CN115153353A - Control method and device of sweeping robot, sweeping robot and storage medium - Google Patents
Control method and device of sweeping robot, sweeping robot and storage medium Download PDFInfo
- Publication number
- CN115153353A CN115153353A CN202210877534.7A CN202210877534A CN115153353A CN 115153353 A CN115153353 A CN 115153353A CN 202210877534 A CN202210877534 A CN 202210877534A CN 115153353 A CN115153353 A CN 115153353A
- Authority
- CN
- China
- Prior art keywords
- moving target
- target object
- preset
- sweeping robot
- trapping
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
- 238000010408 sweeping Methods 0.000 title claims abstract description 103
- 238000000034 method Methods 0.000 title claims abstract description 38
- 238000004140 cleaning Methods 0.000 claims abstract description 74
- 241000256626 Pterygota <winged insects> Species 0.000 claims abstract description 54
- 238000004590 computer program Methods 0.000 claims description 18
- 238000005507 spraying Methods 0.000 claims description 8
- 238000001514 detection method Methods 0.000 claims description 6
- 241000238631 Hexapoda Species 0.000 claims description 5
- 239000002917 insecticide Substances 0.000 claims description 4
- 238000010586 diagram Methods 0.000 description 6
- 230000006870 function Effects 0.000 description 5
- 230000004044 response Effects 0.000 description 4
- 239000000428 dust Substances 0.000 description 3
- 238000012986 modification Methods 0.000 description 3
- 230000004048 modification Effects 0.000 description 3
- 238000012545 processing Methods 0.000 description 2
- 238000003491 array Methods 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 230000006866 deterioration Effects 0.000 description 1
- 230000009977 dual effect Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000007613 environmental effect Effects 0.000 description 1
- 230000003287 optical effect Effects 0.000 description 1
- 238000005096 rolling process Methods 0.000 description 1
- 239000000126 substance Substances 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
- 238000001926 trapping method Methods 0.000 description 1
Images
Classifications
-
- 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
-
- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01M—CATCHING, TRAPPING OR SCARING OF ANIMALS; APPARATUS FOR THE DESTRUCTION OF NOXIOUS ANIMALS OR NOXIOUS PLANTS
- A01M7/00—Special adaptations or arrangements of liquid-spraying apparatus for purposes covered by this subclass
- A01M7/0025—Mechanical sprayers
- A01M7/0032—Pressure sprayers
- A01M7/0042—Field sprayers, e.g. self-propelled, drawn or tractor-mounted
-
- 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
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
- A47L11/4002—Installations of electric equipment
-
- 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
-
- 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
- A47L11/4061—Steering means; Means for avoiding obstacles; Details related to the place where the driver is accommodated
Landscapes
- Engineering & Computer Science (AREA)
- Life Sciences & Earth Sciences (AREA)
- Mechanical Engineering (AREA)
- Insects & Arthropods (AREA)
- Pest Control & Pesticides (AREA)
- Wood Science & Technology (AREA)
- Zoology (AREA)
- Environmental Sciences (AREA)
- Catching Or Destruction (AREA)
Abstract
The invention discloses a control method and device of a sweeping robot, the sweeping robot and a storage medium, and relates to the technical field of sweeping robots. The method comprises the following steps: acquiring image information in a target scene where the sweeping robot is located, and detecting whether a moving target object exists in the target scene according to the image information, wherein the moving target object comprises winged insects; if yes, detecting whether the moving target object meets a preset condition according to a preset moving target object threshold value, a preset capturing range and a preset image database; if not, controlling the sweeping robot to enter a cleaning mode or an alarm mode; if the situation is met, the sweeping robot is controlled to enter a trapping and cleaning mode so as to start a trapping and cleaning device corresponding to the trapping and cleaning mode to trap and clean the winged insects. According to the invention, the sweeping robot can be used for trapping and sweeping winged insects, so that not only is time and labor saved, but also the function diversification of the sweeping robot is realized, and the intelligent degree is improved.
Description
Technical Field
The embodiment of the invention relates to the technical field of sweeping robots, in particular to a control method and device of a sweeping robot, the sweeping robot and a storage medium.
Background
The floor sweeping robot is usually used for cleaning environmental sanitation, ensures the cleanness and health of the living environment of a user, not only lightens the life burden of people, but also improves the life quality of people. In the prior art, the sweeping robot can only clean hair, fine garbage, dust, paper scraps and the like on the ground, and has single function and low intelligent degree. However, along with the deterioration of the environment in recent years, if doors and windows are not closed in time, a large number of winged insects can be gushed indoors, and the winged insects can only be cleaned by artificial chemical spraying, so that the method is time-consuming and labor-consuming, and can pollute indoor air and cause harm to human health.
Disclosure of Invention
The embodiment of the invention provides a control method and device of a sweeping robot, the sweeping robot and a storage medium, and aims to solve the problems that the existing winged insect trapping method wastes time and labor, and the sweeping robot is single in function and low in intelligent degree.
In a first aspect, an embodiment of the present invention provides a control method for a sweeping robot, including:
acquiring image information in a target scene where a sweeping robot is located, and detecting whether a moving target object exists in the target scene according to the image information, wherein the moving target object comprises winged insects;
if the moving target object exists in the target scene, detecting whether the moving target object meets a preset condition or not according to a preset moving target object threshold value, a preset capturing range and a preset image database;
if the moving target object does not meet the preset condition, controlling the sweeping robot to enter a cleaning mode or an alarm mode;
if the moving target object meets the preset condition, controlling the sweeping robot to enter a trapping and cleaning mode so as to start a trapping and cleaning device corresponding to the trapping and cleaning mode to trap and clean the winged insects.
In a second aspect, an embodiment of the present invention further provides a control device for a sweeping robot, including:
the first detection unit is used for acquiring image information in a target scene where the sweeping robot is located and detecting whether a moving target object exists in the target scene according to the image information, wherein the moving target object comprises winged insects;
the second detection unit is used for detecting whether the moving target object meets a preset condition or not according to a preset moving target object threshold, a preset capture range and a preset image database if the moving target object exists in the target scene;
the first control unit is used for controlling the sweeping robot to enter a cleaning mode or an alarm mode if the moving target object does not meet the preset condition;
and the second control unit is used for controlling the sweeping robot to enter a trapping and cleaning mode if the moving target object meets the preset condition so as to start a trapping and cleaning device corresponding to the trapping and cleaning mode to trap and clean the winged insects.
In a third aspect, an embodiment of the present invention further provides a sweeping robot, which includes a memory and a processor, where the memory stores a computer program, and the processor implements the method when executing the computer program.
In a fourth aspect, the present invention also provides a computer-readable storage medium, which stores a computer program, and the computer program can implement the above method when being executed by a processor.
The embodiment of the invention provides a control method and device of a sweeping robot, the sweeping robot and a storage medium. Wherein the method comprises the following steps: acquiring image information in a target scene where a sweeping robot is located, and detecting whether a moving target object exists in the target scene according to the image information, wherein the moving target object comprises winged insects; if the moving target object exists in the target scene, detecting whether the moving target object meets a preset condition according to a preset moving target object threshold, a preset capturing range and a preset image database; if the moving target object does not meet the preset condition, controlling the sweeping robot to enter a cleaning mode or an alarm mode; if the moving target object meets the preset condition, controlling the sweeping robot to enter a trapping and cleaning mode so as to start a trapping and cleaning device corresponding to the trapping and cleaning mode to trap and clean the winged insects. According to the technical scheme of the embodiment of the invention, through detecting the moving target object in the target scene, when the moving target object meets the preset condition, the sweeping robot is controlled to enter a cleaning mode or an alarm mode; when the mobile target object meets the preset condition, the floor sweeping robot can be controlled to enter a trapping and cleaning mode to trap and clean the winged insect, so that time and labor are saved, air in a target scene does not need to be polluted, and the function diversification and the intelligent degree of the floor sweeping robot are realized.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required to be used in the description of the embodiments are briefly introduced below, and it is obvious that the drawings in the description below are some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on the drawings without creative efforts.
Fig. 1 is a schematic flow chart of a control method of a sweeping robot according to an embodiment of the present invention;
fig. 2 is a schematic sub-flow chart of a control method of a sweeping robot according to an embodiment of the present invention;
fig. 3 is a sub-flow diagram of a control method of a sweeping robot according to an embodiment of the present invention;
fig. 4 is a schematic block diagram of a control device of a sweeping robot according to an embodiment of the present invention; and
fig. 5 is a schematic block diagram of a sweeping robot according to an embodiment of the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
It will be understood that the terms "comprises" and/or "comprising," when used in this specification and the appended claims, 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.
It is also to be understood that the terminology used in the description of the invention herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. As used in the specification of the present invention and the appended claims, the singular forms "a," "an," and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise.
It should be further understood that the term "and/or" as used in this specification and the appended claims refers to and includes any and all possible combinations of one or more of the associated listed items.
As used in this specification and the appended claims, the term "if" may be interpreted contextually as "when", "upon" or "in response to a determination" or "in response to a detection". Similarly, the phrase "if it is determined" or "if a [ described condition or event ] is detected" may be interpreted contextually to mean "upon determining" or "in response to determining" or "upon detecting [ described condition or event ]" or "in response to detecting [ described condition or event ]".
Referring to fig. 1, fig. 1 is a schematic flow chart of a control method of a sweeping robot according to an embodiment of the present invention. The control method of the cleaning robot will be described in detail below. As shown in fig. 1, the method includes the following steps S100-S130.
S100, obtaining image information in a target scene where the sweeping robot is located, and detecting whether a moving target object exists in the target scene according to the image information, wherein the moving target object comprises winged insects.
In the embodiment of the invention, the sweeping robot acquires image information in a target scene through two cameras, and transmits the image information to a control center of the sweeping robot, and the control center detects whether a moving target object exists in the target scene through an image recognition technology according to the image information, wherein the moving target object comprises winged insects and people. It should be noted that, in the embodiment of the present invention, the dual cameras include a common camera and an infrared camera.
S110, if the moving target object exists in the target scene, detecting whether the moving target object meets a preset condition according to a preset moving target object threshold, a preset capturing range and a preset image database.
In the embodiment of the present invention, if the moving target object exists in the target scene, whether the moving target object meets a preset condition is detected according to a preset moving target object threshold, a preset capturing range and a preset image database, where the preset condition is that the number of the moving target objects is greater than the preset moving target object threshold, the moving target object is a winged insect category in the preset image database, and the moving target object is within the preset capturing range. Understandably, the preset image database further includes a human category.
In some embodiments, such as this embodiment, as shown in FIG. 2, the step S110 may include steps S111-S115.
S111, judging whether the moving target object is the winged insect type in a preset image database or not according to the image information, if so, executing a step S112, otherwise, executing a step S115;
s112, judging whether the number of the moving target objects is larger than a preset moving target object threshold value or not, if so, executing a step S113, otherwise, executing a step S115;
s113, judging whether the moving target object is in a preset capture range, if so, executing a step S114, otherwise, executing a step S115;
s114, judging that the moving target object meets a preset condition;
and S115, controlling the sweeping robot to enter a cleaning mode or an alarm mode.
In the embodiment of the invention, whether the moving target object is a winged insect category in a preset image database is judged according to the image information; if the moving target object is the winged insect type in the preset image database, continuously judging whether the number of the moving target objects is larger than a preset moving target object threshold value or not; if the number of the moving target objects is not larger than the preset moving target object threshold value, it is indicated that the number of the moving target objects in the target scene is not large, and cleaning is not needed, whether preset reserved cleaning time is reached is judged, if the preset reserved cleaning time is reached, the sweeping robot is controlled to enter the cleaning mode, understandably, and if the preset reserved cleaning time is not reached, the image information in the target scene is continuously acquired; if the number of the moving target objects is larger than the preset moving target object threshold value, the fact that the number of the moving target objects in the target scene is large and the cleaning is needed is indicated, the distance between the moving target objects and the sweeping robot is obtained to serve as a target distance, and whether the moving target objects are in a preset capturing range or not is judged according to the target distance and the preset target distance; and if the moving target object is within the preset capture range, judging that the moving target object meets a preset condition. Understandably, if the target distance is smaller than the preset target distance, it is determined that the moving target object is within the preset capturing range, otherwise, if the target distance is not smaller than the preset target distance, it is determined that the moving target object is not within the preset capturing range.
Further, the step of determining whether the moving target object is a flying insect category in a preset image database according to the image information is shown in fig. 3, and may specifically include the following steps: s1121, extracting target feature information of the moving target object in the image information, and judging whether preset information matched with the target feature information exists in the preset image database; and S1122, if preset information matched with the target feature information exists in the preset image database, acquiring a category identifier corresponding to the preset information, and judging whether the moving target object is the winged insect category in the preset image database according to the category identifier, wherein the preset information comprises information such as image information and feature information. Understandably, in practical applications, the winged insect class identifier is FlyInsects and the human class identifier is Person. It should be noted that, in the embodiment of the present invention, if the preset image database does not have the preset information matching the target feature information, which indicates that the moving target object is neither a bug nor a person, for example, a pet, it is determined whether a preset cleaning appointment time is reached, and if the preset cleaning appointment time is reached, the sweeping robot is controlled to enter the cleaning mode.
Further, if the moving target object is not the winged insect category in the preset image database, indicating that the category is the human category, judging whether the moving target object is in a falling state according to the image information and the target feature information, wherein the target feature information corresponding to the human category comprises human normal feature information and human falling feature information; if the moving target object is in a falling state, controlling the sweeping robot to enter the alarm mode so as to send alarm information to related personnel, for example, sending reminding information to a user terminal pre-bound with the sweeping robot; and if the moving target object is not in a falling state, controlling the sweeping robot to enter the cleaning mode so as to clean the target scene.
And S120, if the moving target object does not meet the preset condition, controlling the sweeping robot to enter a cleaning mode or an alarm mode.
In the embodiment of the invention, if the number of the moving target objects is not greater than a preset moving target object threshold value, or the moving target objects are not the winged insect categories in a preset image database, or the moving target objects are not in a preset capture range, it is determined that the moving target objects do not meet preset conditions, and if the moving target objects do not meet the preset conditions, the sweeping robot is controlled to enter a cleaning mode or an alarm mode, wherein the cleaning mode is a common cleaning and sweeping mode, and the alarm mode is to send alarm information to related personnel.
And S130, if the moving target object meets the preset condition, controlling the sweeping robot to enter a trapping and cleaning mode so as to start a trapping and cleaning device corresponding to the trapping and cleaning mode to trap and clean the winged insects.
In an embodiment of the present invention, if the moving target object meets the preset condition, which indicates that the flying insects need to be trapped and cleaned, the sweeping robot is controlled to enter a trapping and cleaning mode, so as to start a trapping and cleaning device corresponding to the trapping and cleaning mode to trap and clean the flying insects, where the trapping and cleaning device includes a trapping device, a spraying device, and a cleaning device. Specifically, the trapping device is firstly started to output a trapping signal within a preset time to induce the moving target object to enter the preset trapping range, wherein the trapping signal comprises a sound wave signal, a smell signal and a light source signal which can attract the winged insect; and starting the spraying device to output the insecticide, and starting the cleaning device to clean the winged insects until all the winged insects in the target scene are trapped and cleaned. It should be noted that, in the embodiment of the present invention, the cleaning device is configured to sweep a part of the winged insects into the dust box by using the matching between the arranged side brush and the rolling brush, and the winged insects which are not swept into the dust box fall to the ground due to the insecticide which is sprayed by the spraying device being sucked into the spraying device, and then information shot by the two cameras mounted on the sweeping robot is transmitted to the control center, so as to accurately locate the position of the winged insects which fall to the ground, and the control center controls the sweeping robot to reach the position where the winged insects fall, and then starts the cleaning device to clean the winged insects until the winged insects are completely cleaned. It should be noted that, in the embodiment of the present invention, if a preset cleaning completion instruction is received, which indicates that the cleaning mode and the trapping cleaning mode are completed, the cleaning robot is controlled to move to the charging device for charging.
Fig. 4 is a schematic block diagram of a control device 200 of a sweeping robot according to an embodiment of the present invention. As shown in fig. 4, the present invention also provides a control device 200 of the sweeping robot corresponding to the control method of the sweeping robot. The control device 200 of the sweeping robot comprises a unit for executing the control method of the sweeping robot, and the device can be configured in the sweeping robot. Specifically, referring to fig. 4, the control device 200 of the sweeping robot includes a first detecting unit 201, a second detecting unit 202, a first control unit 203 and a second control unit 204.
The first detecting unit 201 is configured to acquire image information in a target scene where the sweeping robot is located, and detect whether a moving target object exists in the target scene according to the image information, where the moving target object includes winged insects; the second detecting unit 202 is configured to detect, if the moving target object exists in the target scene, whether the moving target object meets a preset condition according to a preset moving target object threshold, a preset capturing range, and a preset image database; the first control unit 203 is configured to control the sweeping robot to enter a cleaning mode or an alarm mode if the moving target object does not meet the preset condition; the second control unit 204 is configured to control the floor sweeping robot to enter a trapping and cleaning mode if the moving target object meets the preset condition, so as to start a trapping and cleaning device corresponding to the trapping and cleaning mode to trap and clean the winged insects.
In some embodiments, such as this embodiment, the second detection unit 202 includes a first determination unit.
The first judging unit is used for judging that the moving target object meets a preset condition if the number of the moving target objects is larger than a preset moving target object threshold value, the moving target object is a winged insect type in a preset image database and the moving target object is within a preset capturing range.
In some embodiments, for example, in this embodiment, the second detecting unit 202 includes a first determining unit, a second determining unit, a third determining unit, and a second determining unit.
The first judging unit is used for judging whether the moving target object is a winged insect category in a preset image database according to the image information; the second judging unit is used for judging whether the number of the moving target objects is larger than a preset moving target object threshold value or not if the moving target objects are the winged insect types in the preset image database; the third judging unit is used for judging whether the moving target object is in a preset capturing range or not if the number of the moving target objects is larger than the preset moving target object threshold value; the second determination unit is configured to determine that the moving target object satisfies a preset condition if the moving target object is within the preset capture range.
In some embodiments, for example, in this embodiment, the second determining unit includes a fourth determining unit and a fifth determining unit.
The fourth judging unit is configured to extract target feature information of the moving target object in the image information, and judge whether preset information matching the target feature information exists in the preset image database; the fifth judging unit is configured to, if preset information matching the target feature information exists in the preset image database, acquire a category identifier corresponding to the preset information, and judge whether the moving target object is a winged insect category in the preset image database according to the category identifier.
In some embodiments, for example, in this embodiment, the second detecting unit 202 further includes a sixth determining unit, a seventh determining unit, a first control subunit, and a second control subunit.
The sixth judging unit is configured to judge whether the moving target object is in a falling state according to the image information and the target feature information if the moving target object is not in the winged insect category in the preset image database; the first control subunit is used for controlling the sweeping robot to enter the alarm mode if the moving target object is in a falling state; the second control subunit is configured to control the sweeping robot to enter the cleaning mode if the moving target object is not in a falling state.
In some embodiments, for example, in this embodiment, the second control unit 204 includes a first starting unit and a second starting unit.
The first starting unit is used for controlling the floor sweeping robot to enter a trapping and sweeping mode, and starting the trapping device to output a trapping signal so as to induce the moving target object to enter the preset trapping range; the second starting unit is used for starting the spraying device to output insecticide and starting the cleaning device to clean the winged insects until all the winged insects in the target scene are trapped and cleaned.
In some embodiments, for example, in this embodiment, the control device 200 of the sweeping robot further includes a third control unit.
The third control unit is used for controlling the sweeping robot to move to the charging device for charging if a preset sweeping completion instruction is received.
The control device of the sweeping robot can be implemented in the form of a computer program which can be run on the sweeping robot as shown in fig. 5.
Referring to fig. 5, fig. 5 is a schematic block diagram of a sweeping robot according to an embodiment of the present invention. The sweeping robot 300 is a device with humidifying and fresh air functions.
Referring to fig. 5, the sweeping robot 300 includes a processor 302, a memory, which may include a non-volatile storage medium 303 and an internal memory 304, and a network interface 305 connected by a system bus 301.
The nonvolatile storage medium 303 may store an operating system 3031 and a computer program 3032. The computer program 3032, when executed, causes the processor 302 to perform a method of controlling a sweeping robot.
The processor 302 is used to provide computing and control capabilities to support the operation of the entire sweeping robot 300.
The internal memory 304 provides an environment for running the computer program 3032 in the non-volatile storage medium 303, and the computer program 3032, when executed by the processor 302, causes the processor 302 to execute a control method for the cleaning robot.
The network interface 305 is used for network communication with other devices. It will be understood by those skilled in the art that the structure shown in fig. 5 is only a block diagram of a part of the structure related to the solution of the present invention, and does not constitute a limitation to the sweeping robot 300 to which the solution of the present invention is applied, and a specific sweeping robot 300 may include more or less components than those shown in the figure, or combine some components, or have a different arrangement of components.
Wherein the processor 302 is configured to run a computer program 3032 stored in the memory, so as to implement any embodiment of the control method for the sweeping robot.
It should be understood that, in the embodiment of the present invention, the Processor 302 may be a Central Processing Unit (CPU), and the Processor 302 may also be other general-purpose processors, digital Signal Processors (DSPs), application Specific Integrated Circuits (ASICs), field Programmable Gate Arrays (FPGAs) or other Programmable logic devices, discrete Gate or transistor logic devices, discrete hardware components, and the like. Wherein a general purpose processor may be a microprocessor or the processor may be any conventional processor or the like.
It will be understood by those skilled in the art that all or part of the flow of the method implementing the above embodiments may be implemented by a computer program instructing associated hardware. The computer program may be stored in a storage medium, which is a computer-readable storage medium. The computer program is executed by at least one processor in the computer system to implement the flow steps of the embodiments of the method described above.
Accordingly, the present invention also provides a storage medium. The storage medium may be a computer-readable storage medium. The storage medium stores a computer program. The computer program, when executed by the processor, causes the processor to perform any of the embodiments of the control method of the sweeping robot described above.
The storage medium may be a usb disk, a removable hard disk, a Read-Only Memory (ROM), a magnetic disk, or an optical disk, which can store various computer readable storage media.
Those of ordinary skill in the art will appreciate that the elements and algorithm steps of the examples described in connection with the embodiments disclosed herein may be embodied in electronic hardware, computer software, or combinations of both, and that the components and steps of the examples have been described in a functional general in the foregoing description for the purpose of illustrating clearly the interchangeability of hardware and software. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the implementation. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present invention.
In the embodiments provided in the present invention, it should be understood that the disclosed apparatus and method may be implemented in other ways. For example, the above-described apparatus embodiments are merely illustrative. For example, the division of each unit is only one logic function division, and there may be another division manner in actual implementation. For example, various elements or components may be combined or may be integrated into another system, or some features may be omitted, or not implemented.
The steps in the method of the embodiment of the invention can be sequentially adjusted, combined and deleted according to actual needs. The units in the device of the embodiment of the invention can be merged, divided and deleted according to actual needs. In addition, functional units in the embodiments of the present invention may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit.
The integrated unit, if implemented in the form of a software functional unit and sold or used as a stand-alone product, may be stored in a storage medium. Based on such understanding, the technical solution of the present invention essentially or partially contributes to the prior art, or all or part of the technical solution can be embodied in the form of a software product, which is stored in a storage medium and includes instructions for causing a sweeping robot to perform all or part of the steps of the method according to the embodiments of the present invention.
In the foregoing embodiments, the descriptions of the respective embodiments have respective emphasis, and for parts that are not described in detail in a certain embodiment, reference may be made to the related descriptions of other embodiments.
It will be apparent to those skilled in the art that various changes and modifications may be made in the present invention without departing from the spirit and scope of the invention. Thus, while the invention has been described with respect to the above-described embodiments, it will be understood that the invention is not limited thereto but may be embodied with various modifications and changes.
While the invention has been described with reference to specific embodiments, the invention is not limited thereto, and various equivalent modifications and substitutions can be easily made by those skilled in the art within the technical scope of the invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.
Claims (10)
1. A control method of a sweeping robot is characterized by comprising the following steps:
acquiring image information in a target scene where a sweeping robot is located, and detecting whether a moving target object exists in the target scene according to the image information, wherein the moving target object comprises winged insects;
if the moving target object exists in the target scene, detecting whether the moving target object meets a preset condition according to a preset moving target object threshold, a preset capturing range and a preset image database;
if the moving target object does not meet the preset condition, controlling the sweeping robot to enter a cleaning mode or an alarm mode;
if the moving target object meets the preset condition, controlling the floor sweeping robot to enter a trapping and cleaning mode so as to start a trapping and cleaning device corresponding to the trapping and cleaning mode to trap and clean the winged insects.
2. The method of claim 1, wherein the step of detecting whether the moving target object satisfies a predetermined condition according to a predetermined moving target object threshold, a predetermined capturing range and a predetermined image database comprises:
and if the number of the moving target objects is larger than a preset moving target object threshold value, the moving target objects are the winged insect types in a preset image database, and the moving target objects are in a preset capture range, judging that the moving target objects meet preset conditions.
3. The method of claim 1, wherein the step of detecting whether the moving target object satisfies a predetermined condition according to a predetermined moving target object threshold, a predetermined capturing range and a predetermined image database comprises:
judging whether the moving target object is a winged insect category in a preset image database or not according to the image information;
if the moving target object is the winged insect category in the preset image database, judging whether the number of the moving target objects is larger than a preset moving target object threshold value or not;
if the number of the moving target objects is larger than the preset moving target object threshold value, judging whether the moving target objects are in a preset capturing range;
and if the moving target object is within the preset capture range, judging that the moving target object meets a preset condition.
4. The method according to claim 3, wherein the step of determining whether the moving target object is a winged insect category in a preset image database according to the image information comprises:
extracting target feature information of the moving target object in the image information, and judging whether preset information matched with the target feature information exists in the preset image database or not;
if preset information matched with the target characteristic information exists in the preset image database, a category identifier corresponding to the preset information is obtained, and whether the moving target object is the winged insect category in the preset image database or not is judged according to the category identifier.
5. The method according to claim 4, wherein the step of determining whether the moving target object is a flying insect category in a preset image database according to the image information further comprises:
if the moving target object is not the winged insect type in the preset image database, judging whether the moving target object is in a falling state or not according to the image information and the target characteristic information;
if the moving target object is in a falling state, controlling the sweeping robot to enter the alarm mode;
and if the moving target object is not in a falling state, controlling the sweeping robot to enter the cleaning mode.
6. The method according to claim 1, wherein the trapping and cleaning device comprises a trapping device, a spraying device and a cleaning device, and the step of controlling the sweeping robot to enter a trapping and cleaning mode to start the trapping and cleaning device corresponding to the trapping and cleaning mode to trap and clean the flying insects comprises the following steps:
controlling the sweeping robot to enter a trapping and cleaning mode, and starting the trapping device to output a trapping signal so as to induce the moving target object to enter the preset trapping range;
and starting the spraying device to output the insecticide, and starting the cleaning device to clean the winged insects until all the winged insects in the target scene are trapped and cleaned.
7. The method of claim 1, further comprising:
and if a preset cleaning completion instruction is received, controlling the sweeping robot to move to a charging device for charging.
8. The utility model provides a control device of robot sweeps floor which characterized in that includes:
the first detection unit is used for acquiring image information in a target scene where the sweeping robot is located and detecting whether a moving target object exists in the target scene according to the image information, wherein the moving target object comprises winged insects;
the second detection unit is used for detecting whether the moving target object meets a preset condition or not according to a preset moving target object threshold, a preset capture range and a preset image database if the moving target object exists in the target scene;
the first control unit is used for controlling the sweeping robot to enter a cleaning mode or an alarm mode if the moving target object does not meet the preset condition;
and the second control unit is used for controlling the sweeping robot to enter a trapping and cleaning mode if the moving target object meets the preset condition so as to start a trapping and cleaning device corresponding to the trapping and cleaning mode to trap and clean the winged insects.
9. A sweeping robot, comprising a memory having a computer program stored thereon and a processor implementing the method of any one of claims 1-7 when the computer program is executed.
10. A computer-readable storage medium, characterized in that the storage medium stores a computer program which, when executed by a processor, implements the method according to any one of claims 1-7.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210877534.7A CN115153353B (en) | 2022-07-25 | 2022-07-25 | Control method and device of sweeping robot, sweeping robot and storage medium |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210877534.7A CN115153353B (en) | 2022-07-25 | 2022-07-25 | Control method and device of sweeping robot, sweeping robot and storage medium |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN115153353A true CN115153353A (en) | 2022-10-11 |
| CN115153353B CN115153353B (en) | 2024-04-26 |
Family
ID=83497620
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202210877534.7A Active CN115153353B (en) | 2022-07-25 | 2022-07-25 | Control method and device of sweeping robot, sweeping robot and storage medium |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN115153353B (en) |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111316964A (en) * | 2020-03-20 | 2020-06-23 | 深圳市银星智能科技股份有限公司 | Laser kill mosquito cleaning machines people |
| CN113243355A (en) * | 2021-05-20 | 2021-08-13 | 青岛海尔空调器有限总公司 | Household appliance control method and device for repelling mosquitoes and household appliance |
| CN113273930A (en) * | 2021-06-04 | 2021-08-20 | 李侃 | Floor sweeping robot integrating intelligent rescue function and control method thereof |
| CN113576315A (en) * | 2021-08-11 | 2021-11-02 | 珠海一微半导体股份有限公司 | Cleaning robot with insect killing function and control method |
| CN113925391A (en) * | 2021-09-17 | 2022-01-14 | 美智纵横科技有限责任公司 | Tumble detection method and device based on cleaning robot and cleaning robot |
| CN114431773A (en) * | 2022-01-14 | 2022-05-06 | 珠海格力电器股份有限公司 | Control method of sweeping robot |
-
2022
- 2022-07-25 CN CN202210877534.7A patent/CN115153353B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111316964A (en) * | 2020-03-20 | 2020-06-23 | 深圳市银星智能科技股份有限公司 | Laser kill mosquito cleaning machines people |
| CN113243355A (en) * | 2021-05-20 | 2021-08-13 | 青岛海尔空调器有限总公司 | Household appliance control method and device for repelling mosquitoes and household appliance |
| CN113273930A (en) * | 2021-06-04 | 2021-08-20 | 李侃 | Floor sweeping robot integrating intelligent rescue function and control method thereof |
| CN113576315A (en) * | 2021-08-11 | 2021-11-02 | 珠海一微半导体股份有限公司 | Cleaning robot with insect killing function and control method |
| CN113925391A (en) * | 2021-09-17 | 2022-01-14 | 美智纵横科技有限责任公司 | Tumble detection method and device based on cleaning robot and cleaning robot |
| CN114431773A (en) * | 2022-01-14 | 2022-05-06 | 珠海格力电器股份有限公司 | Control method of sweeping robot |
Also Published As
| Publication number | Publication date |
|---|---|
| CN115153353B (en) | 2024-04-26 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN106725127B (en) | Sweeping method and device of sweeping robot | |
| CN111973075B (en) | Floor sweeping method and device based on house type graph, sweeper and computer medium | |
| WO2019174084A1 (en) | Sweeping method and apparatus, and sweeping robot | |
| CN113670292B (en) | Map drawing method and device, sweeper, storage medium and electronic device | |
| US11930992B2 (en) | Cleaning of pet areas by autonomous cleaning robots | |
| CN108697293A (en) | The cleaning system of the control device of autonomous type dust catcher, the autonomous type dust catcher for having the control device and the control device for having autonomous type dust catcher | |
| CN111643017B (en) | Cleaning robot control method and device based on schedule information and cleaning robot | |
| WO2022227533A1 (en) | Cleaning control method and apparatus, and air conditioner | |
| WO2022166640A1 (en) | Control method for intelligent cleaning device, and intelligent cleaning device | |
| CN105446332B (en) | Automatic cleaning control method and device and electronic equipment | |
| CN111381590A (en) | Sweeping robot and route planning method thereof | |
| US20190278294A1 (en) | Autonomous mobile apparatus, autonomous move method, and recording medium | |
| CN112515536B (en) | Control method and device of dust collection robot and dust collection robot | |
| JP7225763B2 (en) | AUTONOMOUS MOBILE DEVICE, AUTONOMOUS MOVEMENT METHOD AND PROGRAM | |
| CN113080768A (en) | Sweeper control method, sweeper control equipment and computer readable storage medium | |
| CN113243355B (en) | Household appliance control method and device for repelling mosquitoes and household appliance | |
| CN111297269A (en) | Control method and system of sweeper | |
| CN113679298A (en) | Robot control method, robot control device, robot, and readable storage medium | |
| CN111487958A (en) | Control method and device of sweeping robot | |
| CN112748721A (en) | Visual robot and cleaning control method, system and chip thereof | |
| CN115153353A (en) | Control method and device of sweeping robot, sweeping robot and storage medium | |
| CN110967703A (en) | Indoor navigation method and indoor navigation device using laser radar and camera | |
| CN113367616B (en) | Robot control method, robot control device, robot, and storage medium | |
| CN109685775B (en) | Filter screen filth blockage identification method and device, intelligent equipment and readable storage medium | |
| CN113598657B (en) | Cleaning method and device for mobile robot, storage medium and electronic device |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |