CN114680736A - Control method of cleaning robot and cleaning robot - Google Patents
Control method of cleaning robot and cleaning robot Download PDFInfo
- Publication number
- CN114680736A CN114680736A CN202011593749.3A CN202011593749A CN114680736A CN 114680736 A CN114680736 A CN 114680736A CN 202011593749 A CN202011593749 A CN 202011593749A CN 114680736 A CN114680736 A CN 114680736A
- Authority
- CN
- China
- Prior art keywords
- sensor
- cleaning robot
- ambient light
- light intensity
- contact
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 238000004140 cleaning Methods 0.000 title claims abstract description 169
- 238000000034 method Methods 0.000 title claims abstract description 43
- 238000004590 computer program Methods 0.000 claims description 20
- 238000001514 detection method Methods 0.000 claims description 13
- 206010000117 Abnormal behaviour Diseases 0.000 abstract description 3
- 230000008569 process Effects 0.000 description 5
- 238000010586 diagram Methods 0.000 description 4
- 230000006870 function Effects 0.000 description 4
- 238000013507 mapping Methods 0.000 description 4
- 230000004044 response Effects 0.000 description 4
- 230000008878 coupling Effects 0.000 description 3
- 238000010168 coupling process Methods 0.000 description 3
- 238000005859 coupling reaction Methods 0.000 description 3
- 230000000694 effects Effects 0.000 description 3
- 238000005286 illumination Methods 0.000 description 3
- 239000000126 substance Substances 0.000 description 3
- 230000002159 abnormal effect Effects 0.000 description 2
- 230000006399 behavior Effects 0.000 description 2
- 238000004891 communication Methods 0.000 description 2
- 238000012545 processing Methods 0.000 description 2
- 241000023320 Luma <angiosperm> Species 0.000 description 1
- 230000009471 action Effects 0.000 description 1
- 230000003213 activating effect Effects 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 239000000428 dust Substances 0.000 description 1
- 230000007613 environmental effect Effects 0.000 description 1
- 230000003993 interaction Effects 0.000 description 1
- OSWPMRLSEDHDFF-UHFFFAOYSA-N methyl salicylate Chemical compound COC(=O)C1=CC=CC=C1O OSWPMRLSEDHDFF-UHFFFAOYSA-N 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000003287 optical effect Effects 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
- 238000010408 sweeping Methods 0.000 description 1
Images
Classifications
-
- 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
-
- 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
-
- 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
- A47L11/4061—Steering means; Means for avoiding obstacles; Details related to the place where the driver is accommodated
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
- G01D21/00—Measuring or testing not otherwise provided for
- G01D21/02—Measuring two or more variables by means not covered by a single other subclass
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01J—MEASUREMENT OF INTENSITY, VELOCITY, SPECTRAL CONTENT, POLARISATION, PHASE OR PULSE CHARACTERISTICS OF INFRARED, VISIBLE OR ULTRAVIOLET LIGHT; COLORIMETRY; RADIATION PYROMETRY
- G01J1/00—Photometry, e.g. photographic exposure meter
-
- 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
-
- 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
- A47L2201/04—Automatic control of the travelling movement; Automatic obstacle detection
Abstract
The application is applicable to the technical field of robots and provides a control method of a cleaning robot and the cleaning robot, wherein the method comprises the following steps: detecting the ambient light intensity of the current working environment of the cleaning robot; and if the intensity of the ambient light is not less than a preset light intensity threshold value within a first preset time, controlling the cleaning robot to work by adopting a first sensor, wherein the first sensor is a sensor which is not influenced by the ambient light. By the method, abnormal behaviors of the cleaning robot can be prevented from occurring in a strong light environment.
Description
Technical Field
The application belongs to the technical field of robots, and particularly relates to a control method of a cleaning robot and the cleaning robot.
Background
The body of the cleaning robot typically includes sensors that allow the cleaning robot to determine the surrounding work environment for cleaning. The sensors affected by the ambient light include some sensors affected by the ambient light, but the sensors affected by the ambient light may cause erroneous data in a strong light environment, so that the robot may generate abnormal behaviors in the strong light environment, which causes the robot to have low working efficiency and affects the use experience of a user. For example, a sensor used for avoiding obstacles in front and affected by ambient light is prone to mistakenly detect obstacles under strong light, so that the robot makes obstacle avoidance reaction under the obstacle-free condition. For example, when the sensor for the right side of the edgewise function is affected by ambient light in a strong light environment and is in edgewise cleaning, other abnormal edgewise behaviors such as machine rotation and the like are easily caused.
Disclosure of Invention
The embodiment of the application provides a control method of a cleaning robot and the cleaning robot, and can solve the problem that the cleaning robot is abnormal in a strong light environment.
In a first aspect, an embodiment of the present application provides a control method for a cleaning robot, including:
detecting the ambient light intensity of the current working environment of the cleaning robot;
and if the intensity of the ambient light is not less than a preset light intensity threshold value within a first preset time, controlling the cleaning robot to work by adopting a first sensor, wherein the first sensor is a sensor which is not influenced by the ambient light.
In a second aspect, an embodiment of the present application provides a control device for a cleaning robot, including:
the environment light intensity detection module is used for detecting the environment light intensity of the current working environment of the cleaning robot;
and the work control module is used for controlling the cleaning robot to work by adopting a first sensor if the intensity of the ambient light is not less than a preset light intensity threshold value within a first preset time, wherein the first sensor is a sensor which is not influenced by the ambient light.
In a third aspect, embodiments of the present application provide a cleaning robot, including a memory, a processor, and a computer program stored in the memory and executable on the processor, the processor implementing the method according to the first aspect when executing the computer program.
In a fourth aspect, the present application provides a computer-readable storage medium, which stores a computer program, and when the computer program is executed by a processor, the computer program implements the method according to the first aspect.
In a fifth aspect, embodiments of the present application provide a computer program product, which, when run on a terminal device, causes the terminal device to execute the method described in the first aspect.
Compared with the prior art, the embodiment of the application has the advantages that: in this application embodiment, cleaning machines people can detect the ambient light intensity of current operational environment constantly, and when the duration that the ambient light intensity of operational environment is greater than or equal to the light intensity threshold value was greater than first preset time, it is great to the influence of the sensor that receives the ambient light influence on the cleaning machines people fuselage to show current ambient light intensity, can close the sensor that receives the ambient light influence on the cleaning machines people fuselage this moment, uses the sensor that does not receive the ambient light influence to control cleaning machines people and carries out work. The sensor which is not influenced by the ambient light is not sensitive to strong light, so that the cleaning robot can be prevented from abnormal behaviors, and the working efficiency of the cleaning robot is improved.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed to be used in the embodiments or the prior art descriptions will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and it is obvious for those skilled in the art to obtain other drawings without creative efforts.
Fig. 1 is a schematic flowchart of a control method of a cleaning robot according to an embodiment of the present disclosure;
fig. 2 is a schematic flowchart of a control method of a cleaning robot according to a second embodiment of the present disclosure; (ii) a
Fig. 3 is a schematic front view of a cleaning robot according to a second embodiment of the present disclosure;
fig. 4 is a schematic rear view of a cleaning robot according to a second embodiment of the present disclosure;
fig. 5 is a schematic structural diagram of a control device of a cleaning robot according to a third embodiment of the present application;
fig. 6 is a schematic structural diagram of a cleaning robot according to a fourth embodiment of the present application.
Detailed Description
In the following description, for purposes of explanation and not limitation, specific details are set forth, such as particular system structures, techniques, etc. in order to provide a thorough understanding of the embodiments of the present application. It will be apparent, however, to one skilled in the art that the present application may be practiced in other embodiments that depart from these specific details. In other instances, detailed descriptions of well-known systems, devices, circuits, and methods are omitted so as not to obscure the description of the present application with unnecessary detail.
It will be understood that the terms "comprises" and/or "comprising," when used in this specification and the appended claims, specify the presence of stated features, integers, steps, operations, elements, and/or components, but do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and/or groups thereof.
It should also be understood that the term "and/or" as used in this specification and the appended claims refers to and includes any and all possible combinations of one or more of the associated listed items.
As used in this specification and the appended claims, the term "if" may be interpreted contextually as "when", "upon" or "in response to" determining "or" in response to detecting ". Similarly, the phrase "if it is determined" or "if a [ described condition or event ] is detected" may be interpreted contextually to mean "upon determining" or "in response to determining" or "upon detecting [ described condition or event ]" or "in response to detecting [ described condition or event ]".
Furthermore, in the description of the present application and the appended claims, the terms "first," "second," "third," and the like are used for distinguishing between descriptions and not necessarily for describing or implying relative importance.
Reference throughout this specification to "one embodiment" or "some embodiments," or the like, means that a particular feature, structure, or characteristic described in connection with the embodiment is included in one or more embodiments of the present application. Thus, appearances of the phrases "in one embodiment," "in some embodiments," "in other embodiments," or the like, in various places throughout this specification are not necessarily all referring to the same embodiment, but rather "one or more but not all embodiments" unless specifically stated otherwise. The terms "comprising," "including," "having," and variations thereof mean "including, but not limited to," unless expressly specified otherwise.
Fig. 1 is a schematic flowchart of a control method of a cleaning robot according to an embodiment of the present disclosure, where as shown in fig. 1, the method includes:
and S101, detecting the ambient light intensity of the current working environment of the cleaning robot.
Specifically, the execution subject of the embodiment is a cleaning robot, and specifically, may be a controller in the cleaning robot.
The cleaning robot may include a plurality of sensors on its body, and by using these sensors, the robot may collect surrounding information to facilitate determination of the traveling direction or switching of the working state. For example, a cleaning robot may include an edgewise sensor, an obstacle detection sensor, a ground media sensor, a mapping location sensor, an image sensor, etc. on its body.
Specifically, the cleaning robot can acquire the ambient light intensity of the current working environment by using an image sensor on the body. The image sensor may be a monocular or monocular camera, and the image sensor may be installed on the upper side, the lateral side, or/and the bottom side of the cleaning robot body. The cleaning robot can continuously acquire the image of the current working environment by adopting the image sensor on the robot body, and then determine the ambient light intensity of the current working environment by utilizing the brightness information of the acquired image. For example, the brightness of the image may be used as the intensity of the ambient light or the gray scale rule of the pixel (such as a gray scale histogram) may be counted by using the image information, and the histogram may reflect the light distribution of the environment.
In a possible implementation manner, the light sensor may also be used to collect the ambient light intensity of the current working environment of the cleaning robot. The light sensor can convert light intensity into voltage or resistance through an internal photoelectric effect. The internal photoelectric effect occurs inside a substance, and when light is irradiated on the substance, the resistivity inside the substance is changed, so that electromotive force is generated. This converts the ambient illumination intensity into a voltage or resistance.
In another possible implementation manner, the ambient light intensity of the current working environment of the cleaning robot can be calculated by the collected pictures. Such as pictures in YUV format, where "Y" represents brightness (Luma), i.e., a gray scale value; "U" and "V" denote Chroma (Chroma) which describes the color and saturation of an image and is used to specify the color of a pixel. After the image is collected, the brightness values of all pixels of the whole image are calculated and then divided by the total number of pixels to obtain the average brightness of the whole image.
During the working process of the cleaning robot, the image sensor can collect image information all the time and continuously determine the ambient light intensity of the current working environment.
And S102, if the intensity of the ambient light is not less than a preset light intensity threshold value within a first preset time, controlling the cleaning robot to work by adopting a first sensor, wherein the first sensor is a sensor which is not influenced by the ambient light.
Specifically, the cleaning robot body comprises a plurality of sensors influenced by ambient light, the sensors influenced by the ambient light are sensitive to the intensity of the ambient light, the light intensity threshold is an ambient light intensity threshold, and when the intensity of the ambient light is not less than the light intensity threshold, the sensors influenced by the ambient light are greatly influenced. And when the cleaning robot monitors that the intensity of the ambient light is greater than or equal to the light intensity threshold value, timing is started, and the duration time that the intensity of the ambient light is greater than or equal to the light intensity threshold value is counted. The purpose of counting this duration is to determine that the current ambient light intensity does indeed affect the sensors on the cleaning robot body. When the duration that the intensity of the ambient light is greater than or equal to the light intensity threshold value is greater than the first preset time, it is determined that the current intensity of the ambient light actually affects the sensor affected by the ambient light on the body of the cleaning robot, and the sensor affected by the ambient light on the body of the cleaning robot can be turned off at the moment. For example, one or more of the edgewise sensors, obstacle detection sensors, ground media sensors, mapping location sensors may be turned off. Specifically, the first preset time may be freely set according to the operation speed of the cleaning robot, and may be, for example, 15 seconds, and the light intensity threshold may be 10K lux.
The first sensor is not influenced by ambient light, so that the first sensor is not sensitive to strong illumination, when the intensity of the ambient light is greater than or equal to the light intensity threshold value, the sensor which is not influenced by the ambient light can be used for collecting the ambient information, and the cleaning robot is controlled to perform cleaning work according to the ambient information collected by the sensor which is not influenced by the ambient light.
Specifically, the first sensor may include a contact sensor and/or a non-contact sensor, the contact sensor may include an impact sensor and the like, the impact sensor senses information through impact, and the impact sensor is not sensitive to strong light; the non-contact sensor may include using a laser ranging sensor, an infrared sensor, an ultrasonic wave, a vision sensor, and the like.
In a possible implementation method, when the cleaning robot works with the first sensor that is not affected by the ambient light, the sensor that is affected by the ambient light in the cleaning robot may be turned off, or the data information of the surrounding environment collected by the sensor that is affected by the ambient light may be discarded during the work.
In this application embodiment, detect cleaning machines people's operational environment's ambient light intensity, when ambient light intensity is great to the sensor influence that receives ambient light, can close the sensor that receives ambient light to influence, use the sensor that does not receive ambient light to work to avoided receiving the sensor that ambient light influences to produce wrong data under the highlight environment, can avoid cleaning machines people's work efficiency because wrong data produces unusual action.
Fig. 2 is a schematic flowchart of a control method of a cleaning robot according to a second embodiment of the present disclosure, and with reference to fig. 2, the method includes:
s201, detecting the ambient light intensity of the current working environment of the cleaning robot.
Step S201 in this embodiment is similar to step S101 in the first embodiment of the present application, and may refer to each other, which is not described herein again.
S202, if the intensity of the ambient light is not less than a preset light intensity threshold value within a first preset time, a first sensor is adopted to control the cleaning robot to work, and the first sensor is a sensor which is not affected by the ambient light.
Specifically, the first sensor is a sensor that is not affected by ambient light, and the body of the cleaning robot further includes a second sensor that is affected by ambient light. Typically, the cleaning robot uses a second sensor that is affected by ambient light to gather information about the surrounding environment. When the current working environment of the cleaning robot is higher than the light intensity threshold, the second sensor is greatly influenced by the ambient light intensity, the duration that the ambient light intensity is higher than the light intensity threshold can be counted at the moment, when the duration is longer than the first preset time, the second sensor is abandoned, and the first sensor is used instead for collecting the surrounding environment information.
In particular, the first sensor may include a contact sensor and/or a non-contact sensor.
When the first sensor is a touch sensor, the touch sensor may be used to detect obstacle information; if the contact sensor detects the obstacle information, the advancing direction of the cleaning robot is adjusted.
When the first sensor is a non-contact sensor, the non-contact sensor can be used for detecting obstacle information; and if the non-contact sensor detects the obstacle information, the cleaning robot decelerates to travel to keep a preset distance from the obstacle and then adjusts the advancing direction of the cleaning robot.
When the first sensor is a contact sensor or a non-contact sensor, the contact and non-contact sensors can be used for detecting the obstacle information; if the non-contact sensor detects the obstacle information, the cleaning robot decelerates to move to a position where the contact sensor detects the obstacle information and then adjusts the moving direction of the cleaning robot. In one possible implementation, the working mode of the cleaning robot may include an edgewise cleaning mode and a foldback cleaning mode, the edgewise cleaning mode refers to that the cleaning robot cleans around an obstacle; the back-folding cleaning mode refers to that the cleaning robot cleans in a bow shape, namely the cleaning robot returns back to continue to clean for a distance along a straight line after cleaning for a distance along the straight line, and then returns back again, so that the cleaning robot continuously returns back and forth to clean. In the edgewise cleaning mode, the cleaning robot depends on the edgewise sensor to carry out edgewise and map building positioning by the map building positioning sensor and detects the obstacle by the obstacle sensor. When the duration that the intensity of the ambient light is greater than or equal to the light intensity threshold value is greater than a first preset time, if the cleaning robot is in the edgewise cleaning mode, the edgewise sensor, the obstacle sensor and the map building and positioning sensor can be turned off. In the foldback cleaning mode, the cleaning robot relies on an obstacle sensor and a mapping location sensor. When the duration that the intensity of the ambient light is greater than or equal to the light intensity threshold value is greater than a first preset time, if the cleaning robot is in a turning-back cleaning mode, the obstacle sensor and the mapping positioning sensor can be turned off. After the cleaning robot turns off the sensor affected by the ambient light, the cleaning robot can work by using the sensor not affected by the ambient light. For example, a crash sensor can be used. When the collision sensor of the cleaning robot does not collide with the obstacle, the cleaning robot can be controlled to continue cleaning according to the current forward direction. If the cleaning robot is in the edgewise cleaning mode, determining the collision position of the cleaning robot and the obstacle; based on the collision position, the forward direction of the cleaning robot may be switched according to a preset angle, such as an angle at right angles to the current forward direction, to control the cleaning robot to clean around the obstacle. And if the cleaning robot is in the turn-back cleaning mode, switching the cleaning mode of the cleaning robot to the edge cleaning mode.
In particular, the cleaning robot may include a collision sensor. Fig. 3 is a schematic front view of a cleaning robot provided in this embodiment. Referring to fig. 3, the cleaning robot includes a collision bar, a edgewise sensor, an image sensor, a dust box pop-up button, a main control button, etc. on a body thereof, wherein a plurality of collision sensors may be installed on the collision bar. The cleaning robot may sense the collision information using a collision sensor, thereby collecting the obstacle information. When the collision sensor of the cleaning robot collides with an obstacle, the forward direction of the cleaning robot may be adjusted according to the current cleaning mode of the robot.
Fig. 4 is a schematic back view of a cleaning robot provided in this embodiment. Referring to fig. 4, the rear surface of the cleaning robot includes a floor media sensor and a floor detection sensor. The ground detection sensor is used for preventing falling, the descending sensor can detect whether the cleaning robot runs to a place other than the ground, for example, the cleaning robot runs to the edge of a step and can be emptied, after the ground detection sensor detects that the cleaning robot can transmit information to the controller, and the controller controls the cleaning robot not to fall down. The floor media sensor can detect the media currently sweeping the floor, allowing for better cleaning. For example, the ground medium sensor can be used to detect whether the current ground is a carpet or a floor tile. In some cases, for example, when the floor surface is smooth and the light reflection is strong, and therefore the intensity of the ambient light on the back surface of the cleaning robot is also strong, the sensors, such as the floor media sensor and the ground detection sensor, which are installed on the back surface of the cleaning robot and affected by the ambient light can be turned off.
S203, counting a first duration time that the ambient light intensity is smaller than the light intensity threshold;
the current ambient light intensity is continuously detected during the operation of the cleaning robot. If the sensor affected by the ambient light is currently in a state of being closed, when the current ambient light intensity is detected to be smaller than the light intensity threshold, the first duration time that the ambient light intensity is smaller than the light intensity threshold can be counted, and therefore whether the sensor affected by the ambient light can normally work under the current ambient light intensity is judged.
And S204, when the first duration is greater than or equal to a second preset time, starting a second sensor.
Specifically, if the first duration time of the ambient light intensity being less than the light intensity threshold is greater than or equal to the second preset time, it indicates that the sensor affected by the ambient light can normally operate under the current ambient light intensity, and at this time, the sensor affected by the ambient light that was previously turned off can be turned on, so that the sensors are used to collect the ambient information, and the cleaning robot is controlled to perform cleaning work according to the collected ambient information.
In this embodiment, before discarding the sensor affected by ambient light, the duration of the ambient light intensity not less than the light intensity threshold needs to be counted; the duration of the ambient light intensity being less than the light intensity threshold also needs to be counted before activating the sensor affected by the ambient light. Therefore, the sensor can be prevented from being switched too frequently, and the working state of the cleaning robot is kept stable.
In a possible implementation manner, when the duration that the intensity of the ambient light is greater than or equal to the light intensity threshold value is greater than a third preset time, the cleaning robot may be controlled to stop working, and a voice or message prompt may be sent to the user. Thereby enabling a user to adjust the current working environment of the cleaning robot, such as pulling up a curtain, etc.
In the embodiment, a sensor capable of detecting the illumination intensity is adopted to collect an environment image, and the light intensity analysis is performed on the environment image of a time sequence, so that whether the cleaning robot is in a strong light environment or not is judged; if the cleaning robot is in a strong light environment, one or more sensors affected by ambient light can be turned off or environmental information acquired by sensing of the one or more sensors affected by the ambient light is not used, so that influence on normal behavior of the cleaning robot due to wrong data of the sensors caused by the strong light is avoided. In addition, when the ambient light intensity is no longer in the strong light environment, the closed sensor can be opened in time, so that the cleaning robot works efficiently.
Fig. 5 is a schematic structural diagram of a control device of a cleaning robot according to a third embodiment of the present application, where the control device may be applied to the cleaning robot, and as shown in fig. 5, the control device includes:
an ambient light intensity detection module 51, configured to detect an ambient light intensity of a current working environment of the cleaning robot;
and the work control module 52 is configured to control the cleaning robot to work by using a first sensor if the intensity of the ambient light is not less than a preset light intensity threshold within a first preset time, where the first sensor is a sensor that is not affected by the ambient light.
The ambient light intensity detection module 51 includes:
the image acquisition submodule is used for acquiring an image of the current working environment through an image sensor on the cleaning robot;
and the ambient light determining submodule is used for determining the ambient light intensity of the current working environment according to the brightness information of the image.
The above-mentioned device still includes:
the second sensor closing module is used for closing a second sensor, and the second sensor is a sensor influenced by ambient light; or the like, or, alternatively,
and the second sensor abandoning module is used for abandoning the data information acquired by the second sensor without turning off the second sensor.
The operation control module 52 includes:
the obstacle information detection module is used for detecting obstacle information by adopting the contact sensor;
and the direction adjusting module is used for adjusting the advancing direction of the cleaning robot if the contact sensor detects the obstacle information.
In the above-mentioned work control module,
the obstacle information detection module is also used for detecting obstacle information by adopting the non-contact sensor;
and the direction adjusting module is also used for adjusting the advancing direction of the cleaning robot after the cleaning robot decelerates to travel to keep a preset distance from the obstacle if the non-contact sensor detects the obstacle information.
In the above-mentioned work control module,
the obstacle information detection module is also used for detecting obstacle information by adopting the contact type and non-contact type sensors;
and the direction adjusting module is also used for decelerating and moving to the contact type sensor to adjust the advancing direction of the cleaning robot after the contact type sensor detects the obstacle information if the non-contact type sensor detects the obstacle information.
The above-mentioned device still includes:
the first duration statistical module is used for counting the first duration of the ambient light intensity smaller than the light intensity threshold;
and the second sensor starting module is used for starting the second sensor when the first duration is greater than or equal to a second preset time.
Fig. 6 is a schematic structural diagram of a cleaning robot according to a fourth embodiment of the present application. As shown in fig. 6, the cleaning robot 6 of this embodiment includes: at least one processor 60 (only one shown in fig. 6), a memory 61, and a computer program 62 stored in the memory 61 and executable on the at least one processor 60, the processor 60 implementing the steps in any of the various method embodiments described above when executing the computer program 62.
The cleaning robot may include, but is not limited to, a processor 60, a memory 61. It will be appreciated by those skilled in the art that fig. 6 is merely an example of the cleaning robot 6, and does not constitute a limitation of the cleaning robot 6, and may include more or less components than those shown, or combine some components, or different components, such as input and output devices, network access devices, etc.
The processor 60 may be a Central Processing Unit (CPU), and the processor 60 may be other general purpose processor, a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), an off-the-shelf programmable gate array (FPGA) or other programmable logic device, a discrete gate or transistor logic device, a discrete hardware component, or the like. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like.
The memory 61 may in some embodiments be an internal storage unit of the cleaning robot 6, such as a hard disk or a memory of the cleaning robot 6. The memory 61 may also be an external storage device of the cleaning robot 6 in other embodiments, such as a plug-in hard disk provided on the cleaning robot 6, a Smart Memory Card (SMC), a Secure Digital (SD) card, a flash card (FlashCard), and the like. Further, the memory 61 may also include both an internal storage unit and an external storage device of the cleaning robot 6. The memory 61 is used for storing an operating system, an application program, a BootLoader (BootLoader), data, and other programs, such as program codes of the computer program. The memory 61 may also be used to temporarily store data that has been output or is to be output.
It should be noted that, for the information interaction, execution process, and other contents between the above-mentioned devices/units, the specific functions and technical effects thereof are based on the same concept as those of the embodiment of the method of the present application, and specific reference may be made to the part of the embodiment of the method, which is not described herein again.
It will be apparent to those skilled in the art that, for convenience and brevity of description, only the above-mentioned division of the functional units and modules is illustrated, and in practical applications, the above-mentioned function distribution may be performed by different functional units and modules according to needs, that is, the internal structure of the apparatus is divided into different functional units or modules to perform all or part of the above-mentioned functions. Each functional unit and module in the embodiments may be integrated in one processing unit, or each unit may exist alone physically, or two or more units are integrated in one unit, and the integrated unit may be implemented in a form of hardware, or in a form of software functional unit. In addition, specific names of the functional units and modules are only for convenience of distinguishing from each other, and are not used for limiting the protection scope of the present application. The specific working processes of the units and modules in the system may refer to the corresponding processes in the foregoing method embodiments, and are not described herein again.
The embodiments of the present application further provide a computer-readable storage medium, where a computer program is stored, and when the computer program is executed by a processor, the computer program implements the steps in the above-mentioned method embodiments.
The embodiments of the present application provide a computer program product, which when running on a terminal device, enables the terminal device to implement the steps in the above method embodiments when executed.
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 storage medium. Based on such understanding, all or part of the processes in the methods of the embodiments described above can be implemented by a computer program, which can be stored in a computer-readable storage medium and can implement the steps of the embodiments of the methods described above when the computer program is executed by a processor. Wherein the computer program comprises computer program code, which may be in the form of source code, object code, an executable file or some intermediate form, etc. The computer readable medium may include at least: any entity or device capable of carrying computer program code to a photographing apparatus/terminal apparatus, a recording medium, computer memory, Read-only memory (ROM), random-access memory (RAM), an electrical carrier signal, a telecommunications signal, and a software distribution medium. Such as a usb-disk, a removable hard disk, a magnetic or optical disk, etc. In some jurisdictions, computer-readable media may not be an electrical carrier signal or a telecommunications signal in accordance with legislative and proprietary practices.
In the above embodiments, the descriptions of the respective embodiments have respective emphasis, and reference may be made to the related descriptions of other embodiments for parts that are not described or illustrated in a certain embodiment.
Those of ordinary skill in the art will appreciate that the various illustrative elements and algorithm steps described in connection with the embodiments disclosed herein may be implemented as electronic hardware or combinations of computer software and electronic hardware. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the implementation. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present application.
In the embodiments provided in the present application, it should be understood that the disclosed apparatus/network device and method may be implemented in other ways. For example, the above-described apparatus/network device embodiments are merely illustrative, and for example, the division of the modules or units is only one logical division, and there may be other divisions when actually implementing, for example, a plurality of units or components may be combined or integrated into another system, or some features may be omitted, or not implemented. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection through some interfaces, devices or units, and may be in an electrical, mechanical or other form.
The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.
The above-mentioned embodiments are only used for illustrating the technical solutions of the present application, and not for limiting the same; although the present application has been described in detail with reference to the foregoing embodiments, it should be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; such modifications and substitutions do not depart from the spirit and scope of the embodiments of the present application, and they should be construed as being included in the present application.
Claims (10)
1. A control method of a cleaning robot, characterized by comprising:
detecting the ambient light intensity of the current working environment of the cleaning robot;
and if the intensity of the ambient light is not less than a preset light intensity threshold value within a first preset time, controlling the cleaning robot to work by adopting a first sensor, wherein the first sensor is a sensor which is not influenced by the ambient light.
2. The method of claim 1, wherein the detecting the ambient light intensity of the current working environment of the cleaning robot comprises:
acquiring an image of the current working environment through an image sensor on the cleaning robot;
and determining the ambient light intensity of the current working environment according to the brightness information of the image.
3. The method of claim 1, wherein after the controlling the cleaning robot to operate using the first sensor if the intensity of the ambient light is not less than the predetermined light intensity threshold within the first predetermined time, further comprising:
turning off a second sensor, the second sensor being a sensor affected by ambient light; or the like, or, alternatively,
and discarding the data information acquired by the second sensor without turning off the second sensor.
4. The method of any of claims 1-3, wherein the first sensor comprises a contact sensor or/and a non-contact sensor.
5. The method of claim 4, wherein when the first sensor is the contact sensor, the using the first sensor to control the cleaning robot to operate comprises:
detecting obstacle information using the touch sensor;
and if the contact sensor detects the obstacle information, adjusting the advancing direction of the cleaning robot.
6. The method of claim 4, wherein when the first sensor is the non-contact sensor, the using the first sensor to control the cleaning robot to operate comprises:
detecting obstacle information using the non-contact sensor;
and if the non-contact sensor detects the obstacle information, the cleaning robot decelerates to travel to keep a preset distance from the obstacle and then adjusts the advancing direction of the cleaning robot.
7. The method of claim 4, wherein when the first sensor is the contact sensor and the non-contact sensor, the using the first sensor to control the cleaning robot to operate comprises:
detecting obstacle information using the contact and non-contact sensors;
and if the non-contact sensor detects the obstacle information, the cleaning robot decelerates to travel until the contact sensor detects the obstacle information and then adjusts the advancing direction of the cleaning robot.
8. The method of any one of claims 1-3 or 5-7, further comprising:
counting a first duration time that the ambient light intensity is smaller than the light intensity threshold;
and when the first duration is greater than or equal to a second preset time, starting a second sensor influenced by the ambient light.
9. A control device of a cleaning robot, characterized by comprising:
the environment light intensity detection module is used for detecting the environment light intensity of the current working environment of the cleaning robot;
and the work control module is used for controlling the cleaning robot to work by adopting a first sensor if the intensity of the ambient light is not less than a preset light intensity threshold value within a first preset time, wherein the first sensor is a sensor which is not influenced by the ambient light.
10. A cleaning robot comprising a memory, a processor and a computer program stored in the memory and executable on the processor, characterized in that the processor implements the method according to any of claims 1 to 8 when executing the computer program.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011593749.3A CN114680736A (en) | 2020-12-29 | 2020-12-29 | Control method of cleaning robot and cleaning robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011593749.3A CN114680736A (en) | 2020-12-29 | 2020-12-29 | Control method of cleaning robot and cleaning robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN114680736A true CN114680736A (en) | 2022-07-01 |
Family
ID=82132609
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202011593749.3A Pending CN114680736A (en) | 2020-12-29 | 2020-12-29 | Control method of cleaning robot and cleaning robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN114680736A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117860145A (en) * | 2024-03-11 | 2024-04-12 | 奇勃(深圳)科技有限公司 | Cleaning mode determining method, apparatus, computer device and storage medium |
Citations (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US8600553B2 (en) * | 2005-12-02 | 2013-12-03 | Irobot Corporation | Coverage robot mobility |
| CN106142104A (en) * | 2015-04-10 | 2016-11-23 | 科沃斯机器人股份有限公司 | Self-movement robot and control method thereof |
| CN106406298A (en) * | 2015-07-27 | 2017-02-15 | 深圳市智宝人工智能科技有限公司 | Cleaning device and control method thereof |
| CN106686222A (en) * | 2016-12-19 | 2017-05-17 | 广东欧珀移动通信有限公司 | Ambient light sensor control method, ambient light sensor control device and terminal |
| CN206675479U (en) * | 2016-12-29 | 2017-11-28 | 河南工程学院 | A kind of novel household robot dust exhaust apparatus |
| CN107885213A (en) * | 2017-11-22 | 2018-04-06 | 广东艾可里宁机器人智能装备有限公司 | A kind of sweeping robot indoor navigation system and method |
| CN208355340U (en) * | 2017-06-26 | 2019-01-11 | 深圳普思英察科技有限公司 | A kind of sweeping robot and its camera light-supplementing system |
| CN109497889A (en) * | 2018-09-30 | 2019-03-22 | 深圳市银星智能科技股份有限公司 | A kind of steep cliff detection method, device, equipment and robot |
| CN109510896A (en) * | 2018-10-24 | 2019-03-22 | Oppo广东移动通信有限公司 | Selection method, device, storage medium and the electronic equipment of proximity sensor |
| CN208942016U (en) * | 2018-08-17 | 2019-06-07 | 江苏美的清洁电器股份有限公司 | Sweeping robot |
| CN211559963U (en) * | 2019-12-20 | 2020-09-25 | 深圳市杉川机器人有限公司 | Autonomous robot |
-
2020
- 2020-12-29 CN CN202011593749.3A patent/CN114680736A/en active Pending
Patent Citations (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US8600553B2 (en) * | 2005-12-02 | 2013-12-03 | Irobot Corporation | Coverage robot mobility |
| CN106142104A (en) * | 2015-04-10 | 2016-11-23 | 科沃斯机器人股份有限公司 | Self-movement robot and control method thereof |
| CN106406298A (en) * | 2015-07-27 | 2017-02-15 | 深圳市智宝人工智能科技有限公司 | Cleaning device and control method thereof |
| CN106686222A (en) * | 2016-12-19 | 2017-05-17 | 广东欧珀移动通信有限公司 | Ambient light sensor control method, ambient light sensor control device and terminal |
| CN206675479U (en) * | 2016-12-29 | 2017-11-28 | 河南工程学院 | A kind of novel household robot dust exhaust apparatus |
| CN208355340U (en) * | 2017-06-26 | 2019-01-11 | 深圳普思英察科技有限公司 | A kind of sweeping robot and its camera light-supplementing system |
| CN107885213A (en) * | 2017-11-22 | 2018-04-06 | 广东艾可里宁机器人智能装备有限公司 | A kind of sweeping robot indoor navigation system and method |
| CN208942016U (en) * | 2018-08-17 | 2019-06-07 | 江苏美的清洁电器股份有限公司 | Sweeping robot |
| CN109497889A (en) * | 2018-09-30 | 2019-03-22 | 深圳市银星智能科技股份有限公司 | A kind of steep cliff detection method, device, equipment and robot |
| CN109510896A (en) * | 2018-10-24 | 2019-03-22 | Oppo广东移动通信有限公司 | Selection method, device, storage medium and the electronic equipment of proximity sensor |
| CN211559963U (en) * | 2019-12-20 | 2020-09-25 | 深圳市杉川机器人有限公司 | Autonomous robot |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117860145A (en) * | 2024-03-11 | 2024-04-12 | 奇勃(深圳)科技有限公司 | Cleaning mode determining method, apparatus, computer device and storage medium |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| US11318928B2 (en) | Vehicular automated parking system | |
| EP3147740B1 (en) | Control method and apparatus for two-wheel balance car, computer program and recording medium | |
| JP4987573B2 (en) | Outside monitoring device | |
| US7619668B2 (en) | Abnormality detecting apparatus for imaging apparatus | |
| CN111153300B (en) | Ladder taking method and system for robot, robot and storage medium | |
| EP2928178B1 (en) | On-board control device | |
| WO2007111220A1 (en) | Road division line detector | |
| EP2902747A1 (en) | Display control apparatus, method of controlling a display control apparatus, display apparatus and display control program | |
| KR102450982B1 (en) | Moving apparatus for cleaning, charging apparatus and method for controlling thereof | |
| JP2023500994A (en) | Obstacle recognition method, device, autonomous mobile device and storage medium | |
| US20240051394A1 (en) | Multi-Screen Interaction Method and Apparatus, Terminal Device, and Vehicle | |
| CN113647087B (en) | State detection device, state detection system and state detection method | |
| CN114680736A (en) | Control method of cleaning robot and cleaning robot | |
| Barreto et al. | A method for image processing and distance measuring based on laser distance triangulation | |
| US11660239B2 (en) | Electronic device for controlling an access ramp to vehicle door, vehicle, steering method and computer program therefor | |
| KR101818842B1 (en) | Driving assistant apparatus, distance detection method and width of lane detection method | |
| KR20150058881A (en) | Air circulation control method for vehicle based on image recognition | |
| CN105511614A (en) | Anti-collision method and anti-collision device for mobile terminal | |
| KR101912102B1 (en) | Operating controlling system and method for wiper | |
| CN115891989A (en) | Vehicle control method, system and device and vehicle | |
| EP4101363A1 (en) | Robot cleaner and control method thereof | |
| AU2020317303B2 (en) | Information processing device, data generation method, and program | |
| JP3145666B2 (en) | Automatic toll collection system | |
| US20210163031A1 (en) | A vision system for a motor vehicle and a method of training | |
| CN113598653B (en) | Cleaning method and device, equipment and computer readable storage medium |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| CB02 | Change of applicant information |
Address after: 518000 room 1601, building 2, Vanke Cloud City phase 6, Tongfa South Road, Xili community, Xili street, Nanshan District, Shenzhen City, Guangdong Province (16th floor, block a, building 6, Shenzhen International Innovation Valley) Applicant after: Shenzhen Ledong robot Co.,Ltd. Address before: 518000 room 1601, building 2, Vanke Cloud City phase 6, Tongfa South Road, Xili community, Xili street, Nanshan District, Shenzhen City, Guangdong Province (16th floor, block a, building 6, Shenzhen International Innovation Valley) Applicant before: SHENZHEN LD ROBOT Co.,Ltd. |
|
| CB02 | Change of applicant information |