CN114886345A - Method, device and system for controlling sweeping robot and storage medium - Google Patents
Method, device and system for controlling sweeping robot and storage medium Download PDFInfo
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- CN114886345A CN114886345A CN202210415711.XA CN202210415711A CN114886345A CN 114886345 A CN114886345 A CN 114886345A CN 202210415711 A CN202210415711 A CN 202210415711A CN 114886345 A CN114886345 A CN 114886345A
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- 238000010408 sweeping Methods 0.000 title claims abstract description 368
- 238000000034 method Methods 0.000 title claims abstract description 54
- 238000003860 storage Methods 0.000 title claims abstract description 23
- 238000004891 communication Methods 0.000 claims abstract description 15
- 238000004140 cleaning Methods 0.000 claims description 90
- 230000001276 controlling effect Effects 0.000 description 38
- 238000010586 diagram Methods 0.000 description 17
- 230000000875 corresponding effect Effects 0.000 description 13
- 230000006870 function Effects 0.000 description 13
- 230000008569 process Effects 0.000 description 12
- 230000009471 action Effects 0.000 description 4
- 238000004590 computer program Methods 0.000 description 4
- 230000003993 interaction Effects 0.000 description 4
- 230000008878 coupling Effects 0.000 description 3
- 238000010168 coupling process Methods 0.000 description 3
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
- A47L11/4011—Regulation of the cleaning machine by electric means; Control systems and remote control systems therefor
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/24—Floor-sweeping machines, motor-driven
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W76/00—Connection management
- H04W76/10—Connection setup
- H04W76/15—Setup of multiple wireless link connections
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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
- A47L2201/00—Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
- A47L2201/04—Automatic control of the travelling movement; Automatic obstacle detection
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Abstract
The application relates to the technical field of intelligent equipment, and discloses a method, a device and a system for controlling a sweeping robot and a storage medium. The system comprises: the sweeping robot comprises a sweeping robot and intelligent equipment in a sweeping space of the sweeping robot, wherein the first intelligent equipment is in communication connection with the sweeping robot, and under the condition that two or more intelligent equipment exist, the first intelligent equipment is in communication connection with each second intelligent equipment, and space coordinates between the sweeping robot and each intelligent equipment are matched; the first intelligent equipment is configured to acquire shape, size and position information of the set foreign body, which is obtained by the intelligent equipment through space scanning, and send the information to the sweeping robot, wherein the shape, size and position information is determined by the intelligent equipment according to space coordinates matched with the sweeping robot; and the sweeping robot is configured to update the stored gridding sweeping map according to the shape, size and position information and carry out sweeping operation according to the updated gridding sweeping map.
Description
Technical Field
The present application relates to the field of smart devices, for example, to methods, apparatuses, systems, and storage media for sweeping robot control.
Background
With the popularization of intelligent technology, the sweeping robot has entered thousands of households, and at present, the sweeping robot dynamically scans a space through a visual sensor and the like, completes modeling of the space to be swept after scanning, obtains a sweeping map, and sweeps according to the sweeping map.
The sweeping robot has driving wheels, driven wheels and rotating wheels in the bottom and high wheels, so that there is one gap between the bottom and the ground and the height may be H. When the height of the foreign matters is smaller than the clearance height H, the sweeping robot has the function of crossing the obstacle; when the different height is only slightly larger than the gap height H, the sweeping robot can continuously try to climb over the foreign matters, or the whole machine is suspended and clamped after the driving wheel climbs over the foreign matters, so that the space scanning precision of the sweeping robot is still to be improved.
Disclosure of Invention
The following presents a simplified summary in order to provide a basic understanding of some aspects of the disclosed embodiments. This summary is not an extensive overview nor is intended to identify key/critical elements or to delineate the scope of such embodiments but rather as a prelude to the more detailed description that is presented later.
The embodiment of the disclosure provides a method, a device, a system and a storage medium for controlling a sweeping robot, so as to solve the technical problem that the space scanning precision of the sweeping robot needs to be improved.
In some embodiments, the system for sweeping robot control comprises: the sweeping robot comprises a sweeping robot and intelligent equipment in a sweeping space of the sweeping robot, wherein first intelligent equipment is in communication connection with the sweeping robot, and under the condition that two or more intelligent equipment exist, the first intelligent equipment is in communication connection with each second intelligent equipment, and space coordinates between the sweeping robot and each intelligent equipment are matched;
the first intelligent device is configured to acquire shape, size and position information of a set foreign matter obtained by the intelligent device through space scanning and send the shape, size and position information to the sweeping robot, wherein the shape, size and position information is determined by the intelligent device according to space coordinates matched with the sweeping robot;
and the sweeping robot is configured to update the stored gridding sweeping map according to the shape, size and position information and perform sweeping operation according to the updated gridding sweeping map.
In some embodiments, the method for controlling a sweeping robot is applied to the first intelligent device of the system for controlling a sweeping robot, and the method includes:
acquiring shape, size and position information of a set foreign matter obtained by space scanning of intelligent equipment in the system, wherein the shape, size and position information is determined by the intelligent equipment according to space coordinates matched with the sweeping robot;
and sending the shape, size and position information to the sweeping robot, so that the sweeping robot updates the stored gridding sweeping map according to the shape, size and position information, and performs sweeping operation according to the updated gridding sweeping map.
In some embodiments, the apparatus for controlling a sweeping robot is applied to the first intelligent device of the system for controlling a sweeping robot, and includes a processor and a memory storing program instructions, where the processor is configured to execute the method for controlling a sweeping robot when executing the program instructions.
In some embodiments, the method for controlling a sweeping robot is applied to the sweeping robot of the system for controlling a sweeping robot, and the method includes:
receiving shape, size and position information sent by first intelligent equipment, wherein the shape, size and position information is sent by the first intelligent equipment after the intelligent equipment is determined according to space coordinates matched with the sweeping robot under the condition that the intelligent equipment determines that set foreign matters exist through space scanning;
updating the stored gridding cleaning map according to the shape, size and position information;
and carrying out sweeping operation according to the updated gridding sweeping map.
In some embodiments, the apparatus for controlling a sweeping robot is applied to a sweeping robot of the system for controlling a sweeping robot, and includes a processor and a memory storing program instructions, where the processor is configured to execute the method for controlling a sweeping robot when executing the program instructions.
In some embodiments, the storage medium stores program instructions that, when executed, perform the above-described method for sweeping robot control.
The method, the device and the system for controlling the sweeping robot provided by the embodiment of the disclosure can realize the following technical effects:
the sweeping robot and one or more intelligent devices in a sweeping space form a system controlled by the sweeping robot, a sweeping map obtained by modeling of the sweeping robot is gridded by the intelligent devices with higher space scanning precision to obtain a gridding sweeping map, and the sweeping robot is matched with each intelligent device according to the gridding sweeping map so that the intelligent devices can determine the shape, size and position information of the set foreign matters according to the space coordinates matched with the sweeping robot and send the information to the sweeping robot in the sweeping operation process of the sweeping robot, the sweeping robot can update the stored gridding sweeping map according to the shape, size and position information, and sweep the floor according to the updated gridding sweeping map, so that the intelligent devices have higher space scanning precision, and the precision of the sweeping map in the sweeping robot is improved, furthermore, the sweeping precision of the sweeping robot is improved, and the probability of being clamped or sweeping in situ is reduced.
The foregoing general description and the following description are exemplary and explanatory only and are not restrictive of the application.
Drawings
One or more embodiments are illustrated by way of example in the accompanying drawings, which correspond to the accompanying drawings and not in limitation thereof, in which elements having the same reference numeral designations are shown as like elements and not in limitation thereof, and wherein:
fig. 1 is a schematic structural diagram of a control system for a sweeping robot according to an embodiment of the present disclosure;
fig. 2 is a schematic flowchart of a control method for a sweeping robot according to an embodiment of the present disclosure;
fig. 3 is a schematic flowchart of a control method for a sweeping robot according to an embodiment of the present disclosure;
fig. 4 is a schematic structural diagram of a control system for a sweeping robot according to an embodiment of the present disclosure;
fig. 5 is an information interaction diagram for matching spatial coordinates between the sweeping robot and each air conditioner according to an embodiment of the present disclosure;
fig. 6 is a schematic diagram of information interaction for controlling a sweeping robot according to an embodiment of the present disclosure;
fig. 7 is a schematic structural diagram of a control device for a sweeping robot according to an embodiment of the present disclosure;
fig. 8 is a schematic structural diagram of a control device for a sweeping robot according to an embodiment of the present disclosure;
fig. 9 is a schematic structural diagram of a control device for a sweeping robot according to an embodiment of the present disclosure.
Detailed Description
So that the manner in which the features and advantages of the embodiments of the present disclosure can be understood in detail, a more particular description of the embodiments of the disclosure, briefly summarized above, may be had by reference to the appended drawings, which are included to illustrate, but are not intended to limit the embodiments of the disclosure. In the following description of the technology, for purposes of explanation, numerous details are set forth in order to provide a thorough understanding of the disclosed embodiments. However, one or more embodiments may be practiced without these details. In other instances, well-known structures and devices may be shown in simplified form in order to simplify the drawing.
The terms "first," "second," and the like in the description and in the claims, and the above-described drawings of embodiments of the present disclosure, are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It should be understood that the data so used may be interchanged under appropriate circumstances such that embodiments of the present disclosure described herein may be made. Furthermore, the terms "comprising" and "having," as well as any variations thereof, are intended to cover non-exclusive inclusions.
The term "plurality" means two or more, unless otherwise specified.
In the embodiment of the present disclosure, the character "/" indicates that the preceding and following objects are in an or relationship. For example, A/B represents: a or B.
The term "and/or" is an associative relationship that describes objects, meaning that three relationships may exist. For example, a and/or B, represents: a or B, or A and B.
In the embodiment of the present disclosure, with the development of the intelligent technology, many intelligent devices have a spatial scanning function, for example: the intelligent devices and the sweeping robot can form a sweeping robot control system, and the sweeping robot control system improves the precision of a sweeping map in the sweeping robot through the gridding precision of intelligent device space scanning, further improves the sweeping precision of the sweeping robot, and reduces the probability that the sweeping robot is clamped or swept in place.
A control system for a sweeping robot comprises: the robot of sweeping the floor to and the robot of sweeping the floor cleans the smart machine in the space, wherein, first smart machine with sweep the floor the robot communication and be connected, and under the condition that has two or more smart machine, first smart machine and every second smart machine communication are connected, and the space coordinate of robot and every smart machine of sweeping the floor between has been matchd.
Fig. 1 is a schematic structural diagram of a control system for a sweeping robot according to an embodiment of the present disclosure. As shown in fig. 1, the control system for the sweeping robot includes: the sweeping robot 100, and the sweeping robot 100 sweep a first smart device 200 and one, two or more second smart devices 300 within a space.
In the embodiment of the present disclosure, the smart devices have a space scanning function, that is, the first smart device 200 and the second smart device 300 both have a space scanning function, and may be distributed in the cleaning space of the cleaning robot 100, for example: a living room, a bedroom 1, a bedroom 2, a study, etc. in a home environment, and thus, in some embodiments, the smart device may be one or more of an air conditioner with a space scanning function, a smart light, a smart multimedia playing device, etc.
For example: a control system for a sweeping robot comprises: the robot of sweeping the floor to and distribute the air conditioner in sitting room, bedroom 1, bedroom 2 …, or, include in the robot control system of sweeping the floor: the robot cleaner comprises a sweeping robot, a television distributed in a living room, an air conditioner in a bedroom 1, an intelligent sound box in a bedroom 2, a refrigerator in a kitchen and the like.
One of the one or more intelligent devices may be determined as the first intelligent device 200, and in the case of including one, two or more second intelligent devices, the first intelligent device 200 may be in communication connection with each of the other second intelligent devices 300, and may also be connected to the sweeping robot 100, and may adopt a wireless short-distance connection manner, for example: the intelligent device and the sweeping robot are located in the same local area network WIFI, then the first intelligent device 200 can communicate with each of the other second intelligent devices 300 respectively and is connected with the sweeping robot 100WIFI, or the first intelligent device 200 can communicate with the sweeping robot 100 through Bluetooth or infrared, and the first intelligent device 20 can be connected with each of the other second intelligent devices 300 through ZigBee and the like. It is not specifically exemplified.
In the system for controlling the sweeping robot, the first smart device 200 is configured to acquire shape, size and position information of the set foreign object obtained by the smart device through spatial scanning, and send the information to the sweeping robot 100, wherein the shape, size and position information is determined by the smart device according to spatial coordinates matched with the sweeping robot.
And the sweeping robot 100 is configured to update the stored gridding sweeping map according to the shape, size and position information, and perform sweeping operation according to the updated gridding sweeping map.
The sweeping robot 100 performs sweeping operation according to the stored sweeping map, in the embodiment of the present disclosure, each smart device has a space scanning function, and can acquire space information in a corresponding action area in a timing manner, in real time, or after a trigger condition is met, and can send the space information to the sweeping robot 100 through the first smart device 200, and the sweeping robot 100 updates the stored sweeping map according to the received space information, and performs sweeping operation according to the updated sweeping map.
Since the cleaning map stored by the cleaning robot 100 is updated according to the spatial information sent by the first smart device 200, the spatial coordinate information between the cleaning robot 100 and each smart device needs to be matched in advance, and thus, the data location information can be consistent.
Therefore, before the sweeping robot performs the sweeping operation, spatial coordinate matching is further performed, and in some embodiments, in the system for controlling the sweeping robot, the sweeping robot 100 is configured to perform automatic identification modeling on the sweeping space, obtain the first sweeping map, and send the first sweeping map to the first smart device 200.
The first intelligent device 200 is configured to perform meshing division on the received first cleaning map to obtain a meshing cleaning map, send the meshing cleaning map to the sweeping robot 100 for storage, and send the meshing cleaning map to each intelligent device, so that each intelligent device performs spatial coordinate matching with the sweeping robot.
The first smart device 200 also has a space scanning function, and can scan and position-calibrate the space where the first smart device 200 is located. Of course, the spatial scanning accuracy of the first smart device 200 is also higher than that of the sweeping robot 100.
Therefore, before the sweeping robot 100 performs sweeping operation, automatic identification modeling can be performed on a sweeping space to obtain a first sweeping map, and the first sweeping map can be sent to the first intelligent device 200, the space scanning accuracy of the first intelligent device 200 is relatively high, so that the obtained first sweeping map can be divided into grids, the grid division units can be 0.8cm, 0.5cm, 0.3cm or 0.2cm and the like, and can be determined according to the gap height H between the bottom of the sweeping robot 100 and the ground and the space scanning accuracy of the first intelligent device 200.
The first intelligent device 200 performs gridding division on the first cleaning map, after the gridding cleaning map is obtained, the gridding cleaning map can be sent to the sweeping robot to be stored, and the gridding cleaning map is sent to each intelligent device, so that each intelligent device also stores the same calibrated gridding cleaning map, namely the gridding cleaning map has matched spatial coordinates with the sweeping robot, and therefore the spatial coordinates between the sweeping robot and each intelligent device are matched.
Because the clearance height H between the bottom of robot and the ground of sweeping the floor, the foreign matter height is when clearance height H is near, can make the robot of sweeping the floor continuous to try to cross in foreign matter department, perhaps can be after the action wheel overturns, the problem that the complete machine is blocked by unsettled, therefore, can predetermine the height of foreign matter, thus, when the robot of sweeping the floor is when cleaning the operation, every smart machine carries out the space scanning, only need to set for the shape size position information of foreign matter, send for the robot of sweeping the floor through first smart machine, then, the robot of sweeping the floor only needs to update the partial information on the meshing cleaning map of saving, thus, save the resource, also improved and cleaned efficiency.
In some embodiments, when the sweeping robot performs sweeping operation, the first intelligent device, or the first intelligent device and each second intelligent device perform scanning periodically or in real time, and the shape, size and position information of the set foreign matter in the corresponding action area is obtained through spatial scanning and spatial coordinates matched with the sweeping robot. Or when the sweeping robot enters the current action area corresponding to the current intelligent equipment, the current intelligent equipment can obtain the shape, size and position information of the set foreign matter in the current action area through space scanning and the space coordinates matched with the sweeping robot.
After the intelligent equipment obtains the shape, size and position information, the shape, size and position information can be sent to the sweeping robot through the first intelligent equipment, wherein when the system for controlling the sweeping robot only comprises the first intelligent equipment, the first intelligent equipment directly sends the shape, size and position information of the set foreign matters in the corresponding action area to the sweeping robot for controlling; and if the intelligent equipment is used for sweeping the first intelligent equipment of the system controlled by the robot and one or more second intelligent equipment, any one second intelligent equipment can send the information of the shape, the size and the position to the first intelligent equipment after obtaining the information of the shape, the size and the position, and the first intelligent equipment can send the information of the shape, the size and the position to the sweeping robot in time, so that the sweeping robot updates the stored gridding sweeping map according to the received information of the shape, the size and the position, and performs sweeping operation according to the updated gridding sweeping map.
Therefore, in the system for controlling the sweeping robot, the intelligent equipment can control the sweeping robot.
Fig. 2 is a schematic flow chart of a control method for a sweeping robot according to an embodiment of the present disclosure. In the first intelligent device applicable to the system for controlling the sweeping robot, as shown in fig. 2, the process for controlling the sweeping robot includes:
step 201: and acquiring the shape, size and position information of the set foreign matters obtained by the intelligent equipment through space scanning in the system, wherein the shape, size and position information is determined by the intelligent equipment according to the space coordinates matched with the sweeping robot.
Before the sweeping robot performs sweeping operation, spatial coordinate matching is required between the sweeping robot and each intelligent device. Therefore, in some embodiments, a first cleaning map sent by the cleaning robot is received, wherein the first cleaning map is obtained by automatic identification modeling of the cleaning robot; the received first cleaning map is subjected to gridding division to obtain a gridding cleaning map, and the gridding cleaning map is sent to the sweeping robot to be stored; and sending the gridding cleaning map to each intelligent device, so that each intelligent device performs space coordinate matching with the sweeping robot.
Firstly, the sweeping robot carries out automatic identification modeling on a sweeping space to obtain a first sweeping map, and sends the first sweeping map to first intelligent equipment, so that the first intelligent equipment can receive the first sweeping map sent by the sweeping robot, and then the space scanning precision of the first intelligent equipment is higher than that of the sweeping robot, so that the first intelligent equipment can carry out gridding division to obtain a gridding sweeping map, and the first sweeping map is calibrated, and the gridding sub-units can be 0.8cm, 0.5cm, 0.3cm or 0.2cm and the like.
And the calibrated gridding cleaning map can be sent to the sweeping robot for storage, so that the same gridding cleaning map is stored in the first intelligent device and the sweeping robot and has matched spatial coordinates. In some embodiments, the space scanning precision of the intelligent device is higher than that of the sweeping robot, so that a more accurate map can be obtained after the sweeping robot stores a gridding sweeping map, the sweeping precision of the sweeping robot is improved, and the probability that the sweeping robot is blocked or swept in place is reduced.
Of course, the system also includes: under the condition of one, two or more second intelligent devices, the calibrated gridding cleaning map can be sent to each intelligent device, so that each intelligent device also stores the same calibrated gridding cleaning map, namely, the intelligent device has matched spatial coordinates with the sweeping robot, and thus, the spatial coordinates between the sweeping robot and each intelligent device are matched.
Like this, when the robot of sweeping the floor when sweeping the floor, every smart machine can all carry out the space scanning, wherein, in some embodiments, every smart machine can all carry out the space scanning in real time or regularly, if confirm to have and set for the foreign matter, can confirm the shape size positional information who sets for the foreign matter according to the space coordinate with the robot matching of sweeping the floor, and, if current smart machine is first smart machine, shape size positional information can be obtained to first smart machine, if current smart machine is the second smart machine then can send the shape size positional information who obtains to first smart machine, thereby, first smart machine obtains shape size positional information.
In some embodiments, under the condition that the current smart device determines that the sweeping robot performs the corresponding action range, performing spatial scanning, if it is determined that the set foreign object exists, determining shape, size and position information of the set foreign object according to spatial coordinates matched with the sweeping robot, if the current smart device is a first smart device, the first smart device may acquire the shape, size and position information, and if the current smart device is a second smart device, the obtained shape, size and position information may be sent to the first smart device, so that the first smart device acquires the shape, size and position information. Therefore, only when the sweeping robot enters the corresponding action range, the corresponding intelligent equipment starts to perform space scanning, the shape, size and position information of the set foreign matters is determined, resources are further saved, and the sweeping efficiency is improved.
Step 202: and sending the shape, size and position information to the sweeping robot, so that the sweeping robot updates the stored gridding sweeping map according to the shape, size and position information, and performs sweeping operation according to the updated gridding sweeping map.
And sending the shape, size and position information to the sweeping robot, wherein the spatial coordinates between the sweeping robot and each intelligent device are matched, so that the sweeping robot can update the stored gridding sweeping map according to the shape, size and position information and perform sweeping operation according to the updated gridding sweeping map.
Therefore, in the embodiment of the disclosure, the intelligent device determines the shape, size and position information of the set foreign matter, and the sweeping robot can update the stored gridding sweeping map according to the shape, size and position information and perform sweeping operation according to the updated gridding sweeping map, so that the precision of the sweeping map in the sweeping robot is improved due to the fact that the intelligent device is higher in space scanning precision, the sweeping precision of the sweeping robot is further improved, and the probability of being clamped or sweeping in place is reduced.
In a system for controlling a sweeping robot, the sweeping robot also needs to control the operation of the sweeping robot.
Fig. 3 is a schematic flow chart of a control method for a sweeping robot according to an embodiment of the present disclosure. As shown in fig. 3, the process for controlling the sweeping robot includes:
step 301: and receiving shape, size and position information sent by first intelligent equipment, wherein the shape, size and position information is sent by the first intelligent equipment after the intelligent equipment determines according to the space coordinate matched with the sweeping robot under the condition that the intelligent equipment determines that the set foreign matter exists through space scanning.
Similarly, before the sweeping robot performs sweeping operation, spatial coordinate matching is required between the sweeping robot and each intelligent device. Therefore, in some embodiments, the cleaning space of the sweeping robot is automatically identified and modeled to obtain a first cleaning map; sending the first cleaning map to first intelligent equipment, and enabling the first intelligent equipment to carry out gridding division on the received first cleaning map to obtain a gridding cleaning map; and receiving and storing the gridding cleaning map sent by the first intelligent equipment, and performing space coordinate matching with the intelligent equipment used in the sweeping robot system according to the gridding cleaning map.
The same gridding cleaning map is stored in the first intelligent equipment and the cleaning robot, and the first intelligent equipment and the cleaning robot have matched space coordinates. If the system also comprises: and each intelligent device also stores the same calibrated gridding cleaning map, namely the intelligent device has matched spatial coordinates with the sweeping robot, so that the spatial coordinates between the sweeping robot and each intelligent device are matched.
Like this, when the robot of sweeping the floor when sweeping the floor, every smart machine can all carry out the space scanning, if confirm to have and set for the foreign matter, then can confirm the shape size positional information who sets for the foreign matter according to the space coordinate with the robot matching of sweeping the floor to send for the robot of sweeping the floor through first smart machine, thereby, the robot of sweeping the floor can receive the shape size positional information that first smart machine sent.
Step 302: and updating the stored gridding cleaning map according to the shape, size and position information.
When the space coordinates are matched, a gridding cleaning map is stored, the map can be updated, and the map can be updated once the shape, the size and the position information sent by the first intelligent equipment are received.
Step 303: and performing sweeping operation according to the updated gridding sweeping map.
The sweeping process of the sweeping robot comprises sweeping operation according to the stored gridding sweeping map, and the stored map is updated, namely sweeping operation is performed according to the updated gridding sweeping map.
Therefore, in the embodiment, the grid cleaning map is stored in the sweeping robot, the map can be updated according to the shape, size and position information of the set foreign matters determined by the intelligent equipment space scanning, and the sweeping operation can be performed according to the updated grid cleaning map.
The following operation flows are integrated into a specific embodiment to illustrate a control process for a sweeping robot provided by the embodiment of the present invention.
In this embodiment, the system for controlling the sweeping robot may be as shown in fig. 4, the first intelligent device may be a living room air conditioner, and the second intelligent device may include: main lying air conditioners, secondary lying air conditioners, study room air conditioners and the like. The air conditioner in the living room can be connected with each second intelligent device through WIFI, and can also be connected with the sweeping robot through Bluetooth. Each air conditioner has a space scanning function, and the space scanning precision is higher than that of the sweeping robot.
Fig. 5 is an information interaction diagram for matching spatial coordinates between the sweeping robot and each air conditioner according to the embodiment of the disclosure. As shown in fig. 5, the spatial coordinate matching process between the sweeping robot and each air conditioner includes:
step 501: the sweeping robot carries out automatic identification modeling on the sweeping space to obtain a first sweeping map.
Step 502: and sending the first cleaning map to the air conditioner in the living room.
And 503, the living room air conditioner performs gridding division on the received first cleaning map to obtain a gridding cleaning map.
The gridding sub-unit may be 0.5 cm.
Step 504: and the air conditioner in the living room sends the gridding cleaning map to the sweeping robot for storage.
Step 505: the air conditioner in the living room sends the gridding cleaning map to each other air conditioner.
Therefore, the sweeping robot and each air conditioner store the same gridding sweeping map and have matched spatial coordinates. After the space coordinates are matched, the sweeping operation can be carried out. .
Fig. 6 is a schematic signaling interaction diagram for controlling a sweeping robot according to an embodiment of the present disclosure, and as shown in fig. 6, a process of controlling the sweeping robot includes:
step 601: is the current air conditioner performing spatial scanning, determining whether the sweeping robot is within the corresponding current operating range? If yes, go to step 602, otherwise, go back to step 601.
Each air conditioner can perform space scanning in real time or at regular time, and can perform space scanning synchronously, so that the current air conditioner can be a living room air conditioner, a main lying air conditioner, a secondary lying air conditioner, a study air conditioner and the like.
Step 602: is the current air conditioner determined whether there is a foreign object in the current operating range? If yes, go to step 603, otherwise, go back to step 601.
And (3) configuring a set height range according to the height H of the gap between the bottom of the sweeping robot and the ground, acquiring the height of the object in the current action range, determining the corresponding object as a set foreign object if the height is within the set height range, executing the step 603, and returning to the step 601 if no object is within the set height range.
Step 603: the current air conditioner can determine the shape, size and position information of the set foreign matters according to the space coordinates matched with the sweeping robot.
Step 604: and sending the shape, size and position information to the sweeping robot through the air conditioner in the living room.
Step 605: and the sweeping robot updates the stored gridding sweeping map according to the shape, size and position information.
Step 606: and the sweeping robot carries out sweeping operation according to the updated gridding sweeping map.
Therefore, in the embodiment, the air conditioner can determine the shape, size and position information of the set foreign matters, the sweeping robot can update the stored gridding sweeping map according to the shape, size and position information, and sweep the floor according to the updated gridding sweeping map, so that the precision of the sweeping map in the sweeping robot is improved due to the fact that the space scanning precision of the air conditioner is higher, the sweeping precision of the sweeping robot is further improved, and the probability of being clamped or sweeping in place is reduced.
According to the process for controlling the sweeping robot, a device for controlling the sweeping robot can be constructed.
Fig. 7 is a schematic structural diagram of a control device for a sweeping robot according to an embodiment of the present disclosure. The first intelligent device of the system for controlling the sweeping robot, which is used for the sweeping robot control device, as shown in fig. 7, includes: an information acquisition module 710 and an information transmission module 720.
The information acquisition module 710 is configured to acquire shape, size and position information of the set foreign matters obtained by spatial scanning of the intelligent device in the system, wherein the shape, size and position information is determined by the intelligent device according to spatial coordinates matched with the sweeping robot;
the information sending module 720 is configured to send the shape, size and position information to the sweeping robot, so that the sweeping robot updates the stored grid sweeping map according to the shape, size and position information, and performs sweeping operation according to the updated grid sweeping map.
In some embodiments, further comprising: the first matching module is configured to receive a first cleaning map sent by the cleaning robot, wherein the first cleaning map is obtained by the cleaning robot through automatic identification modeling; the received first cleaning map is subjected to gridding division to obtain a gridding cleaning map, and the gridding cleaning map is sent to the sweeping robot to be stored; and sending the gridding cleaning map to each intelligent device, so that each intelligent device can perform space coordinate matching with the cleaning robot.
Therefore, in the embodiment, the device for controlling the sweeping robot can determine the shape, size and position information of the set foreign matters, and the sweeping robot can update the stored gridding sweeping map according to the shape, size and position information and perform sweeping operation according to the updated gridding sweeping map.
Fig. 8 is a schematic structural diagram of a control device for a sweeping robot according to an embodiment of the present disclosure. The sweeping robot control device can be used in the sweeping robot of the system for controlling the sweeping robot, as shown in fig. 8, and includes: an information receiving module 810, an updating module 820, and an executing module 830.
The information receiving module 810 is configured to receive shape, size and position information sent by a first intelligent device, wherein the shape, size and position information is sent by the first intelligent device after the intelligent device determines that a set foreign object exists according to space coordinates matched with the sweeping robot under the condition that the intelligent device determines that the set foreign object exists through space scanning.
An updating module 820 configured to update the saved meshed sweeping map according to the shape size location information.
An operation module 830 configured to perform a sweeping operation according to the updated meshed sweeping map.
In some embodiments, further comprising: the second matching module is configured to automatically identify and model a cleaning space of the sweeping robot to obtain a first cleaning map; sending the first cleaning map to first intelligent equipment, and enabling the first intelligent equipment to carry out gridding division on the received first cleaning map to obtain a gridding cleaning map; and receiving and storing the gridding cleaning map sent by the first intelligent equipment, and performing space coordinate matching with the intelligent equipment used in the sweeping robot system according to the gridding cleaning map.
Therefore, in the embodiment, the gridding cleaning map is stored in the device for controlling the sweeping robot, the map can be updated according to the shape, size and position information of the set foreign matters determined by the intelligent equipment space scanning, and the sweeping operation can be performed according to the updated gridding cleaning map.
The embodiment of the present disclosure provides a device for controlling a sweeping robot, the structure of which is shown in fig. 9, including:
a processor (processor)1000 and a memory (memory)1001, and may further include a Communication Interface (Communication Interface)1002 and a bus 1003. The processor 1000, the communication interface 1002, and the memory 1001 may communicate with each other through the bus 1003. Communication interface 1002 may be used for the transfer of information. The processor 1000 may call logic instructions in the memory 1001 to perform the method for sweeping robot control of the above-described embodiment.
In addition, the logic instructions in the memory 1001 may be implemented in the form of software functional units and stored in a computer readable storage medium when the logic instructions are sold or used as independent products.
The memory 1001 is a computer readable storage medium and can be used for storing software programs, computer executable programs, such as program instructions/modules corresponding to the methods in the embodiments of the present disclosure. The processor 1000 executes the functional application and data processing by executing the program instructions/modules stored in the memory 1001, that is, implements the method for controlling the sweeping robot in the above method embodiment.
The memory 1001 may include a storage program area and a storage data area, wherein the storage program area may store an operating system, an application program required for at least one function; the storage data area may store data created according to the use of the terminal device, and the like. Further, the memory 1001 may include a high-speed random access memory and may also include a nonvolatile memory.
The embodiment of the present disclosure provides a control device for a floor sweeping robot, which is applied to an intelligent device of the above system, and includes: a processor and a memory storing program instructions, the processor being configured to execute the method for controlling the sweeping robot when executing the program instructions.
The embodiment of the present disclosure provides a control device for a sweeping robot, which is applied to a sweeping robot of the above system, and includes: a processor and a memory storing program instructions, the processor being configured to execute the method for controlling the sweeping robot when executing the program instructions.
The embodiment of the disclosure provides a storage medium, which stores program instructions, and when the program instructions are executed, the method for controlling the sweeping robot is executed.
The embodiment of the present disclosure provides a computer program product, which includes a computer program stored on a storage medium, and the computer program includes program instructions, when the program instructions are executed by a computer, the computer is caused to execute the method for controlling a sweeping robot.
The storage medium described above may be a transitory computer-readable storage medium or a non-transitory computer-readable storage medium.
The technical solution of the embodiments of the present disclosure may be embodied in the form of a software product, where the computer software product is stored in a storage medium and includes one or more instructions to enable a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the steps of the method of the embodiments of the present disclosure. And the aforementioned storage medium may be a non-transitory storage medium comprising: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk, and other various media capable of storing program codes, and may also be a transient storage medium.
The above description and drawings sufficiently illustrate embodiments of the disclosure to enable those skilled in the art to practice them. Other embodiments may incorporate structural, logical, electrical, process, and other changes. The examples merely typify possible variations. Individual components and functions are optional unless explicitly required, and the sequence of operations may vary. Portions and features of some embodiments may be included in or substituted for those of others. The scope of the disclosed embodiments includes the full ambit of the claims, as well as all available equivalents of the claims. As used in this application, although the terms "first," "second," etc. may be used in this application to describe various elements, these elements should not be limited by these terms. These terms are only used to distinguish one element from another. For example, a first element could be termed a second element, and, similarly, a second element could be termed a first element, unless the meaning of the description changes, so long as all occurrences of the "first element" are renamed consistently and all occurrences of the "second element" are renamed consistently. The first and second elements are both elements, but may not be the same element. Furthermore, the words used in the specification are words of description only and are not intended to limit the claims. As used in the description of the embodiments and the claims, the singular forms "a", "an" and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise. Similarly, the term "and/or" as used in this application is meant to encompass any and all possible combinations of one or more of the associated listed. Furthermore, the terms "comprises" and/or "comprising," when used in this application, specify the presence of stated features, integers, steps, operations, elements, and/or components, but do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and/or groups thereof. Without further limitation, an element defined by the phrase "comprising an …" does not exclude the presence of other like elements in a process, method or apparatus that comprises the element. In this document, each embodiment may be described with emphasis on differences from other embodiments, and the same and similar parts between the respective embodiments may be referred to each other. For methods, products, etc. of the embodiment disclosure, reference may be made to the description of the method section for relevance if it corresponds to the method section of the embodiment disclosure.
Those of skill in the art would 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 may depend upon the particular application and design constraints imposed on the solution. 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 disclosed embodiments. It can be clearly understood by the skilled person that, for convenience and brevity of description, the specific working processes of the system, the apparatus and the unit described above may refer to the corresponding processes in the foregoing method embodiments, and are not described herein again.
In the embodiments disclosed herein, the disclosed methods, products (including but not limited to devices, apparatuses, etc.) may be implemented in other ways. For example, the above-described apparatus embodiments are merely illustrative, and for example, the division of the units may be merely a logical division, and in actual implementation, there may be another division, for example, multiple units or components may be combined or integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection through some interfaces, devices or units, and may be in an electrical, mechanical or other form. The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units can be selected according to actual needs to implement the present 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 flowchart and block diagrams in the figures illustrate the architecture, functionality, and operation of possible implementations of systems, methods and computer program products according to embodiments of the present disclosure. In this regard, each block in the flowchart or block diagrams may represent a module, segment, or portion of code, which comprises one or more executable instructions for implementing the specified logical function(s). In some alternative implementations, the functions noted in the block may occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality involved. In the description corresponding to the flowcharts and block diagrams in the figures, operations or steps corresponding to different blocks may also occur in different orders than disclosed in the description, and sometimes there is no specific order between different operations or steps. For example, two sequential operations or steps may in fact be executed substantially concurrently, or they may sometimes be executed in the reverse order, depending upon the functionality involved. Each block of the block diagrams and/or flowchart illustrations, and combinations of blocks in the block diagrams and/or flowchart illustrations, can be implemented by special purpose hardware-based systems that perform the specified functions or acts, or combinations of special purpose hardware and computer instructions.
Claims (10)
1. A system for sweeping robot control, comprising: the intelligent sweeping robot comprises a sweeping robot and intelligent equipment in a sweeping space, wherein first intelligent equipment is in communication connection with the sweeping robot, and under the condition that two or more intelligent equipment exist, the first intelligent equipment is in communication connection with each second intelligent equipment, and space coordinates between the sweeping robot and each intelligent equipment are matched;
the first intelligent device is configured to acquire shape, size and position information of a set foreign matter obtained by the intelligent device through space scanning and send the shape, size and position information to the sweeping robot, wherein the shape, size and position information is determined by the intelligent device according to space coordinates matched with the sweeping robot;
and the sweeping robot is configured to update the stored gridding sweeping map according to the shape, size and position information and perform sweeping operation according to the updated gridding sweeping map.
2. The system of claim 1, wherein the spatial scanning accuracy of the smart device is higher than the spatial scanning accuracy of the sweeping robot.
3. The system of claim 1 or 2, further comprising:
the sweeping robot is configured to automatically identify and model the sweeping space to obtain a first sweeping map and send the first sweeping map to the first intelligent device;
the first intelligent equipment is configured to conduct gridding division on the received first cleaning map to obtain a gridding cleaning map, the gridding cleaning map is sent to the sweeping robot to be stored, the gridding cleaning map is sent to each intelligent equipment, and therefore each intelligent equipment can conduct space coordinate matching with the sweeping robot according to the gridding cleaning map.
4. A method for controlling a sweeping robot, which is applied to the first intelligent device of the system for controlling a sweeping robot in claim 1, 2 or 3, and comprises the following steps:
acquiring shape, size and position information of a set foreign matter obtained by space scanning of intelligent equipment in the system, wherein the shape, size and position information is determined by the intelligent equipment according to space coordinates matched with the sweeping robot;
and sending the shape, size and position information to the sweeping robot, so that the sweeping robot updates the stored gridding sweeping map according to the shape, size and position information, and performs sweeping operation according to the updated gridding sweeping map.
5. The method of claim 4, further comprising:
receiving a first cleaning map sent by the cleaning robot, wherein the first cleaning map is obtained by the cleaning robot through automatic identification modeling;
the received first cleaning map is subjected to gridding division to obtain a gridding cleaning map, and the gridding cleaning map is sent to the sweeping robot to be stored;
and sending the gridding cleaning map to each intelligent device, so that each intelligent device performs space coordinate matching with the cleaning robot.
6. An apparatus for sweeping robot control, applied to the first intelligent device of the system for sweeping robot control according to claim 1, 2 or 3, comprising a processor and a memory storing program instructions, wherein the processor is configured to execute the method for sweeping robot control according to claim 4 or 5 when executing the program instructions.
7. A method for sweeping robot control, characterized in that, applied in a sweeping robot of the system of claim 1, 2 or 3, the method comprises:
receiving shape, size and position information sent by first intelligent equipment, wherein the shape, size and position information is sent by the first intelligent equipment after the intelligent equipment is determined according to space coordinates matched with the sweeping robot under the condition that the intelligent equipment determines that set foreign matters exist through space scanning;
updating the stored gridding cleaning map according to the shape, size and position information;
and carrying out sweeping operation according to the updated gridding sweeping map.
8. The method of claim 7, further comprising:
automatically identifying and modeling a cleaning space of the sweeping robot to obtain a first cleaning map;
sending the first cleaning map to first intelligent equipment, so that the first intelligent equipment carries out gridding division on the received first cleaning map to obtain a gridding cleaning map;
and receiving and storing the gridding cleaning map sent by the first intelligent equipment, and carrying out space coordinate matching with the intelligent equipment used in the sweeping robot system according to the gridding cleaning map.
9. A device for sweeping robot control, for use in a sweeping robot of a system according to claim 1, 2 or 3, comprising a processor and a memory storing program instructions, wherein the processor is configured to, when executing the program instructions, perform the method for sweeping robot control according to claim 7 or 8.
10. A storage medium storing program instructions which, when executed, perform a method for sweeping robot control according to claim 4 or 5; or, a method for sweeping robot control according to claim 7 or 8 is performed.
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