CN113156928A - Method for automatically updating data model from mobile equipment, terminal and server - Google Patents
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- 238000013499 data model Methods 0.000 title claims abstract description 53
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- 230000003993 interaction Effects 0.000 description 9
- 230000005540 biological transmission Effects 0.000 description 4
- 238000003379 elimination reaction Methods 0.000 description 4
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0246—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means
- G05D1/0253—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means extracting relative motion information from a plurality of images taken successively, e.g. visual odometry, optical flow
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
- G05D1/0285—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle using signals transmitted via a public communication network, e.g. GSM network
Abstract
The invention relates to a method for automatically updating a data model from mobile equipment, a terminal and a server, wherein the method for automatically updating the data model from the mobile equipment comprises the following steps: automatically acquiring an environment image through an image acquisition device; sending the environment image to a cloud server; and receiving an updated data model returned by the cloud server, wherein the updated data model at least comprises updated data generated according to a part of the environment image.
Description
Technical Field
The invention relates to a method for automatically updating a data model from a mobile device, a terminal and a server.
Background
With the continuous progress of computer technology and artificial intelligence technology, self-moving devices similar to intelligent robots are gradually moving into people's lives. For example, a self-moving device can automatically mow and charge in a user's lawn without user intervention. After the automatic working system is set once, the user is freed from tedious and time-consuming and labor-consuming housework such as cleaning, lawn maintenance and the like without being invested in energy management. Currently, self-moving devices move randomly within a working area defined by a boundary line, but the boundary line is cumbersome to lay, and therefore, it is necessary to design a new self-moving device to solve the above-mentioned problems.
Disclosure of Invention
In order to overcome the defects, the invention adopts the following technical scheme:
a method for automatically updating a data model from a mobile device, comprising the steps of:
automatically acquiring an environment image through an image acquisition device;
sending the environment image to a cloud server;
and receiving an updated data model returned by the cloud server, wherein the updated data model at least comprises updated data generated according to a part of the environment image.
Further, the update data is generated by performing label training on at least a part of the environment image.
Further, whether an instruction of agreeing to automatically acquire the environmental image is received or not is confirmed;
if an instruction of agreeing to automatic acquisition is received, automatically acquiring an environment image by the image acquisition device; otherwise, the image acquisition device does not automatically acquire the environment image.
Further, the method comprises the following steps: and sending a request for acquiring the authority of the automatic acquisition environment image.
Further, the method also comprises the following steps:
and automatically carrying out privacy removal processing on the environment image.
Further, before the sending the environment image to the cloud server, the method further includes the following steps:
confirming whether an instruction of agreeing to send the environment image is received;
if an agreement sending instruction is received, the environment image is sent to the cloud server;
otherwise, it is not sent.
Further, the method also comprises the following steps: and sending a request for acquiring sending authority.
Further, the method also comprises the following steps:
sending information for reminding privacy removal processing on the environment image;
and confirming whether the instruction of finishing the privacy removing processing is received.
The invention can also adopt the following technical scheme: a method for automatically updating a data model of a self-moving device by a cloud server comprises the following steps:
receiving an environment image automatically acquired by the self-moving equipment through an image acquisition device of the self-moving equipment;
generating an update data model comprising at least update data generated from a portion of the environmental image;
and sending the updated data model to the self-mobile equipment.
The invention can also adopt the following technical scheme: a method for automatically updating a data model of a mobile terminal from a mobile device comprises the following steps:
sending a request for acquiring the authority of automatically acquiring the environment image;
judging whether an instruction for agreeing to automatic acquisition is received; if an instruction of agreeing to automatic acquisition is received, an instruction of automatically acquiring the environmental image is sent; otherwise, not sending;
sending a request for acquiring sending authority;
if an instruction of agreeing to send the environment image is received, sending the instruction of agreeing to send the environment image; otherwise, it is not sent.
The beneficial effect of this scheme is: the environment image is automatically acquired by the image acquisition device on the mobile equipment, so that the data model is automatically updated, and the accuracy of the data model is improved.
Drawings
Fig. 1 is a schematic diagram of a self-moving device according to an embodiment of the invention.
FIG. 2 is a flow chart of a method for automatically updating a data model from a mobile device in an embodiment of the invention.
FIG. 3 is a flow chart of a method for automatically updating a data model from a mobile device in an embodiment of the invention.
Fig. 4 is a flowchart of a method for automatically updating a data model by a mobile terminal according to an embodiment of the present invention.
FIG. 5 is a flow chart of a method for automatically updating a data model from a mobile device in an embodiment of the invention.
Fig. 6 is a flowchart of a method for automatically updating a data model by a cloud server according to an embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
Referring to fig. 1, an embodiment of the present invention provides an automatic work system including an autonomous mobile device that autonomously moves and works and a charging station for charging the autonomous mobile device. In this embodiment, the self-moving device 100 is an automatic lawn mower, and the charging station is a charging station for charging the automatic lawn mower. In other embodiments, the self-moving device 100 may also be an automatic leaf sweeper, an automatic sprinkler, a multi-function machine, a sweeping robot, or the like.
The self-moving apparatus 100 has a housing 110 and an information collecting device mounted on the housing 110. In one embodiment the information acquisition device is an image acquisition device 140. The image capture device 140 captures images from the mobile device 100 target area. The self-moving device 100 further comprises a working module, a walking module 130, an energy module, and a control module. The control module is connected with and controls the walking module 130, the working module, the energy module and the image acquisition device 140.
In this embodiment, the working module is a mowing module, and specifically a cutting member, such as a cutting blade. The work module is driven by a cutting motor (not shown). The center of the working module is located on the central axis of the self-moving device 100, and is disposed below the housing 110 between the auxiliary wheel and the driving wheel.
The image capture device 140 is mounted on the front upper portion of the housing 110, preferably centrally located, and captures image information of the target area. In the present embodiment, the viewing range of the image capturing device 140 has different viewing angle ranges, such as 90 degrees to 120 degrees, according to different capturing device types. Of course, in a specific implementation process, a certain angle range within the viewing angle range may be selected as the actual viewing range, for example, a 90-degree range located in the middle within 120 degrees of the viewing angle range may be selected as the actual viewing range.
The energy module is used to provide energy for operation of the mobile device 100. The energy source of the energy module may be gasoline, a battery pack, etc., and in this embodiment the energy module includes a rechargeable battery pack disposed within the housing 110. While in operation, the battery pack releases power to maintain operation and walking from the mobile device 100. During non-operation, the battery may be connected to an external power source to supplement the power. In particular, for a more human design, the self-moving device 100 automatically seeks a charging station to supplement power when it detects that the battery is low. The control module is used for controlling the operation and walking of the mobile device 100.
The self-moving device further comprises a storage unit for storing a data model, which may contain picture information or other characteristic data of a large number of different lawns, and lawn-surrounding objects, different houses, etc. The image acquisition device 140 acquires images around the mobile device, and the control module compares the acquired images with the stored data model, analyzes the position and environment of the mobile device, and controls the mobile device to move and work on the corresponding lawn. However, the lawn, the house, other objects around the lawn, etc. in each user's home are different, and even if the same user's home is used, the lawn and its surrounding objects may change, and the data model collected by factory shipment or initial use may be greatly different from the actual objects.
While the self-moving device is automatically moving and working within the work area, it can also automatically update its data model. As shown in fig. 2, a method for automatically updating a data model from a mobile device includes the following steps:
s1: automatically acquiring an environment image through an image acquisition device;
s2: sending the environment image to a cloud server;
s3: and receiving an updated data model returned by the cloud server, wherein the updated data model at least comprises updated data generated according to a part of the environment image. Specifically, the update data is generated by performing label training on at least a part of the environment image.
Specifically, during the automatic movement and work of the mobile device 100 in the work area, the image capturing device automatically captures an environmental image of the periphery of the mobile device 100. At least part of the acquired images of the surrounding environment are sent to the cloud server from the mobile device 100. The cloud server receives the acquired image data, and labels and trains the image data through a background manual or operation system and the like to generate an updated data model. And the cloud server sends the generated updated data model back to the mobile equipment. The latest data model can be obtained in real time from the mobile equipment, so that the misjudgment rate is greatly reduced. Among them, the data can be sent and received between the mobile device 100 and the cloud server through a wireless communication module (e.g., wifi, bluetooth, mobile network, etc.).
Furthermore, the self-moving device needs to obtain the authorization of the user to the automatically acquired environment image before automatically acquiring the environment image, so as to protect the privacy of the user. As shown in fig. 3, before the environment image is automatically acquired by the image acquisition device, the method further includes the following steps:
sending a request for acquiring the authority of automatically acquiring the environment image;
if an instruction of agreeing to automatic acquisition is received, automatically acquiring an environment image by the image acquisition device; otherwise, the image acquisition device does not automatically acquire the environment image.
When receiving the instruction of agreeing to the automatic acquisition from the mobile device, the mobile device starts to execute step S1, automatically acquires the environment image by the image acquisition device, and stores the environment image acquired by the image acquisition device in the mobile device after the acquisition.
In order to further protect the privacy of the user, before the mobile device sends the environment image to the cloud server, the user needs to obtain authorization for sending the environment image to the cloud server again to send data, and specifically, the method for automatically updating the data model further comprises the following steps:
sending a request for acquiring sending authority;
if an agreement sending instruction is received, the environment image is sent to the cloud server;
otherwise, it is not sent.
The above-mentioned process of obtaining the user to the authorization of gathering the environment image automatically from the mobile device and sending the environment image to the high in the clouds server can be realized by directly interacting with the user from the mobile device, also can be realized by interacting with the user with mobile terminals such as cell-phone APP, computer, panel, intelligent remote controller that pair from the mobile device, also can partly go on from the mobile device end, and partly goes on at the mobile terminal who pairs with it. The self-mobile device can automatically acquire the environment image only by receiving an instruction of automatically acquiring the environment image, and also can automatically transmit the environment image to the cloud server only by receiving the instruction of automatically transmitting the environment image to the cloud server.
In order to further protect the privacy of the user, before the environment image is sent to the cloud server from the mobile device, a privacy removing step can be added, the privacy removing step can be automatically carried out through the mobile device or a mobile terminal thereof, manual privacy removing can also be carried out by the user, and the automatic privacy removing step and the manual privacy removing step can also be combined. The privacy removing process can be performed before the authority of sending the environment image to the cloud server is obtained, and can also be performed after the authority of sending the environment image to the cloud processor is obtained. Of course, the privacy-removing process may be integrated with the sending authority acquisition, for example, if the user confirms that the privacy-removing process is completed, it indicates that the sending authority is acquired. For example, the permission of the user to send the environment image to the cloud server may be acquired, after the permission is acquired, the privacy-removing operation is executed, after the information that the privacy-removing processing of the environment image is completed is received, the environment image is sent to the cloud server, and of course, after the privacy-removing processing is completed, the user may be requested again to grant the permission of sending the environment image to the cloud server, so as to ensure the privacy of the user. Or, the operation of privacy removal processing can be executed first, and after the privacy removal processing is finished, the user is requested to grant the authority of sending the environment image to the cloud server. The operation of removing the privacy processing can be carried out by directly and automatically removing the privacy processing and/or reminding the user to remove the privacy processing and the like, and when the privacy processing is automatically removed, the automatic privacy processing is finished, and then the privacy processing is finished. The reminding user of privacy removal processing can actively remind the user of privacy removal processing, and can also inquire whether the user needs privacy removal processing. If the user is actively reminded to carry out privacy removing processing, a processing completion instruction is sent after the privacy removing processing of the user is completed, and the privacy removing processing is completed. If the user needs to ask whether the privacy removing processing is needed, after the user selects the privacy removing processing to be needed, automatically and/or manually removing the similar processing, and after the automatic and/or manual privacy removing processing is finished, the privacy removing processing is finished; if the user selects that privacy removal processing is not needed, the next step can be directly triggered if the privacy removal processing is directly considered to be completed, for example, after the user selects that privacy removal processing is not needed, the environment image is directly sent to the cloud server or after the sending permission is obtained, the environment image is sent to the cloud server.
In the above, the privacy of the user is ensured by simultaneously having the functions of privacy removal processing and transmission permission acquisition, and in other embodiments, the privacy of the user may be ensured by only selecting one of the privacy removal processing and the transmission permission acquisition.
As shown in fig. 3, taking an example that the automatic privacy-removing process is performed on the mobile device and then the sending authority is requested from the mobile device as an example, the method for automatically updating the data model is performed on the mobile device, and the method for automatically updating the data model at least includes the following steps:
s110: confirming whether an instruction of agreeing to automatically acquire the environmental image is received, and if so, executing the step S120; if not, step S120 is not executed. When the data model is not received, the work of automatically updating the data model can be directly finished, and the mobile equipment does not perform the work of automatically updating the data model any more;
s120: automatically acquiring an environment image through an image acquisition device;
s130: automatically carrying out privacy removal processing on the environment image;
s140: sending a request for acquiring the authority for sending the environment image to the cloud server;
s150: confirming whether an instruction of agreeing to send the environment image is received, if the instruction of agreeing to send the environment image is received, executing the step S160, and sending the environment image to the cloud server; otherwise, it is not sent.
S160: sending the environment image to a cloud server;
s170: and receiving an updated data model returned by the cloud server. Wherein the update data model comprises at least update data generated from a portion of the environmental image. Specifically, the update data is generated by performing label training on at least a part of the environment image.
Of course, the above only takes the example of performing the automatic privacy-removing process on the mobile device first and then requesting the sending permission from the mobile device as an example, in this embodiment, as shown in fig. 3, the above steps are performed sequentially, and in other embodiments, the above steps may also be changed, deleted or added, for example, step S130 may be deleted, that is, the automatic privacy-removing process is not performed; or the sequence of the steps S130, S140 and S150 is changed, the sending authority is firstly obtained, and then the privacy processing is automatically carried out; or, the automatic privacy-removing process in step S130 may be changed to a manual privacy-removing process, or an automatic privacy-removing process may be performed before a manual privacy-removing process is performed, and so on.
In the specific implementation process of the method, a further process of interaction with the user is needed to remind the user to perform corresponding operations. The processes of interaction with the user can be completely executed on the self-moving equipment, and can also be executed on mobile terminals such as mobile phones APP, computers and tablets corresponding to the self-moving equipment, or other equipment.
In one embodiment, as shown in fig. 5, taking an example that all the interaction processes are on the self-moving device, the self-moving device executes the following method for automatically updating the data model, and the method comprises the following steps:
s100: sending a request for acquiring the authority of automatically acquiring the environment image;
s110: confirming whether an instruction of agreeing to automatically acquire the environmental image is received, if so, executing the step S120, and if not, not executing the step S120;
s120: automatically acquiring an environment image through an image acquisition device;
s130: automatically carrying out privacy removal processing on the environment image;
s131: sending a request for determining whether privacy removal processing needs to be performed on the environment image;
s132: confirming whether an instruction for processing the environment image is received, if so, executing step S133, and if not, executing step S140;
s133: judging whether an instruction of finishing the privacy removal processing of the environment image is received, and if so, executing the step S140; if not, not executing step S140;
s140: sending a request for acquiring the authority of sending the environment image;
s150: judging whether an instruction of agreeing to send the environment image is received; if an instruction of agreeing to send the environment image is received, executing step S160; if not, not executing step S160;
s160: sending the environment image to a cloud server;
s170: and receiving an updated data model returned by the cloud server.
In steps S131 and S132, information for reminding the user to process the environment image is sent in an inquiry manner, and steps S131 and S132 may be combined into a total step S131': and sending information for reminding privacy removal processing on the environment image. The step S131' may be implemented by querying, or may be implemented by directly sending the reminding information without querying. In the step, the user is reminded of processing the environment image from the mobile device, and the user can delete the image related to privacy or other images which are not wanted to be uploaded according to actual conditions so as to prevent the images which are not wanted to be uploaded from being transmitted to the cloud server. In step S160, the environment image transmitted by the user is the environment image subjected to the privacy elimination processing.
In step S150, when the transmission approval instruction is not received, the process may return to step S132 to remind the user to continue processing the image, and further to remind the user to perform privacy removal processing; or when the sending agreement instruction is not received, the cloud server is not uploaded, and the process is finished directly.
Of course, the above embodiment is such that all interactions are performed directly by the mobile device and the user; firstly, privacy processing is carried out, and then sending permission is requested; the privacy removing processing comprises the steps of automatically removing the privacy of the environment image through the self-mobile equipment, and then reminding the user to remove the privacy; in other embodiments, the specific processes of the privacy-removing process and the request for sending permission, and the order of the privacy-removing process and the request for sending permission, etc. may be changed according to actual situations, for example, the steps S131 and S132 may be changed to directly remind the user of processing the environment image by inquiring whether the user needs to process the environment image; some steps may be omitted as appropriate, for example, only one of the privacy elimination process and the request transmission authority may be performed, only one of the automatic privacy elimination process and the manual privacy elimination process may be performed, and so on.
In other embodiments, the requesting user grants various rights or asks the user to send various interactive actions such as various instructions, or may be performed on all or part of a mobile terminal such as a mobile app corresponding to the mobile device, as shown in fig. 4, as an example, the mobile terminal performs part of the interactive actions, and the mobile terminal performs the following method for automatically updating the data model, where the method includes the following steps:
s210: sending a request for acquiring the authority of automatically acquiring the environment image;
s211: judging whether an instruction of agreeing to automatically acquire the environmental image is received; if so, executing step S220, otherwise, not executing step S220;
s220: sending an instruction for automatically acquiring an environment image;
s221: judging whether an instruction for starting to initiate privacy removal processing and/or acquiring sending permission is received, if so, executing the step S230, and if not, not executing the step S230; the condition for triggering and initiating the instruction can be preset, for example, it is set that after the mobile device finishes automatically acquiring the environment image, a related instruction is sent to the mobile terminal, so that the mobile terminal starts procedures of privacy removal processing and/or acquisition of sending authority and the like; of course, the instruction may also be initiated by the mobile terminal according to a certain rule, for example, when the time reaches a preset time, the instruction is initiated.
S230: sending a request for determining whether privacy removal processing needs to be performed on the environment image;
s231: judging whether an instruction for performing privacy removal processing on the environment image is received, and if so, executing step S232; if not, not executing step S232;
s232: judging whether an instruction for finishing the privacy removal processing of the environment image is received, and if so, executing the step S240; if not, not executing step S240;
s240: sending a request for acquiring sending authority;
s241: judging whether an instruction of agreeing to send the environment image is received, if so, executing the step S250; if not, not executing step S250;
s250: sending an instruction for agreeing to send the environment image; specifically, in this step, the mobile terminal may send an instruction agreeing to send the environment image to the mobile device, so that the mobile device automatically sends the environment image to the cloud server.
Of course, in another embodiment, sending the environment image to the cloud server through the mobile terminal may also be performed, that is, S250 is replaced with: and sending the environment image to a cloud server.
The above is only a specific implementation of partial interaction in the mobile terminal, and the specific steps may be deleted or replaced according to actual situations, for example, the specific interaction logic in the interaction steps S230, S231, and S232 of the privacy removal processing and the interaction steps S240 and S241 of requesting the sending authority may be changed, the order may also be changed, and partial interaction steps may also be deleted, and the like.
As shown in fig. 6, in an embodiment of the present invention, a method for automatically updating a data model of a mobile device by a cloud server is further provided, which includes the following steps:
s10: receiving an environment image automatically acquired by the mobile equipment through an image acquisition device of the mobile equipment;
s20: generating an update data model, the update data model comprising at least update data generated from a portion of the environmental image;
and S30, sending the updated data model to the self-mobile device.
The technical features of the embodiments described above may be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the embodiments described above are not described, but should be considered as being within the scope of the present specification as long as there is no contradiction between the combinations of the technical features.
The above-mentioned embodiments only express several embodiments of the present invention, and the description thereof is more specific and detailed, but not construed as limiting the scope of the invention. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the inventive concept, which falls within the scope of the present invention. Therefore, the protection scope of the present patent shall be subject to the appended claims.
Claims (10)
1. A method for automatically updating a data model from a mobile device, comprising the steps of: automatically acquiring an environment image through an image acquisition device;
sending the environment image to a cloud server;
and receiving an updated data model returned by the cloud server, wherein the updated data model at least comprises updated data generated according to a part of the environment image.
2. The method of claim 1, wherein the update data is generated by at least label training of portions of the environmental image.
3. The method of claim 1, further comprising, prior to said automatically acquiring the environmental image by the image acquisition device, the steps of:
confirming whether an instruction of agreeing to automatically acquire the environmental image is received;
if an instruction of agreeing to automatic acquisition is received, automatically acquiring an environment image by the image acquisition device; otherwise, the image acquisition device does not automatically acquire the environment image.
4. The method of claim 3, further comprising the steps of: and sending a request for acquiring the authority of the automatic acquisition environment image.
5. The method of claim 3, further comprising the steps of:
and automatically carrying out privacy removal processing on the environment image.
6. The method of claim 3 or 5, further comprising, before said sending said environment image to said cloud server, the steps of:
confirming whether an instruction of agreeing to send the environment image is received;
if an agreement sending instruction is received, the environment image is sent to the cloud server;
otherwise, it is not sent.
7. The method of claim 6, further comprising the steps of: and sending a request for acquiring sending authority.
8. The method of claim 6, further comprising the steps of:
sending information for reminding privacy removal processing on the environment image;
and confirming whether the instruction of finishing the privacy removing processing is received.
9. A method for automatically updating a data model of a mobile device by a cloud server is characterized by comprising the following steps:
receiving an environment image automatically acquired by the self-moving equipment through an image acquisition device of the self-moving equipment;
generating an update data model comprising at least update data generated from a portion of the environmental image;
and sending the updated data model to the self-mobile equipment.
10. A method for automatically updating a data model of a mobile terminal from a mobile device is characterized by comprising the following steps:
sending a request for acquiring the authority of automatically acquiring the environment image;
judging whether an instruction for agreeing to automatic acquisition is received; if an instruction of agreeing to automatic acquisition is received, an instruction of automatically acquiring the environmental image is sent; otherwise, not sending;
sending a request for acquiring sending authority;
if an instruction of agreeing to send the environment image is received, sending the instruction of agreeing to send the environment image; otherwise, it is not sent.
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| PCT/CN2020/140649 WO2021136234A1 (en) | 2020-01-03 | 2020-12-29 | Self-moving device and automatic moving and working method therefor, and storage medium |
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| CN202010005821X | 2020-01-03 | ||
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| CN109998429A (en) * | 2018-01-05 | 2019-07-12 | 艾罗伯特公司 | Mobile clean robot artificial intelligence for context aware |
| CN109643127A (en) * | 2018-11-19 | 2019-04-16 | 珊口（深圳）智能科技有限公司 | Construct map, positioning, navigation, control method and system, mobile robot |
| CN110338708A (en) * | 2019-06-21 | 2019-10-18 | 华为技术有限公司 | A kind of the cleaning control method and equipment of sweeping robot |
| CN110522359A (en) * | 2019-09-03 | 2019-12-03 | 深圳飞科机器人有限公司 | The control method of clean robot and clean robot |
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| CN114343504A (en) * | 2022-01-26 | 2022-04-15 | 深圳市优必选科技股份有限公司 | Sweeping strategy generation method, device, equipment and storage medium of sweeping robot |
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