CN110338707A - Intelligent sweeping robot and its control method, computer readable storage medium - Google Patents
Intelligent sweeping robot and its control method, computer readable storage medium Download PDFInfo
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- CN110338707A CN110338707A CN201910466888.0A CN201910466888A CN110338707A CN 110338707 A CN110338707 A CN 110338707A CN 201910466888 A CN201910466888 A CN 201910466888A CN 110338707 A CN110338707 A CN 110338707A
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- barrier
- sweeping robot
- intelligent sweeping
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- control method
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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
- A47L11/24—Floor-sweeping 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
- A47L11/4011—Regulation of the cleaning machine by electric means; Control systems and remote control systems therefor
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- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The present invention provides a kind of intelligent sweeping robots, comprising: judgment module, for whether having barrier in the pre-determined distance of intelligent sweeping robot direction of advance described in real-time judge.Identification module judges there is barrier in the pre-determined distance of the intelligent sweeping robot direction of advance for working as the judgment module, then shoots the image of the barrier, and identify the type of the barrier according to described image.Execution module executes corresponding cleaning movement for acting mapping relations library according to the type of the barrier, preset obstacle identity-cleaning.The present invention also provides a kind of control method of intelligent sweeping robot and computer readable storage mediums, compared with prior art, the present invention can execute corresponding cleaning method according to the type of barrier, to realize the intelligence degree for improving intelligent sweeping robot, the purpose of user's life is further facilitated.
Description
Technical field
The present invention relates to the technical field of intelligent sweeping robot more particularly to a kind of intelligent sweeping robot and its controls
Method, computer readable storage medium.
Background technique
With the fast development of science and technology, artificial intelligence constantly pours in people's lives.Wherein, intelligent sweeping robot is even more
It brings great convenience for our life.For example sweeping robot can help people's wipe clean, save human cost
And time cost.
In the prior art, Authorization Notice No. provides a kind of intelligent sweeping robot for the invention of CN 104757911B
Cleaning method and intelligent sweeping robot, when crash sensor generates collision alarm, robot is against barrier and keeps touching
It hits the state that sensor is triggered and is rotated up in a manner of pivot stud and meet the first preset condition；When robot no longer detects
When the collision alarm that crash sensor generates, robot is rotated in such a way that radius is not zero towards the opposite direction of pivot stud, directly
To the collision alarm for detecting that crash sensor generates again；Robot no longer detects the collision alarm that crash sensor generates
The position that the position and side that the center of circle of Shi Jinhang opposite direction rotation and radius and robot are collided with barrier are swept is associated with setting, with
Make cleaning path of robot when turning round in a manner of pivot stud again by the robot pivot stud, realizes effectively
Clean the purpose of rubbish near barrier.
But above-mentioned technical solution is to be cleaned along barrier, and the type execution of groundless barrier is suitable clear
It sweeps and makees, such as: when barrier is movable obstruction or barrier is the plane obstacles such as blanket, if at this time along barrier
Hinder and cleaned around object, then indoor environment can not be cleaned up, therefore above-mentioned technical proposal does not have universality.
Summary of the invention
For above-mentioned defect, the present invention provides a kind of intelligent sweeping robot and its control method, computer can
Storage medium is read, can be realized the purpose for improving the intelligence degree of intelligent sweeping robot, further facilitating user's life.
In order to achieve the above object, the present invention proposes a kind of control method of intelligent sweeping robot, comprising the following steps:
S110: whether there is barrier in the pre-determined distance of intelligent sweeping robot direction of advance described in real-time judge；
S120: if so, shooting the image of the barrier, and the type of the barrier is identified according to described image；
S130: mapping relations library is acted according to the type of the barrier, preset obstacle identity-cleaning, executes phase
The cleaning movement answered.
Preferably, the process of the step S110 specifically includes:
Pass through the infrared inductor real-time reception external world's barrier reflection being set to immediately ahead of the intelligent sweeping robot
Infrared signal；
According to the infrared signal of the reflection, the distance between barrier and the intelligent sweeping robot value are got；
Judge whether the distance value is less than the pre-determined distance；
If so, defining in the pre-determined distance that judging result is the intelligent sweeping robot direction of advance has barrier；
Conversely, then defining in the pre-determined distance that judging result is the intelligent sweeping robot direction of advance without barrier.
Preferably, the type of the barrier includes: mobile model barrier, the fixed barrier that may span across, can detour
Fixed barrier, the fixed barrier that should turn to.
Preferably, the process for identifying the type of the barrier according to described image in the step S120 includes:
S1: according to described image, judge the barrier whether be personage physical feeling image；If so, being transferred to step
Rapid S2；If it is not, being then transferred to step S3；
S2: the type for defining the barrier is mobile model barrier；
S3: according to described image and ratio in kind, the height of the barrier is calculated；
S4: judge whether the height is lower than preset altitude datum；If so, being transferred to step S5；If it is not, being then transferred to step
Rapid S6；
S5: the type for defining the barrier is the fixed barrier that may span across；
S6: according to described image and ratio in kind, the plane width of the barrier is calculated；
S7: judge whether the plane width is less than preset datum plane width；If so, being transferred to step S8；If it is not,
Then it is transferred to step S9；
S8: the type for defining the barrier is the fixed barrier that can be detoured；
S9: the type for defining the barrier is the fixed barrier that should be turned to.
Preferably, the preset altitude datum are as follows: 5 millimeters, 8 millimeters, 10 millimeters or 15 millimeters；The preset base
Directrix plane width are as follows: 20 centimetres, 25 centimetres, 30 centimetres or 40 centimetres.
Preferably, after the step S130 further include:
S140: the remaining capacity of the intelligent sweeping robot is obtained；
S150: judge whether the remaining capacity is lower than preset power threshold；
S160: if so, controlling the intelligent sweeping robot executes corresponding auto-returned charging action.
In order to achieve the above object, the present invention also provides a kind of intelligent sweeping robots, comprising:
Judgment module, for whether having obstacle in the pre-determined distance of intelligent sweeping robot direction of advance described in real-time judge
Object；
Identification module, for judging in the pre-determined distance of the intelligent sweeping robot direction of advance when the judgment module
There is barrier, then shoot the image of the barrier, and identifies the type of the barrier according to described image；
Execution module, for acting mapping relations according to the type of the barrier, preset obstacle identity-cleaning
Library executes corresponding cleaning movement.
Preferably, the judgment module specifically includes: receiving unit, acquiring unit, judging unit, definition unit；
The receiving unit, for being connect in real time by being set to the infrared inductor immediately ahead of the intelligent sweeping robot
Receive the infrared signal of extraneous barrier reflection；
The acquiring unit gets barrier and the intelligent sweeping machine for the infrared signal according to the reflection
The distance between device people value；
The judging unit, for judging whether the distance value is less than the pre-determined distance；
The definition unit is then defined for judging that the distance value is less than the pre-determined distance when the judging unit
Judging result be the intelligent sweeping robot direction of advance pre-determined distance in have barrier；Conversely, then defining judging result
For in the pre-determined distance of the intelligent sweeping robot direction of advance without barrier.
Preferably, the type of the barrier includes: mobile model barrier, the fixed barrier that may span across, can detour
Fixed barrier, the fixed barrier that should turn to.
Preferably, the process for identifying the type of the barrier according to described image in the identification module includes:
S1: according to described image, judge the barrier whether be personage physical feeling image；If so, being transferred to step
Rapid S2；If it is not, being then transferred to step S3；
S2: the type for defining the barrier is mobile model barrier；
S3: according to described image and ratio in kind, the height of the barrier is calculated；
S4: judge whether the height is lower than preset altitude datum；If so, being transferred to step S5；If it is not, being then transferred to step
Rapid S6；
S5: the type for defining the barrier is the fixed barrier that may span across；
S6: according to described image and ratio in kind, the plane width of the barrier is calculated；
S7: judge whether the plane width is less than preset datum plane width；If so, being transferred to step S8；If it is not,
Then it is transferred to step S9；
S8: the type for defining the barrier is the fixed barrier that can be detoured；
S9: the type for defining the barrier is the fixed barrier that should be turned to.
Preferably, the preset altitude datum are as follows: 5 millimeters, 8 millimeters, 10 millimeters or 15 millimeters；The preset base
Directrix plane width are as follows: 20 centimetres, 25 centimetres, 30 centimetres or 40 centimetres.
Preferably, the intelligent sweeping robot further include:
Module is obtained, for obtaining the remaining capacity of the intelligent sweeping robot；
Judgment module, is also used to judge whether the remaining capacity is lower than preset power threshold；
Control module, for judging that the remaining capacity lower than preset power threshold, then controls when the judgment module
The intelligent sweeping robot executes corresponding auto-returned charging action.
In order to achieve the above object, the present invention separately provides a kind of computer readable storage medium, is stored thereon with calculating
Machine program, which is characterized in that the computer program realizes the controlling party of above-mentioned intelligent sweeping robot when being executed by processor
Method.
In order to achieve the above object, a kind of intelligent sweeping robot provided by the present invention, including memory and processor,
The memory is stored with the computer program that can be run on a processor, and the processor executes real when the computer program
Step in the control method of existing above-mentioned intelligent sweeping robot.
Compared with prior art, the beneficial effects of the present invention are: pass through intelligent floor-sweeping described in judgment module real-time judge
Whether there is barrier in the pre-determined distance of robot direction of advance；Identification module, for judging the intelligence when the judgment module
There can be barrier in the pre-determined distance of sweeping robot direction of advance, then shoot the image of the barrier, and according to the figure
Type as identifying the barrier；Execution module, for clear according to the type of the barrier, preset obstacle identity-
Mapping relations library is made in sweeping, executes the mode of corresponding cleaning movement, and corresponding clean can be executed according to the type of barrier
Mode further facilitates the purpose of user's life to realize the intelligence degree for improving intelligent sweeping robot.
Detailed description of the invention
Fig. 1 is the flow diagram of the control method embodiment one of intelligent sweeping robot of the invention；
Fig. 2 is the subdivided step schematic diagram of S120 in the control method embodiment one of intelligent sweeping robot of the invention；
Fig. 3 is the flow diagram of the control method embodiment two of intelligent sweeping robot of the invention；
Fig. 4 is the program module schematic diagram of intelligent sweeping robot embodiment one of the invention；
Fig. 5 is the program module schematic diagram of intelligent sweeping robot embodiment two of the invention.
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 clear, complete
Site preparation description.It should be appreciated that specific embodiment described herein is used only for explaining the present invention, it is not used to limit this hair
It is bright.
The present invention provides a kind of control methods of intelligent sweeping robot.Referring to Fig. 1, Fig. 1 is that intelligence of the invention is swept
The flow diagram of the control method embodiment one of floor-washing robot.In example 1, the control of the intelligent sweeping robot
Method, comprising the following steps:
S110: whether there is barrier in the pre-determined distance of intelligent sweeping robot direction of advance described in real-time judge.
In the present embodiment, the process of the step S110 is specifically included: 1, by being set to the intelligent sweeping robot
The infrared signal of infrared inductor real-time reception external world's barrier reflection in front；2, according to the infrared signal of the reflection,
Get the distance between barrier and the intelligent sweeping robot value；3, it is described default to judge whether the distance value is less than
Distance；4, if so, defining in the pre-determined distance that judging result is the intelligent sweeping robot direction of advance has barrier；Instead
It, then define in the pre-determined distance that judging result is the intelligent sweeping robot direction of advance without barrier.
In the present embodiment, other than measuring distance using infrared inductor, it can also be surveyed using binocular range finder
Span from, and these measurement distances sensors be all disposed within the intelligent sweeping robot outer surface front end.It is described
Pre-determined distance are as follows: 40 centimetres, 50 centimetres, 80 centimetres or 100 centimetres, the pre-determined distance is preferably set as 80 centimetres.Under
Face is described in detail with estimate of situation of the detailed example to step S110, such as: the infrared inductor is according to reception
The infrared signal for the reflection arrived, the distance for calculating front obstacle is 100 centimetres, then judging result is no at this time；Meeting is crossed, but
The distance of calculated front obstacle is 80 centimetres, then judging result is yes at this time.
S120: if so, shooting the image of the barrier, and the type of the barrier is identified according to described image.
In the present embodiment, when the judging result of step S110 be it is yes, then control be set to the intelligent sweeping robot before
The camera of side shoots the image of current barrier.It is carried out according to the condition of the obstacle identity of described image and default settings
It compares, to identify the type of the barrier.Wherein, the type of the barrier includes: mobile model barrier, may span across
Fixed barrier, the fixed barrier that can be detoured, the fixed barrier that should turn to.
Referring to fig. 2, Fig. 2 is the subdivided step of S120 in the control method embodiment one of intelligent sweeping robot of the invention
Schematic diagram.Wherein, the process for identifying the type of the barrier according to described image in the step S120 includes:
S1: according to described image, judge the barrier whether be personage physical feeling image；If so, being transferred to step
Rapid S2；If it is not, being then transferred to step S3.
S2: the type for defining the barrier is mobile model barrier.
S3: according to described image and ratio in kind, the height of the barrier is calculated.
S4: judge whether the height is lower than preset altitude datum；If so, being transferred to step S5；If it is not, being then transferred to step
Rapid S6.
S5: the type for defining the barrier is the fixed barrier that may span across.
S6: according to described image and ratio in kind, the plane width of the barrier is calculated.
S7: judge whether the plane width is less than preset datum plane width；If so, being transferred to step S8；If it is not,
Then it is transferred to step S9.
S8: the type for defining the barrier is the fixed barrier that can be detoured.
S9: the type for defining the barrier is the fixed barrier that should be turned to.
In the present embodiment, the preset altitude datum are as follows: 5 millimeters, 8 millimeters, 10 millimeters or 15 millimeters；It is described default
Datum plane width are as follows: 20 centimetres, 25 centimetres, 30 centimetres or 40 centimetres.Knowledge with detailed example to step S120 below
Other process is described in detail, such as: the described image taken is the shank of human body, then identifies the class of the barrier
Type is movable obstruction；The barrier taken is a rectangular barrier, and size in the picture is 0.1 milli of height
Rice, width is 12 millimeters, and described image and ratio in kind are 1:10, then calculates the actual size of the barrier as height
1 millimeter of degree, width are 12 centimetres, that is, identify that the type of the barrier is the fixed barrier that may span across.
S130: mapping relations library is acted according to the type of the barrier, preset obstacle identity-cleaning, executes phase
The cleaning movement answered.
In the present embodiment, the preset obstacle identity-cleaning movement mapping relations library is by having the people of professional knowledge
Member is specifically set, for example, it can be set to are as follows: when the obstacle identity is movable obstruction, the then intelligent floor-sweeping
Robot is cleaned according to original direction of advance and original cleaning power；When the obstacle identity may span across
Fixed barrier, then the intelligent sweeping robot executes the movement across the upper fixed barrier that may span across, and
Increase and clean power, until leaving the fixed barrier that may span across；When the obstacle identity is the fixation that can be detoured
Type barrier, then the intelligent sweeping robot execution is cleaned dynamic around the fixed barrier that can be detoured
Make；When the obstacle identity is the fixed barrier that should be turned to, then when the intelligent sweeping robot reach it is described can be around
When the position of capable fixed barrier, the cleaning movement of steering is executed.
By above embodiment, corresponding cleaning can be executed according to the type of the barrier and acted, further mentioned
The intelligent level of the high intelligent sweeping robot, facilitates the life of user.
The present invention proposes a kind of embodiment two of the control method of intelligent sweeping robot.It is the present invention referring to Fig. 3, Fig. 3
Intelligent sweeping robot control method embodiment two flow diagram.The control method of the intelligent sweeping robot
Embodiment two is improved on the basis of the above embodiment 1, is theed improvement is that, after the step S130 further include:
S140: the remaining capacity of the intelligent sweeping robot is obtained.
In the present embodiment, the remaining capacity passes through the electric quantity monitoring module that is set to inside the intelligent sweeping robot
It is obtained, the remaining capacity that will acquire is uploaded to microprocessor and is handled.
S150: judge whether the remaining capacity is lower than preset power threshold.
In the present embodiment, the preset power threshold is specifically set by having the personnel of professional knowledge, such as can
With setting are as follows: 10%, 15%, 20% or 25%, it is preferably provided as 15%.The deterministic process of the step S120 is specifically wrapped
It includes: 1, being compared the remaining capacity with the preset power threshold；2, when the remaining capacity subtracts described preset
Power threshold difference be greater than 0, then it is no for defining the judging result；Conversely, it is yes for then defining the judging result.
S160: if so, controlling the intelligent sweeping robot executes corresponding auto-returned charging action.
In the present embodiment, when the judging result of the step S150 be it is yes, then control the intelligent sweeping robot and return
Recharging base, to realize the purpose for executing corresponding auto-returned charging action.
The present invention separately proposes a kind of embodiment one of intelligent sweeping robot 100.Referring to fig. 4, Fig. 4 is intelligence of the invention
The program module schematic diagram of sweeping robot embodiment one.The intelligent sweeping robot 100, comprising: judgment module 110 is used
Whether there is barrier in the pre-determined distance of 100 direction of advance of intelligent sweeping robot described in real-time judge.Identification module 120,
There is barrier in pre-determined distance for judging 100 direction of advance of intelligent sweeping robot when the judgment module 110, then
The image of the barrier is shot, and identifies the type of the barrier according to described image.Execution module 130 is used for basis
The type of the barrier, preset obstacle identity-cleaning act mapping relations library, execute corresponding cleaning movement.
In the present embodiment, the judgment module 110 is specifically included: receiving unit, acquiring unit, judging unit, definition are single
Member；The receiving unit, for the infrared inductor real-time reception by being set to 100 front of intelligent sweeping robot
The infrared signal of extraneous barrier reflection；The acquiring unit gets barrier for the infrared signal according to the reflection
The distance between described intelligent sweeping robot value；The judging unit, for judging it is described whether the distance value is less than
Pre-determined distance；The definition unit is then defined for judging that the distance value is less than the pre-determined distance when the judging unit
Judging result be 100 direction of advance of intelligent sweeping robot pre-determined distance in have barrier；Conversely, then defining judgement knot
Fruit is in the pre-determined distance of 100 direction of advance of intelligent sweeping robot without barrier.
In the present embodiment, other than measuring distance using infrared inductor, it can also be surveyed using binocular range finder
Span from, and these measurement distances sensors be all disposed within the intelligent sweeping robot 100 outer surface front end.Institute
State pre-determined distance are as follows: 40 centimetres, 50 centimetres, 80 centimetres or 100 centimetres, the pre-determined distance is preferably set as 80 centimetres.
It is described in detail below with estimate of situation of the detailed example to step S110, such as: the infrared inductor is according to connecing
The infrared signal of the reflection received, the distance for calculating front obstacle is 100 centimetres, then judging result is no at this time；Meeting is crossed,
But the distance of calculated front obstacle is 80 centimetres, then judging result is yes at this time.
In the present embodiment, when the judging result of the judgment module 110 be it is yes, then control be set to the intelligent sweeping machine
The camera in 100 front of device people shoots the image of current barrier.According to the obstacle identity of described image and default settings
Condition be compared, to identify the type of the barrier.Wherein, the type of the barrier includes: mobile model barrier
Hinder object, the fixed barrier that may span across, the fixed barrier that can be detoured, the fixed barrier that should be turned to.
In the present embodiment, the process packet of the type of the barrier is identified in the identification module 120 according to described image
It includes:
S1: according to described image, judge the barrier whether be personage physical feeling image；If so, being transferred to step
Rapid S2；If it is not, being then transferred to step S3.
S2: the type for defining the barrier is mobile model barrier.
S3: according to described image and ratio in kind, the height of the barrier is calculated.
S4: judge whether the height is lower than preset altitude datum；If so, being transferred to step S5；If it is not, being then transferred to step
Rapid S6.
S5: the type for defining the barrier is the fixed barrier that may span across.
S6: according to described image and ratio in kind, the plane width of the barrier is calculated.
S7: judge whether the plane width is less than preset datum plane width；If so, being transferred to step S8；If it is not,
Then it is transferred to step S9.
S8: the type for defining the barrier is the fixed barrier that can be detoured.
S9: the type for defining the barrier is the fixed barrier that should be turned to.
In the present embodiment, the preset altitude datum are as follows: 5 millimeters, 8 millimeters, 10 millimeters or 15 millimeters；It is described default
Datum plane width are as follows: 20 centimetres, 25 centimetres, 30 centimetres or 40 centimetres.Below with detailed example to identification module 120
Identification process be described in detail, such as: the described image that the camera takes be human body shank, then identify mould
Block 120 identifies that the type of the barrier is movable obstruction；The barrier taken is a rectangular barrier,
Size in image is 0.1 millimeter of height, and width is 12 millimeters, and described image and ratio in kind are 1:10, then calculate
The actual size of the barrier is 1 millimeter of height, and width is 12 centimetres, i.e. identification module 120 identifies the barrier
Type is the fixed barrier that may span across.
In the present embodiment, the preset obstacle identity-cleaning movement mapping relations library is by having the people of professional knowledge
Member is specifically set, for example, it can be set to are as follows: when the obstacle identity is movable obstruction, the then intelligent floor-sweeping
Robot 100 is cleaned according to original direction of advance and original cleaning power；When the obstacle identity be can be across
Fixed barrier more, then the intelligent sweeping robot 100 is executed across the upper fixed barrier that may span across
Movement, and increase cleaning power, until leaving the fixed barrier that may span across；When the obstacle identity is that can detour
Fixed barrier, then the intelligent sweeping robot 100 execute around the fixed barrier that can be detoured into
The movement that row cleans；When the obstacle identity is the fixed barrier that should be turned to, then when the intelligent sweeping robot 100
When reaching the position of the fixed barrier that can be detoured, the cleaning movement of steering is executed.
By above embodiment, corresponding cleaning can be executed according to the type of the barrier and acted, further mentioned
The intelligent level of the high intelligent sweeping robot 100, facilitates the life of user.
The present invention separately proposes a kind of embodiment two of intelligent sweeping robot 100.Referring to Fig. 5, Fig. 5 is intelligence of the invention
The program module schematic diagram of sweeping robot example IV.The embodiment two of the intelligent sweeping robot 100 is in the intelligence
It is improved on the basis of the embodiment one of sweeping robot 100, it is improved in that the intelligent sweeping robot
100 further include: module 140 is obtained, for obtaining the remaining capacity of the intelligent sweeping robot 100.The judgment module
110, it is also used to judge whether the remaining capacity is lower than preset power threshold.Control module 150, for working as the judgement mould
Block 110 judges that the remaining capacity lower than preset power threshold, then controls the intelligent sweeping robot 100 and executes accordingly
Auto-returned charging action.
In the present embodiment, the remaining capacity passes through the electric quantity monitoring that is set to inside the intelligent sweeping robot 100
Module is obtained, and the remaining capacity that obtaining module 140 will acquire is uploaded to microprocessor and is handled.
In the present embodiment, the preset power threshold is specifically set by having the personnel of professional knowledge, such as can
With setting are as follows: 10%, 15%, 20% or 25%, it is preferably provided as 15%.The deterministic process of the judgment module 110 is specific
Include: 1, be compared the remaining capacity with the preset power threshold；2, when the remaining capacity subtract it is described pre-
If power threshold difference be greater than 0, then it is no for defining the judging result；Conversely, it is yes for then defining the judging result.
In the present embodiment, when the judging result of the judgment module 110 be it is yes, then control module 150 controls the intelligence
Sweeping robot 100 returns to recharging base, to realize the purpose for executing corresponding auto-returned charging action.
The invention also provides a kind of computer readable storage mediums, are stored thereon with computer program, the computer journey
The control method of intelligent sweeping robot described in above-described embodiment one, embodiment two is realized when sequence is executed by processor.
If the integrated module of the intelligent sweeping robot is realized in the form of SFU software functional unit and as independent
Product when selling or using, can store in a computer readable storage medium.Based on this understanding, the present invention realizes
All or part of the process in the control method of intelligent sweeping robot described in above-described embodiment one, embodiment two, can also be with
It is completed by the relevant hardware of computer program instructions.
The computer program can be stored in a computer readable storage medium, which is held by processor
When row, it can be achieved that the step of above-mentioned intelligent sweeping robot information cuing method each embodiment.Wherein, the computer program
Including computer program code, the computer program code can be source code form, object identification code form, executable file
Or certain intermediate forms etc..The computer readable storage medium may include: that can carry the computer program code
It is any entity or device, recording medium, USB flash disk, mobile hard disk, magnetic disk, CD, computer storage, read-only memory, random
Storage/access memory and software distribution medium etc..
In order to achieve the above object, the present invention also provides a kind of intelligent sweeping robot, including memory and processor,
The memory is stored with the computer program that can be run on a processor, and the processor executes real when the computer program
Step in the control method embodiment one of existing above-mentioned intelligent sweeping robot, embodiment two.
The above is only a preferred embodiment of the present invention, is not intended to limit the scope of the invention, all to utilize this hair
Equivalent structure or equivalent flow shift made by bright specification and accompanying drawing content is applied directly or indirectly in other relevant skills
Art field, is included within the scope of the present invention.
Claims (10)
1. a kind of control method of intelligent sweeping robot, which comprises the following steps:
S110: whether there is barrier in the pre-determined distance of intelligent sweeping robot direction of advance described in real-time judge；
S120: if so, shooting the image of the barrier, and the type of the barrier is identified according to described image；
S130: mapping relations library is acted according to the type of the barrier, preset obstacle identity-cleaning, is executed corresponding
Cleaning movement.
2. the control method of intelligent sweeping robot according to claim 1, which is characterized in that the mistake of the step S110
Journey specifically includes:
By being set to the red of infrared inductor real-time reception external world's barrier reflection immediately ahead of the intelligent sweeping robot
External signal；
According to the infrared signal of the reflection, the distance between barrier and the intelligent sweeping robot value are got；
Judge whether the distance value is less than the pre-determined distance；
If so, defining in the pre-determined distance that judging result is the intelligent sweeping robot direction of advance has barrier；Conversely,
It then defines in the pre-determined distance that judging result is the intelligent sweeping robot direction of advance without barrier.
3. the control method of intelligent sweeping robot according to claim 1, which is characterized in that the type of the barrier
Include: mobile model barrier, the fixed barrier that may span across, the fixed barrier that can be detoured, the fixed that should be turned to barrier
Hinder object.
4. the control method of intelligent sweeping robot according to claim 3, which is characterized in that root in the step S120
The process for identifying the type of the barrier according to described image includes:
S1: according to described image, judge the barrier whether be personage physical feeling image；If so, being transferred to step S2；
If it is not, being then transferred to step S3；
S2: the type for defining the barrier is mobile model barrier；
S3: according to described image and ratio in kind, the height of the barrier is calculated；
S4: judge whether the height is lower than preset altitude datum；If so, being transferred to step S5；If it is not, being then transferred to step
S6；
S5: the type for defining the barrier is the fixed barrier that may span across；
S6: according to described image and ratio in kind, the plane width of the barrier is calculated；
S7: judge whether the plane width is less than preset datum plane width；If so, being transferred to step S8；If it is not, then turning
Enter step S9；
S8: the type for defining the barrier is the fixed barrier that can be detoured；
S9: the type for defining the barrier is the fixed barrier that should be turned to.
5. the control method of intelligent sweeping robot according to claim 4, which is characterized in that the preset benchmark is high
Degree are as follows: 5 millimeters, 8 millimeters, 10 millimeters or 15 millimeters；The preset datum plane width are as follows: 20 centimetres, 25 centimetres, 30 lis
Rice or 40 centimetres.
6. the control method of intelligent sweeping robot described in -5 any one according to claim 1, which is characterized in that the step
After rapid S130 further include:
S140: the remaining capacity of the intelligent sweeping robot is obtained；
S150: judge whether the remaining capacity is lower than preset power threshold；
S160: if so, controlling the intelligent sweeping robot executes corresponding auto-returned charging action.
7. a kind of intelligent sweeping robot characterized by comprising
Judgment module, for whether having barrier in the pre-determined distance of intelligent sweeping robot direction of advance described in real-time judge；
Identification module judges there is barrier in the pre-determined distance of the intelligent sweeping robot direction of advance for working as the judgment module
Hinder object, then shoot the image of the barrier, and identifies the type of the barrier according to described image；
Execution module is held for acting mapping relations library according to the type of the barrier, preset obstacle identity-cleaning
The corresponding cleaning movement of row.
8. intelligent sweeping robot according to claim 7, which is characterized in that the intelligent sweeping robot further include:
Module is obtained, for obtaining the remaining capacity of the intelligent sweeping robot；
Judgment module, is also used to judge whether the remaining capacity is lower than preset power threshold；
Control module, for judging the remaining capacity lower than preset power threshold, then described in control when the judgment module
Intelligent sweeping robot executes corresponding auto-returned charging action.
9. a kind of computer readable storage medium, is stored thereon with computer program, which is characterized in that the computer program is located
Manage the control method that the intelligent sweeping robot as described in any one of claim 1-7 is realized when device executes.
10. a kind of intelligent sweeping robot, including memory and processor, the memory, which is stored with, to be run on a processor
Computer program, which is characterized in that the processor is realized any one in claim 1-7 when executing the computer program
Step in the control method of intelligent sweeping robot described in.
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Application publication date: 20191018 |