CN112971620B - Method and device for detecting whether sweeper is positioned at bottom of furniture - Google Patents
Method and device for detecting whether sweeper is positioned at bottom of furniture Download PDFInfo
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- CN112971620B CN112971620B CN202110226741.1A CN202110226741A CN112971620B CN 112971620 B CN112971620 B CN 112971620B CN 202110226741 A CN202110226741 A CN 202110226741A CN 112971620 B CN112971620 B CN 112971620B
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- sweeper
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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
- A47L11/4002—Installations of electric equipment
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
- A47L11/4011—Regulation of the cleaning machine by electric means; Control systems and remote control systems therefor
Abstract
The application discloses a method and a device for detecting whether the furniture is at the bottom of the furniture; the method comprises the following steps: continuously acquiring a first light intensity value above the front end of the sweeper; judging whether the state of the sweeper is converted into a state to be confirmed or not according to the first light intensity value; when the state of the sweeper is a state to be confirmed, continuously acquiring an upper spacing value, wherein the upper spacing value is a distance value between the sweeper and an upper surface; judging whether the upper spacing value of the continuous second set frame number is smaller than a distance threshold T2; and if the upper spacing value of the continuous second set frame number is smaller than the distance threshold T2, judging that the sweeper is positioned at the bottom of the furniture, and converting the state of the sweeper into a confirmation state. The problem of current unable discernment machine of sweeping the floor whether be in the furniture bottom is solved.
Description
Technical Field
The application relates to the technical field of signal processing, in particular to a method and a device for detecting whether a sweeper is positioned at the bottom of furniture.
Background
The sweeping machine mainly has two cleaning targets, one is to cover each corner of the sweeping home comprehensively, the other is to ensure that the cleaned area is clean, the complexity of the home environment is greatly improved due to the diversity of furniture, different cleaning requirements are generated in different areas, for example, dust is easily accumulated at the bottom of the furniture, the rotating speed of a side brush is accelerated, the power of a dust collector is increased, and the like.
Disclosure of Invention
The application mainly aims to provide a method and a device for detecting whether a sweeper is located at the bottom of furniture, and the problem that whether the sweeper is located at the bottom of the furniture cannot be identified at present can be solved.
The application provides a method for detecting whether a sweeper is positioned at the bottom of furniture, which comprises the following steps:
continuously acquiring a first light intensity value above the front end of the sweeper;
judging whether the state of the sweeper is converted into a state to be confirmed or not according to the first light intensity value;
when the state of the sweeper is a state to be confirmed, continuously acquiring an upper spacing value, wherein the upper spacing value is a distance value between the sweeper and an upper surface;
judging whether the upper spacing value of the continuous second set frame number is smaller than a distance threshold T2;
and if the upper spacing value of the continuous second set frame number is smaller than the distance threshold T2, judging that the sweeper is at the bottom of the furniture.
Further, the step of judging whether to convert the state of the sweeper into a state to be confirmed according to the first light intensity value includes:
judging whether the first light intensity values of the continuous first set frames are smaller than a light intensity threshold T1;
if yes, the state of the sweeper is converted into a state to be confirmed.
Further, the step of judging whether to convert the state of the sweeper into a state to be confirmed according to the first light intensity value includes:
continuously acquiring a current light intensity change value, wherein the light intensity change value is obtained by subtracting a first light intensity value before a first set time from a current first light intensity value;
judging whether the light intensity change value is smaller than a first preset difference value or not;
if so, converting the state of the sweeper into a state to be confirmed;
if not, the state of the sweeper is kept to be a normal state.
Further, the step of judging whether to convert the state of the sweeper into a state to be confirmed according to the first light intensity value includes:
continuously obtaining a light intensity difference between the front and the rear of the sweeper, wherein the light intensity difference is obtained by subtracting a second light intensity value at the rear of the sweeper from a first light intensity value at the front of the sweeper;
judging whether the light intensity difference is smaller than a second preset difference or not;
if so, converting the state of the sweeper into a state to be confirmed;
if not, the state of the sweeper is kept to be a normal state.
Further, after the step of determining that the sweeper is at the bottom of the furniture, the method includes:
the floor sweeper is converted into a bottom cleaning mode which accords with the actual condition to clean the ground.
Further, the step of cleaning the ground by converting the sweeper into a bottom cleaning mode according with the actual situation comprises the following steps:
judging the distance range of the sweeper according to the upper distance value;
and acquiring and executing the cleaning scheme of the sweeper according to the mapping relation between the distance range and the cleaning scheme.
Further, the step of judging the distance range of the sweeper according to the upper distance value comprises the following steps:
comparing the upper spacing value with the end value of the spacing range to judge the spacing range in which the upper spacing value is positioned, wherein the spacing range is respectively smaller than T21 and T21-T2, T21 is smaller than T2, and the end value of the spacing range is T21 and T2; alternatively, the first and second electrodes may be,
the step of judging the distance range of the sweeper according to the upper distance value comprises the following steps:
and comparing the average value of the upper spacing values with the end value of the spacing range to judge the spacing range where the upper spacing values are located, wherein the spacing range is smaller than T21 and T21-T2, the T21 is smaller than T2, the end values of the spacing range are T21 and T2, and the average value of the upper spacing values is the average value of a plurality of upper spacing values in a second set time before the current time.
Further, the mapping relationship between the distance range and the cleaning scheme is as follows:
when the spacing range is less than T21, the cleaning scheme includes increasing the cleaning force and/or slowing the moving speed;
when the spacing range is between T21 and T2, the cleaning scheme is to adopt a normal sweeping mode.
Further, the step of cleaning the ground by converting the sweeper into a bottom cleaning mode according with the actual situation comprises the following steps:
identifying the type of the space where the sweeper is located;
and acquiring and executing the cleaning scheme of the sweeper according to the mapping relation between the type and the cleaning scheme.
The invention provides a device for detecting whether a sweeper is positioned at the bottom of furniture, which comprises:
the illumination detection module is used for continuously acquiring a first light intensity value above the front end of the sweeper;
the state judgment module is used for judging whether the state of the sweeper is converted into a state to be confirmed or not according to the first light intensity value;
the distance detection module is used for continuously acquiring an upper distance value when the state of the sweeper is a state to be confirmed, wherein the upper distance value is a distance value between the sweeper and an upper surface;
the distance judgment module is used for judging whether the upper distance value of the continuous second set frame number is smaller than a distance threshold T2;
and the second state conversion module is used for judging that the sweeper is positioned at the bottom of the furniture if the upper spacing value of the continuous second set frame number is smaller than the distance threshold T2.
The method for detecting whether the sweeper is positioned at the bottom of the furniture comprises the steps of judging whether the state of the sweeper is converted into a state to be confirmed according to a first light intensity value, and judging whether the state of the sweeper is positioned at the bottom of the furniture when an upper spacing value of a continuous second set frame number is smaller than a distance threshold T2; the problem of current unable discernment machine of sweeping the floor whether be in the furniture bottom is solved.
Drawings
FIG. 1 is a schematic flow chart illustrating steps of an embodiment of a method for detecting whether a sweeper is at the bottom of a piece of furniture;
FIG. 2 is a schematic structural diagram of an embodiment of a remote sound amplification apparatus according to the present application;
FIG. 3 is a schematic structural diagram of an embodiment of a storage medium according to the present application;
fig. 4 is a schematic structural diagram of an embodiment of the smart device of the present application.
The objectives, features, and advantages of the present application will be further described with reference to the accompanying drawings.
Detailed Description
It should be understood that the specific embodiments described herein are merely illustrative of the present application and are not intended to limit the present application.
The technical solutions in the embodiments of the present application will be described clearly and completely with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only a part of the embodiments of the present application, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.
As used herein, the singular forms "a", "an", "the" and "the" include plural referents unless the content clearly dictates otherwise. It will be further understood that the terms "comprises" and/or "comprising," when used in this specification, specify the presence of stated features, integers, steps, operations, elements, units, modules, and/or components, but do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, units, modules, components, and/or groups thereof. It will be understood that when an element is referred to as being "connected" or "coupled" to another element, it can be directly connected or coupled to the other element or intervening elements may also be present. Further, "connected" or "coupled" as used herein may include wirelessly connected or wirelessly coupled. As used herein, the term "and/or" includes all or any element and all combinations of one or more of the associated listed items.
It will be understood by those within the art that, unless otherwise defined, all terms (including technical and scientific terms) used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. It will be further understood that terms, such as those defined in commonly used dictionaries, should be interpreted as having a meaning that is consistent with their meaning in the context of the prior art and will not be interpreted in an idealized or overly formal sense unless expressly so defined herein.
Referring to fig. 1 to 4, in an embodiment of the method for detecting whether a sweeper is located at the bottom of a piece of furniture, the method for detecting whether the sweeper is located at the bottom of the piece of furniture includes the following steps:
s1, continuously acquiring a first light intensity value above the front end of the sweeper;
s2, judging whether the state of the sweeper is converted into a state to be confirmed or not according to the first light intensity value;
s3, when the state of the sweeper is a state to be confirmed, continuously acquiring an upper spacing value, wherein the upper spacing value is a distance value between the sweeper and an upper surface;
s4, judging whether the upper spacing value of the continuous second set frame number is smaller than a distance threshold value T2;
s5, if the upper spacing value of the continuous second set frame number is smaller than the distance threshold value T2, the sweeper is judged to be at the bottom of the furniture, and the state of the sweeper is converted into a confirmation state.
In step S1, the system continuously obtains the first light intensity value above the front end of the sweeper through the light sensor, which is mounted at the front end of the panel of the sweeper facing upward.
In the step S2, in some embodiments, the status of the sweeper is divided into a normal status, a status to be confirmed, and a confirmation status, and the default status is set to the normal status, when the status of the sweeper is the confirmation status, the sweeper is at the bottom of the furniture by default, and when the status of the sweeper is converted into the status to be confirmed, it represents that the sweeper is likely to be at the bottom of the furniture, and further confirmation is required; when the first light intensity value meets the set condition, the state of the sweeper is triggered to be converted from the normal state to a state to be confirmed.
In the step S3, the upper distance value is obtained by the single-point laser distance meter, and the single-point laser distance meter is installed at the front end of the panel of the sweeper in an upward direction.
In the above step S4, the second set frame number is 5 frames, which is not easy to make misjudgment and will not cause the system judgment to be slow; the distance difference may be obtained by subtracting the distance threshold T2 from the measured upper pitch value, and if the distance difference is less than zero, it indicates that the upper pitch value is less than the distance threshold T2.
In the step S5, when the distance value between the upper portions of the consecutive second set number of frames is smaller than the distance threshold T2, the sweeper is located under a shorter object, it is determined that the sweeper is located at the bottom of the furniture, and when the state of the sweeper is changed to the determined state, the cleaning mode for the lower portion of the furniture can be changed, so that the cleaning can be focused, and the overall cleaning effect can be ensured.
The method for detecting whether the sweeper is positioned at the bottom of the furniture comprises the steps of judging whether the state of the sweeper is in the state to be confirmed according to the first light intensity value and judging whether the state of the sweeper is in the state to be confirmed and the upper spacing value of the continuous second set frame number is smaller than a distance threshold value T2; the problem of current unable discernment machine of sweeping the floor whether be in the furniture bottom is solved.
Further, the step S2 of determining whether to convert the status of the sweeper into the status to be confirmed according to the first light intensity value includes:
s21, judging whether the first light intensity values of the continuous first set frame number are all smaller than the light intensity threshold value T1;
and S22, if yes, converting the state of the sweeper into a state to be confirmed.
In the above step S21, in the present embodiment, the first set frame number is 5 frames, which is not easy to make misjudgment and will not cause the system judgment to be slow, and the light intensity threshold T1 is specifically set according to actual conditions.
In the step S22, if the first light intensity values of the consecutive first set number of frames are all smaller than the light intensity threshold T1, the status of the sweeper is converted to a status to be confirmed, which represents that the sweeper is likely to be at the bottom of the furniture and needs to be further confirmed.
It can be understood that, by two steps of determination, T1 and T2, compared with the direct use of T2, the calculation amount of the machine that uses laser for detection can be reduced, because the calculation amount of light sensing is much smaller than that of laser detection, and therefore, the calculation amount and power consumption can be reduced only when the light sensing assists in making a preliminary determination and then enters the laser detection stage.
Step S21 is followed by:
and S23, if not, keeping the state of the sweeper as a normal state.
In the step S23, when the sweeper is in the normal state, which means the sweeper is not at the bottom of the furniture, the sweeper is cleaned normally.
In the above steps S21-S23, the intensity of the light at the bottom of the furniture changes significantly, for example, the underside of the furniture is substantially opaque or the light becomes dark.
It will be appreciated that there are some cases where the light on the underside of the bottom of the furniture is not so dark, such as the bottom of a glass tea table, a dining table, a desk, etc. with a large light-transmitting surface, or a furniture with a high light-blocking surface, and some preferable judgments can be made in order not to miss such cases, which will be further described later.
Further, the step S2 of determining whether to convert the status of the sweeper into the status to be confirmed according to the first light intensity value may also include:
s24, continuously acquiring a current light intensity change value, wherein the light intensity change value is the first light intensity value obtained by subtracting the first light intensity value before the first set time from the current first light intensity value;
s25, judging whether the light intensity variation value is smaller than a first preset difference value;
s26, if yes, converting the state of the sweeper into a state to be confirmed;
and S27, if not, keeping the state of the sweeper as a normal state.
In the step S24, the first light intensity value above the front end of the sweeper is continuously obtained by the light sensor, and then the first light intensity value before the first set time is subtracted from the first light intensity value, where the first set time is different according to different requirements, so as to find the change of the light intensity in time, for example, 0.1 to 0.5 seconds.
The steps of S24-S27 may be performed after the step of S21 of no to make further supplementary determination, which is not described herein.
In the above step S25, the first preset difference is a preset negative number (the light becomes dark and the light intensity becomes small when entering the bottom of the furniture).
In some embodiments, samples of the light intensity variation value are collected when the sweeper is determined to be at the bottom of the furniture, and the first preset difference is an average value of a plurality of samples in a forward set time period, or the first preset difference is an average value of a forward set number of samples; when the sweeper is positioned at the bottom of the furniture, the current first light intensity value is smaller than the first light intensity value before the first set time, when the light intensity change value is a negative number, and when the light intensity change value is smaller than a first preset difference value, the light intensity change is large, the possibility that the sweeper is positioned at the bottom of the furniture exists, and further confirmation is needed; when the light intensity variation value is larger than the first preset difference value, the light intensity variation is small, and further confirmation is not needed.
In step S26, in some embodiments, when the normal state is changed to the state to be confirmed, a signal for activating the further determination step is sent.
In the above steps S24-S27, the situation that the furniture is located above the sweeper and has a structure with a large light transmission amount, such as a transparent structure, is eliminated, and the furniture located at the bottom of the furniture cannot be identified.
Further, in some embodiments, the step S2 of determining whether to convert the status of the sweeper into the status to be confirmed according to the first light intensity value includes:
s28, continuously acquiring a light intensity difference between the front and the rear of the sweeper, wherein the light intensity difference is obtained by subtracting a second light intensity value at the rear of the sweeper from a first light intensity value at the front of the sweeper;
s29, judging whether the light intensity difference is smaller than a second preset difference or not;
s210, if yes, converting the state of the sweeper into a state to be confirmed;
and S211, if not, keeping the state of the sweeper to be a normal state.
It is understood that the steps S28-S211 may be further determined after the step S21 is no, and are not described herein again.
In the step S28, the light intensity values in front of and behind the sweeper (i.e. the first light intensity value and the second light intensity value) may be obtained sequentially by one light sensor, or the light intensity values in front of and behind the sweeper may be obtained simultaneously by two light sensors; when the light ray intensity values in front of and behind the sweeper are obtained through one light ray sensor, a first light ray intensity value in front of the sweeper can be continuously obtained through the one light ray sensor, and then a second light ray intensity value in back of the sweeper is converted through the moving speed and the length of the sweeper; the light intensity values of the front and the rear of the sweeper are obtained simultaneously through the two light sensors, the light intensity of the front can be a first light intensity value above the front end of the sweeper, and the second light intensity value of the rear can be the light intensity of the ground in the coming direction of the sweeper; it should be noted that, in some embodiments, the light intensity difference may be the sum of the first light intensity value at the set time in front of the sweeper and the sum of the second light intensity value at the set time behind the sweeper, and may be used in a scene with a small light intensity difference, such as a dining table with transparent glass furniture, where the set time may be 0.1-0.5 seconds.
In the step S29, the second preset difference is a preset negative number, and when the light intensity variation value is smaller than the second preset difference, it represents that the light intensity variation is large (for example, the environment with or without furniture shielding is passed), and represents that the sweeper is possibly located at the bottom of the furniture, and further confirmation is required; when the light intensity variation value is larger than the second preset difference value, the light intensity variation is small, and further confirmation is not needed.
In step S210, in some embodiments, when the normal state is changed to the to-be-confirmed state, a signal for activating the further determination step is sent.
In the above steps S28-S211, the transparent structure is used to exclude the furniture above the sweeper, so as to avoid the situation that the furniture at the bottom of the furniture cannot be identified.
Further, after the step S5 of determining that the sweeper is at the bottom of the furniture, the method includes:
and S6, the sweeper is converted into a bottom cleaning mode according with the actual situation to clean the ground.
In the step S6, the scenes at the bottom of the furniture can be further distinguished, and a cleaning mode of compounding the current scenes is adopted, so that the cleaning effect is better; a uniform cleaning pattern can also be used when the sweeper is at the bottom of a piece of furniture.
It should be noted that in some embodiments, the sweeper reduces the distance between the sweeper and the wall to ensure that the wall is cleaned along the edge.
Further, the step S6 of converting the sweeper into a bottom cleaning mode according to practical conditions to clean the floor includes:
s61, judging the distance range of the sweeper according to the upper distance value;
and S62, acquiring and executing the cleaning scheme of the sweeper according to the mapping relation between the distance range and the cleaning scheme.
In the above steps S61-S62, it is determined that the bottom of the furniture is a bottom with a lower height (such as a tv desk/bed), which is not easily affected by human body activities, tends to accumulate more dust, has a lower cleanliness, requires an increased cleaning force and/or a slower moving speed, etc. to enhance the cleaning strength; the situation that the bottoms of the furniture with different heights have different cleanliness mainly exists in a scene that the bottoms with lower heights are not cleaned in place for a long time, and it can be understood that the problem is easily caused when a householder cleans the furniture for a long time.
Further, the step S61 of determining the distance range of the sweeper according to the upper distance value includes:
s611, comparing the upper spacing value with the end value of the spacing range to judge the spacing range where the upper spacing value is located, wherein the spacing range is smaller than T21 and T21-T2, T21 is smaller than T2, and the end value of the spacing range is T21 and T2.
In the step S611, the upper pitch value is compared with the end values T21 and T2 of the pitch range to determine the pitch range in which the upper pitch value is located; when the distance range of the upper distance value is smaller than T21, the sweeper is positioned at the bottom of the furniture with the lower bottom, and the action of enhancing cleaning needs to be started; when the distance value above is in the distance range of T21-T2, the sweeper is positioned at the bottom of furniture with higher bottom, such as a dining table, a desk and the like), the space is wider, the sweeper is easily influenced by human activities, the connectivity of the sweeper is higher than that of a common household environment, the cleanliness is similar, and common sweeping can be performed at the moment; in some embodiments, when the distance range where the upper distance value is located is smaller than T21, it may be further determined whether the householder uses the sweeper for the first time or does not use the sweeper for a long time to assist in determining whether the scene requiring the above-mentioned important cleaning occurs, and it is necessary to start an action of enhancing cleaning, that is, increasing cleaning force and/or slowing down moving speed.
Further, in some embodiments, the step S61 of determining the range of the distance in which the sweeper is located according to the above distance value includes:
and S612, comparing the average value of the upper spacing values with the end value of the spacing range to judge the spacing range where the upper spacing values are located, wherein the spacing range is smaller than T21 and T21-T2, the T21 is smaller than T2, the end value of the spacing range is T21 and T2, and the average value of the upper spacing values is the average value of a plurality of upper spacing values in a second set time before the current time.
In the step S612, the second setting time is set according to the actual situation, so that the distance range where the upper distance value is located is determined by comparing the upper distance value with the end values T21 and T2 of the distance range, so that the erroneous determination is not easily made and the calculation speed is not excessively affected; when the distance range of the upper distance value is smaller than T21, the sweeper is positioned at the bottom of the furniture with the lower bottom, and the action of enhancing cleaning needs to be started; when the distance value above is in the distance range of T21-T2, the sweeper is positioned at the bottom of furniture with higher bottom, such as a dining table, a desk and the like), the space is wider, the sweeper is easily influenced by human activities, the connectivity of the sweeper is higher than that of a common household environment, the cleanliness is similar, and common sweeping can be performed at the moment; in some embodiments, when the distance range where the upper distance value is located is smaller than T21, it may be further determined whether the householder uses the sweeper for the first time or does not use the sweeper for a long time to assist in determining whether the scene requiring the key cleaning occurs, and it is necessary to start a behavior of enhancing cleaning, that is, increasing the cleaning force and/or slowing down the moving speed, and in some embodiments, increasing the cleaning force includes reducing the i-shaped cleaning and reducing the residual garbage in the cleaning area as much as possible when the sweeper performs the zigzag path planning.
Further, in some embodiments, the mapping relationship between the range of pitches and the cleaning recipe is:
when the spacing range is less than T21, the cleaning scheme includes increasing the cleaning force and/or slowing the moving speed;
when the spacing range is between T21 and T2, the cleaning scheme is to adopt a normal sweeping mode.
Through the mapping relation between the distance range and the cleaning scheme, a proper cleaning scheme can be adopted according to the mapping relation, wherein the cleaning force is increased, the rotating speed of the side brush is increased, and the power of the dust collector is increased, so that the cleaning effect is ensured.
Further, the step S6 of converting the sweeper into a bottom cleaning mode according to practical conditions to clean the floor includes:
s63, identifying the type of the space where the sweeper is located;
and S64, acquiring and executing the cleaning scheme of the sweeper according to the mapping relation between the type and the cleaning scheme.
In the above steps S63-S64, it may also be determined whether to combine the home partition map with the home partition map according to the user settings, and determine the type of the space, such as the type with much garbage and high humidity, the type with much garbage and less garbage, and the like, according to different areas/rooms, and further confirm different cleaning methods; for example, if the obtained place is a living room, the bottom of the furniture is judged to be a dining table, and as food residues are easy to remain around the dining table, the dining table is easy to step on and is of a type with much garbage and high humidity, the cleaning mode at the place can be adjusted, for example, the scraping force of the sweeper is increased, or a cleaning mode of firstly wetting and then scraping and cleaning is adopted; if the acquired place is a bedroom or a study, the bottom of the furniture is further judged to be a desk, and the desk environment is cleaner than the dining table environment and belongs to the type with less garbage, so that the user only needs to continuously carry out a common cleaning mode without opening other cleaning modes which are more power-consuming.
Further, the step S63 of identifying the type of the space where the sweeper is located includes:
s631, identifying the position of the space where the sweeper is located in a map;
and S632, determining the type of the space by using the room type corresponding to the position.
In the above steps S631-S632, the map is a home partition map, and by comparing the location of the sweeper with the home partition map, the type of the room where the sweeper is located, such as a kitchen, a living room, a study room, etc., can be determined, and further the type of the space where the sweeper is located, such as a type with much garbage and high humidity, a type with much garbage and high dryness, a type with less garbage, etc., can be determined.
Referring to fig. 2, the present invention provides a device for detecting whether a sweeper is located at the bottom of furniture, including:
the illumination detection module 1 is used for continuously acquiring a first light intensity value above the front end of the sweeper;
the state judgment module 2 is used for judging whether the state of the sweeper is converted into a state to be confirmed according to the first light intensity value;
the spacing detection module 3 is used for continuously acquiring an upper spacing value when the state of the sweeper is a state to be confirmed, wherein the upper spacing value is a distance value between the sweeper and an upper surface;
the distance judgment module 4 is used for judging whether the upper distance value of the continuous second set frame number is smaller than a distance threshold T2;
and the second state conversion module 5 is configured to convert the state of the sweeper into the confirmation state if the upper spacing value of the consecutive second set number of frames is smaller than the distance threshold T2.
Further, the state judgment module 2 includes:
the intensity judgment submodule is used for judging whether the first light intensity values of continuous first set frames are all smaller than the light intensity threshold T1;
the first conversion submodule is used for converting the state of the sweeper into a state to be confirmed if the first light intensity values of the continuous first set frame number are smaller than the light intensity threshold T1;
and the first maintaining submodule is used for maintaining the state of the sweeper to be a normal state if the first light intensity values of the continuous first set number of frames are not smaller than the light intensity threshold T1.
Further, the state judgment module 2 includes:
the light intensity change value obtaining submodule is used for continuously obtaining a current light intensity change value, and the light intensity change value is the first light intensity value obtained by subtracting the first light intensity value before the first set time from the current first light intensity value;
the light intensity change value judgment submodule is used for judging whether the light intensity change value is smaller than a first preset difference value or not;
the second conversion submodule is used for converting the state of the sweeper into a state to be confirmed if the light intensity change value is judged to be smaller than the first preset difference value;
and the second maintenance submodule is used for maintaining the state of the sweeper to be a normal state if the change value of the light intensity is judged to be not less than the first preset difference value.
Further, the state judgment module 2 includes:
the light intensity difference obtaining submodule is used for continuously obtaining the light intensity difference between the front and the rear of the sweeper, and the light intensity difference is obtained by subtracting a second light intensity value at the rear of the sweeper from a first light intensity value at the front of the sweeper;
the light intensity difference judging submodule is used for judging whether the light intensity difference is smaller than a second preset difference or not;
the third conversion submodule is used for converting the state of the sweeper into a state to be confirmed if the light intensity difference is judged to be smaller than the second preset difference;
and the third dimension support sub-module is used for maintaining the state of the sweeper to be a normal state if the light intensity difference is judged to be not smaller than the second preset difference.
Further, the device for detecting whether the sweeper is positioned at the bottom of the furniture further comprises:
and the cleaning module is used for converting the sweeper into a bottom cleaning mode meeting the actual condition to clean the ground.
Further, the cleaning module includes:
the distance range judgment submodule is used for judging the distance range of the sweeper according to the upper distance value;
and the first scheme judgment submodule is used for acquiring and executing the cleaning scheme of the sweeper according to the mapping relation between the distance range and the cleaning scheme.
Further, the pitch range judgment submodule includes:
and the first spacing range judging unit is used for comparing the upper spacing value with the end value of the spacing range to judge the spacing range in which the upper spacing value is positioned, wherein the spacing range is respectively smaller than T21 and T21-T2, T21 is smaller than T2, and the end value of the spacing range is T21 and T2.
Further, in some embodiments, the distance range determination submodule includes:
and the second distance range judging unit is used for comparing the average value of the upper distance values with the end value of the distance range to judge the distance range in which the upper distance values are positioned, wherein the distance range is respectively smaller than T21 and T21-T2, T21 is smaller than T2, the end value of the distance range is T21 and T2, and the average value of the upper distance values is the average value of a plurality of upper distance values in a second set time before the current time.
Further, the mapping relationship between the distance range and the cleaning scheme is as follows:
when the spacing range is less than T21, the cleaning scheme includes increasing the cleaning force and/or slowing the moving speed;
when the spacing range is between T21 and T2, the cleaning scheme is to adopt a normal sweeping mode.
Further, in some embodiments, the cleaning module comprises:
the space identification submodule is used for identifying the type of the space where the sweeper is located;
and the second scheme judgment submodule is used for acquiring and executing the cleaning scheme of the sweeper according to the mapping relation between the type and the cleaning scheme.
Further, the space identification submodule includes:
the position identification unit is used for identifying the position of the space where the sweeper is located in a map;
and the type determining unit is used for determining the type of the space in which the room type corresponding to the position is located.
Referring to fig. 3, a storage medium 100, which is a computer-readable storage medium, is further provided, and a computer program 200 is stored on the storage medium, and when the computer program 200 is executed, the method for detecting whether the sweeper is at the bottom of the furniture in any of the embodiments described above is implemented.
Referring to fig. 4, the present application further provides a smart device 300, which includes a memory 400, a processor 500, and a computer program 200 stored on the memory 400 and executable on the processor 500, wherein the processor 500 executes the computer program 200 to implement the method for detecting whether the sweeper is at the bottom of a piece of furniture in any of the above embodiments.
Those skilled in the art will appreciate that the smart device 300 of the embodiments of the present application is a device referred to above for performing one or more of the methods of the present application. These devices may be specially designed and manufactured for the required purposes, or they may comprise known devices in general-purpose computers. These devices have stored therein computer programs 200 or application programs, which computer programs 200 are selectively activated or reconfigured. Such a computer program 200 may be stored in a device (e.g., computer) readable medium, including, but not limited to, any type of disk including floppy disks, hard disks, optical disks, CD-ROMs, and magnetic-optical disks, ROMs (Read-Only memories), RAMs (Random Access memories), EPROMs (Erasable Programmable Read-Only memories), EEPROMs (Electrically Programmable Read-Only memories), flash memories, magnetic cards, or optical cards, or any type of media suitable for storing electronic instructions, and each coupled to a bus. That is, a readable medium includes any medium that stores or transmits information in a form readable by a device (e.g., a computer).
The method and the device for detecting whether the sweeper is positioned at the bottom of the furniture are characterized in that after the condition of the sweeper is converted into the condition to be confirmed according to the first light intensity value and when the upper spacing value of the continuous second set frame number is smaller than the distance threshold T2, the condition of the sweeper is judged to be positioned at the bottom of the furniture; the problem of current unable discernment machine of sweeping the floor whether be in the furniture bottom is solved.
The above description is only a preferred embodiment of the present application, and not intended to limit the scope of the present application, and all modifications of equivalent structures and equivalent processes, which are made by the contents of the specification and the drawings of the present application, or which are directly or indirectly applied to other related technical fields, are also included in the scope of the present application.
Claims (7)
1. A method for detecting whether a sweeper is positioned at the bottom of furniture is characterized by comprising the following steps:
continuously acquiring a first light intensity value above the front end of the sweeper;
judging whether the state of the sweeper is converted into a state to be confirmed or not according to the first light intensity value;
when the state of the sweeper is a state to be confirmed, continuously acquiring an upper spacing value, wherein the upper spacing value is a distance value between the sweeper and an upper surface;
judging whether the upper spacing value of the continuous second set frame number is smaller than a distance threshold T2;
if the upper spacing value of the continuous second set frame number is smaller than the distance threshold T2, judging that the sweeper is positioned at the bottom of furniture;
after the step of determining that the sweeper is at the bottom of the furniture, the method includes:
converting the sweeper into a bottom cleaning mode which accords with the actual condition to clean the ground;
will the step of the clean ground of bottom cleaning mode that the machine of sweeping the floor is converted into and accords with actual conditions includes:
judging the distance range of the sweeper according to the upper distance value;
acquiring and executing a cleaning scheme of the sweeper according to the mapping relation between the distance range and the cleaning scheme;
the step of judging the distance range of the sweeper according to the upper distance value comprises the following steps:
comparing the upper spacing value with the end value of a spacing range to judge the spacing range in which the upper spacing value is positioned, wherein the spacing range is respectively smaller than T21 and T21-T2, T21 is smaller than T2, and the end value of the spacing range is T21 and T2; alternatively, the first and second electrodes may be,
the step of judging the distance range of the sweeper according to the upper distance value comprises the following steps:
and comparing the average value of the upper spacing values with the end value of a spacing range to judge the spacing range where the upper spacing values are located, wherein the spacing range is respectively smaller than T21 and T21-T2, T21 is smaller than T2, the end values of the spacing range are T21 and T2, and the average value of the upper spacing values is the average value of a plurality of upper spacing values in a second set time before the current time.
2. The method of claim 1, wherein the step of determining whether to convert the status of the sweeper to a status to be confirmed according to the first light intensity value comprises:
judging whether the first light intensity values of continuous first set frames are smaller than a light intensity threshold T1;
if so, converting the state of the sweeper into a state to be confirmed;
if not, the state of the sweeper is kept to be a normal state.
3. The method of claim 1, wherein the step of determining whether to convert the status of the sweeper to a status to be confirmed according to the first light intensity value comprises:
continuously acquiring a current light intensity change value, wherein the light intensity change value is obtained by subtracting a first light intensity value before a first set time from a current first light intensity value;
judging whether the light intensity change value is smaller than a first preset difference value or not;
if so, converting the state of the sweeper into a state to be confirmed;
if not, the state of the sweeper is kept to be a normal state.
4. The method of claim 1, wherein the step of determining whether to convert the status of the sweeper to a status to be confirmed according to the first light intensity value comprises:
continuously obtaining a light intensity difference between the front and the rear of the sweeper, wherein the light intensity difference is obtained by subtracting a second light intensity value at the rear of the sweeper from a first light intensity value at the front of the sweeper;
judging whether the light intensity difference is smaller than a second preset difference or not;
if so, converting the state of the sweeper into a state to be confirmed;
if not, the state of the sweeper is kept to be a normal state.
5. The method for detecting whether the sweeper is at the bottom of the furniture according to claim 1, wherein the mapping relationship between the range of the spacing and the cleaning scheme is as follows:
when the spacing range is less than T21, the cleaning scheme includes increasing the cleaning force and/or decreasing the moving speed;
when the spacing range is between T21-T2, the cleaning scheme is to employ a normal sweeping mode.
6. The method of claim 1, wherein the step of converting the sweeper into a bottom cleaning mode that is practical for cleaning the floor comprises:
identifying the type of the space where the sweeper is located;
and acquiring and executing the cleaning scheme of the sweeper according to the mapping relation between the type and the cleaning scheme.
7. The utility model provides a detect whether device that machine of sweeping floor is in furniture bottom which characterized in that includes:
the illumination detection module is used for continuously acquiring a first light intensity value above the front end of the sweeper;
the state judgment module is used for judging whether the state of the sweeper is converted into a state to be confirmed or not according to the first light intensity value;
the distance detection module is used for continuously acquiring an upper distance value when the state of the sweeper is a state to be confirmed, wherein the upper distance value is a distance value between the sweeper and an upper surface;
the distance judgment module is used for judging whether the upper distance value of the continuous second set frame number is smaller than a distance threshold T2;
the second state conversion module is used for judging that the sweeper is positioned at the bottom of furniture if the upper spacing value of the continuous second set frame number is smaller than the distance threshold T2;
the cleaning module is used for converting the sweeper into a bottom cleaning mode which accords with the actual condition to clean the ground;
the cleaning module includes:
the distance range judging submodule is used for judging the distance range of the sweeper according to the upper distance value;
the first scheme judgment submodule is used for acquiring and executing the cleaning scheme of the sweeper according to the mapping relation between the distance range and the cleaning scheme;
the interval range judgment submodule comprises:
the first spacing range judging unit is used for comparing the upper spacing value with the end value of a spacing range to judge the spacing range where the upper spacing value is located, wherein the spacing range is smaller than T21 and T21-T2, T21 is smaller than T2, and the end value of the spacing range is T21 and T2; alternatively, the first and second electrodes may be,
and the second distance range judging unit is used for comparing the average value of the upper distance values with the end value of a distance range to judge the distance range in which the upper distance values are positioned, wherein the distance range is respectively smaller than T21 and T21-T2, T21 is smaller than T2, the end value of the distance range is T21 and T2, and the average value of the upper distance values is the average value of a plurality of upper distance values in a second set time before the current time.
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