CN112471976A - Sweeping robot control method, device, equipment and computer readable medium - Google Patents
Sweeping robot control method, device, equipment and computer readable medium Download PDFInfo
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- CN112471976A CN112471976A CN202011444564.6A CN202011444564A CN112471976A CN 112471976 A CN112471976 A CN 112471976A CN 202011444564 A CN202011444564 A CN 202011444564A CN 112471976 A CN112471976 A CN 112471976A
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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
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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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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F18/00—Pattern recognition
- G06F18/20—Analysing
- G06F18/22—Matching criteria, e.g. proximity measures
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
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Abstract
The application relates to a sweeping robot control method, a sweeping robot control device, sweeping robot equipment and a computer readable medium. The method comprises the following steps: acquiring first detection information of a first area, wherein the first area is a cleaned area with target stains on a cleaning path of the sweeping robot; and controlling the sweeping robot to re-clean the first area under the condition that the first detection information is utilized to determine that the cleaned area has residual stains. This application discerns stubborn spot through the humidity signal characteristic that image recognition technology combines humidity transducer to confirm through the washing condition to comparing stubborn spot of back before the washing and whether still need rinse again, can carry out different washing schemes according to the spot of difference, realize the washing of dynamic strength, so that rinse stubborn spot thoroughly more, and need not the repeated washing of large tracts of land, can also guarantee resource saving under the condition of guaranteeing the cleaning performance.
Description
Technical Field
The application relates to the technical field of smart home, in particular to a floor sweeping robot control method, device and equipment and a computer readable medium.
Background
The floor sweeping robot is also called an automatic cleaner, intelligent dust collection, a robot dust collector and the like, is one of intelligent household appliances, and can automatically complete floor cleaning work in a room by means of certain artificial intelligence.
The image recognition technology is to use an application program to process and analyze image signals, recognize the state of the current input image and further perform corresponding logic processing.
At present, in the related art, a sweeping robot generally cleans an area to be cleaned one to two times comprehensively, the method for cleaning the area repeatedly and comprehensively is low in efficiency, target stains cannot be cleaned completely, and a lot of cleaned places are covered and cleaned, so that resource waste is caused.
In the related art, the combination of the sweeping robot and the image recognition technology is generally used for constructing a map, planning a path and avoiding obstacles.
In view of the above problems, no effective solution has been proposed.
Disclosure of Invention
The application provides a control method, a control device, control equipment and a computer readable medium of a floor sweeping robot, and aims to solve the technical problem that stubborn stains cannot be cleaned.
According to an aspect of an embodiment of the present application, there is provided a robot sweeping control method, including: acquiring first detection information of a first area, wherein the first area is a cleaned area with target stains on a cleaning path of the sweeping robot; and controlling the sweeping robot to re-clean the first area under the condition that the first detection information is utilized to determine that the cleaned area has residual stains.
Optionally, the obtaining of the first detection information of the first area includes at least one of the following manners: acquiring an image signal of a first area, wherein the first detection information comprises the image signal, and the image signal is acquired by an image sensor arranged on the sweeping robot; the method comprises the steps of obtaining a humidity signal of a first area, wherein first detection information comprises the humidity signal, and the humidity signal is acquired by a humidity sensor arranged on the sweeping robot.
Optionally, before controlling the sweeping robot to re-clean the first area, the method further comprises determining that the cleaned area has residual stains according to the following modes: determining the coincidence range of the stain characteristics in the first detection information and the second detection information, wherein the second detection information is at least one of an image signal and a humidity signal acquired by the sweeping robot for the first area before the sweeping robot cleans the first area; and determining that residual dirt exists in the cleaned area under the condition that the overlapping range is larger than the preset ratio.
Optionally, in the case that it is determined that the cleaned area has residual stains by using the first detection information, controlling the sweeping robot to clean the first area again includes: after the sweeping robot cleans the first area and acquires the first detection information, increasing the cleaning times of the sweeping robot on the first area; acquiring the current cleaning times under the condition that the first detection information is utilized to determine that residual stains exist in the cleaned area; and under the condition that the current cleaning times are larger than or equal to a preset threshold value, adding a cleaning agent in the process of controlling the sweeping robot to clean the first area next time.
Optionally, before acquiring the first detection information of the first area, the method further includes determining that the first area is an area with target stains as follows: determining a cleaning path of the sweeping robot; when the sweeping robot carries out cleaning for the first time along the cleaning path, third detection information of a second area is obtained, wherein the second area is an area in the advancing direction of the sweeping robot; determining the stain type indicated by the third detection information under the condition that the third detection information is matched with the characteristic information in a preset stain type database, wherein the stain type database is used for storing the stain characteristics of all types; in the case where the stain type is the target stain, the second area is determined as the first area where the target stain is present.
Optionally, in the case where the stain type is a target stain, determining the second area as the first area where the target stain is present further comprises: sending target stain identification information to the target terminal equipment to prompt the target object to confirm whether target stains exist in the second area; and under the condition that confirmation information of the target terminal equipment responding to the target stain identification information is received, determining the second area as the first area with the target stain.
Optionally, after determining the second area as the first area where the target stain is present, the method further comprises controlling the sweeping robot in one of the following ways: after the sweeping robot finishes cleaning all areas along the cleaning path, controlling the sweeping robot to clean the first area until no residual stain exists in the first area; and controlling the sweeping robot to clean the first area until the sweeping robot continues to clean along the cleaning path under the condition that no residual stain exists in the first area.
According to another aspect of the embodiments of the present application, there is provided a sweeping robot control device, including: the device comprises a detection information acquisition module, a first detection information acquisition module and a second detection information acquisition module, wherein the detection information acquisition module is used for acquiring first detection information of a first area, and the first area is a cleaned area with target stains on a cleaning path of the sweeping robot; and the re-cleaning control module is used for controlling the sweeping robot to re-clean the first area under the condition that the first detection information is utilized to determine that the cleaned area has residual stains.
According to another aspect of the embodiments of the present application, there is provided an electronic device, including a memory, a processor, a communication interface, and a communication bus, where the memory stores a computer program executable on the processor, and the memory and the processor communicate with each other through the communication bus and the communication interface, and the processor implements the steps of the method when executing the computer program.
According to another aspect of embodiments of the present application, there is also provided a computer readable medium having non-volatile program code executable by a processor, the program code causing the processor to perform the above-mentioned method.
Compared with the related art, the technical scheme provided by the embodiment of the application has the following advantages:
according to the technical scheme, first detection information of a first area is obtained, and the first area is a cleaned area with target stains on a cleaning path of the sweeping robot; and controlling the sweeping robot to re-clean the first area under the condition that the first detection information is utilized to determine that the cleaned area has residual stains. This application discerns stubborn spot through the humidity signal characteristic that image recognition technology combines humidity transducer to confirm through the washing condition to comparing stubborn spot of back before the washing and whether still need rinse again, can carry out different washing schemes according to the spot of difference, realize the washing of dynamic strength, so that rinse stubborn spot thoroughly more, and need not the repeated washing of large tracts of land, can also guarantee resource saving under the condition of guaranteeing the cleaning performance.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present application and together with the description, serve to explain the principles of the application.
In order to more clearly illustrate the technical solutions in the embodiments or related technologies of the present application, the drawings needed to be used in the description of the embodiments or related technologies will be briefly described below, and it is obvious for those skilled in the art to obtain other drawings without any creative effort.
Fig. 1 is a schematic diagram of a hardware environment of an alternative sweeping robot control method according to an embodiment of the present application;
fig. 2 is a flowchart of an alternative sweeping robot control method according to an embodiment of the present disclosure;
FIG. 3 is a schematic view of an alternative stain recognition scheme provided in accordance with an embodiment of the present application;
fig. 4 is a block diagram of an alternative sweeping robot control device according to an embodiment of the present application;
fig. 5 is a schematic structural diagram of an alternative electronic device according to an embodiment of the present application.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are some embodiments of the present application, but not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.
In the following description, suffixes such as "module", "component", or "unit" used to denote elements are used only for the convenience of description of the present application, and have no specific meaning in themselves. Thus, "module" and "component" may be used in a mixture.
In the related art, the sweeping robot generally cleans an area to be cleaned one to two times in a comprehensive manner, the multiple-time comprehensive cleaning method is low in efficiency, target stains cannot be completely cleaned, and a lot of cleaned places are covered and cleaned, so that resource waste is caused.
In the related art, the combination of the sweeping robot and the image recognition technology is generally used for constructing a map, planning a path and avoiding obstacles.
In order to solve the problems mentioned in the background art, according to an aspect of the embodiments of the present application, an embodiment of a robot sweeping control method is provided.
Alternatively, in the embodiment of the present application, the sweeping robot control method may be applied to a hardware environment formed by the terminal 101 and the server 103 as shown in fig. 1. The server can be a server of a sweeping robot service provider, and can also be a local control center server of a user, the server is used for controlling the sweeping robot to perform cleaning work, and the terminal can be the sweeping robot, and can also be a mobile phone, a PC and the like capable of controlling the sweeping robot. As shown in fig. 1, a server 103 is connected to a terminal 101 through a network, which may be used to provide services for the terminal or a client installed on the terminal, and a database 105 may be provided on the server or separately from the server, and is used to provide data storage services for the server 103, and the network includes but is not limited to: a wide area network, a metropolitan area network, or a local area network, and the terminal 101 includes, but is not limited to, a sweeping robot, a PC, a mobile phone, a tablet computer, and the like.
The robot sweeping control method in the embodiment of the present application may be executed by the server 103, or may be executed by both the server 103 and the terminal 101, as shown in fig. 2, the method may include the following steps:
step S202, first detection information of a first area is obtained, wherein the first area is a cleaned area with target stains on a cleaning path of the sweeping robot.
The control method of the sweeping robot provided by the embodiment of the application can be applied to scenes of cleaning stubborn stains, and the target stains can be stubborn stains. Stubborn stains are different from ordinary stains, which are difficult to remove by a single wash or simple wash. The first area is an area where the stubborn stains are present, and the area can be determined by the sweeping robot in the stain recognition stage.
The first detection information may be an image signal, a humidity signal, or the like.
Optionally, the obtaining of the first detection information of the first area may include at least one of the following manners: acquiring an image signal of a first area, wherein the first detection information comprises the image signal, and the image signal is acquired by an image sensor arranged on the sweeping robot; the method comprises the steps of obtaining a humidity signal of a first area, wherein first detection information comprises the humidity signal, and the humidity signal is acquired by a humidity sensor arranged on the sweeping robot.
In the embodiment of the application, can be at two image sensor of the top installation of robot of sweeping the floor, the tandem configuration to can gather the image of the robot direction of advance of sweeping the floor through the image sensor who sets up in the front end, gather the image of the robot direction of advance opposite direction of sweeping the floor through the image sensor who sets up in the rear end, the setting in tandem so can compare the image before and after wasing certain region, thereby judge whether have the residual spot, whether promptly by the sanitization. According to the same design, two humidity sensors are arranged at the front end position and the rear end position of the bottom of the sweeping robot, and the humidity before and after cleaning of a certain area can be compared, so that the image recognition is assisted to judge whether stains are cleaned or not. Therefore, the image characteristics and the humidity signal characteristics are combined, the stain type can be identified to be common stain or stubborn stain, and whether the stain is cleaned or not can be judged by using the images and the humidity signals collected before and after the first area is cleaned.
And step S204, controlling the sweeping robot to re-clean the first area under the condition that the first detection information is used for determining that the cleaned area has residual stains.
In the embodiment of the application, if stubborn stains in the first area are not cleaned in the last cleaning, that is, residual stains still exist, the number of times of cleaning can be increased for the area, so that the sweeping robot can be controlled to clean the first area again.
Optionally, before controlling the sweeping robot to re-clean the first area, the method further comprises determining that the cleaned area has residual stains according to the following modes: determining the coincidence range of the stain characteristics in the first detection information and the second detection information, wherein the second detection information is at least one of an image signal and a humidity signal acquired by the sweeping robot in the first area before passing through the first area; and determining that residual dirt exists in the cleaned area under the condition that the overlapping range is larger than the preset ratio.
For the purpose of clearly explaining the technical solution of the present application, the flow of the technical solution of the present application is described in detail below. The first, second, and third washing described below are only performed as three consecutive times of the several washes of the first region.
The cleaning method comprises the steps that before a first area is cleaned for the first time, detection information is collected, the dirt is identified to be stubborn dirt according to the detection information, after the first area is cleaned, the detection information of the first area is collected and compared with the detection information before the cleaning, the existence of residual dirt is judged, the cleaning frequency is increased, and the cleaning is carried out for the second time. At this time, the first detection information in step S202 is the detection information acquired after the first cleaning, and the second detection information is the detection information acquired before the first cleaning.
After the first area is cleaned for the second time, the detection information of the first area is collected again, and is compared with the detection information collected after the first cleaning, whether stains are cleaned (whether residual stains exist) or not is continuously judged, if the stains are not cleaned, the number of times of cleaning needs to be increased, namely, the third cleaning is needed. At this time, the first detection information in step S202 is the detection information acquired after the second cleaning, and the second detection information is the detection information acquired after the first cleaning, because in the second cleaning, the detection information acquired after the first cleaning corresponds to the detection information acquired before the second cleaning.
In the embodiment of the application, the contact ratio of the stain characteristics before and after cleaning can be compared, and the higher the contact ratio is, the less the stains are removed in the cleaning, otherwise, the lower the contact ratio is, the more the stains are removed in the cleaning. The preset proportion can be 5%, the contact ratio is more than 5%, and the result shows that the stains are not removed and the user requirements cannot be met.
Optionally, in the case that it is determined that the cleaned area has residual stains by using the first detection information, controlling the sweeping robot to clean the first area again includes: after the sweeping robot cleans the first area and acquires the first detection information, increasing the cleaning times of the sweeping robot on the first area; acquiring the current cleaning times under the condition that the first detection information is utilized to determine that residual stains exist in the cleaned area; and under the condition that the current cleaning times are larger than or equal to a preset threshold value, adding a cleaning agent in the process of controlling the sweeping robot to clean the first area next time.
In the embodiment of the application, after the first area is cleaned each time, the number of times of cleaning the first area can be recorded, if it is determined that the first area needs to be cleaned again, the current number of times of cleaning is obtained, and under the condition that the current number of times of cleaning is greater than or equal to the preset threshold, a cleaning agent is added in the process of cleaning the first area next time so as to enhance the cleaning force on the first area, wherein the preset threshold can be 3 times, and an optimal threshold can be set according to different stain types.
Optionally, before acquiring the first detection information of the first area, the method further includes determining that the first area is an area with target stains as follows: determining a cleaning path of the sweeping robot; when the sweeping robot carries out cleaning for the first time along the cleaning path, third detection information of a second area is obtained, wherein the second area is an area in the advancing direction of the sweeping robot; determining the stain type indicated by the third detection information under the condition that the third detection information is matched with the characteristic information in a preset stain type database, wherein the stain type database is used for storing the stain characteristics of all types; in the case where the stain type is the target stain, the second area is determined as the first area where the target stain is present.
In this application embodiment, the stage of spot discernment can be earlier by the in-process of sweeping floor robot and wasing all regions comprehensively for the first time and go on, can also be at the in-process of dynamic programming cleaning scheme, can discern stubborn spot and carry out the repeated washing immediately, and the next region is washd again to the continuation after the sanitization. During the process, the server determines a cleaning path of the sweeping robot, the sweeping robot acquires third detection information through the image sensor and the humidity sensor before passing through each area on the cleaning path, the image characteristic and the humidity characteristic are compared and matched with data in the stain type data, and under the condition that the same or similar characteristics are matched, the stain type indicated by the third detection information is determined according to the matched stain characteristic. Stains are also classified into easy-to-clean stains and stubborn stains, and stubborn stains are usually highly viscous substances, hard substances, and the like, and if the type of stains is stubborn stains, the region can be determined to be a region where stubborn stains are present, and it is necessary to increase the number of times of cleaning, or to add a cleaning agent for cleaning.
In the embodiment of the application, the image recognition technology can be adopted, and the humidity characteristics collected by the humidity sensor are combined to recognize the stains on the cleaning path of the sweeping robot. As shown in fig. 3, two image sensors 303 may be disposed on the top of the sweeping robot 301, and the image sensor disposed on one side may collect an image signal of the forward direction of the sweeping robot, that is, an image signal of an unwashed area. And the image sensor arranged on the other side can acquire the image signal in the direction opposite to the forward direction of the sweeping robot, namely the image signal of the cleaned area. The bottom of the sweeping robot 301 may be provided with two humidity sensors 305, one may collect the humidity signal before cleaning, and the other may collect the humidity signal after cleaning.
In the actual work of the sweeping robot, for the area A, the sweeping robot can collect the image signal and the humidity signal of the area A before the area A is cleaned for the first time, and the image signal and the humidity signal are compared with the data in the stain feature database to identify the stains so as to preliminarily judge whether the stains are stubborn stains. After the sweeping robot passes through the area A, namely the area A is cleaned, another image sensor acquires an image signal of the area A, another humidity sensor acquires a humidity signal of the area A, the image signal and the humidity signal before and after cleaning are compared, whether the stain is cleaned or not can be determined, if the comparison result indicates that the stain is not cleaned, the sweeping robot can clean the area A again, the image signal and the humidity signal after cleaning again are acquired, and the image signal and the humidity signal are compared with the image signal and the humidity signal acquired before the previous time passes through the area A or the image signal and the humidity signal after the previous time passes through the area A, so that whether the cleaning times need to be increased or not is determined.
Optionally, in the case where the stain type is a target stain, determining the second area as the first area where the target stain is present further comprises: sending target stain identification information to the target terminal equipment to prompt the target object to confirm whether target stains exist in the second area; and under the condition that confirmation information of the target terminal equipment responding to the target stain identification information is received, determining the second area as the first area with the target stain.
In the embodiment of the application, the identification accuracy can be improved by adjusting the stubborn stain area by a user. The server or the sweeping robot can send the stain recognition result to the terminal equipment of the user, namely a mobile phone, a PC, a tablet computer and the like, and the user further determines whether the recognition result is accurate.
In the embodiment of the application, the stain type and the characteristics of the stain type can be updated according to the confirmation information of the user and recorded in the stain type database, so that the data recorded in the stain type database is more comprehensive.
Optionally, after determining the second area as the first area where the target stain is present, the method further comprises controlling the sweeping robot in one of the following ways: after the sweeping robot finishes cleaning all areas along the cleaning path, controlling the sweeping robot to clean the first area until no residual stain exists in the first area; and controlling the sweeping robot to clean the first area until the sweeping robot continues to clean along the cleaning path under the condition that no residual stain exists in the first area.
In this application embodiment, the spot discernment stage can separately go on with the stage of wasing repeatedly, wash once all regions by sweeping the floor robot comprehensively earlier, carry out the spot discernment this moment, wash again to having the first region execution of stubborn spot repeatedly after finishing comprehensively. Or the stain identification stage and the repeated cleaning stage can be alternately carried out, for example, repeated cleaning is immediately carried out when stubborn stains are identified, and the next area is continuously cleaned after the stubborn stains are cleaned.
According to another aspect of the embodiments of the present application, as shown in fig. 4, there is provided a sweeping robot control device, including: the detection information acquiring module 401 is configured to acquire first detection information of a first area, where the first area is a cleaned area where a target stain exists on a cleaning path of the sweeping robot; and a re-cleaning control module 403, configured to control the sweeping robot to re-clean the first area when it is determined that the cleaned area has residual stains by using the first detection information.
It should be noted that the detection information obtaining module 401 in this embodiment may be configured to execute step S202 in this embodiment, and the recognition, re-cleaning and control module 403 in this embodiment may be configured to execute step S204 in this embodiment.
It should be noted here that the modules described above are the same as the examples and application scenarios implemented by the corresponding steps, but are not limited to the disclosure of the above embodiments. It should be noted that the modules described above as a part of the apparatus may operate in a hardware environment as shown in fig. 1, and may be implemented by software or hardware.
Optionally, the detection information obtaining module is specifically configured to: acquiring an image signal of a first area, wherein the first detection information comprises the image signal, and the image signal is acquired by an image sensor arranged on the sweeping robot; the method comprises the steps of obtaining a humidity signal of a first area, wherein first detection information comprises the humidity signal, and the humidity signal is acquired by a humidity sensor arranged on the sweeping robot.
Optionally, the sweeping robot control device further includes a stain comparison module, configured to: determining the coincidence range of the stain characteristics in the first detection information and the second detection information, wherein the second detection information is at least one of an image signal and a humidity signal acquired by the sweeping robot in the first area before passing through the first area; and determining that residual dirt exists in the cleaned area under the condition that the overlapping range is larger than the preset ratio.
Optionally, the re-washing control module is specifically configured to: after the sweeping robot cleans the first area and acquires the first detection information, increasing the cleaning times of the sweeping robot on the first area; acquiring the current cleaning times under the condition that the first detection information is utilized to determine that residual stains exist in the cleaned area; and under the condition that the current cleaning times are larger than or equal to a preset threshold value, adding a cleaning agent in the process of controlling the sweeping robot to clean the first area next time.
Optionally, the sweeping robot control device further includes a spot recognition module, configured to: determining a cleaning path of the sweeping robot; when the sweeping robot carries out cleaning for the first time along the cleaning path, third detection information of a second area is obtained, wherein the second area is an area in the advancing direction of the sweeping robot; determining the stain type indicated by the third detection information under the condition that the third detection information is matched with the characteristic information in a preset stain type database, wherein the stain type database is used for storing the stain characteristics of all types; in the case where the stain type is the target stain, the second area is determined as the first area where the target stain is present.
Optionally, the stain recognition module is further configured to: sending target stain identification information to the target terminal equipment to prompt the target object to confirm whether target stains exist in the second area; and under the condition that confirmation information of the target terminal equipment responding to the target stain identification information is received, determining the second area as the first area with the target stain.
Optionally, the sweeping robot control device further includes a cleaning planning module, configured to: after the sweeping robot finishes cleaning all areas along the cleaning path, controlling the sweeping robot to clean the first area until no residual stain exists in the first area; and controlling the sweeping robot to clean the first area until the sweeping robot continues to clean along the cleaning path under the condition that no residual stain exists in the first area.
According to the technical scheme, first detection information of a first area is obtained, and the first area is a cleaned area with target stains on a cleaning path of the sweeping robot; and controlling the sweeping robot to re-clean the first area under the condition that the first detection information is utilized to determine that the cleaned area has residual stains. This application discerns stubborn spot through the humidity signal characteristic that image recognition technology combines humidity transducer to confirm through the washing condition to comparing stubborn spot of back before the washing and whether still need rinse again, can carry out different washing schemes according to the spot of difference, realize the washing of dynamic strength, so that rinse stubborn spot thoroughly more, and need not the repeated washing of large tracts of land, can also guarantee resource saving under the condition of guaranteeing the cleaning performance.
According to another aspect of the embodiments of the present application, there is provided an electronic device, as shown in fig. 5, including a memory 501, a processor 503, a communication interface 505, and a communication bus 507, where a computer program operable on the processor 503 is stored in the memory 501, the memory 501 and the processor 503 communicate with each other through the communication interface 505 and the communication bus 507, and the steps of the method are implemented when the processor 503 executes the computer program.
The memory and the processor in the electronic equipment are communicated with the communication interface through a communication bus. The communication bus may be a Peripheral Component Interconnect (PCI) bus, an Extended Industry Standard Architecture (EISA) bus, or the like. The communication bus may be divided into an address bus, a data bus, a control bus, etc.
The Memory may include a Random Access Memory (RAM) or a non-volatile Memory (non-volatile Memory), such as at least one disk Memory. Optionally, the memory may also be at least one memory device located remotely from the processor.
The Processor may be a general-purpose Processor, and includes a Central Processing Unit (CPU), a Network Processor (NP), and the like; the Integrated Circuit may also be a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), a Field Programmable Gate Array (FPGA) or other Programmable logic device, a discrete Gate or transistor logic device, or a discrete hardware component.
There is also provided, in accordance with yet another aspect of an embodiment of the present application, a computer-readable medium having non-volatile program code executable by a processor.
Optionally, in an embodiment of the present application, a computer readable medium is configured to store program code for the processor to perform the following steps:
acquiring first detection information of a first area, wherein the first area is a cleaned area with target stains on a cleaning path of the sweeping robot;
and controlling the sweeping robot to re-clean the first area under the condition that the first detection information is utilized to determine that the cleaned area has residual stains.
Optionally, the specific examples in this embodiment may refer to the examples described in the above embodiments, and this embodiment is not described herein again.
When the embodiments of the present application are specifically implemented, reference may be made to the above embodiments, and corresponding technical effects are achieved.
It is to be understood that the embodiments described herein may be implemented in hardware, software, firmware, middleware, microcode, or any combination thereof. For a hardware implementation, the Processing units may be implemented within one or more Application Specific Integrated Circuits (ASICs), Digital Signal Processors (DSPs), Digital Signal Processing Devices (DSPDs), Programmable Logic Devices (PLDs), Field Programmable Gate Arrays (FPGAs), general purpose processors, controllers, micro-controllers, microprocessors, other electronic units configured to perform the functions described herein, or a combination thereof.
For a software implementation, the techniques described herein may be implemented by means of units performing the functions described herein. The software codes may be stored in a memory and executed by a processor. The memory may be implemented within the processor or external to the processor.
Those of ordinary skill in the art will appreciate that the various illustrative elements and algorithm steps described in connection with the embodiments disclosed herein may be implemented as electronic hardware or combinations of computer software and electronic hardware. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the implementation. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present application.
It is clear to those skilled in the art that, for convenience and brevity of description, the specific working processes of the above-described systems, apparatuses and units may refer to the corresponding processes in the foregoing method embodiments, and are not described herein again.
In the embodiments provided in the present application, it should be understood that the disclosed apparatus and method may be implemented in other ways. For example, the above-described apparatus embodiments are merely illustrative, and for example, the division of the modules is merely a logical division, and in actual implementation, there may be other divisions, for example, multiple modules or components may be combined or integrated into another system, or some features may be omitted, or not implemented. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection through some interfaces, devices or units, and may be in an electrical, mechanical or other form.
The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.
In addition, functional units in the embodiments of the present application may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit.
The functions, if implemented in the form of software functional units and sold or used as a stand-alone product, may be stored in a computer readable storage medium. Based on such understanding, the technical solutions of the embodiments of the present application may be essentially implemented or make a contribution to the prior art, or may be implemented in the form of a software product stored in a storage medium and including several instructions for causing a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the steps of the methods described in the embodiments of the present application. And the aforementioned storage medium includes: various media capable of storing program codes, such as a U disk, a removable hard disk, a ROM, a RAM, a magnetic disk, or an optical disk. It is noted that, in this document, relational terms such as "first" and "second," and the like, may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus 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 apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in a process, method, article, or apparatus that comprises the element.
The above description is merely exemplary of the present application and is presented to enable those skilled in the art to understand and practice the present application. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the application. Thus, the present application is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
Claims (10)
1. A control method of a sweeping robot is characterized by comprising the following steps:
acquiring first detection information of a first area, wherein the first area is a cleaned area with target stains on a cleaning path of the sweeping robot;
and controlling the sweeping robot to re-clean the first area under the condition that the first detection information is utilized to determine that residual stains exist in the cleaned area.
2. The method of claim 1, wherein the obtaining the first detection information of the first area comprises at least one of:
acquiring an image signal of the first area, wherein the first detection information comprises the image signal, and the image signal is acquired by an image sensor arranged on the sweeping robot;
acquiring a humidity signal of the first area, wherein the first detection information comprises the humidity signal, and the humidity signal is acquired by a humidity sensor on the sweeping robot.
3. The method of claim 2, wherein prior to controlling the sweeping robot to re-clean the first area, the method further comprises determining that residual soil is present in the cleaned area as follows:
determining a coincidence range of stain characteristics in the first detection information and second detection information, wherein the second detection information is at least one of the image signal and the humidity signal acquired by the sweeping robot for the first area before the sweeping robot cleans the first area;
and determining that residual dirt exists in the cleaned area under the condition that the overlapping range is larger than a preset ratio.
4. The method of claim 3, wherein the controlling the sweeping robot to re-clean the first area in the case that the first detection information is used to determine that the cleaned area has residual stains comprises:
after the sweeping robot cleans the first area and acquires the first detection information, increasing the cleaning times of the sweeping robot on the first area;
acquiring the current cleaning times under the condition that the first detection information is utilized to determine that residual stains exist in the cleaned area;
and under the condition that the current cleaning times are larger than or equal to a preset threshold value, adding a cleaning agent in the process of controlling the sweeping robot to clean the first area next time.
5. The method according to any one of claims 1 to 4, wherein before acquiring the first detection information of the first area, the method further comprises determining the first area as an area where the target stain is present as follows:
determining a cleaning path of the sweeping robot;
before the sweeping robot carries out cleaning for the first time along the cleaning path, acquiring third detection information of a second area, wherein the second area is an area in the advancing direction of the sweeping robot;
determining the stain type indicated by the third detection information under the condition that the third detection information is matched with feature information in a preset stain type database, wherein the stain type database is used for storing stain features of various types;
determining the second area as the first area where the target stain is present, in case the stain type is the target stain.
6. The method of claim 5, wherein determining the second area as the first area where the target stain is present if the stain type is the target stain further comprises:
sending target stain identification information to target terminal equipment to prompt a target object to confirm whether the target stain exists in the second area;
and under the condition that confirmation information of the target terminal equipment responding to the target stain identification information is received, determining the second area as the first area with the target stain.
7. The method of claim 5, further comprising controlling the sweeping robot in one of the following ways:
after the sweeping robot finishes cleaning all areas along the cleaning path, controlling the sweeping robot to clean the first area until no residual stain exists in the first area;
and controlling the sweeping robot to clean the first area until the sweeping robot continues to clean along the cleaning path under the condition that no residual stain exists in the first area.
8. A sweeping robot control device is characterized by comprising:
the cleaning system comprises a detection information acquisition module, a cleaning information acquisition module and a control module, wherein the detection information acquisition module is used for acquiring first detection information of a first area, and the first area is a cleaned area with target stains on a cleaning path of the sweeping robot;
and the re-cleaning control module is used for controlling the sweeping robot to re-clean the first area under the condition that the first detection information is utilized to determine that residual stains exist in the cleaned area.
9. An electronic device comprising a memory, a processor, a communication interface and a communication bus, wherein the memory stores a computer program operable on the processor, and the memory and the processor communicate via the communication bus and the communication interface, wherein the processor implements the steps of the method according to any of the claims 1 to 7 when executing the computer program.
10. A computer-readable medium having non-volatile program code executable by a processor, wherein the program code causes the processor to perform the method of any of claims 1 to 7.
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| CN202011444564.6A CN112471976B (en) | 2020-12-08 | 2020-12-08 | Sweeping robot control method, device, equipment and computer readable medium |
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