CN114886345B - Method, device, system and storage medium for controlling sweeping robot - Google Patents
Method, device, system and storage medium for controlling sweeping robot Download PDFInfo
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- CN114886345B CN114886345B CN202210415711.XA CN202210415711A CN114886345B CN 114886345 B CN114886345 B CN 114886345B CN 202210415711 A CN202210415711 A CN 202210415711A CN 114886345 B CN114886345 B CN 114886345B
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- 238000000034 method Methods 0.000 title claims abstract description 57
- 238000003860 storage Methods 0.000 title claims abstract description 27
- 238000004891 communication Methods 0.000 claims abstract description 14
- 238000004140 cleaning Methods 0.000 claims description 93
- 230000006870 function Effects 0.000 claims description 16
- 239000000126 substance Substances 0.000 claims description 4
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- 238000005859 coupling reaction Methods 0.000 description 3
- 238000005516 engineering process Methods 0.000 description 3
- 238000011065 in-situ storage Methods 0.000 description 3
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Classifications
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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
Abstract
The application relates to the technical field of intelligent equipment, and discloses a method, a device, a system and a storage medium for controlling a sweeping robot. The system comprises: the system 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 in the case of two or more intelligent equipment, 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 set foreign matters 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 grid sweeping map according to the shape, size and position information and perform sweeping operation according to the updated grid sweeping map.
Description
Technical Field
The present application relates to the field of intelligent devices, for example, to a method, apparatus, system and storage medium for controlling a sweeping robot.
Background
With the popularization of intelligent technology, the sweeping robot has moved into thousands of households, at present, the sweeping robot dynamically scans a space through a visual sensor and the like, models the space required to be cleaned after scanning, obtains a cleaning map, and performs sweeping operation according to the cleaning map.
The bottom of the sweeping robot is provided with a driving wheel, a driven wheel and a rotating wheel, and the wheels are high, so that a gap is reserved between the bottom of the sweeping robot and the ground, and the height can be H. When the height of the foreign matter is smaller than the gap height H, the sweeping robot has the function of crossing over the obstacle; when the different height is only slightly larger than the gap height H, the sweeping robot can continuously try to cross at the foreign matter position or the whole machine is suspended and clamped after the driving wheel passes, 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, and is intended to neither identify key/critical elements nor delineate the scope of such embodiments, but is intended as a prelude to the more detailed description that follows.
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 system comprises a sweeping robot and intelligent equipment in a sweeping space of the sweeping robot, wherein a first intelligent equipment is in communication connection with the sweeping robot, and in the case of two or more intelligent equipment, 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 set alien substances 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;
the sweeping robot is configured to update a stored gridding sweeping map according to the shape, size and position information, and to 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 set alien substances obtained by spatial scanning of intelligent equipment in the system, wherein the shape, size and position information is determined by the intelligent equipment according to spatial 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 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, 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 a first intelligent device, wherein the shape, size and position information is sent by the first intelligent device after the intelligent device determines that the set foreign matters exist through space scanning according to space coordinates matched with the sweeping robot;
updating the stored gridding cleaning map according to the shape, size and position information;
and performing sweeping operation according to the updated gridding sweeping map.
In some embodiments, the apparatus for controlling a sweeping robot is applied to the sweeping robot of the system for controlling a sweeping robot, and comprises a processor and a memory storing program instructions, wherein 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 method for sweeping robot control described above.
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 the sweeping space form a sweeping robot control system, the sweeping map obtained by modeling of the sweeping robot is meshed by the intelligent devices with higher space scanning precision to obtain a meshed sweeping map, and the sweeping robot is matched with each intelligent device in space coordinates according to the meshed sweeping map, so that in the sweeping operation process of the sweeping robot, the intelligent devices determine the shape, size and position information of set objects according to the space coordinates matched with the sweeping robot, and then can send the shape, size and position information to the sweeping robot, so that the sweeping robot can update the stored meshed sweeping map according to the shape, size and position information, and the sweeping operation is performed according to the updated meshed sweeping map.
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 and not limitation in the figures of the accompanying drawings, in which like references indicate similar elements, and in which like reference numerals refer to similar elements, and in which:
fig. 1 is a schematic structural view of a control system for a sweeping robot according to an embodiment of the present disclosure;
fig. 2 is a schematic flow chart of a control method for a sweeping robot according to an embodiment of the disclosure;
fig. 3 is a schematic flow chart of a control method for a sweeping robot according to an embodiment of the disclosure;
fig. 4 is a schematic structural view of a control system for a sweeping robot according to an embodiment of the present disclosure;
fig. 5 is a schematic information interaction diagram for matching space coordinates between a robot for sweeping floor 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 view of a control device for a sweeping robot according to an embodiment of the present disclosure;
Fig. 8 is a schematic structural view of a control device for a sweeping robot according to an embodiment of the present disclosure;
fig. 9 is a schematic structural view 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 techniques of the disclosed embodiments can be understood in more detail, a more particular description of the embodiments of the disclosure, briefly summarized below, may be had by reference to the appended drawings, which are not intended to be limiting of 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 still be practiced without these details. In other instances, well-known structures and devices may be shown simplified in order to simplify the drawing.
The terms first, second and the like in the description and in the claims of the embodiments of the disclosure and in the above-described figures are used for distinguishing between similar objects and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used may be interchanged where appropriate in order to describe embodiments of the present disclosure. Furthermore, the terms "comprise" and "have," as well as any variations thereof, are intended to cover a non-exclusive inclusion.
The term "plurality" means two or more, unless otherwise indicated.
In the embodiment of the present disclosure, the character "/" indicates that the front and rear objects are an or relationship. For example, A/B represents: a or B.
The term "and/or" is an associative relationship that describes an object, meaning that there may be three relationships. For example, a and/or B, represent: a or B, or, A and B.
In the embodiments of the present disclosure, with the development of smart technologies, many smart devices have a spatial scanning function, for example: air conditioner, intelligent lamps and lanterns, intelligent audio amplifier etc. these intelligent device can constitute robot control system that sweeps floor with sweeping robot, through the gridding precision of intelligent device space scanning, improve the precision of sweeping the map in the robot that sweeps floor, and then improved the precision that sweeps floor the robot, reduced the robot card that sweeps floor or the probability of sweeping in place.
A control system for a robot for sweeping floor includes: the system 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.
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 floor sweeping robot 100, and the floor sweeping robot 100 cleans the first smart device 200 and one, two or more second smart devices 300 in the space.
In the embodiment of the disclosure, the intelligent devices have a space scanning function, that is, the first intelligent device 200 and the second intelligent device 300 both have a space scanning function, and may be distributed in the cleaning space of the robot 100, for example: living room, bedroom 1, bedroom 2, study room, etc. in a home environment, and thus, in some embodiments, the intelligent device may be one or more of an air conditioner, an intelligent light fixture, an intelligent multimedia playing device, etc. with a space scanning function.
For example: a control system for a robot for sweeping floor includes: the sweeping robot and the air conditioners distributed in the living room, the bedroom 1 and the bedroom 2 …, or the sweeping robot control system comprises: the floor 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 smart devices may be determined as the first smart device 200, and in the case that one, two or more second smart devices are included, the first smart device 200 may be communicatively connected to each of the other second smart devices 300, may be further connected to the sweeping robot 100, and may adopt a wireless short-distance connection manner, for example: the smart device and the robot cleaner are in the same local area network WIFI, and the first smart device 200 may communicate with each other second smart device 300 and be connected to the robot cleaner 100WIFI, or the first smart device 200 may communicate with the robot cleaner 100 via bluetooth or infrared, and the first smart device 20 may communicate with each other second smart device 300 ZigBee, and so on. Specifically, this is not the case.
In the system for controlling the sweeping robot, the first intelligent device 200 is configured to acquire shape, size and position information of a set foreign object obtained by spatial scanning of the intelligent device, and send the shape, size and position information to the sweeping robot 100, wherein the shape, size and position information is determined by the intelligent device according to spatial coordinates matched with the sweeping robot.
The robot 100 is configured to update the stored gridding cleaning map based on the shape, size, and position information, and to perform a sweeping operation based on the updated gridding cleaning map.
The sweeping robot 100 performs sweeping operation according to the stored sweeping map, in this embodiment of the present disclosure, each intelligent device has a space scanning function, and may acquire space information in a corresponding action area at regular time, in real time, or after a trigger condition is satisfied, and may send the space information to the sweeping robot 100 through the first intelligent device 200, where 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 intelligent device 200, the spatial coordinate information between the cleaning robot 100 and each intelligent device needs to be matched in advance, so that the data position information can be consistent.
Therefore, before the sweeping robot performs the sweeping operation, space coordinate matching is further required, 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 a first sweeping map, and send the first sweeping map to the first smart device 200.
The first intelligent device 200 is configured to grid-divide the received first cleaning map to obtain a grid cleaning map, send the grid cleaning map to the sweeping robot 100 for storage, and send the grid cleaning map to each intelligent device, so that each intelligent device performs space coordinate matching according to the sweeping robot.
The first intelligent device 200 also has a space scanning function, and can scan and position the space where the first intelligent device 200 is located. Of course, the spatial scanning accuracy of the first smart device 200 is also higher than that of the robot 100.
Therefore, before the sweeping robot 100 performs the sweeping operation, the sweeping space can be automatically identified and modeled to obtain a first sweeping map, the first sweeping map can be sent to the first intelligent device 200, and the space scanning precision of the first intelligent device 200 is relatively high, so that the obtained first sweeping map can be subjected to gridding division, and gridding 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 precision 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 gridding cleaning map which is calibrated in the same way, namely, the space coordinates matched with the sweeping robot are matched, and therefore the space coordinates between the sweeping robot and each intelligent device are matched.
Because the clearance height H between the bottom of the robot and the ground, when the height of the foreign matter is near the clearance height H, the robot can try to cross at the foreign matter position continuously or can be blocked in the air after the driving wheel passes, therefore, the height of the foreign matter can be preset, when the robot is in cleaning operation, the shape, size and position information of the set foreign matter only needs to be sent to the robot through the first intelligent device, and then the robot only needs to update part of information on the stored grid cleaning map, so that resources are saved and the cleaning efficiency is improved.
In some embodiments, when the sweeping robot performs sweeping operation, the first intelligent device or the first intelligent device and each second intelligent device set shape, size and position information of the abnormal object in the obtained corresponding action area through spatial scanning and spatial coordinates matched with the sweeping robot in a timing or real-time mode. Or when the sweeping robot enters the current action area corresponding to the current intelligent device, the current intelligent device can set the shape, size and position information of the foreign matters in the current action area through spatial scanning and the spatial 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 obtains the shape, size and position information of the set foreign matters in the corresponding action area and then directly sends the shape, size and position information to the sweeping robot for controlling; and if the first intelligent device of the system for controlling the sweeping robot and one or more second intelligent devices are used, after the shape, size and position information is obtained by any one of the second intelligent devices, the second intelligent device can be sent to the first intelligent device, and the first intelligent device can timely send the shape, size and position information to the sweeping robot, so that the sweeping robot updates a stored gridding cleaning map according to the received shape, size and position information, and performs sweeping operation according to the updated gridding cleaning map.
It can be seen that in a system for sweeping robot control, the intelligent device 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 disclosure. In the first intelligent device applicable to the system for controlling a sweeping robot, as shown in fig. 2, the process for controlling a sweeping robot includes:
step 201: and acquiring 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, space coordinate matching is needed between the sweeping robot and each intelligent device. Thus, in some embodiments, a first cleaning map sent by the sweeping robot is received, wherein the first cleaning map is obtained by automatic identification modeling by the sweeping 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 a sweeping robot for storage; 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 the first intelligent device, so that the first intelligent device can receive the first sweeping map sent by the sweeping robot, and then, the space scanning precision of the first intelligent device is higher than that of the sweeping robot, so that the first intelligent device can carry out meshing division to obtain a meshing sweeping map, the first sweeping map is calibrated, the meshing sub-units can be 0.8cm, 0.5cm, 0.3cm or 0.2cm and the like, and of course, the clearance height H between the bottom of the sweeping robot and the ground and the space scanning precision of the first intelligent device can be taken into consideration to determine the meshing sub-units, so that the sweeping precision of the sweeping robot is improved, and the resource occupation is reduced.
And the calibrated gridding cleaning map can be sent to the sweeping robot for storage, so that the first intelligent equipment and the sweeping robot store the same gridding cleaning map and have matched space coordinates. In some embodiments, the spatial scanning accuracy of the intelligent device is higher than that of the sweeping robot, so that after the sweeping robot stores the gridding sweeping map, a more accurate map can be obtained, the sweeping accuracy of the sweeping robot is improved, and the probability that the sweeping robot is blocked or sweeping in situ is reduced.
Of course, the system further includes: in the case of one, two or more second intelligent devices, the calibrated meshed cleaning map may be sent to each intelligent device, so that each intelligent device also stores the same calibrated meshed cleaning map, i.e. has matched spatial coordinates with the sweeping robot, so that the spatial coordinates between the sweeping robot and each intelligent device are matched.
Thus, when the sweeping robot performs sweeping operation, each intelligent device can perform space scanning, wherein in some embodiments, each intelligent device can perform space scanning in real time or at fixed time, if a set foreign matter is determined, the shape, size and position information of the set foreign matter can be determined according to the space coordinates matched with the sweeping robot, and if the current intelligent device is a first intelligent device, the first intelligent device can acquire the shape, size and position information, and if the current intelligent device is a second intelligent device, the obtained shape, size and position information can be sent to the first intelligent device, so that the first intelligent device acquires the shape, size and position information.
In some embodiments, under the condition that the current intelligent device determines that the sweeping robot performs the corresponding action range, the space scanning is performed, if it is determined that the set foreign matter exists, the shape size position information of the set foreign matter can be determined according to the space coordinates matched with the sweeping robot, and if the current intelligent device is the first intelligent device, the first intelligent device can acquire the shape size position information, and if the current intelligent device is the second intelligent device, the obtained shape size position information can be sent to the first intelligent device, so that the first intelligent device acquires the shape size position information. Therefore, only when the robot enters the corresponding action range, the corresponding intelligent equipment starts to perform space scanning, and the shape, size and position information of the set foreign matters is determined, so that resources are further saved, and the cleaning 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 carries out sweeping operation according to the updated gridding sweeping map.
And the shape, size and position information is sent to the sweeping robot, and the space 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 matters, and enables the sweeping robot to update the stored grid sweeping map according to the shape, size and position information, and to sweep according to the updated grid sweeping map.
In the system for controlling the 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 disclosure. In the sweeping robot applicable to the system for controlling a sweeping robot described above, as shown in fig. 3, the process for controlling a sweeping robot includes:
step 301: and receiving shape, size and position information sent by the 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 coordinates matched with the sweeping robot under the condition that the set foreign matters are determined through space scanning.
In the same way, before the sweeping robot performs sweeping operation, space coordinate matching needs to be performed between the sweeping robot and each intelligent device. Thus, in some embodiments, the robot sweeper space is automatically identified and modeled to obtain a first sweeper map; the first cleaning map is sent to the first intelligent equipment, so that the first intelligent equipment performs gridding division on the received first cleaning map to obtain a gridding cleaning map; and receiving and storing the gridding cleaning map transmitted by the first intelligent device, and performing space coordinate matching with the intelligent device in the sweeping robot system according to the gridding cleaning map.
The first intelligent device and the sweeping robot store the same gridding sweeping map and have matched space coordinates. If the system further comprises: one, two or more second smart devices, each of which also stores a gridded cleaning map that is also calibrated, i.e. has spatial coordinates that match the robot, such that the spatial coordinates between the robot and each smart device are matched.
Therefore, when the sweeping robot performs sweeping operation, each intelligent device can perform space scanning, if the set foreign matters are determined, the shape, size and position information of the set foreign matters can be determined according to the space coordinates matched with the sweeping robot and sent to the sweeping robot through the first intelligent device, and accordingly the sweeping robot can receive the shape, size and position information sent by the first intelligent device.
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, size and position information sent by the first intelligent device is received.
Step 303: and performing sweeping operation according to the updated gridding sweeping map.
The sweeping process of the sweeping robot comprises sweeping according to a stored gridding sweeping map, wherein the stored map is updated, namely, sweeping is carried out according to the updated gridding sweeping map.
Therefore, in this embodiment, the gridding cleaning map is stored in the cleaning robot, and the map can be updated according to the shape, size and position information of the set foreign object determined by the spatial scanning of the intelligent device, and the cleaning operation can be performed according to the updated gridding cleaning map, so that the accuracy of the cleaning map in the cleaning robot is improved due to higher spatial scanning accuracy of the intelligent device, the cleaning accuracy of the cleaning robot is further improved, and the probability of clamping or cleaning in situ is reduced.
The following integrates the operation flow into a specific embodiment, and illustrates a control process for the sweeping robot provided by the embodiment of the invention.
In this embodiment, as shown in fig. 4, the system for controlling the sweeping robot may be a living room air conditioner, and the second intelligent device may include: a primary lying air conditioner, a secondary lying air conditioner, a study room air conditioner and the like. The living room air conditioner 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 a schematic information interaction diagram for matching space coordinates between a robot for sweeping floor and each air conditioner according to an embodiment of the present disclosure. As shown in fig. 5, the space 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 a living room air conditioner.
Step 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 0.5cm.
Step 504: and the living room air conditioner sends the gridding cleaning map to the sweeping robot for storage.
Step 505: the living room air conditioner sends the grid cleaning map to each other air conditioner.
In this way, the robot for sweeping floor and each air conditioner store the same gridding sweeping map, and have matched space coordinates. After the space coordinates are matched, sweeping operation can be performed. .
Fig. 6 is a signaling interaction schematic diagram for controlling a sweeping robot according to an embodiment of the disclosure, where, as shown in fig. 6, a process of controlling the sweeping robot includes:
step 601: whether the current air conditioner performs space scanning and judges that the sweeping robot is in the corresponding current action range? If yes, go to step 602, otherwise, return to step 601.
Each air conditioner can perform space scanning in real time or at regular time, and can perform space scanning synchronously, so the current air conditioner can be a living room air conditioner, a main lying air conditioner, a secondary lying air conditioner, a study room air conditioner or the like.
Step 602: the current air conditioner determines whether there is a set foreign matter in the current action range? If yes, go to step 603, otherwise, return to step 601.
According to the gap height H between the bottom of the robot and the ground, a set height range is configured, the height of the object in the current action range is obtained, if the height is in the set height range, the corresponding object can be determined as the set foreign matter, step 603 is executed, and if the height of the object is not in the set range, step 601 can be returned.
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 living room air conditioner.
Step 605: and updating the stored gridding cleaning map by the sweeping robot according to the shape, size and position information.
Step 606: and the sweeping robot performs sweeping operation according to the updated gridding sweeping map.
Therefore, in this embodiment, the air conditioner may determine the shape, size and position information of the setting foreign object, and enable the sweeping robot to update the stored grid sweeping map according to the shape, size and position information, and perform sweeping operation according to the updated grid sweeping map, so that the space scanning accuracy of the air conditioner is higher, the accuracy of the sweeping map in the sweeping robot is improved, the sweeping accuracy of the sweeping robot is further improved, and the probability of clamping or in-situ sweeping is reduced.
According to the above-described process for the control of the sweeping robot, a device for the control of the sweeping robot can be constructed.
Fig. 7 is a schematic structural view 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 a sweeping robot may be, as shown in fig. 7, configured to include: an information acquisition module 710 and an information transmission module 720.
An information obtaining module 710 configured to obtain shape, size and position information of a set anomaly obtained by spatial scanning by an intelligent device in the system, where 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 cleaning map according to the shape, size and position information, and performs sweeping operation according to the updated grid cleaning map.
In some embodiments, further comprising: the first matching module is configured to receive a first cleaning map sent by the sweeping robot, wherein the first cleaning map is obtained by automatic identification modeling of the sweeping 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 a sweeping robot for storage; and sending the gridding cleaning map to each intelligent device, so that each intelligent device performs space coordinate matching with the sweeping robot.
Therefore, the device for controlling the sweeping robot can determine the shape, size and position information of the different objects, and enable the sweeping robot to update the stored gridding sweeping map according to the shape, size and position information, and sweep according to the updated gridding sweeping map.
Fig. 8 is a schematic structural view of a control device for a sweeping robot according to an embodiment of the present disclosure. The robot cleaner control device may be the above-described robot cleaner control system, as shown in fig. 8, including: an information receiving module 810, an updating module 820, and a running module 830.
The information receiving module 810 is configured to receive shape, size and position information sent by the first intelligent device, where the shape, size and position information is sent by the first intelligent device after the intelligent device determines that the set foreign matter exists through spatial scanning according to spatial coordinates matched with the sweeping robot.
And an updating module 820 configured to update the saved gridding cleaning map according to the shape, size and position information.
And an operation module 830 configured to perform a sweeping operation according to the updated gridding-based sweeping map.
In some embodiments, further comprising: the second matching module is configured to automatically identify and model the sweeping space of the sweeping robot to obtain a first sweeping map; the first cleaning map is sent to the first intelligent equipment, so that the first intelligent equipment performs gridding division on the received first cleaning map to obtain a gridding cleaning map; and receiving and storing the gridding cleaning map transmitted by the first intelligent device, and performing space coordinate matching with the intelligent device in the sweeping robot system according to the gridding cleaning map.
Therefore, in this embodiment, the device for controlling the sweeping robot stores the gridding cleaning map, and can update the map according to the shape, size and position information of the set foreign object determined by the spatial scanning of the intelligent device, and can perform the sweeping operation according to the updated gridding cleaning map.
The embodiment of the disclosure provides a device for controlling a sweeping robot, the structure of which is shown in fig. 9, comprising:
a processor (processor) 1000 and a memory (memory) 1001, and may also 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 via the bus 1003. The communication interface 1002 may be used for information transfer. The processor 1000 may call logic instructions in the memory 1001 to perform the method for sweeping robot control of the above-described embodiment.
Further, the logic instructions in the memory 1001 described above may be implemented in the form of software functional units and may be stored in a computer readable storage medium when sold or used as a stand alone product.
The memory 1001 is used as a computer readable storage medium for storing a software program and a computer executable program, such as program instructions/modules corresponding to the methods in the embodiments of the present disclosure. The processor 1000 performs functional applications and data processing by executing program instructions/modules stored in the memory 1001, i.e., implements the method for controlling the sweeping robot in the above-described 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, at least one application program required for functions; the storage data area may store data created according to the use of the terminal device, etc. In addition, the memory 1001 may include a high-speed random access memory, and may also include a nonvolatile memory.
The embodiment of the disclosure provides a robot control device for sweeping, which is applied to intelligent equipment of the system and comprises: the robot cleaner includes a processor and a memory storing program instructions, the processor being configured to execute a robot cleaner control method when executing the program instructions.
The embodiment of the disclosure provides a sweeping robot control device, which is applied to a sweeping robot of the system, and comprises: the robot cleaner includes a processor and a memory storing program instructions, the processor being configured to execute a robot cleaner control method when executing the program instructions.
The disclosed embodiments provide a storage medium storing program instructions that, when executed, perform a method for sweeping robot control as described above.
The disclosed embodiments provide a computer program product comprising a computer program stored on a storage medium, the computer program comprising program instructions which, when executed by a computer, cause the computer to perform the above-described method for controlling a sweeping robot.
The storage medium may be a transitory computer readable storage medium or a non-transitory computer readable storage medium.
Embodiments of the present disclosure may be embodied in a software product stored on a storage medium, including one or more instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of a method according to embodiments of the present disclosure. And the aforementioned storage medium may be a non-transitory storage medium including: a plurality of media capable of storing program codes, such as a usb disk, a removable hard disk, a Read-Only Memory (ROM), a random access Memory (RAM, random Access Memory), a magnetic disk, or an optical disk, or a transitory storage medium.
The above description and the drawings illustrate embodiments of the disclosure sufficiently to enable those skilled in the art to practice them. Other embodiments may involve structural, logical, electrical, process, and other changes. The embodiments represent only 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 embodiments of the present disclosure encompasses the full ambit of the claims, as well as all available equivalents of the claims. When used in the present application, although the terms "first," "second," etc. may be used in the present 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 element. For example, a first element could be termed a second element, and, similarly, a second element could be termed a first element, without changing the meaning of the description, so long as all occurrences of the "first element" are renamed consistently and all occurrences of the "second element" are renamed consistently. The first element and the second element are both elements, but may not be the same element. Moreover, the terminology used in the present application is for the purpose of describing embodiments only and is not intended to limit the claims. As used in the description of the embodiments and the claims, the singular forms "a," "an," and "the" (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 disclosure is meant to encompass any and all possible combinations of one or more of the associated listed. Furthermore, when used in the present disclosure, the terms "comprises," "comprising," and/or variations thereof, mean that the recited features, integers, steps, operations, elements, and/or components are present, 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 one …" does not exclude the presence of other like elements in a process, method or apparatus comprising such elements. In this context, each embodiment may be described with emphasis on the differences from the other embodiments, and the same similar parts between the various embodiments may be referred to each other. For the methods, products, etc. disclosed in the embodiments, if they correspond to the method sections disclosed in the embodiments, the description of the method sections may be referred to for relevance.
Those of 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 solution. The skilled artisan may use different methods for each particular application to achieve the described functionality, but such implementation should not be considered to be beyond the scope of the embodiments of the present disclosure. It will be clearly understood by those skilled in the art that, for convenience and brevity of description, specific working procedures of the above-described systems, apparatuses and units may refer to corresponding procedures in the foregoing method embodiments, which are not repeated herein.
In the embodiments disclosed herein, the disclosed methods, articles of manufacture (including but not limited to devices, apparatuses, etc.) may be practiced in other ways. For example, the apparatus embodiments described above are merely illustrative, and for example, the division of the units may be merely a logical function division, and there may be additional divisions when actually implemented, for example, multiple units or components may be combined or integrated into another system, or some features may be omitted, or not performed. In addition, the coupling or direct coupling or communication connection shown or discussed with each other may be through some interface, device or unit indirect coupling or communication connection, which may be in electrical, mechanical or other form. The units described as separate units may or may not be physically separate, and units shown 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 may be selected according to actual needs to implement the present embodiment. In addition, each functional unit in the embodiments of the present disclosure may be integrated in one processing unit, or each unit may exist alone physically, or two or more units may be integrated in one unit.
The flowcharts 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 that disclosed in the description, and sometimes no specific order exists between different operations or steps. For example, two consecutive operations or steps may actually be performed substantially in parallel, they may sometimes be performed in reverse order, which may be dependent on the functions involved. Each block of the block diagrams and/or flowchart illustration, and combinations of blocks in the block diagrams and/or flowchart illustration, can be implemented by special purpose hardware-based systems which 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 system comprises a sweeping robot and intelligent equipment in a sweeping space of the sweeping robot, wherein a first intelligent equipment is in communication connection with the sweeping robot, and in the case of two or more intelligent equipment, 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 and the second intelligent device are intelligent devices in the cleaning space of the cleaning robot and have a space scanning function;
the first intelligent device is configured to acquire shape, size and position information of set alien substances 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;
the sweeping robot is configured to update a stored gridding sweeping map according to the shape, size and position information, and to 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 according to 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 equipment;
the first intelligent device is configured to grid-divide the received first cleaning map to obtain a grid cleaning map, send the grid cleaning map to the sweeping robot for storage, and send the grid cleaning map to each intelligent device, so that each intelligent device performs space coordinate matching according to the space coordinates of the intelligent device and the sweeping robot.
4. A method for sweeping robot control, characterized by being applied to the first smart device of the system for sweeping robot control of claim 1, 2 or 3, the method comprising:
acquiring shape, size and position information of set alien substances obtained by spatial scanning of intelligent equipment in the system, wherein the shape, size and position information is determined by the intelligent equipment according to spatial 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 grid sweeping map according to the shape, size and position information, and performs sweeping operation according to the updated grid sweeping map.
5. The method as recited in claim 4, further comprising:
receiving a first cleaning map sent by the sweeping robot, wherein the first cleaning map is obtained by the sweeping robot through automatic identification modeling;
performing gridding division on the received first cleaning map to obtain a gridding cleaning map, and sending the gridding cleaning map to the sweeping robot for storage;
and sending the gridding cleaning map to each intelligent device, so that each intelligent device performs space coordinate matching with the sweeping robot.
6. An apparatus for sweeping robot control, for use in a first smart device of a system for sweeping robot control according to claim 1, 2 or 3, comprising a processor and a memory storing program instructions, characterized in that 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 controlling a sweeping robot, characterized by being applied to the sweeping robot of the system of claim 1, 2 or 3, the method comprising:
receiving 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 the set foreign matters exist through space scanning according to space coordinates matched with the sweeping robot;
updating the stored gridding cleaning map according to the shape, size and position information;
and performing sweeping operation according to the updated gridding sweeping map.
8. The method as recited in claim 7, further comprising:
carrying out automatic identification modeling on a cleaning space of the sweeping robot to obtain a first cleaning map;
the first cleaning map is sent to the first intelligent equipment, so that the first intelligent equipment performs 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 device, and carrying out space coordinate matching with the intelligent device in the sweeping robot system according to the gridding cleaning map.
9. An apparatus 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 execute the method for sweeping robot control according to claim 7 or 8 when executing the program instructions.
10. A storage medium storing program instructions which, when executed, perform the method for sweeping robot control of claim 4 or 5; or, the method for controlling the sweeping robot according to claim 7 or 8 is performed.
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