 to be turned off, and when the person is far away and the trigger signal of the pyroelectric infrared sensor 40 disappears, the control unit 60 controls the ultraviolet lamp 20 to recover irradiation. The pyroelectric infrared sensor 40 complements human-shape recognition and pet recognition. The human shape recognition and the pet recognition can avoid the problem that the pyroelectric infrared sensor 40 cannot detect the trigger signal due to small difference between the human body temperature and the environment temperature or clothes covering and the like.
In some embodiments, the pyroelectric infrared sensor 40 is disposed on the ultraviolet lamp 20. The power supply line settings can be reduced. A pyroelectric infrared sensor 40 is provided at the end of the uv lamp 20. The ultraviolet lamp 20 can be lifted and lowered at any time. When the ultraviolet lamp 20 is rotated to a vertical state, the pyroelectric infrared sensor 40 is located at a high position, and senses an infrared signal of a human body.
The robot of sweeping floor of this application embodiment starts ultraviolet disinfection procedure can be the reservation and starts, and when satisfying predetermined condition, the robot of sweeping floor automatic start ultraviolet disinfection procedure. When preset conditions are set, the floor sweeping robot can be directly set, and remote setting can also be performed on the mobile terminal.
In some embodiments, the control unit 60 further stores a preset ultraviolet disinfection program starting condition, and when the preset ultraviolet disinfection program starting condition is met, the control unit 60 executes a disinfection starting instruction to start the disinfection mode of the cleaning robot.
For example, the user sets the start condition according to the date, such as a certain day of the month (for example, 1 day and 15 days of the month), or a certain day of the week (for example, monday of the week). And an allowable automatic working period can be set, and when the date and the starting period set by the user are met and the sweeper judges that the state at home is unmanned, the sweeper can automatically start the ultraviolet disinfection program.
The robot of sweeping the floor can be connected internet through wiFi module and acquire the local time that the robot of sweeping the floor belongs to, and the user can set its rest period of time to the state at night according to the custom, for example the user sets up 23: 00-5: 00 is the rest period at night. When the user sets up the disinfection mode night, if accord with this time quantum, and camera and PIR detect near nobody, then open ultraviolet lamp 20 and carry out the ultraviolet disinfection.
The robot of sweeping floor of this application embodiment starts ultraviolet disinfection procedure can also be artifical the start, when the user hope to carry out ultraviolet disinfection, directly manual work starts ultraviolet disinfection procedure. The manual starting can be directly arranged on the sweeping robot or remotely arranged on the mobile terminal.
For example, when nobody is at home, the user can operate the sweeper to start the corresponding disinfection mode to work through the APP on the mobile terminal.
In order to further understand the sweeping robot in the embodiment of the present application, an ultraviolet disinfection method of the sweeping robot in the embodiment of the present application is described below.
The ultraviolet disinfection method for the sweeping robot comprises the following steps:
acquiring image data, wherein the image data is used for identifying whether a person or a pet exists in an image acquisition area;
and controlling the opening and closing of an ultraviolet lamp 20 arranged on the sweeping robot at least according to the identification result of the image data.
According to the ultraviolet disinfection method of the sweeping robot, the collected image data are used for identifying whether people or pets exist in the image collection area; the ultraviolet lamp 20 is controlled to be turned on and off at least according to the recognition result of the image data. The damage to personnel or pets in a working area is avoided when the floor sweeping robot carries out ultraviolet disinfection work.
In the embodiment of the application, the collected image data can be recognized by the sweeping robot so as to determine whether people or pets exist in the image collecting area. Or the collected image data can be sent to a terminal such as a mobile phone, a computer, a server and the like for identification so as to determine whether people or pets exist in the image collection area.
In the embodiment of the application, whether a person is in the image acquisition area or not can be identified through human shape identification so as to determine whether the person is in the image acquisition area or not. Image human shape recognition enables to find a human being close to a greater distance. The requirement on image pixels is low, and even the requirement is low in the camera 20M with 200W pixels, the image can be easily identified, so that the situation that people approach to cause UV lamp misillumination is avoided.
Based on human shape recognition without deep face recognition and personnel feature recognition, the photos with lower pixels can be used for processing, the requirement on the image acquisition device 50 is low, and the cost is favorably reduced. The requirement on the computing power required by real-time computing is low, and the DSP of the floor sweeping robot with the processor in the current market has the computing power and does not need to be configured with a processing chip with very high computing power.
In an exemplary embodiment, after acquiring the image data, the method further comprises: and carrying out human shape recognition and pet recognition on the image data so as to recognize whether a person or a pet exists in the image acquisition area. The robot that sweeps floor can carry out people's shape discernment and pet discernment to the image data of gathering, can independently realize disinfection control.
In an exemplary embodiment, after acquiring the image data, the method further comprises:
sending the image data to enable the mobile terminal to perform human shape recognition and pet recognition on the image data so as to recognize whether a person or a pet exists in the image acquisition area;
and receiving the human shape recognition result and the pet recognition result of the image data.
The sweeping robot can send the collected image data to the mobile terminal. For example, the data may be forwarded to the mobile terminal via the router through the WiFi module. The image data is identified through the mobile terminal, the identification result is fed back to the sweeping robot, and the sweeping robot controls the ultraviolet lamp 20 to be turned on and off through the identification result. For example, when the identification result shows that a person or a pet is present, the ultraviolet lamp 20 is controlled to be turned off to prevent ultraviolet rays from damaging the person or the pet. The mobile terminal may be a mobile phone, tablet, etc. The mobile terminal carries out image recognition without additionally increasing or improving configuration. Meanwhile, the requirement of the sweeping robot on the configuration of the processor can be reduced.
In some embodiments, before controlling the on and off of the uv lamp 20, the method further comprises: acquiring the distance of a person or a pet in an image acquisition area; controlling the ultraviolet lamp 20 to be turned on and off according to at least the recognition result of the image data includes: the ultraviolet lamp 20 is controlled to be turned on and off according to the recognition result of the image data and the distance of the person or pet in the image capturing area.
When the recognition result is that people or pets are in the image acquisition area, the on-off of the ultraviolet lamp 20 is controlled by combining the distance of the people or the pets. The damage of ultraviolet rays to people or pets is avoided, and meanwhile, the influence on the ultraviolet disinfection program is reduced.
In some embodiments, controlling the ultraviolet lamp 20 to be turned on and off according to the recognition result of the image data and the distance of the person or pet in the image capturing area includes: and controlling the ultraviolet lamp 20 to be turned off when the distance between the person or the pet in the image acquisition area is less than a first threshold value.
When a person or pet is identified within the image collection area and the person or pet is within a close distance to be potentially harmed by ultraviolet light, such as a distance less than a first threshold, ultraviolet lamp 20 is controlled to be turned off. Avoid the human or the pet from being hurt by ultraviolet rays. When the person or the pet is not recognized, or the distance between the person and the pet is greater than the first threshold value, it is determined that the ultraviolet rays do not harm the person or the pet, and the control unit 60 may control the ultraviolet lamp 20 to be turned on to continue the ultraviolet sterilization.
The first threshold may be set according to the radiation intensity of the uv lamp 20 configured for the sweeping robot. For example, if the intensity of radiation from the UV lamp 20 is high, the first threshold value may be higher. When the person or pet is far away, the ultraviolet lamp 20 is turned off. In contrast, the UV lamp 20 has a lower radiation intensityThen the first threshold may be smaller. When the person or pet is close, the ultraviolet lamp 20 is turned off. The above mentioned radiation intensity level and distance are compared. For example, 70uW/cm2And 85uW/cm2In contrast, 70uW/cm2The radiation intensity is low, and 85uW/cm2This is the case when the radiation intensity is large. In contrast, the radiation intensity was 70uW/cm2When the corresponding first threshold value is less than 85uW/cm of radiation intensity2A first threshold value of time. I.e. radiation intensity of 70uW/cm2Compared with the radiation intensity of 85uW/cm2Closer proximity, the UV lamp 20 is turned off.
In some embodiments, before acquiring the image data, further comprising:
controlling the ultraviolet lamp 20 to rotate from the storage state to the extension state based on the start of the ultraviolet disinfection program;
after controlling the on/off of the ultraviolet lamp 20 at least according to the recognition result of the image data, the method further comprises the following steps:
based on the end of the ultraviolet disinfection program, the ultraviolet lamp 20 is controlled to rotate from the extended state to the retracted state.
When the cleaning robot starts the ultraviolet disinfection program, the ultraviolet lamp 20 is rotated from the storage state to the extension state. When the ultraviolet sterilization is not performed, for example, only the cleaning process is started, the ultraviolet lamp 20 is in the storage state. Influence on the cleaning area due to the extended state of the ultraviolet lamp 20 is avoided.
In some embodiments, controlling the ultraviolet lamp 20 to rotate to the extended state includes: controlling the ultraviolet lamp 20 to be horizontally accommodated at the top of the sweeping robot; controlling the ultraviolet lamp 20 to rotate to the accommodated state includes: the ultraviolet lamp 20 is controlled to rotate to be vertically arranged on the top of the sweeping robot.
The ultraviolet lamp 20 is stored at the top of the sweeping robot, and can enter a lower space when only being cleaned, so that the indoor sweeping can be carried out more thoroughly, and the ultraviolet lamp 20 is prevented from influencing the area where the sweeping robot can enter. And damage to the uv lamp 20 due to accidental impacts can be reduced. The ultraviolet lamp 20 is vertically arranged on the top of the sweeping robot in a stretching state, and can perform ultraviolet disinfection on the whole space.
When the sweeping robot works in the ultraviolet disinfection mode, the height of the ultraviolet lamp 20 can exceed the original height of the sweeping robot because the ultraviolet lamp stands up from the upper side of the sweeping robot. Therefore, when the disinfection procedure is started, a new obstacle avoidance method is needed to avoid the situation that the sweeper can pass under the sofa, the bed and other common sweeping modes, but the ultraviolet lamp 20 collides with the obstacle in the area with the height lower than that of the ultraviolet lamp 20.
In some embodiments, the sweeping robot top may have a receptacle 30. The receiving portion 30 serves to at least partially receive the ultraviolet lamp 20. When the ultraviolet lamp 20 is in the storage state, the height of the sweeping robot is not affected.
In some embodiments, the acquired image data includes obstacle image data. When the image data is recognized, an obstacle in the image data is also recognized. And detecting the distance between the sweeping robot and the obstacle.
And calculating the height of the obstacle according to the detected obstacle distance and the acquired obstacle image. And the height H of the obstacle is (L x H)/f, wherein L is the distance from the lens of the sweeper camera to the obstacle, H is the projection height of the obstacle on the image sensor of the camera, and f is the distance between the lens of the camera and the image sensor. H is the height of the obstacle from the ground.
When the disinfection program is started, the sweeping robot is controlled not to enter an area with the height H lower than that of the ultraviolet lamp 20, and the ultraviolet lamp 20 is prevented from colliding with obstacles.
In the sweeping process of the sweeping robot, the height information of objects in the map is constructed, the positions of the objects lower than the vertical height of the ultraviolet lamp 20 are forbidden to be set as disinfection points. Avoiding collision of the uv lamp 20 with obstacles.
In some embodiments, the method further comprises: detecting a human body infrared signal; the ultraviolet lamp 20 is controlled to be turned off based on the detected human body infrared signal.
When the cleaning robot starts a disinfection program and the ultraviolet lamp 20 is in an on working state, if a triggering signal generated by a person is detected, the cleaning robot controls the ultraviolet lamp 20 to be turned off, and when the person is far away and the triggering signal of the pyroelectric infrared sensor 40 disappears, the cleaning robot controls the ultraviolet lamp 20 to recover irradiation. Detecting human infrared signals complements human shape recognition and pet recognition. The human shape recognition and the pet recognition can avoid the problem that human infrared signals cannot be detected due to small difference between human body temperature and environment temperature or clothes covering and the like.
The robot of sweeping floor of this application embodiment starts ultraviolet disinfection procedure can be the reservation and starts, and when satisfying predetermined condition, the robot of sweeping floor automatic start ultraviolet disinfection procedure. When preset conditions are set, the floor sweeping robot can be directly set, and remote setting can also be performed on the mobile terminal.
In some embodiments, the method further comprises: and starting the ultraviolet disinfection program based on the condition that the preset ultraviolet disinfection program starting condition is met.
For example, the user sets the start condition according to the date, such as a certain day of the month (for example, 1 day and 15 days of the month), or a certain day of the week (for example, monday of the week). And an allowable automatic working period can be set, and when the date and the starting period set by the user are met and the sweeper judges that the state at home is unmanned, the sweeper can automatically start the ultraviolet disinfection program.
The robot of sweeping the floor can be connected internet through wiFi module and acquire the local time that the robot of sweeping the floor belongs to, and the user can set its rest period of time to the state at night according to the custom, for example the user sets up 23: 00-5: 00 is the rest period at night. When the user sets up the disinfection mode night, if accord with this time quantum, and camera and PIR detect near nobody, then open ultraviolet lamp 20 and carry out the ultraviolet disinfection.
The robot of sweeping floor of this application embodiment starts ultraviolet disinfection procedure can also be artifical the start, when the user hope to carry out ultraviolet disinfection, directly manual work starts ultraviolet disinfection procedure. The manual starting can be directly arranged on the sweeping robot or remotely arranged on the mobile terminal.
For example, when nobody is at home, the user can operate the sweeper to start the corresponding disinfection mode to work through the APP on the mobile terminal.
It is clear to a person skilled in the art that the solution of the present application can be implemented by means of software and/or hardware. The "unit" and "module" in this specification refer to software and/or hardware that can perform a specific function independently or in cooperation with other components, where the hardware may be, for example, a Field-ProgrammaBLE Gate Array (FPGA), an Integrated Circuit (IC), or the like.
It should be noted that, for simplicity of description, the above-mentioned method embodiments are described as a series of acts or combination of acts, but those skilled in the art will recognize that the present application is not limited by the order of acts described, as some steps may occur in other orders or concurrently depending on the application. Further, those skilled in the art should also appreciate that the embodiments described in the specification are preferred embodiments and that the acts and modules referred to are not necessarily required in this application.
In the foregoing embodiments, the descriptions of the respective embodiments have respective emphasis, and for parts that are not described in detail in a certain embodiment, reference may be made to related descriptions of other embodiments.
In the embodiments provided in the present application, it should be understood that the disclosed apparatus may be implemented in other manners. For example, the above-described embodiments of the apparatus are merely illustrative, and for example, a division of a unit is merely a logical division, and an actual implementation may have another division, 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 of some interfaces, devices or units, and may be an electric or other form.
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 integrated unit can be realized in a form of hardware, and can also be realized in a form of a software functional unit.
The integrated unit, if implemented in the form of a software functional unit and sold or used as a stand-alone product, may be stored in a computer readable memory. Based on such understanding, the technical solution of the present application may be substantially implemented or a part of or all or part of the technical solution contributing to the prior art may be embodied in the form of a software product stored in a memory, and including several 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 of the embodiments of the present application. And the aforementioned memory comprises: various media capable of storing program codes, such as a usb disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a removable hard disk, a magnetic disk, or an optical disk.
Those skilled in the art will appreciate that all or part of the steps in the methods of the above embodiments may be implemented by associated hardware instructed by a program, which may be stored in a computer-readable memory, which may include: flash disks, Read-Only memories (ROMs), Random Access Memories (RAMs), magnetic or optical disks, and the like.
The above description is intended to be illustrative and not restrictive. For example, the above-described examples (or one or more versions thereof) may be used in combination with each other, and it is contemplated that the embodiments may be combined with each other in various combinations or permutations. The scope of the application should be determined with reference to the appended claims, along with the full scope of equivalents to which such claims are entitled.
Claims (10)
1. A sweeping robot is characterized by comprising:
a body;
the ultraviolet lamp is arranged on the machine body;
the image acquisition device is arranged on the machine body and used for acquiring image data, and the image data is used for identifying whether a person or a pet exists in an image acquisition area;
and the control unit is connected with the ultraviolet lamp and is used for controlling the opening and closing of the ultraviolet lamp at least according to the identification result of the image data.
2. The sweeping robot of claim 1, further comprising an image recognition unit, wherein the image recognition unit is configured to perform human shape recognition and pet recognition on the image data to identify whether a person or a pet is present in the image capture area.
3. The sweeping robot of claim 1, further comprising a data transmission unit for transmitting the image data so that the mobile terminal performs human shape recognition and pet recognition on the image data to identify whether a person or a pet is in the image acquisition area; the data transmission unit is also used for receiving the human shape recognition result and the pet recognition result of the image data.
4. The sweeping robot of claim 1, further comprising a ranging unit for obtaining a distance of a person or pet within the image capture area;
and the control unit controls the ultraviolet lamp to be turned on or off according to the identification result of the image data and the distance between people or pets in the image acquisition area.
5. The sweeping robot of claim 4, wherein the control unit controls the ultraviolet lamp to be turned on and off according to the recognition result of the image data and the distance of the person or the pet in the image acquisition area comprises:
and when the distance between the people or the pets in the image acquisition area is less than a first threshold value, controlling the ultraviolet lamp to be closed.
6. The sweeping robot according to claim 1, wherein the ultraviolet lamp is arranged at the top of the machine body and is rotatably connected with the machine body;
the sweeping robot further comprises a driving mechanism, and the driving mechanism is connected with the control unit;
the control unit is further configured to:
controlling the driving mechanism to drive the ultraviolet lamp based on the starting ultraviolet disinfection program so as to enable the ultraviolet lamp to rotate from a storage state to an extension state;
and controlling the driving mechanism to drive the ultraviolet lamp based on the execution end of the ultraviolet disinfection program so as to enable the ultraviolet lamp to rotate from the extension state to the storage state.
7. The sweeping robot according to claim 6, wherein the ultraviolet lamp is horizontally housed at the top of the machine body in the housed state; the extension state of the ultraviolet lamp is vertically arranged on the top of the machine body.
8. The sweeping robot of claim 1, further comprising a pyroelectric infrared sensor for detecting human body infrared signals; the control unit controls the ultraviolet lamp to be turned off based on the human body infrared signal detected by the pyroelectric infrared sensor.
9. The sweeping robot of claim 8, wherein the pyroelectric infrared sensor is disposed on the ultraviolet lamp.
10. The sweeping robot of claim 1, wherein the control unit further stores a preset ultraviolet disinfection program starting condition, and when the preset ultraviolet disinfection program starting condition is met, the control unit executes the disinfection starting instruction to start a disinfection mode of the sweeping robot.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202021771453.1U CN212382582U (en) | 2020-08-21 | 2020-08-21 | Floor sweeping robot |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202021771453.1U CN212382582U (en) | 2020-08-21 | 2020-08-21 | Floor sweeping robot |
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| CN212382582U true CN212382582U (en) | 2021-01-22 |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111938520A (en) * | 2020-08-21 | 2020-11-17 | 北京石头世纪科技股份有限公司 | Floor sweeping robot and ultraviolet disinfection method thereof |
| CN113967919A (en) * | 2021-10-11 | 2022-01-25 | 常州机电职业技术学院 | Robot of accompanying and attending to at home |
-
2020
- 2020-08-21 CN CN202021771453.1U patent/CN212382582U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111938520A (en) * | 2020-08-21 | 2020-11-17 | 北京石头世纪科技股份有限公司 | Floor sweeping robot and ultraviolet disinfection method thereof |
| CN113967919A (en) * | 2021-10-11 | 2022-01-25 | 常州机电职业技术学院 | Robot of accompanying and attending to at home |
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