CN115281558B - Visual detection assisted floor sweeping robot work method and device and air conditioning equipment - Google Patents
Visual detection assisted floor sweeping robot work method and device and air conditioning equipment Download PDFInfo
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- CN115281558B CN115281558B CN202210834492.9A CN202210834492A CN115281558B CN 115281558 B CN115281558 B CN 115281558B CN 202210834492 A CN202210834492 A CN 202210834492A CN 115281558 B CN115281558 B CN 115281558B
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- 238000010408 sweeping Methods 0.000 title claims abstract description 196
- 230000000007 visual effect Effects 0.000 title claims abstract description 119
- 238000000034 method Methods 0.000 title claims abstract description 62
- 238000001514 detection method Methods 0.000 title claims abstract description 47
- 238000004378 air conditioning Methods 0.000 title claims abstract description 13
- 239000010813 municipal solid waste Substances 0.000 claims abstract description 121
- 238000011179 visual inspection Methods 0.000 claims abstract description 46
- 238000004140 cleaning Methods 0.000 claims description 28
- 238000004590 computer program Methods 0.000 claims description 21
- 238000012544 monitoring process Methods 0.000 claims description 9
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims description 7
- 238000010586 diagram Methods 0.000 description 7
- 230000006870 function Effects 0.000 description 7
- 238000004891 communication Methods 0.000 description 6
- 230000009286 beneficial effect Effects 0.000 description 4
- 238000007689 inspection Methods 0.000 description 4
- 230000000694 effects Effects 0.000 description 3
- 230000003287 optical effect Effects 0.000 description 3
- 238000012545 processing Methods 0.000 description 3
- 230000004044 response Effects 0.000 description 3
- 230000008901 benefit Effects 0.000 description 2
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- 230000000644 propagated effect Effects 0.000 description 2
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Classifications
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/24—Floor-sweeping machines, motor-driven
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
- A47L11/4002—Installations of electric equipment
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
- A47L11/4011—Regulation of the cleaning machine by electric means; Control systems and remote control systems therefor
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F24—HEATING; RANGES; VENTILATING
- F24F—AIR-CONDITIONING; AIR-HUMIDIFICATION; VENTILATION; USE OF AIR CURRENTS FOR SCREENING
- F24F11/00—Control or safety arrangements
- F24F11/50—Control or safety arrangements characterised by user interfaces or communication
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F24—HEATING; RANGES; VENTILATING
- F24F—AIR-CONDITIONING; AIR-HUMIDIFICATION; VENTILATION; USE OF AIR CURRENTS FOR SCREENING
- F24F11/00—Control or safety arrangements
- F24F11/70—Control systems characterised by their outputs; Constructional details thereof
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L2201/00—Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
- A47L2201/04—Automatic control of the travelling movement; Automatic obstacle detection
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L2201/00—Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
- A47L2201/06—Control of the cleaning action for autonomous devices; Automatic detection of the surface condition before, during or after cleaning
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- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Mechanical Engineering (AREA)
- General Engineering & Computer Science (AREA)
- Human Computer Interaction (AREA)
- Manipulator (AREA)
Abstract
The disclosure relates to the technical field of sweeping robots and provides a visual detection auxiliary sweeping robot working method, a visual detection auxiliary sweeping robot working device and air conditioning equipment. The method is applied to the visual inspection equipment assembled on the air conditioner, and comprises the following steps: scanning an image of the visually covered target ground area; identifying whether there is debris in the target ground area based on the image; and sending a notification instruction which at least comprises the position information of the garbage to a sweeping robot under the condition that the garbage exists in the target ground area, so that the sweeping robot can sweep the garbage according to the notification instruction. According to the embodiment of the disclosure, the information of the newly-added garbage and the information of the uncleaned garbage in the detectable target area can be timely fed back to the sweeping robot and assist the sweeping robot to sweep, the uncleaned garbage and the newly-added garbage can be timely cleaned, and the working efficiency of the sweeping robot is greatly improved.
Description
Technical Field
The disclosure relates to the technical field of sweeping robots, in particular to a visual detection auxiliary sweeping robot manual method, a visual detection auxiliary sweeping robot manual device and air conditioning equipment.
Background
In the family life, the popularity of the sweeping robot is increasing. In the prior art, the sweeping robot cannot timely acquire related information of newly added garbage or uncleaned garbage, so that the problems of uncleanness and incapability of timely cleaning occur, and the working efficiency of the sweeping robot is reduced.
Disclosure of Invention
In view of the above, the embodiments of the present disclosure provide a visual inspection assisted sweeping robot working method, device and electronic equipment, so as to solve the problem that the sweeping robot working efficiency is low and the garbage cannot be cleaned accurately in time in the prior art.
In a first aspect of embodiments of the present disclosure, there is provided a visual inspection auxiliary robot cleaner method applied to a visual inspection apparatus mounted to an air conditioner, the method including:
scanning an image of the visually covered target ground area;
Identifying whether there is debris in the target ground area based on the image;
and sending a notification instruction which at least comprises the position information of the garbage to a sweeping robot under the condition that the garbage exists in the target ground area, so that the sweeping robot can sweep the garbage according to the notification instruction.
In some embodiments, the method further comprises:
scanning a target ground area to generate an initial working path of the sweeping robot;
and sending the initial working path to the sweeping robot so that the sweeping robot generates a target working path based on the initial working path.
In some embodiments, the identifying whether the target ground area is junk based on the image comprises:
Identifying whether garbage exists in the target ground area or not based on preset garbage visual characteristics and the image; the visual features of the garbage include: at least one of a paper chip visual characteristic, a water stain visual characteristic, a peel visual characteristic, and a hair visual characteristic.
In some embodiments, the method further comprises:
Under the condition that the sweeping robot is in a timing sweeping mode, monitoring whether garbage still exists after the sweeping robot is cleaned in real time in a set time period corresponding to the timing sweeping mode;
And when the fact that the garbage is still present is detected, sending a notification instruction which at least comprises the position information of the garbage to the sweeping robot, so that the sweeping robot cleans the garbage according to the notification instruction.
In some embodiments, the monitoring, in real time, whether the garbage remains after the sweeping of the sweeping robot in the set period of time corresponding to the timing sweeping mode includes:
scanning in real time in a set time period corresponding to the timing sweeping mode to obtain an area image after sweeping by the sweeping robot;
and identifying whether garbage exists in the cleaned area or not based on the preset garbage visual characteristics and the area image.
In some embodiments, the method further comprises:
And executing the step of scanning the image of the target ground area covered by the vision in real time under the condition that the sweeping robot is in a timely sweeping mode.
In a second aspect of the embodiments of the present disclosure, there is provided a vision inspection assisting robot working apparatus applied to a vision inspection device assembled to an air conditioner, including:
the scanning module is used for scanning the image of the target ground area covered by the vision;
The identification module is used for identifying whether garbage exists in the target ground area or not based on the image;
and the sending module is used for sending a notification instruction which at least comprises the position information of the garbage to the sweeping robot when the garbage exists in the target ground area, so that the sweeping robot can sweep the garbage according to the notification instruction.
A third aspect of the disclosed embodiments provides a visual inspection apparatus comprising a memory, a processor and a computer program stored in the memory and executable on the processor, characterized in that the processor executes the steps of the method of the first aspect when the processor executes the computer program.
In a fourth aspect of the embodiments of the present disclosure, a method for assisting a sweeping robot in operation by visual inspection is provided, and is applied to a sweeping robot, and the method includes:
Acquiring an initial working path sent by visual detection equipment assembled in an air conditioner;
moving and scanning based on the initial working path, and adding the scanned visual coverage blind area of the visual detection equipment to the initial working path to generate a target working path;
And executing cleaning work in a preset working mode.
In some embodiments, the generating a target working path based on the moving and scanning of the initial working path and adding the scanned visual coverage blind area of the visual detection device to the initial working path includes:
moving and scanning based on the initial working path, and adding a visual coverage blind area of the visual detection device scanned at the present time to the initial working path to generate a candidate working path;
and repeatedly moving and scanning based on the candidate working path, adding the visual coverage blind area scanned at the time to the candidate working path until a new visual coverage blind area is not scanned, and determining the current candidate working path as the target working path.
In some embodiments, the performing the cleaning operation in the preset operation mode includes:
in a timing sweeping mode, executing sweeping work based on the target working path in a set time period corresponding to the timing sweeping mode;
acquiring a notification instruction which at least comprises the position information of the garbage and is sent by visual detection equipment;
and cleaning the garbage according to the notification instruction.
In some embodiments, the performing the cleaning operation in the preset operation mode includes:
In a timely sweeping mode, acquiring a notification instruction which is sent by the sweeping robot and at least comprises the position information of the garbage;
and cleaning the garbage according to the notification instruction.
A fifth aspect of the embodiments of the present disclosure provides a device for visual inspection to assist a sweeping robot in operation, the device including:
The acquisition module is used for acquiring an initial working path sent by visual detection equipment assembled in the air conditioner;
The generating module is used for moving and scanning based on the initial working path, and adding the scanned visual coverage blind area of the visual detection equipment to the initial working path to generate a target working path;
And the execution module is used for executing cleaning work in a preset working mode.
A sixth aspect of the disclosed embodiments provides a sweeping robot, comprising a memory, a processor and a computer program stored in the memory and executable on the processor, characterized in that the processor executes the steps of the method in the fourth aspect when the processor executes the computer program.
In a seventh aspect of the disclosed embodiments, a computer readable storage medium is provided, which stores a computer program which, when executed by a processor, implements the steps of the above method.
An eighth aspect of an embodiment of the present disclosure provides an air conditioning apparatus, including:
An air conditioner main unit, and a visual inspection apparatus as in the third aspect provided to the air conditioner main unit.
Advantageous effects
Compared with the prior art, the beneficial effects of the embodiment of the disclosure at least comprise: through the information of newly-increased rubbish and the information of not cleaning up of detectable target area, can in time feed back to the robot of sweeping the floor and assist the robot of sweeping the floor cleans, can in time clear up not cleaning up rubbish and newly-increased rubbish, has promoted the work efficiency of the robot of sweeping the floor greatly.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present disclosure, the drawings that are required for the embodiments or the description of the prior art will be briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present disclosure, and other drawings may be obtained according to these drawings without inventive effort for a person of ordinary skill in the art.
FIG. 1 is a schematic illustration of one application scenario of a visual inspection assisted sweeping robot work method provided in accordance with an embodiment of the present disclosure;
FIG. 2 is a flow chart of some embodiments of a visual inspection apparatus for mounting to an air conditioner for a visual inspection assisted sweeping robot work method provided in accordance with an embodiment of the present disclosure;
FIG. 3 is a flow chart of further embodiments of a visual inspection apparatus for mounting to an air conditioner according to another visual inspection assisted sweeping robot working method provided by embodiments of the present disclosure;
FIG. 4 is a flow chart of some embodiments for a sweeping robot of another visual inspection assisted sweeping robot working method provided in accordance with embodiments of the present disclosure;
FIG. 5 is a simplified structural schematic diagram of some embodiments of a visual inspection apparatus for assembly to an air conditioner according to a visual inspection assisted sweeping robot working method provided in accordance with embodiments of the present disclosure;
FIG. 6 is a simplified structural schematic diagram of some embodiments of a vision inspection assisted sweeping robot manual method for a sweeping robot provided in accordance with embodiments of the present disclosure;
fig. 7 is a schematic diagram of an electronic device provided according to an embodiment of the present disclosure.
Detailed Description
Embodiments of the present disclosure will be described in more detail below with reference to the accompanying drawings. While certain embodiments of the present disclosure are shown in the drawings, it should be understood that the present disclosure may be embodied in various forms and should not be construed as limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete. It should be understood that the drawings and embodiments of the present disclosure are for illustration purposes only and are not intended to limit the scope of the present disclosure.
It should be further noted that, for convenience of description, only a portion relevant to the present disclosure is shown in the drawings. Embodiments of the present disclosure and features of embodiments may be combined with each other without conflict.
It should be noted that the terms "first," "second," and the like in this disclosure are merely used to distinguish between different systems, devices, modules, or units and are not intended to limit the order or interdependence of functions performed by such systems, devices, modules, or units.
It should be noted that references to "one", "a plurality" and "a plurality" in this disclosure are intended to be illustrative rather than limiting, and those of ordinary skill in the art will appreciate that "one or more" is intended to be understood as "one or more" unless the context clearly indicates otherwise.
The names of messages or information interacted between the various devices in the embodiments of the present disclosure are for illustrative purposes only and are not intended to limit the scope of such messages or information.
The present disclosure will be described in detail below with reference to the accompanying drawings in conjunction with embodiments.
Fig. 1 is a schematic illustration of one application scenario of a visual inspection assisted sweeping robot work method according to some embodiments of the present disclosure.
In the application scenario of fig. 1, the air conditioner host 101 is provided with a visual detection device 103, and the visual detection device 103 can scan an image of a target ground area covered by vision; identifying whether there is debris in the target ground area based on the image; and sending a notification instruction which at least comprises the position information of the garbage to a sweeping robot under the condition that the garbage exists in the target ground area, so that the sweeping robot can sweep the garbage according to the notification instruction.
The air conditioning host 101 may be a hook, a central air conditioning host, a higher vertical air conditioner, or the like, and the visual detection device 103 may be enabled to detect a ground condition of a target area (e.g., a room) when the visual detection device 103 is disposed thereon, that is, the visual coverage of the visual detection device 103 covers the target area. The visual inspection apparatus 103 may be any inspection apparatus that exists in the prior art or is invented in the future, such as a 3D visual inspection apparatus, and is not particularly limited herein.
It should be understood that the number of visual inspection devices 103 in fig. 1 is merely illustrative. The detection device can be a single detection device or a combination of at least two detection devices according to the implementation requirement.
With continued reference to fig. 2, a flow 200 of some embodiments of a visual inspection assisted sweeping robot working method according to the present disclosure is shown. The method may be performed by the visual inspection apparatus 103 of fig. 1. The method for assisting the work of the sweeping robot through visual detection comprises the following steps:
step 201, an image of a visually covered target ground area is scanned.
In some embodiments, the execution subject of the visual inspection assisted sweeping robot manual method (such as the visual inspection device 103 shown in fig. 1) may connect the air conditioning host 101 through a wired connection or a wireless connection, and then scan an image of the target ground area that is visually covered. The target floor area may refer to a detection area where the vision detection apparatus 103 is used to assist the work of the robot for sweeping, such as the floor in a room, etc. The image of the target ground area may refer to a picture of the target ground area taken by the visual detection device 103. The pictures may be taken based on a preset time interval. As an example, the time interval may be 0.1 seconds, 1 second, 3 seconds, or the like, as desired.
In some alternative implementations of some embodiments, the turning on and off of the visual detection device may correspondingly trigger an operation by a corresponding instruction issued by the remote control device or control software.
It should be noted that the wireless connection may include, but is not limited to, 3G/4G/5G connection, wiFi connection, bluetooth connection, wiMAX connection, zigbee connection, UWB (ultra wideband) connection, and other now known or later developed wireless connection.
Step 202, identifying whether garbage exists in the target ground area based on the image.
In some embodiments, the executing entity may identify whether the target ground area has debris based on the image. Whether or not the target ground area has debris can be identified in a number of ways. For example, the picture shot in real time can be compared with the corresponding picture which is saved in advance and cleaned, and the content of the picture area part with the difference is analyzed, so that the result of whether garbage exists or not is obtained.
In some optional implementations of some embodiments, the identifying whether the target ground area is garbage based on the image includes: identifying whether garbage exists in the target ground area or not based on preset garbage visual characteristics and the image; the visual features of the garbage include: at least one of a paper chip visual characteristic, a water stain visual characteristic, a peel visual characteristic, and a hair visual characteristic. The visual feature of the garbage can refer to preset information for determining that the corresponding feature of the image is garbage. Similarly, the paper chip visual feature, the water stain visual feature, the pericarp visual feature and the hair visual feature can respectively represent the characteristic information corresponding to the paper chip, the characteristic information corresponding to the water stain, the characteristic information corresponding to the pericarp and the characteristic information corresponding to the hair. In addition, the trash visual features may further include other trash visual features besides the above-mentioned paper dust visual features, water stain visual features, pericarp visual features and hair visual features, which are set as required, and are not described herein.
And 203, sending a notification instruction at least comprising the position information of the garbage to a sweeping robot when the garbage exists in the target ground area, so that the sweeping robot cleans the garbage according to the notification instruction.
In some embodiments, the executing body may send a notification instruction including at least location information of the garbage to a sweeping robot when the garbage exists in the target ground area, so that the sweeping robot may sweep the garbage according to the notification instruction.
In some optional implementations of some embodiments, in a case where the target ground area includes garbage, the executing body may send a notification instruction including at least location information of the garbage to the sweeping robot within a preset response duration, so that the sweeping robot cleans the garbage according to the notification instruction. The preset response time period may refer to a time period from when the execution body detects garbage to when the execution body sends the notification instruction. As an example, the preset response time period may be within 0 to 10 seconds. Setting a shorter preset duration may improve the execution efficiency of the present disclosure.
In some embodiments, the step of scanning the image of the visually covered target ground area may be performed in real time by the execution subject with the sweeping robot in a time-sweeping mode. The sweep-in-time mode may refer to a mode in which the execution subject operates, in which the execution subject may continuously scan the target ground area, and repeatedly perform steps 201 to 203.
In some embodiments, before scanning the image of the visually covered target ground area, the executing body may scan the target ground area to generate an initial working path of the sweeping robot; and transmitting the initial working path to the sweeping robot so that the sweeping robot generates a target working path based on the initial working path. The initial working path may refer to related information for the robot path generated based on the scan target ground area. By scanning the target ground area and generating the initial working path, a more accurate working path can be generated in advance for the sweeping robot to use, and the working efficiency of the sweeping robot is improved.
The beneficial effects of one of the above embodiments of the present disclosure include at least: through the information of newly-increased rubbish and not clean up information of detectable target area (like indoor), can in time feed back to the robot of sweeping the floor and assist the robot of sweeping the floor cleans, can in time clear up not clean up rubbish and newly-increased rubbish, greatly increased the practicality of robot of sweeping the floor.
With continued reference to fig. 3, a flow 300 of further embodiments of a visual inspection assisted sweeping robot working method according to the present disclosure is shown, which may be performed by the visual inspection device 103 of fig. 1. The visual detection assisted sweeping robot work method comprises the following steps:
Step 301 scans an image of a visually covered target ground area.
Step 302, identifying whether garbage exists in the target ground area based on the image.
Step 303, when there is garbage in the target ground area, sending a notification instruction including at least position information of the garbage to a sweeping robot, so that the sweeping robot cleans the garbage according to the notification instruction.
Step 304, under the condition that the sweeping robot is in a timing sweeping mode, monitoring whether garbage still exists after the sweeping robot sweeps in real time within a set time period corresponding to the timing sweeping mode.
In some embodiments, when the sweeping robot is in the timing sweeping mode, the executing body may monitor whether the sweeping robot still has the garbage after sweeping in real time within a set period of time corresponding to the timing sweeping mode. The preset time period may refer to a preset time period in which the timing sweep mode is used. As an example, the time period may be 18:00 to 22:00 per day, or other time periods. The setting of the time period may also be modified for, for example, year, month, day, time, minute, second, etc., and is set as needed without specific limitation.
And 305, when the fact that the garbage is still present is detected, sending a notification instruction which at least comprises the position information of the garbage to a sweeping robot, so that the sweeping robot can sweep the garbage according to the notification instruction.
In some embodiments, when it is detected that there is still garbage, the executing body may send a notification instruction including at least location information of the garbage to a sweeping robot, so that the sweeping robot sweeps the garbage according to the notification instruction.
In some optional implementations of some embodiments, monitoring, in real time, whether there is any debris after the sweeping robot sweeps in a set period of time corresponding to the timing sweeping mode includes: scanning in real time in a set time period corresponding to the timing sweeping mode to obtain an area image after sweeping by the sweeping robot; and identifying whether garbage exists in the cleaned area or not based on the preset garbage visual characteristics and the area image.
And 306, stopping scanning operation outside a set time period corresponding to the timing sweeping mode under the condition that the sweeping robot is in the timing sweeping mode.
In some embodiments, in a case where the sweeping robot is in the timing sweeping mode, the executing body may stop the scanning operation outside a set period corresponding to the timing sweeping mode.
The beneficial effects of one of the above embodiments of the present disclosure include at least: the timing mode can enable the execution body to work in a time period (preset time period) with more garbage variation and rest in other time periods, so that resource waste is reduced.
In some embodiments, the specific implementation of steps 301 to 303 and the technical effects thereof may refer to steps 201 to 203 in those embodiments corresponding to fig. 2, which are not described herein.
Any combination of the above optional solutions may be adopted to form an optional embodiment of the present application, which is not described herein.
With continued reference to fig. 4, a flow 400 of some embodiments of a visual inspection assisted sweeping robot working method according to the present disclosure is shown. The method may be performed by the sweeping robot 102 in fig. 1. The method for assisting the work of the sweeping robot through visual detection comprises the following steps:
step 401, acquiring an initial working path sent by a visual inspection device assembled with an air conditioner.
In some embodiments, the execution subject may acquire the initial working path transmitted from the air-conditioning-equipped visual inspection apparatus 103.
Step 402, moving and scanning based on the initial working path, and adding the scanned visual coverage blind area of the visual detection device to the initial working path to generate a target working path.
In some embodiments, the execution body may move and scan based on the initial working path, and add the scanned visual coverage blind area of the visual detection device 103 to the initial working path, to generate a target working path. The visual coverage blind area may refer to an area that is not detected by the visual detection device 103 but that may enable the sweeping robot to operate. As an example, the visual coverage hole may be a region of a table bottom, a sofa bottom, or the like.
In some optional implementations of some embodiments, the sweeping robot may detect the visual coverage blind zone through a preset obstacle avoidance sensing device.
The target working path may refer to a working path generated by combining with the visual coverage hole on the basis of the initial working path transmitted from the visual detection device 103. By detecting and adding the vision coverage blind area, the working range of the sweeping robot can be accurately identified, the condition that the sweeping area is beyond a limited range or is missing is avoided, and the sweeping effect of the sweeping robot is improved.
In some optional implementations of some embodiments, moving and scanning based on the initial working path and adding the scanned visual coverage hole of the visual detection device to the initial working path, generating a target working path includes: moving and scanning based on the initial working path, and adding a visual coverage blind area of the visual detection device scanned at the present time to the initial working path to generate a candidate working path; and repeatedly moving and scanning based on the candidate working path, adding the visual coverage blind area scanned at the time to the candidate working path until a new visual coverage blind area is not scanned, and determining the current candidate working path as the target working path. The candidate working path may refer to a path generated after adding a part or all of the visual coverage hole based on the initial working path. The scanning is repeated for a plurality of times, and the visual coverage blind area is added, so that the working path of the sweeping robot can be more accurately perfected.
Step 403, executing cleaning work in a preset working mode.
The preset operation mode may refer to an operation mode of the sweeping robot. The working modes of the sweeping robot at least comprise a timing sweeping mode and a timing sweeping mode.
In some embodiments, the executing body may execute the cleaning operation in a preset operation mode, including: in a timing sweeping mode, executing sweeping work based on the target working path in a set time period corresponding to the timing sweeping mode; acquiring a notification instruction which at least comprises the position information of the garbage and is sent by visual detection equipment; and cleaning the garbage according to the notification instruction.
In other embodiments, the executing body may execute the cleaning operation in the preset operation mode, including: in a timely sweeping mode, acquiring a notification instruction which is sent by the sweeping robot and at least comprises the position information of the garbage; and cleaning the garbage according to the notification instruction.
The beneficial effects of one of the above embodiments of the present disclosure include at least: through the cooperation work with the vision detection equipment in the air conditioner, can in time clear up unclean rubbish and newly-increased rubbish, greatly increased the practicality of robot of sweeping the floor.
The following are device embodiments of the present disclosure that may be used to perform method embodiments of the present disclosure. For details not disclosed in the embodiments of the apparatus of the present disclosure, please refer to the embodiments of the method of the present disclosure.
With further reference to fig. 5, as an implementation of the methods described above for the various figures described above, the present disclosure provides some embodiments of visual inspection assisted sweeping robot work devices that correspond to those method embodiments described above for fig. 2.
As shown in fig. 5, the visual inspection assisted sweeping robot working device 500 of some embodiments includes:
A scanning module 501 for scanning an image of a visually covered target ground area.
An identifying module 502 is configured to identify whether garbage exists in the target ground area based on the image.
And the sending module 503 is configured to send a notification instruction including at least position information of the garbage to a sweeping robot when the garbage exists in the target ground area, so that the sweeping robot cleans the garbage according to the notification instruction.
In some optional implementations of some embodiments, the visual inspection assisted sweeping robot working device 500 further includes: the second scanning module is used for scanning the target ground area and generating an initial working path of the sweeping robot; and the second sending module is used for sending the initial working path to the sweeping robot so that the sweeping robot can generate a target working path based on the initial working path.
In some optional implementations of some embodiments, the identifying whether the target ground area is garbage based on the image includes: identifying whether garbage exists in the target ground area or not based on preset garbage visual characteristics and the image; the visual features of the garbage include: at least one of a paper chip visual characteristic, a water stain visual characteristic, a peel visual characteristic, and a hair visual characteristic.
In some optional implementations of some embodiments, the visual inspection assisted sweeping robot working device 500 further includes: the timing monitoring module is used for monitoring whether garbage still exists after the sweeping robot is in the sweeping in real time in a set time period corresponding to the timing sweeping mode under the condition that the sweeping robot is in the timing sweeping mode; and the third sending module is used for sending a notification instruction which at least comprises the position information of the garbage to the sweeping robot when the fact that the garbage still exists is detected, so that the sweeping robot can sweep the garbage according to the notification instruction.
In some optional implementations of some embodiments, the monitoring, in real time, whether the garbage remains after the sweeping of the sweeping robot in a set period of time corresponding to the timing sweeping mode includes: scanning in real time in a set time period corresponding to the timing sweeping mode to obtain an area image after sweeping by the sweeping robot; and identifying whether garbage exists in the cleaned area or not based on the preset garbage visual characteristics and the area image.
In some optional implementations of some embodiments, the visual inspection assisted sweeping robot working device 500 further includes: and the timely sweeping module is used for executing the step of scanning the image of the target ground area covered by the vision in real time under the condition that the sweeping robot is in a timely sweeping mode.
It will be appreciated that the modules described in the apparatus 500 correspond to the various steps in the method described with reference to fig. 2. Thus, the operations, features and resulting benefits described above with respect to the method are equally applicable to the apparatus 500 and the modules contained therein, and are not described in detail herein.
With further reference to fig. 6, as an implementation of the methods described above for the various figures described above, the present disclosure provides some embodiments of visual inspection assisted sweeping robot work devices that correspond to those method embodiments described above for fig. 4.
As shown in fig. 6, the visual inspection-assisted sweeping robot working apparatus 600 of some embodiments includes:
The acquiring module 601 is configured to acquire an initial working path sent by a visual inspection device assembled to an air conditioner.
The generating module 602 is configured to move and scan based on the initial working path, and add the scanned visual coverage blind area of the visual detection device to the initial working path, so as to generate a target working path.
The execution module 603 is configured to execute the cleaning operation in a preset operation mode.
In some alternative implementations of some embodiments, the generating module 602 is further configured to: moving and scanning based on the initial working path, and adding a visual coverage blind area of the visual detection device scanned at the present time to the initial working path to generate a candidate working path; and repeatedly moving and scanning based on the candidate working path, adding the visual coverage blind area scanned at the time to the candidate working path until a new visual coverage blind area is not scanned, and determining the current candidate working path as the target working path.
In some alternative implementations of some embodiments, performing the cleaning operation in a preset mode of operation includes: in a timing sweeping mode, executing sweeping work based on the target working path in a set time period corresponding to the timing sweeping mode; acquiring a notification instruction which at least comprises the position information of the garbage and is sent by visual detection equipment; and cleaning the garbage according to the notification instruction.
In some alternative implementations of some embodiments, performing the cleaning operation in a preset mode of operation includes: in a timely sweeping mode, acquiring a notification instruction which is sent by the sweeping robot and at least comprises the position information of the garbage; and cleaning the garbage according to the notification instruction.
It will be appreciated that the modules depicted in the apparatus 600 correspond to the various steps in the method described with reference to fig. 4. Thus, the operations, features and advantages described above with respect to the method are equally applicable to the apparatus 400 and the modules contained therein, and are not described in detail herein.
As shown in fig. 7, in some embodiments an electronic device 700 is provided that may include a processing means (e.g., a central processor, a graphics processor, etc.) 701 that may perform various suitable actions and processes in accordance with a program stored in a Read Only Memory (ROM) 702 or a program loaded from a storage 708 into a Random Access Memory (RAM) 703. In the RAM 703, various programs and data required for the operation of the electronic device 700 are also stored. The processing device 701, the ROM 702, and the RAM 703 are connected to each other through a bus 704. An input/output (I/O) interface 705 is also connected to bus 704.
In general, the following devices may be connected to the I/O interface 705: input devices 706 including, for example, a touch screen, touchpad, keyboard, mouse, camera, microphone, accelerometer, gyroscope, and the like; an output device 707 including, for example, a Liquid Crystal Display (LCD), a speaker, a vibrator, and the like; storage 708 including, for example, magnetic tape, hard disk, etc.; and a communication device 709. The communication means 709 may allow the electronic device 700 to communicate wirelessly or by wire with other devices to exchange data. While fig. 7 shows an electronic device 700 having various means, it is to be understood that not all of the illustrated means are required to be implemented or provided. More or fewer devices may be implemented or provided instead. Each block shown in fig. 7 may represent one device or a plurality of devices as needed.
In particular, according to some embodiments of the present disclosure, the processes described above with reference to flowcharts may be implemented as computer software programs. For example, some embodiments of the present disclosure include a computer program product comprising a computer program embodied on a computer readable medium, the computer program comprising program code for performing the method shown in the flow chart. In such embodiments, the computer program may be downloaded and installed from a network via communications device 709, or from storage 708, or from ROM 702. The above-described functions defined in the methods of some embodiments of the present disclosure are performed when the computer program is executed by the processing means 701.
It should be noted that, in some embodiments of the present disclosure, the computer readable medium may be a computer readable signal medium or a computer readable storage medium, or any combination of the two. The computer readable storage medium can be, for example, but not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or a combination of any of the foregoing. More specific examples of the computer-readable storage medium may include, but are not limited to: an electrical connection having one or more wires, a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing. In some embodiments of the present disclosure, a computer readable storage medium may be any tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, apparatus, or device. In some embodiments of the present disclosure, however, the computer-readable signal medium may comprise a data signal propagated in baseband or as part of a carrier wave, with the computer-readable program code embodied therein. Such a propagated data signal may take any of a variety of forms, including, but not limited to, electro-magnetic, optical, or any suitable combination of the foregoing. A computer readable signal medium may also be any computer readable medium that is not a computer readable storage medium and that can communicate, propagate, or transport a program for use by or in connection with an instruction execution system, apparatus, or device. Program code embodied on a computer readable medium may be transmitted using any appropriate medium, including but not limited to: electrical wires, fiber optic cables, RF (radio frequency), and the like, or any suitable combination of the foregoing.
In some embodiments, the clients, servers may communicate using any currently known or future developed network protocol, such as HTTP (HyperText Transfer Protocol ), and may be interconnected with any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include a local area network ("LAN"), a wide area network ("WAN"), the internet (e.g., the internet), and peer-to-peer networks (e.g., ad hoc peer-to-peer networks), as well as any currently known or future developed networks.
The computer readable medium may be embodied in the apparatus; or may exist alone without being incorporated into the electronic device. The computer readable medium carries one or more programs which, when executed by the electronic device, cause the electronic device to perform steps corresponding to flow 200, 300, or 400.
Computer program code for carrying out operations for some embodiments of the present disclosure may be written in one or more programming languages, including an object oriented programming language such as Java, smalltalk, C ++ and conventional procedural programming languages, such as the "C" programming language or similar programming languages. The program code may execute entirely on the user's computer, partly on the user's computer, as a stand-alone software package, partly on the user's computer and partly on a remote computer or entirely on the remote computer or server. In the case of a remote computer, the remote computer may be connected to the user's computer through any kind of network, including a Local Area Network (LAN) or a Wide Area Network (WAN), or may be connected to an external computer (for example, through the Internet using an Internet service provider).
The flowcharts and block diagrams in the figures illustrate the architecture, functionality, and operation of possible implementations of systems, methods and computer program products according to various embodiments of the present disclosure. In this regard, each block in the flowchart or block diagrams may represent a module, segment, or portion of code, which comprises one or more executable instructions for implementing the specified logical function(s). It should also be noted that, in some alternative implementations, the functions noted in the block may occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality involved. It will also be noted that each block of the block diagrams and/or flowchart illustration, and combinations of blocks in the block diagrams and/or flowchart illustration, can be implemented by special purpose hardware-based systems which perform the specified functions or acts, or combinations of special purpose hardware and computer instructions.
The modules described in some embodiments of the present disclosure may be implemented in software or in hardware. The described modules may also be provided in a processor.
The functions described above herein may be performed, at least in part, by one or more hardware logic components. For example, without limitation, exemplary types of hardware logic components that may be used include: a Field Programmable Gate Array (FPGA), an Application Specific Integrated Circuit (ASIC), an Application Specific Standard Product (ASSP), a system on a chip (SOC), a Complex Programmable Logic Device (CPLD), and the like.
In some embodiments, the foregoing electronic device may be a visual inspection device including a memory, a processor, and a computer program stored in the memory and executable on the processor, the processor executing steps corresponding to the flow 300 when the computer program is executed.
In some embodiments, the foregoing electronic device may be a sweeping robot, including a memory, a processor, and a computer program stored in the memory and executable on the processor, where the processor executes steps corresponding to the flow 400.
In some embodiments, the present disclosure further provides an air conditioning apparatus, comprising: an air conditioner host and the visual inspection device as described above provided to the air conditioner host.
In some alternative implementations of some embodiments, the number of visual detection devices is greater than or equal to 1.
The foregoing description is only of the preferred embodiments of the present disclosure and description of the principles of the technology being employed. It will be appreciated by those skilled in the art that the scope of the invention in the embodiments of the present disclosure is not limited to the specific combination of the above technical features, but encompasses other technical features formed by any combination of the above technical features or their equivalents without departing from the spirit of the invention. Such as the above-described features, are mutually substituted with (but not limited to) the features having similar functions disclosed in the embodiments of the present disclosure.
Claims (15)
1. A method of visual inspection assisting a robot to work, the method being applied to a visual inspection apparatus mounted to an air conditioner, the method comprising:
scanning a target ground area to generate an initial working path of the sweeping robot;
transmitting the initial working path to the sweeping robot so that the sweeping robot generates a target working path based on the initial working path; the sweeping robot generates the target working path in the following way: moving and scanning based on the initial working path, and adding a visual coverage blind area of the visual detection device scanned at the present time to the initial working path to generate a candidate working path; and repeatedly moving and scanning based on the candidate working path, and adding the visual coverage blind area scanned at the time to the candidate working path until a new visual coverage blind area is not scanned, and determining the current candidate working path as the target working path, wherein the candidate working path comprises: adding a part or all of paths generated after the visual coverage blind areas based on the initial working path;
scanning an image of the visually covered target ground area;
Identifying whether there is debris in the target ground area based on the image;
and sending a notification instruction which at least comprises the position information of the garbage to a sweeping robot under the condition that the garbage exists in the target ground area, so that the sweeping robot can sweep the garbage according to the notification instruction.
2. The method of claim 1, wherein the identifying whether the target ground area is junk based on the image comprises:
Identifying whether garbage exists in the target ground area or not based on preset garbage visual characteristics and the image; the visual features of the garbage include: at least one of a paper chip visual characteristic, a water stain visual characteristic, a peel visual characteristic, and a hair visual characteristic.
3. The method as recited in claim 1, further comprising:
Under the condition that the sweeping robot is in a timing sweeping mode, monitoring whether garbage still exists after the sweeping robot is cleaned in real time in a set time period corresponding to the timing sweeping mode;
And when the fact that the garbage is still present is detected, sending a notification instruction which at least comprises the position information of the garbage to the sweeping robot, so that the sweeping robot cleans the garbage according to the notification instruction.
4. The method of claim 3, wherein the monitoring in real time whether the cleaning robot has garbage after cleaning within a set period of time corresponding to the timing cleaning mode includes:
scanning in real time in a set time period corresponding to the timing sweeping mode to obtain an area image after sweeping by the sweeping robot;
and identifying whether garbage exists in the cleaned area or not based on the preset garbage visual characteristics and the area image.
5. The method as recited in claim 1, further comprising:
And executing the step of scanning the image of the target ground area covered by the vision in real time under the condition that the sweeping robot is in a timely sweeping mode.
6. A method for visually inspecting the operation of an assisted sweeping robot, applied to a sweeping robot, the method comprising:
Acquiring an initial working path sent by visual detection equipment assembled in an air conditioner;
moving and scanning based on the initial working path, and adding a visual coverage blind area of the visual detection device scanned at the present time to the initial working path to generate a candidate working path;
And repeatedly moving and scanning based on the candidate working path, adding the visual coverage blind area scanned at the time to the candidate working path until the new visual coverage blind area is not scanned, and determining the current candidate working path as a target working path, wherein the candidate working path comprises: adding a part or all of paths generated after the visual coverage blind areas based on the initial working path;
And executing cleaning work in a preset working mode.
7. The method of claim 6, wherein the performing the cleaning operation in the predetermined operation mode comprises:
in a timing sweeping mode, executing sweeping work based on the target working path in a set time period corresponding to the timing sweeping mode;
acquiring a notification instruction which at least comprises the position information of garbage and is sent by visual detection equipment;
and cleaning the garbage according to the notification instruction.
8. The method of claim 6, wherein the performing the cleaning operation in the predetermined operation mode comprises:
under a timely sweeping mode, a notification instruction which at least comprises the position information of garbage and is sent by a sweeping robot is obtained;
and cleaning the garbage according to the notification instruction.
9. A device for visual inspection assisting a robot to work, the device being applied to a visual inspection apparatus equipped with an air conditioner, comprising:
the scanning module is used for scanning the image of the target ground area covered by the vision;
The identification module is used for identifying whether garbage exists in the target ground area or not based on the image;
The sending module is used for sending a notification instruction which at least comprises the position information of the garbage to the sweeping robot when the garbage exists in the target ground area, so that the sweeping robot can sweep the garbage according to the notification instruction; the device is also for:
The acquisition module scans the target ground area and generates an initial working path of the sweeping robot;
The generation module is used for sending the initial working path to the sweeping robot so that the sweeping robot can generate a target working path based on the initial working path; the sweeping robot generates the target working path in the following way: moving and scanning based on the initial working path, and adding a visual coverage blind area of the visual detection device scanned at the present time to the initial working path to generate a candidate working path; and repeatedly moving and scanning based on the candidate working path, and adding the visual coverage blind area scanned at the time to the candidate working path until a new visual coverage blind area is not scanned, and determining the current candidate working path as the target working path, wherein the candidate working path comprises: and adding a part or all of the paths generated after the visual coverage blind areas based on the initial working path.
10. A visual inspection apparatus comprising a memory, a processor and a computer program stored in the memory and executable on the processor, wherein the processor performs the steps of the method of any one of claims 1 to 5 when the computer program is executed.
11. A device for visually inspecting the operation of an assisted sweeping robot, the device comprising:
The acquisition module is used for acquiring an initial working path sent by visual detection equipment assembled in the air conditioner;
The generation module is used for moving and scanning based on the initial working path, and adding the visual coverage blind area of the visual detection device scanned at the time to the initial working path to generate a candidate working path; and repeatedly moving and scanning based on the candidate working path, adding the visual coverage blind area scanned at the time to the candidate working path until the new visual coverage blind area is not scanned, and determining the current candidate working path as a target working path, wherein the candidate working path comprises: adding a part or all of paths generated after the visual coverage blind areas based on the initial working path;
And the execution module is used for executing cleaning work in a preset working mode.
12. A sweeping robot comprising a memory, a processor and a computer program stored in the memory and executable on the processor, characterized in that the processor executes the computer program to perform the steps of the method according to any one of claims 6 to 8.
13. A computer readable storage medium storing a computer program, characterized in that the computer program when executed by a processor implements the steps of the method according to any one of claims 1 to 5 or the steps of the method according to any one of claims 6 to 8.
14. An air conditioning apparatus, comprising:
An air conditioning main unit, and the visual inspection apparatus according to claim 10 provided to the air conditioning main unit.
15. The air conditioning apparatus of claim 14, wherein the number of visual inspection apparatuses is greater than or equal to 1.
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