CN109077675B - Automatic cleaning sweeper and automatic cleaning method thereof - Google Patents
Automatic cleaning sweeper and automatic cleaning method thereof Download PDFInfo
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- CN109077675B CN109077675B CN201810685125.0A CN201810685125A CN109077675B CN 109077675 B CN109077675 B CN 109077675B CN 201810685125 A CN201810685125 A CN 201810685125A CN 109077675 B CN109077675 B CN 109077675B
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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
- A47L11/28—Floor-scrubbing machines, motor-driven
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—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
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
- A47L11/4002—Installations of electric equipment
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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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- 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
- A47L11/4036—Parts or details of the surface treating tools
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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
- A47L11/4063—Driving means; Transmission means therefor
- A47L11/4069—Driving or transmission means for the cleaning tools
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L2201/00—Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
- A47L2201/06—Control of the cleaning action for autonomous devices; Automatic detection of the surface condition before, during or after cleaning
Abstract
Discloses an automatic cleaning sweeper and an automatic cleaning method thereof. This machine of sweeping floor includes: a body; the moving assembly is positioned at the lower part of the machine body, is provided with a plurality of bottom wheels and is used for moving the sweeper; the cleaning assembly is positioned at the lower part of the moving assembly and comprises a converter and a plurality of cleaning heads, and the converter is connected with the moving assembly; the sensor is positioned at the lower part of the moving assembly and used for determining the ground material and the ground cleanliness; the ground component divides the use area into different application blocks according to different ground materials to generate a block map; the positioning component is connected with the map component and is used for displaying the real-time position of the sweeper in a block map to generate a real-time block map; and the control unit is electrically connected with the moving assembly and the cleaning assembly and used for controlling the movement of the sweeper and controlling the conversion of the cleaning head according to the real-time block map. The invention automatically changes the cleaning head by checking the ground material, determines the ground cleanliness by the binary map and realizes automatic cleaning.
Description
Technical Field
The invention relates to the field of intelligent robots and intelligent equipment control methods, in particular to an automatic cleaning sweeper and an automatic cleaning method thereof.
Background
The intelligent sweeper is a cleaning machine which is suitable for cleaning hard ground and simultaneously sucking up sewage and taking the sewage away from the site, and has the advantages of environmental protection, energy conservation, high efficiency and the like. The use of various fields is very common, and particularly, in stations, docks, airports, workshops, warehouses, schools, hospitals, restaurants, markets and other places with wide hard floors, the cleaning concept of replacing manpower with machines is in depth. However, the cleaning brush head of the existing sweeper is of a single type, and the cleaning brush head of the single type cannot adapt to various grounds, so that the cleaning effect of the sweeper is poor.
Therefore, there is a need to develop an automatic cleaning sweeper with replaceable brush head and better cleaning effect and an automatic cleaning method thereof.
The information disclosed in this background section is only for enhancement of understanding of the general background of the invention and should not be taken as an acknowledgement or any form of suggestion that this information forms the prior art already known to a person skilled in the art.
Disclosure of Invention
The invention provides an automatic cleaning sweeper and an automatic cleaning method thereof, which can be used for automatically replacing ground materials by arranging a plurality of cleaning brush heads and checking the ground materials of the ground, so that the sweeper is suitable for various grounds, has better cleaning effect, and can realize automatic cleaning by determining the cleanliness of the ground through a binary map.
According to an aspect of the present invention, there is provided an automatic cleaning sweeper, which may include: a body; the moving assembly is positioned at the lower part of the machine body, is provided with a plurality of bottom wheels and is used for moving the sweeper; the cleaning assembly is positioned at the lower part of the moving assembly and comprises a converter and a plurality of cleaning heads, and the converter is connected with the moving assembly; the sensor is positioned at the lower part of the moving assembly and used for determining the ground material and the ground cleanliness; the ground component divides the use area into different application blocks according to different ground materials to generate a block map; the positioning assembly is connected with the map assembly, displays the real-time position of the sweeper in the block map, and generates a real-time block map; and the control unit is electrically connected with the moving assembly and the cleaning assembly and used for controlling the movement of the sweeper and controlling the conversion of the cleaning head according to the real-time block map.
Preferably, the sensor comprises: the depth sensor is positioned at the lower part of the moving assembly and used for determining the ground material by judging the depth; and the camera acquires ground data, and binarizes the ground data to acquire a binary map.
Preferably, the converter comprises: the cleaning device comprises a conversion ring, a cleaning head and a cleaning head, wherein the conversion ring comprises an outer ring and a fixed radial strip, the outer ring is connected with the cleaning heads, the fixed radial strip is arranged along the radial direction of the conversion ring, and one end connected with a fixed shaft is provided with a fixed buckle; the fixed shaft is arranged along the axis of the conversion ring, one end of the fixed shaft is connected to the moving assembly, and the other end of the fixed shaft is connected to the fixed radial strip; wherein, the cleaning head corresponds to the fixed diameter strip one to one.
Preferably, the included angle between the fixed shaft and the horizontal plane of the moving assembly is a first included angle.
Preferably, the angle between the fixed diameter bar and each cleaning head is a second angle.
Preferably, the first included angle is an acute angle, and the second included angle is an obtuse angle.
Preferably, the sum of the first included angle and the second included angle is 180 °.
Preferably, the method further comprises the following steps: and the storage battery provides electric support for the sweeper.
According to another aspect of the present invention, there is provided an automatic cleaning method, which may include: determining the depth in a unit area through a depth sensor so as to determine the ground material; dividing the use area into different application blocks according to different ground materials to generate a block map; displaying the real-time position of the sweeper in the block map to generate a real-time block map; controlling the switching of the cleaning head according to the real-time block map; in the cleaning process, acquiring ground data according to a camera, and binarizing the ground data to obtain a binary map; and setting a density threshold value, and when the density of the black points in the binary map is greater than the density threshold value, repeatedly cleaning the corresponding area by the sweeper.
Preferably, the determining the depth per unit area by the depth sensor and thereby determining the ground material comprises: judging the depth of each pixel point in a unit area through a depth sensor; if the depth of each pixel point in the unit area is the same, judging the marble ground; if the depth of each pixel point in the unit area is different but irregular, determining that the carpet is the ground; and if the depth of each pixel point in the unit area is changed regularly and the depth difference is smaller than the difference threshold value, judging that the floor is the ground.
The present invention has other features and advantages which will be apparent from or are set forth in detail in the accompanying drawings and the following detailed description, which are incorporated herein, and which together serve to explain certain principles of the invention.
Drawings
The above and other objects, features and advantages of the present invention will become more apparent by describing in more detail exemplary embodiments thereof with reference to the attached drawings, in which like reference numerals generally represent like parts.
Figure 1 shows a schematic block diagram of a self-cleaning sweeper according to one embodiment of the present invention.
Fig. 2 shows a top view of a converter according to an embodiment of the invention.
Fig. 3 shows a flow chart of the steps of the automatic cleaning method according to the invention.
Description of reference numerals:
1. a body; 2. a moving assembly; 3. a converter; 4. a cleaning head; 5. a depth sensor; 6. an outer ring; 7. fixing the radial strips; 8. a water storage tank; 9. connecting a conduit; 10. a liquid level meter; 11. a bottom wheel; 12. a camera is provided.
Detailed Description
The invention will be described in more detail below with reference to the accompanying drawings. While the preferred embodiments of the present invention are shown in the drawings, it should be understood that the present invention may be embodied in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the invention to those skilled in the art.
The automatic cleaning sweeper provided by the invention can comprise: a body; the moving assembly is positioned at the lower part of the machine body, is provided with a plurality of bottom wheels and is used for moving the sweeper; the cleaning assembly is positioned at the lower part of the moving assembly and comprises a converter and a plurality of cleaning heads, and the converter is connected with the moving assembly; the sensor is positioned at the lower part of the moving assembly and used for determining the ground material and the ground cleanliness; the ground component divides the use area into different application blocks according to different ground materials to generate a block map; the positioning component is connected with the map component and is used for displaying the real-time position of the sweeper in a block map to generate a real-time block map; and the control unit is electrically connected with the moving assembly and the cleaning assembly and used for controlling the movement of the sweeper and controlling the conversion of the cleaning head according to the real-time block map.
In one example, a sensor includes: the depth sensor is positioned at the lower part of the moving assembly and used for determining the ground material by judging the depth; and the camera acquires ground data, binarizes the ground data and acquires a binary map.
In one example, a converter includes: the cleaning device comprises a conversion ring, a cleaning head and a cleaning head, wherein the conversion ring comprises an outer ring and a fixed radial strip; the fixed shaft is arranged along the axis of the conversion ring, one end of the fixed shaft is connected to the moving assembly, and the other end of the fixed shaft is connected to the fixed radial strip; wherein, the cleaning head corresponds to the fixed diameter strip one by one.
In one example, the angle between the fixed axis and the horizontal plane of the moving assembly is a first angle.
In one example, the fixed diameter bars are angled at a second angle to each cleaning head.
In one example, the first included angle is an acute angle and the second included angle is an obtuse angle.
In one example, the sum of the first included angle and the second included angle is 180 °.
In one example, further comprising: the storage battery provides electric support for the sweeper.
Specifically, the sweeper with automatic cleaning function according to the invention can comprise: a body; the moving assembly is positioned at the lower part of the machine body, is provided with a plurality of bottom wheels and is used for moving the sweeper; the sweeper can include one or more sets of cleaning assemblies, all lie in the lower part of removal subassembly, and every set of cleaning assembly includes converter and a plurality of cleaning head, and the converter is connected in the removal subassembly, and the converter includes: the cleaning device comprises a conversion ring, a cleaning head and a cleaning head, wherein the conversion ring comprises an outer ring and a fixed radial strip; the fixed shaft is arranged along the axis of the conversion ring, one end of the fixed shaft is connected to the moving assembly, and the other end of the fixed shaft is connected to the fixed radial strip; the cleaning heads correspond to the fixed radial strips one to one, the included angle between the fixed shaft and the horizontal plane of the moving assembly is a first included angle, the included angle between the fixed radial strips and each cleaning head is a second included angle, the first included angle is an acute angle, the second included angle is an obtuse angle, and the sum of the first included angle and the second included angle is 180 degrees in the same plane perpendicular to the ground, so that the used cleaning heads are perpendicularly contacted with the ground, the standby cleaning heads are far away from the ground, the abrasion of the standby cleaning heads can be reduced, and the service life is prolonged; the sensor comprises a depth sensor and a camera, which are both positioned at the lower part of the moving assembly, the depth sensor is used for determining the ground material by judging the depth, the camera is used for acquiring ground data, binarizing the ground data to obtain a binary map, and further determining the ground cleanliness; the ground component divides the use area into different application blocks according to different ground materials to generate a block map; the positioning component is connected with the map component and is used for displaying the real-time position of the sweeper in a block map to generate a real-time block map; and the control unit is electrically connected with the moving assembly and the cleaning assembly and used for controlling the movement of the sweeper and controlling the conversion of the cleaning head according to the real-time block map.
As the preferred scheme, still include the cleanliness factor detecting element, the cleanliness factor detecting element includes catch basin, connecting tube, level appearance, driving motor rotational speed detection sensor and time-recorder, level appearance and time-recorder communication connection in the control unit, and the level appearance sets up in the catch basin, and the catch basin sets up in this internal robot, passes fixed footpath strip through connecting tube and communicates to the cleaning brush head, and driving motor rotational speed detection sensor is used for measuring driving motor's rotational speed.
Fig. 3 shows a flow chart of the steps of the automatic cleaning method according to the invention.
In this embodiment, the automatic cleaning method according to the present invention may include: step 101, determining the depth in a unit area through a depth sensor so as to determine the ground material; 102, dividing a use area into different application blocks according to different ground materials to generate a block map; step 103, displaying the real-time position of the sweeper in a block map to generate a real-time block map; 104, controlling the conversion of the cleaning head according to the real-time block map; 105, in the cleaning process, acquiring ground data according to a camera, and binarizing the ground data to obtain a binary map; and 106, setting a density threshold value, and when the density of the black points in the binary map is greater than the density threshold value, repeatedly cleaning the corresponding area by the sweeper.
In one example, determining the depth per unit area and thus the ground material by the depth sensor comprises: judging the depth of each pixel point in a unit area through a depth sensor; if the depth of each pixel point in the unit area is the same, judging the marble ground; if the depth of each pixel point in the unit area is different but irregular, determining that the carpet is the ground; and if the depth of each pixel point in the unit area is changed regularly and the depth difference is smaller than the difference threshold value, judging that the floor is the ground.
Specifically, the automatic cleaning method according to the present invention may include: judging the depth of each pixel point in a unit area through a depth sensor; if the depth of each pixel point in the unit area is the same, judging the marble ground; if the depth of each pixel point in the unit area is different but irregular, determining that the carpet is the ground; if the depth of each pixel point in the unit area is changed regularly and the depth difference is smaller than the difference threshold value, judging that the floor is the ground; dividing the use area into different application blocks according to different ground materials to generate a block map; displaying the real-time position of the sweeper in a block map to generate a real-time block map; controlling the conversion of the cleaning head according to a real-time block map; in the cleaning process, acquiring ground data according to a camera, and binarizing the ground data to obtain a binary map; and setting a density threshold value, and when the density of the black points in the binary map is greater than the density threshold value, repeatedly cleaning the corresponding area by the sweeper.
According to the invention, the plurality of cleaning brush heads are arranged, and the floor material of the floor is detected for automatic replacement, so that the sweeper is suitable for various floors, the cleaning effect is better, and the cleanliness of the floor is determined through the binary map, so that automatic cleaning is realized.
Application example
To facilitate understanding of the solution of the embodiments of the present invention and the effects thereof, a specific application example is given below. It will be understood by those skilled in the art that this example is merely for the purpose of facilitating an understanding of the present invention and that any specific details thereof are not intended to limit the invention in any way.
Figure 1 shows a schematic block diagram of a self-cleaning sweeper according to one embodiment of the present invention.
Fig. 2 shows a top view of a converter according to an embodiment of the invention.
The self-cleaning sweeper according to the invention comprises: a body 1; the moving assembly 2 is positioned at the lower part of the machine body 1, is provided with a plurality of bottom wheels 11 and is used for moving the sweeper; the sweeper can include one or more sets of cleaning assemblies, all located the lower part of the mobile assembly 2, and each set of cleaning assemblies includes a converter 3 and a plurality of cleaning heads 4, the converter 3 is connected to the mobile assembly 2, and the converter 3 includes: the cleaning device comprises a conversion ring, a cleaning head and a cleaning head, wherein the conversion ring comprises an outer ring 6 and a fixed radial strip 7, the outer ring 6 is connected with a plurality of cleaning heads 4, the fixed radial strip 6 is arranged along the radial direction of the conversion ring, and one end connected with a fixed shaft is provided with a fixed buckle; the fixed shaft is arranged along the axis of the conversion ring, one end of the fixed shaft is connected to the moving component 2, and the other end of the fixed shaft is connected to the fixed radial strip 7; the cleaning heads 4 correspond to the fixed radial strips 7 one by one, the included angle between the fixed shaft and the horizontal plane of the moving assembly 2 is a first included angle, the included angle between the fixed radial strips 7 and each cleaning head 4 is a second included angle, the first included angle is an acute angle, the second included angle is an obtuse angle, and the sum of the first included angle and the second included angle is 180 degrees in the same plane perpendicular to the ground, so that the used cleaning heads are perpendicularly contacted with the ground, the standby cleaning heads are far away from the ground, the abrasion of the standby cleaning heads can be reduced, and the service life is prolonged; the sensor comprises a depth sensor 5 and a camera 12 which are both positioned at the lower part of the moving assembly 2, the depth sensor 5 is used for determining the ground material by judging the depth, the camera 12 is used for acquiring ground data, binarizing the ground data to obtain a binarized map, and further determining the ground cleanliness; the ground component divides the use area into different application blocks according to different ground materials to generate a block map; the positioning component is connected with the map component and is used for displaying the real-time position of the sweeper in a block map to generate a real-time block map; and the control unit is electrically connected with the moving assembly 2 and the cleaning assembly and used for controlling the movement of the sweeper and controlling the conversion of the cleaning head 4 according to the real-time block map.
Still include cleanliness factor detecting element, cleanliness factor detecting element includes catch basin 8, connecting tube 9, level appearance 10, driving motor rotational speed detects sensor and time-recorder, level appearance 10 and time-recorder communication connection in the control unit, level appearance 10 sets up in catch basin 8, and catch basin 8 sets up in the fuselage, passes fixed footpath strip 7 intercommunication to cleaning brush head 4 through connecting tube 9, and driving motor rotational speed detects the rotational speed that sensor is used for measuring driving motor.
The automatic cleaning method according to the present invention comprises: the depth of each pixel point in the unit area is judged through a depth sensor 5; if the depth of each pixel point in the unit area is the same, judging the marble ground; if the depth of each pixel point in the unit area is different but irregular, determining that the carpet is the ground; if the depth of each pixel point in the unit area is changed regularly and the depth difference is smaller than the difference threshold value, judging that the floor is the ground; dividing the use area into different application blocks according to different ground materials to generate a block map; displaying the real-time position of the sweeper in a block map to generate a real-time block map; controlling the conversion of the cleaning head according to a real-time block map; in the cleaning process, acquiring ground data according to the camera 12, and binarizing the ground data to obtain a binary map; and setting a density threshold value, and when the density of the black points in the binary map is greater than the density threshold value, repeatedly cleaning the corresponding area by the sweeper.
In conclusion, the floor sweeper is suitable for various floors and has better cleaning effect by being provided with the plurality of cleaning brush heads and automatically replacing the floor materials of the floors by checking, and the cleanliness of the floors is determined through the binary map to realize automatic cleaning.
It will be appreciated by persons skilled in the art that the above description of embodiments of the invention is intended only to illustrate the benefits of embodiments of the invention and is not intended to limit embodiments of the invention to any examples given.
Having described embodiments of the present invention, the foregoing description is intended to be exemplary, not exhaustive, and not limited to the embodiments disclosed. Many modifications and variations will be apparent to those of ordinary skill in the art without departing from the scope and spirit of the described embodiments.
Claims (9)
1. An automatic cleaning sweeper is characterized by comprising:
a body;
the moving assembly is positioned at the lower part of the machine body, is provided with a plurality of bottom wheels and is used for moving the sweeper;
the cleaning assembly is positioned at the lower part of the moving assembly and comprises a converter and a plurality of cleaning heads, and the converter is connected with the moving assembly;
the sensor is positioned at the lower part of the moving assembly and used for determining the ground material and the ground cleanliness;
the ground component divides the use area into different application blocks according to different ground materials to generate a block map;
the positioning assembly is connected with the map assembly, displays the real-time position of the sweeper in the block map, and generates a real-time block map;
the control unit is electrically connected with the moving assembly and the cleaning assembly and used for controlling the movement of the sweeper and controlling the conversion of the cleaning head according to the real-time block map;
wherein the sensor comprises:
the depth sensor is positioned at the lower part of the moving assembly and used for determining the ground material by judging the depth;
and the camera acquires ground data, and binarizes the ground data to acquire a binary map.
2. The robotic cleaning sweeper of claim 1, wherein the converter comprises:
the cleaning device comprises a conversion ring, a cleaning head and a cleaning head, wherein the conversion ring comprises an outer ring and a fixed radial strip, the outer ring is connected with the cleaning heads, the fixed radial strip is arranged along the radial direction of the conversion ring, and one end connected with a fixed shaft is provided with a fixed buckle;
the fixed shaft is arranged along the axis of the conversion ring, one end of the fixed shaft is connected to the moving assembly, and the other end of the fixed shaft is connected to the fixed radial strip;
wherein, the cleaning head corresponds to the fixed diameter strip one to one.
3. The machine of claim 2, wherein the fixed axis is at a first angle to the horizontal plane of the moving assembly.
4. The machine of claim 3 wherein the fixed diameter bars are at a second angle to each cleaning head.
5. The machine of claim 4, wherein the first included angle is an acute angle and the second included angle is an obtuse angle.
6. The robotic cleaning sweeper of claim 4, wherein the sum of the first included angle and the second included angle is 180 °.
7. The machine of claim 1, further comprising:
and the storage battery provides electric support for the sweeper.
8. An automatic cleaning method using the automatic cleaning sweeper of any one of claims 1-7, comprising:
determining the depth in a unit area through a depth sensor so as to determine the ground material;
dividing the use area into different application blocks according to different ground materials to generate a block map;
displaying the real-time position of the sweeper in the block map to generate a real-time block map;
controlling the switching of the cleaning head according to the real-time block map;
in the cleaning process, acquiring ground data according to a camera, and binarizing the ground data to obtain a binary map;
and setting a density threshold value, and when the density of the black points in the binary map is greater than the density threshold value, repeatedly cleaning the corresponding area by the sweeper.
9. The automated cleaning method of claim 8, wherein determining the floor material by determining the depth per unit area with the depth sensor comprises:
judging the depth of each pixel point in a unit area through a depth sensor;
if the depth of each pixel point in the unit area is the same, judging the marble ground;
if the depth of each pixel point in the unit area is different but irregular, determining that the carpet is the ground;
and if the depth of each pixel point in the unit area is changed regularly and the depth difference is smaller than the difference threshold value, judging that the floor is the ground.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201810685125.0A CN109077675B (en) | 2018-06-28 | 2018-06-28 | Automatic cleaning sweeper and automatic cleaning method thereof |
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| CN201810685125.0A CN109077675B (en) | 2018-06-28 | 2018-06-28 | Automatic cleaning sweeper and automatic cleaning method thereof |
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| CN110960150B (en) * | 2018-09-29 | 2022-11-15 | 天佑电器（苏州）有限公司 | Cleaning robot and control method and control device thereof |
| CN111150331A (en) * | 2019-12-31 | 2020-05-15 | 江苏美的清洁电器股份有限公司 | Information processing method and device, mobile cleaning equipment and computer readable storage medium |
| CN111643014A (en) * | 2020-06-08 | 2020-09-11 | 深圳市杉川机器人有限公司 | Intelligent cleaning method and device, intelligent cleaning equipment and storage medium |
| CN111543902B (en) * | 2020-06-08 | 2022-10-18 | 深圳市杉川机器人有限公司 | Floor cleaning method and device, intelligent cleaning equipment and storage medium |
| CN114326527A (en) * | 2021-12-31 | 2022-04-12 | 深圳市杉川机器人有限公司 | Energization control system and energization control method |
| CN115373408A (en) * | 2022-10-26 | 2022-11-22 | 科大讯飞股份有限公司 | Cleaning robot, control method, device, equipment and storage medium thereof |
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