CN107730552A - A kind of exchange method, device, sweeping robot and medium - Google Patents
A kind of exchange method, device, sweeping robot and medium Download PDFInfo
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- CN107730552A CN107730552A CN201710889472.0A CN201710889472A CN107730552A CN 107730552 A CN107730552 A CN 107730552A CN 201710889472 A CN201710889472 A CN 201710889472A CN 107730552 A CN107730552 A CN 107730552A
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- live body
- cleaning
- cleaned
- region
- plan
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Classifications
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T1/00—General purpose image data processing
- G06T1/0014—Image feed-back for automatic industrial control, e.g. robot with camera
-
- 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
- A47L11/4011—Regulation of the cleaning machine by electric means; Control systems and remote control systems therefor
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F3/00—Input arrangements for transferring data to be processed into a form capable of being handled by the computer; Output arrangements for transferring data from processing unit to output unit, e.g. interface arrangements
- G06F3/16—Sound input; Sound output
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/70—Determining position or orientation of objects or cameras
- G06T7/73—Determining position or orientation of objects or cameras using feature-based methods
-
- G—PHYSICS
- G10—MUSICAL INSTRUMENTS; ACOUSTICS
- G10L—SPEECH ANALYSIS OR SYNTHESIS; SPEECH RECOGNITION; SPEECH OR VOICE PROCESSING; SPEECH OR AUDIO CODING OR DECODING
- G10L15/00—Speech recognition
- G10L15/22—Procedures used during a speech recognition process, e.g. man-machine dialogue
-
- G—PHYSICS
- G10—MUSICAL INSTRUMENTS; ACOUSTICS
- G10L—SPEECH ANALYSIS OR SYNTHESIS; SPEECH RECOGNITION; SPEECH OR VOICE PROCESSING; SPEECH OR AUDIO CODING OR DECODING
- G10L15/00—Speech recognition
- G10L15/22—Procedures used during a speech recognition process, e.g. man-machine dialogue
- G10L2015/223—Execution procedure of a spoken command
Abstract
The embodiment of the invention discloses a kind of exchange method, device, sweeping robot and medium, and applied to sweeping robot, this method includes：According to the layout in region to be cleaned, the plan of cleaning is formed；The position of live body in the region to be cleaned, update described clean and plan；When the cleaning plan after performing renewal meets preparatory condition, in the live body preset range, default alerting signal is sent to the live body.This method ensure that the comprehensive of cleaning in fact, realize man-machine interaction, improves and cleans comfort level and efficiency.
Description
Technical field
The present embodiments relate to robot technology, more particularly to a kind of exchange method, device, sweeping robot and Jie
Matter.
Background technology
At present, indoor service robot has become the study hotspot of field in intelligent robotics.Sweeping robot can be with
The mankind are assisted to complete indoor many cleaning works, gradually as the necessity of many families.But present sweeping robot
The cleaning methods for using random ergodic, do not differentiate between the classification of barrier more, and efficiency is low, and are not handed over the mankind of interior
Mutually, cause during cleaning, the indoor mankind can be bothered by hardness, poor user experience.
The content of the invention
The embodiment of the present invention provides a kind of exchange method, device, sweeping robot and medium, solves existing machine of sweeping the floor
People's sweeping efficiency is low, the problem of poor user experience.
In a first aspect, the embodiments of the invention provide a kind of exchange method, applied to sweeping robot, this method includes：
According to the layout in region to be cleaned, the plan of cleaning is formed；
The position of live body in the region to be cleaned, update described clean and plan；
When performing the cleaning plan after updating and meeting preparatory condition, in the live body preset range, to described
Live body sends default alerting signal.
Further, the position of the live body in the region to be cleaned, update described clean and plan, including：
Identify the positional information and/or motion track of the live body and the live body in the region to be cleaned；
The cleaning priority of position corresponding to the live body and/or motion track is arranged to minimum.
Further, when the cleaning plan when after performing renewal meets preparatory condition, preset apart from the live body
In the range of, default alerting signal is sent to the live body, including：
When needing to perform the cleaning task for the position for cleaning live body, in the live body preset range, to described
Live body plays default voice.
Further, after default voice is played to the live body, including：
According to the return signal of the live body, it is determined whether the task for the position for cleaning the live body is performed, wherein replying
Signal comprises at least default voice signal, recognition of face signal, expression signal or action signal.
Further, this method also includes：
Interval preset time, which is detected in region to be cleaned, whether there is the live body；
When in the absence of when, perform the task of the position for cleaning the live body.
Further, this method also includes：
Identify the classification of the live body in the region to be cleaned；
According to the classification of the live body, perform and clean auxiliary operation.
Further, when the classification of the live body is pet, the classification according to the live body, perform and clean auxiliary
Operation, including：
According to the species of pet, pre-set and drive operation, it is described to drive operation including at least transmitting laser signal or throwing
Throw object.
Second aspect, the embodiment of the present invention additionally provide a kind of interactive device, are configured at sweeping robot, the device bag
Include：
Cleaning is planned to form module, for the layout according to region to be cleaned, forms the plan of cleaning；
Schedule regeneration module is cleaned, for the position of the live body in the region to be cleaned, described clean is updated and counts
Draw；
Default alerting signal sending module, for when performing the cleaning plan after updating and meeting preparatory condition, in distance
In the live body preset range, default alerting signal is sent to the live body.
The third aspect, the embodiment of the present invention also provide a kind of sweeping robot, and the sweeping robot includes：
One or more processors；
Storage device, for storing one or more programs；
When one or more of programs are by one or more of computing devices so that one or more of processing
Device realize as any embodiment of the present invention offer it is any as described in exchange method.
The third aspect, the embodiment of the present invention also provide a kind of computer-readable recording medium, are stored thereon with computer journey
Sequence, when the program is executed by processor realize as any embodiment of the present invention offer it is any as described in exchange method.
The embodiment of the present invention forms the plan of cleaning according to the layout in region to be cleaned, and according in region to be cleaned
The position of live body, update described clean and plan, because the position of live body may change, cleaned according to the position real-time update of live body
Plan can ensure the adaptability of the position of cleaning plan and live body, avoid missing to live body institute when actually performing cleaning plan
Cleaning in position, ensure the comprehensive of cleaning；When the cleaning plan after performing renewal meets preparatory condition, apart from live body
In preset range, default alerting signal is sent to live body, reminds live body to coordinate the execution of the plan of cleaning, realizes man-machine interaction,
Improve and clean comfort level and efficiency.
Brief description of the drawings
Technical scheme in order to illustrate the embodiments of the present invention more clearly, make required in being described below to embodiment
Accompanying drawing does one and simply introduced, it should be apparent that, drawings in the following description are some embodiments of the present invention, for this
For the those of ordinary skill of field, on the premise of not paying creative work, it can also be obtained according to these accompanying drawings other
Accompanying drawing.
Fig. 1 is a kind of schematic flow sheet for exchange method that the embodiment of the present invention one provides；
Fig. 2 is a kind of schematic flow sheet for exchange method that the embodiment of the present invention two provides；
Fig. 3 is a kind of schematic flow sheet for exchange method that the embodiment of the present invention three provides；
Fig. 4 is a kind of schematic flow sheet for exchange method that the embodiment of the present invention four provides；
Fig. 5 is a kind of structural representation for interactive device that the embodiment of the present invention five provides；
Fig. 6 is a kind of structural representation for sweeping robot that the embodiment of the present invention six provides.
Embodiment
To make the object, technical solutions and advantages of the present invention clearer, hereinafter with reference to attached in the embodiment of the present invention
Figure, technical scheme is clearly and completely described by embodiment, it is clear that described embodiment is the present invention one
Section Example, rather than whole embodiments.Based on the embodiment in the present invention, those of ordinary skill in the art are not doing
Go out under the premise of creative work the every other embodiment obtained, belong to the scope of protection of the invention.
Embodiment one
Fig. 1 is a kind of flow chart for exchange method that the embodiment of the present invention one provides.The technical scheme of the present embodiment can be with
Suitable for the situation of sweeping robot and human interaction.This method can by a kind of interactive device provided in an embodiment of the present invention Lai
Perform, the device can be realized by the way of software and/or hardware, and be configured in sweeping robot and apply.This method has
Body includes following operation：
S110, the layout according to region to be cleaned, form the plan of cleaning.
Sweeping robot can obtain the layout in region to be cleaned by camera.Camera can be sweeping robot
The camera of third party's terminal that is configuration or being connected with sweeping robot.According to the layout in region to be cleaned,
The plan of cleaning is formed, such as can be sweep-out pattern.Exemplary, the route that sweep-out pattern is to bypass barrier and planned, treat
Barrier in purging zone can be divided into object and live body, and the position of wherein object is relatively fixed, and the position of live body is relatively not
It is fixed.Wherein, object for example can be furniture, and live body for example can be pet or people.
S120, live body in the region to be cleaned position, update and described clean plan.
Can be according to living body characteristics living things feature recognition mode area such as body temperature, infrared ray, face recognition, outline identification
Separate the live body in region to be cleaned.According to the position of live body, renewal cleans plan.Renewal cleans plan for example can be by live body
Position be labeled, and the position of mark is sorted according to preset rules, preset rules for example can be according to and sweeper
The far and near name placement by live body of the distance of the original position of device people, and the live body position after sequence is added into cleaning meter
In drawing.It is that the position where live body can be included in cleaning meter because the position movement of live body is compared freely, thus in cleaning
Draw.Regard barrier as without cleaning compared to by live body, improve the comprehensive of cleaning.
S130, when performing the cleaning plan after updating and meeting preparatory condition, in the live body preset range, to
The live body sends default alerting signal.
When performing cleaning plan, sweeping robot is in real time recorded swept position, and judgement will be clear
The position swept whether be live body position, if the position of live body, then according to the position of live body and the position of sweeping robot,
Sweeping robot and the distance of live body position are calculated, when apart within a preset range, sweeping robot sends pre- to the live body
If alerting signal.Wherein, preset range self can be set by user.Default alerting signal for example can be to remind live body to avoid
Signal, can be voice signal or optical signal, can also be action signal.
The embodiment of the present invention forms the plan of cleaning according to the layout in region to be cleaned, and according in region to be cleaned
The position of live body, update described clean and plan, because the position of live body may change, cleaned according to the position real-time update of live body
Plan can ensure the adaptability of the position of cleaning plan and live body, avoid missing to live body institute when actually performing cleaning plan
Cleaning in position, ensure the comprehensive of cleaning；When the cleaning plan after performing renewal meets preparatory condition, apart from live body
In preset range, default alerting signal is sent to live body, reminds live body to coordinate the execution of the plan of cleaning, realizes man-machine interaction,
Improve and clean comfort level and efficiency.
Embodiment two
Fig. 2 is a kind of flow chart for exchange method that the embodiment of the present invention two provides.The embodiment of the present invention is in above-mentioned implementation
On the basis of example, the position of the live body in the region to be cleaned is further optimized, described clean is updated and plans
Operation.
Correspondingly, the method for the present embodiment includes：
S210, the layout according to region to be cleaned, form the plan of cleaning.
S220, the live body in the identification region to be cleaned and the live body positional information and/or motion track.
Because the live body in region to be cleaned is position-movable, motion track can cause the cleaning on ground poor, thus, sweep
Floor-washing robot obtains the positional information and/or motion track of live body, and the position and movement track of live body is added into cleaning meter
Draw.
S230, the cleaning priority of position corresponding to the live body and/or motion track is arranged to minimum.
The cleaning priority of position corresponding to live body and/or motion track is arranged to minimum, i.e., removes live body having cleaned
After in all areas outside position and motion track, the motion track of live body and the cleaning of live body position are carried out.By
This can ensure to leave live body alone when not cleaned other regions, improve the comfort level of cleaning.
S240, when performing the cleaning plan after updating and meeting preparatory condition, in the live body preset range, to
The live body sends default alerting signal.
The embodiment of the present invention is added the position and movement track of live body by identifying the position and movement track of live body
Clean in the works, avoid ground because of the movement of live body and the problem of cleaning difference, and by position corresponding to the live body and/or
The cleaning priority of motion track is arranged to minimum, it is ensured that is leaving live body alone during other regions to have cleaned, is improving
The comfort level of cleaning.
Embodiment three
Fig. 3 is a kind of flow chart for exchange method that the embodiment of the present invention three provides.The embodiment of the present invention is in above-mentioned implementation
On the basis of example, further increase interval preset time and detect in region to be cleaned whether live body also be present；When in the absence of when,
Perform the operation of the task for the position for cleaning the live body.
Correspondingly, the method for the present embodiment includes：
S310, the layout according to region to be cleaned, form the plan of cleaning.
S320, live body in the region to be cleaned position, update and described clean plan.
S330, when performing the cleaning plan after updating and meeting preparatory condition, in the live body preset range, to
The live body sends default alerting signal.
It is described when performing the cleaning plan after updating and meeting preparatory condition, in the live body preset range, to
The live body sends default alerting signal, including：
When needing to perform the cleaning task for the position for cleaning live body, in the live body preset range, to described
Live body plays default voice.
When needing to perform the cleaning task for the position for cleaning live body, in the live body preset range, to described
Live body plays default voice.Voice signal can reach the purpose for reminding live body, remind the avoidance of live body.Default voice signal example
It such as can be " owner, please avoid, I needs to clean herein for you ", can also be other any voice signals for representing to remind.
After live body receives default voice signal, the two kinds of situations replied and do not replied be present.The signal of reply can be voice letter
Number or limb action signal either expression signal.
Sweeping robot receives the return signal of live body, according to the return signal of live body, it is determined whether performs described in cleaning
The task of the position of live body, wherein return signal comprise at least default voice signal, recognition of face signal, expression signal or action
Signal.
For example, when the return signal of reception is the signal for representing to refuse or negating, sweeping robot, which resolves to, not to be held
Row cleans the cleaning task of live body position.When the return signal received is represented certainly or promised, sweeping robot parsing
For the cleaning live body position of the task, such as voice signal can be performed：" can with ", " good " or " OK ", or action signal is
Nod.Wherein, the signal for representing refusal or negative can be voice signal, for example, " not all right ", " waiting " or according to
The expression out of sorts that recognition of face and Expression Recognition determine, can also be that action signal is for example shaken the head, or kicking.
S340, interval preset time detect in region to be cleaned and whether there is the live body.
Wherein, preset time for example can be 5min, 10min or other times, can be entered according to the time of live body activity
Row statistics obtains, and the specific time is not limited thereto.Interval preset time detects in region to be cleaned whether the work also be present
Body.
S350, when in the absence of when, perform the task of the position for cleaning the live body.
When in region to be cleaned, during in the absence of live body, the live body position previously obtained is cleaned；When region to be cleaned
In when still having live body, then can be when sending default alerting signal in live body preset range, or continuing waiting for default
Between, detect in region to be cleaned whether live body also be present again, carried out when in the absence of live body residing before cleaning live body
Position.S340, S350 execution sequence do not limit herein.
The embodiment of the present invention is carried out clear by detecting in region to be cleaned whether live body also be present when in the absence of live body
Sweep, ensure that cleaning process leaves live body alone, improve the comfort level of cleaning, and cleaning live body is carried out when in the absence of live body
The position of residing mistake, ensure the completeness cleaned.
Example IV
Fig. 4 is a kind of flow chart for exchange method that the embodiment of the present invention four provides.The embodiment of the present invention is in above-mentioned implementation
On the basis of example, the classification for identifying the live body in the region to be cleaned is further increased；According to the classification of the live body, hold
Row cleans auxiliary operation.
Correspondingly, the method for the present embodiment includes：
S410, the layout according to region to be cleaned, form the plan of cleaning.
S420, live body in the region to be cleaned position, update and described clean plan.
S430, when performing the cleaning plan after updating and meeting preparatory condition, in the live body preset range, to
The live body sends default alerting signal.
S440, live body in the identification region to be cleaned classification.
The classification of live body for example can be with someone or pet.It is the classification that can be distinguished live body according to biological characteristic, such as can
It is people or pet to distinguish live body according to outline identification.
S450, the classification according to the live body, perform and clean auxiliary operation.
When the classification of the live body is pet, the classification according to the live body, performs and clean auxiliary operation, bag
Include：
According to the species of pet, pre-set and drive operation, it is described to drive operation including at least transmitting laser signal or throwing
Throw object.For example, when it is cat to recognize pet, transmitting laser beam can be started, to drive cat；It is dog when recognizing pet
When, throwing spheroid can be started, reach the purpose for driveing dog.Cleaning auxiliary operation can help sweeping robot to smoothly complete clearly
Sweeping for task.S440 and S450 is not limited thereto in the execution sequence of the present embodiment.
The embodiment of the present invention by identifying the classification of live body, according to live body it is tired, perform and clean auxiliary operation, Ke Yibao
Card cleaning task smoothly completes, and improves sweeping efficiency.
Embodiment five
Fig. 5 is a kind of structured flowchart for interactive device that the embodiment of the present invention five provides.The device is used to perform above-mentioned
A kind of exchange method that meaning embodiment is provided.The device is configured at sweeping robot, including：
Cleaning is planned to form module 510, for the layout according to region to be cleaned, forms the plan of cleaning；
Schedule regeneration module 520 is cleaned, for the position of the live body in the region to be cleaned, updates the cleaning
Plan；
Default alerting signal sending module 530, for when performing the cleaning plan after updating and meeting preparatory condition, away from
From in the live body preset range, default alerting signal is sent to the live body.
Further, the cleaning schedule regeneration module 520 is specifically used for：
Identify the positional information and/or motion track of the live body and the live body in the region to be cleaned；
The cleaning priority of position corresponding to the live body and/or motion track is arranged to minimum.
Further, the default alerting signal sending module 530 is specifically used for：
When needing to perform the cleaning task for the position for cleaning live body, in the live body preset range, to described
Live body plays default voice.
Further, the device also includes：Execution task determining module, is used for：
After default voice is played to the live body, according to the return signal of the live body, it is determined whether perform cleaning
The task of the position of the live body, wherein return signal comprise at least default voice signal, recognition of face signal, expression signal or
Action signal.
Further, the device also includes：Execution task determining module, is used for：
Interval preset time detects in region to be cleaned whether live body also be present；When in the absence of when, perform and clean the work
The task of the position of body.
Further, the device also includes：
Live body classification identification module, for identifying the classification of the live body in the region to be cleaned；
Auxiliary operation execution module is cleaned, for the classification according to the live body, performs and cleans auxiliary operation.
Further, the cleaning auxiliary operation execution module is specifically used for：When the classification of the live body is pet, root
According to the species of pet, pre-set and drive operation, it is described to drive operation including at least transmitting laser signal or object-throwing.
The interactive device that the embodiment of the present invention five provides, realizes man-machine interaction, improves and cleans comfort level and efficiency, protects
The comprehensive of cleaning is demonstrate,proved.
The interactive device that the embodiment of the present invention is provided can perform the exchange method that any embodiment of the present invention is provided, tool
For the corresponding functional module of execution method and beneficial effect.
Embodiment six
Fig. 6 is a kind of structural representation for sweeping robot that the embodiment of the present invention six provides, as shown in fig. 6, this is swept the floor
Robot includes processor 60, memory 61, input unit 62 and output device 63；The quantity of processor 60 in sweeping robot
Can be one or more, in Fig. 6 by taking a processor 60 as an example；Processor 60, memory 61, input in sweeping robot
Device 62 can be connected with output device 63 by bus or other modes, in Fig. 6 exemplified by being connected by bus.
Memory 61 is used as a kind of computer-readable recording medium, and journey is can perform available for storage software program, computer
Sequence and module, programmed instruction/module is (for example, cleaning is planned to form mould as corresponding to the exchange method in the embodiment of the present invention
Block 510, clean schedule regeneration module 520 and default alerting signal sending module 530).Processor 60 is stored in by operation
Software program, instruction and module in reservoir 61, so as to perform the various function application of equipment and data processing, that is, are realized
Above-mentioned exchange method.
Memory 61 mainly includes storing program area and storage data field, wherein, storing program area can storage program area,
Application program needed at least one function；Storage data field can store uses created data etc. according to terminal.In addition,
Memory 61 can include high-speed random access memory, can also include nonvolatile memory, for example, at least a disk
Memory device, flush memory device or other non-volatile solid state memory parts.In some instances, memory 61 can be wrapped further
Network connection to equipment can be passed through relative to the remotely located memory of processor 60, these remote memories by including.Above-mentioned net
The example of network includes but is not limited to internet, intranet, LAN, mobile radio communication and combinations thereof.
Input unit 62 can be used for the numeral or character information for receiving input, and produces and set with the user of sweeping robot
Put and the input of key signals that function control is relevant.Output device 63 may include the display devices such as display screen.
Embodiment seven
The embodiment of the present invention seven also provides a kind of storage medium for including computer executable instructions, and the computer can be held
Row instruction is used to perform a kind of exchange method when being performed by computer processor, and this method includes：
According to the layout in region to be cleaned, the plan of cleaning is formed；
The position of live body in the region to be cleaned, update described clean and plan；
When performing the cleaning plan after updating and meeting preparatory condition, in the live body preset range, to described
Live body sends default alerting signal.
Certainly, a kind of storage medium for including computer executable instructions that the embodiment of the present invention is provided, its computer
The method operation that executable instruction is not limited to the described above, can also carry out the exchange method that any embodiment of the present invention is provided
In associative operation.
By the description above with respect to embodiment, it is apparent to those skilled in the art that, the present invention
It can be realized by software and required common hardware, naturally it is also possible to realized by hardware, but the former is more in many cases
Good embodiment.Based on such understanding, what technical scheme substantially contributed to prior art in other words
Part can be embodied in the form of software product, and the computer software product can be stored in computer-readable recording medium
In, floppy disk, read-only storage (Read-Only Memory, ROM), random access memory (Random such as computer
Access Memory, RAM), flash memory (FLASH), hard disk or CD etc., including some instructions are causing a computer to set
Standby (can be personal computer, server, or network equipment etc.) performs the method described in each embodiment of the present invention.
Pay attention to, above are only presently preferred embodiments of the present invention and institute's application technology principle.It will be appreciated by those skilled in the art that
The invention is not restricted to specific embodiment described here, can carry out for a person skilled in the art various obvious changes,
Readjust and substitute without departing from protection scope of the present invention.Therefore, although being carried out by above example to the present invention
It is described in further detail, but the present invention is not limited only to above example, without departing from the inventive concept, also
Other more equivalent embodiments can be included, and the scope of the present invention is determined by scope of the appended claims.
Claims (10)
- A kind of 1. exchange method, applied to sweeping robot, it is characterised in that including：According to the layout in region to be cleaned, the plan of cleaning is formed；The position of live body in the region to be cleaned, update described clean and plan；When performing the cleaning plan after updating and meeting preparatory condition, in the live body preset range, to the live body Send default alerting signal.
- 2. according to the method for claim 1, it is characterised in that the position of the live body in the region to be cleaned Put, update described clean and plan, including：Identify the positional information and/or motion track of the live body and the live body in the region to be cleaned；The cleaning priority of position corresponding to the live body and/or motion track is arranged to minimum.
- 3. according to the method for claim 1, it is characterised in that described when cleaning plan after renewal that performs meets default bar During part, in the live body preset range, default alerting signal is sent to the live body, including：When needing to perform the cleaning task for the position for cleaning live body, in the live body preset range, to the live body Play default voice.
- 4. according to the method for claim 3, it is characterised in that after default voice is played to the live body, including：According to the return signal of the live body, it is determined whether perform the task for the position for cleaning the live body, wherein return signal Including at least default voice signal, recognition of face signal, expression signal or action signal.
- 5. according to the method for claim 1, it is characterised in that also include：Interval preset time, which is detected in region to be cleaned, whether there is the live body；When in the absence of when, perform the task of the position for cleaning the live body.
- 6. according to the method for claim 1, it is characterised in that also include：Identify the classification of the live body in the region to be cleaned；According to the classification of the live body, perform and clean auxiliary operation.
- 7. according to the method for claim 6, it is characterised in that described according to institute when the classification of the live body is pet The classification of live body is stated, performs and cleans auxiliary operation, including：According to the species of pet, pre-set and drive operation, it is described to drive operation including at least transmitting laser signal or ammunition Body.
- 8. a kind of interactive device, is configured at sweeping robot, it is characterised in that including：Cleaning is planned to form module, for the layout according to region to be cleaned, forms the plan of cleaning；Schedule regeneration module is cleaned, for the position of the live body in the region to be cleaned, described clean is updated and plans；Default alerting signal sending module, for when performing the cleaning plan after updating and meeting preparatory condition, described in distance In live body preset range, default alerting signal is sent to the live body.
- A kind of 9. sweeping robot, it is characterised in that including：One or more processors；Storage device, for storing one or more programs；When one or more of programs are by one or more of computing devices so that one or more of processors are real The now exchange method as described in any in claim 1-7.
- 10. a kind of computer-readable recording medium, is stored thereon with computer program, it is characterised in that the program is by processor The exchange method as described in any in claim 1-7 is realized during execution.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710889472.0A CN107730552A (en) | 2017-09-27 | 2017-09-27 | A kind of exchange method, device, sweeping robot and medium |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710889472.0A CN107730552A (en) | 2017-09-27 | 2017-09-27 | A kind of exchange method, device, sweeping robot and medium |
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| CN107730552A true CN107730552A (en) | 2018-02-23 |
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| CN201710889472.0A Pending CN107730552A (en) | 2017-09-27 | 2017-09-27 | A kind of exchange method, device, sweeping robot and medium |
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| CN108646593A (en) * | 2018-03-30 | 2018-10-12 | 上海与德通讯技术有限公司 | Cleaning method, intelligentized Furniture and the storage medium on the bottom ground of intelligentized Furniture |
| CN109700385A (en) * | 2019-01-28 | 2019-05-03 | 珠海格力电器股份有限公司 | The control method and device of cleaning equipment based on microwave radar |
| CN110253630A (en) * | 2019-06-19 | 2019-09-20 | 北京猎户星空科技有限公司 | Robot and its control method |
| CN110742559A (en) * | 2019-10-24 | 2020-02-04 | 佛山市云米电器科技有限公司 | Floor sweeping robot control method and system based on brain wave detection |
| CN110833357A (en) * | 2018-08-15 | 2020-02-25 | 格力电器（武汉）有限公司 | Obstacle identification method and device |
| CN110916564A (en) * | 2018-09-20 | 2020-03-27 | 广州佳可电子科技有限公司 | Interactive robot of sweeping floor of pet |
| CN110928282A (en) * | 2018-09-17 | 2020-03-27 | 格力电器（武汉）有限公司 | Control method and device for cleaning robot |
| CN111314411A (en) * | 2018-12-11 | 2020-06-19 | 德国福维克控股公司 | System comprising a ground processing device and a signal transmission device and method for operating the same |
| CN111407187A (en) * | 2020-03-06 | 2020-07-14 | 珠海格力电器股份有限公司 | Sweeping robot, and sweeping route adjusting method and device of sweeping robot |
| CN111435246A (en) * | 2018-12-26 | 2020-07-21 | 珠海市一微半导体有限公司 | Method, system and chip for robot to drive pet |
| CN114829085A (en) * | 2019-12-20 | 2022-07-29 | Lg电子株式会社 | Mobile robot and control method thereof |
| CN115438703A (en) * | 2022-10-24 | 2022-12-06 | 广州河东科技有限公司 | Smart home biological identification system and identification method |
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Cited By (17)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108338748A (en) * | 2018-03-14 | 2018-07-31 | 郑州工程技术学院 | A kind of automatic cleaning method, device and clean robot based on video monitoring |
| CN108523770A (en) * | 2018-03-30 | 2018-09-14 | 上海与德通讯技术有限公司 | Cleaning method, intelligentized Furniture and the storage medium on the bottom ground of intelligentized Furniture |
| CN108646593A (en) * | 2018-03-30 | 2018-10-12 | 上海与德通讯技术有限公司 | Cleaning method, intelligentized Furniture and the storage medium on the bottom ground of intelligentized Furniture |
| CN110833357A (en) * | 2018-08-15 | 2020-02-25 | 格力电器（武汉）有限公司 | Obstacle identification method and device |
| CN110928282A (en) * | 2018-09-17 | 2020-03-27 | 格力电器（武汉）有限公司 | Control method and device for cleaning robot |
| CN110916564A (en) * | 2018-09-20 | 2020-03-27 | 广州佳可电子科技有限公司 | Interactive robot of sweeping floor of pet |
| CN111314411A (en) * | 2018-12-11 | 2020-06-19 | 德国福维克控股公司 | System comprising a ground processing device and a signal transmission device and method for operating the same |
| CN111435246A (en) * | 2018-12-26 | 2020-07-21 | 珠海市一微半导体有限公司 | Method, system and chip for robot to drive pet |
| CN109700385A (en) * | 2019-01-28 | 2019-05-03 | 珠海格力电器股份有限公司 | The control method and device of cleaning equipment based on microwave radar |
| CN110253630A (en) * | 2019-06-19 | 2019-09-20 | 北京猎户星空科技有限公司 | Robot and its control method |
| CN110253630B (en) * | 2019-06-19 | 2021-06-18 | 北京猎户星空科技有限公司 | Robot and control method thereof |
| CN110742559A (en) * | 2019-10-24 | 2020-02-04 | 佛山市云米电器科技有限公司 | Floor sweeping robot control method and system based on brain wave detection |
| CN110742559B (en) * | 2019-10-24 | 2021-09-14 | 佛山市云米电器科技有限公司 | Floor sweeping robot control method and system based on brain wave detection |
| CN114829085A (en) * | 2019-12-20 | 2022-07-29 | Lg电子株式会社 | Mobile robot and control method thereof |
| CN114829085B (en) * | 2019-12-20 | 2023-11-14 | Lg电子株式会社 | Mobile robot and control method thereof |
| CN111407187A (en) * | 2020-03-06 | 2020-07-14 | 珠海格力电器股份有限公司 | Sweeping robot, and sweeping route adjusting method and device of sweeping robot |
| CN115438703A (en) * | 2022-10-24 | 2022-12-06 | 广州河东科技有限公司 | Smart home biological identification system and identification method |
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