CN109077671A - A kind of sweeping robot motion control method and device - Google Patents
A kind of sweeping robot motion control method and device Download PDFInfo
- Publication number
- CN109077671A CN109077671A CN201811055807.XA CN201811055807A CN109077671A CN 109077671 A CN109077671 A CN 109077671A CN 201811055807 A CN201811055807 A CN 201811055807A CN 109077671 A CN109077671 A CN 109077671A
- Authority
- CN
- China
- Prior art keywords
- image
- sweeping robot
- liquid substance
- described image
- liquid
- 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.)
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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
-
- 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
-
- 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
Landscapes
- Image Analysis (AREA)
Abstract
Disclose a kind of sweeping robot motion control method and device, method includes: that sweeping robot obtains image in front of direction of travel by camera；Sweeping robot identifies the element in described image；When sweeping robot includes liquid substance image in identifying described image, automatically controls the position where the sweeping robot avoids the liquid substance image and moved.
Description
Technical field
The present invention relates to small household appliances field more particularly to a kind of sweeping robot motion control methods and device.
Background technique
Currently, sweeping robot when sweeping the floor, often will appear because there is the liquid such as water on ground, sweeping robot caused to be inhaled
Enter water, in this way, on the one hand can leave during subsequent sweep the floor water stain, is on the other hand also easily damaged sweeper.
Summary of the invention
The purpose of the present invention is to provide a kind of sweeping robot motion control method and devices.
To achieve the above object, the invention provides the following technical scheme:
A kind of sweeping robot motion control method comprising:
Sweeping robot obtains the image in front of direction of travel by camera；
Sweeping robot identifies the element in described image；
When sweeping robot includes liquid substance image in identifying described image, the sweeping robot is automatically controlled
Position where avoiding the liquid substance image is moved.
A kind of sweeping robot motion control method comprising:
Sweeping robot obtains the image in front of direction of travel by camera；
Sweeping robot identifies the element in described image；
When sweeping robot includes liquid substance image in identifying described image, the sweeping robot is automatically controlled
Cleaning function is closed when moving to the position where the liquid substance image where until leaving the liquid substance image
Position.
A kind of sweeping robot motion control device comprising:
Image acquisition unit, for obtaining the image in front of direction of travel by camera；
Image identification unit, for being identified to the element in described image；
Control unit automatically controls the sweeper when for including liquid substance image in identifying described image
Position where device people avoids the liquid substance image moves.
A kind of sweeping robot motion control device comprising:
Image acquisition unit, for obtaining the image in front of direction of travel by camera；
Image identification unit, for being identified to the element in described image；
Control unit automatically controls the sweeper when for including liquid substance image in identifying described image
Device people closes cleaning function when moving to the position where the liquid substance image until leaving the liquid substance image
The position at place.
Compared with the prior art, the advantages of the present invention are as follows:
The present invention can be identified the liquid substance on ground and be automatically controlled sweeping robot using image recognition technology
Hidden, to avoid the problem that leaving during subsequent sweep the floor water stain and be easily damaged sweeper.
Detailed description of the invention
In order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, to embodiment or will show below
There is attached drawing needed in technical description to be briefly described, it should be apparent that, the accompanying drawings in the following description is only this
The some embodiments recorded in invention, for those of ordinary skill in the art, without creative efforts,
It is also possible to obtain other drawings based on these drawings.
Fig. 1 is the flow chart of one of specific embodiment of the invention sweeping robot motion control method.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out detailed retouch
It states, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.Based on the present invention
In embodiment, those of ordinary skill in the art's every other implementation obtained without making creative work
Example, shall fall within the protection scope of the present invention.
As shown in Figure 1, in one embodiment, a kind of sweeping robot motion control method, including step 101~103,
In:
Step 101: sweeping robot obtains the image in front of direction of travel by camera；
Step 102: sweeping robot identifies the element in described image；
Step 103: when sweeping robot includes liquid substance image in identifying described image, being swept described in automatic control
Position where floor-washing robot avoids the liquid substance image is moved.
Preferably, the step 102 specifically includes:
By obtaining several liquid image samples, to extract characteristics of image common to each liquid image sample；For example,
The picture that 10,000 parts are marked as liquid is obtained and as sample, to extract their common characteristic.
When identifying in described image comprising described image feature, determine in the described image comprising liquid substance figure
Picture.
For example, described image feature may include: average pixel value.
Preferably, the position automatically controlled where the sweeping robot avoids the liquid substance image is transported
It is dynamic to include:
According to described image, determines the distance between the liquid substance and the sweeping robot and swept positioned at described
The direction of floor-washing robot；
According to the distance and the direction, automatically controls the sweeping robot and avoid the liquid substance image place
Position moved.
In another embodiment, a kind of sweeping robot motion control method may include:
Sweeping robot obtains the image in front of direction of travel by camera；
Sweeping robot identifies the element in described image；
When sweeping robot includes liquid substance image in identifying described image, the sweeping robot is automatically controlled
Cleaning function is closed when moving to the position where the liquid substance image where until leaving the liquid substance image
Position.
Correspondingly, a kind of sweeping robot motion control device that one embodiment of the invention provides, may include:
Image acquisition unit, for obtaining the image in front of direction of travel by camera；
Image identification unit, for being identified to the element in described image；
Control unit automatically controls the sweeper when for including liquid substance image in identifying described image
Position where device people avoids the liquid substance image moves.
Preferably, described image recognition unit is specifically used for:
By obtaining several liquid image samples, to extract characteristics of image common to each liquid image sample；
When identifying in described image comprising described image feature, determine in the described image comprising liquid substance figure
Picture.For example, described image feature may include: average pixel value.
Preferably, described control unit is specifically used for:
According to described image, determines the distance between the liquid substance and the sweeping robot and swept positioned at described
The direction of floor-washing robot；
According to the distance and the direction, automatically controls the sweeping robot and avoid the liquid substance image place
Position moved.
In another embodiment, a kind of sweeping robot motion control device may include:
Image acquisition unit, for obtaining the image in front of direction of travel by camera；
Image identification unit, for being identified to the element in described image；
Control unit automatically controls the sweeper when for including liquid substance image in identifying described image
Device people closes cleaning function when moving to the position where the liquid substance image until leaving the liquid substance image
The position at place.
The present invention can be identified the liquid substance on ground and be automatically controlled sweeping robot using image recognition technology
Hidden, to avoid the problem that leaving during subsequent sweep the floor water stain and be easily damaged sweeper.
All the embodiments in this specification are described in a progressive manner, same and similar portion between each embodiment
Dividing may refer to each other, and each embodiment focuses on the differences from other embodiments.Especially for device reality
For applying example, apparatus embodiments, storage medium embodiment, since it is substantially similar to the method embodiment, so the comparison of description
Simply, the relevent part can refer to the partial explaination of embodiments of method.
System, device, module or the unit that above-described embodiment illustrates can specifically realize by computer chip or entity,
Or it is realized by the product with certain function.A kind of typically to realize that equipment is computer, the concrete form of computer can
To be personal computer, laptop computer, cellular phone, camera phone, smart phone, personal digital assistant, media play
In device, navigation equipment, E-mail receiver/send equipment, game console, tablet computer, wearable device or these equipment
The combination of any several equipment.
For convenience of description, it is divided into various units when description apparatus above with function to describe respectively.Certainly, implementing this
The function of each unit can be realized in the same or multiple software and or hardware when application.
It should be understood by those skilled in the art that, the embodiment of the present invention can provide as method, system or computer program
Product.Therefore, complete hardware embodiment, complete software embodiment or reality combining software and hardware aspects can be used in the present invention
Apply the form of example.Moreover, it wherein includes the computer of computer usable program code that the present invention, which can be used in one or more,
The computer program implemented in usable storage medium (including but not limited to magnetic disk storage, CD-ROM, optical memory etc.) produces
The form of product.
The present invention be referring to according to the method for the embodiment of the present invention, the process of equipment (system) and computer program product
Figure and/or block diagram describe.It should be understood that every one stream in flowchart and/or the block diagram can be realized by computer program instructions
The combination of process and/or box in journey and/or box and flowchart and/or the block diagram.It can provide these computer programs
Instruct the processor of general purpose computer, special purpose computer, Embedded Processor or other programmable data processing devices to produce
A raw machine, so that being generated by the instruction that computer or the processor of other programmable data processing devices execute for real
The device for the function of being specified in present one or more flows of the flowchart and/or one or more blocks of the block diagram.
These computer program instructions, which may also be stored in, is able to guide computer or other programmable data processing devices with spy
Determine in the computer-readable memory that mode works, so that it includes referring to that instruction stored in the computer readable memory, which generates,
Enable the manufacture of device, the command device realize in one box of one or more flows of the flowchart and/or block diagram or
The function of being specified in multiple boxes.
These computer program instructions also can be loaded onto a computer or other programmable data processing device, so that counting
Series of operation steps are executed on calculation machine or other programmable devices to generate computer implemented processing, thus in computer or
The instruction executed on other programmable devices is provided for realizing in one or more flows of the flowchart and/or block diagram one
The step of function of being specified in a box or multiple boxes.
In a typical configuration, calculating equipment includes one or more processors (CPU), input/output interface, net
Network interface and memory.
Memory may include the non-volatile memory in computer-readable medium, random access memory (RAM) and/or
The forms such as Nonvolatile memory, such as read-only memory (ROM) or flash memory (flash RAM).Memory is computer-readable medium
Example.
Computer-readable medium includes permanent and non-permanent, removable and non-removable media can be by any method
Or technology come realize information store.Information can be computer readable instructions, data structure, the module of program or other data.
The example of the storage medium of computer includes, but are not limited to phase change memory (PRAM), static random access memory (SRAM), moves
State random access memory (DRAM), other kinds of random access memory (RAM), read-only memory (ROM), electric erasable
Programmable read only memory (EEPROM), flash memory or other memory techniques, read-only disc read only memory (CD-ROM) (CD-ROM),
Digital versatile disc (DVD) or other optical storage, magnetic cassettes, tape magnetic disk storage or other magnetic storage devices
Or any other non-transmission medium, can be used for storage can be accessed by a computing device information.As defined in this article, it calculates
Machine readable medium does not include temporary computer readable media (transitory media), such as the data-signal and carrier wave of modulation.
It should also be noted that, the terms "include", "comprise" or its any other variant are intended to nonexcludability
It include so that the process, method, commodity or the equipment that include a series of elements not only include those elements, but also to wrap
Include other elements that are not explicitly listed, or further include for this process, method, commodity or equipment intrinsic want
Element.In the absence of more restrictions, the element limited by sentence "including a ...", it is not excluded that including described want
There is also other identical elements in the process, method of element, commodity or equipment.
It will be understood by those skilled in the art that embodiments herein can provide as method, system or computer program product.
Therefore, complete hardware embodiment, complete software embodiment or embodiment combining software and hardware aspects can be used in the application
Form.It is deposited moreover, the application can be used to can be used in the computer that one or more wherein includes computer usable program code
The shape for the computer program product implemented on storage media (including but not limited to magnetic disk storage, CD-ROM, optical memory etc.)
Formula.
The application can describe in the general context of computer-executable instructions executed by a computer, such as program
Module.Generally, program module includes routines performing specific tasks or implementing specific abstract data types, programs, objects, group
Part, data structure etc..The application can also be practiced in a distributed computing environment, in these distributed computing environments, by
Task is executed by the connected remote processing devices of communication network.In a distributed computing environment, program module can be with
In the local and remote computer storage media including storage equipment.
The above description is only an example of the present application, is not intended to limit this application.For those skilled in the art
For, various changes and changes are possible in this application.All any modifications made within the spirit and principles of the present application are equal
Replacement, improvement etc., should be included within the scope of the claims of this application.
Claims (10)
1. a kind of sweeping robot motion control method characterized by comprising
Sweeping robot obtains the image in front of direction of travel by camera；
Sweeping robot identifies the element in described image；
When sweeping robot includes liquid substance image in identifying described image, automatically controls the sweeping robot and avoid
Position where the liquid substance image is moved.
2. the method according to claim 1, wherein the sweeping robot carries out the element in described image
Identification includes:
By obtaining several liquid image samples, to extract characteristics of image common to each liquid image sample；
When identifying in described image comprising described image feature, determine in the described image comprising liquid substance image.
3. the method according to claim 1, wherein described image feature includes: average pixel value.
4. the method according to claim 1, wherein the automatic control sweeping robot avoids the liquid
Position where body substance image carries out movement
According to described image, determines the distance between the liquid substance and the sweeping robot and be located at the sweeper
The direction of device people；
According to the distance and the direction, automatically controls the sweeping robot and avoid position where the liquid substance image
It sets and is moved.
5. a kind of sweeping robot motion control method characterized by comprising
Sweeping robot obtains the image in front of direction of travel by camera；
Sweeping robot identifies the element in described image；
When sweeping robot includes liquid substance image in identifying described image, automatically controls the sweeping robot and transporting
Cleaning function is closed when moving the position where the liquid substance image until leaving the position where the liquid substance image
It sets.
6. a kind of sweeping robot motion control device characterized by comprising
Image acquisition unit, for obtaining the image in front of direction of travel by camera；
Image identification unit, for being identified to the element in described image；
Control unit automatically controls the sweeping robot when for including liquid substance image in identifying described image
Position where avoiding the liquid substance image is moved.
7. device according to claim 6, which is characterized in that described image recognition unit is specifically used for:
By obtaining several liquid image samples, to extract characteristics of image common to each liquid image sample；
When identifying in described image comprising described image feature, determine in the described image comprising liquid substance image.
8. device according to claim 6, which is characterized in that described image feature includes: average pixel value.
9. device according to claim 6, which is characterized in that described control unit is specifically used for:
According to described image, determines the distance between the liquid substance and the sweeping robot and be located at the sweeper
The direction of device people；
According to the distance and the direction, automatically controls the sweeping robot and avoid position where the liquid substance image
It sets and is moved.
10. a kind of sweeping robot motion control device characterized by comprising
Image acquisition unit, for obtaining the image in front of direction of travel by camera；
Image identification unit, for being identified to the element in described image；
Control unit automatically controls the sweeping robot when for including liquid substance image in identifying described image
Cleaning function is closed when moving to the position where the liquid substance image where until leaving the liquid substance image
Position.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811055807.XA CN109077671A (en) | 2018-09-11 | 2018-09-11 | A kind of sweeping robot motion control method and device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811055807.XA CN109077671A (en) | 2018-09-11 | 2018-09-11 | A kind of sweeping robot motion control method and device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN109077671A true CN109077671A (en) | 2018-12-25 |
Family
ID=64841135
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811055807.XA Withdrawn CN109077671A (en) | 2018-09-11 | 2018-09-11 | A kind of sweeping robot motion control method and device |
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| Country | Link |
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| CN (1) | CN109077671A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112971616A (en) * | 2021-02-07 | 2021-06-18 | 美智纵横科技有限责任公司 | Charging seat avoiding method and device, sweeping robot and storage medium |
| CN113057535A (en) * | 2021-03-16 | 2021-07-02 | 北京石头世纪科技股份有限公司 | Cleaning robot, control method thereof, electronic device, and storage medium |
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| CN104345734A (en) * | 2013-08-07 | 2015-02-11 | 苏州宝时得电动工具有限公司 | Automatic working system, automatic walking equipment and control method thereof |
| CN105395144A (en) * | 2015-12-21 | 2016-03-16 | 美的集团股份有限公司 | Control method, system and cloud server of sweeping robot and sweeping robot |
| CN205750539U (en) * | 2016-06-22 | 2016-11-30 | 上海卓汰智能科技有限公司 | A kind of view-based access control model identification and the service robot of location |
| CN106725127A (en) * | 2017-02-04 | 2017-05-31 | 北京小米移动软件有限公司 | The cleaning method and device of sweeping robot |
| CN207817531U (en) * | 2018-02-13 | 2018-09-04 | 南京陇源汇能电力科技有限公司 | A kind of interior crusing robot system |
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2018
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Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN104345734A (en) * | 2013-08-07 | 2015-02-11 | 苏州宝时得电动工具有限公司 | Automatic working system, automatic walking equipment and control method thereof |
| CN105395144A (en) * | 2015-12-21 | 2016-03-16 | 美的集团股份有限公司 | Control method, system and cloud server of sweeping robot and sweeping robot |
| CN205750539U (en) * | 2016-06-22 | 2016-11-30 | 上海卓汰智能科技有限公司 | A kind of view-based access control model identification and the service robot of location |
| CN106725127A (en) * | 2017-02-04 | 2017-05-31 | 北京小米移动软件有限公司 | The cleaning method and device of sweeping robot |
| CN207817531U (en) * | 2018-02-13 | 2018-09-04 | 南京陇源汇能电力科技有限公司 | A kind of interior crusing robot system |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN112971616A (en) * | 2021-02-07 | 2021-06-18 | 美智纵横科技有限责任公司 | Charging seat avoiding method and device, sweeping robot and storage medium |
| CN113057535A (en) * | 2021-03-16 | 2021-07-02 | 北京石头世纪科技股份有限公司 | Cleaning robot, control method thereof, electronic device, and storage medium |
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| WW01 | Invention patent application withdrawn after publication |
Application publication date: 20181225 |
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