CN112386188B - Sweeping control method and device and storage medium - Google Patents
Sweeping control method and device and storage medium Download PDFInfo
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- CN112386188B CN112386188B CN201910743851.8A CN201910743851A CN112386188B CN 112386188 B CN112386188 B CN 112386188B CN 201910743851 A CN201910743851 A CN 201910743851A CN 112386188 B CN112386188 B CN 112386188B
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
- A47L11/4011—Regulation of the cleaning machine by electric means; Control systems and remote control systems therefor
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- 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
- A47L11/4061—Steering means; Means for avoiding obstacles; Details related to the place where the driver is accommodated
Abstract
The invention discloses a cleaning control method, which comprises the steps of controlling an electronic device to move in an environment, detecting the type of a target area in the environment and obtaining a detection result; responding to the detection result to indicate that the target area is an area of a first type, controlling the electronic equipment to be in the target area, and cleaning the target area by adopting a first cleaning mode; and in response to the target area being the second type of area, controlling the electronic equipment to be outside the target area, and cleaning the target area by adopting a second cleaning mode. The invention also discloses a cleaning control device and a storage medium.
Description
Technical Field
The invention relates to the technical field of household appliances, in particular to a cleaning control method, a cleaning control device and a storage medium.
Background
Since various furniture and household appliances are generally placed in the home environment, some dead corners for cleaning can occur. Such as chair legs, end table legs, bed legs, etc. At present, in the process of cleaning a home environment by using a sweeping robot, the sweeping robot can only enter a corresponding area to clean the area. In the case where the sweeping robot cannot enter the aforementioned "dead-spot" areas, the "dead-spot" areas cannot be cleaned. Therefore, in the prior art, the sweeping robot cannot thoroughly sweep the household environment.
Disclosure of Invention
In view of the above, embodiments of the present invention are directed to a cleaning control method, a cleaning control device, and a storage medium, which are used to solve the above-mentioned problems in the prior art.
In order to achieve the above purpose, the technical solution of the embodiment of the present invention is realized as follows:
the embodiment of the invention provides a cleaning control method, which comprises the following steps:
controlling the electronic equipment to move in the environment, and detecting the type of a target area in the environment to obtain a detection result; wherein the target area is one of at least one area in the environment;
responding to the detection result to indicate that the target area is an area of a first type, controlling the electronic equipment to be in the target area, and cleaning the target area by adopting a first cleaning mode; the first cleaning mode is used for representing that the electronic equipment absorbs the object to be cleaned in the target area in the moving process;
responding to the detection result to indicate that the target area is an area of a second type, controlling the electronic equipment to be out of the target area, and cleaning the target area by adopting a second cleaning mode; the second cleaning mode is used for representing that the electronic equipment blows air to the target area.
In the foregoing solution, the detecting the type of the target area in the environment to obtain a detection result includes:
determining a contour of the target region;
judging whether the target area can accommodate the electronic equipment or not based on the outline of the target area;
in response to the target area being capable of accommodating the electronic device, determining that the target area is an area of a first type;
determining that the target area is a second type of area in response to the target area not being able to accommodate the electronic device.
In the foregoing solution, the cleaning the target area in the second cleaning mode includes:
determining a maximum distance between the electronic device and a contour of the target area;
determining a blowing parameter in the second sweeping mode according to the maximum distance;
and blowing air to the target area based on the air blowing parameters in the second cleaning mode so as to clean the target area.
In the foregoing aspect, the determining the blowing parameter in the second sweeping mode includes at least one of:
determining the blowing time of the electronic equipment;
determining the blowing wind speed of the electronic equipment;
determining an air blowing angle of the electronic device.
In the foregoing aspect, after the cleaning the target area in the second cleaning mode, the method includes:
controlling the electronic equipment to switch to the first cleaning mode;
and cleaning the area to be cleaned at the periphery of the target area based on the first cleaning mode.
An embodiment of the present invention further provides a cleaning control device, where the device includes: the device comprises a detection module, a first control module and a second control module; wherein the content of the first and second substances,
the detection module is used for controlling the electronic equipment to move in the environment and detecting the type of the target area in the environment to obtain a detection result; wherein the target area is one of at least one area in the environment;
the first control module is used for responding to the detection result that the target area is characterized to be an area of a first type, controlling the electronic equipment to be in the target area, and cleaning the target area by adopting a first cleaning mode; the first cleaning mode is used for representing that the electronic equipment absorbs the object to be cleaned in the target area in the moving process;
the second control module is used for responding to the detection result that the target area is characterized to be an area of a second type, controlling the electronic equipment to be out of the target area, and cleaning the target area by adopting a second cleaning mode; the second cleaning mode is used for representing that the electronic equipment blows air to the target area.
In the foregoing solution, the detection module is specifically configured to determine a contour of the target area; judging whether the target area can accommodate the electronic equipment or not based on the outline of the target area; in response to the target area being capable of accommodating the electronic device, determining that the target area is an area of a first type; determining that the target area is a second type of area in response to the target area not being able to accommodate the electronic device.
In the foregoing solution, the second control module is specifically configured to determine a maximum distance between the electronic device and the contour of the target area; determining a blowing parameter in the second sweeping mode according to the maximum distance; and blowing air to the target area based on the air blowing parameters in the second cleaning mode so as to clean the target area.
In the above scheme, the apparatus further includes a switching module, configured to control the electronic device to switch to the first cleaning mode; and cleaning the area to be cleaned at the periphery of the target area based on the first cleaning mode.
The embodiment of the present invention further provides a storage medium, on which an executable program is stored, and is characterized in that the executable program implements the steps of the above technical solution when being executed by a processor.
The embodiment of the present invention further provides a controller, which includes a memory, a processor, and an executable program stored in the memory and capable of being executed by the processor, and is characterized in that the steps in the above technical solutions are executed when the processor executes the executable program.
The cleaning control method, the cleaning control device and the storage medium provided by the embodiment of the invention are used for detecting the type of a target area to be cleaned. And determining a corresponding cleaning mode according to the type of the target area. Specifically, when the electronic device can enter the target area, the target area is determined to be a first type of area, and the electronic device is controlled to clean the target area in a first cleaning mode; under the condition that the electronic equipment cannot enter the target area, determining that the target area is an area of a second type, and controlling the electronic equipment to clean the target area by adopting a second cleaning mode; the second cleaning mode is used for representing that the electronic equipment blows air to the target area. As a result, cleaning can be performed even in an area where the electronic device cannot enter. Furthermore, the environment where the electronic equipment is located is thoroughly cleaned, and the use experience of a user is improved.
Drawings
Fig. 1 is a first schematic flow chart illustrating a cleaning control method according to an embodiment of the present invention;
fig. 2 is a first scenario diagram of a cleaning control method according to an embodiment of the present invention;
fig. 3 is a schematic flow chart illustrating an implementation of the cleaning control method according to the embodiment of the present invention;
fig. 4 is a schematic view of a scenario of a cleaning control method according to an embodiment of the present invention;
FIG. 5 is a first schematic view of a cleaning control apparatus according to an embodiment of the present invention;
FIG. 6 is a schematic diagram of a second exemplary embodiment of a cleaning control apparatus;
fig. 7 is a schematic hardware configuration diagram of a cleaning control device according to an embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention more apparent, the embodiments of the present invention will be described in detail below with reference to the accompanying drawings.
The first embodiment,
In the embodiment of the present invention, an implementation flow diagram of a cleaning control method is shown in fig. 1, and includes the following steps:
step 101: controlling the electronic equipment to move in the environment, and detecting the type of a target area in the environment to obtain a detection result; wherein the target area is one of at least one area in the environment;
step 102: responding to the detection result to indicate that the target area is an area of a first type, controlling the electronic equipment to be in the target area, and cleaning the target area by adopting a first cleaning mode; the first cleaning mode is used for representing that the electronic equipment absorbs the object to be cleaned in the target area in the moving process;
step 103: responding to the detection result to indicate that the target area is an area of a second type, controlling the electronic equipment to be out of the target area, and cleaning the target area by adopting a second cleaning mode; the second cleaning mode is used for representing that the electronic equipment blows air to the target area. In step 101 in the embodiment of the present invention, the electronic device may be an intelligent cleaning device such as a cleaning robot and a vacuum cleaner. The environment of the electronic equipment can be a household environment, an office environment and other environments which need to be cleaned in daily life.
And controlling the electronic equipment to move in the environment to clean the environment. Specifically, after the cleaning mode of the electronic device is started, the electronic device collects information of an environment where the electronic device is located by using a camera device or a laser sensor of the electronic device, and draws map information, so that the electronic device can identify the environment where the electronic device is located. For example, when the sweeping robot cleans a living room, the sweeping robot photographs the living room through a camera of the sweeping robot, further draws map information of the living room, and determines position information of each object in the living room. Further, after the position information of each object in the environment is determined, a running route is planned, the object starts to move in the environment, and the ground in the environment is cleaned.
The environment of the electronic equipment comprises a plurality of areas, and the target area is used for representing one area in at least one area in the environment. The target area is an area to be cleaned in the environment of the electronic equipment. For the area which has been cleaned, the electronic device will make a corresponding recording to avoid the situation of repeated cleaning. Because the electronic equipment has more than one cleaning mode, different cleaning modes can be selected to clean the area to be cleaned aiming at different areas to be cleaned. Therefore, it is necessary to detect the type of the target area of the environment to determine the cleaning mode of the electronic device for the target area.
Here, the detecting the type of the target area in the environment to obtain the detection result includes: determining a contour of the target region; judging whether the target area can accommodate the electronic equipment or not based on the outline of the target area; in response to the target area being capable of accommodating the electronic device, determining that the target area is an area of a first type; determining that the target area is a second type of area in response to the target area not being able to accommodate the electronic device. For example, in the case that the electronic device determines an area below a tea table in a living room as a target area, after determining the outline of the area below the tea table, the electronic device judges that the target area can accommodate the electronic device, and then determines the area below the tea table as a first type of area; or, under the condition that the electronic device determines the gap area between the sofa and the wall surface as the target area, after determining the outline of the gap area between the sofa and the wall surface, the electronic device judges that the target area cannot accommodate the electronic device, and then determines that the gap area between the sofa and the wall surface is the second type area.
In step 102, in response to that the detection result indicates that the target area is an area of a first type, controlling the electronic device to clean the target area in a first cleaning mode; the first cleaning mode is used for representing that the electronic equipment absorbs the object to be cleaned in the target area during moving. Specifically, if the detection result indicates that the target area to be cleaned by the electronic device is a first type of area, the electronic device is controlled to be in the target area, and a first cleaning mode is adopted to clean the target area. Here, if the electronic device can enter the target area to clean the target area, the target area is determined to be an area of a first type. And if the electronic equipment cannot enter the target area to clean the target area and can only blow air to the target area outside the target area, determining that the target area is a second type of area.
Here, for example, if the electronic device determines that the area below the living room tea table is the first type area, the electronic device moves to the area below the tea table, and regularly moves in the area below the tea table to clean the area below the tea table, thereby sucking dust, paper dust, and the like existing in the area below the tea table into its own storage box.
In step 103, in response to the detection result representing that the target area is an area of a second type, controlling the electronic device to be outside the target area, and cleaning the target area by adopting a second cleaning mode; the second cleaning mode is used for representing that the electronic equipment blows air to the target area. Specifically, if the electronic device determines that the target area is an area of a second type, the electronic device is controlled to be outside the target area, and the target area is cleaned in the second cleaning mode. For example, if the electronic device determines that the gap area between the sofa and the wall surface in the living room is the second type area, the electronic device is controlled to blow air to the gap area between the sofa and the wall surface at the periphery of the gap area between the sofa and the wall surface, so that the cleaning work of the gap area between the sofa and the wall surface is completed.
Further, the sweeping the target area in the second sweeping mode includes: determining a maximum distance between the electronic device and a contour of the target area; determining a blowing parameter in the second sweeping mode according to the maximum distance; and blowing air to the target area based on the air blowing parameters in the second cleaning mode so as to clean the target area. In particular, the target area is not necessarily regular in shape, since the electronic device cannot enter the target area. Then, the maximum distance between the electronic device and the contour of the target area is determined first, and the blowing parameter in the second sweeping mode is determined. Wherein the maximum distance between the electronic device and the contour of the target area may be determined using the following method: and calculating length values of connecting lines between the central point of the electronic equipment and each point on the outline of the target area, and taking the maximum value in the length values as the maximum distance between the electronic equipment and the outline of the target area. As shown in fig. 2, the maximum distance between the electronic device and the rectangular target area is the maximum distance between the electronic device and the outline of the target area, and a connection line between the center O point of the electronic device and the point a on the rectangular area is the maximum distance between the electronic device and the outline of the target area. Here, the determining of the blowing parameter in the second sweeping mode includes at least one of: determining the blowing time of the electronic equipment; determining the blowing wind speed of the electronic equipment; determining an air blowing angle of the electronic device. Further, after the blowing parameters of the electronic equipment are determined, blowing is performed on the target area based on the blowing parameters of the electronic equipment, so that the target area is cleaned.
Further, after the sweeping the target area in the second sweeping mode, the method includes: controlling the electronic equipment to switch to the first cleaning mode; and cleaning the area to be cleaned at the periphery of the target area based on the first cleaning mode. For example, after the electronic device blows an object to be cleaned in a gap area between the sofa and the wall surface to the periphery of the gap area between the sofa and the wall surface, the electronic device is controlled to switch to a first cleaning mode, and the electronic device moves to a peripheral area to be cleaned in the gap area between the sofa and the wall surface to clean the object to be cleaned. The electronic equipment can acquire the target area and image information around the target area in real time, and further determine the range of the area to be cleaned around the target area according to the position of the object to be cleaned after being blown out of the target area; alternatively, the range of the region to be cleaned around the target region may be set in advance. For such a situation, a large number of experiments can be performed to obtain the range of the region to be cleaned around the target region according to the size of the target region and the blowing parameters of the electronic device.
In this embodiment, a target area in an environment where the electronic device is located is detected, and a type of the target area is determined. And determining a cleaning mode of the electronic equipment according to the type of the target area to clean the target area. Specifically, if the target area is a first type of area, the electronic device is controlled to be in the target area, and a first cleaning mode is adopted to clean the target area; and if the target area is the second type of area, controlling the electronic equipment to be outside the target area, and cleaning the target area by adopting a second cleaning mode. Therefore, the target area can be cleaned no matter whether the electronic equipment can enter the target area or not, so that the environment is thoroughly cleaned, and the use experience of a user is improved.
Example II,
In the embodiment of the present invention, an implementation flow diagram of a cleaning control method is shown in fig. 3, and includes the following steps:
step 301: starting cleaning, and controlling the floor sweeping robot to move in the living room;
here, the electronic device is a sweeping robot, and the environment where the sweeping robot is located is a living room. After the sweeping robot starts a sweeping mode, firstly, information of the living room is collected by a camera device or a laser sensor of the sweeping robot, and is drawn into map information so as to plan a running track of the sweeping robot. The side of the sweeping robot is provided with the blowing device, the lower part of the sweeping robot is provided with the storage device, and objects to be swept on the ground can be sucked into the storage box of the sweeping robot.
Step 302: detecting the type of the target area in the living room to obtain a detection result;
here, the living room includes a plurality of areas, and the target area is one area of at least one area in the living room. The target area is an area to be cleaned in the living room. Because the sweeping robot has multiple sweeping modes, different sweeping modes can be selected to sweep the area to be swept aiming at different areas to be swept. Therefore, the type of the target area of the living room needs to be detected to determine the cleaning mode of the cleaning robot for the target area.
Here, the detecting the type of the target area in the living room to obtain the detection result includes: determining a contour of the target region; judging whether the sweeping robot can be accommodated in the target area or not based on the outline of the target area; in response to the target area being able to accommodate the sweeping robot, determining that the target area is a first type of area; determining that the target area is a second type of area in response to the target area not being able to accommodate the electronic device.
Step 303: responding to the detection result to indicate that the target area is an area of a first type, and controlling the sweeping robot to sweep the target area in a first sweeping mode;
here, as shown in fig. 4, the area below the desk in the living room is a target area, i.e., area 1 in the figure. After the area below the computer desk is determined to be the area of the first type, the sweeping robot is controlled to sweep the area below the computer desk in a first sweeping mode. The first cleaning mode is used for representing that the electronic equipment absorbs the object to be cleaned in the target area during moving. And if the sweeping robot can enter the target area to sweep the target area, determining that the target area is the first type of area.
Step 304: and in response to the detection result representing that the target area is the second type of area, controlling the sweeping robot to be out of the target area, and sweeping the target area by adopting a second sweeping mode.
Here, as shown in fig. 4, the gap area between the sofa and the wall is a target area, i.e., area 2 in the drawing. After the gap area of the sofa and the wall is determined to be the second type of area, the sweeping robot is controlled to be outside the gap area of the sofa and the wall, and a second sweeping mode is adopted to sweep the gap area of the sofa and the wall. Wherein the second sweeping mode is used for representing that the sweeping robot blows air to the target area.
Further, the cleaning the gap area between the sofa and the wall by adopting the second cleaning mode comprises: determining a maximum distance between the sweeping robot and the contour of the gap area of the sofa and the wall; determining a blowing parameter in the second sweeping mode according to the maximum distance; and blowing air to the gap area of the sofa and the wall based on the air blowing parameters in the second cleaning mode so as to clean the gap area of the sofa and the wall. The length values of connecting lines between the center point of the sweeping robot and each point on the outline of the gap area between the sofa and the wall can be calculated, and the maximum value of the length values is taken as the maximum distance from the sweeping robot to the outline of the gap area between the sofa and the wall. Specifically, the sweeping robot cannot enter the gap area between the sofa and the wall. Then, the maximum distance between the sweeping robot and the contour of the gap area of the sofa and the wall is determined first, and the blowing parameter in the second sweeping mode is determined. Here, the determining of the blowing parameter in the second sweeping mode includes at least one of: determining the blowing time of the sweeping robot; determining the blowing wind speed of the sweeping robot; and determining the blowing angle of the sweeping robot. And then after the blowing parameters of the sweeping robot are determined, blowing is carried out on the gap area of the sofa and the wall based on the blowing parameters of the sweeping robot, so that the gap area of the sofa and the wall can be cleaned.
Further, after the cleaning of the gap area between the sofa and the wall in the second cleaning mode, the method includes: controlling the sweeping robot to switch to the first sweeping mode; and cleaning the area to be cleaned at the periphery of the gap area of the sofa and the wall based on the first cleaning mode. The sweeping robot can acquire image information of the gap area of the sofa and the wall and the periphery of the gap area of the sofa and the wall in real time, and further determine the range of the periphery of the gap area of the sofa and the wall to be cleaned according to the position of an object to be cleaned after being blown out of the gap area of the sofa and the wall; alternatively, the range of the area to be cleaned around the gap area of the sofa and the wall may be set in advance. For such a situation, a large number of experiments can be performed to obtain the range of the region to be cleaned around the target region according to the size of the target region and the blowing parameters of the electronic device.
Step 305: recording the cleaned areas, judging whether the living room is completely cleaned, and if the target area is not cleaned, executing step 302; if all the target areas are cleaned, go to step 306.
Step 306: and finishing cleaning.
Here, during the cleaning process of the cleaning robot in the living room, each time a target area is cleaned, a corresponding record is recorded. And then entering a next target area for cleaning, and ending the cleaning work of the living room when judging that all areas of the living room are cleaned.
In this embodiment, the type of the target area in the living room is detected, and after the type of the target area is determined, the target area is cleaned by using a corresponding cleaning mode. Aiming at a first type of area, cleaning the target area in a first cleaning mode in the target area; and for a second type of area, cleaning the target area by adopting a second cleaning mode outside the target area. Therefore, each area in the living room is thoroughly cleaned, and user experience is improved.
Example III,
In order to implement the above cleaning control method, an embodiment of the present invention further provides a cleaning control apparatus, a schematic structural diagram of the cleaning control is shown in fig. 5, and the apparatus includes: a detection module 51, a first control module 52 and a second control module 53; wherein the content of the first and second substances,
the detection module 51 is configured to control the electronic device to move in the environment, and detect the type of the target area in the environment to obtain a detection result; wherein the target area is one of at least one area in the environment;
the first control module 52 is configured to control the electronic device to perform cleaning on the target area in a first cleaning mode in response to the detection result indicating that the target area is an area of a first type; the first cleaning mode is used for representing that the electronic equipment absorbs the object to be cleaned in the target area in the moving process;
the second control module 53 is configured to control the electronic device to be outside the target area in response to the detection result indicating that the target area is an area of a second type, and to clean the target area in a second cleaning mode; the second cleaning mode is used for representing that the electronic equipment blows air to the target area.
Here, the electronic device may be an intelligent cleaning device such as a cleaning robot and a vacuum cleaner. The environment of the electronic equipment can be a household environment, an office environment and other environments which need to be cleaned in daily life. The target area is used to characterize one of the at least one area in the environment.
The detection module 51 is specifically configured to determine a contour of the target region; judging whether the target area can accommodate the electronic equipment or not based on the outline of the target area; in response to the target area being capable of accommodating the electronic device, determining that the target area is an area of a first type; determining that the target area is a second type of area in response to the target area not being able to accommodate the electronic device. Further, if the electronic device can enter the target area to clean the target area, it is determined that the target area is the first type area. And if the electronic equipment cannot enter the target area to clean the target area and can only blow air to the target area outside the target area, determining that the target area is a second type of area. The target area is an area to be cleaned in the environment where the electronic equipment is located.
Here, the second control module 53 is specifically configured to determine a maximum distance between the electronic device and the contour of the target area; determining a blowing parameter in the second sweeping mode according to the maximum distance; and blowing air to the target area based on the air blowing parameters in the second cleaning mode so as to clean the target area. The second control module 53 may calculate length values of a connection line between a center point of the electronic device and each point on the contour of the target area, and take a maximum value of the length values as a maximum distance between the electronic device and the contour of the target area. Further, the determining the blowing parameter in the second sweeping mode includes at least one of: determining the blowing time of the electronic equipment; determining the blowing wind speed of the electronic equipment; determining an air blowing angle of the electronic device.
Further, the apparatus further includes a switching module 54, configured to control the electronic device to switch to the first cleaning mode; and cleaning the area to be cleaned at the periphery of the target area based on the first cleaning mode. The method comprises the steps that image information of a target area and the periphery of the target area can be obtained in real time, and the range of the periphery of the target area to be cleaned is determined according to the position of an object to be cleaned after being blown out of the target area; alternatively, the range of the region to be cleaned around the target region may be set in advance. For such a situation, a large number of experiments can be performed to obtain the range of the region to be cleaned around the target region according to the size of the target region and the blowing parameters of the electronic device. Here, the structural composition of the cleaning control apparatus in fig. 5 is also applied to the structural composition shown in fig. 6, specifically including: the detecting module 51, the first control module 52, the second control module 53 and the switching module 54 are further described in detail in the foregoing technical solutions, and detailed description thereof is omitted here.
In practical applications, the detection module 51, the first control module 52, the second control module 53 and the switching module 54 can be implemented by a Central Processing Unit (CPU), a microprocessor Unit (MPU), a Digital Signal Processor (DSP), a Field Programmable Gate Array (FPGA), or the like located in a server.
It should be noted that: in the cleaning control device provided in the above embodiment, only the division of the program modules is exemplified when performing control, and in practical applications, the above processing may be distributed to different program modules as needed, that is, the internal structure of the device may be divided into different program modules to complete all or part of the above-described processing. In addition, the cleaning control method provided by the above embodiment and the cleaning control device embodiment belong to the same concept, and the specific implementation process thereof is described in the method embodiment and is not described herein again.
In order to implement the method, an embodiment of the present invention further provides another cleaning control apparatus, where the cleaning control apparatus includes a memory, a processor, and an executable program stored on the memory and capable of being executed by the processor, and when the processor executes the executable program, the following operations are performed:
controlling the electronic equipment to move in the environment, and detecting the type of a target area in the environment to obtain a detection result; wherein the target area is one of at least one area in the environment;
responding to the detection result to indicate that the target area is an area of a first type, controlling the electronic equipment to be in the target area, and cleaning the target area by adopting a first cleaning mode; the first cleaning mode is used for representing that the electronic equipment absorbs the object to be cleaned in the target area in the moving process;
responding to the detection result to indicate that the target area is an area of a second type, controlling the electronic equipment to be out of the target area, and cleaning the target area by adopting a second cleaning mode; the second cleaning mode is used for representing that the electronic equipment blows air to the target area.
When the processor runs the executable program, the following operations are executed:
determining a contour of the target region;
judging whether the target area can accommodate the electronic equipment or not based on the outline of the target area;
in response to the target area being capable of accommodating the electronic device, determining that the target area is an area of a first type;
determining that the target area is a second type of area in response to the target area not being able to accommodate the electronic device.
When the processor runs the executable program, the following operations are executed:
determining a maximum distance between the electronic device and a contour of the target area;
determining a blowing parameter in the second sweeping mode according to the maximum distance;
and blowing air to the target area based on the air blowing parameters in the second cleaning mode so as to clean the target area.
When the processor runs the executable program, the following operations are executed:
determining the blowing time of the electronic equipment;
determining the blowing wind speed of the electronic equipment;
determining an air blowing angle of the electronic device.
When the processor runs the executable program, the following operations are executed:
controlling the electronic equipment to switch to the first cleaning mode;
and cleaning the area to be cleaned at the periphery of the target area based on the first cleaning mode.
The hardware configuration of the cleaning control apparatus will be further described below by taking an example in which the cleaning control apparatus is implemented as a server or a terminal for control.
Fig. 7 is a schematic diagram showing a hardware configuration of a cleaning control apparatus according to an embodiment of the present invention, and a cleaning control apparatus 700 shown in fig. 7 includes: at least one processor 701, memory 702, user interface 703, and at least one network interface 704. The various components of the cleaning control device 700 are coupled together by a bus system 705. It is understood that the bus system 705 is used to enable communications among the components. The bus system 705 includes a power bus, a control bus, and a status signal bus in addition to a data bus. But for clarity of illustration the various busses are labeled in figure 7 as the bus system 705.
The user interface 703 may include, among other things, a display, a keyboard, a mouse, a trackball, a click wheel, a key, a button, a touch pad, or a touch screen.
It will be appreciated that the memory 702 can be either volatile memory or nonvolatile memory, and can include both volatile and nonvolatile memory.
The memory 702 in the present embodiment is used to store various types of data to support the operation of the sweeping control device 700. Examples of such data include: any computer program for operating on cleaning control device 700, such as executable program 7021, may be included in executable program 7021 for implementing methods according to embodiments of the present invention.
The method disclosed in the above embodiments of the present invention may be applied to the processor 701, or implemented by the processor 701. The processor 701 may be an integrated circuit chip having signal processing capabilities. In implementation, the steps of the above method may be implemented by integrated logic circuits of hardware or instructions in the form of software in the processor 701. The processor 701 described above may be a general purpose processor, a DSP, or other programmable logic device, discrete gate or transistor logic device, discrete hardware components, or the like. The processor 701 may implement or perform the methods, steps, and logic blocks disclosed in embodiments of the present invention. A general purpose processor may be a microprocessor or any conventional processor or the like. The steps of the method disclosed by the embodiment of the invention can be directly implemented by a hardware decoding processor, or can be implemented by combining hardware and software modules in the decoding processor. The software modules may be located in a storage medium located in the memory 702, and the processor 701 may read the information in the memory 702 and perform the steps of the aforementioned methods in conjunction with its hardware.
In an exemplary embodiment, an embodiment of the present invention further provides a storage medium having an executable program stored thereon, which when executed by a processor, performs the foregoing method.
As will be appreciated by one skilled in the art, embodiments of the present invention may be provided as a method, system, or executable program product. Accordingly, the present invention may take the form of a hardware embodiment, a software embodiment, or an embodiment combining software and hardware aspects. Furthermore, the present invention may take the form of an executable program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, optical storage, and the like) having computer-usable program code embodied therein.
The present invention has been described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems), and executable program products according to embodiments of the invention. It will be understood that each flow and/or block of the flow diagrams and/or block diagrams, and combinations of flows and/or blocks in the flow diagrams and/or block diagrams, can be implemented by executable program instructions. These executable program instructions may be provided to a general purpose computer, special purpose computer, embedded processor, or processor with reference to a programmable data processing apparatus to produce a machine, such that the instructions, which execute via the computer or processor with reference to the programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
These executable program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
These executable program instructions may also be loaded onto a computer or reference programmable data processing apparatus to cause a series of operational steps to be performed on the computer or reference programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or reference programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
The above description is only a preferred embodiment of the present invention, and is not intended to limit the scope of the present invention.
Claims (10)
1. A sweeping control method, characterized by comprising:
controlling the electronic equipment to move in the environment, and detecting the type of a target area in the environment to obtain a detection result; wherein the target area is one of at least one area in the environment;
responding to the detection result to indicate that the target area is an area of a first type, controlling the electronic equipment to be in the target area, and cleaning the target area by adopting a first cleaning mode; the first cleaning mode is used for representing that the electronic equipment absorbs the object to be cleaned in the target area in the moving process;
responding to the detection result to indicate that the target area is an area of a second type, controlling the electronic equipment to be out of the target area, and cleaning the target area by adopting a second cleaning mode; the second cleaning mode is used for representing that the electronic equipment blows air to the target area;
the cleaning the target area by adopting the second cleaning mode comprises the following steps:
determining a maximum distance between the electronic device and a contour of the target area;
determining a blowing parameter in the second sweeping mode according to the maximum distance;
and blowing air to the target area based on the air blowing parameters in the second cleaning mode so as to clean the target area.
2. The method according to claim 1, wherein the detecting the type of the target area in the environment to obtain a detection result comprises:
determining a contour of the target region;
judging whether the target area can accommodate the electronic equipment or not based on the outline of the target area;
in response to the target area being capable of accommodating the electronic device, determining that the target area is an area of a first type;
determining that the target area is a second type of area in response to the target area not being able to accommodate the electronic device.
3. The method of claim 1, wherein the determining the blowing parameter in the second sweeping mode comprises at least one of:
determining the blowing time of the electronic equipment;
determining the blowing wind speed of the electronic equipment;
determining an air blowing angle of the electronic device.
4. The method of claim 1, wherein after sweeping the target area in the second sweeping mode, comprising:
controlling the electronic equipment to switch to the first cleaning mode;
and cleaning the area to be cleaned at the periphery of the target area based on the first cleaning mode.
5. A sweeping control apparatus, characterized in that the apparatus comprises: the device comprises a detection module, a first control module and a second control module; wherein the content of the first and second substances,
the detection module is used for controlling the electronic equipment to move in the environment and detecting the type of the target area in the environment to obtain a detection result; wherein the target area is one of at least one area in the environment;
the first control module is used for responding to the detection result that the target area is characterized to be an area of a first type, controlling the electronic equipment to be in the target area, and cleaning the target area by adopting a first cleaning mode; the first cleaning mode is used for representing that the electronic equipment absorbs the object to be cleaned in the target area in the moving process;
the second control module is used for responding to the detection result that the target area is characterized to be an area of a second type, controlling the electronic equipment to be out of the target area, and cleaning the target area by adopting a second cleaning mode; the second cleaning mode is used for representing that the electronic equipment blows air to the target area;
the second control module is specifically configured to determine a maximum distance between the electronic device and the contour of the target area; determining a blowing parameter in the second sweeping mode according to the maximum distance; and blowing air to the target area based on the air blowing parameters in the second cleaning mode so as to clean the target area.
6. The apparatus according to claim 5, wherein the detection module is specifically configured to determine a contour of the target region; judging whether the target area can accommodate the electronic equipment or not based on the outline of the target area; in response to the target area being capable of accommodating the electronic device, determining that the target area is an area of a first type; determining that the target area is a second type of area in response to the target area not being able to accommodate the electronic device.
7. The apparatus of claim 5, wherein the determining the blowing parameter in the second sweeping mode comprises at least one of:
determining the blowing time of the electronic equipment;
determining the blowing wind speed of the electronic equipment;
determining an air blowing angle of the electronic device.
8. The apparatus of claim 5, further comprising a switching module for controlling the electronic device to switch to the first sweeping mode; and cleaning the area to be cleaned at the periphery of the target area based on the first cleaning mode.
9. A storage medium having stored thereon an executable program, the executable program when executed by a processor implementing the steps of the method of any one of claims 1 to 4.
10. A cleaning control device comprising a memory, a processor and an executable program stored on the memory and executable by the processor, wherein the steps of the method of any one of claims 1 to 4 are performed when the executable program is executed by the processor.
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| CN201910743851.8A CN112386188B (en) | 2019-08-13 | 2019-08-13 | Sweeping control method and device and storage medium |
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Effective date of registration: 20210401 Address after: No.39 Caohu Avenue, Xiangcheng Economic Development Zone, Suzhou City, Jiangsu Province Applicant after: Meizhizongheng Technology Co.,Ltd. Address before: No.39 Caohu Avenue, Xiangcheng Economic Development Zone, Suzhou City, Jiangsu Province Applicant before: JIANGSU MIDEA CLEANING APPLIANCES Co.,Ltd. Applicant before: MIDEA GROUP Co.,Ltd. |
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