CN111000498B - Sweeping robot, and method, device and storage medium for setting sweeping area of sweeping robot - Google Patents
Sweeping robot, and method, device and storage medium for setting sweeping area of sweeping robot Download PDFInfo
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- CN111000498B CN111000498B CN201911342698.4A CN201911342698A CN111000498B CN 111000498 B CN111000498 B CN 111000498B CN 201911342698 A CN201911342698 A CN 201911342698A CN 111000498 B CN111000498 B CN 111000498B
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- setting
- sweeping
- 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 invention provides a sweeping robot and a setting method, a setting device and a storage medium of a sweeping area of the sweeping robot, wherein the method comprises the following steps: setting a cleaning area; judging whether a first set object exists in the cleaning area at a first moment; if so, positioning the position of the first set object; setting a temporary forbidden zone of the sweeping robot by taking the position of the first set object as a reference; and cleaning other areas except the temporary forbidden area in the cleaning area. The invention has the beneficial effects that: through the mode of setting up interim forbidden area for the robot of sweeping the floor, make the robot of sweeping the floor when guaranteeing to accomplish the task of sweeping the floor, can make the robot of sweeping the floor again and dodge old man and child, reach and reduce the risk that old man and child were stumbled to the potential safety hazard that the robot of sweeping the floor brought has been reduced.
Description
Technical Field
The invention relates to the field of sweeping robots, in particular to a sweeping robot, a method and a device for setting a sweeping area of the sweeping robot, and a storage medium.
Background
The sweeping robot in the current market has no corresponding protective measures when meeting the old and children in the sweeping process, certain potential safety hazards exist, and the old and children are easily tripped by the sweeping machine in the sweeping state. Therefore, it is necessary to set the cleaning area of the cleaning robot.
Disclosure of Invention
The invention mainly aims to provide a sweeping robot, a setting method and a setting device of a sweeping area of the sweeping robot, and a storage medium, and aims to solve the technical problem that old people and children are stumbled by the sweeping robot.
The invention provides a method for setting a cleaning area of a sweeping robot, which comprises the following steps:
setting a cleaning area;
judging whether a first set object exists in the cleaning area at a first moment;
if so, positioning the position of the first set object;
setting a temporary forbidden zone of the sweeping robot by taking the position of the first set object as a reference;
and cleaning other areas except the temporary forbidden area in the cleaning area.
Further, after the step of setting the temporary forbidden zone of the cleaning robot with the position of the first setting object as a reference, the method further includes:
detecting a position of the first setting object at a second time;
judging whether the position of the first set object at the second moment is the same as the position of the first moment or not;
and if not, canceling the temporary forbidden zone set at the first moment, and resetting the temporary forbidden zone according to the position of the first set object detected at the second moment.
Further, the step of cleaning the other areas except for the temporary forbidden area in the cleaning area further includes:
when the other areas are cleaned, detecting whether the first set object exists in the temporary forbidden zone;
and if not, cleaning the temporary forbidden zone.
Further, the step of determining whether a first setting object exists in the cleaning region at the first time includes:
dividing a first preset range in the cleaning area;
and detecting whether a first setting object exists in the first preset range.
Further, before the step of detecting whether the first setting object exists within the first preset range, the method includes:
dividing the sweeping area into a plurality of sweeping areas;
and detecting whether a first set object exists in a first preset range by taking one of the sweeping areas as a reference.
Further, after the step of detecting whether a first setting object exists within a first preset range with reference to one of the sweeping areas in the sweeping area, the method further includes:
analyzing the action of the first set object;
dynamically predicting the advancing direction of the first set object according to the analysis result;
and setting the cleaning sequence of the plurality of sweeping areas according to the dynamic prediction condition.
Further, after the step of dividing the cleaning area into a plurality of sweeping areas, the method includes:
dividing the plurality of sweeping areas into sweeping areas with different grades according to the appearing time length and/or the appearing times of the first set object;
and carrying out priority arrangement on a plurality of sweeping areas in the sweeping sequence according to different grades of division.
Further, the step of setting the cleaning area further includes:
detecting whether a second set object exists in the cleaning area;
if the first set object is in the danger forbidden zone, setting a first set object danger forbidden zone by taking the second set object as a reference;
detecting whether a first set object exists in the first set object danger forbidden zone or not;
if yes, sending a prompt to the first set object;
the second set object is an object causing potential safety hazard to the first set object.
Further, after the step of locating the position of the first setting object, the method further includes:
setting a cleaning stop area with the first setting object as a reference;
and when the sweeping robot is in the cleaning stopping area, stopping the cleaning operation of the sweeping robot.
The invention also provides a setting device of the cleaning area, which comprises:
the cleaning area setting module is used for setting a cleaning area;
the first set object judgment module is used for judging whether a first set object exists in the cleaning area at a first moment;
a first setting object positioning module for positioning a position of a first setting object if the first setting object exists in the cleaning area;
the temporary forbidden zone setting module is used for setting a temporary forbidden zone of the sweeping robot by taking the position of the first set object as a reference;
and the cleaning module is used for cleaning other areas except the temporary area in the cleaning area.
An embodiment of the present application further provides a storage medium, on which a computer program is stored, and the computer program, when executed by a processor, implements the steps of the method described in any one of the above.
The embodiment of the application further provides a sweeping robot, which comprises a processor, a memory and a computer program which is stored in the memory and can run on the processor, wherein the processor implements the steps of the method when executing the computer program.
The invention has the beneficial effects that: through the mode of setting up interim forbidden area for the robot of sweeping the floor, make the robot of sweeping the floor when guaranteeing to accomplish the task of sweeping the floor, can make the robot of sweeping the floor again and dodge old man and child, reach and reduce the risk that old man and child were stumbled to the potential safety hazard that the robot of sweeping the floor brought has been reduced.
Drawings
Fig. 1 is a schematic flow chart of an embodiment of a method for setting a cleaning area of a cleaning robot according to the present invention;
fig. 2 is a partial flowchart of the step S2 of the method for setting the cleaning area of the cleaning robot according to the present invention;
FIG. 3 is a block diagram showing an embodiment of a cleaning area setting device according to the present invention;
fig. 4 is a block diagram showing a configuration of a first setting target judgment module in the cleaning area setting device according to the present invention;
fig. 5 is a block diagram showing a cleaning sequence setting submodule in the cleaning area setting device of the present invention;
FIG. 6 is a block diagram of a storage medium according to an embodiment of the present invention;
fig. 7 is a block diagram of a sweeping robot according to an embodiment of the present invention.
The implementation, functional features and advantages of the objects of the present invention will be further explained with reference to the accompanying drawings.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the 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 invention.
It should be noted that all directional indicators (such as up, down, left, right, front, back, etc.) in the embodiments of the present invention are only used to explain the relative position relationship between the components, the motion situation, etc. in a specific posture (as shown in the drawings), and if the specific posture is changed, the directional indicator is changed accordingly, and the connection may be a direct connection or an indirect connection.
The term "and/or" herein is merely an association describing an associated object, meaning that three relationships may exist, e.g., a and B, may mean: a exists alone, A and B exist simultaneously, and B exists alone.
In addition, the descriptions related to "first", "second", etc. in the present invention are only for descriptive purposes and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In addition, technical solutions between various embodiments may be combined with each other, but must be realized by a person skilled in the art, and when the technical solutions are contradictory or cannot be realized, such a combination should not be considered to exist, and is not within the protection scope of the present invention.
Referring to fig. 1, the present invention provides a method for setting a cleaning area of a cleaning robot, including:
s1: setting a cleaning area;
s2: judging whether a first set object exists in the cleaning area at a first moment;
s3: if so, positioning the position of the first set object;
s4: setting a temporary forbidden zone of the sweeping robot by taking the position of the first set object as a reference;
s5: and cleaning other areas except the temporary forbidden area in the cleaning area.
As described in step S1, the area to be cleaned may be set by human input, or by intelligent setting after collecting the surrounding information by the camera on the robot.
As described in the step S2, at the first time, that is, when the sweeping robot starts sweeping the floor, it is determined whether a first set object exists in the sweeping area, where the first set object is generally an old person or a child, or other persons or pets, preferably an old person or a child, because these two weak people are easily stumbled by the sweeping machine and have a certain safety hazard, it is determined that the first set object can be facial-captured by a camera disposed on the sweeping robot, a picture is transmitted to the server through the data transmission module for recognition, the server sends the recognition result back to the sweeping machine through the data transmission module, and in addition, the height can be detected by the height detection module, where the height of the first set object is recorded into the system in advance, the height of the target can be directly detected, and voice information can be collected by the voice collection module (generally a microphone), and then extracting voiceprint information in the sound of the first set object through the voice processing module, further extracting characteristic information for judgment, comparing the voiceprint information with the database, judging whether the voiceprint information is the voiceprint information of the first set object, and similarly, entering the voiceprint information of the first set object in the database in advance to improve the recognition speed, thereby achieving the functions of assisting the face recognition module and improving the judgment accuracy.
As described in step S3, if the first setting object exists in the cleaning area, the first setting object may be located and the coordinate origin may be determined by a coordinate locating method, for example: the current position of the sweeping robot can be used as a coordinate origin, then the abscissa and the ordinate of the set position are measured through the image acquired by the camera, preferably, a certain point of a room is used as the coordinate origin, the coordinate system is adopted in the subsequent process, and the operation cost can be reduced.
As described in step S4, the first temporary exclusion zone may be set based on the first setting object, and the temporary exclusion zone may be set as a circular area with the first setting object as the center and the setting distance as the radius, or as a rectangular area with the setting object as the center and the set length, width and diagonal directions, where the rectangular area should include as many places where the first setting object frequently moves as possible, and the places where the first setting object frequently moves may be obtained by performing data statistics after performing shooting a plurality of times by a camera.
As described in step S5, in order to ensure the safety of the first setting object and the cleaning robot itself, the cleaning of the other areas except the temporary exclusion area should be prioritized.
In this embodiment, after the step S4, the method further includes:
s501: detecting a position of the first setting object at a second time;
s502: judging whether the position of the first set object at the second moment is the same as the position of the first moment or not;
s503: and if not, canceling the temporary forbidden zone set at the first moment, and resetting the temporary forbidden zone according to the position of the first set object detected at the second moment.
As described in step S501, since the first setting object is a movable object, the position of the first setting object should be detected again after a certain time interval, that is, at the second time, the time difference between the second time and the first time is set in advance, so that the first setting object can be periodically detected.
As described in the above steps S502 to S503, if the position of the first setting object is changed, the previously set temporary forbidden zone is cancelled, the temporary forbidden zone is reset according to the position of the first setting object detected at the next time, the temporary forbidden zone is updated in real time, and the cleaning area is cleaned.
In this embodiment, after the step S5, the method further includes:
s6: when the other areas are cleaned, detecting whether the first set object exists in the temporary forbidden zone;
s7: and if not, cleaning the temporary forbidden zone.
As described in the above steps S6-S7, after the other area is cleaned, it is detected whether or not the first setting object is still in the temporary exclusion area, in which case the first setting object does not move at a certain position. When the other areas are cleaned, the temporary forbidden zone is monitored, in one embodiment, if the first set object still exists in the temporary forbidden zone, the first set object can be reminded through voice, and after the first set object leaves, the current temporary forbidden zone is removed for cleaning.
In this embodiment, the step S2 includes:
s201: dividing a first preset range in the cleaning area;
s202: and detecting whether a first setting object exists in the first preset range.
As described in the foregoing steps S201 to S202, since the cleaning area is detected by the camera of the sweeping robot, the detection range is limited, and in order to save the time and cost for identification, it is preferable to perform detection within the first preset range, and in implementation, for example, the captured image may include a cleaning area outside the first preset range, but only the cleaning area within the first preset range needs to be detected during the identification process. The setting method of the first preset range is not limited, and the first preset range may be an area to be cleaned in a next certain time of the sweeping robot, or an area within a certain range of the forward direction of the sweeping robot.
Referring to fig. 2, in this embodiment, before the step S202, the method includes:
s2001: dividing the sweeping area into a plurality of sweeping areas;
s2002: and detecting whether a first set object exists in a second preset range by taking one of the sweeping areas in the sweeping areas as a reference.
As described in steps S2001 to S2002, the cleaning area may be divided in advance to obtain a plurality of sweeping areas in order to better detect the cleaning area. When one of the sweeping areas needs to be swept, whether a first set object exists or not is detected in a first preset range by taking the sweeping area as a reference during detection, the sweeping area can be guaranteed to be normally swept, other sweeping areas do not need to be searched, repeated searching of the sweeping area can be effectively avoided, the searching efficiency is improved, it needs to be explained that the first preset range is large enough, for example, a certain distance can be outwards extended by the edge of the area to serve as the first preset range, when the current sweeping area is avoided to be swept, the first set object does not exist at the edge of the adjacent sweeping area, and therefore potential safety hazards are brought.
Referring to fig. 2, in the present embodiment, after step S2002, the method further includes:
s2003: analyzing the action of the first set object;
s2004: dynamically predicting the advancing direction of the first set object according to the analysis result;
s2005: and setting the cleaning sequence of the plurality of sweeping areas according to the dynamic prediction condition.
As described in step S2003, after the camera captures the pictures of the first setting object (generally, multiple pictures taken continuously), the motion of the first setting object is analyzed, and the analysis process may be to send the pictures to a server, where the server analyzes the posture and the field environment of the human body by combining the big data.
As described in the foregoing steps S2004-S2005, the direction of the first set object moving forward is dynamically predicted according to the analysis result, the direction of the first set object moving forward, the motion of the first set object moving forward is determined, and then the sequence of cleaning the plurality of cleaning areas is intelligently set according to the dynamic prediction, for example, the distance to the first set object can be detected at any time, if the position of the first set object does not move or the moving distance is not large, the first set object can be cleaned around the first set object, and when the first set object moves, the direction of the first set object moving forward is dynamically predicted, so that the cleaning robot can be effectively prevented from meeting the first set object or being in a temporary restricted zone of the cleaning robot, and the place where the first set object has passed or where other first set objects are not dynamically predicted to pass can be cleaned preferentially.
In another embodiment, after the step S2001, the method further includes:
s2015: dividing the plurality of sweeping areas into sweeping areas with different grades according to the appearing time length and/or the appearing times of the first set object;
s2025: and carrying out priority arrangement on a plurality of sweeping areas in the sweeping sequence according to different grades of division.
As described in the foregoing steps S2015-S2025, after the sweeper works frequently, the sweeping regions of different levels may be divided according to the occurrence duration and/or frequency of the first setting object in each region, and if the occurrence duration and/or frequency of the first setting object in a sweeping region are longer and/or more, priority may be set for the first setting object, where the priority setting does not refer to sweeping the sweeping region with longer occurrence duration and/or frequency, but when a plurality of sweeping regions are sorted, the position of the first setting object, the positional relationship of the sweeping regions, and the occurrence duration and/or frequency of the first setting object in the sweeping regions are comprehensively considered, and when the distance from the first setting object is the same, the sweeping region with longer occurrence duration and/or frequency is preferentially swept, after the subsequent other areas are cleaned, the first set object is prevented from existing in the sweeping area where the first set object is likely to appear, and therefore the sweeping area with high priority is preferably cleaned.
In this embodiment, after the step S1, the method further includes:
s211: detecting whether a second set object exists in the cleaning area;
s212: if the first set object is in the danger forbidden zone, setting a first set object danger forbidden zone by taking the second set object as a reference;
s213: detecting whether a first set object exists in the first set object danger forbidden zone or not;
s214: if yes, sending a prompt to the first set object;
the second set object is an object causing potential safety hazard to the first set object.
As described in step S211, it is detected whether a second setting object exists in the cleaning area, where the second setting object is generally a water stain, and the source of the water stain may be water that is not splashed by family members, or water that flows out of a water tank of the floor sweeping robot in the floor mopping mode, and the detection method may be performed by using a temperature and humidity sensor.
As described in step S212, the first setting target no-risk zone is set based on the position of the second setting target, and the range of the first setting target no-risk zone can be set according to the edge of the second setting target, specifically, the second setting target takes the water stain as an example, assuming that the edge of the water stain forms an irregular shape, and the edge of the water stain can extend outward by 10cm to serve as the first setting target no-risk zone.
As described in the above steps S213-S214, if the first setting object is detected in the first setting object no-risk zone, which indicates that the first setting object may step on the water spot and slip, the first setting object is reminded,
in this embodiment, after the step S3, the method further includes:
s401: setting a cleaning stop area with the first setting object as a reference;
s402: and when the sweeping robot is in the cleaning stopping area, stopping the cleaning operation of the sweeping robot.
As described in the foregoing steps S401 to S402, when the first setting object is close to the sweeping robot, for example, a coordinate positioning method may be adopted to position the first setting object, a region with a position point where the first setting object is located as a center of a circle and a set distance as a radius is set as a cleaning stopping region, if the sweeping robot is in the cleaning stopping region, the cleaning operation of the sweeping robot is immediately stopped, in another embodiment, the sweeping robot may also move to a position far from the first setting object, and if the sweeping robot is in a corner, the sweeping operation may be directly stopped, and a voice prompt is sent. The method for judging the current corner can be as follows: if the wall body is detected after the sweeper rotates 90 degrees leftwards or rightwards, and the wall body is detected again after the sweeper rotates 180 degrees reversely, the sweeper is judged to be in the corner at the moment.
Referring to fig. 3, the present invention also provides a cleaning area setting apparatus, including:
a cleaning area setting module 10 for setting a cleaning area;
a first set object determining module 20, configured to determine whether a first set object exists in the cleaning area at a first time;
a first setting object positioning module 30 configured to position a first setting object if the first setting object exists in the cleaning area;
a temporary forbidden zone setting module 40, configured to set a temporary forbidden zone of the floor sweeping robot based on the position of the first set object;
and the cleaning module 50 is used for cleaning other areas except the temporary area in the cleaning area.
The area to be cleaned is set by the cleaning area setting module 10, and the setting can be manually input or intelligently set after the peripheral information is collected by a camera on the sweeping robot.
The first set object judging module 20 judges whether a first set object exists in a cleaning area at a first moment, namely when the cleaning robot starts cleaning the floor, the first set object is generally an old person or a child, and can also be other persons, pets and the like, preferably the old person and the child, because the two weak people are easily stumbled by the cleaning machine and have certain potential safety hazards, the judgment can carry out face acquisition on the first set object through a camera arranged on the cleaning robot, a picture is transmitted to the server through the data transmission module for identification, the server sends the identification result back to the cleaning machine through the data transmission module, in addition, the height can be detected through the height detection module, wherein the height of the first set object is recorded into the system in advance, the height of a target can be directly detected, and voice information can be acquired through the voice acquisition module (generally a microphone), and then extracting voiceprint information in the sound of the first set object through the voice processing module, further extracting characteristic information for judgment, comparing the voiceprint information with the database, judging whether the voiceprint information is the voiceprint information of the first set object, and similarly, entering the voiceprint information of the first set object in the database in advance to improve the recognition speed, thereby achieving the functions of assisting the face recognition module and improving the judgment accuracy.
If the first setting object exists in the cleaning area, the first setting object is located by the first setting object locating module 30, and the coordinate origin may be determined by a coordinate locating method, for example: the current position of the sweeping robot can be used as a coordinate origin, then the abscissa and the ordinate of the set position are measured through the image acquired by the camera, preferably, a certain point of a room is used as the coordinate origin, the coordinate system is adopted in the subsequent process, and the operation cost can be reduced.
The temporary forbidden zone setting module 40 sets a first temporary forbidden zone with a first set object as a reference, and the temporary forbidden zone setting method may be a circular zone with a set distance as a radius and with the first set object as a center, or a rectangular zone with a set length, a set width and a set diagonal direction and with the set object as a center, wherein the rectangular zone should include as many places where the first set object frequently moves as possible, and the places where the first set object frequently moves can be obtained by performing data statistics after shooting for multiple times by a camera.
In order to ensure the safety of the first setting object and the sweeping robot, the other areas except the temporary forbidden area should be preferentially swept by the sweeping module 50.
In this embodiment, the device for setting a cleaning region further includes:
the first setting object position detection module is used for detecting the position of the first setting object at a second moment;
a first setting object position judging module, configured to judge whether the position of the first setting object at the second time is the same as the position at the first time;
and the temporary forbidden zone position resetting module is used for canceling the temporary forbidden zone set at the first moment and resetting the temporary forbidden zone according to the position of the first set object detected at the second moment when the position of the first set object at the second moment is different from the position of the first moment.
In the first setting object position detecting module, since the first setting object is a movable object, the position of the first setting object should be detected again after a certain time interval, that is, at a second time, wherein a time difference between the second time and the first time is set in advance, so that the first setting object can be periodically detected.
The position of the first set object is detected through the first set object position judging module, if the position of the first set object is changed, the temporary forbidden zone set before is cancelled through the temporary forbidden zone position resetting module, the temporary forbidden zone is reset according to the position of the first set object detected at the next time, the temporary forbidden zone is updated in real time, and the cleaning area is cleaned.
In this embodiment, the device for setting a cleaning region further includes:
the first set object danger forbidden zone detection module is used for detecting whether the first set object exists in the temporary forbidden zone or not when the other zones are cleaned;
the temporary forbidden region supplementary sweeping module: and if the first set object does not exist, cleaning the temporary forbidden zone.
As described in the above steps S6-S7, after the other area is cleaned, it is detected whether or not the first setting object is still in the temporary exclusion area, in which case the first setting object does not move at a certain position. When the other areas are cleaned, the temporary forbidden zone is monitored, in one embodiment, if the first set object still exists in the temporary forbidden zone, the first set object can be reminded through voice, and after the first set object leaves, the current temporary forbidden zone is removed for cleaning.
In this embodiment, the first setting object determining module 20 includes:
a first preset range division module: the sweeping area is used for dividing a first preset range;
a first setting target detection sub-module: and detecting whether a first setting object exists in the first preset range.
Since the cleaning area is detected by the camera of the sweeping robot, the detection range is limited, and in order to save the time and cost for identification, it is preferable to detect the cleaning area by the first set object detection submodule within the first preset range. The setting method of the first preset range is not limited, and the first preset range may be an area to be cleaned in a next certain time of the sweeping robot, or an area within a certain range of the forward direction of the sweeping robot.
In this embodiment, referring to fig. 4, the first setting object determining module 20 further includes:
the sweeping area dividing submodule 21 is configured to divide the sweeping area into a plurality of sweeping areas;
the second preset range detection module 22 is configured to detect whether a first setting object exists in a second preset range with one of the sweeping areas as a reference.
In order to better detect the cleaning area, the cleaning area can be divided in advance to obtain a plurality of sweeping areas. When one of the sweeping areas needs to be swept, whether a first set object exists or not is detected in a first preset range by taking the sweeping area as a reference during detection, the sweeping area can be guaranteed to be normally swept, other sweeping areas do not need to be searched, repeated searching of the sweeping area can be effectively avoided, the searching efficiency is improved, it needs to be explained that the first preset range is large enough, for example, a certain distance can be outwards extended by the edge of the area to serve as the first preset range, when the current sweeping area is avoided to be swept, the first set object does not exist at the edge of the adjacent sweeping area, and therefore potential safety hazards are brought.
In this embodiment, the first setting object determining module 20 further includes:
an action analysis sub-module 23 for analyzing the action of the first setting target;
a dynamic prediction submodule 24 configured to dynamically predict a direction of advance of the first setting target according to an analysis result;
and the cleaning sequence setting submodule 25 is used for setting the cleaning sequence of the plurality of sweeping areas according to the dynamic prediction condition.
The motion analysis sub-module 23 is configured to analyze the motion of the first set object (generally, multiple pictures continuously shot) after the pictures of the first set object are collected by the camera, where the analysis process may be sending the pictures to a server, and the server analyzes the posture and the field environment of the human body by combining big data.
The motion simulation submodule 24 dynamically predicts the advancing direction of the first set object according to the analysis result, determines the advancing direction, the motion and the like of the first set object, and then intelligently sets the cleaning sequence of the plurality of sweeping areas according to the dynamic prediction through the cleaning sequence setting submodule 25, for example, the distance between the first set object and the sweeping area can be detected constantly, if the position of the first set object does not move or the moving distance is not large, the first set object can be cleaned around the first set object, and when the first set object moves, the moving direction of the first set object is dynamically predicted, so that the sweeping robot can be effectively prevented from meeting the first set object or being in a temporary forbidden zone of the sweeping robot, and the place which the first set object has passed or the place which other first set object cannot pass through by dynamic prediction can be cleaned preferentially.
In another embodiment, referring to fig. 5, the cleaning region setting device further includes:
the grade dividing module 251 is used for dividing the plurality of sweeping areas into sweeping areas with different grades according to the occurrence duration and/or times of the first set object;
the priority arrangement sub-module 252 performs priority arrangement on the sweeping regions according to the different levels of the division in the sweeping sequence.
After the sweeper works frequently, sweeping areas with different grades can be divided according to the time length and/or the frequency of the first set object appearing in each area, if the time length and/or the frequency of the first set object appearing in each sweeping area are longer and/or more, priority arrangement can be carried out on the sweeping areas, wherein the priority arrangement does not mean that the sweeping areas with longer time length and/or frequency of the first set object appear firstly, but when the sweeping areas are sequenced, the position of the first set object, the position relation of the sweeping areas and the time length and/or frequency of the first set object appearing in each sweeping area are comprehensively considered, under the condition that the sweeping areas with longer time length and/or frequency of the first set object have the same distance with the first set object, the sweeping areas with longer time length and/or frequency of the first set object appear firstly are swept, after the subsequent other areas are completely swept, since the first setting object is present in the sweeping area where the first setting object is likely to appear, it is preferable to sweep the sweeping area having a high priority.
In this embodiment, the device for setting a cleaning region further includes:
the second set object detection module is used for detecting whether a second set object exists in the cleaning area;
the first set object danger forbidden zone setting module is used for setting a first set object danger forbidden zone by taking a second set object as a reference if the second set object exists;
the first set object danger forbidden zone detection module is used for detecting whether a first set object exists in the first set object danger forbidden zone;
the first set object reminding module sends a reminder to a first set object if the first set object exists;
the second set object is an object causing potential safety hazard to the first set object.
The second set object detection module detects whether a second set object exists in the cleaning area, wherein the second set object is generally water stain, the source of the water stain can be water splashed by family members carelessly, the water splashed by the family members can also be water flowing out of a water tank of the floor sweeping robot in the floor mopping mode, and the detection method can detect the water stain through a temperature and humidity sensor.
The first set object danger forbidden zone setting module sets a first set object danger forbidden zone according to the position of a second set object, the range of the first set object danger forbidden zone can be set according to the edge of the second set object, specifically, the second set object takes water stain as an example, the edge of the water stain is supposed to form an irregular shape, and the edge of the water stain can extend outwards by 10cm to be taken as the first set object danger forbidden zone.
If the first set object danger forbidden zone detection module detects the first set object in the first set object danger forbidden zone, the first set object is indicated to have the risk of stepping on water stains and slipping, so the first set object is reminded by the first set object reminding module,
in this embodiment, the device for setting a cleaning region further includes:
a cleaning stop area setting module for setting a cleaning stop area based on the first setting object;
and the cleaning operation stopping module stops the cleaning operation of the sweeping robot when the sweeping robot is in the cleaning stopping area.
When the first setting object is close to the sweeping robot, for example, a coordinate positioning method may be adopted to position the first setting object, a region where the first setting object is located is taken as a circle center, and a region where the set distance is taken as a radius is set as a cleaning stopping region, if the sweeping robot is in the cleaning stopping region, the cleaning operation of the sweeping robot is immediately stopped, in another embodiment, the sweeping robot may also move to a position far away from the first setting object, and if the sweeping robot is in a corner, the sweeping operation may be directly stopped, and meanwhile, a voice prompt is sent. The method for judging the current corner can be as follows: if the wall body is detected after the sweeper rotates 90 degrees leftwards or rightwards, and the wall body is detected again after the sweeper rotates 180 degrees reversely, the sweeper is judged to be in the corner at the moment.
The invention has the beneficial effects that: through the mode of setting up interim forbidden area for the robot of sweeping the floor, make the robot of sweeping the floor when guaranteeing to accomplish the task of sweeping the floor, can make the robot of sweeping the floor again and dodge old man and child, reach and reduce the risk that old man and child were stumbled to the potential safety hazard that the robot of sweeping the floor brought has been reduced.
Referring to fig. 6, the present application further provides a storage medium 100, in which a computer program 200 is stored in the storage medium 100, and when the computer program runs on a computer, the computer executes the setting method of the cleaning area of the sweeping robot described in the above embodiment.
Referring to fig. 7, the present application further provides a sweeping robot 300 comprising the storage medium 100, when the computer program 200 stored in the storage medium 100 runs on the sweeping robot 300, the sweeping robot 300 is caused to execute the method for setting the sweeping area of the sweeping robot described in the above embodiments by the processor 400 disposed therein.
In the above embodiments, the implementation may be wholly or partially realized by software, hardware, firmware, or any combination thereof. When implemented in software, may be implemented in whole or in part in the form of a computer program product.
The computer program product includes one or more computer instructions. When loaded and executed on a computer, cause the processes or functions described in accordance with the embodiments of the application to occur, in whole or in part. The computer may be a general purpose computer, a special purpose computer, a network of computers, or other programmable device. The computer instructions may be stored on a storage medium or transmitted from one storage medium to another, for example, from one website, computer, server, or data center to another website, computer, server, or data center via wire (e.g., coaxial cable, fiber optic, Digital Subscriber Line (DSL)) or wireless (e.g., infrared, wireless, microwave, etc.). The storage medium may be any available medium that a computer can store or a data storage device including one or more available media integrated servers, data centers, and the like. The usable medium may be a magnetic medium (e.g., floppy Disk, hard Disk, magnetic tape), an optical medium (e.g., DVD), or a semiconductor medium (e.g., Solid State Disk (SSD)), among others.
Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.
Claims (9)
1. A method for setting a cleaning area of a sweeping robot is characterized by comprising the following steps:
setting a cleaning area;
judging whether a first set object exists in the cleaning area at a first moment;
if so, positioning the position of the first set object;
setting a temporary forbidden zone of the sweeping robot by taking the position of the first set object as a reference;
cleaning other areas except the temporary forbidden area in the cleaning area; detecting a position of the first setting object at a second time;
judging whether the position of the first set object at the second moment is the same as the position of the first moment or not;
if not, canceling the temporary forbidden zone set at the first moment, and resetting the temporary forbidden zone according to the position of the first set object detected at the second moment;
when the other areas are cleaned, detecting whether the first set object exists in the temporary forbidden zone;
and if not, cleaning the temporary forbidden zone.
2. The method for setting the cleaning area of the cleaning robot according to claim 1, wherein the step of determining whether the first setting object exists in the cleaning area at the first time comprises:
dividing a first preset range in the cleaning area;
and detecting whether a first setting object exists in the first preset range.
3. The method for setting the cleaning area of the sweeping robot according to claim 2, wherein the step of detecting whether the first setting object exists within the first preset range comprises the following steps:
dividing the sweeping area into a plurality of sweeping areas;
and detecting whether a first set object exists in a first preset range by taking one of the sweeping areas as a reference.
4. The method for setting the cleaning area of the cleaning robot according to claim 3, wherein after the step of detecting whether the first setting object exists within the first preset range with reference to one of the cleaning areas, the method further comprises:
analyzing the action of the first set object;
dynamically predicting the advancing direction of the first set object according to the analysis result;
and setting the cleaning sequence of the plurality of sweeping areas according to the dynamic prediction condition.
5. The method for setting the cleaning area of the cleaning robot as claimed in claim 3, wherein the step of dividing the cleaning area into a plurality of cleaning areas is followed by the steps of:
dividing the plurality of sweeping areas into sweeping areas with different grades according to the appearing time length and/or the appearing times of the first set object;
and carrying out priority arrangement on the plurality of sweeping areas in the sweeping sequence according to different grades.
6. The method for setting the cleaning area of the sweeping robot according to claim 1, further comprising the following steps after the step of setting the cleaning area:
detecting whether a second set object exists in the cleaning area;
if the first set object is in the danger forbidden zone, setting a first set object danger forbidden zone by taking the second set object as a reference;
detecting whether a first set object exists in the first set object danger forbidden zone or not;
if yes, sending a prompt to the first set object;
the second set object is an object causing potential safety hazard to the first set object.
7. A cleaning area setting device is characterized by comprising:
the cleaning area setting module is used for setting a cleaning area;
the first set object judgment module is used for judging whether a first set object exists in the cleaning area at a first moment;
a first setting object positioning module for positioning a position of a first setting object if the first setting object exists in the cleaning area;
the temporary forbidden zone setting module is used for setting a temporary forbidden zone of the sweeping robot by taking the position of the first set object as a reference;
the cleaning module is used for cleaning other areas except the temporary area in the cleaning area;
the first setting object position detection module is used for detecting the position of the first setting object at a second moment;
a first setting object position judging module, configured to judge whether the position of the first setting object at the second time is the same as the position at the first time; if the position of the first set object is changed, the temporary forbidden zone set before is cancelled through the temporary forbidden zone position resetting module, the temporary forbidden zone is reset according to the position of the first set object detected at the next time, the temporary forbidden zone is updated in real time, and the cleaning area is cleaned;
the first set object danger forbidden zone detection module is used for detecting whether the first set object exists in the temporary forbidden zone or not when the other zones are cleaned;
the temporary forbidden region supplementary sweeping module: and if the first set object does not exist, cleaning the temporary forbidden zone.
8. A storage medium on which a computer program is stored, wherein the computer program, when executed by a processor, implements the steps of the method for setting a cleaning area of a sweeping robot of any one of claims 1 to 6.
9. A sweeping robot, characterized in that, it comprises a processor, a memory and a computer program stored on the memory and capable of running on the processor, when the processor executes the computer program, the steps of the setting method of sweeping area of sweeping robot as claimed in any one of claims 1 to 6 are realized.
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| CN112506073A (en) * | 2021-02-04 | 2021-03-16 | 南京乐羽智能科技有限公司 | Intelligent home control method and system based on big data analysis |
| CN113219995A (en) * | 2021-06-04 | 2021-08-06 | 深圳飞鼠动力科技有限公司 | Path planning method and cleaning robot |
| CN115530676A (en) * | 2021-08-10 | 2022-12-30 | 追觅创新科技(苏州)有限公司 | Cleaning method and device for mobile robot, storage medium and electronic device |
| WO2023016297A1 (en) * | 2021-08-10 | 2023-02-16 | 追觅创新科技(苏州)有限公司 | Cleaning method and device for mobile robot, storage medium and electronic device |
| CN113598657B (en) * | 2021-08-10 | 2022-10-18 | 追觅创新科技(苏州)有限公司 | Cleaning method and device for mobile robot, storage medium and electronic device |
| CN114145679A (en) * | 2021-11-24 | 2022-03-08 | 珠海格力电器股份有限公司 | Sweeping robot control method and device |
| CN114167861A (en) * | 2021-11-29 | 2022-03-11 | 珠海一微半导体股份有限公司 | Pet robot control method, system and chip |
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| CN114711693A (en) * | 2022-05-09 | 2022-07-08 | 珠海格力电器股份有限公司 | Path optimization method, nonvolatile storage medium, and cleaning system |
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