CN111973079B

CN111973079B - Mopping detour area setting method, sweeping robot, equipment and computer readable medium

Info

Publication number: CN111973079B
Application number: CN202010853895.9A
Authority: CN
Inventors: 马昭; 张磊; 王二飞; 王继鑫; 耿哲
Original assignee: Suzhou 3600 Robot Technology Co ltd
Current assignee: Suzhou 3600 Robot Technology Co ltd
Priority date: 2020-08-21
Filing date: 2020-08-21
Publication date: 2022-06-10
Anticipated expiration: 2040-08-21
Also published as: CN111973079A

Abstract

The invention discloses a mopping bypassing area setting method, a mopping robot, equipment and a computer readable storage medium, wherein when a non-smooth object made of a non-smooth material is detected in a current working map, the area range where the non-smooth object is located is converted into the non-smooth area, and the non-smooth area is set as the mopping bypassing area, so that the mopping bypassing area corresponding to the non-smooth object can be detected and set by the mopping bypassing area of the mopping robot no matter in a mopping working mode or in other working modes, and the damage to the non-smooth object when the mopping robot uses water is avoided. In addition, two setting modes of automatically setting and prompting the setting of the ground dragging bypassing area are provided, so that a user can conveniently select a proper setting mode to set the ground dragging bypassing area according to needs, and the convenience of the invention in practical application is improved.

Description

Mopping detour area setting method, sweeping robot, equipment and computer readable medium

Technical Field

The invention relates to the technical field of robots, in particular to a mopping detour area setting method, a sweeping robot, equipment and a computer readable storage medium.

Background

With the rapid development of robot technology, various robots are beginning to be widely used in people's daily life. For example, the sweeping robot in the market generally has the functions of sweeping, dust collection, mopping and the like at present, and brings great convenience to the cleaning and sweeping work in daily life of people. However, in an actual floor mopping scene, objects such as carpets which are not suitable for being cleaned directly by the floor sweeping robot but are not within a conventional obstacle avoidance range of the floor sweeping robot often occur, and if the floor mopping function of the floor sweeping robot is directly started, the carpets are easily soiled or wetted when the area where the carpets are located is cleaned, so that the technical problem that the cleaning range of the existing floor sweeping robot in the floor mopping mode is unreasonable is caused.

Disclosure of Invention

The invention mainly aims to provide a method for setting a mopping bypassing area, and aims to solve the technical problem that the cleaning range of the existing sweeping robot is unreasonably set in a mopping mode.

In order to achieve the above object, the present invention provides a method for setting a mopping detour area, including:

acquiring a current working map of the sweeping robot;

judging whether a non-smooth object made of a non-smooth material exists in the current working map;

if the non-smooth object exists, the area range where the non-smooth object is located, the area range where the non-smooth object is located is converted into the non-smooth area, and therefore a client is prompted or the non-smooth area is automatically set to be a ground dragging bypassing area.

Optionally, the step of determining whether a non-smooth object made of a non-smooth material exists in the current working map includes:

judging whether an object to be detected exists in the current working map or not based on a preset first sensor in the sweeping robot;

if the object to be detected exists, judging whether the object to be detected is the non-smooth object or not based on a preset second sensor in the sweeping robot;

if the object to be detected is the non-smooth object, judging that the non-smooth object exists in the current working map;

and if the object to be detected is not the non-smooth object, judging that the non-smooth object does not exist in the current working map.

Optionally, the second sensor comprises an ultrasonic sensor, the non-smooth object comprises a carpet,

the step of judging whether the object to be detected is the non-smooth object or not based on a preset second sensor in the sweeping robot comprises the following steps of:

acquiring a sound wave signal reflected by the object to be detected by using an ultrasonic sensor;

judging whether the sound wave signal is matched with a preset standard carpet sound wave signal or not;

if the sound wave signal of the carpet is matched with the preset standard sound wave signal of the carpet, judging that the object to be detected is the carpet;

and if the sound wave signal is not matched with the preset standard carpet sound wave signal, judging that the object to be detected is not a carpet.

Optionally, the non-smooth area comprises a carpet area,

if the non-smooth object exists, the step of locating the area range where the non-smooth object is located and converting the area range where the non-smooth object is located into a non-smooth area further comprises the following steps:

judging whether the floor sweeping robot works by using a mop bracket at present;

if the floor sweeping robot works by using the mop bracket at present, the carpet area is set to be a temporary forbidden area in the current map so as to bypass the temporary forbidden area to work.

Optionally, after the step of determining whether the floor sweeping robot uses the mop holder to work currently, the method further includes:

if the robot of sweeping the floor does not use the mop support to work at present, then will in the current map the non-smooth region sets up to key dust absorption area, in order to be right when key dust absorption area carries out the dust absorption, the increase is right key dust absorption area's suction, and increase is right key dust absorption area's dust absorption number of times.

Optionally, the first sensor comprises a radar sensor.

Optionally, if the non-smooth object exists, the step of locating the area range where the non-smooth object exists and converting the area range where the non-smooth object exists into the non-smooth area includes:

if the non-smooth object exists, positioning the area range of the non-smooth object;

and expanding the area range of the non-smooth object by a preset multiple to serve as the non-smooth area.

Optionally, the step of converting the area range where the non-smooth object is located into a non-smooth area to prompt the client or automatically set the non-smooth area as a ground-dragging bypassing area includes:

converting the area range where the non-smooth object is located into a non-smooth area, sending prompt information set by a ground dragging bypassing area to a client, and setting the non-smooth area as the ground dragging bypassing area based on a setting instruction when the setting instruction sent by the client based on the prompt information is received; or the like, or, alternatively,

and synchronizing the non-smooth area to the current working map and setting the non-smooth area as a ground-dragging bypassing area.

Optionally, if the non-smooth object exists, after the step of locating the area range where the non-smooth object exists and converting the area range where the non-smooth object exists into the non-smooth area to prompt the client or automatically set the non-smooth area as the ground-dragging bypassing area, the method further includes:

when an forbidden zone range self-defining instruction sent by a client is received, self-defining forbidden zone range information in the forbidden zone range self-defining instruction is obtained, and a self-defining ground dragging bypassing area is set in the current work map according to the self-defining forbidden zone range information.

Optionally, after the step of determining whether there is a non-smooth object made of a non-smooth material in the current working map, the method further includes:

and if the non-smooth object does not exist, planning a conventional working path according to the current working map.

and when the number of the ground-dragging bypassing areas exceeds a preset number threshold value, planning to bypass the ground-dragging bypassing areas in the current working map, and repeating the path with the shortest driving path to serve as the ground-dragging working path of the sweeping robot in the ground-dragging mode.

Optionally, after the step of obtaining the current work map of the sweeping robot, the method further includes:

judging whether a dynamic object with preset dynamic attributes exists in the current working map;

if the dynamic object exists in the current working map, determining the area of the dynamic object in the current working map as a dynamic area in real time to bypass the dynamic area in real time;

and dynamically updating the current working map according to the dynamic area.

Optionally, the dynamic object comprises a biological target,

the step of judging whether a dynamic object with preset dynamic attributes exists in the current working map comprises the following steps:

generating an infrared thermal image of a corresponding range of the current working map by using a preset infrared sensor in the sweeping robot;

judging whether an area with the actual temperature within a preset biological temperature range exists in the infrared thermography;

if the area with the actual temperature within the preset biological temperature range exists, judging that a biological target exists in the current working map;

and if the area with the actual temperature at the preset standard temperature does not exist, judging that the biological target does not exist in the current working map.

Optionally, if the dynamic object exists in the current working map, determining, in real time, an area where the dynamic object exists in the current working map as a dynamic area, and bypassing the dynamic area in real time includes:

if the biological target exists in the current working map, measuring and calculating the movement speed of the biological target and the occupied area range of the biological target by using a preset radar sensor;

and calculating the area of the biological target in the current working map in real time according to the movement speed and the occupation range to serve as a dynamic area.

In addition, in order to achieve the above object, the present invention further provides a sweeping robot, including:

the working map acquisition module is used for acquiring a current working map of the sweeping robot;

the non-smooth object judgment module is used for judging whether a non-smooth object made of a non-smooth material exists in the current working map;

and the bypassing area setting module is used for positioning the area range where the non-smooth object is located if the non-smooth object exists, and converting the area range where the non-smooth object is located into the non-smooth area so as to prompt a client or automatically set the non-smooth area as a ground-dragging bypassing area.

Optionally, the non-smooth object determination module includes:

the first sensing judgment unit is used for judging whether the object to be detected exists in the current working map or not based on a preset first sensor in the sweeping robot;

the second sensing judgment unit is used for judging whether the object to be detected is the non-smooth object or not based on a preset second sensor in the sweeping robot if the object to be detected exists;

the second sensing judgment unit is used for judging that a non-smooth object exists in the current working map if the object to be detected is the non-smooth object;

the second sensing judgment unit is further configured to:

Optionally, the non-smooth area comprises a carpet area,

the robot of sweeping the floor still includes:

the mopping state judging module is used for judging whether the sweeping robot works by using the mop bracket at present;

and the temporary forbidden zone setting module is used for setting the carpet area into a temporary forbidden zone in the current map to bypass the temporary forbidden zone to work if the sweeping robot uses a mop bracket to work currently.

Optionally, the sweeping robot further comprises:

and the key area setting module is used for setting the non-smooth area into a key dust collection area in the current map if the sweeping robot does not work by using a mop bracket at present, so that the suction of the key dust collection area is increased and the dust collection times of the key dust collection area are increased when the key dust collection area collects dust.

Optionally, the first sensor comprises a radar sensor.

Optionally, the bypassing area setting module includes:

the area positioning unit is used for positioning the area range of the non-smooth object if the non-smooth object exists;

and the range expanding unit is used for expanding the range of the region where the non-smooth object is located by preset times to serve as the non-smooth region.

Optionally, the bypassing area setting module includes:

the prompting setting unit is used for converting the area range where the non-smooth object is located into a non-smooth area and sending prompting information set by a ground dragging and bypassing area to the client so as to set the non-smooth area as the ground dragging and bypassing area based on the setting instruction when receiving the setting instruction sent by the client based on the prompting information; or the like, or a combination thereof,

and the automatic setting unit is used for synchronizing the non-smooth area to the current working map and setting the non-smooth area as a ground-dragging bypassing area.

Optionally, the sweeping robot further comprises:

and the custom module is used for acquiring custom forbidden zone range information in the forbidden zone range custom instruction when receiving the forbidden zone range custom instruction sent by the client, and setting a custom mopping detour area in the current working map according to the custom forbidden zone range information.

Optionally, the sweeping robot further comprises:

and the conventional path planning module is used for planning a conventional working path according to the current working map if the non-smooth object does not exist.

Optionally, the sweeping robot further comprises:

and the mopping path planning module is used for planning the bypassing area in the current working map and repeatedly planning a path with the shortest driving path when the number of the mopping bypassing areas exceeds a preset number threshold value so as to be used as the mopping working path of the sweeping robot in the mopping mode.

Optionally, the sweeping robot further comprises:

the second object judgment module is used for judging whether a dynamic object with preset dynamic attributes exists in the current working map;

the real-time bypassing determination module is used for determining the area of the dynamic object in the current working map as a dynamic area in real time if the dynamic object exists in the current working map so as to bypass the dynamic area in real time;

and the bypassing area updating module is used for dynamically updating the current working map according to the dynamic area.

Optionally, the dynamic object comprises a biological target,

the second object determination module includes:

the infrared image generating unit is used for generating an infrared thermal image in a range corresponding to the current working map by using a preset infrared sensor in the sweeping robot;

the temperature area judging unit is used for judging whether an area with the actual temperature within a preset biological temperature range exists in the infrared thermography;

the biological target judging unit is used for judging that a biological target exists in the current working map if an area with the actual temperature within a preset biological temperature range exists;

Optionally, the real-time detour determining module includes:

the radar measuring and calculating unit is used for measuring and calculating the movement speed of the biological target and the occupied area range of the biological target by using a preset radar sensor if the biological target exists in the current working map;

and the real-time calculating unit is used for calculating the area of the biological target in the current working map in real time according to the movement speed and the occupation range to serve as a dynamic area.

Further, to achieve the above object, the present invention also provides a mopping detour area setting apparatus including: the system comprises a memory, a processor and a mopping bypassing area setting program which is stored on the memory and can run on the processor, wherein the mopping bypassing area setting program realizes the steps of the mopping bypassing area setting method when being executed by the processor.

Further, to achieve the above object, the present invention also provides a computer readable storage medium having stored thereon a mopping circumvention area setting program, which when executed by a processor, implements the steps of the mopping circumvention area setting method as described above.

The invention provides a mopping detour area setting method, a sweeping robot, equipment and a computer readable storage medium. The method for setting the mopping detour area comprises the steps of obtaining a current working map of the sweeping robot; judging whether a non-smooth object made of a non-smooth material exists in the current working map; if the non-smooth object exists, the area range where the non-smooth object is located, the area range where the non-smooth object is located is converted into the non-smooth area, and therefore a client is prompted or the non-smooth area is automatically set to be a ground dragging bypassing area. Through the mode, when the non-smooth object made of the non-smooth material is detected in the current working map, the area range where the non-smooth object is located is converted into the non-smooth area, and the non-smooth area is set as the ground dragging and bypassing area, so that the ground dragging and bypassing area corresponding to the non-smooth object can be detected and set by the sweeping robot no matter in the ground dragging working mode or in other working modes, the damage to the non-smooth object when the ground is dragged and used with water is avoided, and the technical problem that the cleaning range of the existing sweeping robot in the ground dragging mode is unreasonable is solved. In addition, two setting modes of automatically setting and prompting the setting of the ground dragging bypassing area are provided, so that a user can conveniently select a proper setting mode to set the ground dragging bypassing area according to needs, and the convenience of the invention in practical application is improved.

Drawings

Fig. 1 is a schematic structural diagram of a device for setting a floor-bypassing area in a hardware operating environment according to an embodiment of the present invention;

FIG. 2 is a flowchart illustrating a first embodiment of a method for setting a ground-bypassing area according to the present invention;

fig. 3 is a schematic diagram of functional modules of the sweeping robot 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

It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.

As shown in fig. 1, fig. 1 is a schematic structural diagram of a device for setting a ground bypassing area in a hardware operating environment according to an embodiment of the present invention.

As shown in fig. 1, the mopping detour area setting apparatus may include: a processor 1001, such as a CPU, a communication bus 1002, a user interface 1003, a network interface 1004, and a memory 1005. Wherein a communication bus 1002 is used to enable connective communication between these components. The optional user interface 1003 may include a standard wired interface, a wireless interface. The network interface 1004 may optionally include a standard wired interface, a wireless interface (e.g., WI-FI interface). The memory 1005 may be a high-speed RAM memory or a non-volatile memory (non-volatile memory). The memory 1005 may alternatively be a memory device separate from the processor 1001 described above.

Those skilled in the art will appreciate that the configuration of the ground circumvention region setting device shown in fig. 1 does not constitute a limitation of the ground circumvention region setting device and may include more or fewer components than those shown, or some components in combination, or a different arrangement of components.

As shown in fig. 1, a memory 1005, which is a kind of computer storage medium, may include therein an operating system, a network communication module, a user interface module, and a mopping bypass area setting program.

In the device for setting the mopping detour area shown in fig. 1, the network interface 1004 is mainly used for connecting a background server and performing data communication with the background server; the user interface 1003 is mainly used for connecting a client (user side) and performing data communication with the client; and the processor 1001 may be configured to call the mopping bypass area setting program stored in the memory 1005, and perform the following operations:

acquiring a current working map of the sweeping robot;

Further, the step of determining whether an unsmooth object made of an unsmooth material exists in the current working map includes:

Further, the second sensor comprises an ultrasonic sensor, the non-smooth object comprises a carpet,

Further, the non-smooth area includes a carpet area,

after the step of locating the area range where the non-smooth object is located and converting the area range where the non-smooth object is located into the non-smooth area if the non-smooth object exists, the processor 1001 may be configured to invoke a mopping bypass area setting program stored in the memory 1005, and execute the following operations:

Further, after the step of determining whether the cleaning robot is currently working with the mop holder, the processor 1001 may be configured to call the mop bypassing area setting program stored in the memory 1005, and perform the following operations:

if the robot of sweeping the floor does not use the mop support to work at present, then will in the current map the non-smooth region sets up to key dust absorption area, and is right in order to be right when key dust absorption area carries out the dust absorption, the increase is right key dust absorption area's suction, and increase is right key dust absorption area's dust absorption number of times.

Further, the first sensor comprises a radar sensor.

Further, if the non-smooth object exists, the step of locating the area range where the non-smooth object exists and converting the area range where the non-smooth object exists into the non-smooth area includes:

if the non-smooth object exists, locating the area range of the non-smooth object;

Further, the step of converting the area range where the non-smooth object is located into a non-smooth area to prompt the client or automatically setting the non-smooth area as a floor-dragging bypassing area includes:

converting the area range where the non-smooth object is located into a non-smooth area, and sending prompt information set by a ground dragging and bypassing area to a client, so that when a setting instruction sent by the client based on the prompt information is received, the non-smooth area is set as the ground dragging and bypassing area based on the setting instruction; or the like, or, alternatively,

Further, after the step of locating the area range where the non-smooth object is located and converting the area range where the non-smooth object is located into the non-smooth area to prompt the client or automatically set the non-smooth area as the ground dragging and bypassing area if the non-smooth object exists, the processor 1001 may be configured to invoke a ground dragging and bypassing area setting program stored in the memory 1005 and perform the following operations:

Further, after the step of determining whether there is an unsmooth object of an unsmooth material in the current working map, the processor 1001 may be configured to call a mopping bypass area setting program stored in the memory 1005, and perform the following operations:

Further, after the step of obtaining the current work map of the sweeping robot, the processor 1001 may be configured to call the mopping area setting program stored in the memory 1005, and perform the following operations:

and dynamically updating the current working map according to the dynamic area.

Further, the dynamic object includes a biological target,

Further, if the dynamic object exists in the current working map, determining an area of the dynamic object in the current working map in real time as a dynamic area, so as to bypass the dynamic area in real time, including:

Based on the above hardware structure, embodiments of the method for setting a mopping detour area according to the present invention are provided.

With the rapid development of robot technology, various robots are beginning to be widely used in people's daily life. For example, the sweeping robot in the market generally has the functions of sweeping, absorbing dust, mopping the floor and the like at present, and brings great convenience to the cleaning and sweeping work in daily life of people. However, in an actual floor mopping scene, objects such as carpets which are not suitable for being cleaned directly by the floor sweeping robot but are not within a conventional obstacle avoidance range of the floor sweeping robot often occur, and if the floor mopping function of the floor sweeping robot is directly started, the carpets are easily soiled or wetted when the area where the carpets are located is cleaned, so that the technical problem that the cleaning range of the existing floor sweeping robot in the floor mopping mode is unreasonable is caused.

In order to solve the technical problem, the invention provides a method for setting a ground-sweeping detour area, which is characterized in that when a non-smooth object made of a non-smooth material is detected in a current working map, an area range where the non-smooth object is located is converted into the non-smooth area, and the non-smooth area is set as the ground-sweeping detour area, so that a ground-sweeping robot can detect and set the ground-sweeping detour area corresponding to the non-smooth object no matter in a ground-sweeping working mode or in other working modes, and the damage to the non-smooth object caused by water used for mopping is avoided, and the technical problem that the cleaning range of the existing ground-sweeping robot in the ground-sweeping mode is unreasonable is solved. In addition, two setting modes of automatically setting and prompting the setting of the ground dragging bypassing area are provided, so that a user can conveniently select a proper setting mode to set the ground dragging bypassing area according to needs, and the convenience of the invention in practical application is improved.

Referring to fig. 2, fig. 2 is a flowchart illustrating a first embodiment of a method for setting a mopping detour area.

A first embodiment of the present invention provides a method for setting a mopping detour area, including the steps of:

step S10, acquiring a current work map of the sweeping robot;

step S20, judging whether a non-smooth object made of a non-smooth material exists in the current working map;

in this embodiment, the current work map is an area map that needs to be cleaned and is determined from the actual environment. The current working map can be set through manual input, and can also be intelligently set after the camera on the sweeping robot collects the surrounding environment information. In addition, different working maps can be set for the same working scene according to different working modes of the sweeping robot, and a user can change the set or intelligently set working map as required. The non-smooth object refers in particular to a non-smooth object which is not suitable for being wetted and needs to be avoided by the sweeping robot in the mopping working mode, and the non-smooth object related in the embodiment can be a ground laying object which is formed by weaving, tufting or weaving natural fibers or chemical synthetic fiber raw materials such as cotton, hemp, wool, silk, grass yarns and the like through a manual or mechanical process. For example, the non-smooth material may be a carpet, a mat, or the like made of plastic, cotton, or the like. Since the sweeping robot needs to spray water on the ground when mopping, such objects on the ground need to be avoided additionally.

When the sweeping robot is in a working state (dust collection, sweeping, mopping and the like), a working map used by the current sweeping robot is obtained, and whether a non-smooth object exists in the current working map is judged. Specifically, by detecting the change of the friction force, for example, when the sweeper runs from a smooth ground to an area where a non-smooth object made of a non-smooth material is located, the detected friction force is increased; the type of the ground object in the external environment can be judged by detecting the signal fed back by the external environment by adopting the sensor and analyzing the feedback signal.

Step S30, if the non-smooth object exists, the area range where the non-smooth object is located, and the area range where the non-smooth object is located is converted into a non-smooth area, so as to prompt a client or automatically set the non-smooth area as a ground-dragging bypassing area.

In this embodiment, if the sweeping robot determines that the non-smooth object exists in the current working map, the position of the non-smooth object on the current working map can be accurately located. The specific positioning operation can be realized by a sensor preset in the sweeping robot. In order to avoid errors in the measurement and calculation of the position range by the sensor, the range of the initially acquired region where the non-smooth object is located needs to be converted. The specific conversion method may be to enlarge the range of the region where the non-smooth object is located by a corresponding multiple, or to make a circular region with a preset distance as a radius by using the center point of the region where the non-smooth object is located as a center, or to form a rectangular region with a preset length, width and diagonal directions by using the center point of the region where the non-smooth object is located as a center.

In the embodiment, the current working map of the sweeping robot is obtained; judging whether a non-smooth object made of a non-smooth material exists in the current working map; if the non-smooth object exists, the area range where the non-smooth object is located, the area range where the non-smooth object is located is converted into the non-smooth area, and therefore a client is prompted or the non-smooth area is automatically set to be a ground dragging bypassing area. Through the mode, when the non-smooth object made of the non-smooth material is detected in the current working map, the area range where the non-smooth object is located is converted into the non-smooth area, and the non-smooth area is set as the ground dragging and bypassing area, so that the ground dragging and bypassing area corresponding to the non-smooth object can be detected and set by the sweeping robot no matter in the ground dragging working mode or in other working modes, the damage to the non-smooth object when the ground is dragged and used with water is avoided, and the technical problem that the cleaning range of the existing sweeping robot in the ground dragging mode is unreasonable is solved. In addition, two setting modes of automatically setting and prompting the setting of the ground dragging bypassing area are provided, so that a user can conveniently select a proper setting mode to set the ground dragging bypassing area according to needs, and the convenience of the invention in practical application is improved.

Further, based on the first embodiment shown in fig. 2, a second embodiment of the method for setting a mopping bypassing area of the present invention is proposed, in this embodiment, step S20 includes:

In this embodiment, the preset first sensor is a type of sensor that is arranged in the sweeping robot and used for judging whether an object to be detected exists in the current working map. Specifically, the sensor may be a radar sensor, an ultrasonic sensor, a laser sensor, or the like. The object to be detected is an obstacle placed on the ground in the current work map, for example, in a home scene, the object to be detected is generally various household appliances, furniture and the like placed on the ground. The second sensor is preset to be a type of sensor which is arranged in the sweeping robot and used for judging whether the object to be detected in the current working map is a non-smooth object.

The object to be detected is an object which is positioned on the ground and located in the current working map range in the current working scene of the sweeping robot, namely a static object and a dynamic object, such as various household appliances, furniture, animals, human bodies and the like. The sweeping robot provided with the first sensor and the second sensor judges whether the object to be detected exists in the current working map or not through the first sensor, and if the sweeping robot judges that the object to be detected exists in the current working map, the sweeping robot continues to judge whether the current object to be detected is a non-smooth object or not based on the second sensor; if the sweeping robot judges that the object to be detected does not exist in the current working map, the second sensor does not need to be started for further judgment. In practical application, the second sensor can be turned off first, and then turned on when the first sensor detects that the object to be detected exists, so that energy consumption of the sweeping robot in working can be saved.

Further, the second sensor includes an ultrasonic sensor, the non-smooth object includes a carpet, and the step of determining whether the object to be detected is the non-smooth object based on a preset second sensor in the sweeping robot includes:

In this embodiment, the second sensor is selected to be an ultrasonic sensor, and the non-smooth object is exemplified by a carpet. The preset standard carpet sound wave signal is a standard signal value of the sound wave signal reflected by the carpet and the like. In practical application, considering that the carpet is also divided into different materials and detecting errors and other influences, the standard carpet sound wave signal can be set to be a plurality of different values or a plurality of different value ranges. The matching criterion may be set to be within a predetermined range or at least one of a plurality of different value ranges from the error value of at least one of the plurality of different values.

When the first sensor detects that the object to be detected exists, the sweeping robot provided with the ultrasonic sensor starts to receive the sound wave signal reflected by the object to be detected. For example, if there are 5 objects to be detected currently, the ultrasonic sensor receives the sound wave signals reflected by the 5 objects to be detected, and the 5 sound wave signals can be matched with the preset standard carpet sound wave signals one by one. If the sweeping robot detects that one or more of the 5 types of signals are matched with a preset standard carpet sound wave signal, the object to be detected corresponding to the one or more matched signals can be judged to be a carpet; if the sweeping robot detects that each of the 5 types of objects is not matched with the preset standard carpet sound wave signal, the fact that the carpet is not a non-smooth object in the current working map can be judged.

Further, in this embodiment, the non-smooth area includes a carpet area, and after the step of locating the area range where the non-smooth object is located and converting the area range where the non-smooth object is located into the non-smooth area if the non-smooth object exists, the method further includes:

if the floor sweeping robot works by using the mop bracket at present, the carpet area is set to be a temporary forbidden area in the current map so as to bypass the temporary forbidden area to work. A (c)

In this embodiment, the mop holder is a device that cooperates with the mop cloth to perform a mopping function when the mopping operation mode of the mopping robot is performed, and is usually detachably mounted on the mopping robot. If the sweeping robot is currently provided with the mop bracket and works by using the mop bracket, the sweeping robot can be considered to be currently used for mopping, and otherwise, the sweeping robot can be considered not to be used for mopping. The floor sweeping robot detects whether the floor sweeping robot is equipped with a mop bracket for working, if the floor sweeping robot detects that the floor sweeping robot uses the mop bracket for working currently, the floor sweeping robot is in a floor mopping working mode currently, and a carpet area needs to be set as a temporary forbidden area so as to prevent the carpet from being soiled or wetted when mopping the floor.

Further, in this embodiment, after the step of determining whether the floor sweeping robot uses the mop holder to work currently, the method further includes:

In this embodiment, the robot cleaner detects that the mop support is not assembled currently, and therefore cannot work by using the mop support, which indicates that the robot cleaner is not in a mopping working state currently, but has a strong dust collection requirement for the carpet, so that the robot cleaner can be set as a key dust collection area if detecting a carpet area in other working modes, so as to clean the carpet area in a key manner in the following or current dust collection operation. The key cleaning mode can be increasing the suction force, increasing the times of repeated dust collection and the like.

Furthermore, through a first sensor (such as a radar sensor) and a second sensor (such as an ultrasonic sensor), whether an object to be detected exists at present or not is detected, and then whether the object to be detected is a non-smooth object or not is detected, so that the judgment and detection efficiency is improved; by arranging the temporary forbidden zone in the manual mopping mode of the sweeping robot for the carpet area and arranging the important dust collection area in the dust collection mode, the carpet area can be cleaned powerfully and cannot be wetted or polluted when mopping.

Further, based on the first embodiment shown in fig. 2, a third embodiment of the method for setting a mopping detour area according to the present invention is provided. In this embodiment, if the non-smooth object exists, the step of locating the area range where the non-smooth object exists and converting the area range where the non-smooth object exists into the non-smooth area includes:

In this embodiment, when the robot cleaner detects that an unsmooth object exists in the current work map, the specific position of the unsmooth object on the current work map is obtained by using the ultrasonic sensor. Considering the detection calculation error of the sensor, the sweeping robot can expand the response times of the area range data obtained according to the ultrasonic sensor so as to ensure that the sweeping robot can not contact a non-smooth object completely when mopping.

Further, in this embodiment, the step of converting the area range where the non-smooth object is located into a non-smooth area to prompt the client or automatically set the non-smooth area as a floor-dragging bypassing area includes:

In the embodiment, the sweeping robot provides two setting modes of the mopping bypassing area for the user. After the sweeping robot obtains the data of the non-smooth area, the data can be directly set as a ground dragging bypassing area so as to directly avoid the forbidden area during subsequent ground dragging tasks, and corresponding prompt information can be generated and sent to a client associated with the sweeping robot so that a user can select whether the non-smooth area needs to be set as the ground dragging bypassing area currently. Specifically, the user can set in the corresponding APP terminal or software by adopting an automatic setting or prompt setting mode.

Further, in this embodiment, after step S30, the method further includes:

In this embodiment, the user can also customize the mopping detour area. Specifically, a user can search a work map of the sweeping robot on a related APP terminal or software, then customize a mopping detour area on the map, and send a forbidden zone range customization instruction to the sweeping robot. And when the sweeping robot receives the instruction, the user-defined information of the floor-mopping bypassing area in the instruction is obtained and updated to the working map used in the floor-mopping mode, and the setting of the user-defined floor-mopping bypassing area can be completed.

Further, in this embodiment, after step S20, the method further includes:

In this embodiment, if the sweeping robot detects that there is no non-smooth object in the current working map based on the second sensor, the conventional working path can be directly planned according to the original working map without mainly cleaning the non-smooth area corresponding to the non-smooth object when the robot is used for mopping or cleaning dust.

Further, in this embodiment, after step S30, the method further includes:

In this embodiment, the preset number threshold may be flexibly set according to an actual situation, and this embodiment is not particularly limited. For the planning of the path that needs to detour all the ground-dragging detour areas and also needs to make the repeatedly-driven path shortest, a related algorithm can be adopted for calculation, and the content belongs to a conventional technical means in the aspect of dynamic planning and is not described herein any more.

Furthermore, by expanding the non-smooth area detected by the sensor, the misjudgment caused by detection errors is avoided, so that the area where the non-smooth object is located is prevented from being stained with water when the floor is mopped; the setting modes of automatically setting the mopping bypassing area and sending the prompt information to the client to prompt the setting of the mopping bypassing area are provided, so that a client can select the mopping bypassing area as required, and the user experience is improved; by providing a mode of setting a mopping bypassing area customized by a user, a user is further given a larger setting authority, and the user requirements are met to a greater extent; when a plurality of mopping bypassing areas exist at present, the optimal working path of the sweeping robot is planned, so that the sweeping robot does not need to repeatedly run the same path, and the energy consumption of the sweeping robot is saved.

Further, based on the first embodiment shown in fig. 2, a fourth embodiment of the method for setting a mopping detour area according to the present invention is provided. In this embodiment, after step S10, the method further includes:

judging whether a dynamic object with preset dynamic attributes exists in the current working map or not;

and dynamically updating the current working map according to the dynamic area.

In the present embodiment, the dynamic object refers to a dynamic object whose position is easily changed, such as an animal, a human body, and the like. The dynamic area is the position range of the dynamic object in the current working map. The sweeping robot can detect whether a non-smooth object exists or not and also detect whether a dynamic object exists in a current working map or not so as to realize dynamic obstacle avoidance. If the sweeping robot judges that the dynamic object exists in the current working map, the area of the dynamic object in the current working map is determined in real time and is used as the dynamic area, and the dynamic area is dynamically updated to the current working map so as to bypass the dynamic area in real time during working.

Further, in this embodiment, the dynamic object includes a biological target,

In this embodiment, the preset biological temperature range is a range corresponding to a normal body temperature of a human body or a common animal. Specifically, the sweeping robot with the infrared sensor generates an infrared thermography of a current working scene through the infrared sensor, and judges whether an area with an actual temperature within a preset biological temperature range exists in the infrared thermography. If the sweeping robot judges that an area with the actual temperature within the preset biological temperature range exists in the infrared thermograph, the fact that a biological target exists in the current working map can be further judged; if the sweeping robot judges that no region with the actual temperature within the preset biological temperature range exists in the infrared thermograph, the fact that a biological target exists in the current working map can be further judged.

Further, in this embodiment, if the dynamic object exists in the current working map, the step of determining the area of the dynamic object in the current working map in real time as the dynamic area to bypass the dynamic area in real time includes:

In this embodiment, if the sweeping robot detects that a biological target exists in the current working map, the preset radar sensor is used to measure and calculate the movement speed of the biological target and the occupation range of the biological target, and the area of the target object in the current working map is calculated in real time according to the movement speed and the occupation range to serve as the dynamic area.

Furthermore, whether a biological target exists in the current working map or not is judged by adopting the infrared sensor, and the dynamic area is determined in real time when the biological target exists, so that the sweeping robot can detour the biological target which has strong activity and easily changed position to avoid obstacles when in work.

The invention also provides a sweeping robot, comprising:

The invention also provides a device for setting the mopping detour area.

The mopping detour area setting apparatus includes: the system comprises a memory, a processor and a mopping bypassing area setting program which is stored on the memory and can run on the processor, wherein the mopping bypassing area setting program realizes the steps of the mopping bypassing area setting method when being executed by the processor.

The invention also provides a computer readable storage medium.

The computer-readable storage medium of the present invention stores thereon a floor bypass area setting program that, when executed by a processor, implements the steps of the floor bypass area setting method as described above.

It should be noted that, in this document, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or system that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or system. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other like elements in a process, method, article, or system that comprises the element.

The above-mentioned serial numbers of the embodiments of the present invention are merely for description and do not represent the merits of the embodiments.

Through the above description of the embodiments, those skilled in the art will clearly understand that the method of the above embodiments can be implemented by software plus a necessary general hardware platform, and certainly can also be implemented by hardware, but in many cases, the former is a better implementation manner. Based on such understanding, the technical solution of the present invention may be embodied in the form of a software product, which is stored in a storage medium (e.g., ROM/RAM, magnetic disk, optical disk) as described above and includes instructions for causing a mopping detour area setting apparatus to execute the method according to the embodiments of the present invention.

The above description is only a preferred embodiment of the present invention, and not intended to limit the scope of the present invention, and all modifications of equivalent structures and equivalent processes, which are made by using the contents of the present specification and the accompanying drawings, or directly or indirectly applied to other related technical fields, are included in the scope of the present invention.

Claims

1. A method for setting a mopping detour area is characterized by comprising the following steps:

acquiring a current working map of the sweeping robot;

if the non-smooth object exists, locating the area range of the non-smooth object, and converting the area range of the non-smooth object into a non-smooth area to prompt a client or automatically set the non-smooth area as a ground-winding area, wherein the non-smooth object comprises ground pavement made of cotton, hemp, wool, silk, grass yarn natural fibers and/or chemical synthetic fibers, and/or knitted, tufted or woven through a manual or mechanical process;

wherein, the step of judging whether the non-smooth object made of non-smooth material exists in the current working map comprises the following steps:

if the object to be detected exists, judging whether the object to be detected is the non-smooth object or not based on a preset second sensor in the sweeping robot, wherein the second sensor comprises an ultrasonic sensor, and the non-smooth object comprises a carpet;

if the object to be detected is not the non-smooth object, judging that the non-smooth object does not exist in the current working map;

2. The mopping bypass area setting method according to claim 1, wherein the non-smooth area includes a carpet area,

judging whether the sweeping robot works by using a mop bracket at present;

if the floor sweeping robot works by using the mop bracket at present, the carpet area is set to be a temporary forbidden area in the current working map so as to bypass the temporary forbidden area to work.

3. The method for setting a mop bypassing area according to claim 2, wherein the step of judging whether the sweeping robot works by using the mop holder at present further comprises:

if the robot of sweeping the floor does not use the mop support to carry out work at present, then will in the current work map the non-smooth region sets up to key dust absorption area, in order to be right when key dust absorption area carries out the dust absorption, the increase is right key dust absorption area's suction, and it is right to increase key dust absorption area's dust absorption number of times.

4. A method of providing a mopping detour area according to any one of claims 1 to 3 wherein the first sensor comprises a radar sensor.

5. The method according to claim 1, wherein the step of locating the area range where the non-smooth object is located and converting the area range where the non-smooth object is located into the non-smooth area, if the non-smooth object is present, comprises:

6. The method for setting the mopping detour area according to claim 1, wherein the step of converting the area range where the non-smooth object is located into the non-smooth area to prompt a client or automatically setting the non-smooth area as the mopping detour area comprises:

7. The method according to claim 1, wherein, after the step of locating the area range where the non-smooth object is located and converting the area range where the non-smooth object is located into the non-smooth area to prompt the client or automatically set the non-smooth area as the ground-dragging detour area, the method further comprises:

when an forbidden zone range self-defining instruction sent by a client is received, self-defined forbidden zone range information in the forbidden zone range self-defining instruction is obtained, and a self-defined ground dragging detour area is set in the current work map according to the self-defined forbidden zone range information.

8. The method for setting a mopping detour area according to claim 1, wherein after the step of determining whether or not a non-smooth object of a non-smooth material exists in the current working map, the method further comprises:

9. The method according to claim 1, wherein, after the step of locating the area range where the non-smooth object is located and converting the area range where the non-smooth object is located into the non-smooth area to prompt the client or automatically set the non-smooth area as the ground-dragging detour area, the method further comprises:

10. The method for setting a mopping detour area according to claim 1, wherein after the step of obtaining the current work map of the sweeping robot, the method further comprises:

and dynamically updating the current working map according to the dynamic area.

11. The mopping pass-around region setting method of claim 10, wherein the dynamic object comprises a biological target,

judging whether an area with the actual temperature in a preset biological temperature range exists in the infrared thermography;

12. The method for setting a mopping detour area according to claim 11, wherein if the dynamic object exists in the current working map, the area where the dynamic object exists in the current working map is determined in real time as a dynamic area, and the step of detouring the dynamic area in real time includes:

13. A robot of sweeping floor, characterized in that, robot of sweeping floor includes:

the non-smooth object judgment module is used for judging whether a non-smooth object of the non-smooth object exists in the current working map;

the bypassing area setting module is used for positioning the area range of the non-smooth object if the non-smooth object exists, and converting the area range of the non-smooth object into a non-smooth area so as to prompt a client or automatically set the non-smooth area as a ground-dragging bypassing area;

wherein the non-smooth object determination module includes:

if the object to be detected is not the non-smooth object, judging that the non-smooth object does not exist in the current working map, wherein the non-smooth object comprises a ground pavement which is made of natural fibers and/or chemical synthetic fibers of cotton, hemp, wool, silk and grass yarns, and/or is knitted, tufted or woven through a manual or mechanical process;

wherein the second sensor comprises an ultrasonic sensor, the non-smooth object comprises a carpet,

the second sensing judgment unit is further configured to:

judging whether the sound wave signal is matched with a preset standard carpet sound wave signal or not, wherein the preset standard carpet sound wave signal comprises a plurality of different values or a plurality of different value ranges;

14. A sweeping robot according to claim 13, wherein said non-smooth area comprises a carpeted area,

the robot of sweeping the floor still includes:

and the temporary forbidden zone setting module is used for setting the carpet area into a temporary forbidden zone in the current working map so as to bypass the temporary forbidden zone to work if the sweeping robot uses a mop bracket to work currently.

15. The sweeping robot of claim 14, further comprising:

the important region setting module is used for setting the unsmooth region into an important dust collection region in the current working map if the sweeping robot does not work by using a mop bracket at present, so that the important dust collection region can be subjected to dust collection, the suction force of the important dust collection region can be increased, and the dust collection times of the important dust collection region can be increased.

16. A sweeping robot according to any one of claims 13 to 15 wherein the first sensor comprises a radar sensor.

17. The sweeping robot of claim 13, wherein the bypass zone setting module comprises:

18. The sweeping robot of claim 13, wherein the bypass zone setting module comprises:

the prompting setting unit is used for converting the area range where the non-smooth object is located into a non-smooth area and sending prompting information set by a ground dragging and bypassing area to the client so as to set the non-smooth area as the ground dragging and bypassing area based on the setting instruction when receiving the setting instruction sent by the client based on the prompting information; or the like, or, alternatively,

19. The sweeping robot of claim 13, further comprising:

20. The sweeping robot of claim 13, further comprising:

21. The sweeping robot of claim 13, further comprising:

22. A sweeping robot according to claim 13, further comprising:

23. A sweeping robot according to claim 22, wherein said dynamic objects include biological targets,

the second object determination module includes:

the biological target judging unit is used for judging that a biological target exists in the current working map if an area with the actual temperature in a preset biological temperature range exists;

24. The sweeping robot of claim 23, wherein the real-time detour determination module comprises:

the radar measuring and calculating unit is used for measuring and calculating the movement speed of the biological target and the occupied area of the biological target by using a preset radar sensor if the biological target exists in the current working map;

25. A mopping detour area setting apparatus, characterized by comprising: current client, memory, processor and a mopping bypass area setting program stored on the memory and executable on the processor, which when executed by the processor implements the steps of the mopping bypass area setting method according to any of claims 1 to 12.

26. A computer-readable storage medium, characterized in that a mopping detour area setting program is stored thereon, which when executed by a processor, implements the steps of the mopping detour area setting method according to any one of claims 1 to 12.