CN115736748A - Dust collection method of sweeping robot, sweeping robot and computer readable storage medium - Google Patents

Abstract

The invention discloses a dust collection method of a sweeping robot, the sweeping robot and a computer readable storage medium, wherein the method comprises the following steps: receiving a cleaning task instruction, and acquiring cleaning map data corresponding to the cleaning task instruction; acquiring a required value of a dust box corresponding to the cleaning map data; acquiring a current value of the dust box, and calculating a storable value of the garbage accommodated in the current dust box according to the current value; judging whether the required value is smaller than the storable value; and if so, controlling the sweeping robot to start to execute the cleaning task. The quantity of the rubbish that the dirt box can be stored is greater than the quantity of the rubbish that the robot of sweeping the floor can collect after sweeping the map region, so, the robot of sweeping the floor can calculate out automatically whether the dirt box can accomplish to sweep, so can reduce the robot of sweeping the floor and appear the condition that the dirt box is full or the map can't be swept in the cleaning process, promote the cleaning integrity of the robot of sweeping the floor and reduce the robot of sweeping the floor and clean the time that the in-process spent.

Description

Dust collection method of sweeping robot, sweeping robot and computer readable storage medium

Technical Field

The invention relates to the field of sweeping robots, in particular to a dust collecting method of a sweeping robot, the sweeping robot and a computer readable storage medium.

Background

An intelligent floor sweeping robot is also called an automatic sweeper, intelligent dust collection, a robot dust collector and the like, is one of intelligent household appliances, and can automatically complete floor cleaning work indoors and outdoors by means of certain artificial intelligence. Generally, the floor cleaning machine adopts a brushing and vacuum mode, and firstly absorbs the impurities on the floor into the garbage storage box, so that the function of cleaning the floor is achieved. Generally, robots which complete cleaning, dust collection and floor wiping work are also collectively classified as intelligent floor sweeping robots.

Generally, when the intelligent sweeper begins to carry out the global cleaning task, because the utilization rate of the sweeper dust box under different time environments is not enough to satisfy the requirement of completing the current global cleaning task, the global cleaning task process is easily caused to be incapable of completing the cleaning operation due to the fact that the dust box is full, the sweeper needs to go to a base station to collect dust and then returns to clean again, and therefore the cleaning integrity of the sweeper robot is easily reduced, the time is excessively consumed, and the use of a user is not facilitated.

Disclosure of Invention

Accordingly, there is a need to provide a dust collecting method for a sweeping robot, a sweeping robot and a computer readable storage medium to solve the problems of time consuming and low integrity of the sweeping process of the sweeping robot in the prior art.

A dust collection method of a sweeping robot comprises the following steps:

receiving a cleaning task instruction, and acquiring cleaning map data corresponding to the cleaning task instruction;

acquiring a required value of a dust box corresponding to the cleaning map data;

acquiring a current value of a dust box, and calculating a storable value of the dust box capable of accommodating garbage according to the current value;

determining whether said required value is less than said storable value;

and if so, controlling the sweeping robot to start to execute a sweeping task.

According to the dust collection method of the sweeping robot, after the sweeping robot receives a sweeping task instruction, sweeping map data corresponding to the sweeping task is obtained, a required value of the dust box is obtained according to the sweeping map data, a storable value of the dust box is obtained according to the current value of the dust box, the required value is compared with the storable value, and under the condition that the required value is judged to be smaller than the storable value, namely, at the moment, the quantity of garbage which can be stored by the dust box is larger than the quantity of garbage which can be collected by the sweeping robot after sweeping in a sweeping map area, so that the sweeping robot can automatically calculate whether the dust box can finish sweeping according to the required value and the storable value, the situation that the dust box is full or the situation that the map cannot be swept by the sweeping robot in the sweeping process can be reduced, the sweeping integrity of the sweeping robot can be improved, and the time consumed by the sweeping robot in the sweeping process can be reduced.

Further, the acquiring a requirement value of the dust box corresponding to the cleaning map data includes:

acquiring the square number of the area in the cleaning map data;

and obtaining the required value according to the area square number.

Further, the required value is equal to the product of the area square and 2.5 cubic centimeters.

Further, said determining whether said required value is less than said storable value comprises:

if not, calculating the dust collecting time required by the dust box;

and collecting dust on the dust box according to the dust collection time.

Further, the calculating the dust collecting time required by the dust box comprises:

subtracting the storable value from the demand value to obtain an acquired value;

and acquiring the dust collection time according to the acquisition value.

Further, after the sweeping robot starts a sweeping task, the method includes:

judging whether the sweeping task of the sweeping robot is finished or not;

if so, acquiring a current collection value of the dust box;

acquiring the collection time of the dust box according to the collection value;

and collecting dust on the dust box according to the collection time.

Further, after obtaining the collection time of the dust box according to the collection value, the method includes:

judging whether the sweeping robot is positioned in a base station or not;

and if not, the sweeping robot returns to the base station.

Further, the collection time is equal to the product of the collected value and 1 cubic centimeter per second.

A sweeping robot, comprising:

the cleaning system comprises a receiving module, a cleaning module and a cleaning module, wherein the receiving module is used for receiving a cleaning task instruction and acquiring cleaning map data corresponding to the cleaning task instruction;

the first acquisition module is used for acquiring the required value of the dust box corresponding to the cleaning map data;

the second acquisition module is used for acquiring the current value of the dust box and calculating the storable value of the dust box capable of accommodating the garbage according to the current value;

a judging module for judging whether the required value is smaller than the storable value;

and the control module is used for controlling the sweeping robot to start executing a sweeping task under the condition that the judging module judges that the required value is smaller than the storable value.

According to the sweeping robot, after the sweeping robot receives the sweeping task instruction, the sweeping map data corresponding to the sweeping task is obtained, the required value of the dust box is obtained according to the sweeping map data, the storable value of the dust box is obtained according to the current value of the dust box, the required value is compared with the storable value, and whether the dust box can finish sweeping or not can be automatically calculated according to the required value and the storable value under the condition that the required value is smaller than the storable value, namely, the quantity of garbage which can be stored by the dust box is larger than the quantity of garbage which can be collected by the sweeping robot after the sweeping of the sweeping map area.

A computer-readable storage medium storing a computer program which, when executed by a processor, implements the dust collecting method of the cleaning robot described above.

According to the computer-readable storage medium, after the sweeping robot receives a sweeping task instruction, sweeping map data corresponding to the sweeping task is acquired, a required value of the dust box is obtained according to the sweeping map data, a storable value of the dust box is obtained according to a current value of the dust box, the required value is compared with the storable value, and if the required value is judged to be smaller than the storable value, namely, the quantity of garbage which can be stored in the dust box is larger than the quantity of garbage which can be collected by the sweeping robot after sweeping in a sweeping map area, the sweeping robot can automatically calculate whether the dust box can finish sweeping according to the required value and the storable value, so that the situation that the dust box is full or the map cannot be swept in the sweeping process of the sweeping robot can be reduced, the sweeping integrity of the sweeping robot can be improved, and the time consumed by the sweeping robot in the sweeping process can be reduced.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings used in the description of the embodiments of the present invention will be briefly introduced below, and it is obvious that the drawings in the description below are only some embodiments of the present invention, and it is obvious for those skilled in the art that other drawings can be obtained according to the drawings without inventive labor.

Fig. 1 is a schematic flow chart illustrating a dust collecting method of a cleaning robot according to an embodiment of the present invention;

fig. 2 is a schematic flow chart illustrating a dust collecting method of the cleaning robot according to the embodiment of the invention;

fig. 3 is a schematic flow chart of a dust collecting method of the cleaning robot according to the embodiment of the invention;

fig. 4 is another schematic flow chart of a dust collecting method of the cleaning robot according to the embodiment of the invention;

fig. 5 is a schematic view of another flow of the dust collecting method of the cleaning robot according to the embodiment of the present invention;

fig. 6 is another schematic flow chart illustrating a dust collecting method of the cleaning robot according to the embodiment of the invention;

fig. 7 is a schematic flow chart illustrating a dust collecting method of the cleaning robot according to the embodiment of the invention;

fig. 8 is a schematic view of a sweeping robot according to an embodiment of the present invention.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention, and it is apparent that the described embodiments are some, but not all, embodiments of the present invention. All other embodiments, which can be obtained by a person skilled in the art without inventive step based on the embodiments of the present invention, are within the scope of the present invention.

Referring to fig. 1, a dust collecting method of a sweeping robot includes:

step S10, receiving a cleaning task instruction, and acquiring cleaning map data corresponding to the cleaning task instruction;

s20, acquiring a required value of a dust box corresponding to the cleaning map data;

s30, acquiring the current value of the dust box, and calculating the storable value of the garbage accommodated in the current dust box according to the current value;

step S40, judging whether the required value is smaller than a storable value;

if yes, step S50, the sweeping robot is controlled to start controlling the sweeping task.

According to the dust collection method of the sweeping robot, after the sweeping robot receives a sweeping task instruction, sweeping map data corresponding to the sweeping task are obtained, a required value of the dust box is obtained according to the sweeping map data, a storable value of the dust box is obtained according to a current value of the dust box, the required value is compared with the storable value, and under the condition that the required value is judged to be smaller than the storable value, namely, at the moment, the quantity of garbage which can be stored by the dust box is larger than the quantity of garbage which can be collected by the sweeping robot after the sweeping of a sweeping map area, so that the sweeping robot can automatically calculate whether the dust box can finish sweeping according to the required value and the storable value, the situation that the dust box is full or the map cannot be swept in the sweeping process of the sweeping robot can be reduced, the sweeping integrity of the sweeping robot can be improved, and the time consumed by the sweeping robot in the sweeping process can be reduced.

In step S10, the user can use the electronic mobile device or directly operate on the base station, and send a cleaning task instruction to the sweeping robot, after receiving the cleaning task instruction, the sweeping robot sends the cleaning task instruction to the cloud, and after receiving the cleaning task instruction, the cloud searches for a map stored on the cloud according to the cleaning task instruction, and then sends map data of the map to the sweeping robot.

The electronic mobile device includes, but is not limited to, a mobile phone, a computer, a smart watch, and the like, and is not limited to one specific example.

For example, maps of a room a, a room B and a room C are stored in the cloud, a user sends a room a cleaning instruction to the sweeping robot, the sweeping robot receives the room a cleaning instruction and sends the room a cleaning instruction to the cloud, the cloud finds the room a map from the stored map after receiving the room a cleaning instruction, and then sends the room a map data to the sweeping robot, so that the sweeping robot can clean according to the room a map data.

In step S30, when the sweeping robot receives the sweeping task instruction, the sweeping robot may obtain the current value of the dust box, and then obtain a difference between the initial value and the current value of the dust box, where the difference is the current storable value of the sweeping robot.

For example, the initial value of the dust box of the sweeping robot is 30 cubic centimeters, and when the sweeping robot receives the sweeping task instruction, the current value of the dust box acquired by the sweeping robot is 10 cubic centimeters, so that the storable value of the sweeping robot at this time is 20 cubic centimeters, which is obtained by subtracting 10 cubic centimeters from 30 cubic centimeters.

Furthermore, the current value of the dust box can be acquired through an infrared sensor, and the height of the object in the dust box is acquired through the infrared sensor, so that the volume of the object in the dust box at the moment is acquired, and the dust box is simple in structure and easy to realize.

It is understood that, in other embodiments, other sensors may be used to obtain the current value of the dust box, which may be designed according to practical situations and is not limited herein.

The requirement value refers to how many objects are contained in the dust box after the sweeping robot carries out sweeping operation according to a map of the sweeping map data.

The current value refers to how many objects are in the dust box of the sweeping robot at that time.

Further, the required value is mainly obtained according to the numerical value of the objects of the dust box after the previous five times of sweeping robot operations or the previous ten times of sweeping robot operations, and specifically, the required value is stored according to the average value of the objects of the dust box after the previous five times of sweeping robot operations or the previous ten times of sweeping robot operations.

The cleaning task command received in step S10 is the cleaning task command that the cleaning robot starts to execute the cleaning task.

Referring to fig. 2, further, after step S50, the method includes:

step S60, judging whether the sweeping robot finishes sweeping;

if yes, step S70, the sweeping robot is controlled to return to the base station and perform dust collection operation, and after the dust collection operation is completed, the sweeping data is uploaded to the cloud.

That is, after all the works are performed by the sweeping robot, the sweeping data is uploaded to the cloud, such as the sweeping time; such as the swept area; also for example dust collection time. The cloud can send to the electronic mobile device after receiving the cleaning data, and convenience is brought to the user to check, so that the user can inquire the working state of the floor sweeping robot in real time, and the intelligent floor sweeping robot is simple in structure and easy to realize.

Referring to fig. 3, further, the acquiring a required value of the dust box corresponding to the cleaning map data includes:

step S201, acquiring the area square number in the cleaning map data;

step S202, a required value is obtained according to the area square number.

That is, after the sweeping robot acquires the sweeping map data, the area square number in the sweeping map data is acquired, and then the required value is automatically converted according to the area square number, wherein the required value is equal to the product of the area square number and 2.5 cubic centimeters.

For example, the square of the area of the map to be swept is 60 square meters, and the required value is 60 times 2.5 times 15 cubic centimeters, so that the required value is 15 cubic centimeters.

It should be noted that in the case of calculating the required value, the area square number is multiplied by 2.5 cubic centimeters without units, that is, only a specific number is multiplied by 2.5 cubic centimeters.

It is understood that the area square number of the sweep map can be directly obtained on the cloud side.

Referring to FIG. 4, further, determining whether the required value is less than the storable value includes:

if not, step S401, calculating the dust collecting time required by the dust box;

in step S402, the dust box is subjected to dust collection according to the dust collection time.

As can be seen from the above, when the required value is smaller than the storable value, that is, after the cleaning is completed, the garbage can be stored in the dust box, and the dust box is not full.

And under the condition that the required value is larger than the storable value, namely, in the sweeping process, the dust box can be filled with garbage, so that the situation that the dust box is full occurs, at the moment, the sweeping robot cannot work continuously, and can work continuously after returning to the base station for dust collection, so that the working integrity of the sweeping robot can be greatly reduced.

In the embodiment of the invention, under the condition that the required value is larger than the storable value, the sweeping robot firstly calculates the dust collecting time of the objects left in the dust box, then automatically returns to the base station and carries out dust collecting operation according to the dust collecting time, and then executes the sweeping task after the dust collecting operation is finished. So set up, one can avoid because the dust box has been full to lead to sweeping the ground the condition that the robot can not work, is favorable to guaranteeing sweeping the ground the cleaning integrity of robot, in addition, can reduce the time of whole cleaning process, improves and cleans efficiency.

Referring to fig. 5, further, the calculating of the dust collecting time required by the dust box includes:

step S4011, subtracting the storable value from the required value to obtain a collected value;

and step S4012, acquiring dust collection time according to the collected value.

That is to say, the robot of sweeping the floor can plan the collection dirt time according to actual conditions, does not need long-time collection dirt, and effectual control collection dirt time reduces the time of whole process of cleaning, improves and cleans efficiency.

For example, the required value is 20 cubic centimeters, the storable value is 10 cubic centimeters, at the moment, the sweeping robot can meet the sweeping requirement only by returning the sweeping robot to the base station to collect 10 cubic centimeters of dust, therefore, the sweeping robot calculates the dust collection time of 10 cubic centimeters, then the sweeping robot returns to the base station to collect dust according to the dust collection time, after the dust collection time is finished, the sweeping robot can perform a sweeping task, the objects of the whole dust box do not need to be completely collected, the dust collection time is effectively controlled, the time of the whole sweeping process is reduced, and the sweeping efficiency is improved.

Referring to fig. 6, further, after the sweeping robot starts the sweeping task, the method includes:

step S501, judging whether a sweeping task of the sweeping robot is completed or not;

if yes, step S502, acquiring a collection value of the current dust box;

step S503, acquiring the collection time of the dust box according to the collection value;

step S504, collecting dust from the dust box according to the collection time.

That is to say, after the robot of sweeping the floor executed the task of cleaning, the robot of sweeping the floor can calculate the collection time according to the collection value of dirt box, then collects dirt to the dirt box according to the collection time for the collection time becomes more intelligent, rather than the time of regulation comes the collection dirt, has effectually avoided because the collection time is longer leads to consuming the electric energy or because the collection time leads to the phenomenon that the collection dirt effect is not good for short, makes the robot of sweeping the floor more intelligent, promotes user's experience.

Wherein the collection time is equal to the product of the collection value and 1 cubic centimeter per second.

That is, the collection time can be automatically adjusted according to the collection value.

For example, the collection value is 20 cubic centimeters, and the collection time is 20 seconds.

It should be noted that the dust collecting time is calculated in the same manner as the collecting time, and the calculation manner of the collecting time may be specifically checked, which is not limited herein.

Referring to fig. 7, further, after obtaining the collecting time of the dust box according to the collecting value, the method includes:

step S5031, judging whether the sweeping robot is positioned in a base station;

if not, in step S5032, the sweeping robot returns to the base station.

That is to say, the robot of sweeping the floor under the condition of cleaning the end, can automatic calculation collection time, then return to and carry out the collection dirt through the basic station in the basic station again, do not need artifical transport, simple structure easily realizes.

Referring to fig. 8, a sweeping robot includes:

the receiving module 100 is used for receiving the cleaning task instruction and acquiring cleaning map data corresponding to the cleaning task instruction;

a first obtaining module 200, configured to obtain a required value of a dust box corresponding to the cleaning map data;

the second acquisition module 300 is used for acquiring the current value of the dust box and calculating the storable value of the garbage contained in the current dust box according to the current value;

a judgment module 400 for judging whether the required value is smaller than the storable value;

and the control module 500 is used for controlling the sweeping robot to start a sweeping task under the condition that the judging module judges that the required value is smaller than the storable value.

According to the sweeping robot, after the sweeping robot receives the sweeping task instruction, the sweeping map data corresponding to the sweeping task is obtained, the required value of the dust box is obtained according to the sweeping map data, the storable value of the dust box is obtained according to the current value of the dust box, the required value is compared with the storable value, and whether the dust box can finish sweeping or not can be automatically calculated according to the required value and the storable value under the condition that the required value is smaller than the storable value, namely, the quantity of garbage which can be stored by the dust box is larger than the quantity of garbage which can be collected by the sweeping robot after the sweeping of the sweeping map area.

The embodiment of the invention provides a computer-readable storage medium, wherein a computer program is stored in the computer-readable storage medium, and when the computer program is executed by a processor, the dust collection method of the sweeping robot is realized.

According to the computer-readable storage medium, after the sweeping robot receives a sweeping task instruction, sweeping map data corresponding to the sweeping task is acquired, a required value of the dust box is obtained according to the sweeping map data, a storable value of the dust box is obtained according to a current value of the dust box, the required value is compared with the storable value, and if the required value is judged to be smaller than the storable value, namely, the quantity of garbage which can be stored in the dust box is larger than the quantity of garbage which can be collected by the sweeping robot after sweeping in a sweeping map area, the sweeping robot can automatically calculate whether the dust box can finish sweeping according to the required value and the storable value, so that the situation that the dust box is full or the map cannot be swept in the sweeping process of the sweeping robot can be reduced, the sweeping integrity of the sweeping robot can be improved, and the time consumed by the sweeping robot in the sweeping process can be reduced.

Those skilled in the art will appreciate that all or part of the processes of the methods of the above embodiments may be implemented by hardware related to computer readable instructions, and the computer readable instructions may be stored in a non-volatile readable storage medium or a volatile readable storage medium, and when executed, may include the processes of the embodiments of the methods. Any reference to memory, storage, database, or other medium used in the embodiments provided herein may include non-volatile and/or volatile memory, among others. Non-volatile memory can include read-only memory (ROM), programmable ROM (PROM), electrically Programmable ROM (EPROM), electrically Erasable Programmable ROM (EEPROM), or flash memory. Volatile memory can include Random Access Memory (RAM) or external cache memory. By way of illustration and not limitation, RAM is available in a variety of forms such as Static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), double Data Rate SDRAM (DDRSDRAM), enhanced SDRAM (ESDRAM), synchronous Link DRAM (SLDRAM), rambus (Rambus) direct RAM (RDRAM), direct memory bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM).

It should be clear to those skilled in the art that, for convenience and simplicity of description, the foregoing division of the functional units and modules is only used for illustration, and in practical applications, the above function distribution may be performed by different functional units and modules as needed, that is, the internal structure of the system is divided into different functional units or modules to perform all or part of the above described functions.

The above embodiments are only for illustrating the technical solutions of the present invention, and not for limiting the same; although the present invention has been described in detail with reference to the foregoing embodiments, it should be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may be modified or some technical features may be equivalently replaced; such modifications and substitutions do not substantially depart from the spirit and scope of the embodiments of the present invention, and are intended to be included within the scope of the present invention.

Claims (10)

1. A dust collection method of a sweeping robot is characterized by comprising the following steps:

receiving a cleaning task instruction, and acquiring cleaning map data corresponding to the cleaning task instruction;

acquiring a required value of a dust box corresponding to the cleaning map data;

acquiring a current value of a dust box, and calculating a storable value of the dust box capable of accommodating garbage according to the current value;

determining whether said required value is less than said storable value;

and if so, controlling the sweeping robot to start to execute a sweeping task.

2. The dust collecting method of the sweeping robot according to claim 1, wherein the acquiring of the requirement value of the dust box corresponding to the sweeping map data comprises:

acquiring the area square number in the cleaning map data;

and obtaining the required value according to the area square number.

3. A method of collecting dust in a sweeping robot according to claim 2 wherein the required value is equal to the product of the area square and 2.5 cubic centimeters.

4. The dust collecting method of the cleaning robot according to claim 1, wherein the determining whether the required value is less than the storable value comprises:

if not, calculating the dust collecting time required by the dust box;

and collecting dust on the dust box according to the dust collection time.

5. The dust collecting method of the sweeping robot according to claim 4, wherein the calculating of the dust collecting time required by the dust box comprises:

subtracting the storable value from the demand value to obtain an acquired value;

and acquiring the dust collection time according to the acquisition value.

6. The dust collecting method of the sweeping robot according to claim 1, wherein after the sweeping robot starts a sweeping task, the method comprises the following steps:

judging whether the sweeping task of the sweeping robot is finished or not;

if so, acquiring a current collection value of the dust box;

acquiring the collection time of the dust box according to the collection value;

and collecting dust in the dust box according to the collection time.

7. The dust collecting method of the sweeping robot according to claim 6, wherein the step of obtaining the collecting time of the dust box according to the collecting value comprises:

judging whether the sweeping robot is positioned in a base station or not;

and if not, the sweeping robot returns to the base station.

8. The dust collecting method of the sweeping robot according to claim 6, wherein the collecting time is equal to the product of the collecting value and 1 cubic centimeter per second.

9. A robot of sweeping floor, characterized in that, robot of sweeping floor includes:

the cleaning system comprises a receiving module, a cleaning module and a cleaning module, wherein the receiving module is used for receiving a cleaning task instruction and acquiring cleaning map data corresponding to the cleaning task instruction;

the first acquisition module is used for acquiring the required value of the dust box corresponding to the cleaning map data;

the second acquisition module is used for acquiring the current value of the dust box and calculating the storable value of the dust box capable of accommodating the garbage according to the current value;

a judging module for judging whether the required value is smaller than the storable value;

and the control module is used for controlling the sweeping robot to start executing a sweeping task under the condition that the judging module judges that the required value is smaller than the storable value.

10. A computer-readable storage medium, in which a computer program is stored, which, when being executed by a processor, carries out the steps of the dust collecting method of the sweeping robot according to any one of claims 1 to 8.

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