CN111248818B - State control method, sweeping robot and computer storage medium - Google Patents
State control method, sweeping robot and computer storage medium Download PDFInfo
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- CN111248818B CN111248818B CN202010145561.6A CN202010145561A CN111248818B CN 111248818 B CN111248818 B CN 111248818B CN 202010145561 A CN202010145561 A CN 202010145561A CN 111248818 B CN111248818 B CN 111248818B
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/24—Floor-sweeping machines, motor-driven
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/34—Machines for treating carpets in position by liquid, foam, or vapour, e.g. by steam
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
- A47L11/4002—Installations of electric equipment
- A47L11/4008—Arrangements of switches, indicators or the like
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/88—Lidar systems specially adapted for specific applications
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L2201/00—Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
- A47L2201/06—Control of the cleaning action for autonomous devices; Automatic detection of the surface condition before, during or after cleaning
Abstract
The invention discloses a state control method and a sweeping robot, wherein the method comprises the following steps: determining a first area to enter based on the sweeping path; entering the first area, and cleaning in the first area by adopting a first cleaning state corresponding to the area type of the first area. So, make the robot of sweeping the floor can adopt rather than will getting into the mode of cleaning that first region suits cleans first region has avoided the robot of sweeping the floor because adopt with the regional incompatible mode of cleaning that will clean this region, leads to the damage to this regional ground, has improved the intelligent degree of the robot of sweeping the floor, has promoted user experience.
Description
Technical Field
The invention relates to the technical field of information processing, in particular to a state control method, a sweeping robot and a computer storage medium.
Background
The intelligent sweeper is widely applied at present, and the user experience requirement is higher and higher. The sweeper can adjust different gears to sweep different areas. Moreover, many existing floor sweepers have the function of mopping the floor, but some scenes are not suitable for mopping the floor, such as a carpet scene. Furthermore, the sweeping state of the sweeper is required to be changed according to different scenes, different requirements of customers are met, and meanwhile performance requirements of the sweeper can be better exerted.
Disclosure of Invention
To solve the foregoing technical problem, embodiments of the present invention provide a state control method, an electronic device, and a computer storage medium.
The state control method provided by the embodiment of the invention comprises the following steps:
determining a first area to enter based on the sweeping path;
entering the first area, and cleaning in the first area by adopting a first cleaning state corresponding to the area type of the first area.
An embodiment of the present invention further provides a sweeping robot, where the electronic device includes: a determination unit, a cleaning unit;
the determining unit is used for determining a first area to be entered based on the cleaning path;
the cleaning unit is used for entering the first area and cleaning in the first area by adopting a first cleaning state corresponding to the area type of the first area.
The embodiment of the present invention further provides a sweeping robot, including: a processor and a memory for storing a computer program capable of running on the processor,
wherein the processor is configured to perform any of the above methods when the computer program is run.
An embodiment of the present invention further provides a computer storage medium, where computer-executable instructions are stored, and when executed, the computer-executable instructions implement any one of the methods described above.
According to the technical scheme of the embodiment of the invention, the sweeping robot can sweep the first area by adopting the sweeping mode which is adaptive to the first area to be swept, so that the damage to the ground of the area caused by the sweeping robot sweeping the area by adopting the sweeping mode which is not adaptive to the area to be swept is avoided, the intelligent degree of the sweeping robot is improved, and the user experience is improved.
Drawings
Fig. 1 is a schematic flow chart of a state control method according to an embodiment of the present invention;
fig. 2 is a schematic diagram of a label structure of a virtual wall according to an embodiment of the present invention;
fig. 3 is a schematic diagram illustrating an arrangement structure of tags disposed on a virtual wall according to an embodiment of the present invention;
FIG. 4 is a schematic view of a virtual wall structure surrounding a carpet area according to an embodiment of the present invention;
fig. 5 is a block diagram of a sweeping robot according to an embodiment of the present invention;
fig. 6 is a schematic structural diagram of a sweeping robot according to an embodiment of the present invention.
Detailed Description
So that the manner in which the features and aspects of the embodiments of the present invention can be understood in detail, a more particular description of the embodiments of the invention, briefly summarized above, may be had by reference to the embodiments, some of which are illustrated in the appended drawings.
An embodiment of the present invention provides a method for controlling a state, as shown in fig. 1, where fig. 1 is a flowchart of the method for controlling a state according to the embodiment of the present invention.
S101, determining a first area to be entered based on the cleaning path.
Specifically, the first area is an area to be entered and cleaned by the cleaning robot.
The sweeping robot is generally preset with a sweeping path, for example, the sweeping robot is preset to sweep the environment according to a 'U' -shaped path, then, when the sweeping robot is placed at any position, the sweeping robot is defaulted to be the right ahead where the sweeping robot can recognize according to the 'U' -shaped path, the sweeping robot travels and sweeps along the 'U' -shaped path, and at the moment, the sweeping robot can determine that the sweeping area to be entered is the first area. That is, even if the sweeping robot is placed beside the carpet area, the sweeping robot will not determine that the carpet area is the first area as long as the carpet area is not directly in front of the sweeping robot.
It will be appreciated that the zone type may be represented by the type of material or material of the ground in the zone, or alternatively, the zone type may be represented by an identification of the zone type.
Further, if the area type is represented by the area type identifier, the different area type identifiers may correspond to different types of materials or materials on the ground of the area, and this correspondence may be default or may be preset.
The sweeping robot is preset with an area type and sweeping state corresponding table, after the area type of the first area is determined, the sweeping robot searches the area type and sweeping state corresponding table, finds the corresponding sweeping state, and determines that the sweeping state is the sweeping state suitable for the first area.
The state control method further includes: identifying the region type of a first region to be entered; the method for identifying the area type of the first area to be entered comprises at least one of the following steps:
identifying a region type of the first region based on a virtual wall signal;
identifying a region type for the first region based on a vision sensor;
identifying an area type of the first area based on a capacitive proximity sensor.
After determining a first area to be entered, the sweeping robot identifies the area type of the first area by virtue of the sweeping robot, and determines a corresponding sweeping mode according to the area type of the first area.
The embodiment of the invention identifies the first area by at least one of the above manners. It is noted that the way in which the sweeping robot identifies the area type of the first area to be accessed includes, but is not limited to, all of the ways described above. The person skilled in the art can set the identification mode according to the actual situation.
The following describes the manner of identifying the area type of the first area to be entered:
the identifying the area type of the first area based on the virtual wall signal includes: identifying a first virtual wall signal, determining a region type corresponding to the first virtual wall signal based on a first corresponding relation, and taking the determined region type as the region type of the first region; the first corresponding relation comprises corresponding relations between different virtual wall signals and different area types.
In the embodiment of the invention, the special area is surrounded by the virtual wall, and if one side or two sides or three sides of the special area are surrounded by the wall, the virtual wall only needs to surround three sides or two sides or one side of the special area correspondingly. The specific area is relatively speaking, which means that the material used for the ground of the area is different from that of other areas.
In order to enable the sweeping robot to identify special areas with different ground materials, different virtual walls are used for surrounding different areas, specifically, one virtual wall is used for surrounding the periphery of a carpet for a carpet area, the other virtual wall is used for surrounding the periphery of a floor for a wooden floor, and the like; meanwhile, in order to scan the virtual wall, the sweeping robot in the embodiment of the invention is provided with a scanning device.
In addition, in order to distinguish different virtual walls, the embodiment of the present invention sets different labels on the virtual walls, specifically: the light absorbing areas and the light reflecting areas are arranged on the virtual wall, as shown in fig. 2, wherein the size of each light absorbing area and each light reflecting area may be equal or different, and the areas are arranged at regular intervals, and here, the size of each light absorbing area and each light reflecting area is taken as an example. It is only necessary that the width of each light absorption region and each light reflection region is L and the height is not more than the height of the virtual wall. The light absorption areas and the light reflection areas of the virtual wall may be sequentially arranged at intervals in a 2:1 arrangement manner, as shown in fig. 3, or may be arranged in a 3:2 arrangement manner, and the arrangement manner of the light absorption areas and the light reflection areas is not limited in the embodiment of the present invention. When laying a virtual wall, a user can surround the carpet with a virtual wall provided with light absorption areas and light reflection areas in a 2:1 arrangement mode, as shown in fig. 4, then a sweeping robot is used for emitting light to the virtual wall in the arrangement mode, due to the arrangement mode of the light absorption areas and the light reflection areas, a virtual wall signal corresponding to the arrangement mode is generated for the absorption and reflection of the light, and the virtual wall signal generated by the virtual wall is recorded. The user can surround another special area with another virtual wall in the same way and record a virtual wall signal generated by such virtual wall. Fig. 2 is a schematic diagram of a label structure of a virtual wall according to an embodiment of the present invention; fig. 3 is a schematic diagram illustrating an arrangement structure of tags disposed on a virtual wall according to an embodiment of the present invention; fig. 4 is a schematic view of a virtual wall structure surrounding a carpet area according to an embodiment of the present invention.
Therefore, the virtual wall is firstly used to surround the special area, and then the sweeping robot scans the virtual wall to record the virtual wall signals generated by the virtual wall, so that the flexibility of the sweeping robot for identifying different areas is increased, more actual operability is brought to the arrangement of different indoor areas for a user, and the user experience is improved.
After the floor sweeping robot records various virtual wall signals, a user can set a first corresponding relation through the floor sweeping robot APP, wherein corresponding relations between different virtual wall signals and various region types can be set.
For example, the first virtual wall signal corresponds to porcelain or stone, the second virtual wall signal corresponds to wood, the third virtual wall signal corresponds to cotton, and so on. It can be understood that if the user does not regard a certain area as a special area and uses a virtual wall to enclose the area, the sweeping robot cannot recognize the particularity of the floor of the area, and uses the same sweeping state as that of the previous area to sweep the area.
Specifically, the first corresponding relationship may be a corresponding relationship as shown in table 1, where the area type may be a material or a material used by the area or an identifier of the area type, and in an example, the first corresponding relationship is described with reference to table 1 by taking the material as an example:
| porcelain or stone | Wood material | Cotton material |
| First virtual wall signal | Second virtual wall signal | Third virtual wall signal |
TABLE 1 first correspondence
After the scanning function is turned on, the sweeping robot can identify the virtual wall signal surrounding the special area, then search the area type corresponding to the virtual wall signal in the first corresponding relation, and take the searched area type as the area type of the first area.
Acquiring an image corresponding to at least part of the first area through the vision sensor, searching an area image matched with the image corresponding to the at least part of the first area in a second corresponding relation, determining an area type corresponding to the area image matched with the image corresponding to the at least part of the first area based on the second corresponding relation, and taking the searched area type as the area type of the first area;
and the second corresponding relation comprises corresponding relations between different region images and different region types.
According to the embodiment of the invention, after the sweeping robot is initialized, all the floor areas needing to be swept in the whole room are subjected to image acquisition, and the acquired images are classified. For example, the collected carpet image is used as a type of area image, the collected wood floor image is used as another type of area image, the collected tile image is used as a type of area image, and then the classified area images are respectively corresponding to the area types and stored in the second corresponding relation. The embodiment of the invention includes, but is not limited to, adopting the image acquisition and classification mode to make the image of each region correspond to the region type.
The second corresponding relationship may be the corresponding relationship shown in table 2, where the region type may be a material or a material used by the region or an identifier of the region type, and in an example, the second corresponding relationship is described with reference to table 2 by taking the material as an example. Specifically, the first area type is porcelain or stone and corresponds to images of the floors of a kitchen, a balcony and a toilet, the second area type is wood and corresponds to images of the floors of a living room and a dining room, and the third area type is cotton and corresponds to images of the floors of a carpet area. At least one image in each type of area image.
TABLE 2 second correspondences
Further, a vision sensor is arranged on the sweeping robot, when the sweeping robot determines a first area to which the sweeping robot enters, an image corresponding to at least part of the first area is acquired through the vision sensor, then an area image corresponding to the image acquired by the sweeping robot at this time is searched in a second corresponding relation, an area type corresponding to the area image is determined through the area image, so that the area type corresponding to the image acquired by the sweeping robot at least part of the area is determined, and the searched area type is used as the area type of the first area.
The identifying the area type of the first area based on a capacitive proximity sensor comprises: detecting an electric signal value corresponding to the ground material in the first area through the capacitive proximity sensor, determining an area type corresponding to an electric signal interval in which the electric signal value corresponding to the ground material in the first area is located based on a third corresponding relation, and taking the found area type as the area type of the first area;
and the third corresponding relation comprises corresponding relations between different electric signal intervals and different region types. The embodiment of the invention can also be provided with the capacitive proximity sensor which can output different electric signal values when approaching media of different materials, so that when approaching the first area, the sweeping robot can also generate and output an electric signal value aiming at the first area, the sweeping robot firstly judges which electric signal interval the electric signal value belongs to, and then searches the area type corresponding to the electric signal interval based on the third corresponding relation, namely, searches the material type corresponding to the electric signal, and takes the searched area type as the area type of the first area.
The third corresponding relationship may be the corresponding relationship shown in table 3, where the region type may be a material or a material used by the region or a region type identifier, and in an example, refer to table 3 by taking the material as an example. Specifically, the method comprises the following steps: the electric signal interval 1 is [ a1, a2] corresponding to porcelain or stone, the electric signal interval 2 is [ b1, b2] corresponding to wood, and the electric signal interval 3 is [ c1, c2] corresponding to cotton. And after the capacitive proximity sensor detects the first area, outputting an electric signal value a, and judging that the value is between [ a1, a2], wherein the type of the area detected by the capacitive proximity sensor can be determined to be porcelain or stone through the third corresponding relation.
| Porcelain or stone | Wood material | Cotton material |
| [a1,a2] | [b1,b2] | [c1,c2] |
TABLE 3 third correspondence
S102, entering the first area, and cleaning in the first area by adopting a first cleaning state corresponding to the area type of the first area.
After the sweeping robot identifies the area type of the first area, the sweeping robot enters the first area and adopts a first sweeping state matched with the first area to sweep the first area.
It should be noted that, when S101 is executed, if the area where the sweeping robot is located is taken as the second area, the sweeping robot may adopt the second cleaning state in the second area;
when the cleaning method is executed in S102, if the second cleaning state is different from the first cleaning state, after the cleaning robot enters the first area, the second cleaning mode needs to be switched to the first cleaning state corresponding to the area type of the first area, and then the cleaning robot performs cleaning in the first area in the first cleaning state.
Alternatively, if the second cleaning state is the same as the first cleaning state, it can be understood that the sweeping robot enters the first area to perform cleaning in the first area while maintaining the current cleaning state.
For example, when the sweeping robot recognizes that the area type of the first area is cotton, a sweeping mode for the cotton is required to sweep the area, the sweeping mode needs to be a large suction force, otherwise, dust on the carpet cannot be sucked out, and a waterless sweeping mode is required, otherwise, the carpet is wetted; when the sweeping robot recognizes that the area type of the first area is wood, a cleaning mode aiming at the wood is needed to clean the area, and the suction force in the cleaning mode cannot be too large, otherwise, the material of the floor is easily damaged.
In addition, in another example different from the foregoing embodiment, the sweeping robot may determine the sweeping state in the first area and perform sweeping in another manner, specifically:
identifying relevant information of the environment based on the laser radar, and sending the relevant information to the terminal equipment; and the relevant information of the environment identified by the laser radar is used for the terminal equipment to draw a map corresponding to the environment.
Namely, the sweeping robot can be provided with the laser radar, when the sweeping robot is used for the first time, the sweeping robot identifies the environment where the sweeping robot is located through the laser radar to obtain information related to the environment; then, the sweeping robot sends the relevant information identified by the laser radar to the APP installed on the terminal equipment, and the APP can accurately draw a map of the environment where the sweeping robot is located according to the received relevant information and store the map on the terminal equipment.
Then, before executing S101 and S102, the state control method may further include:
receiving an instruction sent by the terminal equipment; wherein the instructions include: a cleaning path, different zones included in the cleaning path, and cleaning states adapted to the zone types to be adopted in the different zones.
Accordingly, the aforementioned S101 and S102, that is, the determining a first area to enter based on the cleaning path, entering the first area, and performing cleaning in the first cleaning state corresponding to the area type of the first area, may specifically include:
determining a cleaning path based on the instruction, and determining a first area to enter based on the current position and the instruction; determining a first cleaning state matched with the area type to be adopted for entering the first area based on the instruction;
entering the first area, and performing sweeping based on the determined first sweeping state.
In particular, the method comprises the following steps of,
because the environment map can be established on the terminal device APP in advance, different regions and corresponding region types in the environment map can be preset in the APP of the terminal device.
During the cleaning operation, a cleaning path of the cleaning robot is determined on the terminal device APP, at least one passing area in the cleaning path can be determined, the area types of different areas can be determined, and then the cleaning states corresponding to different area types are determined;
then, the terminal device APP may generate a corresponding instruction for the cleaning, and the specific included content is as described above and is not described again.
Regarding the aforementioned different regions and their corresponding region types, on the terminal device side, the following may be: information of position coordinate intervals corresponding to at least one region for each region type, for example, the position intervals corresponding to region type 1 are (x1, y1), (x2, y2), (x3, y3), (x4, y4), and the position intervals corresponding to region type 3 are (x5, y5), (x6, y 6); correspondingly, the type 1 of the area corresponding to the first area is porcelain or stone, the type of the second area is wood, and the type of the third area is cotton and the like. See, for example, table 4.
| Porcelain or stone | Wood material | Cotton material |
| (x1,y1)，(x2,y2) | (x3,y3)，(x4,y4) | (x5,y5)，(x6,y6) |
TABLE 4 fourth correspondences
When an operator of the terminal equipment, namely a user, wants to enable the sweeping robot to sweep a certain room (or several rooms), the operator can determine that the room comprises several areas, determine the type of each area and the corresponding sweeping state, and then generate an instruction to be sent to the sweeping robot;
the sweeping robot can determine the current area according to the received instruction and by combining the current position of the sweeping robot, and further determine the corresponding sweeping state by combining the instruction; and entering a current area, and sweeping the current area based on the determined first sweeping state.
According to the technical scheme of the embodiment of the invention, the sweeping robot can sweep the first area by adopting the sweeping mode which is adaptive to the first area to be entered, so that the damage to the ground of the area caused by the sweeping robot sweeping the area by adopting the sweeping mode which is not adaptive to the area to be swept is avoided, the intelligent degree of the sweeping robot is improved, and the user experience is improved.
As shown in fig. 5, fig. 5 is a block diagram of a sweeping robot 700 according to an embodiment of the present invention.
A sweeping robot 700, comprising: a determination unit 10, a cleaning unit 20;
the determination unit 10 is configured to determine a first area to be entered based on a cleaning path;
the cleaning unit 20 is configured to enter the first area, and perform cleaning in a first cleaning state corresponding to an area type of the first area.
According to the technical scheme of the embodiment of the invention, the sweeping robot 700 can sweep the first area by adopting the sweeping mode which is adaptive to the first area to be swept, so that the damage to the ground of the area caused by the sweeping robot sweeping the area by adopting the sweeping mode which is not adaptive to the area to be swept is avoided, the intelligent degree of the sweeping robot is improved, and the user experience is improved.
The sweeping robot 700 further includes: an identification unit 30;
the identification unit 30 is configured to identify a region type of a first region to be entered; specifically, the method comprises at least one of the following modes:
identifying a region type of the first region based on a virtual wall signal;
identifying a region type for the first region based on a vision sensor;
identifying an area type of the first area based on a capacitive proximity sensor.
The identification unit 30 is further configured to identify relevant information of an environment where the lidar is located, and send the relevant information to the terminal device; and the relevant information of the environment identified by the laser radar is used for the terminal equipment to draw a map corresponding to the environment.
The robot of sweeping the floor still includes: a receiving unit 40;
the receiving unit 40 is configured to receive an instruction sent by the terminal device; wherein the instructions include: a cleaning path including different areas and cleaning states corresponding to the types of the areas and to be adopted in the different areas;
correspondingly, the determining unit 10 is configured to determine a cleaning path based on the instruction, and determine a first area to be entered based on the current position and the instruction; determining a first cleaning state matched with the area type to be adopted for entering the first area based on the instruction;
the cleaning unit 20 is configured to enter the first area and perform cleaning based on the determined first cleaning state.
It should be noted that: in the state control of the robot 700 for sweeping floor provided in the above embodiment, only the division of the above program modules is taken as an example, and in practical applications, the above processing distribution may be completed by different program modules according to needs, that is, the internal structure of the device is divided into different program modules to complete all or part of the above-described processing. In addition, the sweeping robot 700 provided by the above embodiment and the state control method embodiment belong to the same concept, and specific implementation processes thereof are detailed in the method embodiment and are not described herein again.
The embodiment of the present invention further provides a sweeping robot 700, where the sweeping robot 700 includes: a processor 701 and a memory 702 for storing computer programs capable of running on the processor,
wherein the processor is configured to execute, when running the computer program:
steps of the above-described method embodiments
Fig. 6 is a schematic structural diagram of a sweeping robot according to an embodiment of the present invention.
The sweeping robot 700 shown in fig. 6 includes: at least one processor 701, a memory 702, at least one network interface 704, and a user interface 703. The various components in the sweeping robot 700700 are coupled together by a bus system 705. It is understood that the bus system 705 is used to enable communications among the components. The bus system 705 includes a power bus, a control bus, and a status signal bus in addition to a data bus. But for clarity of illustration the various busses are labeled in figure 6 as the bus system 705.
The user interface 703 may include, among other things, a display, a keyboard, a mouse, a trackball, a click wheel, a key, a button, a touch pad, or a touch screen.
It will be appreciated that the memory 702 can be either volatile memory or nonvolatile memory, and can include both volatile and nonvolatile memory. Among them, the nonvolatile Memory may be a Read Only Memory (ROM), a Programmable Read Only Memory (PROM), an Erasable Programmable Read-Only Memory (EPROM), an Electrically Erasable Programmable Read-Only Memory (EEPROM), a magnetic random access Memory (FRAM), a Flash Memory (Flash Memory), a magnetic surface Memory, an optical disk, or a Compact Disc Read-Only Memory (CD-ROM); the magnetic surface storage may be disk storage or tape storage. Volatile Memory can be Random Access Memory (RAM), which acts as external cache Memory. By way of illustration and not limitation, many forms of RAM are available, such as Static Random Access Memory (SRAM), Synchronous Static Random Access Memory (SSRAM), Dynamic Random Access Memory (DRAM), Synchronous Dynamic Random Access Memory (SDRAM), Double Data Rate Synchronous Dynamic Random Access Memory (DDRSDRAM), Enhanced Synchronous Dynamic Random Access Memory (ESDRAM), Enhanced Synchronous Dynamic Random Access Memory (Enhanced DRAM), Synchronous Dynamic Random Access Memory (SLDRAM), Direct Memory (DRmb Access), and Random Access Memory (DRAM). The memory 702 described in connection with the embodiments of the invention is intended to comprise, without being limited to, these and any other suitable types of memory.
The memory 702 in embodiments of the present invention is used to store various types of data to support the operation of the sweeping robot 700. Examples of such data include: any computer programs for operating on the sweeping robot 700, such as an operating system 7021 and application programs 7022; contact data; telephone book data; a message; a picture; video, etc. The operating system 7021 includes various system programs, such as a framework layer, a core library layer, a driver layer, and the like, for implementing various basic services and processing hardware-based tasks. The application 7022 may include various applications such as a Media Player (Media Player), a Browser (Browser), and the like, for implementing various application services. Programs that implement methods in accordance with embodiments of the present invention can be included within application program 7022.
The method disclosed in the above embodiments of the present invention may be applied to the processor 701, or implemented by the processor 701. The processor 701 may be an integrated circuit chip having signal processing capabilities. In implementation, the steps of the above method may be implemented by integrated logic circuits of hardware or instructions in the form of software in the processor 701. The Processor 701 may be a general purpose Processor, a Digital Signal Processor (DSP), or other programmable logic device, discrete gate or transistor logic device, discrete hardware components, or the like. The processor 701 may implement or perform the methods, steps, and logic blocks disclosed in embodiments of the present invention. A general purpose processor may be a microprocessor or any conventional processor or the like. The steps of the method disclosed by the embodiment of the invention can be directly implemented by a hardware decoding processor, or can be implemented by combining hardware and software modules in the decoding processor. The software modules may be located in a storage medium located in the memory 702, and the processor 701 may read the information in the memory 702 and perform the steps of the aforementioned methods in conjunction with its hardware.
In an exemplary embodiment, the sweeping robot 700 may be implemented by one or more Application Specific Integrated Circuits (ASICs), DSPs, Programmable Logic Devices (PLDs), Complex Programmable Logic Devices (CPLDs), Field Programmable Gate Arrays (FPGAs), general purpose processors, controllers, Micro Controllers (MCUs), microprocessors (microprocessors), or other electronic components for performing the aforementioned methods.
In an exemplary embodiment, the present invention further provides a computer-readable storage medium, such as the memory 702 containing a computer program, which can be executed by the processor 701 of the sweeping robot 700 to perform the steps of the aforementioned method. The computer readable storage medium can be Memory such as FRAM, ROM, PROM, EPROM, EEPROM, Flash Memory, magnetic surface Memory, optical disk, or CD-ROM; or may be a variety of devices including one or any combination of the above memories, such as a mobile phone, computer, tablet device, personal digital assistant, etc.
It will be understood that the invention is not limited to the precise arrangements described above and shown in the drawings and that various modifications and changes may be made without departing from the scope thereof. The scope of the invention is limited only by the appended claims.
Claims (12)
1. A state control method is applied to a sweeping robot and is characterized by comprising the following steps:
determining a first area to enter based on the sweeping path; the first area is an area which is about to enter and be cleaned by the sweeping robot;
identifying the type of a first area to be entered, and determining a corresponding first cleaning state according to the identified type of the first area; the region type comprises a material or material type of the region ground;
entering the first area, and cleaning by adopting a first cleaning state corresponding to the area type of the first area;
the identifying the area type of the first area to be entered includes: identifying a region type of the first region based on a virtual wall signal, including: identifying a first virtual wall signal, determining a region type corresponding to the first virtual wall signal based on a first corresponding relation, and taking the determined region type as the region type of the first region; wherein the first corresponding relationship comprises corresponding relationships between different virtual wall signals and different region types.
2. The state control method according to claim 1, wherein the identifying a zone type of the first zone to be entered further comprises at least one of:
identifying a region type for the first region based on a vision sensor;
identifying an area type of the first area based on a capacitive proximity sensor.
3. The state control method of claim 2, wherein the identifying the region type of the first region based on the vision sensor comprises:
acquiring an image corresponding to at least part of the first area through the vision sensor, searching an area image matched with the image corresponding to the at least part of the first area in a second corresponding relation, determining an area type corresponding to the area image matched with the image corresponding to the at least part of the first area based on the second corresponding relation, and taking the searched area type as the area type of the first area;
and the second corresponding relation comprises corresponding relations between different region images and different region types.
4. The state control method of claim 2, wherein the identifying the zone type of the first zone based on a capacitive proximity sensor comprises:
detecting an electric signal value corresponding to the ground material in the first area through the capacitive proximity sensor, determining an area type corresponding to an electric signal interval in which the electric signal value corresponding to the ground material in the first area is located based on a third corresponding relation, and taking the found area type as the area type of the first area;
and the third corresponding relation comprises corresponding relations between different electric signal intervals and different region types.
5. The state control method according to claim 1, characterized in that the method further comprises:
identifying relevant information of the environment based on the laser radar, and sending the relevant information to the terminal equipment;
and the relevant information of the environment identified by the laser radar is used for the terminal equipment to draw a map corresponding to the environment.
6. The method of claim 5, wherein the method further comprises:
receiving an instruction sent by the terminal equipment; wherein the instructions include: a cleaning path including different areas and cleaning states corresponding to the types of the areas and to be adopted in the different areas;
correspondingly, the determining a first area to be entered based on the cleaning path, entering the first area, and performing cleaning in a first cleaning state corresponding to an area type of the first area includes:
determining a cleaning path based on the instruction, and determining a first area to enter based on the current position and the instruction; determining a first cleaning state matched with the area type to be adopted for entering the first area based on the instruction;
entering the first area, and performing sweeping based on the determined first sweeping state.
7. A robot of sweeping floor, characterized in that, the robot of sweeping floor includes: the device comprises a determining unit, a cleaning unit and an identifying unit;
the determining unit is used for determining a first area to be entered based on the cleaning path; the first area is an area which is about to enter and be cleaned by the sweeping robot;
the identification unit is used for identifying the area type of a first area to be entered, and determining a corresponding first cleaning state according to the identified area type of the first area; the region type comprises a material or material type of the region ground; the identifying the area type of the first area to be entered includes: identifying a region type of the first region based on a virtual wall signal, wherein identifying the region type of the first region based on a virtual wall signal comprises: identifying a first virtual wall signal, determining a region type corresponding to the first virtual wall signal based on a first corresponding relation, and taking the determined region type as the region type of the first region; the first corresponding relation comprises corresponding relations between different virtual wall signals and different region types;
and the cleaning unit is used for entering the first area and cleaning in a first cleaning state corresponding to the area type of the first area.
8. The sweeping robot of claim 7, wherein the identification unit is configured to identify a region type of a first region to be entered; the method specifically comprises at least one of the following modes:
identifying a region type for the first region based on a vision sensor;
identifying an area type of the first area based on a capacitive proximity sensor.
9. The sweeping robot of claim 7, further comprising: an identification unit;
the identification unit is used for identifying relevant information of the environment based on the laser radar and sending the relevant information to the terminal equipment;
and the relevant information of the environment identified by the laser radar is used for the terminal equipment to draw a map corresponding to the environment.
10. The sweeping robot of claim 9, further comprising: a receiving unit;
the receiving unit is used for receiving the instruction sent by the terminal equipment; wherein the instructions include: a cleaning path including different areas and cleaning states corresponding to the types of the areas and to be adopted in the different areas;
correspondingly, the determining unit is used for determining a cleaning path based on the instruction, and determining a first area to be entered based on the current position and the instruction; determining a first cleaning state matched with the area type to be adopted for entering the first area based on the instruction;
and the cleaning unit is used for entering the first area and cleaning based on the determined first cleaning state.
11. A sweeping robot comprising: a processor and a memory for storing a computer program capable of running on the processor,
wherein the processor is adapted to perform the method of any of claims 1-6 when running the computer program.
12. A computer storage medium storing computer-executable instructions that, when executed, implement the method of any one of claims 1-6.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202010145561.6A CN111248818B (en) | 2020-03-05 | 2020-03-05 | State control method, sweeping robot and computer storage medium |
| PCT/CN2020/120399 WO2021174851A1 (en) | 2020-03-05 | 2020-10-12 | State control method, robot vacuum cleaner, and computer storage medium |
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| CN202010145561.6A CN111248818B (en) | 2020-03-05 | 2020-03-05 | State control method, sweeping robot and computer storage medium |
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| CN111248818B true CN111248818B (en) | 2021-08-13 |
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| CN111248818B (en) * | 2020-03-05 | 2021-08-13 | 美智纵横科技有限责任公司 | State control method, sweeping robot and computer storage medium |
| CN111887777B (en) * | 2020-07-29 | 2023-03-07 | 深圳市普森斯科技有限公司 | Cleaning control method, cleaning control device, electronic device and storage medium |
| CN112120603B (en) * | 2020-09-14 | 2022-03-01 | 美智纵横科技有限责任公司 | Active area construction method, cleaning robot, control terminal, and storage medium |
| CN114098514A (en) * | 2021-09-30 | 2022-03-01 | 深圳朗特智能控制股份有限公司 | Dust collection equipment control method, dust collection equipment and storage medium |
| CN114108531A (en) * | 2021-11-05 | 2022-03-01 | 湖南湘江智能科技创新中心有限公司 | Intelligent network on-line robot road cleaning system |
| CN114092749B (en) * | 2022-01-20 | 2022-05-27 | 广东科凯达智能机器人有限公司 | Automatic judgment method and device for working gear of J-shaped handle and storage medium |
| CN114343504A (en) * | 2022-01-26 | 2022-04-15 | 深圳市优必选科技股份有限公司 | Sweeping strategy generation method, device, equipment and storage medium of sweeping robot |
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