CN117100184A - Skirting line cleaning method, floor sweeping robot and computer readable storage medium - Google Patents
Skirting line cleaning method, floor sweeping robot and computer readable storage medium Download PDFInfo
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- CN117100184A CN117100184A CN202311326118.9A CN202311326118A CN117100184A CN 117100184 A CN117100184 A CN 117100184A CN 202311326118 A CN202311326118 A CN 202311326118A CN 117100184 A CN117100184 A CN 117100184A
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- skirting line
- cleaning
- sweeping robot
- sweeping
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- 238000010408 sweeping Methods 0.000 title claims abstract description 216
- 238000004140 cleaning Methods 0.000 title claims abstract description 208
- 238000000034 method Methods 0.000 title claims abstract description 68
- 239000000428 dust Substances 0.000 claims description 23
- 238000004590 computer program Methods 0.000 claims description 4
- 230000006870 function Effects 0.000 abstract description 13
- 238000001514 detection method Methods 0.000 description 2
- 230000002349 favourable effect Effects 0.000 description 2
- 230000001360 synchronised effect Effects 0.000 description 2
- 206010063385 Intellectualisation Diseases 0.000 description 1
- 230000002159 abnormal effect Effects 0.000 description 1
- 238000013473 artificial intelligence Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000001680 brushing effect Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000007306 functionalization reaction Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 239000007779 soft material Substances 0.000 description 1
- 230000003068 static effect Effects 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
Classifications
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—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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- 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
-
- 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
- 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
Landscapes
- Electric Vacuum Cleaner (AREA)
Abstract
The application discloses a skirting line cleaning method, a sweeping robot and a computer readable storage medium, wherein the method comprises the following steps: acquiring a cleaning task instruction; controlling the sweeping robot to sweep according to the sweeping task instruction; judging whether the sweeping robot executes an edge sweeping task or not; if yes, judging whether skirting lines exist in the process of the edge cleaning task; if yes, the floor sweeping robot is controlled to pop up the skirting line cleaning device to clean the skirting line. That is, the floor sweeping robot disclosed by the application not only can clean the ground, but also can intelligently judge whether a skirting line exists in the edge cleaning process, and the skirting line cleaning device is used for cleaning the skirting line under the condition that the skirting line exists, so that the functions of the floor sweeping robot are more diversified, the complexity of manually cleaning the skirting line is avoided, the practicability of the floor sweeping robot is improved, and the experience of a user is improved.
Description
Technical Field
The present application relates to the field of sweeping robots, and in particular, to a method for cleaning skirting lines, a sweeping robot, and a computer readable storage medium.
Background
The intelligent floor sweeping robot, also called automatic sweeping machine, intelligent dust collector, robot dust collector, etc. is one kind of intelligent household appliance and can complete floor cleaning automatically inside and outside room with certain artificial intelligence. Generally, the brushing and vacuum modes are adopted, and the ground sundries are firstly absorbed into the garbage storage box of the ground, so that the function of cleaning the ground is completed. Generally speaking, the robot for completing mopping, dust collection and mopping is also uniformly classified as an intelligent sweeping robot, the existing sweeping robot comprises a mop, and the mop can achieve the mopping effect in the sweeping process of the sweeping robot, that is, the intelligent sweeping robot has the function of sweeping, the function of mopping, the multifunction of the intelligent sweeping robot is improved, and the user experience is improved.
Generally, when the intelligent floor sweeping robot is used for floor cleaning tasks, the cleaning of the skirting line cannot be considered, however, the skirting line is an unavoidable cleaning place when the household is swept in a large scale, and the skirting line is located close to the floor and clings to the wall surface, so that the user can clean the floor only by squatting down and extending the wall to a little, and the user can feel soreness and pain of waist and legs after long-time use, so that the floor sweeping robot can not clean the floor, the functionalization of the floor sweeping robot is limited, and the user experience is reduced.
Disclosure of Invention
Accordingly, there is a need for a method for cleaning skirting lines, a sweeping robot and a computer readable storage medium, which solve the problem that the sweeping robot in the prior art cannot clean skirting lines during cleaning of a floor.
The embodiment of the application provides a cleaning method of skirting lines, which is used for a floor sweeping robot, and comprises the following steps:
acquiring a cleaning task instruction;
controlling the sweeping robot to sweep according to the sweeping task instruction;
judging whether the sweeping robot executes an edge sweeping task or not;
if yes, judging whether skirting lines exist in the process of the edge cleaning task;
if so, controlling the floor sweeping robot to pop up the skirting line cleaning device to clean the skirting line.
According to the skirting line cleaning method, after the cleaning task instruction is acquired, the cleaning robot is controlled to perform cleaning according to the cleaning task instruction, whether the cleaning robot performs the edge cleaning task is judged under the condition that the cleaning robot performs the cleaning according to the cleaning task instruction, whether the skirting line exists in the process of the edge cleaning task is judged under the condition that the cleaning robot performs the edge cleaning task is judged, and the cleaning device of the skirting line is controlled to perform cleaning on the skirting line under the condition that the skirting line exists in the process of the edge cleaning task is judged. That is, the floor sweeping robot disclosed by the application not only can clean the ground, but also can intelligently judge whether a skirting line exists in the edge cleaning process, and the skirting line cleaning device is used for cleaning the skirting line under the condition that the skirting line exists, so that the functions of the floor sweeping robot are more diversified, the complexity of manually cleaning the skirting line is avoided, the practicability of the floor sweeping robot is improved, and the experience of a user is improved.
Further, the determining whether the sweeping robot performs the edge sweeping task includes:
acquiring an image of the right side of the sweeping robot;
judging whether a wall surface exists in the image;
if so, controlling the sweeping robot to start to execute the edge sweeping task.
Further, if yes, controlling the sweeping robot to start to execute the edge sweeping task, including:
acquiring the distance between the right side of the sweeping robot and the wall surface;
judging whether the distance is equal to a preset distance or not;
if so, controlling the sweeping robot to start to execute the edge sweeping task.
Further, if so, judging whether skirting lines exist in the process of the edge cleaning task, including:
acquiring an image of the right side of the sweeping robot;
judging whether skirting lines exist according to the image;
if so, controlling the floor sweeping robot to pop up the skirting line cleaning device to clean the skirting line.
Further, if yes, control the robot pops up skirting line cleaning device and cleans the skirting line, include:
judging whether the skirting line has more dust or not;
if so, controlling the floor sweeping robot to pop up the skirting line cleaning device to clean the skirting line.
Further, the determining whether the skirting line has more dust includes:
acquiring an initial image of the skirting line;
acquiring a current image of the skirting line;
comparing the initial image of the skirting line with the current image of the skirting line to obtain comparison similarity;
judging whether the comparison similarity is smaller than a preset comparison similarity or not;
if so, controlling the floor sweeping robot to pop up the skirting line cleaning device to clean the skirting line.
Further, the comparing the initial image of the skirting line with the current image of the skirting line to obtain a contrast similarity includes:
acquiring the current positioning of the sweeping robot;
and acquiring an initial image conforming to the current positioning from the initial image stored in the cloud according to the current positioning.
Further, if yes, after controlling the sweeping robot to pop up the skirting line cleaning device to clean the skirting line, the method comprises the following steps:
judging whether the sweeping robot is far away from the wall surface or not;
if yes, controlling the skirting line cleaning device to be accommodated in the body of the sweeping robot.
The embodiment of the application provides a sweeping robot, which comprises:
the acquisition module is used for acquiring a cleaning task instruction;
the first control module is used for controlling the sweeping robot to sweep according to the sweeping task instruction;
the first judging module is used for judging whether the sweeping robot executes an edge sweeping task or not;
the second judging module is used for judging whether skirting lines exist in the process of the edge cleaning task or not under the condition that the first judging module judges that the cleaning robot executes the edge cleaning task;
the second control module is used for controlling the floor sweeping robot to pop up the skirting line cleaning device to clean the skirting line under the condition that the second judging module judges that the skirting line exists in the process of the edge cleaning task.
After a cleaning task instruction is acquired, the cleaning robot is controlled to perform cleaning according to the cleaning task instruction, whether the cleaning robot performs an edge cleaning task is judged under the condition that the cleaning robot performs cleaning according to the cleaning task instruction, whether a skirting line exists in the process of the edge cleaning task is judged under the condition that the cleaning robot performs the edge cleaning task is judged, and the cleaning robot controls the skirting line cleaning device to perform cleaning on the skirting line under the condition that the skirting line exists in the process of the edge cleaning task is judged. That is, the floor sweeping robot disclosed by the application not only can clean the ground, but also can intelligently judge whether a skirting line exists in the edge cleaning process, and the skirting line cleaning device is used for cleaning the skirting line under the condition that the skirting line exists, so that the functions of the floor sweeping robot are more diversified, the complexity of manually cleaning the skirting line is avoided, the practicability of the floor sweeping robot is improved, and the experience of a user is improved.
A computer readable storage medium storing a computer program which when executed by a processor implements the above method of cleaning a skirting line.
The computer readable storage medium of the application controls the sweeping robot to sweep according to the sweeping task instruction after the sweeping task instruction is acquired, judges whether the sweeping robot executes the edge sweeping task or not under the condition that the sweeping robot sweeps according to the sweeping task instruction, judges whether a skirting line exists in the process of the edge sweeping task under the condition that the sweeping robot executes the edge sweeping task, and controls the skirting line cleaning device to sweep the skirting line under the condition that the skirting line exists in the process of the edge sweeping task. That is, the floor sweeping robot disclosed by the application not only can clean the ground, but also can intelligently judge whether a skirting line exists in the edge cleaning process, and the skirting line cleaning device is used for cleaning the skirting line under the condition that the skirting line exists, so that the functions of the floor sweeping robot are more diversified, the complexity of manually cleaning the skirting line is avoided, the practicability of the floor sweeping robot is improved, and the experience of a user is improved.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings that are needed in the description of the embodiments of the present application will be briefly described below, it being obvious that the drawings in the following description are only some embodiments of the present application, and that other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
FIG. 1 is a schematic flow chart of a method for cleaning skirting line according to an embodiment of the present application;
FIG. 2 is a schematic flow chart of a method for cleaning skirting line according to an embodiment of the present application;
FIG. 3 is a schematic flow chart of a method for cleaning skirting line according to an embodiment of the present application;
FIG. 4 is a schematic flow chart of a method for cleaning skirting line according to an embodiment of the present application;
FIG. 5 is a schematic flow chart of a method for cleaning skirting line according to an embodiment of the present application;
FIG. 6 is a schematic flow chart of a method for cleaning skirting line according to an embodiment of the present application;
FIG. 7 is a schematic view of another process of cleaning skirting line according to an embodiment of the present application;
FIG. 8 is a schematic flow chart of a method for cleaning skirting line according to an embodiment of the present application;
fig. 9 is a schematic view of a sweeping robot in an embodiment of the present application.
Detailed Description
The following description of the embodiments of the present application will be made clearly and fully with reference to the accompanying drawings, in which it is evident that the embodiments described are some, but not all embodiments of the present application. All other embodiments, based on the embodiments of the application, which a person of ordinary skill in the art would achieve without inventive faculty, are within the scope of the application.
Referring to fig. 1, an embodiment of the present application provides a method for cleaning a skirting line, which is used for a sweeping robot, and includes:
step S10, acquiring a cleaning task instruction;
step S20, controlling the sweeping robot to sweep according to the sweeping task instruction;
step S30, judging whether the sweeping robot executes an edge sweeping task or not;
if yes, step S40, judging whether skirting lines exist in the process of the edge cleaning task;
if yes, step S50 is performed, the cleaning robot is controlled to pop up the skirting line cleaning device to clean the skirting line.
According to the skirting line cleaning method, after the cleaning task instruction is acquired, the cleaning robot is controlled to perform cleaning according to the cleaning task instruction, whether the cleaning robot performs the edge cleaning task is judged under the condition that the cleaning robot performs the cleaning according to the cleaning task instruction, whether the skirting line exists in the process of the edge cleaning task is judged under the condition that the cleaning robot performs the edge cleaning task is judged, and the cleaning device of the skirting line is controlled to perform cleaning on the skirting line under the condition that the skirting line exists in the process of the edge cleaning task is judged. That is, the floor sweeping robot disclosed by the application not only can clean the ground, but also can intelligently judge whether a skirting line exists in the edge cleaning process, and the skirting line cleaning device is used for cleaning the skirting line under the condition that the skirting line exists, so that the functions of the floor sweeping robot are more diversified, the complexity of manually cleaning the skirting line is avoided, the practicability of the floor sweeping robot is improved, and the experience of a user is improved.
That is, in the embodiment of the application, the skirting line is cleaned according to specific conditions in the process of cleaning the edges of the floor sweeping robot, so that the floor sweeping robot has the function of cleaning the floor, the floor sweeping robot has the function of cleaning the skirting line, the skirting line is not required to be cleaned manually, the complexity and time of cleaning the skirting line manually are saved, the diversification of the floor sweeping robot is promoted, and the use of a user is facilitated.
Specifically, in the embodiment of the application, a skirting line cleaning device is arranged at the front end position of the right top of the sweeping robot, the cleaning device comprises a telescopic mechanical arm and a cleaning rotating brush arranged at one end of the telescopic mechanical part far away from the sweeping robot, the telescopic mechanical arm works to convey the cleaning rotating brush to the front end of the sweeping robot and close to a skirting line accessory when skirting line cleaning is required, then the cleaning rotating brush is controlled to rotate to sweep dust on the skirting line to the ground when the cleaning rotating brush is identified to be close to the skirting line, and then the dust swept to the ground is sucked into the sweeping robot through the sweeping robot.
Further, the cleaning rotating brush is detachably connected with the telescopic mechanical arm, so that a user can detach the cleaning rotating brush to clean or maintain the cleaning rotating brush, in addition, the bristles of the cleaning rotating brush are made of soft materials, the condition that the bristles of the cleaning rotating brush damage skirting lines is avoided, and the protection of the skirting lines is facilitated.
It should be noted that the telescopic mechanical arm may be built-in the machine body, and of course, the telescopic mechanical arm may also be external and external to the machine body, and may be specifically designed according to practical situations, which is not limited herein.
The telescopic mechanical arm is an existing mature technology and is not limited in one to one.
Further, under the condition that the skirting line needs to be cleaned, the cleaning rotating brush is conveyed to the front end of the sweeping robot through the telescopic mechanical arm, and at the moment, the moving speed of the sweeping robot is reduced, so that dust on the skirting line can be firstly swept to the ground, then the sweeping robot is used for sweeping the dust sweeping on the ground, the phenomenon that the dust on the skirting line sweeps to the surface of a machine body or the rear of the machine body is avoided, the condition that the skirting line is cleaned but dust remains on the ground is avoided, and the sweeping work of the sweeping robot is facilitated.
Referring to fig. 2, further, determining whether the sweeping robot performs the edge sweeping task includes:
step S301, acquiring an image of the right side of the sweeping robot;
step S302, judging whether a wall surface exists in the image;
if yes, in step S303, the sweeping robot is controlled to start to execute the edge sweeping task.
In the embodiment of the application, the right side of the sweeping robot is provided with the small camera, the camera can acquire the image of the right side of the sweeping robot in real time, whether the wall surface exists or not is judged through the image, and the sweeping robot is controlled to start to execute the edge sweeping task under the condition that the wall surface exists is judged, so that the operation is simple, the realization is easy, the condition that the detection is abnormal or the detection is not in place is avoided, and the sweeping robot is favorable for carrying out the edge sweeping task.
Referring to fig. 3, further, if yes, controlling the sweeping robot to start to perform the edge sweeping task includes:
step S304, obtaining the distance between the right side of the sweeping robot and the wall surface;
step S305, judging whether the distance is equal to a preset distance;
if yes, in step S305, the sweeping robot is controlled to start to execute the edge sweeping task.
In the case that the distance between the sweeping robot and the wall surface is large, the sweeping robot is not beneficial to carrying out the edge sweeping task, in the embodiment, the sweeping robot can acquire the distance between the right side of the sweeping robot and the wall surface, then compares the distance with a preset distance, in the case that the distance is judged to be the same as the preset distance, the sweeping robot can start to carry out the edge sweeping task, and in the case that the distance is judged to be different from the preset distance, the sweeping robot can be adjusted through movement so that the distance is the same as the preset distance.
Under the condition that the distance between the right side of the sweeping robot and the wall surface is far, the sweeping robot can not perform edge sweeping work well, under the condition that the distance between the right side of the sweeping robot and the wall surface is strong, the edge brush of the sweeping robot can not rotate well, interference can exist between the edge brush of the sweeping robot and the wall surface conveniently, and under the condition that the distance between the right side of the sweeping robot and the wall surface is the same, the sweeping robot can perform edge sweeping work well.
Specifically, the distance between the right side of the sweeping robot and the wall surface can be obtained through an infrared range finder, however, in other embodiments, the distance between the right side of the sweeping robot and the wall surface can also be obtained through other manners, and the distance can be specifically designed according to the actual situation, and the distance is not limited herein.
Referring to fig. 4, further, if yes, determining whether there is a skirting line in the process of the edge cleaning task includes:
step S401, acquiring an image on the right side of the sweeping robot;
step S402, judging whether skirting lines exist according to the image;
if yes, step S403 is executed, the cleaning robot is controlled to pop up the skirting line cleaning device to clean the skirting line.
Because the skirting line belongs to an unnecessary structure, the floor sweeping robot can acquire the image on the right side in real time through the camera, then judge whether the skirting line exists according to the image, under the condition that the skirting line is judged, the floor sweeping robot can pop up the skirting line cleaning device to clean the skirting line, under the condition that the skirting line is not judged, the floor sweeping robot cannot pop up the skirting line cleaning device, so that the intellectualization of the floor sweeping robot is improved, and the experience degree of a user is improved.
Referring to fig. 5, further, if yes, controlling the sweeping robot to pop up the skirting line cleaning device to clean the skirting line includes:
step S404, judging whether more dust exists on the skirting line;
if yes, step S405 is executed, the floor sweeping robot is controlled to pop up the skirting line cleaning device to clean the skirting line.
From above-mentioned step S401, the robot of sweeping floor can acquire the image on right side in real time, then can judge whether there is the skirting line through the image and can judge whether there is more dust on the skirting line through the image, under the condition that judges there is more dust, the robot of sweeping floor can pop up skirting line cleaning device and clean the skirting line, so promote the intellectuality of the robot of sweeping floor, improved user' S experience degree.
Referring to fig. 6, further, determining whether the skirting line has more dust includes:
step S406, obtaining an initial image of a skirting line;
step S407, obtaining a current image of the skirting line;
step S408, comparing the initial image of the skirting line with the current image of the skirting line to obtain a comparison similarity;
step S409, judging whether the comparison similarity is smaller than a preset comparison similarity;
if yes, step S410 is performed, the floor sweeping robot is controlled to pop up the skirting line cleaning device to clean the skirting line.
In this embodiment, the user can be before using the robot of sweeping floor clean with the skirting line earlier, then will have the region of skirting line to shoot and upload to the high in the clouds, so set up, the robot of sweeping floor can acquire the initial image of skirting line in the course of the work, then compare current image with initial image, can judge the similarity of current image and initial image through the condition of comparing, under the lower condition of similarity, then it has dust or is rubbish to show on the skirting line, at this moment, the robot of sweeping floor can pop out the skirting line device and clean the skirting line, easy operation, easy realization.
Of course, in other embodiments, the floor sweeping robot may be equipped with a dust concentration sensor, and the dust concentration near the skirting line is detected by the dust concentration sensor, and if it is determined that the dust concentration is high, it is determined that the skirting line is much dust, and at this time, the skirting line cleaning device is controlled to clean the skirting line.
Referring to fig. 7, further, comparing the initial image of the skirting line with the current image of the skirting line to obtain a comparison similarity includes:
step S411, obtaining the current positioning of the sweeping robot;
step S412, obtaining an initial image conforming to the current positioning from the initial images stored in the cloud according to the current positioning.
Because the modeling of the skirting line in different regions is different, under the condition of initial state, under the condition that the user uploaded initial skirting line image to the high in the clouds, can be after the robot of sweeping floor builds the picture and finishes going on again, the user can be according to the initial image uploading to the high in the clouds of the skirting line of map corresponding region to guarantee the integrality of map, then the robot of sweeping floor can find corresponding skirting line image at the high in the clouds according to current location, avoids appearing because the wrong opening of skirting line cleaning device is led to because of different skirting line images, causes the extravagant condition of resource.
Referring to fig. 8, further, if yes, after the cleaning device for cleaning the skirting line is controlled to pop up by the sweeping robot, the cleaning device includes:
step S501, judging whether the sweeping robot is far away from the wall surface;
if yes, in step S502, the skirting line cleaning device is controlled to be accommodated in the body of the sweeping robot.
In this embodiment, under the condition that the robot of sweeping floor kept away from the wall, skirting line cleaning device can accept to sweeping floor in the robot's the organism, is favorable to sweeping floor the follow-up cleaning of robot like this, has promoted the work efficiency of sweeping floor the robot, avoids because skirting line cleaning device's expansion leads to sweeping floor the robot by the condition that other furniture blocked.
Referring to fig. 9, an embodiment of the present application provides a sweeping robot, including:
the acquisition module 100 is used for acquiring a cleaning task instruction;
the first control module 200 is used for controlling the sweeping robot to sweep according to the sweeping task instruction;
the first judging module 300 is used for judging whether the sweeping robot executes the edge sweeping task or not;
the second judging module 400 is configured to judge whether a skirting line exists in the process of the edge cleaning task when the first judging module judges that the cleaning robot is performing the edge cleaning task;
the second control module 500 is used for controlling the floor sweeping robot to pop up the skirting line cleaning device to clean the skirting line under the condition that the second judging module judges that the skirting line exists in the process of the edge cleaning task.
After a cleaning task instruction is acquired, the cleaning robot is controlled to perform cleaning according to the cleaning task instruction, whether the cleaning robot performs an edge cleaning task is judged under the condition that the cleaning robot performs cleaning according to the cleaning task instruction, whether a skirting line exists in the process of the edge cleaning task is judged under the condition that the cleaning robot performs the edge cleaning task is judged, and the cleaning robot controls the skirting line cleaning device to perform cleaning on the skirting line under the condition that the skirting line exists in the process of the edge cleaning task is judged. That is, the floor sweeping robot disclosed by the application not only can clean the ground, but also can intelligently judge whether a skirting line exists in the edge cleaning process, and the skirting line cleaning device is used for cleaning the skirting line under the condition that the skirting line exists, so that the functions of the floor sweeping robot are more diversified, the complexity of manually cleaning the skirting line is avoided, the practicability of the floor sweeping robot is improved, and the experience of a user is improved.
A computer readable storage medium storing a computer program which when executed by a processor implements the above method of cleaning a skirting line.
The computer readable storage medium of the application controls the sweeping robot to sweep according to the sweeping task instruction after the sweeping task instruction is acquired, judges whether the sweeping robot executes the edge sweeping task or not under the condition that the sweeping robot sweeps according to the sweeping task instruction, judges whether a skirting line exists in the process of the edge sweeping task under the condition that the sweeping robot executes the edge sweeping task, and controls the skirting line cleaning device to sweep the skirting line under the condition that the skirting line exists in the process of the edge sweeping task. That is, the floor sweeping robot disclosed by the application not only can clean the ground, but also can intelligently judge whether a skirting line exists in the edge cleaning process, and the skirting line cleaning device is used for cleaning the skirting line under the condition that the skirting line exists, so that the functions of the floor sweeping robot are more diversified, the complexity of manually cleaning the skirting line is avoided, the practicability of the floor sweeping robot is improved, and the experience of a user is improved.
Those skilled in the art will appreciate that implementing all or part of the processes in the methods of the embodiments described above may be accomplished by way of computer readable instructions, which may be stored on a non-volatile readable storage medium or a volatile readable storage medium, that when executed may comprise processes in embodiments of the methods described above. Any reference to memory, storage, database, or other medium used in embodiments provided herein may include non-volatile and/or volatile memory. The nonvolatile 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), memory bus direct RAM (RDRAM), direct memory bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM), among others.
It will be apparent to those skilled in the art that, for convenience and brevity of description, only the above-described division of the functional units and modules is illustrated, and in practical application, the above-described functional distribution may be performed by different functional units and modules according to needs, i.e. 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 solution of the present application, and are not limiting thereof; although the application 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 application, and they should be included in the protection scope of the present application.
Claims (10)
1. A method of cleaning a skirting line for a floor sweeping robot, the method comprising:
acquiring a cleaning task instruction;
controlling the sweeping robot to sweep according to the sweeping task instruction;
judging whether the sweeping robot executes an edge sweeping task or not;
if yes, judging whether skirting lines exist in the process of the edge cleaning task;
if so, controlling the floor sweeping robot to pop up the skirting line cleaning device to clean the skirting line.
2. The method of cleaning skirting line as set forth in claim 1, wherein the determining whether the sweeping robot performs the edge cleaning task includes:
acquiring an image of the right side of the sweeping robot;
judging whether a wall surface exists in the image;
if so, controlling the sweeping robot to start to execute the edge sweeping task.
3. The method of cleaning a skirting line according to claim 2, wherein if so, controlling the floor sweeping robot to start performing the edge cleaning task includes:
acquiring the distance between the right side of the sweeping robot and the wall surface;
judging whether the distance is equal to a preset distance or not;
if so, controlling the sweeping robot to start to execute the edge sweeping task.
4. The method for cleaning skirting line as set forth in claim 1, wherein if yes, determining whether skirting line exists during the edge cleaning task includes:
acquiring an image of the right side of the sweeping robot;
judging whether skirting lines exist according to the image;
if so, controlling the floor sweeping robot to pop up the skirting line cleaning device to clean the skirting line.
5. The method of cleaning a skirting line according to claim 4, wherein if so, controlling the floor sweeping robot to eject a skirting line cleaning device to clean the skirting line comprises:
judging whether the skirting line has more dust or not;
if so, controlling the floor sweeping robot to pop up the skirting line cleaning device to clean the skirting line.
6. The method of cleaning a skirting line according to claim 5, wherein said determining whether said skirting line has more dust comprises:
acquiring an initial image of the skirting line;
acquiring a current image of the skirting line;
comparing the initial image of the skirting line with the current image of the skirting line to obtain comparison similarity;
judging whether the comparison similarity is smaller than a preset comparison similarity or not;
if so, controlling the floor sweeping robot to pop up the skirting line cleaning device to clean the skirting line.
7. The method of cleaning a skirting line according to claim 6, wherein comparing the initial image of the skirting line with the current image of the skirting line to obtain a comparison similarity comprises:
acquiring the current positioning of the sweeping robot;
and acquiring an initial image conforming to the current positioning from the initial image stored in the cloud according to the current positioning.
8. The method of cleaning a skirting line according to claim 1, wherein if so, controlling the floor sweeping robot to eject a skirting line cleaning device to clean the skirting line comprises:
judging whether the sweeping robot is far away from the wall surface or not;
if yes, controlling the skirting line cleaning device to be accommodated in the body of the sweeping robot.
9. A sweeping robot, characterized in that the sweeping robot comprises:
the acquisition module is used for acquiring a cleaning task instruction;
the first control module is used for controlling the sweeping robot to sweep according to the sweeping task instruction;
the first judging module is used for judging whether the sweeping robot executes an edge sweeping task or not;
the second judging module is used for judging whether skirting lines exist in the process of the edge cleaning task or not under the condition that the first judging module judges that the cleaning robot executes the edge cleaning task;
the second control module is used for controlling the floor sweeping robot to pop up the skirting line cleaning device to clean the skirting line under the condition that the second judging module judges that the skirting line exists in the process of the edge cleaning task.
10. 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 skirting line cleaning method according to any one of claims 1 to 8.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311326118.9A CN117100184A (en) | 2023-10-13 | 2023-10-13 | Skirting line cleaning method, floor sweeping robot and computer readable storage medium |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202311326118.9A CN117100184A (en) | 2023-10-13 | 2023-10-13 | Skirting line cleaning method, floor sweeping robot and computer readable storage medium |
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