CN110442123B

CN110442123B - Cleaning robot, cleaning method, environment monitoring method, and computer storage medium

Info

Publication number: CN110442123B
Application number: CN201810415375.2A
Authority: CN
Inventors: 陈泳丞
Original assignee: Nanning Fulian Fugui Precision Industrial Co Ltd
Current assignee: Nanning Fulian Fugui Precision Industrial Co Ltd
Priority date: 2018-05-03
Filing date: 2018-05-03
Publication date: 2022-08-05
Anticipated expiration: 2038-05-03
Also published as: CN110442123A

Abstract

A sweeping method comprising the steps of: detecting whether garbage exists around the cleaning robot through a sensor; controlling a cleaning path of the cleaning robot according to the detection result; and controlling the cleaning power of the cleaning robot according to the detection result. The invention also provides a cleaning robot and a computer storage medium, which can be used for intensively cleaning the garbage area on the ground through a special cleaning path and the optimal cleaning power, so that the cleaning robot can be used for thoroughly cleaning the garbage area while saving the electric quantity of a battery.

Description

Cleaning robot, cleaning method, environment monitoring method, and computer storage medium

Technical Field

The embodiment of the invention relates to the field of intelligent robots, in particular to a cleaning robot, a cleaning method, an environment monitoring method and a computer storage medium.

Background

Smart appliances have occupied an increasingly important role in modern life by virtue of their versatility and convenience. In family life, the use of intelligent electric appliances by people has become a common phenomenon. For example, a sweeping robot is widely favored because it can automatically sweep the floor of a room instead of an artificial sweeping operation.

However, in the cleaning process of the floor, the sweeping robot in the existing market only cleans all areas of the floor with the same cleaning power, and cannot realize timely adjustment of the cleaning power and important cleaning of the garbage area of the floor.

Disclosure of Invention

In view of the above, it is desirable to provide a cleaning robot, a cleaning method, an environment monitoring method, and a computer storage medium, which can perform an intensive cleaning of a ground garbage area and adjust the cleaning power of the cleaning robot in real time, so as to achieve a thorough cleaning of the ground garbage area while saving the battery power of the cleaning robot.

An embodiment of the present invention provides a cleaning robot, which includes a memory, a processor, a computer program segment stored in the memory and operable on the processor, and a sensor. The computer program segments, when executed by the processor, implement the steps of: detecting whether garbage exists around the cleaning robot through the sensor; controlling a cleaning path of the cleaning robot according to the detection result; and controlling the cleaning power of the cleaning robot according to the detection result.

The embodiment of the invention provides a cleaning method, which is applied to a cleaning robot. The method comprises the following steps: detecting whether garbage exists around the cleaning robot through the sensor; controlling a cleaning path of the cleaning robot according to the detection result; and controlling the cleaning power of the cleaning robot according to the detection result.

The embodiment of the invention provides an environment monitoring method which is applied to a cleaning robot, wherein the cleaning robot comprises a sensor. The method further comprises the steps of: detecting the temperature, the humidity and/or the gas content in the space through the sensor at a preset frequency; and judging whether the space has the risk factors according to the detection result, and sending the detection result and the judgment result to the electronic device.

The embodiment of the invention also provides a computer storage medium, wherein a computer program segment is stored on the computer storage medium, and when being executed by a processor, the computer program segment realizes the steps of the cleaning method and the environment monitoring method.

The cleaning robot, the cleaning method, the environment monitoring method and the computer storage medium provided by the embodiment of the invention can perform focused cleaning on a special area on the ground and timely adjust the cleaning power of the cleaning robot, thereby avoiding the problems that in the prior art, the cleaning robot only pays attention to the cleaning range and does not pay attention to the cleaning result in the cleaning process and the cleaning robot has high power consumption in the cleaning process.

Drawings

Fig. 1 is a block diagram of a cleaning robot according to an embodiment of the present invention.

Fig. 2 is a schematic diagram of the cleaning robot according to the embodiment of the present invention cleaning the garbage with a spiral motion path.

FIG. 3 is a flowchart illustrating steps of a cleaning method according to an embodiment of the present invention.

FIG. 4 is a flowchart illustrating steps of a cleaning method according to another embodiment of the present invention.

FIG. 5 is a flowchart illustrating steps of an environment monitoring method according to an embodiment of the invention.

Description of the main elements

The following detailed description will further illustrate the invention in conjunction with the above-described figures.

Detailed Description

Fig. 1 is a block diagram showing a program of a cleaning robot according to an embodiment of the present invention. The cleaning robot 1 includes a memory 10, a processor 20, a sensor 30, a suction motor 40, and a monitoring and cleaning system 50.

Processor 10 may be a Central Processing Unit (CPU), controller, microcontroller, microprocessor or other data Processing chip configured to execute software code operations, such as the operation of monitoring and cleaning system 50. The memory 20 includes at least one type of readable storage medium including a flash memory, a hard disk, a multimedia card, a card type memory (e.g., SD or DX memory, etc.), a Random Access Memory (RAM), a Static Random Access Memory (SRAM), a Read Only Memory (ROM), an Electrically Erasable Programmable Read Only Memory (EEPROM), a Programmable Read Only Memory (PROM), a magnetic memory, a magnetic disk, an optical disk, and the like. Further, the memory 20 may also include both an internal storage unit and an external storage device of the cleaning robot 1. The memory 20 is used to store software programs and data installed in the cleaning robot 1, for example, the monitoring and cleaning system 50.

In an embodiment of the present invention, the monitoring and cleaning system 50 may comprise at least one module stored in the memory 20 and executed by the processor 10 to implement the present invention. With continued reference to fig. 1, the monitoring and cleaning system 50 may include an acquisition module 100, a mapping module 200, a first detection module 300, a first control module 400, and a second control module 500. The module referred to in the present invention refers to a computer program segment capable of performing some specific functions, and is more suitable than a program for describing the execution process of software in the cleaning robot 1.

The modules 100-500 of the present invention will now be described with respect to specific embodiments.

An acquiring module 100, configured to acquire, through the sensor 30, an environmental characteristic of a space where the cleaning robot 1 is currently located, for example, a layout characteristic of all objects in a room. In this embodiment, the cleaning robot 1 may obtain the environmental characteristics in the space through the laser range finder during the movement. In an embodiment, the obtaining module 100 may further capture a space where the camera is located by the camera, and obtain layout features of all objects in the space according to the capture data.

The map building module 200 is configured to build an environment map of the space by using an instant positioning and map building method according to the environment features obtained by the obtaining module 100. The synchronous positioning and mapping is that during the movement process of the equipment such as the robot, the position and the posture of the equipment are positioned through repeatedly observed environmental features (such as wall corners, columns and the like), and a working environment map is constructed. The embodiment of the present invention does not describe the instant positioning and map building method in detail herein.

The first detecting module 300 is configured to detect whether there is garbage on the floor of the space through the sensor 30. In this embodiment, the sensor 30 is an ultrasonic sensor, and is mounted at the dust suction port of the cleaning robot 1. In other embodiments, the sensor 30 may also be an infrared sensor.

The ultrasonic sensor can emit a sound wave and receive a reflected wave. The reflected wave is a corresponding reflected wave generated by an object receiving the sound wave emitted by the ultrasonic sensor, and for example, when a post in the space receives the sound wave, a plurality of corresponding reflected waves may be generated. When the ultrasonic sensor emits the acoustic wave in the space, if there are a plurality of objects around the cleaning robot, each object may generate a corresponding reflected wave according to the received acoustic wave due to the difference in characteristics such as the material of each object, the relative position, direction, and angle with the cleaning robot 1.

In this embodiment, the cleaning robot 1 stores in advance an original waveform of a reflected wave reflected from a clean floor and an original distance of the ultrasonic sensor from the floor. In the moving process of the cleaning robot 1, the first detecting module 300 obtains the waveform of the reflected wave and a distance data corresponding to the reflected wave through the ultrasonic sensor, compares the waveform data and the distance data of all the reflected waves within a preset time with the original waveform and the original distance, and determines whether there is a garbage according to the comparison result.

In this embodiment, the first detecting module 300 compares the waveforms (e.g., Y1, Y2, and Y3) and the distances (e.g., X1, X2, and X3) of the reflected waves obtained every 3 seconds with the original waveform Y and the original distance X, and determines whether there is a garbage object according to the comparison result. Specifically, when X1, X2, X3 are all different from X and less than X, it represents the presence of small garbage; when Y1, Y2, Y3 and Y are completely different, the garbage such as sand, small paper scraps, dust and the like exist, and when Y1, Y2 and Y3 all show continuous irregular changes, the quantity of the garbage such as sand, small paper scraps, dust and the like is large; and when X1, X2 and X3 are the same but different from X, large garbage is stuck in the dust suction port, and manual treatment is needed.

When the first detecting module 300 detects the garbage, the first control module 400 is configured to obtain the position information of the garbage in the working environment map, obtain the shortest path from the current position to the position of the garbage, and control the cleaning robot 1 to use a formula when the cleaning robot 1 reaches the position of the garbage

The constructed spiral path moves at a preset speed, wherein r is a and theta, r is a rotation radius, a is a spiral pitch, and theta is a rotation angle. In one embodiment, the first control module 400 is further configured to control the cleaning robot 1 to detect the waste in a preset time (e.g., 1 minute)The garbage is cleaned.

In this embodiment, the first control module 400 obtains the shortest path from the current position to the position of the garbage object through the a-Star algorithm, and controls the cleaning robot 1 to perform the following formula when the cleaning robot reaches the position of the garbage object

The spiral path is constructed, and the ground of the space is cleaned at the speed of 25cm/s, wherein r is 50cm, and theta is 20 degrees. Fig. 2 is a schematic view of the cleaning robot 1 cleaning the garbage in a spiral motion path. When the cleaning robot 1 cleans the garbage in this way, the cleaning robot can move for a plurality of times in the same area, and the garbage on the ground can be completely cleaned.

In an embodiment, the first detecting module 300 is further configured to detect the remaining power of the cleaning robot 1 at a predetermined frequency to determine whether a charging operation is required. For example, when the first detecting module 300 detects that the current remaining power of the cleaning robot is 10%, it indicates that the cleaning robot 1 needs to be charged in time.

In an embodiment, the first control module 400 is further configured to, when the cleaning robot 1 needs to be charged, obtain a shortest path from the current position of the cleaning robot 1 to the charging point through an a-Star algorithm, so as to reach the charging point according to the shortest path for charging.

The second control module 500 is configured to set the working power of the dust collection motor 40 to a first power when the first detection module 300 detects the garbage, and set the working power of the dust collection motor 40 to a second power when the first detection module 300 does not detect the garbage. For example, when the garbage is detected, the suction force of the dust suction motor is turned on to 100%; if not, the working power of the dust suction motor 40 is turned on to 20%. In another embodiment, the second control module 500 is further configured to adjust the working power of the vacuum motor 50 according to the detected amount of the garbage. For example, when the detected amount of the garbage is small, the suction force of the dust suction motor 50 is turned on to 80%, and when the amount of the garbage is large, the suction force of the dust suction motor 50 is turned on to 100%, so as to further reduce the power consumption of the cleaning robot 1.

Further, in the present embodiment, the cleaning robot 1 further includes a second detecting module 600, a determining module 700 and a notifying module 800. The following description will proceed with the cleaning robot of the present embodiment based on the above description.

The second detecting module 600 is configured to detect a temperature and a humidity value in the space and/or a content value of the gas in the air through the sensor 30 at a predetermined frequency, and send a detection result to the determining module 700. In the present embodiment, the sensor 30 includes: temperature and humidity sensor and gas sensor. The determining module 700 receives the detection results, compares the detection results with the normal range values of the corresponding parameter values, and determines whether a risk factor exists in the space according to the comparison results. For example, the second detecting module 600 detects the content values of formaldehyde gas and carbon monoxide in the air of the space through the gas sensor every 10 minutes, and sends the detected values to the determining module 700. The determining module 700 receives the detected value, and compares the detected value with the normal range of formaldehyde content in the air and the normal range of carbon monoxide content in the air, respectively, to determine whether the content of harmful gas in the air in the space exceeds the standard.

The notification module 800 is configured to send the detection result and the determination result to the connected electronic device when the determination module 700 determines that the risk factor exists in the space. In this embodiment, the cleaning robot 1 establishes a connection with the electronic device through a built-in WI-FI module, so as to send the detection result and the determination result to the electronic device through WI-FI. In this embodiment, the electronic device may be a home gateway, an intelligent router, or a handheld device of a user.

In one embodiment, the notification module 800 is further configured to obtain the detection data of the garbage from the first detection module 300, analyze the ground cleaning condition of the space according to the detection data, and send the cleaning condition to the electronic device.

FIG. 3 is a flowchart illustrating steps of a cleaning method according to an embodiment of the present invention. The environment monitoring method is applied to a cleaning robot.

Step S10, detecting the garbage around the cleaning robot by the sensor.

Step S12, judging whether there is rubbish according to the detection data, if yes, executing step S14; otherwise, execution continues with step S10.

And step S14, regulating and controlling the cleaning path of the cleaning robot.

And step S16, regulating and controlling the cleaning power of the cleaning robot.

And step S18, cleaning the garbage according to the regulated cleaning path and cleaning power.

FIG. 4 is a flowchart illustrating a cleaning method according to another embodiment of the present invention. The environment monitoring method is applied to a cleaning robot.

And step S30, acquiring the environmental characteristics of the space where the cleaning robot is located through a sensor, and constructing an environmental map of the space by using a synchronous positioning and map construction method.

Step S32, detecting the garbage around the cleaning robot by a sensor.

Step S34, judging whether there is rubbish according to the detection data, if yes, executing step S36; otherwise, step S38 is executed, and execution continues with step S32.

And step S36, setting the working power of a dust collection motor of the cleaning robot as a first preset power.

Step S38, setting the working power of the dust suction motor of the cleaning robot to a second preset power, where the second preset power is smaller than the first preset power.

And step S40, acquiring the position information of the junk on the environment map.

Step S42, a shortest path from the current position to the position of the refuse is acquired, and the shortest path is used as the cleaning path of the cleaning robot.

And step S44, judging whether the position of the garbage is reached, if so, executing step S46, otherwise, continuing to execute step S44.

Step S46 to

The spiral path constructed by the formula cleans the garbage.

FIG. 5 is a flowchart illustrating steps of an environment monitoring method according to an embodiment of the present invention. The environment monitoring method is applied to a cleaning robot.

Step S50, detecting the temperature and humidity and/or the gas content in the space where the cleaning robot is located through the temperature and humidity sensor and the gas sensor at a predetermined frequency.

Step S52, comparing the detected temperature and humidity values and the content value of the air with the corresponding preset value range, judging whether the space has danger factors, if yes, executing step S54; otherwise, execution continues with step S50.

Step S54, sending the detection result and the determination result to an electronic device connected to the cleaning robot.

The above embodiments are only intended to illustrate the technical solution of the present invention and not to limit the present invention, and although the present invention has been described in detail with reference to the preferred embodiments, it will be understood by those skilled in the art that modifications or equivalent substitutions may be made to the technical solution of the present invention without departing from the spirit and scope of the technical solution of the present invention.

Claims

1. A cleaning robot comprising a memory, a processor and computer program segments stored on the memory and executable on the processor, characterized in that the cleaning robot further comprises a sensor, the computer program segments realizing the following steps when executed by the processor:

acquiring environmental characteristics of a space where the cleaning robot is located through the sensor, and constructing an environmental map of the space by using a synchronous positioning and map construction method;

detecting whether garbage exists around the cleaning robot through the sensor;

when the junk is detected, acquiring the position information of the junk on the environment map;

acquiring a shortest path from the current position to the position of the junk;

using the shortest path as the cleaning path of the cleaning robot, and

the spiral path constructed by the formula cleans the garbage, wherein r is a, theta is a rotation radius, a is a rotation interval, and theta is a rotation angle;

regulating and controlling the cleaning path of the cleaning robot according to the detection result;

regulating and controlling the cleaning power of the cleaning robot according to the detection result; and

operating with the scavenge path and the scavenge power.

2. A cleaning robot as claimed in claim 1, characterized in that the cleaning robot further comprises a suction motor, the computer program segments, when executed by the processor, further realizing the steps of:

when the garbage is detected, the working power of the dust collection motor is set to be a first preset power; and

and when the garbage is not detected, setting the working power of the dust collection motor to be second preset power, wherein the first preset power is larger than the second preset power.

3. A cleaning robot as claimed in claim 2, characterized in that the computer program segments, when executed by the processor, further carry out the steps of:

when the garbage is detected, judging the garbage amount of the garbage; and

and regulating and controlling the working power of the dust collection motor according to the garbage amount.

4. A cleaning robot as claimed in claim 3, characterized in that the computer program segments, when executed by the processor, further carry out the steps of:

detecting the temperature, humidity and/or gas content in the space through the sensor; and

and judging whether the dangerous factors exist in the space according to the detection result, and sending the detection result and the judgment result to the electronic device.

5. The cleaning robot as claimed in any one of claims 1 to 4, wherein the sensor comprises: ultrasonic sensors, infrared sensors, laser rangefinders, gas sensors and/or temperature and humidity sensors.

6. A cleaning method applied to a cleaning robot, wherein the cleaning robot comprises a sensor, and the method comprises the following steps:

acquiring environmental characteristics in a space where the cleaning robot is located through the sensor, and constructing an environmental map of the space by using a synchronous positioning and map construction method;

detecting whether garbage exists around the cleaning robot through the sensor;

obtaining a shortest path from a current position to the position of the junk;

using the shortest path as the cleaning path of the cleaning robot, and

operating with the scavenge path and the scavenge power.

7. The cleaning method as set forth in claim 6, wherein the cleaning robot further includes a dust suction motor, the method further comprising the steps of:

8. The sweeping method as set forth in claim 7, further comprising the steps of:

when the garbage is detected, judging the garbage amount of the garbage; and

9. The sweeping method as set forth in claim 8, wherein the sensor includes: an ultrasonic sensor, an infrared sensor and/or a laser range finder.

10. An environment monitoring method applied to the cleaning robot as claimed in any one of claims 1 to 5, the method further comprising the steps of:

detecting the temperature, humidity and/or gas content in the space through a sensor at a preset frequency; and

11. A computer-readable storage medium, characterized in that the computer-readable storage medium has stored thereon computer program segments which, when executed, implement the method of any one of claims 6 to 9 and claim 10.