CN115998189A - Control method and control device of cleaning equipment and cleaning equipment - Google Patents
Control method and control device of cleaning equipment and cleaning equipment Download PDFInfo
- Publication number
- CN115998189A CN115998189A CN202310035004.2A CN202310035004A CN115998189A CN 115998189 A CN115998189 A CN 115998189A CN 202310035004 A CN202310035004 A CN 202310035004A CN 115998189 A CN115998189 A CN 115998189A
- Authority
- CN
- China
- Prior art keywords
- information
- scene
- receiving unit
- cleaning
- information receiving
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Images
Abstract
The invention provides a control method and a control device of cleaning equipment and the cleaning equipment. The cleaning equipment comprises a sweeper and a scrubber; the control method comprises the following steps: one of the floor washing machine and the floor sweeping machine is distributed as an information acquisition unit, and the other is distributed as an information receiving unit; the information acquisition unit is controlled to acquire first scene information under the current use scene, and the information acquisition unit is controlled to send the first scene information to the information receiving unit; and controlling the information receiving unit to execute cleaning work on the current use scene according to the first scene information. According to the control method, the control device and the cleaning equipment provided by the invention, the execution work content of the floor washing machine and the floor sweeping machine is divided in detail, so that the respective control logic of the floor washing machine and the floor sweeping machine is simplified, and the cleaning efficiency of the cleaning equipment is improved.
Description
Technical Field
The present invention relates to the field of electrical appliances, and in particular, to a control method and a control device for a cleaning device, and a cleaning device.
Background
The cleaning robot commonly used in families is provided with a floor sweeping machine, a floor washing machine and other cleaning machines, can walk according to indoor terrains in a barrier-avoiding manner, and can automatically clean a stain area.
At present, most indoor cleaning machines only are configured for independent operation of a single cleaning machine of a floor sweeping machine or a floor washing machine, but in the actual use process, spot areas with different spot types often exist, if the cleaning operation is carried out by using only the single cleaning machine, accurate cleaning cannot be realized, and the problem of poor cleaning effect exists.
Disclosure of Invention
The invention provides a control method and a control device of cleaning equipment and the cleaning equipment, which are used for solving the defects in the prior art and realizing the following technical effects: by dividing the execution work content of the floor washing machine and the floor sweeping machine in detail, the respective control logic of the floor washing machine and the floor sweeping machine is convenient to simplify, and the cleaning efficiency of the cleaning equipment is improved.
According to the control method of the cleaning equipment, the cleaning equipment comprises a sweeper and a scrubber;
the control method comprises the following steps:
one of the floor washing machine and the floor sweeping machine is distributed as an information acquisition unit, and the other is distributed as an information receiving unit;
the information acquisition unit is controlled to acquire first scene information under the current use scene, and the information acquisition unit is controlled to send the first scene information to the information receiving unit;
and controlling the information receiving unit to execute cleaning work on the current use scene according to the first scene information.
According to one embodiment of the present invention, the step of allocating one of the scrubber and the sweeper as an information acquisition unit and the other as an information receiving unit specifically includes:
acquiring the use state information of the floor washing machine and the floor sweeping machine;
and according to the using state information, one of the floor washing machine and the floor sweeping machine is distributed as an information acquisition unit, and the other is distributed as an information receiving unit.
According to one embodiment of the present invention, the step of allocating one of the scrubber and the sweeper as an information acquisition unit and the other as an information receiving unit according to the usage status information specifically includes:
determining that one of the floor washing machine and the floor sweeping machine is in a working state and the other one of the floor washing machine and the floor sweeping machine is in an idle state, and selecting the one of the floor washing machine and the floor sweeping machine which is in the working state as the information acquisition unit and the other one of the floor washing machine and the floor sweeping machine which is in the idle state as the information receiving unit;
and if the floor washing machine and the floor sweeping machine are in the working states, acquiring the initial working time of the floor washing machine and the floor sweeping machine, and selecting the former initial working time as the information acquisition unit and the latter initial working time as the information receiving unit.
According to one embodiment of the present invention, the step of allocating one of the scrubber and the sweeper as an information acquisition unit and the other as an information receiving unit specifically includes:
and acquiring the scene type of the current use scene, and distributing one of the floor washing machine and the floor sweeping machine as an information acquisition unit and the other as an information receiving unit according to the scene type.
According to one embodiment of the present invention, the step of controlling the information receiving unit to perform a cleaning operation on a current usage scenario according to the first scenario information specifically includes:
and generating a first scene map according to the first scene information, and controlling the information receiving unit to execute cleaning work on the current use scene based on the first scene map, wherein the first scene information at least comprises first obstacle information and first topographic information.
According to one embodiment of the present invention, the step of controlling the information receiving unit to perform a cleaning operation on a current usage scenario based on the first scenario map specifically includes:
and generating a cleaning path, a cleaning starting point and a cleaning end point according to the first scene map, and controlling the information receiving unit to conduct cruising cleaning between the cleaning starting point and the cleaning end point according to the cleaning path.
According to one embodiment of the present invention, the step of generating a first scene map according to the first scene information, and controlling the information receiving unit to perform a cleaning operation on a current usage scene based on the first scene map specifically includes:
identifying a living body moving area on the first scene map according to living body obstacle information contained in the first obstacle information;
and controlling the information receiving unit to avoid the living body active area in the process of executing cleaning work by the information receiving unit.
According to one embodiment of the present invention, the step of controlling the information receiving unit to perform a cleaning operation on a current usage scenario based on the first scenario map specifically includes:
controlling the information receiving unit to acquire second scene information under the current use scene in the process of executing cleaning work by the information receiving unit, wherein the second scene information at least comprises second obstacle information and second topographic information;
and calibrating and updating the first scene map according to the second scene information, generating a second scene map, and replacing the first scene map by using the second scene map.
According to one embodiment of the present invention, the step of controlling the information collecting unit to collect the first scene information under the current usage scene specifically includes:
and in the process of executing cleaning work, the information acquisition unit is controlled to take a scene picture of the current use scene by using the camera module, and the AI identification module is controlled to identify the scene picture so as to acquire the first scene information.
According to one embodiment of the invention, the cleaning device further comprises a base station for housing the sweeper and the scrubber; the step of controlling the information acquisition unit to send the first scene information to the information receiving unit specifically includes;
the information acquisition unit is controlled to directly send the first scene information to the information receiving unit through a wifi module; or controlling the information acquisition unit to send the first scene information to the information receiving unit through the base station by the wifi module.
According to a second aspect of the invention, a control device for a cleaning apparatus includes a sweeper and a scrubber;
the control device includes:
the first selection module is used for distributing one of the floor washing machine and the floor sweeping machine as an information acquisition unit and the other one as an information receiving unit;
the first control module is used for controlling the information acquisition unit to acquire first scene information under the current use scene and controlling the information acquisition unit to send the first scene information to the information receiving unit;
and the second control module is used for controlling the information receiving unit to execute cleaning work on the current use scene according to the first scene information.
An embodiment of the cleaning device according to the third aspect of the present invention comprises:
a sweeper, a scrubber and a base station for housing the sweeper and the scrubber;
a controller for executing the control method of the cleaning device according to the embodiments of the first aspect of the present invention or the control apparatus of the cleaning device according to the embodiments of the second aspect of the present invention.
According to the control method, the control device and the cleaning equipment of the cleaning equipment, the scene information is collected through one of the floor washer and the floor sweeper (namely the information collecting unit), so that planning of cleaning work and adjustment of cleaning work parameters of the cleaning equipment in the cleaning process are carried out in advance based on the scene information, through detailed division of execution work content of the floor washer and the floor sweeper, respective control logics of the floor washer and the floor sweeper are facilitated, cleaning efficiency of the cleaning equipment is improved, and because the floor washer and the floor sweeper execute work independently, fault interaction between the floor washer and the floor sweeper can be avoided, and stable operation of the cleaning equipment is guaranteed.
In addition, the functions of each cleaning machine are improved, and the problem that all functions are integrated on the same machine to weaken the functions of all parts is solved.
Drawings
In order to more clearly illustrate the invention or the technical solutions of the prior art, the following description will briefly explain the drawings used in the embodiments or the description of the prior art, and it is obvious that the drawings in the following description are some embodiments of the invention, and other drawings can be obtained according to the drawings without inventive effort for a person skilled in the art.
FIG. 1 is a schematic flow chart of a control method of a cleaning apparatus according to the present invention;
FIG. 2 is a second flow chart of a control method of the cleaning apparatus according to the present invention;
FIG. 3 is a third flow chart of a control method of the cleaning apparatus according to the present invention;
FIG. 4 is a flow chart of a control method of the cleaning apparatus according to the present invention;
FIG. 5 is a schematic structural view of a control device of the cleaning apparatus provided by the present invention;
fig. 6 is a schematic structural diagram of an electronic device provided by the present invention.
Detailed Description
For the purpose of making the objects, technical solutions and advantages of the present invention more apparent, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings, and it is apparent that the described embodiments are some embodiments of the present invention, not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
The control method, the control device and the cleaning device of the cleaning device according to the invention are described below with reference to the accompanying drawings. Before the embodiments of the present invention are described in detail, the entire application scenario is described. The control method, the control device, the electronic device and the computer readable storage medium of the cleaning device can be applied to the cleaning device locally, cloud platforms in the Internet field, cloud platforms in other kinds of Internet fields or third party devices. The third party device may include a mobile phone, a tablet computer, a notebook computer, a vehicle-mounted computer, and other intelligent terminals.
In the following, a control method applicable to a cleaning device is only described as an example, and it should be understood that the control method according to the embodiment of the present invention may also be applicable to a cloud platform and a third party device.
As shown in fig. 1, according to a control method of a cleaning apparatus according to an embodiment of a first aspect of the present invention, the cleaning apparatus includes a sweeper, a scrubber, and a base station for accommodating the sweeper and the scrubber.
The control method comprises the following steps:
The control method of the cleaning equipment provided by the invention is based on the cleaning equipment, wherein the structural components of the cleaning equipment comprise a sweeper, a scrubber and a base station for accommodating the sweeper and the scrubber, the sweeper is used for sweeping garbage on the ground, the scrubber is used for cleaning dirt and stain remained on the ground, the base station is used for accommodating the sweeper and the scrubber in an idle state, and the base station can also perform functions of charging, cleaning and the like for the sweeper and the scrubber.
The control method of the cleaning equipment according to the embodiment of the invention comprises the following specific control methods: in the working process of each cleaning device, one of the floor washing machine and the floor sweeping machine is selected as an information acquisition unit, and the other one of the floor washing machine and the floor sweeping machine is selected as an information receiving unit, wherein the purpose of the information acquisition unit is to acquire scene information of a current scene, and the purpose of the information receiving unit is to receive the scene information and execute work according to the scene information. Specifically, after the information acquisition unit and the information receiving unit are determined, the information acquisition unit is responsible for acquiring information of a current scene in the cleaning process and generating first scene information, then the information acquisition unit sends the acquired first scene information to the information receiving unit, and after the information receiving unit receives the first scene information, the information receiving unit can execute the cleaning process on the current scene according to the guidance of the first scene information.
Taking the sweeper as an information acquisition unit and the scrubber as an information receiving unit for illustration, because the sweeper in a working state can move around in the current scene and perform cleaning work of sweeping, the sweeper can acquire information of nearby scenes in the moving process, wherein the information acquired by the sweeper can comprise terrain information of a path, obstacle information and the like, when the scene information of the whole scene (or part of the scene) is acquired by the sweeper, first scene information of the current scene is generated, and then the first scene information is sent to the scrubber by the sweeper, so that the scrubber can perform cleaning parameter adjustment, cleaning route planning and other work adjustment based on the first scene information, thereby being convenient for the scrubber to realize an intelligent cleaning process, simplifying control logic of the scrubber and improving working efficiency of cleaning equipment because the scrubber does not need to acquire and construct information.
In summary, according to the control method of the cleaning device according to the embodiment of the invention, the scene information is collected by one of the scrubber and the sweeper (i.e. the information collecting unit), so that the other of the scrubber and the sweeper (i.e. the information receiving unit) can conveniently conduct planning of cleaning work and adjust own cleaning work parameters in the cleaning process in advance based on the scene information.
In addition, the function of each cleaning machine is improved, and the problem that all functions are integrated on the same machine to cause the weakening of the functions of all parts is solved
According to some embodiments of the present invention, in step 100, the controller needs to perform functional division on the scrubber and the sweeper so that they are used as the information acquisition unit and the information receiving unit, respectively, wherein the basis of the controller dividing the respective functions of the scrubber and the sweeper can be determined in various manners.
In some embodiments, the controller may perform functional division on the scrubber and the sweeper when the scrubber and the sweeper are in an idle state to determine the information acquisition unit and the information receiving unit, at which time the scrubber and the sweeper perform functional division before being separated from the base station and performing cleaning work, and in particular, the controller may determine a functional division result based on an instruction of a user, for example, the user designates the sweeper as the information acquisition unit and designates the scrubber as the information receiving unit; alternatively, the controller may determine the function division result based on a default setting of the system, for example, the system defaults to set the sweeper as the information acquisition unit and defaults to set the scrubber as the information receiving unit; for another example, the controller determines the functional division based on the current situation of the current scene, the current usage requirement, etc., and the present invention is not limited in particular herein.
In other embodiments, the controller may further perform functional division on at least one of the scrubber and the sweeper when the scrubber and/or the sweeper are in an operating state to determine the information acquisition unit and the information receiving unit, at which time the scrubber and/or the sweeper is/are not functionally divided until the scrubber and/or the sweeper is separated from the base station and performs cleaning operation, and the controller may determine a functional division result based on a user instruction, for example, the user designates the sweeper as the information acquisition unit and designates the scrubber as the information receiving unit; alternatively, the controller may determine the function division result based on the operation states of the scrubber and the sweeper, for example, when the scrubber is not operated and the sweeper is operated, the sweeper is taken as the information collecting unit and the scrubber is taken as the information receiving unit, and when the sweeper is not operated and the scrubber is operated, the scrubber is taken as the information collecting unit and the sweeper is taken as the information receiving unit, the present invention is not particularly limited herein.
As shown in fig. 2, in a specific embodiment of the present invention, the step 100 of allocating one of the scrubber and the sweeper as an information acquisition unit and the other as an information receiving unit specifically includes:
acquiring the use state information of the floor washing machine and the floor sweeping machine;
one of the floor washing machine and the floor sweeping machine is selected as an information acquisition unit and the other is selected as an information receiving unit according to the use state information.
In this embodiment, the control determines the function division result according to the usage state information of the cleaning device, and uses the machine in the working state as the information acquisition unit so as to realize the rapid acquisition function, thereby facilitating the cleaning device to rapidly realize information acquisition, and performing work adjustment based on the acquired information.
Further, according to the usage status information, a step of selecting one of the scrubber and the sweeper as an information acquisition unit and the other as an information receiving unit, comprising:
and determining that one of the floor washing machine and the floor sweeping machine is in a working state and the other one of the floor washing machine and the floor sweeping machine is in an idle state, and selecting the information collecting unit in the working state of the floor washing machine and the floor sweeping machine as the information receiving unit in the idle state.
Therefore, the machine in the working state is used for collecting information, the other machine is not required to be operated to move, and the machine in the working state is used for collecting scene information while cleaning work is carried out, so that the working efficiency of the cleaning equipment is improved.
For example, if the scrubber is in a working state and the sweeper is in an idle state, the scrubber is set as an information acquisition unit and the sweeper is set as an information receiving unit; if the sweeper is in a working state and the scrubber is in an idle state, the sweeper is set as an information acquisition unit and the scrubber is used as an information receiving unit.
Further, the step of selecting one of the floor washing machine and the floor sweeping machine as the information acquisition unit and the other as the information receiving unit according to the use state information, further includes:
and if the floor washing machine and the floor sweeping machine are in the working states, acquiring the initial working time of the floor washing machine and the floor sweeping machine, and selecting the former initial working time as an information acquisition unit and the latter initial working time as an information receiving unit.
Therefore, the information acquisition is performed by the machine which starts working in advance because the moving distance of the machine which starts working in advance is longer and the path scene area is larger, so that the information acquisition efficiency can be greatly improved, and the first scene information can be quickly generated.
For example, the floor cleaner and the sweeper are both in working states, and if the initial working time of the sweeper is earlier than the initial working time of the floor cleaner (i.e. the sweeper works earlier than the floor cleaner), the sweeper is set as an information acquisition unit and the floor cleaner is used as an information receiving unit; if the starting working time of the floor washing machine is earlier than the starting working time of the sweeping machine (namely, the floor washing machine works earlier than the sweeping machine), the floor washing machine is set as an information acquisition unit, and the sweeping machine is used as an information receiving unit.
Further, if in step 100, the scrubber and the sweeper are both in an idle state, the controller may divide the functions of the scrubber and the sweeper according to the instruction below the user, for example, the scrubber and the sweeper are both in an idle state, and when the user issues the instruction for controlling the scrubber to operate first, the scrubber is used as the information acquisition unit; when a user issues an instruction for controlling the sweeper to work first, the sweeper is used as an information acquisition unit.
In another embodiment of the present invention, the step 100 of allocating one of the scrubber and the sweeper as an information acquisition unit and the other as an information receiving unit specifically includes:
the scene type of the current use scene is obtained, and one of the floor washing machine and the floor sweeping machine is selected as an information acquisition unit and the other is selected as an information receiving unit according to the scene type.
Therefore, different functions of the floor washing machine and the floor sweeping machine are divided under the use scenes of different scene types, so that the cleaning equipment can adapt to the current use scene, and the information rapid acquisition function under the specific scene can be realized conveniently.
For example, the controller obtains the scene type of the current use scene, if the current use scene is a use scene with more ground stains such as a bathroom, a kitchen and the like, the use type of the use scene is classified as a use scene to be cleaned, and under the use scene to be cleaned, as the garbage needing to be cleaned in the scene is less and the stains needing to be cleaned are more, the controller takes the sweeper for executing the cleaning function as an information acquisition unit, so the sweeper for executing the cleaning function can adjust the cleaning work according to the acquired first scene information, thereby cleaning the large-area stains in the use scene to be cleaned more quickly and better, and at the moment, the sweeper can put all calculation forces on the planning and adjustment of the cleaning work without acquiring the scene information, thereby improving the cleaning efficiency and ensuring that the stains in the use scene to be cleaned are all cleaned.
Of course, the above embodiments are only some of the numerous embodiments of the present invention, and do not constitute a specific limitation on the functional dividing manner of the present invention, and the controller may also determine the information collecting unit and the information receiving unit according to the functional division of the floor washing machine and the floor sweeping machine based on the user instruction, the default setting of the system, and the like, and the present invention is not limited herein.
As shown in fig. 3, according to some embodiments of the present invention, the control information receiving unit performs a cleaning operation on a current usage scenario according to first scenario information, and specifically includes:
a first scene map is generated from the first scene information, which includes at least first obstacle information and first terrain information, and the control information receiving unit performs a cleaning operation on the current usage scene based on the first scene map.
In this embodiment, the information acquisition unit scans the terrain and the obstacle of the path during the movement and acquires the data information thereof, thereby generating first obstacle information and first terrain information, wherein the first obstacle information includes, but is not limited to, information of the type of obstacle, the area occupied by the obstacle on the ground, the volume of the obstacle, and the like, and the terrain information includes, but is not limited to, information of the ground flatness, the ground walkable area, the area of the ground depression or protrusion, and the like.
After the first scene information is acquired, the controller constructs a first scene map of the current use scene based on the first obstacle information and the first terrain information, and then sends the first scene map to the information receiving unit, so that the information receiving unit can adjust and plan in advance the cleaning work according to the first scene map. Wherein the first scene map at least comprises a two-dimensional or three-dimensional map of the ground topography and the distribution and occupation area of the obstacles on the ground.
As shown in fig. 3, according to some embodiments of the present invention, the control information receiving unit performs a cleaning operation on a current usage scenario based on a first scenario map, and specifically includes:
a cleaning path, a cleaning start point, and a cleaning end point are generated according to the first scene map, and the information receiving unit is controlled to perform cruise cleaning between the cleaning start point and the cleaning end point according to the cleaning path.
In this embodiment, the controller may generate the cleaning path through the first scene map, and determine the cleaning start point and the cleaning end point of the cleaning path, so that the floor scrubber or the sweeper may perform cleaning according to the cleaning path, and improve the working efficiency of the cleaning device.
Further, in the step of generating the cleaning path, the cleaning start point, and the cleaning end point according to the first scene map, the controller may set different cleaning paths according to the user's needs and the specific use condition for selection.
For example, taking a floor scrubber as an information receiving unit, if a user needs to clean the floor of the whole house, the controller generates a cleaning path according to the first scene map, and the cleaning path covers all floors of the house, and at this time, the floor scrubber can clean the floor of the whole house according to the cleaning path.
For another example, if the user needs to wash a region with more stains in the house by the floor washing machine, the controller generates a cleaning path according to the first scene map, and the cleaning path is planned according to the region to be washed with more stains, so that the floor washing machine can wash the region to be washed with high efficiency according to a shorter path.
According to some embodiments of the present invention, a first scene map is generated according to first scene information, and the control information receiving unit performs a cleaning operation on a current usage scene based on the first scene map, specifically including:
identifying a living body moving area on a first scene map according to living body obstacle information contained in the first obstacle information;
the information receiving unit is controlled to avoid the living body active region in the process of executing the cleaning work by the information receiving unit.
In this embodiment, in the first scene information acquired by the information acquisition unit, the first obstacle information includes living obstacle information having vital signs and non-living obstacle information having no vital signs, where, for the non-living obstacle information, the controller may directly perform identification on the first scene map according to a ground area occupied by the non-living obstacle so as to facilitate the information receiving unit to avoid the non-living obstacle.
However, for the living obstacle, since the living obstacle may be a person or a pet, the living obstacle may not be stationary at a certain position and has its own moving range and area, so in order to avoid interference of the living obstacle to the operation of the information receiving unit, the controller marks the living moving area of the living obstacle on the map for the living obstacle and controls the information receiving unit to avoid the living moving area in the process of executing the operation, thereby avoiding the road sweeper or the floor washer from being blocked by the living obstacle, ensuring smooth progress of the cleaning operation, improving the use experience of the user, and avoiding the problem of the machine striking the user.
Further, in the step of the information receiving unit performing the cleaning work according to the first scene map, when the information receiving unit moves to the vicinity of the living body active area, the information receiving unit may further scan the living body active area and detect whether there is a vital sign in the area, and if the information receiving unit does not detect the vital sign in the living body active area, the information receiving unit does not avoid the living body active area and clean the living body active area; if the information receiving unit detects vital signs in the living body active area, the information receiving unit avoids the living body active area and continues to clean other areas.
Further, when the information receiving unit moves to the vicinity of the living body activity area and the information receiving unit detects that vital signs exist in the living body activity area, the information receiving unit can further acquire living body information in the living body activity area, so that the type, age, volume and other characteristics of the living body obstacle are determined according to the living body information, and if the living body obstacle is determined to be an older person or a younger child, the information receiving unit executes self-locking action, namely, the information receiving unit is stationary in place and pauses cleaning work, so that the old person or the child is prevented from falling down due to mistakenly stepping on a moving machine, and safety accidents caused by the fact that the child stretches hands and feet into the machine are avoided, the use safety of the cleaning equipment is ensured, and the cleaning equipment is more humanized.
As shown in fig. 4, according to some embodiments of the present invention, the control information receiving unit performs a cleaning operation on a current usage scenario based on a first scenario map, and specifically includes:
the method comprises the steps that in the process that an information receiving unit executes cleaning work, the information receiving unit is controlled to collect second scene information under the current use scene, wherein the second scene information at least comprises second obstacle information and second topographic information;
and calibrating and updating the first scene map according to the second scene information, generating a second scene map, and replacing the first scene map by the second scene map.
In this embodiment, the information receiving unit may further collect second obstacle information and second topographic information in the current use scenario to generate second scenario information during the cleaning operation, and then the controller corrects the first scenario map based on the second scenario information, corrects erroneous topographic information or obstacle information in the first scenario map, thereby generating the second scenario map and replacing the original first scenario map, to thereby implement correction of the scenario map. In addition, the cleaning device of the embodiment can update the scene map when the position of the obstacle changes due to human factors, and the accuracy and timeliness of the scene map are ensured.
According to some embodiments of the present invention, the step of controlling the information acquisition unit to acquire the first scene information under the current usage scene specifically includes:
in the process that the information acquisition unit executes cleaning work, the information acquisition unit is controlled to shoot a scene picture of a current use scene by using the camera module, and the AI recognition module is controlled to recognize the scene picture so as to acquire first scene information.
According to some embodiments of the present invention, the step of controlling the information acquisition unit to transmit the first scene information to the information receiving unit specifically includes;
the control information acquisition unit directly sends the first scene information to the information receiving unit through the wifi module; or the control information acquisition unit sends the first scene information to the information receiving unit through the base station by the wifi module.
In a specific embodiment, the sweeper is an information acquisition unit, the scrubber is an information receiving unit, the cleaning area is subjected to real-time terrain acquisition in the sweeping process of the sweeper, a picture can be shot through the camera module, the picture is returned to the inside, the distribution condition of obstacles is analyzed through the AI identification module, so that map information is perfected, the map information is shared to the scrubber through the WiFi module and the home Internet of things, and the scrubber can plan a sweeping path in advance according to target map information.
In addition, the sweeper can spread map sharing through the WiFi module and based on the home Internet of things, and the home internal intelligent equipment can also share data, for example, the sweeper, the floor washer, the base station and the sensors in the regional Internet of things can call the data, so that the sweeper and the floor washer can obtain map information of a target region in advance, and a cleaning starting point and a planned cleaning path are selected.
The control device of the cleaning device provided by the invention is described below, and the control device of the cleaning device described below and the control method of the cleaning device described above can be referred to correspondingly.
As shown in fig. 5, the control device of the cleaning apparatus according to the embodiment of the second aspect of the present invention, wherein the cleaning apparatus includes a sweeper, a scrubber, and a base station for accommodating the sweeper and the scrubber.
The control device comprises: a first selection module 110, a first control module 120, and a second control module 130.
The first selection module 110 is configured to select one of the scrubber and the sweeper to be an information acquisition unit and the other to be an information receiving unit; the first control module 120 is configured to control the information acquisition unit to acquire first scene information under a current usage scene, and control the information acquisition unit to send the first scene information to the information receiving unit; the second control module 130 is used for controlling the information receiving unit to execute cleaning work on the current usage scenario according to the first scenario information.
The cleaning device according to the embodiment of the third aspect of the invention comprises a sweeper, a scrubber, a base station for accommodating the sweeper and the scrubber, and a controller for executing the control method of the cleaning device or the control device of the cleaning device.
The control device and the cleaning apparatus according to the embodiments of the present invention have effects similar to those of the control method of the cleaning apparatus according to the first aspect of the present invention, and will not be described herein.
Fig. 6 illustrates a physical schematic diagram of an electronic device, as shown in fig. 6, which may include: processor 810, communication interface (Communications Interface) 820, memory 830, and communication bus 840, wherein processor 810, communication interface 820, memory 830 accomplish communication with each other through communication bus 840. The processor 810 may invoke logic instructions in the memory 830 to perform the control method of the cleaning device described in the first aspect of the embodiment of the present invention.
Further, the logic instructions in the memory 830 described above may be implemented in the form of software functional units and may be stored in a computer-readable storage medium when sold or used as a stand-alone product. Based on this understanding, the technical solution of the present invention may be embodied essentially or in a part contributing to the prior art or in a part of the technical solution in the form of a software product stored in a storage medium, comprising several instructions for causing a computer device (which may be a personal computer, a server, a network device, etc.) to perform all or part of the steps of the method of the embodiments of the present invention. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a random access Memory (RAM, random Access Memory), a magnetic disk, or an optical disk, or other various media capable of storing program codes.
In another aspect, the present invention also provides a computer program product comprising a computer program, the computer program being storable on a non-transitory computer readable storage medium, the computer program being capable of performing the method of controlling a cleaning device as described in the embodiment of the first aspect of the present invention when the computer program is executed by a processor.
In yet another aspect, the present invention also provides a non-transitory computer readable storage medium having stored thereon a computer program which, when executed by a processor, is implemented to perform the method of controlling a cleaning device as described in the embodiment of the first aspect of the present invention.
The apparatus embodiments described above are merely illustrative, wherein elements illustrated as separate elements may or may not be physically separate, and elements shown as elements may or may not be physical elements, may be located in one place, or may be distributed over a plurality of network elements. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of this embodiment. Those of ordinary skill in the art will understand and implement the present invention without undue burden.
From the above description of the embodiments, it will be apparent to those skilled in the art that the embodiments may be implemented by means of software plus necessary general hardware platforms, or of course may be implemented by means of hardware. Based on such understanding, the foregoing technical solutions may be embodied essentially or in part in the form of a software product, which may be stored in a computer-readable storage medium, such as a ROM/RAM, a magnetic disk, an optical disk, etc., including several instructions to cause a computer device (which may be a personal computer, a server, or a network device, etc.) to perform the various embodiments or methods of some parts of the embodiments.
Finally, it should be noted that: the above embodiments are only for illustrating the technical solution of the present invention, and are not limiting; although the invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit and scope of the technical solutions of the embodiments of the present invention.
Claims (12)
1. A control method of a cleaning apparatus, characterized in that the cleaning apparatus comprises a sweeper and a scrubber;
the control method comprises the following steps:
one of the floor washing machine and the floor sweeping machine is distributed as an information acquisition unit, and the other is distributed as an information receiving unit;
the information acquisition unit is controlled to acquire first scene information under the current use scene, and the information acquisition unit is controlled to send the first scene information to the information receiving unit;
and controlling the information receiving unit to execute cleaning work on the current use scene according to the first scene information.
2. The control method of a cleaning apparatus according to claim 1, wherein the step of assigning one of the scrubber and the sweeper as an information acquisition unit and the other as an information receiving unit specifically includes:
acquiring the use state information of the floor washing machine and the floor sweeping machine;
and according to the using state information, one of the floor washing machine and the floor sweeping machine is distributed as an information acquisition unit, and the other is distributed as an information receiving unit.
3. The control method of the cleaning apparatus according to claim 2, wherein the step of assigning one of the scrubber and the sweeper as an information acquisition unit and the other as an information receiving unit according to the usage status information, specifically comprises:
determining that one of the floor washing machine and the floor sweeping machine is in a working state and the other one of the floor washing machine and the floor sweeping machine is in an idle state, and selecting the one of the floor washing machine and the floor sweeping machine which is in the working state as the information acquisition unit and the other one of the floor washing machine and the floor sweeping machine which is in the idle state as the information receiving unit;
and if the floor washing machine and the floor sweeping machine are in the working states, acquiring the initial working time of the floor washing machine and the floor sweeping machine, and selecting the former initial working time as the information acquisition unit and the latter initial working time as the information receiving unit.
4. The control method of a cleaning apparatus according to claim 1, wherein the step of assigning one of the scrubber and the sweeper as an information acquisition unit and the other as an information receiving unit specifically includes:
and acquiring the scene type of the current use scene, and distributing one of the floor washing machine and the floor sweeping machine as an information acquisition unit and the other as an information receiving unit according to the scene type.
5. The method of controlling a cleaning apparatus according to claim 1, wherein the step of controlling the information receiving unit to perform a cleaning job on a current usage scenario according to the first scenario information, specifically comprises:
and generating a first scene map according to the first scene information, and controlling the information receiving unit to execute cleaning work on the current use scene based on the first scene map, wherein the first scene information at least comprises first obstacle information and first topographic information.
6. The method according to claim 5, characterized in that the step of controlling the information receiving unit to perform a cleaning job on a current usage scenario based on the first scenario map, specifically comprises:
and generating a cleaning path, a cleaning starting point and a cleaning end point according to the first scene map, and controlling the information receiving unit to conduct cruising cleaning between the cleaning starting point and the cleaning end point according to the cleaning path.
7. The method according to claim 5, wherein the step of generating a first scene map from the first scene information, and controlling the information receiving unit to perform a cleaning job on a current usage scene based on the first scene map, specifically comprises:
identifying a living body moving area on the first scene map according to living body obstacle information contained in the first obstacle information;
and controlling the information receiving unit to avoid the living body active area in the process of executing cleaning work by the information receiving unit.
8. The method according to claim 5, characterized in that the step of controlling the information receiving unit to perform a cleaning job on a current usage scenario based on the first scenario map, specifically comprises:
controlling the information receiving unit to acquire second scene information under the current use scene in the process of executing cleaning work by the information receiving unit, wherein the second scene information at least comprises second obstacle information and second topographic information;
and calibrating and updating the first scene map according to the second scene information, generating a second scene map, and replacing the first scene map by using the second scene map.
9. The method of controlling a cleaning apparatus according to any one of claims 1 to 8, characterized in that the step of controlling the information acquisition unit to acquire first scene information in a current use scene specifically comprises:
and in the process of executing cleaning work, the information acquisition unit is controlled to take a scene picture of the current use scene by using the camera module, and the AI identification module is controlled to identify the scene picture so as to acquire the first scene information.
10. The control method of a cleaning apparatus according to any one of claims 1 to 8, characterized in that the cleaning apparatus further comprises a base station for accommodating the scrubber and the sweeper; the step of controlling the information acquisition unit to send the first scene information to the information receiving unit specifically includes;
the information acquisition unit is controlled to directly send the first scene information to the information receiving unit through a wifi module; or controlling the information acquisition unit to send the first scene information to the information receiving unit through the base station by the wifi module.
11. A control device of a cleaning device, characterized in that the cleaning device comprises a sweeper and a scrubber;
the control device includes:
the first selection module is used for distributing one of the floor washing machine and the floor sweeping machine as an information acquisition unit and the other one as an information receiving unit;
the first control module controls the information acquisition unit to acquire first scene information under the current use scene and controls the information acquisition unit to send the first scene information to the information receiving unit;
and the second control module is used for controlling the information receiving unit to execute cleaning work on the current use scene according to the first scene information.
12. A cleaning apparatus, comprising:
a sweeper, a scrubber and a base station for housing the sweeper and the scrubber;
a controller for executing the control method of the cleaning apparatus according to any one of claims 1 to 10, or the control device of the cleaning apparatus according to claim 11.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310035004.2A CN115998189A (en) | 2023-01-10 | 2023-01-10 | Control method and control device of cleaning equipment and cleaning equipment |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310035004.2A CN115998189A (en) | 2023-01-10 | 2023-01-10 | Control method and control device of cleaning equipment and cleaning equipment |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN115998189A true CN115998189A (en) | 2023-04-25 |
Family
ID=86024655
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202310035004.2A Pending CN115998189A (en) | 2023-01-10 | 2023-01-10 | Control method and control device of cleaning equipment and cleaning equipment |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN115998189A (en) |
-
2023
- 2023-01-10 CN CN202310035004.2A patent/CN115998189A/en active Pending
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN109976350A (en) | Multirobot dispatching method, device, server and computer readable storage medium | |
| CN109540155A (en) | A kind of path planning and navigation method, computer installation and the computer readable storage medium of sweeping robot | |
| CN110251004A (en) | Sweeping robot and its cleaning method and computer readable storage medium | |
| CN113854906B (en) | Control method, device and equipment for cooperative operation of multiple cleaning robots | |
| CN113633221B (en) | Method, device and system for processing missed-scanning area of automatic cleaning equipment | |
| CN108955696B (en) | Sweeper and path planning method and device thereof | |
| CN111904346A (en) | Method and device for getting rid of difficulties of sweeping robot, computer equipment and storage medium | |
| CN111603100B (en) | Storage and reuse method and storage and reuse device for sweeping drawing of sweeper | |
| CN115373408A (en) | Cleaning robot, control method, device, equipment and storage medium thereof | |
| CN112748721A (en) | Visual robot and cleaning control method, system and chip thereof | |
| CN115998189A (en) | Control method and control device of cleaning equipment and cleaning equipment | |
| CN111973071B (en) | Sweeper base selection method and device, storage medium and equipment | |
| CN114343490A (en) | Robot cleaning method, robot, and storage medium | |
| CN111759230A (en) | Walking control method and device for mobile robot, floor washing machine and storage medium | |
| CN115336459A (en) | Subtilism processing method, system, computer readable medium and mowing robot | |
| CN114869175A (en) | Cleaning obstacle avoidance method and device, electronic equipment and storage medium | |
| CN114515124B (en) | Cleaning position determining method, cleaning position determining device, cleaning position determining equipment and storage medium | |
| CN111857150A (en) | Mobile robot path planning method and device, mobile robot and storage medium | |
| CN112991527A (en) | Target object avoiding method and device, storage medium and electronic device | |
| CN114711668B (en) | Cleaning method, cleaning device, sweeper and computer readable storage medium | |
| CN117452955B (en) | Control method, control device and cleaning system of cleaning equipment | |
| CN116269044A (en) | Cleaning method, device, equipment and product of twin cleaning machine | |
| CN116211169A (en) | Cleaning method, device, equipment and product of twin cleaning machine | |
| CN115444311B (en) | Cleaning method for cleaning robot, storage medium, and cleaning robot | |
| CN113009911B (en) | Cleaning path generation method and device and self-moving equipment |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination |