CN106264356A - A kind of intelligent garbage cleaning device - Google Patents
A kind of intelligent garbage cleaning device Download PDFInfo
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- CN106264356A CN106264356A CN201610669405.3A CN201610669405A CN106264356A CN 106264356 A CN106264356 A CN 106264356A CN 201610669405 A CN201610669405 A CN 201610669405A CN 106264356 A CN106264356 A CN 106264356A
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- rubbish
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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
- A47L11/4011—Regulation of the cleaning machine by electric means; Control systems and remote control systems therefor
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0238—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using obstacle or wall sensors
Abstract
The invention discloses a kind of intelligent garbage cleaning device to include: body, be arranged at ground, for installation functionality module；Identification module, is arranged at body front, for identifying the rubbish in the external world and obtaining the rubbish position relative to body；Control module, is arranged at internal, is electrically connected to identification module, generates control command for the information according to identification module；Drive module, be arranged at body bottom portion, be electrically connected to control module, for making body move to the position at rubbish place according to control command；Cleaning module, is arranged on the downside of body front, is electrically connected to control module, for cleaning the ground of body position according to control command and absorbing rubbish；Rubbish memory module, is arranged at body rear, is physically connected to cleaning module, for storing the rubbish that cleaning module absorbs.
Description
Technical field
The present invention relates to the articles for daily use, especially, relate to a kind of intelligent garbage cleaning device.
Background technology
Along with the development of science and technology, the quality of life of the mankind improves constantly, and life is more intelligent at home.A kind of
Junk-free device, it is possible to replace artificial, ground is carried out dust suction, clean rubbish, greatly increase the quality of the life of the mankind.
Therefore, junk-free device enters an average family at leisure.
But, existing junk-free device, it is usually by programme-control, treats the sequencing that cleaning region is fixed
Cleaning, the cleaning modes of this fixed routine, there is a significant defect, no matter ground is the cleanest, all cleans one
Time so that the cleaning efficiency of conventional garbage cleaning device is had a greatly reduced quality.
For the problem that junk-free device cleaning efficiency in prior art is low, the most not yet there is effective solution.
Summary of the invention
In view of this, it is an object of the invention to propose a kind of intelligent garbage cleaning device, it is possible to retrieve and position removing
Rubbish, does not use fixing pathfinding path to move, substantially increases the work efficiency of junk-free device.
Based on above-mentioned purpose, the technical scheme that the present invention provides is as follows:
According to an aspect of the invention, it is provided a kind of intelligent garbage cleaning device, including:
Body, is arranged at ground, for installation functionality module；
Identification module, is arranged at body front, for identifying the rubbish in the external world and obtaining the rubbish position relative to body；
Control module, is arranged at internal, is electrically connected to identification module, generates control for the information according to identification module
System order；
Drive module, be arranged at body bottom portion, be electrically connected to control module, for making body move according to control command
Position to rubbish place；
Cleaning module, is arranged on the downside of body front, is electrically connected to control module, for according to control command cleaning originally
The ground of body position also absorbs rubbish；
Rubbish memory module, is arranged at body rear, is physically connected to cleaning module, for storing what cleaning module absorbed
Rubbish.
Wherein, identification module includes:
Scanning element, for continuously acquiring the environmental information on body direct of travel；
Blocking unit, for carrying out piecemeal to image information；
Feature unit, for specifying each pixel from image information successively, builds pixel region for pixel and uses normalizing
Pixel region is processed as normalization result by change method, and calculates the acquisition local feature for specified pixel；
Grouped element, for according to the local feature for specified pixel, being included into specified pixel in fixing group, returned
Enter the image that the specified pixel in same fixing group is considered to have same type texture；
Comparison unit, for being contrasted with the image of rubbish by the texture type of each group, determines that rubbish is relative to this
The position of body.
Further, blocking unit is additionally operable to:
Image information is divided into multiple block of pixels residue-free, and N number of block of pixels is all square pixel set；
Use method for normalizing to process multiple block of pixels, it is thus achieved that the normalization result of multiple block of pixels, and calculate multiple picture
The meansigma methods of the normalization result of element block.
Meanwhile, feature unit is used for:
Centered by specified pixel, intercepting out central block from image information, central block is centered by specified pixel
Square pixel set；
Use method for normalizing processing center block, it is thus achieved that the normalization result of central block；
The meansigma methods of the normalization result of the normalization result according to central block and multiple block of pixels, it is thus achieved that for specifying picture
The local feature of element.
Each pixel is selected successively from image information；
Centered by specified pixel, choosing multiple neighborhood territory pixel from image information, multiple neighborhood territory pixels are to specifying picture
The distance of element is definite value；
Respectively centered by each in multiple neighborhood territory pixels, from image information, intercept out multiple neighborhood block, multiple
Neighborhood block is square pixel set centered by each neighborhood territory pixel respectively；
Centered by specified pixel, from image information, choose multiple sub-neighborhood territory pixel for each neighborhood territory pixel, multiple
Sub-neighborhood territory pixel is definite value to the distance of corresponding neighborhood territory pixel；
Respectively centered by each in multiple sub-neighborhood territory pixels, from image information, intercept out multiple sub-neighborhood block,
Multiple sub-neighborhood blocks are square pixel set centered by each sub-neighborhood territory pixel respectively；
Method for normalizing is used to process multiple sub-neighborhood block, it is thus achieved that the normalization result of multiple sub-neighborhood blocks；
Normalization result according to multiple neighborhood blocks and the normalization result of multiple sub-neighborhood blocks, calculate and be positioned at equal angular
On direction, the difference value of two filter values of different radii size, and obtain the local feature for specified pixel.
It addition, control module includes:
Receive unit, for receiving the rubbish positional information relative to body；
Movement calculation unit, for going out, relative to the positional information calculation of body, the angle that body should rotate according to rubbish
With direction；
Cleaning switch element, for according to rubbish relative to the positional information calculation of body go out cleaning module should open or
Situation about closing；
Output unit, is connected to movement calculation unit and cleaning switch element, for the angle that should rotate according to body
Situation about should be turned on and off with direction, cleaning module generates control command.
Further, movement calculation unit is for going out what body should rotate according to rubbish relative to the positional information calculation of body
Angle includes with direction:
When rubbish is more than boundary limit relative to the deflection of body, with maximum rotation angle to the person of being followed place side
To rotation；
Rubbish relative to body deflection less than boundary limit and more than range of error time, with standard rotary angle to
Direction, the person of being followed place rotates；
When rubbish is less than range of error relative to the deflection of body, do not rotate.
Meanwhile, module is driven to make body move to the position at rubbish place according to control command, for driving module according to control
System order, first rotates to the direction just to rubbish, further along side's motion by body.
Further, cleaning module cleans the ground of body position according to control command and absorbs rubbish, for cleaning module
According to control command, after driving module that body rotates to just direction to rubbish, start to clean the ground of body position
Face, is driving block motion persistently to clean the ground of body position and absorb rubbish behind the position at rubbish place, is reaching
Cleaning is stopped after threshold time set in advance.
It addition, rubbish memory module is also electrically connected to control module；When the quantity of refuse of rubbish memory module storage exceedes
During threshold percentage set in advance, rubbish memory module sends replacing information to control module, and control module sends control life
Order makes driving module move to maintenance locations, and points out user to change rubbish memory module.
Above-mentioned identification module is the combination of photographic head and single-chip microcomputer；Control module is single-chip microcomputer；Drive die-filling piece for driving
Wheel and the combination of universal wheel；Cleaning module sweeps the combination swept with limit in being；Rubbish memory module is dust box.
From the above it can be seen that the technical scheme that the present invention provides is by using the rubbish in the identification module identification external world
And obtain rubbish and relative to the position of body and generate control command by control module according to the information of identification module and control to drive
The technological means that module and cleaning module are operated so that intelligent garbage cleaning device can be independent of the pathfinding path fixed
Carry out Mechanical Moving, can from main scanning, position and remove rubbish, substantially increase the work efficiency of junk-free device.
Accompanying drawing explanation
In order to be illustrated more clearly that the embodiment of the present invention or technical scheme of the prior art, below will be to institute in embodiment
The accompanying drawing used is needed to be briefly described, it should be apparent that, the accompanying drawing in describing below is only some enforcements of the present invention
Example, for those of ordinary skill in the art, on the premise of not paying creative work, it is also possible to obtains according to these accompanying drawings
Obtain other accompanying drawing.
Fig. 1 is the structure chart of a kind of intelligent garbage cleaning device according to the embodiment of the present invention；
Fig. 2 is the structure chart of the identification module of a kind of intelligent garbage cleaning device according to the embodiment of the present invention；
Fig. 3 is the side view of a kind of intelligent garbage cleaning device according to the embodiment of the present invention；
Fig. 4 is the lower view of a kind of intelligent garbage cleaning device according to the embodiment of the present invention；
Fig. 5 is an embodiment of the lower view of a kind of intelligent garbage cleaning device according to the embodiment of the present invention.
Detailed description of the invention
For making the object, technical solutions and advantages of the present invention clearer, below in conjunction with in the embodiment of the present invention
Accompanying drawing, the technical scheme in the embodiment of the present invention is carried out further clear, complete, describe in detail, it is clear that described
Embodiment is only a part of embodiment of the present invention rather than whole embodiments.Based on the embodiment in the present invention, this area
The every other embodiment that those of ordinary skill is obtained, broadly falls into the scope of protection of the invention.
According to embodiments of the invention, it is provided that a kind of intelligent garbage cleaning device.
Include as it is shown in figure 1, provide a kind of intelligent garbage cleaning device according to an embodiment of the invention:
Body 11, is arranged at ground, for installation functionality module；
Identification module 12, is arranged at body 11 front, for identifying the rubbish in the external world and obtaining rubbish relative to body 11
Position；
Control module 13, is arranged in body 11, is electrically connected to identification module 12, for the letter according to identification module 12
Breath generates control command；
Drive module 14, be arranged at bottom body 11, be electrically connected to control module 13, for making this according to control command
Body 11 moves to the position at rubbish place；
Cleaning module 15, is arranged on the downside of body 11 front, is electrically connected to control module 13, for according to control command
Clean the ground of body 11 position and absorb rubbish；
Rubbish memory module 16, is arranged at body 11 rear, is physically connected to cleaning module 15, be used for storing cleaning module
15 rubbish absorbed.
As in figure 2 it is shown, the comparison other module 12 of unit 24 includes:
Scanning element 20, for continuously acquiring the environmental information on body 11 direct of travel；
Blocking unit 21, for carrying out piecemeal to image information；
Feature unit 22, for specifying each pixel from image information successively, builds pixel region use for pixel and returns
Pixel region is processed as normalization result by one change method, and calculates the acquisition local feature for specified pixel；
Grouped element 23, for according to the local feature for specified pixel, being included into specified pixel in fixing group, quilt
The specified pixel being included in same fixing group is considered the image with same type texture；
Comparison unit 24, for the texture type of each group is contrasted with the image of rubbish, determine rubbish relative to
The position of body 11.
Further, blocking unit 21 is additionally operable to:
Image information is divided into multiple block of pixels residue-free, and N number of block of pixels is all square pixel set；
Use method for normalizing to process multiple block of pixels, it is thus achieved that the normalization result of multiple block of pixels, and calculate multiple picture
The meansigma methods of the normalization result of element block.
Meanwhile, feature unit 22 is used for:
Centered by specified pixel, intercepting out central block from image information, central block is centered by specified pixel
Square pixel set；
Use method for normalizing processing center block, it is thus achieved that the normalization result of central block；
The meansigma methods of the normalization result of the normalization result according to central block and multiple block of pixels, it is thus achieved that for specifying picture
The local feature of element.
Each pixel is selected successively from image information；
Centered by specified pixel, choosing multiple neighborhood territory pixel from image information, multiple neighborhood territory pixels are to specifying picture
The distance of element is definite value；
Respectively centered by each in multiple neighborhood territory pixels, from image information, intercept out multiple neighborhood block, multiple
Neighborhood block is square pixel set centered by each neighborhood territory pixel respectively；
Centered by specified pixel, from image information, choose multiple sub-neighborhood territory pixel for each neighborhood territory pixel, multiple
Sub-neighborhood territory pixel is definite value to the distance of corresponding neighborhood territory pixel；
Respectively centered by each in multiple sub-neighborhood territory pixels, from image information, intercept out multiple sub-neighborhood block,
Multiple sub-neighborhood blocks are square pixel set centered by each sub-neighborhood territory pixel respectively；
Method for normalizing is used to process multiple sub-neighborhood block, it is thus achieved that the normalization result of multiple sub-neighborhood blocks；
Normalization result according to multiple neighborhood blocks and the normalization result of multiple sub-neighborhood blocks, calculate and be positioned at equal angular
On direction, the difference value of two filter values of different radii size, and obtain the local feature for specified pixel.
Specifically, the workflow of feature unit 22 is as follows:
Each pixel x is selected successively from image informationc；
With specified pixel xcCentered by, from image information, choose p neighborhood territory pixel xr, p, n, p neighborhood territory pixel xr,
Being evenly distributed on x of p, n equi-angularly spacecFor on the circumference with r as radius of the center of circle, wherein n=0 ..., p-1, neighborhood territory pixel
xr, the coordinate figure of p, n is (-rsin (2 π n/p), rcos (2 π n/p)) and specified pixel xcCoordinate superposition and；
Respectively with p neighborhood territory pixel xr, centered by each in p, n, from image information, intercept out p neighborhood blockP neighborhood blockIt is all a size of wr×wr, respectively with each neighborhood territory pixel xr, pros centered by p, n
Shape collection of pixels；
With specified pixel xcCentered by, from image information, choose p sub-neighborhood territory pixel xr-1, p, n, p sub-neighborhood picture
Element xrBeing evenly distributed on x of-1, p, n equi-angularly spacecFor on the circumference with r-1 as radius of the center of circle, wherein n=0 ..., p-1,
Neighborhood territory pixel xrThe coordinate figure of-1, p, n is (-(r-1) sin (2 π n/p), (r-1) cos (2 π n/p)) and specified pixel xcCoordinate
Superposition and；
Respectively with p sub-neighborhood territory pixel xrCentered by each in-1, p, n, from image information, intercept out p sub-neighbour
Territory blockP sub-neighborhood blockIt is respectively with each sub-neighborhood territory pixel xrCentered by-1, p, n just
Square pixels set；
Method for normalizing is used to process p sub-neighborhood blockObtain p sub-neighborhood block's
Normalization result
According to p neighborhood blockNormalization resultWith p the sub-neighborhood block being positioned on radius r-1Normalization resultCalculate be positioned on equal angular direction, the two of different radii size
The difference value of individual filter value, obtains for specified pixel x based on thiscRobust based on radial direction difference extension local binary patterns
Wherein,
It addition, control module 13 includes:
Receive unit, for receiving the rubbish positional information relative to body 11；
Movement calculation unit, for going out what body 11 should rotate according to rubbish relative to the positional information calculation of body 11
Angle and direction；
Cleaning switch element, should open for going out cleaning module 15 according to rubbish relative to the positional information calculation of body 11
The situation opening or closing；
Output unit, is connected to movement calculation unit and cleaning switch element, for the angle that should rotate according to body 11
The situation that degree and direction, cleaning module 15 should be turned on and off generates control command.
Further, movement calculation unit should turn for going out body 11 according to rubbish relative to the positional information calculation of body 11
Dynamic angle includes with direction:
When rubbish is more than boundary limit relative to the deflection of body 11, with maximum rotation angle to the person of being followed place
Direction rotates；
When rubbish is less than boundary limit relative to the deflection of body 11 and is more than range of error, with standard rotary angle
Rotate to direction, the person of being followed place；
When rubbish is less than range of error relative to the deflection of body 11, do not rotate.
Meanwhile, module 14 is driven to make body 11 move to the position at rubbish place according to control command, for driving module 14
According to control command, first body 11 is rotated to the direction just to rubbish, further along side's motion.
Further, cleaning module 15 cleans the ground of body 11 position according to control command and absorbs rubbish, for cleaning
Module 15 according to control command, starts to clean body 11 after direction to rubbish driving module 14 just to be rotated to by body 11
The ground of position, persistently cleans the ground of body 11 position after driving module 14 to move to the position at rubbish place
And absorb rubbish, stop cleaning after reaching threshold time set in advance.
It addition, rubbish memory module 16 is also electrically connected to control module 13；Rubbish when rubbish memory module 16 storage
When amount exceedes threshold percentage set in advance, rubbish memory module 16 sends replacing information, control module to control module 13
13 send control command makes driving module 14 move to maintenance locations, and points out user to change rubbish memory module 16.
In one embodiment of the invention, as shown in Figure 3 and Figure 4, identification module 12 is installed on Intelligent robot for sweeping floor
Front crotch position.Identification module 12 obtains the feature of ground environment, catches the object entered in identification module 12 coverage special
Levy, compare with the object identification feature of material database.The feature of such as furniture is bigger, and pattern line comparison rule is known
Other module 12 can produce a kind of identification feature；And rubbish typically no rule lines, and in small, broken bits, identification module 12 can produce separately
A kind of identification feature.Being compared by substantial amounts of data, Intelligent robot for sweeping floor just can analyze, and which is furniture, and which is rubbish
Rubbish.When Intelligent robot for sweeping floor scans at ground moving when, identification module 12 is photographed external rings by rubbish recognizer component
Border photo is analyzed, the in small, broken bits object poor once be found to have continuous pixels, and rubbish recognizer component just will capture
Rubbish signal is sent to control assembly.After control assembly receives signal, send instruction and make driving assembly move to rubbish position
Dynamic, when arriving rubbish position, send cleaning instruction.At this moment, clean assembly and start cleaning.
In another embodiment of the present invention, as it is shown in figure 5, the combination that identification module 12 is photographic head and single-chip microcomputer,
Especially, it is two driving wheels and the combination of a universal balance wheel；Control module 13 is single-chip microcomputer；Drive die-filling piece for driving
Wheel and the combination of universal wheel；Cleaning module 15 sweeps the combination swept with limit in being, especially, be that two limits are swept and swept in one；Rubbish
Rubbish memory module 16 is dust box.All electrical parts are driven by the electric energy of battery.
In sum, by means of the technique scheme of the present invention, by using the rubbish in the identification module identification external world also
Acquisition rubbish relative to the position of body and generates control command control driving mould by control module according to the information of identification module
The technological means that block and cleaning module are operated so that the pathfinding path that intelligent garbage cleaning device can be independent of fixing is entered
Row Mechanical Moving, can from main scanning, position and remove rubbish, substantially increase the work efficiency of junk-free device.
Those of ordinary skill in the field it is understood that the foregoing is only the specific embodiment of the present invention, and
Be not used in the restriction present invention, all within the spirit and principles in the present invention, any modification, equivalent substitution and improvement etc. done, all
Within protection scope of the present invention should being included in.
Claims (10)
1. an intelligent garbage cleaning device, it is characterised in that including:
Body, is arranged at ground, for installation functionality module；
Identification module, is arranged at body front, for identifying the rubbish in the external world and obtaining the rubbish position relative to body；
Control module, is arranged at internal, is electrically connected to described identification module, raw for the information according to described identification module
Become control command；
Drive module, be arranged at body bottom portion, be electrically connected to described control module, for making body according to described control command
Move to the position at rubbish place；
Cleaning module, is arranged on the downside of body front, is electrically connected to described control module, for clear according to described control command
The ground of expurgated edition body position also absorbs rubbish；
Rubbish memory module, is arranged at body rear, is physically connected to described cleaning module, is used for storing described cleaning module and inhales
The rubbish received.
Device the most according to claim 1, it is characterised in that described identification module includes:
Scanning element, for continuously acquiring the environmental information on body direct of travel；
Blocking unit, for carrying out piecemeal to described image information；
Feature unit, for specifying each pixel from described image information successively, builds pixel region for described pixel and uses
Described pixel region is processed as normalization result by method for normalizing, and calculates the acquisition local feature for specified pixel；
Grouped element, for according to the described local feature for specified pixel, is included into described specified pixel in fixing group,
The specified pixel being included in same described fixing group is considered the image with same type texture；
Comparison unit, for being contrasted with the image of rubbish by the texture type of each group, determines that rubbish is relative to body
Position.
Device the most according to claim 2, it is characterised in that described blocking unit is additionally operable to:
Described image information is divided into multiple block of pixels residue-free, and described N number of block of pixels is all square pixel set；
Use method for normalizing to process the plurality of block of pixels, it is thus achieved that the normalization result of the plurality of block of pixels, and calculate institute
State the meansigma methods of the normalization result of multiple block of pixels.
Device the most according to claim 3, it is characterised in that described feature unit is used for:
Centered by described specified pixel, intercepting out central block from described image information, described central block is with described appointment
Square pixel set centered by pixel；
Method for normalizing is used to process described central block, it is thus achieved that the normalization result of described central block；
The meansigma methods of the normalization result of the normalization result according to described central block and the plurality of block of pixels, it is thus achieved that for referring to
The local feature of fixation element.
Each pixel is selected successively from described image information；
Centered by described specified pixel, from described image information, choose multiple neighborhood territory pixel, the plurality of neighborhood territory pixel
Distance to described specified pixel is definite value；
Respectively centered by each in the plurality of neighborhood territory pixel, from described image information, intercept out multiple neighborhood block,
The plurality of neighborhood block is square pixel set centered by described each neighborhood territory pixel respectively；
Centered by described specified pixel, from described image information, choose multiple sub-neighborhood picture for each described neighborhood territory pixel
Element, the distance of the plurality of sub-neighborhood territory pixel to corresponding described neighborhood territory pixel is definite value；
Respectively centered by each in the plurality of sub-neighborhood territory pixel, from described image information, intercept out multiple sub-neighborhood
Block, the plurality of sub-neighborhood block is square pixel set centered by described each sub-neighborhood territory pixel respectively；
Method for normalizing is used to process the plurality of sub-neighborhood block, it is thus achieved that the normalization result of the plurality of sub-neighborhood block；
Normalization result according to the plurality of neighborhood block and the normalization result of the plurality of sub-neighborhood block, calculating is positioned at identical
On angle direction, the difference value of two filter values of different radii size, and obtain the local feature for specified pixel.
Device the most according to claim 1, it is characterised in that described control module includes:
Receive unit, for receiving the rubbish positional information relative to body；
Movement calculation unit, for going out, relative to the positional information calculation of body, angle and the side that body should rotate according to rubbish
To；
Cleaning switch element, should be turned on and off for going out cleaning module according to rubbish relative to the positional information calculation of body
Situation；
Output unit, is connected to described movement calculation unit and described cleaning switch element, for should rotate according to body
The situation that angle and direction, cleaning module should be turned on and off generates control command.
Device the most according to claim 5, it is characterised in that described movement calculation unit is used for according to rubbish relative to this
The positional information calculation of body goes out the angle that body should rotate and includes with direction:
When rubbish is more than boundary limit relative to the deflection of body, turn to direction, the person of being followed place with maximum rotation angle
Dynamic；
Rubbish relative to body deflection less than boundary limit and more than range of error time, with standard rotary angle to by with
Rotate with direction, person place；
When rubbish is less than range of error relative to the deflection of body, do not rotate.
Device the most according to claim 5, it is characterised in that described driving module makes body transport according to described control command
Move the position at rubbish place, for described driving module according to described control command, first body is rotated to just to rubbish
Direction, further along side's motion.
Device the most according to claim 7, it is characterised in that described cleaning module cleans body according to described control command
The ground of position also absorbs rubbish, for described cleaning module according to described control command, in described driving module by body
Rotate to just to starting to clean the ground of body position after the direction of rubbish, in described driving block motion to rubbish institute
Position after persistently clean the ground of body position and absorb rubbish, reach to stop after threshold time set in advance clear
Clean.
Device the most according to claim 1, it is characterised in that described rubbish memory module is also electrically connected to described control
Module；When the quantity of refuse of described rubbish memory module storage exceedes threshold percentage set in advance, described rubbish storage mould
Block sends replacing information to described control module, and described control module sends control command makes described driving module to maintenance locations
Move, and point out user to change described rubbish memory module.
10. according to the device described in any one in claim 1-9, it is characterised in that described identification module be photographic head with
The combination of single-chip microcomputer；Described control module is single-chip microcomputer；Die-filling piece of described driving is the combination of driving wheel and universal wheel；Described clearly
Clean module sweeps the combination swept with limit in being；Described rubbish memory module is dust box.
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| CN107616759A (en) * | 2017-08-31 | 2018-01-23 | 维沃移动通信有限公司 | The method for cleaning and system of a kind of object |
| CN108065866A (en) * | 2017-11-07 | 2018-05-25 | 郑州谦贤科技有限公司 | A kind of automatic pointing sweeping machine and method |
| CN109241984A (en) * | 2018-09-17 | 2019-01-18 | 暨南大学 | Tramway rubbish method for detecting position, computer installation and computer readable storage medium |
| WO2019174080A1 (en) * | 2018-03-14 | 2019-09-19 | 深圳市沃特沃德股份有限公司 | Floor sweeping robot and floor sweeping method and device thereof |
| CN113491480A (en) * | 2021-08-01 | 2021-10-12 | 丁杨 | Fixed-point cleaning control system and method for sweeping robot |
| WO2022227569A1 (en) * | 2021-04-27 | 2022-11-03 | 青岛海尔空调器有限总公司 | Air conditioner control method and apparatus, control box, air conditioner, and storage medium |
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| CN109241984B (en) * | 2018-09-17 | 2020-11-27 | 暨南大学 | Track trash detection method, computer device and computer-readable storage medium |
| WO2022227569A1 (en) * | 2021-04-27 | 2022-11-03 | 青岛海尔空调器有限总公司 | Air conditioner control method and apparatus, control box, air conditioner, and storage medium |
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