CN115153353B - 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
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- CN115153353B CN115153353B CN202210877534.7A CN202210877534A CN115153353B CN 115153353 B CN115153353 B CN 115153353B CN 202210877534 A CN202210877534 A CN 202210877534A CN 115153353 B CN115153353 B CN 115153353B
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- 238000010408 sweeping Methods 0.000 title claims abstract description 126
- 238000000034 method Methods 0.000 title claims abstract description 36
- 238000004140 cleaning Methods 0.000 claims abstract description 46
- 241000238631 Hexapoda Species 0.000 claims abstract description 36
- 241000256626 Pterygota <winged insects> Species 0.000 claims description 25
- 238000004590 computer program Methods 0.000 claims description 17
- 238000001514 detection method Methods 0.000 claims description 14
- 241000282414 Homo sapiens Species 0.000 claims description 9
- 238000005507 spraying Methods 0.000 claims description 6
- 239000002917 insecticide Substances 0.000 claims description 3
- 241001417527 Pempheridae Species 0.000 claims 1
- 239000007921 spray Substances 0.000 claims 1
- 238000010586 diagram Methods 0.000 description 5
- 230000006870 function Effects 0.000 description 5
- 230000004044 response Effects 0.000 description 4
- 239000000428 dust Substances 0.000 description 3
- 238000012545 processing Methods 0.000 description 3
- 230000036541 health Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 230000004075 alteration Effects 0.000 description 1
- 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
- 235000019800 disodium phosphate Nutrition 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
- 210000004209 hair Anatomy 0.000 description 1
- 230000003287 optical effect Effects 0.000 description 1
- 239000000575 pesticide Substances 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
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
- A47L11/24—Floor-sweeping machines, motor-driven
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- 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 flying insects; if so, detecting whether the moving target object meets the preset condition according to a preset moving target object threshold value, a preset capturing range and a preset image database; if the cleaning mode is not met, controlling the sweeping robot to enter a cleaning mode or an alarm mode; if the flying insect trapping and cleaning mode is met, the floor sweeping robot is controlled to enter the trapping and cleaning mode, and the trapping and cleaning device corresponding to the trapping and cleaning mode is started to trap and clean the flying insect. According to the invention, flying insects can be trapped and cleaned by the sweeping robot, so that time and labor are saved, the function diversity 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 robot is commonly used for cleaning environment and sanitation, ensures the cleanness and health of the living environment of a user, reduces the living burden of people and improves the living quality of people. In the prior art, the sweeping robot can only finish sweeping of some ground hairs, tiny garbage, dust, paper sheets and the like, and has single function and low intelligent degree. However, with the environmental deterioration in recent years, if doors and windows are not closed in time, a large number of winged insects can flow into the room, and the winged insects can be cleaned only by artificial chemical spraying, so that the method is time-consuming and labor-consuming, and can pollute the indoor air to cause harm to the health of human beings.
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 wastes time and labor, and the sweeping robot has single function and low 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 flying 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 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;
And if the moving target object meets the preset condition, controlling the sweeping robot to enter a trapping and sweeping mode so as to start a trapping and sweeping device corresponding to the trapping and sweeping mode to trap and sweep the flying 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 flying insects;
The second detection unit is used for 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 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 sweeping mode if the moving target object meets the preset condition so as to start the trapping and sweeping device corresponding to the trapping and sweeping mode to trap and sweep the flying 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 above method when executing the computer program.
In a fourth aspect, embodiments of the present invention also provide a computer readable storage medium storing a computer program which, when executed by a processor, implements the above method.
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 flying 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 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; and if the moving target object meets the preset condition, controlling the sweeping robot to enter a trapping and sweeping mode so as to start a trapping and sweeping device corresponding to the trapping and sweeping mode to trap and sweep the flying insects. According to the technical scheme, through detection of 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 moving target object meets the preset condition, the sweeping robot can be controlled to enter the trapping and sweeping mode to trap and sweep flying insects, so that time and labor are saved, air in a target scene is not required to be polluted, functional diversification of the sweeping robot is realized, and the intelligent degree is improved.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required for the description of the embodiments will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
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-flowchart of a control method of a sweeping robot according to an embodiment of the present invention;
fig. 3 is a schematic sub-flowchart 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 following description of the embodiments of the present invention will be made clearly and fully with reference to the accompanying drawings, in which it is evident that the embodiments described are some, but not all embodiments of the invention. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
It should be understood that the terms "comprises" and "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 this specification 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 the present specification and the appended claims refers to any and all possible combinations of one or more of the associated listed items, and includes such combinations.
As used in this specification and the appended claims, the term "if" may be interpreted as "when..once" or "in response to a determination" or "in response to detection" depending on the context. Similarly, the phrase "if a determination" or "if a [ described condition or event ] is detected" may be interpreted in the context of meaning "upon determination" or "in response to determination" or "upon detection of a [ described condition or event ]" or "in response to detection of a [ described condition or event ]".
Referring to fig. 1, fig. 1 is a flowchart illustrating a control method of a sweeping robot according to an embodiment of the invention. The control method of the sweeping robot will be described in detail. As shown in fig. 1, the method includes the following steps S100 to S130.
S100, 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 flying insects.
In the embodiment of the invention, the sweeping robot acquires the image information in the target scene through the double cameras, and transmits the image information to the control center of the sweeping robot, and the control center detects whether a moving target object exists in the target scene or not through an image recognition technology according to the image information, wherein the moving target object comprises flying 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 value, a preset capturing range and a preset image database.
In the embodiment of the invention, 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, wherein the preset condition is that the number of the moving target objects is larger than the preset moving target object threshold, the moving target object is a winged insect type in the preset image database and the moving target object is in the preset capturing range. Understandably, the preset image database further comprises a person category.
In some embodiments, such as the present embodiment, the step S110 may include steps S111-S115, as shown in fig. 2.
S111, judging whether the moving target object is a winged insect type in a preset image database according to the image information, if the moving target object is the winged insect type in the preset image database, executing the step S112, otherwise executing the step S115;
S112, judging whether the number of the moving target objects is larger than a preset moving target object threshold, if so, executing a step S113, otherwise, executing a step S115;
s113, judging whether the moving target object is in a preset capturing range, if so, executing a step S114, otherwise, executing a step S115;
s114, judging that the moving target object meets a preset condition;
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 the flying 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 greater than the preset moving target object threshold, the number of the moving target objects in the target scene is not large, 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, and if the preset reserved cleaning time is not reached, the image information in the target scene is obtained continuously; if the number of the moving target objects is larger than the preset moving target object threshold value, indicating that the number of the moving target objects in the target scene is large, and cleaning is needed, acquiring the distance between the moving target objects and the sweeping robot as a target distance, and judging whether the moving target objects are in a preset capturing range or not according to the target distance and the preset target distance; and if the moving target object is in the preset capturing range, judging that the moving target object meets a preset condition. Understandably, if the target distance is smaller than the preset target distance, the moving target object is determined to be within the preset capturing range, otherwise, if the target distance is not smaller than the preset target distance, the moving target object is determined not to be within the preset capturing range.
Further, the step of determining whether the moving target object is a winged insect class in a preset image database according to the image information is shown in fig. 3, and specifically may 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 or not; 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 a flying insect category in the preset image database according to the category identifier, wherein the preset information comprises information such as image information, feature information and the like. It will be appreciated that in practice, the winged insect class identifier is FLYINSECTS and the Person class identifier is Person. It should be noted that, in the embodiment of the present invention, if there is no preset information matching with the target feature information in the preset image database, which indicates that the moving target object is neither a flying insect nor a person, for example, a pet, then it is determined whether a preset reserved cleaning time is reached, and if the preset reserved cleaning 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 characteristic information, wherein the target characteristic information corresponding to the human category comprises human normal characteristic information and human falling characteristic 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 sweep 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 flying insects in a preset image database or the moving target objects are not in a preset capturing range, judging that the moving target objects do not meet preset conditions, and if the moving target objects do not meet the preset conditions, controlling the floor sweeping robot to enter a cleaning mode or an alarm mode, wherein the cleaning mode is a common cleaning 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 sweeping mode so as to start a trapping and sweeping device corresponding to the trapping and sweeping mode to trap and sweep the flying insects.
In the embodiment of the 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 the trapping and cleaning device corresponding to the trapping and cleaning mode to trap and clean the flying insects, wherein the trapping and cleaning device comprises a trapping device, a spraying device and a cleaning device. Specifically, the trapping device is started to output a trapping signal within a preset time to induce the moving target object to enter the preset capturing range, wherein the trapping signal comprises an acoustic wave signal, an odor signal and a light source signal which can attract the winged insects; and 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 the embodiment of the invention, the cleaning device can sweep part of the flying insects into the dust box by using the cooperation of the edge brush and the rolling brush, and the flying insects which are not swept into the dust box drop to the ground due to the pesticide sprayed by the spraying device, at the moment, the information shot by the double cameras arranged on the sweeping robot is transmitted to the control center, so that the position of the flying insects which drop to the ground is accurately positioned, and the control center controls the sweeping robot to reach the position of the flying insects, and then starts the cleaning device to clean until the flying insects are cleaned completely. It should be further 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 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 apparatus 200 of the sweeping robot includes a unit for performing the control method of the sweeping robot described above, and may be configured in the sweeping robot. Specifically, referring to fig. 4, the control device 200 of the sweeping robot includes a first detection unit 201, a second detection unit 202, a first control unit 203, and a second control unit 204.
The first detection unit 201 is configured to obtain 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 a flying insect; the second detection unit 202 is configured to detect 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 exists in the target scene; 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 sweeping robot to enter a trapping and sweeping mode if the moving target object meets the preset condition, so as to start a trapping and sweeping device corresponding to the trapping and sweeping mode to trap and sweep the flying insects.
In some embodiments, for example, the second detection unit 202 includes a first determination unit.
The first judging unit is configured to judge that the moving target object meets a preset condition if the number of the moving target objects is greater than a preset moving target object threshold, 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 the present 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 flying 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 if the moving target objects are winged insect types in the preset image database; the third judging unit is configured to judge whether the moving target object is within a preset capturing range if the number of the moving target objects is greater than the preset moving target object threshold; and the second judging unit is used for judging that the moving target object meets a preset condition if the moving target object is in the preset capturing range.
In some embodiments, for example, in the present embodiment, the second determining unit includes a fourth determining unit and a fifth determining unit.
The fourth judging unit is used for 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; the fifth judging unit is configured to obtain a category identifier corresponding to the preset information if preset information matched with the target feature information exists in the preset image database, 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 judging unit, a seventh judging 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, the second control unit 204 includes a first starting unit and a second starting unit.
The first starting unit is used for controlling the 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, the control device 200 of the sweeping robot further includes a third control unit.
And 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 above-described sweeping robot may 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 robot 300 is a device having humidification and fresh air functions.
Referring to fig. 5, the robot 300 includes a processor 302, a memory, and a network interface 305, which are connected through a system bus 301, wherein the memory may include a non-volatile storage medium 303 and an internal memory 304.
The non-volatile storage medium 303 may store an operating system 3031 and a computer program 3032. The computer program 3032, when executed, may cause the processor 302 to perform a method of controlling a floor 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 the execution of a computer program 3032 in the non-volatile storage medium 303, which computer program 3032, when executed by the processor 302, causes the processor 302 to perform a method of controlling a sweeping robot.
The network interface 305 is used for network communication with other devices. It will be appreciated by those skilled in the art that the structure shown in fig. 5 is merely a block diagram of a portion of the structure associated with the present inventive arrangements and does not constitute a limitation of the sweeping robot 300 to which the present inventive arrangements are applied, and that a particular sweeping robot 300 may include more or fewer components than shown in the drawings, or may combine certain components, or may have a different arrangement of components.
The processor 302 is configured to execute a computer program 3032 stored in a memory, so as to implement any embodiment of the control method of the sweeping robot.
It should be appreciated that in embodiments of the present invention, the Processor 302 may be a central processing unit (Central Processing Unit, CPU), the Processor 302 may also be other general purpose processors, digital signal processors (DIGITAL SIGNAL processors, DSPs), application SPECIFIC INTEGRATED Circuits (ASICs), off-the-shelf Programmable gate arrays (Field-Programmable GATE ARRAY, FPGA) or other Programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, or the like. Wherein the general purpose processor may be a microprocessor or the processor may be any conventional processor or the like.
Those skilled in the art will appreciate that all or part of the flow in a method embodying the above described embodiments may be accomplished by computer programs instructing the relevant hardware. The computer program may be stored in a storage medium that 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 U-disk, a removable hard disk, a Read-Only Memory (ROM), a magnetic disk, or an optical disk, or other various computer-readable storage media that can store program codes.
Those of ordinary skill in the art will appreciate that the elements and algorithm steps described in connection with the embodiments disclosed herein may be embodied in electronic hardware, in computer software, or in a combination of the two, and that the elements and steps of the examples have been generally described in terms of function in the foregoing description to clearly illustrate 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 solution. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present invention.
In the several embodiments provided by the present invention, it should be understood that the disclosed apparatus and method may be implemented in other manners. For example, the device embodiments described above 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, multiple units or components may be combined or may be integrated into another system, or some features may be omitted, or not performed.
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 combined, divided and deleted according to actual needs. In addition, each functional unit in the embodiments of the present invention 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 integrated unit may be stored in a storage medium if implemented in the form of a software functional unit and sold or used as a stand-alone product. Based on such understanding, the technical solution of the present invention is essentially or partly contributing to the prior art, or all or part of the technical solution may be embodied in the form of a software product stored in a storage medium comprising several instructions for causing a sweeping robot to perform all or part of the steps of the method according to the various embodiments of the invention.
In the foregoing embodiments, the descriptions of the embodiments are focused on, and for those portions of one embodiment that are not described in detail, reference may be made to the related descriptions of other embodiments.
It will be apparent to those skilled in the art that various modifications and variations can be made to the present invention without departing from the spirit or scope of the invention. Thus, it is intended that the present invention also include such modifications and alterations insofar as they come within the scope of the appended claims or the equivalents thereof.
While the invention has been described with reference to certain preferred embodiments, it will be understood by those skilled in the art that various changes and substitutions of equivalents may be made and equivalents will be apparent to those skilled in the art without departing from the scope of the invention. Therefore, the protection scope of the invention is subject to the protection scope of the claims.
Claims (7)
1. The control method of the 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 flying 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 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 sweeping mode so as to start a trapping and sweeping device corresponding to the trapping and sweeping mode to trap and sweep the flying insects;
The detecting whether the moving target object meets the preset condition according to the preset moving target object threshold, the preset capturing range and the preset image database comprises the following steps:
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, wherein the target feature information comprises normal feature information of a human body and falling feature information of the human body;
If preset information matched with the target feature information exists in the preset image database, a category identifier corresponding to the preset information is obtained, and whether the moving target object is a flying insect category in the preset image database is judged according to the category identifier;
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 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;
if the moving target object is not in a falling state, controlling the sweeping robot to enter the cleaning mode;
If the moving target object is the winged insect type 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 or not;
and if the moving target object is in the preset capturing range, judging that the moving target object meets a preset condition.
2. The method according to claim 1, wherein the step of detecting whether the moving target object satisfies a preset condition based on a preset moving target object threshold, a preset capturing range, and a preset 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 flying insects in a preset image database and are in a preset capturing range, judging that the moving target objects meet preset conditions.
3. The method of claim 1, wherein the trap-and-sweep apparatus comprises a trap apparatus, a spray apparatus, and a sweep apparatus, the step of controlling the sweeper robot to enter a trap-and-sweep mode to activate the trap-and-sweep apparatus corresponding to the trap-and-sweep mode to trap and sweep the flying insects comprising:
controlling the 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;
And 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.
4. The method according to claim 1, wherein the method further comprises:
and if a preset cleaning completion instruction is received, controlling the sweeping robot to move to a charging device for charging.
5. A control device of a sweeping robot, characterized by comprising:
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 flying insects;
The second detection unit is used for 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 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;
the second control unit is used for controlling the sweeping robot to enter a trapping and sweeping mode if the moving target object meets the preset condition so as to start the trapping and sweeping device corresponding to the trapping and sweeping mode to trap and sweep the flying insects;
wherein the second detection unit includes:
A fourth judging unit, configured to extract target feature information of the moving target object in the image information, and judge whether preset information matched with the target feature information exists in the preset image database, where the target feature information includes normal feature information of a human body and falling feature information of the human body;
a fifth judging unit, configured to obtain a category identifier corresponding to preset information if preset information matched with the target feature information exists in the preset image database, and judge whether the moving target object is a flying insect category in the preset image database according to the category identifier;
a sixth judging unit, 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 used for controlling the sweeping robot to enter the cleaning mode if the moving target object is not in a falling state;
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 winged insect types in the preset image database;
a third judging unit, configured to judge whether the moving target object is within a preset capturing range if the number of the moving target objects is greater than the preset moving target object threshold;
And the second judging unit is used for judging that the moving target object meets a preset condition if the moving target object is in the preset capturing range.
6. A sweeping robot comprising a memory and a processor, the memory having a computer program stored thereon, the processor, when executing the computer program, implementing the method of any of claims 1-4.
7. 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 of claims 1-4.
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