CN113440057A

CN113440057A - Indoor air circulation method, device and system based on sweeping robot

Info

Publication number: CN113440057A
Application number: CN202110732362.XA
Authority: CN
Inventors: 檀冲; 王颖
Original assignee: Beijing Puppy Vacuum Cleaner Group Co Ltd
Current assignee: Beijing Puppy Vacuum Cleaner Group Co Ltd
Priority date: 2021-06-30
Filing date: 2021-06-30
Publication date: 2021-09-28

Abstract

The disclosure relates to the technical field of sweeping robots, and provides an indoor air circulation method, device and system based on a sweeping robot. The method comprises the following steps: in response to the detection of the existence of the animal excrement in the target space, controlling the sweeping robot to carry out sweeping operation on the detected animal excrement; in response to the fact that the sweeping robot finishes sweeping operation, controlling a gas detection device of the sweeping robot to detect gas in the target space; responding to that the gas in the target space meets the preset condition, and controlling an air purifier and a fresh air system in the target space to start; and controlling the air purifier and the fresh air system to be closed in response to the closing condition being met. The embodiment of the utility model discloses realize discerning and cleaning the animal excrement, avoided sweeping the floor the robot and scribbled whole room with the animal excrement at the cleaning in-process, air purifier and new trend system can purify the room air, have effectively improved the room air quality.

Description

Indoor air circulation method, device and system based on sweeping robot

Technical Field

The disclosure relates to the technical field of sweeping robots, in particular to an indoor air circulation method, device and system based on a sweeping robot.

Background

In recent years, with the rapid development of new materials, sensor technologies, artificial intelligence and computer technologies, the domestic living standard is continuously improved, and the sweeping robot is becoming a new home intelligent favorite. At present, the sweeping robot can independently plan a path, can identify a family environment, simply detect and avoid objects, basically meet the requirements of most users on household cleanness, and become a good choice for liberating both hands.

Most users who are kept with pets prefer to use sweeping robots because they can quickly remove pet hair. But users occasionally face such problems as well: when the sweeping robot meets animal excrement, the animal excrement cannot be identified, the sweeping robot continues to perform sweeping work and repeatedly walks indoors, and therefore the whole room is filled with the animal excrement. Aiming at the accidents caused by the fact that the sweeping robot cannot identify animal excrement, the current processing scheme is to propose not to start the timing function of the sweeping robot under the condition that no person monitors a house with pets. However, pets may excrete animal excreta in an extremely hidden place, so that real-time monitoring cannot be guaranteed, and once the sweeping robot is stained with the animal excreta, the animal excreta may be smeared in the whole room, so that the whole room is full of unpleasant odor, which causes indoor air deterioration and affects indoor air quality.

Disclosure of Invention

In view of this, the embodiments of the present disclosure provide an indoor air circulation method, an indoor air circulation device, and an indoor air circulation system based on a sweeping robot, so as to solve the problem that in the prior art, the sweeping robot cannot recognize animal excreta, so that the whole room is filled with the animal excreta, and the room is filled with a bad smell.

In a first aspect of the disclosed embodiments, there is provided a sweeping robot-based indoor air circulation method, including: in response to the detection of the existence of the animal excrement in the target space, controlling the sweeping robot to carry out sweeping operation on the detected animal excrement; in response to the fact that the sweeping robot finishes sweeping operation, controlling a gas detection device of the sweeping robot to detect gas in the target space; responding to that the gas in the target space meets the preset condition, and controlling an air purifier and a fresh air system in the target space to start; and controlling the air purifier and the fresh air system to be closed in response to the closing condition being met.

In a second aspect of the embodiments of the present disclosure, there is provided an indoor air circulation system based on a sweeping robot, including: the sweeping robot, the air purifier, the fresh air system and the control device; the robot of sweeping the floor includes: a sewage storage module, a detection water storage module, a sewage detection module, a gas detection module and an image acquisition module, wherein the sewage storage module is used for storing sewage used in the cleaning process, the detection water storage module is used for storing a small amount of sewage flowing back in the cleaning process of the sweeping robot, the gas detection module is used for detecting gas in the air, the image acquisition module is used for acquiring pictures or videos on the walking path of the sweeping robot, the sewage detection module comprises a light emitting unit, a light receiving unit, a component detection unit and a sewage analysis unit, the device comprises a transmitting unit, a light receiving unit, a component detecting unit, a sewage analyzing unit and a water storage module, wherein the transmitting unit and the light receiving unit are used for detecting the transmittance of sewage in the water storage module; the air purifier and the fresh air system are used for purifying air in the target space; the control device is at least used for controlling the starting and the closing of the air purifier and the fresh air system.

In a third aspect of the embodiments of the present disclosure, there is provided an indoor air circulation device based on a sweeping robot, including: a sweeping module configured to control the sweeping robot to perform a sweeping operation on the detected animal excreta in response to detecting the presence of the animal excreta in the target space; the detection module is configured to control a gas detection device of the sweeping robot to detect gas in the target space in response to detecting that the sweeping robot completes a sweeping operation; the starting module is configured to respond to the fact that gas in the target space meets preset conditions, and control the starting of the air purifier and the fresh air system in the target space; a shutdown module configured to control the air purifier and the fresh air system to shutdown in response to a shutdown condition being satisfied.

In a fourth aspect of the embodiments of the present disclosure, there is provided a computer device comprising a memory, a processor and a computer program stored in the memory and executable on the processor, the processor implementing the steps of the above method when executing the computer program.

In a fifth aspect of the embodiments of the present disclosure, a computer-readable storage medium is provided, which stores a computer program, which when executed by a processor implements the steps of the above method.

Compared with the prior art, the embodiment of the disclosure has the following beneficial effects: in response to the detection of the existence of the animal excrement in the target space, controlling the sweeping robot to carry out sweeping operation on the detected animal excrement; in response to the fact that the sweeping robot finishes sweeping operation, controlling a gas detection device of the sweeping robot to detect gas in the target space; responding to that the gas in the target space meets the preset condition, and controlling an air purifier and a fresh air system in the target space to start; and controlling the air purifier and the fresh air system to be closed in response to the closing condition being met. The embodiment of the utility model discloses realize discerning and cleaning the animal excrement, avoided sweeping the floor the robot and scribbled whole room with the animal excrement at the cleaning in-process, air purifier and new trend system can purify the room air, have effectively improved the room air quality.

Drawings

To more clearly illustrate the technical solutions in the embodiments of the present disclosure, the drawings needed for the embodiments or the prior art descriptions will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present disclosure, and other drawings can be obtained by those skilled in the art without inventive efforts.

Fig. 1 is a flowchart of an indoor air circulation system based on a sweeping robot according to an embodiment of the present disclosure;

fig. 2 is a schematic block diagram of a sweeping robot according to an embodiment of the present disclosure;

fig. 3 is a flowchart of an indoor air circulation method based on a sweeping robot according to an embodiment of the present disclosure;

fig. 4 is a flowchart of another indoor air circulation method based on a sweeping robot according to an embodiment of the present disclosure;

fig. 5 is a block diagram of an indoor air circulation device based on a sweeping robot according to an embodiment of the present disclosure;

fig. 6 is a schematic diagram of a computer device provided by an embodiment of the present disclosure.

Detailed Description

In the following description, for purposes of explanation and not limitation, specific details are set forth, such as particular system structures, techniques, etc. in order to provide a thorough understanding of the disclosed embodiments. However, it will be apparent to one skilled in the art that the present disclosure may be practiced in other embodiments that depart from these specific details. In other instances, detailed descriptions of well-known systems, devices, circuits, and methods are omitted so as not to obscure the description of the present disclosure with unnecessary detail.

A method and an apparatus for training a joint learning model according to an embodiment of the present disclosure will be described in detail below with reference to the accompanying drawings.

Fig. 1 is a flowchart of an indoor air circulation system based on a sweeping robot according to an embodiment of the present disclosure. This indoor air circulation system based on robot of sweeping the floor includes: the sweeping robot 101, the air purifier 102, the fresh air system 103 and the control device 104. The sweeping robot 101, the air purifier 102 and the fresh air system 103 can be in information communication with the control device 104.

The schematic block diagram of the sweeping robot is shown in fig. 2, and includes a control module 21, a sweeping module 22, a sewage detection module 23, an image acquisition module 24, and a gas detection module 25.

Wherein, clean module 22 including clean unit, water purification storage unit, sewage backward flow unit, detect water storage unit and sewage storage unit, water purification storage unit is used for storing the water purification, and the user can add appropriate amount of water purification in water purification storage unit as required in the use. The detection water storage unit is arranged on a water return path of the sewage backflow unit and is communicated with the sewage storage unit, so that the sewage in the detection water storage unit can be updated in real time, and the sewage in the detection water storage unit can be returned to the sewage storage unit for storage. The volume of the water storage unit is determined, and the concentration of target components in the sewage can be conveniently detected.

The sewage detection module 23 comprises a detection light emitting unit, a detection light receiving unit, a component detection unit and a sewage analysis unit, wherein the detection light emitting unit and the detection light receiving unit are respectively arranged at two opposite sides of the detection water storage unit so as to ensure that the detection light emitted by the detection light emitting unit can be received by the detection light receiving unit after being transmitted through the sewage in the detection water storage unit. The component detection unit can detect target components in the sewage, and the specific type can be set according to the requirement. It should be understood that the target component may be one kind or plural kinds, and may be selected and set as necessary.

Image acquisition module 24 includes depth camera and RGB camera, and the angle can be adjusted as required. The RGB camera is used for obtaining a common color image, and the depth camera is used for obtaining depth information of the image. The type of the depth camera can be set according to the needs, for example, the depth camera can be a structured light depth camera, which projects a controllable light spot, light bar or smooth surface structure to the surface of the measured object through a light projector, obtains an image through an image sensor, and obtains a three-dimensional coordinate of a user through a system geometric relationship and by utilizing a trigonometric principle, thereby obtaining relative distance data. For example, the depth camera may be a binocular camera, and two cameras acquire user coordinate information including a three-dimensional position to obtain relative distance data. For example, the depth camera may be a TOF (Time of Flight) camera, the sensor emits modulated near-infrared light, the modulated near-infrared light is reflected after encountering the object to be measured, the distance between the object to be measured and the sensor is converted by calculating a Time difference or a phase difference between light emission and reflection to generate depth information, and an image with the depth information can be obtained by combining an image shot by the RGB camera.

The gas detection module 25 includes a gas collection unit, a gas storage unit, an ammonia gas detection unit and a hydrogen sulfide detection unit, the gas collection unit is used for collecting gas in the air, the gas storage unit is used for storing the collected gas, the ammonia gas detection unit is used for detecting the concentration of ammonia gas in the collected gas, and the hydrogen sulfide detection unit is used for detecting the concentration of hydrogen sulfide in the collected gas. The gas detection module 25 may be installed anywhere within the target space, for example, may be installed in the middle of the target space floor.

It should be understood that the sweeping robot may also include other modules, such as a path planning module 26, a motion module 27, a wireless communication module 28, etc., which are not fully listed herein.

The air purifier 102 and the fresh air system 103 are used for purifying air in a target space, and the air purifier 102 is a product capable of adsorbing, decomposing or converting various air pollutants (generally including PM2.5, dust, pollen, peculiar smell, decoration pollution such as formaldehyde, bacteria, allergens and the like) and effectively improving air cleanliness. The fresh air system 103 is a set of independent air processing system consisting of an air supply system and an air exhaust system, and is divided into a pipeline type fresh air system and a pipeline-free fresh air system. The pipeline type fresh air system consists of a fresh air fan and pipeline accessories, outdoor air is purified by the fresh air fan and is led into a room, and indoor air is discharged through a pipeline; the ductless fresh air system is composed of a fresh air fan, and the fresh air fan is used for purifying outdoor air and guiding the outdoor air into a room.

The control device 104 is used for controlling the starting and closing of the air purifier 102 and the fresh air system 103, and can also receive information sent by the sweeping robot 101 and perform information interaction with the air purifier 102 and the fresh air system 103.

Fig. 3 is a flowchart of an indoor air circulation method based on a sweeping robot according to an embodiment of the present disclosure. The indoor air circulation method based on the sweeping robot of fig. 3 may be performed by the control apparatus of fig. 1. As shown in fig. 3, the method based on the sweeping robot comprises the following steps:

s301, in response to the detection that animal excrement exists in the target space, controlling the sweeping robot to carry out sweeping operation on the detected animal excrement;

s302, in response to the fact that the sweeping robot finishes sweeping operation, controlling a gas detection device of the sweeping robot to detect gas in a target space;

s303, controlling an air purifier and a fresh air system in the target space to start in response to the fact that the gas in the target space meets preset conditions;

and S304, responding to the closing condition, and controlling the air purifier and the fresh air system to be closed.

Specifically, the control device controls the sweeping robot to sweep the detected animal excrement under the condition that the animal excrement is determined to be detected in the target space, the sweeping robot controls the gas detection device of the sweeping robot to detect the gas in the target space after the sweeping robot finishes the sweeping operation, the air purifier and the fresh air system in the target space are controlled to be started under the condition that the gas in the target space is determined to meet the preset conditions, and the air purifier and the fresh air system are controlled to be stopped when the closing conditions are determined to be met.

According to the technical scheme provided by the embodiment of the disclosure, the sweeping robot is controlled to sweep the detected animal excrement in response to the detection that the animal excrement exists in the target space; in response to the fact that the sweeping robot finishes sweeping operation, controlling a gas detection device of the sweeping robot to detect gas in the target space; responding to that the gas in the target space meets the preset condition, and controlling an air purifier and a fresh air system in the target space to start; and controlling the air purifier and the fresh air system to be closed in response to the closing condition being met. The embodiment of the utility model discloses realize discerning and cleaning the animal excrement, avoided sweeping the floor the robot and scribbled whole room with the animal excrement at the cleaning in-process, air purifier and new trend system can purify the room air, have effectively improved the room air quality.

The cleaning operation can be that the light emitting unit is controlled to send the detection light according to the preset frequency, the light receiving unit is controlled to receive the light transmitted by the sewage analysis unit, the transmittance of the sewage is analyzed, and if the transmittance is higher than the preset value, the sewage is free of impurities; if the transmittance is lower than the preset value, the light transmittance means that impurities are contained in the sewage; the control component detection unit detects and detects the sewage in the water storage chamber, analyzes the components in the sewage and judges whether the target components exist or not; if the target component exists, the animal excrement is contained in the sewage; if the target component is not present, animal waste is not included. When the target component exists, the concentration of the target component is further detected, if the concentration of the target component is lower than a threshold value, the animal excrement is less, and the robot increases the water flow rate to clean within the cleaning capacity range of the robot; if the concentration of the target component is higher than the threshold value, the situation that the number of animal excreta is large and exceeds the cleaning capacity of the robot is meant, at the moment, cleaning is suspended, and alarm information is sent to a user client to remind a user of manual cleaning. The threshold value here may be set in advance.

And under the condition that the sweeping robot is detected to finish the sweeping operation, controlling the gas detection device to detect the gas in the target space, and detecting whether the concentration of the irritant gas contained in the air reaches a preset value, wherein the preset value can be preset.

The preset condition can be that the concentration of irritant gas contained in the air reaches a preset value, and the air purifier and the fresh air system in the target space are controlled to be started.

And when the closing condition is determined to be met, the air purifier and the fresh air system are controlled to be closed. The closing condition here may be that the operating time of the air purifier and the fresh air system reaches a preset time. Here, the preset time period may be regarded as being set in advance.

In some embodiments, determining whether the starting time of the air purifier and the fresh air system reaches a preset time; and controlling the air purifier and the fresh air system to be closed in response to the determination that the preset time is reached.

In some embodiments, determining whether an air detection index within the target space reaches a preset value; and controlling the air purifier and the fresh air system to be closed in response to the determination that the preset value is reached.

Specifically, the preset value here may be preset.

In some embodiments, an image acquisition device for controlling the sweeping robot acquires image information in the traveling direction of the sweeping robot, and performs image analysis on the image information to obtain an analysis result; controlling a gas detection device of the sweeping robot to detect gas in a target space to obtain a detection result; determining whether animal excrement exists in the target space based on the analysis result and the detection result of the image information; in response to determining the presence, a sweeping operation is performed on the detected animal waste.

Specifically, the image acquisition device comprises a depth camera and a common camera. The image information may be a picture or a video. The detection result may be that the concentration of the pungent gas in the air exceeds a preset threshold. The preset threshold value here may be preset. The control means may determine whether animal excrement is present in the target space based on the image information and the detection result, and perform a cleaning operation on the detected animal excrement in the case of determining the presence. The analysis result may be information describing the content of the image derived from the image. The distance threshold may be predetermined.

In some embodiments, in response to determining the presence of animal waste, determining a distance of the sweeping robot from the animal waste based on the image information; performing a sweeping operation on the detected animal waste in response to determining that the distance is less than a preset distance threshold.

In some embodiments, in response to detecting that the air purifier and the fresh air system are turned off, the sweeping robot is controlled to spray air freshener according to the user preference information.

All the above optional technical solutions may be combined arbitrarily to form optional embodiments of the present application, and are not described herein again.

Fig. 4 is a flowchart of another indoor air circulation method based on a sweeping robot according to an embodiment of the present disclosure. The indoor air circulation method based on the sweeping robot of fig. 4 may be performed by the control apparatus of fig. 1. As shown in fig. 4, the indoor air circulation method based on the sweeping robot comprises the following steps:

s401, controlling an image acquisition device of the sweeping robot to acquire image information in the traveling direction of the sweeping robot, and carrying out image analysis on the image information to obtain an analysis result; (ii) a

S402, controlling a gas detection device of the sweeping robot to detect gas in a target space to obtain a detection result;

s403, determining whether animal excrement exists in the target space or not based on the analysis result and the detection result of the image information;

s404, responding to the determined existence, and performing sweeping operation on the detected animal excrement;

s405, in response to the fact that the sweeping robot finishes sweeping operation, controlling a gas detection device of the sweeping robot to detect gas in the target space;

s406, controlling an air purifier and a fresh air system in the target space to start in response to the fact that the gas in the target space meets preset conditions;

and S407, responding to the closing condition, and controlling the air purifier and the fresh air system to be closed.

Specifically, an image acquisition device for controlling the sweeping robot acquires image information in the traveling direction of the sweeping robot, and performs image analysis on the image information to obtain an analysis result; controlling a gas detection device of the sweeping robot to detect gas in a target space to obtain a detection result; determining whether animal excrement exists in the target space based on the analysis result and the detection result of the image information; performing a sweeping operation on the detected animal waste in response to determining the presence; in response to the fact that the sweeping robot finishes sweeping operation, controlling a gas detection device of the sweeping robot to detect gas in the target space; responding to that the gas in the target space meets the preset condition, and controlling an air purifier and a fresh air system in the target space to start; and controlling the air purifier and the fresh air system to be closed in response to the closing condition being met.

According to the technical scheme provided by the embodiment of the disclosure, the image acquisition device for controlling the sweeping robot acquires image information in the traveling direction of the sweeping robot, and performs image analysis on the image information to obtain an analysis result; controlling a gas detection device of the sweeping robot to detect gas in a target space to obtain a detection result; determining whether animal excrement exists in the target space based on the analysis result and the detection result of the image information; performing a sweeping operation on the detected animal waste in response to determining the presence; in response to the fact that the sweeping robot finishes sweeping operation, controlling a gas detection device of the sweeping robot to detect gas in the target space; responding to that the gas in the target space meets the preset condition, and controlling an air purifier and a fresh air system in the target space to start; and controlling the air purifier and the fresh air system to be closed in response to the closing condition being met. The embodiment of the utility model discloses realize discerning and cleaning the animal excrement, avoided sweeping the floor the robot and scribbled whole room with the animal excrement at the cleaning in-process, air purifier and new trend system can purify the room air, have effectively improved the room air quality.

The following are embodiments of the disclosed apparatus that may be used to perform embodiments of the disclosed methods. For details not disclosed in the embodiments of the apparatus of the present disclosure, refer to the embodiments of the method of the present disclosure.

Fig. 5 is a schematic view of an indoor air circulation device based on a sweeping robot provided in an embodiment of the present disclosure. As shown in fig. 5, the indoor air circulation device based on the sweeping robot comprises:

a sweeping module 501 configured to control the sweeping robot to perform a sweeping operation on the detected animal excreta in response to the detection of the presence of the animal excreta in the target space;

a detection module 502 configured to control a gas detection device of the sweeping robot to detect gas in the target space in response to detecting that the sweeping robot completes a sweeping operation;

a starting module 503 configured to control the starting of the air purifier and the fresh air system in the target space in response to the gas in the target space satisfying a preset condition;

a shutdown module 504 configured to control the air purifier and the fresh air system to shutdown in response to a shutdown condition being met.

In some embodiments, the shutdown module 504 is further configured to: determining whether the starting time of the air purifier and the fresh air system reaches a preset time; and controlling the air purifier and the fresh air system to be closed in response to the determination that the preset time is reached.

In some embodiments, the shutdown module 504 is further configured to: determining whether the air detection index in the target space reaches a preset value; and controlling the air purifier and the fresh air system to be closed in response to the determination that the preset value is reached.

In some embodiments, the purge module 501 is further configured to: the image acquisition device for controlling the sweeping robot acquires image information in the traveling direction of the sweeping robot, and performs image analysis on the image information to obtain an analysis result; controlling a gas detection device of the sweeping robot to detect gas in a target space to obtain a detection result; determining whether animal excrement exists in the target space based on the analysis result and the detection result of the image information; in response to determining the presence, a sweeping operation is performed on the detected animal waste.

In some embodiments, the purge module 501 is further configured to: in response to determining that animal waste is present, determining a distance of the sweeping robot from the animal waste based on the image information; performing a sweeping operation on the detected animal waste in response to determining that the distance is less than a preset distance threshold.

In some embodiments, the indoor air circulating device further includes: and a spraying module 505 configured to control the sweeping robot to spray the air freshener according to the user preference information in response to detecting that the air purifier and the fresh air system are closed.

It should be understood that, the sequence numbers of the steps in the foregoing embodiments do not imply an execution sequence, and the execution sequence of each process should be determined by its function and inherent logic, and should not constitute any limitation on the implementation process of the embodiments of the present disclosure.

Fig. 6 is a schematic diagram of a computer device 6 provided by an embodiment of the present disclosure. As shown in fig. 6, the computer device 6 of this embodiment includes: a processor 601, a memory 602, and a computer program 603 stored in the memory 602 and operable on the processor 601. The steps in the various method embodiments described above are implemented when the computer program 603 is executed by the processor 601. Alternatively, the processor 601 realizes the functions of each module/unit in the above-described apparatus embodiments when executing the computer program 603.

Illustratively, the computer program 603 may be partitioned into one or more modules/units, which are stored in the memory 602 and executed by the processor 601 to accomplish the present disclosure. One or more modules/units may be a series of computer program instruction segments capable of performing certain functions, which are used to describe the execution of computer program 603 in computer device 6.

The computer device 6 may be a desktop computer, a notebook, a palm computer, a cloud server, or other computer devices. Computer device 6 may include, but is not limited to, a processor 601 and a memory 602. Those skilled in the art will appreciate that fig. 6 is merely an example of a computer device 6 and is not intended to limit the computer device 6 and may include more or fewer components than shown, or some components may be combined, or different components, e.g., the computer device may also include input output devices, network access devices, buses, etc.

The Processor 601 may be a Central Processing Unit (CPU), other general purpose Processor, a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), a Field Programmable Gate Array (FPGA) or other Programmable logic device, discrete Gate or transistor logic device, discrete hardware component, or the like. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like.

The storage 602 may be an internal storage unit of the computer device 6, for example, a hard disk or a memory of the computer device 6. The memory 602 may also be an external storage device of the computer device 6, such as a plug-in hard disk provided on the computer device 6, a Smart Media Card (SMC), a Secure Digital (SD) Card, a Flash memory Card (Flash Card), and the like. Further, the memory 602 may also include both internal and external storage units of the computer device 6. The memory 602 is used for storing computer programs and other programs and data required by the computer device. The memory 602 may also be used to temporarily store data that has been output or is to be output.

It will be apparent to those skilled in the art that, for convenience and brevity of description, only the above-mentioned division of the functional units and modules is illustrated, and in practical applications, the above-mentioned function distribution may be performed by different functional units and modules according to needs, that is, the internal structure of the apparatus is divided into different functional units or modules, so as to perform all or part of the functions described above. Each functional unit and module in the embodiments may be integrated in one processing unit, or each unit may exist alone physically, or two or more units are integrated in one unit, and the integrated unit may be implemented in a form of hardware, or in a form of software functional unit. In addition, specific names of the functional units and modules are only for convenience of distinguishing from each other, and are not used for limiting the protection scope of the present application. The specific working processes of the units and modules in the system may refer to the corresponding processes in the foregoing method embodiments, and are not described herein again.

In the above embodiments, the descriptions of the respective embodiments have respective emphasis, and reference may be made to the related descriptions of other embodiments for parts that are not described or illustrated in a certain embodiment.

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 disclosure.

In the embodiments provided in the present disclosure, it should be understood that the disclosed apparatus/computer device and method may be implemented in other ways. For example, the above-described apparatus/computer device embodiments are merely illustrative, and for example, a division of modules or units, a division of logical functions only, an additional division may be made in actual implementation, multiple units or components may be combined or integrated with 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.

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 disclosure 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 integrated unit can be realized in a form of hardware, and can also be realized in a form of a software functional unit.

The integrated modules/units, if implemented in the form of software functional units and sold or used as separate products, may be stored in a computer readable storage medium. Based on such understanding, the present disclosure may implement all or part of the flow of the method in the above embodiments, and may also be implemented by a computer program to instruct related hardware, where the computer program may be stored in a computer readable storage medium, and when the computer program is executed by a processor, the computer program may implement the steps of the above methods and embodiments. The computer program may comprise computer program code, which may be in the form of source code, object code, an executable file or some intermediate form, etc. The computer readable medium may include: any entity or device capable of carrying computer program code, recording medium, usb disk, removable hard disk, magnetic disk, optical disk, computer Memory, Read-Only Memory (ROM), Random Access Memory (RAM), electrical carrier wave signals, telecommunications signals, software distribution medium, and the like. It should be noted that the computer readable medium may contain suitable additions or additions that may be required in accordance with legislative and patent practices within the jurisdiction, for example, in some jurisdictions, computer readable media may not include electrical carrier signals or telecommunications signals in accordance with legislative and patent practices.

The above examples are only intended to illustrate the technical solutions of the present disclosure, not to limit them; although the present disclosure has been described in detail with reference to the foregoing embodiments, it should be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; such modifications and substitutions do not substantially depart from the spirit and scope of the embodiments of the present disclosure, and are intended to be included within the scope of the present disclosure.

Claims

1. An indoor air circulation method based on a sweeping robot is characterized by comprising the following steps:

in response to the detection of the existence of the animal excrement in the target space, controlling the sweeping robot to carry out sweeping operation on the detected animal excrement;

in response to the fact that the sweeping robot finishes sweeping operation, controlling a gas detection device of the sweeping robot to detect gas in the target space;

responding to that the gas in the target space meets a preset condition, and controlling an air purifier and a fresh air system in the target space to start;

and responding to the meeting of a closing condition, and controlling the air purifier and the fresh air system to be closed.

2. The method of claim 1, wherein the controlling the air purifier and the fresh air system to shut down in response to a shut down condition being met comprises:

determining whether the starting time of the air purifier and the fresh air system reaches a preset time;

and controlling the air purifier and the fresh air system to be closed in response to the fact that the preset time is reached.

3. The method of claim 1, wherein the controlling the air purifier and the fresh air system to shut down in response to a shut down condition being met comprises:

determining whether the air detection index in the target space reaches a preset value;

and controlling the air purifier and the fresh air system to be closed in response to the determination that the preset value is reached.

4. The method of claim 1, wherein controlling the sweeping robot to perform a sweeping operation on the detected animal waste in response to detecting the presence of the animal waste in the target space comprises:

the method comprises the steps that an image acquisition device for controlling a sweeping robot acquires image information in the traveling direction of the sweeping robot, and image analysis is carried out on the image information to obtain an analysis result;

controlling a gas detection device of the sweeping robot to detect gas in a target space to obtain a detection result;

determining whether animal excrement exists in the target space based on the analysis result of the image information and the detection result;

in response to determining the presence, a sweeping operation is performed on the detected animal waste.

5. The method of claim 4, wherein the performing a sweeping operation on the detected animal waste in response to determining the presence comprises:

in response to determining that animal waste is present, determining a distance of the sweeping robot from the animal waste based on the image information;

performing a sweeping operation on the detected animal waste in response to determining that the distance is less than a preset distance threshold.

6. The method of claim 1, further comprising:

and in response to the detection that the air purifier and the fresh air system are closed, controlling the sweeping robot to spray air freshener according to user preference information.

7. The utility model provides an indoor air circulation system based on robot of sweeping floor which characterized in that includes: the sweeping robot, the air purifier, the fresh air system and the control device;

the robot of sweeping the floor includes: a sewage storage module, a detection water storage module, a sewage detection module, a gas detection module and an image acquisition module, wherein the sewage storage module is used for storing sewage used in the cleaning process, the detection water storage module is used for storing a small amount of sewage which flows back in the cleaning process of the sweeping robot, the gas detection module is used for detecting gas in the air, the image acquisition module is used for acquiring pictures or videos on the driving path of the sweeping robot, the sewage detection module comprises a light emitting unit, a light receiving unit, a component detection unit and a sewage analysis unit, the device comprises a transmitting unit, a light receiving unit, a component detecting unit, a sewage analyzing unit and a water storage module, wherein the transmitting unit and the light receiving unit are used for detecting the transmittance of sewage in the water storage module;

the air purifier and the fresh air system are used for purifying air in a target space;

the control device is at least used for controlling the air purifier and the fresh air system to be started and closed.

8. The utility model provides an indoor air circulating device based on robot of sweeping the floor which characterized in that includes:

a sweeping module configured to control the sweeping robot to perform a sweeping operation on the detected animal excreta in response to detecting the presence of the animal excreta in the target space;

a detection module configured to control a gas detection device of the sweeping robot to detect gas within the target space in response to detecting that the sweeping robot completes a sweeping operation;

the starting module is configured to respond to the gas in the target space meeting preset conditions, and control the starting of the air purifier and the fresh air system in the target space;

a shutdown module configured to control the air purifier and the fresh air system to shutdown in response to a shutdown condition being satisfied.

9. A computer device comprising a memory, a processor and a computer program stored in the memory and executable on the processor, characterized in that the processor implements the steps of the method according to any one of claims 1 to 7 when executing the computer program.

10. A computer-readable storage medium, in which a computer program is stored which, when being executed by a processor, carries out the steps of the method according to any one of claims 1 to 7.