CN110613405A - Cleaning robot cleaning information display method, device and system and controller - Google Patents
Cleaning robot cleaning information display method, device and system and controller Download PDFInfo
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- CN110613405A CN110613405A CN201911039671.8A CN201911039671A CN110613405A CN 110613405 A CN110613405 A CN 110613405A CN 201911039671 A CN201911039671 A CN 201911039671A CN 110613405 A CN110613405 A CN 110613405A
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- cleaning
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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
Abstract
The application relates to a cleaning robot cleaning information display method, device, system and controller. Wherein, the method comprises the following steps: acquiring a cleaning coefficient of a cleaning position corresponding to a sampling point of the cleaning robot, wherein the cleaning coefficient is used for representing the cleaning amount of the cleaning robot at the cleaning position; acquiring color information corresponding to a cleaning coefficient of the cleaning position; and displaying the cleaning position and the color information corresponding to the cleaning position. The application solves the technical problems that the cleaning amount of the specific position in the target area cannot be determined and the cleaning efficiency is low.
Description
Technical Field
The application relates to the field of intelligent robots, in particular to a cleaning robot cleaning information display method, device, system and controller.
Background
With the development of artificial intelligence technology, the research and development of mobile robots are very rapid, and some service robots have gradually entered into people's daily life. Regardless of the type of robot, navigation positioning is required in a home or other environment as long as the robot moves autonomously.
The cleaning robot is one kind of intelligent household appliances, and can automatically finish floor cleaning work in a room by means of certain artificial intelligence. Generally, the floor cleaning machine adopts a brushing and vacuum mode, and firstly absorbs the impurities on the floor into the garbage storage box, so that the function of cleaning the floor is achieved. Generally, a robot that performs cleaning, dust collection, and floor cleaning is also collectively called a cleaning robot. The development direction of the cleaning robot is to achieve higher cleaning effect, higher cleaning efficiency and larger cleaning area due to higher artificial intelligence.
In recent years, mobile robots have been used in various industries, such as food delivery robots, AGV transfer robots, and cleaning robots. When the robot completes tasks, the robot moves back and forth in different working areas, the walking efficiency of the robot is a key factor for efficiently completing the tasks, and particularly, the cleaning robot is widely applied to family life.
At present, cleaning robots mainly include a roaming type cleaning robot and a planning type cleaning robot. In which a roaming type cleaning robot walks freely on the ground, resulting in repeatedly cleaning places, which are never cleaned. The planning type cleaning robot only plans the work subarea where the cleaning robot is located currently, and then cleans the work subareas one by one, so that the aim of cleaning the whole place is fulfilled.
In the prior art, in the cleaning process of a cleaning robot, the cleaning amount of each sub-area in a target working area cannot be determined, so that excessive cleaning of partial areas in the target working area and too little or missing cleaning of other partial areas are easily caused, the cleaning effect is not ideal, and the required cleaning effect cannot be achieved.
No effective solution has been proposed to the above technical problems.
Disclosure of Invention
The invention provides a method, a device, a system and a controller for displaying cleaning information of a cleaning robot, which at least solve the technical problems that the cleaning amount of a specific position in a target area cannot be determined and the cleaning efficiency is low.
According to an aspect of an embodiment of the present application, there is provided a method for displaying cleaning information of a cleaning robot, including: acquiring a cleaning coefficient of a cleaning position corresponding to a sampling point of the cleaning robot, wherein the cleaning coefficient is used for representing the cleaning amount of the cleaning robot at the cleaning position; acquiring color information corresponding to a cleaning coefficient of the cleaning position; and displaying the cleaning position and the color information corresponding to the cleaning position.
Optionally, acquiring a cleaning coefficient of the cleaning robot at a cleaning position corresponding to the sampling point includes: acquiring information on the number of cleaning repetitions of the cleaning robot at the cleaning position and information on a moving speed of the cleaning robot when passing the cleaning position; determining a cleaning coefficient based on the cleaning repetition number information and the moving speed information of the cleaning robot, wherein the cleaning coefficient is proportional to the cleaning amount at the cleaning position.
Optionally, the acquiring color information corresponding to the cleaning coefficient of the cleaning position includes: determining a value interval to which the cleaning coefficient belongs; and determining color information corresponding to the value-taking interval, and taking the color information corresponding to the value-taking interval as the color information corresponding to the cleaning coefficient.
Optionally, displaying the cleaning position and color information corresponding to the cleaning position includes: displaying a moving track of the cleaning robot and color information corresponding to the cleaning position and the cleaning position in the moving track in an electronic map; and filling the gradient into the moving track between the adjacent cleaning positions, and displaying the moving track after filling the gradient.
Optionally, before filling the gradient in the moving track between the adjacent sweeping positions, the method further comprises: judging whether the cleaning coefficients corresponding to the adjacent cleaning positions belong to the same value interval or not; and if the judgment result is negative, determining to trigger the filling of the gradient of the moving track between the adjacent cleaning positions.
Optionally, the method further comprises: and if so, determining to fill a specified color in the movement track between the adjacent cleaning positions, wherein the specified color is the color corresponding to any one of the adjacent cleaning positions.
Optionally, after displaying the cleaning position and the color information corresponding to the cleaning position, the method further includes: sending a control instruction to the cleaning robot, wherein the control instruction is used for controlling the cleaning robot to perform at least one of the following operations: and when the color information is a first color, controlling the cleaning robot to perform supplementary cleaning on the cleaning position corresponding to the first color.
According to an aspect of the present invention, there is provided a method for displaying cleaning information of a cleaning robot, including: acquiring a cleaning coefficient of a cleaning position corresponding to a sampling point of the cleaning robot, wherein the cleaning coefficient is used for representing the cleaning amount of the cleaning robot at the cleaning position; acquiring an element corresponding to the cleaning coefficient of the cleaning position, wherein the element is an element in a display interface; determining variation trend information between adjacent elements; and displaying the cleaning position, the element corresponding to the cleaning position and the change trend information.
According to an aspect of the present invention, there is provided a method for displaying cleaning information, including: acquiring a cleaning coefficient of a cleaning position corresponding to a sampling point of the cleaning robot, wherein the cleaning coefficient is used for representing the cleaning amount of the cleaning robot at the cleaning position; acquiring mark information corresponding to a cleaning coefficient of the cleaning position; and displaying the cleaning position and the mark information corresponding to the cleaning position.
Optionally, the sweeping coefficient comprises at least one of: a cleaning robot cleaning information coefficient, the marking information including at least one of: stripe density information, color information, dot set density information.
According to an aspect of the present invention, there is provided a display device for cleaning information of a cleaning robot, including: the cleaning device comprises an acquisition unit, a processing unit and a control unit, wherein the acquisition unit is used for acquiring a cleaning coefficient of a cleaning position corresponding to a sampling point of the cleaning robot, and the cleaning coefficient is used for representing the cleaning amount of the cleaning robot at the cleaning position; acquiring color information corresponding to a cleaning coefficient of the cleaning position; and the display unit is used for displaying the cleaning position and the color information corresponding to the cleaning position.
According to an aspect of the present invention, there is provided a display system of cleaning information of a cleaning robot, including: the cleaning robot is used for acquiring a cleaning coefficient of a cleaning position corresponding to a sampling point of the cleaning robot, representing the cleaning amount of the cleaning robot at the cleaning position and sending the cleaning coefficient to a terminal; the terminal is used for receiving the cleaning coefficient and acquiring color information corresponding to the cleaning coefficient of the cleaning position; and displaying the cleaning position and the color information corresponding to the cleaning position.
According to an aspect of the present invention, there is provided a controller for executing a program, wherein the program executes the method for displaying cleaning information of a cleaning robot or the method for displaying cleaning information.
The cleaning method comprises the steps of obtaining a cleaning coefficient of a cleaning position corresponding to a sampling point of the cleaning robot, wherein the cleaning coefficient is used for representing the cleaning amount of the cleaning robot at the cleaning position; acquiring color information corresponding to a cleaning coefficient of the cleaning position; and displaying the cleaning position and the color information corresponding to the cleaning position. The cleaning information visualization of the cleaning robot in the cleaning process is realized, the user can visually determine the cleaning condition of the cleaning robot in the cleaning process, and the cleaning position and the color information corresponding to the cleaning position are displayed, so that the user can visually and obviously see where to perform more cleaning, less cleaning or missing cleaning. If the scanning is performed for multiple times, the adjustment can be performed in time, and the efficiency is improved; if a missed or under-scan occurs, the user may re-plan the route for an over-scan at the first time. And then solved and to clear the volume of cleaning of specific position in the target area and confirm, clean the lower technical problem of efficiency.
Drawings
The accompanying drawings, which are included to provide a further understanding of the application and are incorporated in and constitute a part of this application, illustrate embodiment(s) of the application and together with the description serve to explain the application and not to limit the application. In the drawings:
fig. 1 is a schematic flowchart of a method for displaying cleaning information of a cleaning robot according to an embodiment of the present application;
FIG. 2a is a diagram of a moving track of the cleaning robot;
fig. 2b is a schematic diagram of the cleaning position of the cleaning robot in the moving track and the color information corresponding to the cleaning position;
fig. 3 is a schematic flow chart of another method for displaying cleaning information of a cleaning robot according to an embodiment of the present application;
fig. 4 is a flowchart illustrating a method for displaying cleaning information according to an embodiment of the present application;
fig. 5 is a schematic structural diagram of a device for displaying cleaning information of a cleaning robot according to an embodiment of the application;
fig. 6 is a schematic structural diagram of a display system for cleaning information of a cleaning robot according to an embodiment of the present application.
Detailed Description
In order to make the technical solutions better understood by those skilled in the art, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only partial embodiments of the present application, but not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.
It should be noted that the terms "first," "second," and the like in the description and claims of this application and in the drawings described above are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used is interchangeable under appropriate circumstances such that the embodiments of the application described herein are capable of operation in sequences other than those illustrated or described herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed, but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.
Fig. 1 is a flowchart illustrating a method for displaying cleaning information of a cleaning robot according to an embodiment of the present disclosure. As shown in fig. 1, the method comprises at least the following steps: step S102-step S106;
step S102, acquiring a cleaning coefficient of the cleaning robot at a cleaning position corresponding to a sampling point, wherein the cleaning coefficient is used for representing the cleaning amount of the cleaning robot at the cleaning position;
in an optional embodiment, the sampling point is a time period for acquiring a cleaning coefficient during the cleaning process of the cleaning robot; sweeping coefficients include, but are not limited to: a ratio of the number of sweeping repetitions to a moving speed of the cleaning robot; wherein, the larger the cleaning coefficient, the larger the cleaning amount of the cleaning robot at the cleaning position.
In step S104, color information corresponding to the cleaning coefficient of the cleaning position is acquired.
In an alternative embodiment, the corresponding relationship between the cleaning coefficient and the color information may be stored in advance, and different cleaning coefficients may correspond to different colors, or to different shades of the same color, for example, the cleaning coefficient may be expressed by color lightness.
And step S106, displaying the cleaning position and color information corresponding to the cleaning position.
In an alternative embodiment, the cleaning position is a position where the cleaning robot performs cleaning, the color information is related to a cleaning coefficient, the cleaning coefficient is related to a cleaning amount, and the color information corresponding to the cleaning position and the cleaning position is displayed, that is, the cleaning amount information of the cleaning position and the cleaning position is displayed.
The cleaning coefficient of the cleaning robot at the cleaning position corresponding to the sampling point can be obtained by the following method: acquiring information of cleaning repetition times of the cleaning robot at a cleaning position and information of moving speed of the cleaning robot when the cleaning robot passes the cleaning position; determining a cleaning coefficient based on the cleaning repetition number information and the moving speed information of the cleaning robot, wherein the cleaning coefficient is proportional to the cleaning amount at the cleaning position.
The color information corresponding to the cleaning coefficient of the cleaning position may be acquired by: determining a value interval to which the cleaning coefficient belongs; and determining color information corresponding to the value-taking interval, and taking the color information corresponding to the value-taking interval as the color information corresponding to the cleaning coefficient.
In an optional embodiment of the present application, after the value section to which the cleaning coefficient belongs is determined, before the color information corresponding to the value section is determined, the corresponding relationship between the cleaning coefficient and the color information needs to be preset, the cleaning coefficient may be set between 0 and 9, and when the cleaning coefficient is 0, the color information corresponding to the cleaning coefficient is set to be white; when the cleaning coefficient is 1-7, setting the corresponding color information as yellow; when the cleaning coefficient is 9, the color information corresponding to this is set to red.
The cleaning position and the color information corresponding to the cleaning position can be displayed in the following modes: displaying a moving track of the cleaning robot and color information corresponding to a cleaning position and the cleaning position in the moving track in an electronic map; and filling the gradient into the moving track between the adjacent cleaning positions, and displaying the moving track after filling the gradient.
For example: fig. 2a of fig. 2 is a moving track of the cleaning robot, and fig. 2b of fig. 2 is a cleaning position of the cleaning robot in the moving track, and color information corresponding to the cleaning position; in fig. 2B, the area a is an area with insufficient cleaning amount, the color is a1, the area B is an area with excessive cleaning amount, the color is B1, the color corresponding to the area C is a gradient color, the area D is an area with blank space in the track in fig. 2B, and the area is an area meeting the requirement of cleaning amount, and the color may be D1.
In an alternative embodiment of the present application, before filling the gradient in the moving track between adjacent sweeping positions, the following steps are also required: judging whether the cleaning coefficients corresponding to adjacent cleaning positions belong to the same value interval or not; and if the judgment result is negative, determining to trigger the filling of the gradient of the moving track between the adjacent cleaning positions. And if so, determining to fill a specified color in the movement track between the adjacent cleaning positions, wherein the specified color is the color corresponding to any one of the adjacent cleaning positions.
In some optional embodiments of the present application, the sweeping coefficient is set to range from 0 to 9, and different value intervals are set, for example: dividing the cleaning coefficient into 3 intervals, wherein the first interval is 0-3, the second interval is 4-7, and the third interval is 8-9; and setting the color corresponding to the first section to be red, the color corresponding to the second section to be green and the color corresponding to the third section to be blue. Before filling gradient colors into the moving track between the adjacent cleaning positions, when the cleaning coefficients corresponding to the adjacent cleaning positions are judged not to belong to the same value section, for example, when the cleaning coefficients of the adjacent first cleaning position and the adjacent second cleaning position are respectively 3 and 4, determining to trigger filling of the gradient colors between red and green into the moving track between the adjacent cleaning positions; and when the cleaning coefficients of the adjacent first cleaning position and the second cleaning position are both 4, determining that the moving track between the adjacent cleaning positions is filled with green.
After the cleaning position and the color information corresponding to the cleaning position are displayed, the following steps are also required to be executed:
step S1062, sending a control instruction to the cleaning robot, wherein the control instruction is used for controlling the cleaning robot to perform at least one of the following operations: and when the color information is the first color, controlling the cleaning robot to perform supplementary cleaning on the cleaning position corresponding to the first color.
In some optional embodiments of the present application, the first sweeping coefficient corresponding to the first color is smaller than the second sweeping coefficient corresponding to the second color. Wherein the cleaning amount corresponding to the first cleaning coefficient is insufficient for cleaning, and the cleaning amount corresponding to the second cleaning coefficient is excessive for cleaning.
According to the cleaning method and the cleaning device, the cleaning coefficient of the cleaning position corresponding to the sampling point of the cleaning robot is obtained, and the cleaning coefficient is used for representing the cleaning amount of the cleaning robot at the cleaning position; acquiring color information corresponding to a cleaning coefficient of a cleaning position; and displaying the cleaning position and the color information corresponding to the cleaning position. The cleaning amount of the cleaning robot in the cleaning process is visual, the cleaning condition of the cleaning robot in the cleaning process can be visually determined by a user, and the cleaning position and the color information corresponding to the cleaning position are displayed, so that the user can visually and obviously see where to perform more cleaning, less cleaning or missing cleaning. If a missed or under-scan occurs, the user may re-plan the route for an over-scan at the first time. And then solved and to clear the volume of cleaning of specific position in the target area and confirm, clean the lower technical problem of efficiency.
Fig. 3 is a flowchart illustrating a method for displaying cleaning information of a cleaning robot according to an embodiment of the present disclosure. As shown in fig. 3, the method comprises at least the following steps: step S302-step S308;
step S302, acquiring a cleaning coefficient of the cleaning robot at a cleaning position corresponding to a sampling point, wherein the cleaning coefficient is used for representing the cleaning amount of the cleaning robot at the cleaning position;
in an optional embodiment, the sampling point is a time period for acquiring a cleaning coefficient during the cleaning process of the cleaning robot; the cleaning coefficient is: the ratio of the number of cleaning repetitions to the speed of movement of the apparatus; wherein, the larger the cleaning coefficient is, the larger the cleaning amount of the cleaning robot at the cleaning position is.
Step S304, acquiring an element corresponding to the cleaning coefficient of the cleaning position, wherein the element is an element in the display interface.
In some optional embodiments of the present application, the element may include at least one of the following information: graphic information, color information, density information of the graphic.
In an alternative embodiment, the element is color information; the correspondence between the cleaning coefficient and the color information may be stored in advance, and different cleaning coefficients may correspond to different colors, or may correspond to different shades of the same color, and may be expressed by, for example, lightness of color.
In step S306, trend information between adjacent elements is determined.
In some optional embodiments of the present application, the trend information between adjacent elements may be color trend, graph trend, and graph density change information.
And step S308, displaying the cleaning position, elements corresponding to the cleaning position and the change trend information.
In an alternative embodiment, when the element is color information, the cleaning position is a position where the cleaning robot performs cleaning, the color information is related to a cleaning coefficient, the cleaning coefficient is related to a cleaning amount, color information corresponding to the cleaning position and the cleaning position is shown, and a trend of the color information, that is, the cleaning position and the cleaning amount information of the cleaning position are shown.
The cleaning coefficient of the cleaning robot at the cleaning position corresponding to the sampling point can be obtained by the following method: acquiring information of cleaning repetition times of the cleaning robot at a cleaning position and information of moving speed of the cleaning robot when the cleaning robot passes the cleaning position; determining a cleaning coefficient based on the cleaning repetition number information and the moving speed information of the cleaning robot, wherein the cleaning coefficient is proportional to the cleaning amount at the cleaning position.
The color information corresponding to the cleaning coefficient of the cleaning position may be acquired by: determining a value interval to which the cleaning coefficient belongs; and determining color information corresponding to the value-taking interval, and taking the color information corresponding to the value-taking interval as the color information corresponding to the cleaning coefficient.
In an optional embodiment of the present application, after the value section to which the cleaning coefficient belongs is determined, before the color information corresponding to the value section is determined, the corresponding relationship between the cleaning coefficient and the color information needs to be preset, the cleaning coefficient may be set between 0 and 9, and when the cleaning coefficient is 0, the color information corresponding to the cleaning coefficient is set to be white; when the cleaning coefficient is 1-7, setting the corresponding color information as yellow; when the cleaning coefficient is 9, the color information corresponding to this is set to red.
The cleaning position and the color information corresponding to the cleaning position can be displayed in the following modes: displaying a moving track of the cleaning robot and color information corresponding to a cleaning position and the cleaning position in the moving track in an electronic map; and filling the gradient into the moving track between the adjacent cleaning positions, and displaying the moving track after filling the gradient.
In an alternative embodiment of the present application, before filling the gradient in the moving track between adjacent sweeping positions, the following steps are also required: judging whether the cleaning coefficients corresponding to adjacent cleaning positions belong to the same value interval or not; and if the judgment result is negative, determining to trigger the filling of the gradient of the moving track between the adjacent cleaning positions. And if so, determining to fill a specified color in the movement track between the adjacent cleaning positions, wherein the specified color is the color corresponding to any one of the adjacent cleaning positions.
In some optional embodiments of the present application, the sweeping coefficient is set to range from 0 to 9, and different value intervals are set, for example: dividing the cleaning coefficient into 3 intervals, wherein the first interval is 0-3, the second interval is 4-7, and the third interval is 8-9; and setting the color corresponding to the first section to be red, the color corresponding to the second section to be green and the color corresponding to the third section to be blue. Before filling gradient colors into the moving track between the adjacent cleaning positions, when the cleaning coefficients corresponding to the adjacent cleaning positions are judged not to belong to the same value section, for example, when the cleaning coefficients of the adjacent first cleaning position and the adjacent second cleaning position are respectively 3 and 4, determining to trigger filling of the gradient colors between red and green into the moving track between the adjacent cleaning positions; and when the cleaning coefficients of the adjacent first cleaning position and the second cleaning position are both 4, determining that the moving track between the adjacent cleaning positions is filled with green.
After the cleaning position and the color information corresponding to the cleaning position are displayed, the following steps are also required to be executed:
step S3062, sending a control instruction to the cleaning robot, the control instruction being used for controlling the cleaning robot to perform at least one of the following operations: when the color information is a first color, controlling the cleaning robot to perform supplementary cleaning on the cleaning position corresponding to the first color; and when the color information is the second color, controlling the cleaning robot to sweep water to dilute at the cleaning position corresponding to the second color.
In some optional embodiments of the present application, the first sweeping coefficient corresponding to the first color is smaller than the second sweeping coefficient corresponding to the second color. Wherein the cleaning amount corresponding to the first cleaning coefficient is insufficient for cleaning, and the cleaning amount corresponding to the second cleaning coefficient is excessive for cleaning.
In an alternative embodiment of the present application, the control command is determined according to the comparison result as: when the target cleaning amount is larger than the cleaning amount corresponding to the cleaning coefficient, performing supplementary cleaning; when the target cleaning amount is larger than the cleaning amount corresponding to the cleaning coefficient, dilution cleaning is performed.
According to the cleaning method and the cleaning device, the cleaning coefficient of the cleaning position corresponding to the sampling point of the cleaning robot is obtained, and the cleaning coefficient is used for representing the cleaning amount of the cleaning robot at the cleaning position; acquiring an element corresponding to a cleaning coefficient of a cleaning position, wherein the element is an element in a display interface; determining variation trend information between adjacent elements; and displaying the cleaning position, elements corresponding to the cleaning position and the variation trend information. The medicine of cleaning robot in the cleaning process cleans visual has been realized, can make the user confirm cleaning robot directly perceivedly clean the condition in the cleaning process, cleans the colour information that the position corresponds through the show and clean the position, can see out directly perceivedly that can very obvious where to sweep more, sweep less or miss. If a missed or under-scan occurs, the user may re-plan the route for an over-scan at the first time. And then solved and to clear the volume of cleaning of specific position in the target area and confirm, clean the lower technical problem of efficiency.
Fig. 4 is a flowchart illustrating a method for displaying cleaning information according to an embodiment of the present application. As shown in fig. 4, the method comprises at least the following steps:
step S402, acquiring a cleaning coefficient of the cleaning robot at a cleaning position corresponding to a sampling point, wherein the cleaning coefficient is used for representing the cleaning amount of the cleaning robot at the cleaning position;
in an alternative embodiment of the present application, the sweeping coefficient includes at least one of: cleaning information coefficient of the cleaning robot and spreading cleaning coefficient of the solid spreading object;
in an optional embodiment, when the cleaning coefficient is a cleaning information coefficient of the cleaning robot, the sampling point is a period of acquiring the cleaning information coefficient of the cleaning robot during the cleaning process of the cleaning robot; the cleaning information coefficient of the cleaning robot is as follows: the ratio of the number of cleaning repetitions to the travel speed; wherein, the larger the cleaning information coefficient of the cleaning robot is, the larger the cleaning amount of the cleaning robot at the cleaning position is.
In step S404, mark information corresponding to the cleaning coefficient of the cleaning position is acquired.
The marking information includes at least one of: stripe density information, color information, dot set density information.
In an alternative embodiment, when the cleaning coefficient is a cleaning robot cleaning information coefficient, and when the marking information is color information, the corresponding relationship between the cleaning robot cleaning information coefficient and the color information may be stored in advance, and different cleaning robot cleaning information coefficients may correspond to different colors or different shades of the same color.
Step S406 is to display the cleaning position and the mark information corresponding to the cleaning position.
In an alternative embodiment, the cleaning position is a position where the cleaning robot performs cleaning, the marking information is related to a cleaning coefficient, the cleaning coefficient is related to a cleaning amount, and the marking information corresponding to the cleaning position and the cleaning position is displayed, that is, the cleaning amount information of the cleaning position and the cleaning position is displayed.
In some optional embodiments of the present application, when the cleaning coefficient is a cleaning robot cleaning information coefficient, the cleaning robot cleaning information coefficient of the cleaning robot at the cleaning position corresponding to the sampling point may be obtained by: acquiring information of cleaning repetition times of the cleaning robot at a cleaning position and information of moving speed of the cleaning robot when the cleaning robot passes the cleaning position; and determining a cleaning robot cleaning information coefficient based on the cleaning repetition number information and the moving speed information of the cleaning robot, wherein the cleaning robot cleaning information coefficient is in direct proportion to the cleaning amount of the cleaning position.
When the mark information is color information, color information corresponding to a cleaning information coefficient of the cleaning robot at the cleaning position is acquired and can be determined by the following method: determining a value range to which a cleaning information coefficient of the cleaning robot belongs; and determining color information corresponding to the value-taking interval, and taking the color information corresponding to the value-taking interval as color information corresponding to the cleaning information coefficient of the cleaning robot.
In an optional embodiment of the present application, after determining a value section to which a cleaning robot cleaning information coefficient belongs, before determining color information corresponding to the value section, a corresponding relationship between the cleaning robot cleaning information coefficient and the color information needs to be preset, the cleaning robot cleaning information coefficient may be set between 0 and 9, and when the cleaning robot cleaning information coefficient is 0, the color information corresponding to the cleaning robot cleaning information coefficient is set to be white; when the cleaning information coefficient of the cleaning robot is 1-7, setting the corresponding color information as yellow; when the cleaning robot cleaning information coefficient is 9, the color information corresponding thereto is set to red.
The cleaning position and the color information corresponding to the cleaning position can be displayed in the following modes: displaying a moving track of the cleaning robot and color information corresponding to a cleaning position and the cleaning position in the moving track in an electronic map; and filling the gradient into the moving track between the adjacent cleaning positions, and displaying the moving track after filling the gradient.
In an alternative embodiment of the present application, before filling the gradient in the moving track between adjacent sweeping positions, the following steps are also required: judging whether cleaning information coefficients of the cleaning robots corresponding to adjacent cleaning positions belong to the same value range or not; and if the judgment result is negative, determining to trigger the filling of the gradient of the moving track between the adjacent cleaning positions. And if so, determining to fill a specified color in the movement track between the adjacent cleaning positions, wherein the specified color is the color corresponding to any one of the adjacent cleaning positions.
In some optional embodiments of the present application, the cleaning robot cleaning information coefficient is set to range from 0 to 9, and different value intervals are set, for example: dividing the cleaning information coefficient of the cleaning robot into 3 intervals, wherein the first interval is 0-3, the second interval is 4-7, and the third interval is 8-9; and setting the color corresponding to the first section to be red, the color corresponding to the second section to be green and the color corresponding to the third section to be blue. Before filling gradient colors into the moving track between the adjacent cleaning positions, when judging that the cleaning robot cleaning information coefficients corresponding to the adjacent cleaning positions do not belong to the same value section, for example, when the cleaning robot cleaning information coefficients of the adjacent first cleaning position and the adjacent second cleaning position are respectively 3 and 4, determining to trigger filling of the moving track between the adjacent cleaning positions with the gradient colors between red and green; and when the cleaning robot cleaning information coefficients of the adjacent first cleaning position and the second cleaning position are both 4, determining that the moving track between the adjacent cleaning positions is filled with green.
After the cleaning position and the color information corresponding to the cleaning position are displayed, the following steps are also required to be executed:
step S4062, sending a control instruction to the cleaning robot, wherein the control instruction is used for controlling the cleaning robot to perform at least one of the following operations: when the color information is a first color, controlling the cleaning robot to perform supplementary cleaning on the cleaning position corresponding to the first color; and when the color information is the second color, controlling the cleaning robot to sweep water to dilute at the cleaning position corresponding to the second color.
In some optional embodiments of the present application, the first cleaning robot cleaning information coefficient corresponding to the first color is smaller than the second cleaning robot cleaning information coefficient corresponding to the second color. The cleaning amount corresponding to the first cleaning robot cleaning information coefficient is insufficient to clean, and the cleaning amount corresponding to the second cleaning robot cleaning information coefficient is excessive to clean.
In an alternative embodiment of the present application, the control command is determined according to the comparison result as: when the target cleaning amount is larger than the cleaning amount corresponding to the cleaning information coefficient of the cleaning robot, performing supplementary cleaning; when the target cleaning amount is larger than the cleaning amount corresponding to the cleaning robot cleaning information coefficient, diluted cleaning is performed.
According to the cleaning method and the cleaning device, the cleaning coefficient of the cleaning position corresponding to the sampling point of the cleaning robot is obtained, and the cleaning coefficient is used for representing the cleaning amount of the cleaning robot at the cleaning position; acquiring mark information corresponding to a cleaning coefficient of a cleaning position; and displaying the cleaning position and the mark information corresponding to the cleaning position. The cleaning robot has the advantages that the control equipment determines the cleaning parameters of the cleaning robot according to the collected garbage information and the garbage information through the receiving server, so that the control equipment controls the charging and the working of the cleaning robot, the time and the energy consumption when the cleaning robot is used are reduced, and the working efficiency of the cleaning robot is improved. And then solved and to clear the volume of cleaning of specific position in the target area and confirm, clean the lower technical problem of efficiency.
Fig. 5 is a schematic structural diagram of a device for displaying cleaning information of a cleaning robot according to an embodiment of the present application.
The acquiring unit 52 is used for acquiring a cleaning coefficient of the cleaning robot at a cleaning position corresponding to the sampling point, wherein the cleaning coefficient is used for representing the cleaning amount of the cleaning robot at the cleaning position; acquiring color information corresponding to a cleaning coefficient of a cleaning position;
and a display unit 54 for displaying the cleaning position and the color information corresponding to the cleaning position.
It should be noted that, reference may be made to the description related to the embodiment shown in fig. 1 for a preferred implementation of the embodiment shown in fig. 5, and details are not described here again.
Fig. 6 is a schematic structural diagram of a display system for cleaning information of a cleaning robot according to an embodiment of the present application.
The cleaning robot 62 is used for acquiring a cleaning coefficient of a cleaning position corresponding to a sampling point of the cleaning robot, representing the cleaning amount of the cleaning robot at the cleaning position, and sending the cleaning coefficient to a terminal;
a terminal 64, configured to receive the cleaning coefficient, and obtain color information corresponding to the cleaning coefficient of the cleaning position; and displaying the cleaning position and the color information corresponding to the cleaning position.
It should be noted that, reference may be made to the description related to the embodiment shown in fig. 1 and 2 for a preferred implementation of the embodiment shown in fig. 6, and details are not repeated here.
According to another aspect of the embodiments of the present application, there is also provided a storage medium, where the storage medium includes a stored program, and when the program runs, the apparatus where the storage medium is located is controlled to execute the method for displaying cleaning information of the cleaning robot or the method for displaying cleaning information of the cleaning robot.
According to another aspect of embodiments of the present application, there is provided a mobile device including: and a controller for executing a program, wherein the method for displaying cleaning information of the cleaning robot or the method for displaying cleaning information is executed when the program is executed.
The above-mentioned serial numbers of the embodiments of the present application are merely for description and do not represent the merits of the embodiments.
In the above embodiments of the present application, the descriptions of the respective embodiments have respective emphasis, and for parts that are not described in detail in a certain embodiment, reference may be made to related descriptions of other embodiments.
In the embodiments provided in the present application, it should be understood that the disclosed technology can be implemented in other ways. The above-described embodiments of the apparatus are merely illustrative, and for example, a division of a unit may be a division of a logic function, and an actual implementation may have another division, for example, a plurality of units or components may be combined or may be integrated into another system, or some features may be omitted, or may not be executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection through some interfaces, units or modules, and may be in an electrical or other form.
The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.
In addition, functional units in the embodiments of the present application may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit. The integrated unit can be realized in a form of hardware, and can also be realized in a form of a software functional unit.
The integrated unit, if implemented in the form of a software functional unit and sold or used as a stand-alone product, may be stored in a computer readable storage medium. Based on such understanding, the technical solution of the present application may be substantially implemented or contributed to by the prior art, or all or part of the technical solution may be embodied in a software product, which is stored in a storage medium and includes instructions for causing a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the steps of the method of the embodiments of the present application. And the aforementioned storage medium includes: a U-disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a removable hard disk, a magnetic or optical disk, and other various media capable of storing program codes.
The foregoing is only a preferred embodiment of the present application and it should be noted that those skilled in the art can make several improvements and modifications without departing from the principle of the present application, and these improvements and modifications should also be considered as the protection scope of the present application.
Claims (11)
1. A cleaning robot cleaning information display method is characterized by comprising the following steps:
acquiring information on the number of cleaning repetitions of the cleaning robot at the cleaning position and information on a moving speed of the cleaning robot when passing the cleaning position;
determining a sweeping coefficient for representing a sweeping amount of the cleaning robot at the sweeping position based on the sweeping repetition number information and the moving speed information of the cleaning robot, wherein the sweeping coefficient is in direct proportion to the sweeping amount at the sweeping position;
acquiring color information corresponding to a cleaning coefficient of the cleaning position;
and displaying the cleaning position and the color information corresponding to the cleaning position.
2. The method according to claim 1, wherein acquiring color information corresponding to a cleaning coefficient of the cleaning position includes:
determining a value interval to which the cleaning coefficient belongs;
and determining color information corresponding to the value-taking interval, and taking the color information corresponding to the value-taking interval as the color information corresponding to the cleaning coefficient.
3. The method of claim 1, wherein displaying the cleaning position and color information corresponding to the cleaning position comprises:
displaying a moving track of the cleaning robot and color information corresponding to the cleaning position and the cleaning position in the moving track in an electronic map;
and filling the gradient into the moving track between the adjacent cleaning positions, and displaying the moving track after filling the gradient.
4. The method of claim 3, wherein prior to filling in the gradient of the movement trajectory between adjacent sweeping positions, the method further comprises:
judging whether the cleaning coefficients corresponding to the adjacent cleaning positions belong to the same value interval or not;
and if the judgment result is negative, determining to trigger the filling of the gradient of the moving track between the adjacent cleaning positions.
5. The method of claim 4, further comprising:
and if so, determining to fill a specified color in the movement track between the adjacent cleaning positions, wherein the specified color is the color corresponding to any one of the adjacent cleaning positions.
6. The method according to claim 1, wherein after displaying the cleaning position and the color information corresponding to the cleaning position, the method further comprises:
sending a control instruction to the cleaning robot, wherein the control instruction is used for controlling the cleaning robot to perform at least one of the following operations:
and when the color information is a first color, controlling the cleaning robot to perform supplementary cleaning on the cleaning position corresponding to the first color.
7. A cleaning robot cleaning information display method is characterized by comprising the following steps:
acquiring a cleaning coefficient of a cleaning position corresponding to a sampling point of the cleaning robot, wherein the cleaning coefficient is used for representing the cleaning amount of the cleaning robot at the cleaning position;
acquiring an element corresponding to the cleaning coefficient of the cleaning position, wherein the element is an element in a display interface;
determining variation trend information between adjacent elements;
and displaying the cleaning position, the element corresponding to the cleaning position and the change trend information.
8. A cleaning robot cleaning information display method is characterized by comprising the following steps:
acquiring a cleaning coefficient of a cleaning position corresponding to a sampling point of the cleaning robot, wherein the cleaning coefficient is used for representing the cleaning amount of the cleaning robot at the cleaning position;
acquiring mark information corresponding to a cleaning coefficient of the cleaning position;
and displaying the cleaning position and the mark information corresponding to the cleaning position.
9. A cleaning robot cleans display device of information which characterized in that includes:
the cleaning device comprises an acquisition unit, a processing unit and a control unit, wherein the acquisition unit is used for acquiring a cleaning coefficient of a cleaning position corresponding to a sampling point of the cleaning robot, and the cleaning coefficient is used for representing the cleaning amount of the cleaning robot at the cleaning position; acquiring color information corresponding to a cleaning coefficient of the cleaning position;
and the display unit is used for displaying the cleaning position and the color information corresponding to the cleaning position.
10. A cleaning robot cleans display system of information which characterized in that includes:
the cleaning robot is used for acquiring a cleaning coefficient of a cleaning position corresponding to a sampling point of the cleaning robot, representing the cleaning amount of the cleaning robot at the cleaning position and sending the cleaning coefficient to a terminal;
the terminal is used for receiving the cleaning coefficient and acquiring color information corresponding to the cleaning coefficient of the cleaning position; and displaying the cleaning position and the color information corresponding to the cleaning position.
11. A controller for executing a program, wherein the program executes a method of displaying cleaning robot cleaning information according to any one of claims 1 to 6 or 7, or a method of displaying cleaning robot cleaning information according to claim 8.
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| CN201911039671.8A CN110613405A (en) | 2019-10-29 | 2019-10-29 | Cleaning robot cleaning information display method, device and system and controller |
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| CN201911039671.8A CN110613405A (en) | 2019-10-29 | 2019-10-29 | Cleaning robot cleaning information display method, device and system and controller |
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