WO2021248883A1

WO2021248883A1 - Robot vacuum control method and apparatus, device, storage medium, and robot vacuum

Info

Publication number: WO2021248883A1
Application number: PCT/CN2020/140495
Authority: WO
Inventors: 葛春光; 王沅召; 张家琪; 甄志坚; 王子晨
Original assignee: 珠海格力电器股份有限公司; 珠海联云科技有限公司
Priority date: 2020-06-09
Filing date: 2020-12-29
Publication date: 2021-12-16
Also published as: CN111728534B; CN111728534A

Abstract

A robot vacuum control method and apparatus, a device, a storage medium, and a robot vacuum. The method comprises: step S210, obtaining parameter information of the current obstacle, the parameter information comprising a height, the height being a height of the obstacle from the ground; step S220, obtaining the current height of a robot vacuum; step S230, if the current height is greater than the height of the current obstacle, generating an adjustment instruction according to a difference between the height of the current obstacle and the current height, the adjustment instruction being configured to adjust the height of the robot vacuum; step S240, executing the adjustment instruction. The method implements the adjustment of the height of a robot vacuum according to obstacles of different heights, i.e., correspondingly adjusting garbage accommodation capacity of a robot vacuum without frequently emptying garbage, thus reducing the garbage emptying frequency of a robot vacuum.

Description

Control method, device, equipment, storage medium of sweeper and sweeper

This disclosure requires the priority of a Chinese patent application filed with the Chinese Patent Office, the application number is 202010518811.6, and the invention title is "Sweeper control method, device, equipment, storage medium and sweeper" on June 9, 2020, all of which The content is incorporated into this disclosure by reference.

Technical field

The present disclosure relates to the technical field of sweeper equipment, and in particular to a sweeper control method, device, equipment, storage medium and sweeper.

Background technique

With the continuous improvement of living standards, the development of smart homes has been greatly improved. Today's smart sweepers on the market can achieve the effect of automatically cleaning the room with a simple switch. However, the current sweeper has some areas that need to be improved. For example, the height of the garbage storage box of the current sweeper is fixed, so it may appear that the height is too high, although there is a lot of garbage that can be stored, but the bottom of the bed, the cabinet The bottom is hard to clean. Or the height is too low. Although the place with small height space can be cleaned, because the garbage storage space is small, it is necessary to empty the garbage frequently to continue cleaning.

Summary of the invention

In order to solve the technical problem that the height of the dustbin of the sweeper is fixed and cannot be raised and lowered with the environment, the present disclosure provides a control method, device, equipment, storage medium and the sweeper for the sweeper.

In the first aspect, the present disclosure provides a method for controlling a sweeper, including:

Acquiring parameter information of the current obstacle, where the parameter information includes height, and the height is the height of the obstacle from the ground;

Get the current height of the sweeper;

When the current height is greater than the height of the current obstacle, generating an adjustment instruction according to the difference between the height of the current obstacle and the current height, and the adjustment instruction is set to adjust the height of the sweeper;

Execute the adjustment instruction.

In some embodiments, the parameter information further includes location information, and the method further includes:

Acquiring the current position of the sweeper;

When the current position is inconsistent with the position information of the current obstacle, generating a movement instruction according to the current position and the position information of the current obstacle;

Execute the movement instruction.

In some implementation manners, before acquiring the parameter information of the current obstacle, the method further includes:

Acquiring parameter information of obstacles in a preset area, where the preset area contains at least two obstacles;

According to the height and position information of each obstacle, plan a cleaning path of the sweeper, and any obstacle in the preset area is the current obstacle.

In some implementations, the planning the cleaning path of the sweeper according to the height and position information of each of the obstacles includes:

Sort according to the height of each obstacle from low to high, and obtain the first cleaning order of each obstacle;

Perform path planning according to the first cleaning sequence of each obstacle and the corresponding position information of the obstacle to obtain the cleaning path of the sweeper.

Weighting the height and position information of each of the obstacles to obtain a weighted value of each of the obstacles;

Sort the weighted values of each of the obstacles to obtain the second cleaning order of each of the obstacles;

Perform path planning according to the second cleaning sequence of each obstacle and the corresponding position information of the obstacle to obtain the cleaning path of the sweeper.

Calculating the difference between the position information of each of the obstacles and the current position of the sweeper to obtain the distance value of each of the obstacles from the sweeping machine;

Sort according to the distance value of each of the obstacles from small to large, and obtain the third cleaning order of each of the obstacles;

According to the third cleaning sequence of each of the obstacles, path planning is performed with the corresponding position information of the obstacles to obtain the cleaning path of the sweeper.

In some embodiments, when the current height is greater than the height of the current obstacle, the method further includes:

Obtaining the height of the garbage in the sweeper;

When the height of the garbage is less than the height of the current obstacle, the step of generating an adjustment instruction according to the difference between the height of the current obstacle and the current height is executed.

In some embodiments, the method further includes:

When the height of the garbage is greater than or equal to the height of the current obstacle, judging whether the current height is the maximum height;

When the current height is the maximum height, generate a garbage disposal instruction, and execute the garbage disposal instruction;

When the current height is not the maximum height, a lifting instruction is generated, the lifting instruction is executed, and the lifting instruction is set to raise the height of the sweeper.

In some embodiments, the method further includes:

Calculating the height difference between the height of the current obstacle and the height of the garbage;

Determine whether the height difference is less than a preset difference;

When the height difference is greater than or equal to the preset difference value, a cleaning instruction is generated, and the cleaning instruction is executed;

When the height difference is less than the preset difference value, the step of determining whether the current height is the maximum height is executed.

In a second aspect, the present disclosure provides a control device for a sweeping machine, including:

The parameter acquisition module is configured to acquire parameter information of the current obstacle, the parameter information includes height, and the height is the height of the obstacle from the ground;

The height acquisition module is set to acquire the current height of the sweeper;

The adjustment instruction acquisition module is configured to generate an adjustment instruction according to the difference between the current height of the obstacle and the current height when the current height is greater than the height of the current obstacle, and the adjustment instruction is set to Adjust the height of the sweeper;

The execution module is set to execute the adjustment instruction.

In a third aspect, the present disclosure provides a sweeper, which is configured to implement the following steps:

Get the current height of the sweeper;

Execute the adjustment instruction.

A computer device includes a memory, a processor, and a computer program that is stored on the memory and can run on the processor, and the processor implements the following steps when the processor executes the computer program:

Get the current height of the sweeper;

Execute the adjustment instruction.

A computer-readable storage medium on which a computer program is stored, and when the computer program is executed by a processor, the following steps are implemented:

Get the current height of the sweeper;

Execute the adjustment instruction.

The control method, device, equipment, storage medium, and the sweeper of the above-mentioned sweeper, the method comprising: obtaining parameter information of the current obstacle, the parameter information including height, the height being the height of the obstacle from the ground; obtaining the sweeping The current height of the aircraft; when the current height is greater than the height of the current obstacle, an adjustment instruction is generated according to the difference between the height of the current obstacle and the current height, and the adjustment instruction is set to adjust the The height of the sweeper; execute the adjustment instruction. Based on the above method, the height of the sweeper can be adjusted according to obstacles of different heights, that is, the capacity of the sweeper to accommodate garbage is adjusted correspondingly, and there is no need to dump the garbage frequently, which reduces the number of times the sweeper takes out the garbage.

Description of the drawings

The drawings here are incorporated into the specification and constitute a part of the specification, show embodiments that conform to the disclosure, and together with the specification are used to explain the principle of the disclosure.

In order to more clearly describe the technical solutions in the embodiments of the present disclosure or related technologies, the following will briefly introduce the drawings that need to be used in the description of the embodiments or related technologies. Obviously, for those of ordinary skill in the art, Other drawings can be obtained based on these drawings without creative labor.

FIG. 1 is a schematic flowchart of a control method of a sweeping machine in an embodiment;

Figure 2 is a structural block diagram of the control device of the sweeper in an embodiment;

Fig. 3 is an internal structure diagram of a computer device in an embodiment.

detailed description

In order to make the objectives, technical solutions, and advantages of the embodiments of the present disclosure clearer, the technical solutions in the embodiments of the present disclosure will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present disclosure. Obviously, the described embodiments They are a part of the embodiments of the present disclosure, but not all of the embodiments. Based on the embodiments in the present disclosure, all other embodiments obtained by those of ordinary skill in the art without creative work shall fall within the protection scope of the present disclosure.

In one embodiment, FIG. 1 is a schematic flow chart of a control method of a sweeper in an embodiment, and referring to FIG. 1, a control method of a sweeper is provided. In this embodiment, the method is mainly applied to a sweeper as an example. The control method of the sweeper specifically includes the following steps:

Step S210: Acquire parameter information of the current obstacle.

In this embodiment, the current obstacle refers to an obstacle among the obstacles to be cleaned, and the sweeper is about to clean the obstacle. The parameter information is the data set to describe the obstacle, where the parameter information includes but not limited to the size of the obstacle, the height of the obstacle, the location information of the obstacle, the material of the obstacle, etc. The height of the obstacle is the bottom of the obstacle The distance from the ground, which is the height of the lowest point of the obstacle from the ground.

Step S220: Acquire the current height of the sweeper.

In this embodiment, the sweeper is a machine that is set to sweep the ground. The dustbin of the sweeper can be adjusted. The adjustment structure of the dustbin can be a conventional lifting structure. For example, the lifting structure is an inner and outer nesting structure, or it can be Flexible structure, etc. The current height is the height of the sweeper from the ground at the current moment. The upper and lower limits of the sweeper's height are the maximum height and the minimum height respectively. The maximum height corresponds to the height of the sweeper from the ground when the garbage capacity is the maximum, and the minimum height corresponds to the sweeper's height. The height of the garbage from the ground when the garbage capacity is the smallest.

In one embodiment, the lifting structure of the sweeper is an inner and outer nesting structure, and the surface of the inner and outer nesting structure is smooth. The provision of a smooth surface can reduce the friction during the adjustment process and facilitate the adjustment of the sweeper.

In step S230, when the current height is greater than the height of the current obstacle, an adjustment instruction is generated according to the difference between the current height of the obstacle and the current height, and the adjustment instruction is set to adjust the height of the sweeper.

In step S240, the adjustment instruction is executed.

In this embodiment, the current height of the obstacle is compared with the current height of the sweeper. When the current height of the sweeper is greater than the height of the current obstacle, it means that the sweeper cannot clean the bottom of the current obstacle. The height of the current obstacle adjusts the height of the sweeper. The corresponding adjustment parameter is determined according to the difference between the current height and the height of the current obstacle, and the corresponding adjustment instruction is generated according to the adjustment parameter. After the adjustment instruction is executed, the adjusted sweeper can enter the bottom of the obstacle for cleaning.

In one embodiment, the current position of the sweeper is acquired; when the current position is inconsistent with the position information of the current obstacle, a movement instruction is generated according to the current position and the position information of the current obstacle; the movement instruction is executed.

Specifically, the parameter information also includes position information. It is judged whether the current position of the sweeper is consistent with the position information of the current obstacle. If it is inconsistent, a movement instruction is generated according to the position information of the obstacle. After the movement instruction is executed, the sweeper moves to the current obstacle. The location of the object. If the current position of the sweeper is consistent with the position information of the current obstacle, it means that the sweeper is located at the position of the current obstacle. Continue to perform the subsequent steps of obtaining the height of the garbage in the sweeper, and judge whether to execute the adjustment command according to the height of the garbage.

In one embodiment, the parameter information of obstacles in a preset area is acquired, and the preset area contains at least two obstacles; according to the height and/or position information of each obstacle, the sweeping path of the sweeper is planned and preset Any obstacle in the area is the current obstacle.

Specifically, before acquiring the parameter information of the current obstacle, that is, before cleaning, the sweeper traverses in the preset area according to the default movement track of the control device, or traverses according to the received control instruction, and the preset area includes For at least two obstacles, the environment image is collected through the camera on the sweeper, and the parameter information of the obstacle in the environment image is recognized, so as to obtain the parameter information of each obstacle in the preset area.

According to the height and/or location information of each obstacle, plan the sweeping path of the sweeper. Taking location information as an example, the cleaning path is planned according to the distance from the current location of the sweeper. The sweeper moves to each obstacle according to the sweeping path for cleaning. The current obstacle is any obstacle in the preset area. The current obstacle Objects are obstacles to be cleaned by the sweeper in the preset area.

In one embodiment, the obstacles are sorted from low to high according to the height of each obstacle, and the first cleaning order of each obstacle is obtained; the path planning is performed according to the first cleaning order of each obstacle and the location information of the corresponding obstacle , Get the cleaning path of the sweeper.

In this embodiment, the sweeping machine sweeps the obstacles from low to high in the first sweeping sequence, and the sweeping path is planned according to the first sweeping sequence. When this cleaning path is used to perform cleaning, the cabinet capacity of the sweeper will increase as the height increases, reducing the number of times the sweeper takes out garbage, and there is no need to repeatedly adjust the height of the sweeper. This improves the sweeping efficiency of the sweeper and achieves the greatest possible Set up the cleaning of multiple obstacles in the area.

In one embodiment, the height and position information of each obstacle are weighted to obtain the weighted value of each obstacle; the weighted value of each obstacle is sorted to obtain the second cleaning order of each obstacle; according to each obstacle In the second cleaning sequence, path planning is performed with the location information of the corresponding obstacles to obtain the cleaning path of the sweeper.

Specifically, the importance of the cleaning efficiency is weighted according to height and location information. In this embodiment, each obstacle is weighted according to the weight of the height greater than the weight of the location information to obtain the weight of each obstacle. The sweeper cleans according to the height of the obstacle and the distance of the position information, reducing the repeated path of the sweeper movement, and ensuring that the height of the sweeper moves gradually according to the sweeping path, reducing the number of times the sweeper takes out the garbage, so as to achieve sweeping. The machine cleans most efficiently in the preset area.

In one embodiment, when the current height is greater than the height of the current obstacle, obtain the height of the garbage in the sweeper; when the height of the garbage is less than the height of the current obstacle, perform generation according to the difference between the height of the current obstacle and the current height Steps to adjust instructions.

Specifically, when the current height is greater than the height of the current obstacle, the sweeper cannot move to the bottom of the obstacle for cleaning to obtain the height of the garbage in the sweeper. The height of the garbage is the height value calculated based on the garbage capacity in the sweeper. When the garbage in the sweeper is evenly distributed, the height of the garbage is the average height of the garbage in the sweeper; when the garbage in the sweeper is distributed in a cone shape, the garbage height is the average height of the cone-shaped garbage in the sweeper evenly dispersed. When the height of the garbage is less than the height of the current obstacle, the sweeper can generate an adjustment command according to the current height and the height of the current obstacle, and execute the adjustment command to lower the height of the sweeper to meet the height requirements of the current obstacle, and it can move to the obstacle bottom of.

In one embodiment, when the height of the garbage is greater than or equal to the height of the current obstacle, it is determined whether the current height is the maximum height; when the current height is the maximum height, the garbage disposal instruction is generated and the garbage disposal instruction is executed; when the current height is not At the maximum height, a lifting command is generated, and the lifting command is executed. The lifting command is set to raise the height of the sweeper.

Specifically, when the height of the garbage is greater than or equal to the height of the current obstacle, and the height of the sweeper cannot be lowered, it is judged whether the current height is the maximum height of the sweeper, that is, whether the sweeper can raise the height, when the current height is the maximum height , It means that the current sweeper is at the maximum height, and the garbage in the sweeper is full, generate a garbage disposal command, execute the garbage disposal command, and empty the garbage in the sweeper; when the current height is not the maximum height, it means the sweeper can be lifted Height, expand the garbage capacity, and continue to clean the garbage, then generate a lifting instruction, execute the lifting instruction, raise the height of the sweeper, expand the garbage capacity of the sweeper, and then move to the next height obstacle according to the cleaning path. The obstacle of the next height is selected as the new current obstacle, and the step of obtaining the parameter information of the current obstacle is performed.

In one embodiment, the height difference between the height of the current obstacle and the height of the garbage is calculated; it is determined whether the height difference is less than the preset difference; when the height difference is greater than or equal to the preset difference, a cleaning instruction is generated and the cleaning instruction is executed; when When the height difference is less than the preset difference value, the step of judging whether the current height is the maximum height is executed.

Specifically, the preset difference corresponds to the garbage capacity that can be cleaned. The preset difference can be customized according to the actual situation. It is judged whether the height difference between the height of the obstacle and the height of the garbage is less than the preset difference, indicating that the sweeper is in When the height requirement of the obstacle is met, judge whether the current remaining capacity of the sweeper can continue to collect garbage. When the height difference is greater than or equal to the preset difference, it means that the current remaining capacity of the sweeper can continue to collect a certain amount of garbage. Generate a cleaning instruction, execute the cleaning instruction, and clean the current obstacle; when the height difference is less than the preset difference, it means that the current remaining capacity of the sweeper cannot clean the current obstacle, that is, the current height of the sweeper is relative to the current The garbage holding space at the height of the obstacle is full, and the step of judging whether the current height is the maximum height of the sweeper is executed to judge whether the sweeper can raise the height.

Fig. 1 is a schematic flow chart of a control method of a sweeping machine in an embodiment. It should be understood that although the various steps in the flowchart of FIG. 1 are displayed in sequence as indicated by the arrows, these steps are not necessarily performed in sequence in the order indicated by the arrows. Unless specifically stated in this article, the execution of these steps is not strictly limited in order, and these steps can be executed in other orders. Moreover, at least part of the steps in FIG. 1 may include multiple sub-steps or multiple stages. These sub-steps or stages are not necessarily executed at the same time, but can be executed at different times. The execution of these sub-steps or stages The sequence is not necessarily performed sequentially, but may be performed alternately or alternately with other steps or at least a part of sub-steps or stages of other steps.

In one embodiment, as shown in Figure 2, a control device for a sweeper is provided, including:

The parameter acquisition module 310 is configured to acquire parameter information of the current obstacle, the parameter information includes height, and the height is the height of the obstacle from the ground;

The height obtaining module 320 is set to obtain the current height of the sweeper;

The adjustment instruction acquisition module 330 is set to generate an adjustment instruction according to the difference between the current height of the obstacle and the current height when the current height is greater than the height of the current obstacle, and the adjustment instruction is set to adjust the height of the sweeper;

The execution module 340 is configured to execute adjustment instructions.

In an embodiment, the parameter information further includes location information, and the device further includes:

The position acquisition module is set to acquire the current position of the sweeper;

The movement instruction generation module is configured to generate a movement instruction according to the current position and the position information of the current obstacle when the current position is inconsistent with the position information of the current obstacle;

The movement module is set to execute movement instructions.

In one embodiment, the device further includes:

The information acquisition module is configured to acquire parameter information of obstacles in a preset area, and the preset area contains at least two obstacles;

The path formulating module is set to plan the sweeping path of the sweeper according to the height and position information of each obstacle, and any obstacle in the preset area is the current obstacle.

In one embodiment, the routing module includes:

The first sorting unit is set to sort according to the height of each obstacle from low to high to obtain the first cleaning order of each obstacle;

The first planning unit is set to perform path planning according to the first cleaning order of each obstacle and the location information of the corresponding obstacles to obtain the cleaning path of the sweeper.

In an embodiment, the path-making module further includes:

The weighting unit is set to weight the height and position information of each obstacle to obtain the weighted value of each obstacle;

The second sorting unit is set to sort the weighted value of each obstacle to obtain the second cleaning order of each obstacle;

The second planning unit is set to perform path planning according to the second cleaning sequence of each obstacle and the position information of the corresponding obstacles to obtain the cleaning path of the robot.

In one embodiment, the device further includes:

The image acquisition module is set to collect environmental images, which contain current obstacles;

The image recognition module is set to recognize the parameter information of the current obstacle in the environment image.

In one embodiment, the device further includes:

The garbage height obtaining module 320 is configured to obtain the garbage height in the sweeper;

The adjustment module is configured to execute the step of generating an adjustment instruction according to the difference between the height of the current obstacle and the current height when the height of the garbage is less than the height of the current obstacle.

In one embodiment, the device further includes:

The height judgment module is set to judge whether the current height is the maximum height when the height of the garbage is greater than or equal to the height of the current obstacle;

The garbage disposal module is set to generate garbage disposal instructions and execute garbage disposal instructions when the current height is the maximum height;

The lifting module is set to generate a lifting command and execute the lifting command when the current height is not the maximum height. The lifting command is set to raise the height of the sweeper.

In one embodiment, the device further includes:

The difference calculation module is set to calculate the height difference between the height of the current obstacle and the height of the garbage;

The difference judgment module is set to judge whether the height difference is less than the preset difference;

The cleaning module is set to generate a cleaning instruction and execute the cleaning instruction when the height difference is greater than or equal to the preset difference;

The re-judgment module is set to execute the step of judging whether the current height is the maximum height when the height difference is less than the preset difference value.

Fig. 3 shows an internal structure diagram of a computer device in an embodiment. The computer device may specifically be a sweeper. As shown in Fig. 3, the computer equipment includes the computer equipment including a processor, a memory, a network interface, an input device, and a display screen connected through a system bus. Among them, the memory includes a non-volatile storage medium and an internal memory. The non-volatile storage medium of the computer device stores an operating system and may also store a computer program. When the computer program is executed by the processor, the processor can realize the control method of the sweeper. A computer program may also be stored in the internal memory. When the computer program is executed by the processor, the processor can execute the control method of the sweeper. The display screen of the computer equipment can be a liquid crystal display screen or an electronic ink display screen. It can be an external keyboard, touchpad, or mouse.

Those skilled in the art can understand that the structure shown in FIG. 3 is only a block diagram of a part of the structure related to the solution of the present disclosure, and does not constitute a limitation on the computer device to which the solution of the present disclosure is applied. The specific computer device may Including more or fewer parts than shown in the figure, or combining some parts, or having a different arrangement of parts.

In an embodiment, the control device of the sweeper provided in the present disclosure may be implemented in the form of a computer program, and the computer program may run on the computer device as shown in FIG. 3. The memory of the computer device may store various program modules that constitute the control device of the sweeper, for example, the parameter acquisition module 310, the height acquisition module 320, the adjustment instruction acquisition module 330, and the execution module 340 shown in FIG. 2. The computer program composed of each program module causes the processor to execute the steps in the sweeping machine control method of each embodiment of the present disclosure described in this specification.

The computer device shown in FIG. 3 can obtain the parameter information of the current obstacle through the parameter acquisition module 310 in the control device of the sweeper as shown in FIG. 2, the parameter information includes the height, and the height is the height of the obstacle from the ground. The computer device can acquire the current height of the sweeper through the height acquisition module 320. The computer device can use the adjustment instruction acquisition module 330 to execute when the current height is greater than the height of the current obstacle, generate an adjustment instruction according to the difference between the current height of the obstacle and the current height, and the adjustment instruction is set to adjust the height of the sweeper. The computer device can execute the execution adjustment instruction through the execution module 340.

In one embodiment, a computer device is provided, including a memory, a processor, and a computer program stored in the memory and running on the processor. When the processor executes the computer program, the following steps are implemented: Obtain the parameters of the current obstacle Information, parameter information includes height, which is the height of the obstacle from the ground; obtains the current height of the sweeper; when the current height is greater than the height of the current obstacle, an adjustment command is generated according to the difference between the height of the current obstacle and the current height, The adjustment command is set to adjust the height of the sweeper; the adjustment command is executed.

In one embodiment, the processor further implements the following steps when executing the computer program: acquiring the current position of the sweeper; when the current position is inconsistent with the position information of the current obstacle, generating a movement instruction according to the current position and the position information of the current obstacle ; Execute the move instruction.

In one embodiment, the processor further implements the following steps when executing the computer program: acquiring parameter information of obstacles in a preset area, where the preset area contains at least two obstacles; according to the height and position information of each obstacle, Plan the sweeping path of the sweeper, and any obstacle in the preset area is the current obstacle.

In one embodiment, the processor further implements the following steps when executing the computer program: sort the obstacles from low to high to obtain the first cleaning order of each obstacle; according to the first cleaning order of each obstacle, Perform path planning with the location information of the corresponding obstacles to obtain the cleaning path of the sweeper.

In one embodiment, the processor further implements the following steps when executing the computer program: weighting the height and position information of each obstacle to obtain the weighted value of each obstacle; sorting the weighted value of each obstacle to obtain each obstacle The second cleaning sequence of the object; according to the second cleaning sequence of each obstacle, path planning is performed with the position information of the corresponding obstacle to obtain the cleaning path of the robot.

In one embodiment, the processor also implements the following steps when executing the computer program: obtain the height of the garbage in the sweeper; when the height of the garbage is less than the height of the current obstacle, execute generation according to the difference between the height of the current obstacle and the current height Steps to adjust instructions.

In one embodiment, the processor further implements the following steps when executing the computer program: when the height of the garbage is greater than or equal to the height of the current obstacle, judging whether the current height is the maximum height; when the current height is the maximum height, generating a garbage dumping instruction , Execute the garbage disposal instruction; when the current height is not the maximum height, generate a lifting instruction, execute the lifting instruction, the lifting instruction is set to raise the height of the sweeper.

In one embodiment, the processor further implements the following steps when executing the computer program: calculating the height difference between the height of the current obstacle and the height of the garbage; judging whether the height difference is less than the preset difference; when the height difference is greater than or equal to the preset difference When the time, the cleaning instruction is generated, and the cleaning instruction is executed; when the height difference is less than the preset difference, the step of judging whether the current height is the maximum height is executed.

In one embodiment, a computer-readable storage medium is provided, on which a computer program is stored. When the computer program is executed by a processor, the following steps are implemented: Obtain parameter information of the current obstacle, the parameter information includes the height, and the height is the obstacle The height of the object from the ground; get the current height of the sweeper; when the current height is greater than the height of the current obstacle, an adjustment command is generated according to the difference between the height of the current obstacle and the current height, and the adjustment command is set to adjust the height of the sweeper ; Execute adjustment instructions.

In one embodiment, when the computer program is executed by the processor, the following steps are also implemented: obtain the current position of the sweeper; when the current position is inconsistent with the position information of the current obstacle, generate the movement according to the current position and the position information of the current obstacle Instructions; execute movement instructions.

In one embodiment, when the computer program is executed by the processor, the following steps are further implemented: obtaining parameter information of obstacles in a preset area, where the preset area contains at least two obstacles; according to the height and position information of each obstacle , Plan the sweeping path of the sweeper, and any obstacle in the preset area is the current obstacle.

In one embodiment, when the computer program is executed by the processor, the following steps are also implemented: sort the obstacles from low to high to obtain the first cleaning order of each obstacle; according to the first cleaning order of each obstacle , And perform path planning with the location information of the corresponding obstacles to obtain the cleaning path of the sweeper.

In one embodiment, when the computer program is executed by the processor, the following steps are also implemented: weighting the height and position information of each obstacle to obtain the weighted value of each obstacle; sorting the weighted value of each obstacle to obtain each The second cleaning order of obstacles; according to the second cleaning order of each obstacle, path planning is performed with the position information of the corresponding obstacles to obtain the cleaning path of the robot.

In one embodiment, when the computer program is executed by the processor, the following steps are also implemented: obtain the height of the garbage in the sweeper; when the height of the garbage is less than the height of the current obstacle, execute according to the difference between the height of the current obstacle and the current height Steps to generate adjustment instructions.

In one embodiment, when the computer program is executed by the processor, the following steps are also implemented: when the height of the garbage is greater than or equal to the height of the current obstacle, determine whether the current height is the maximum height; when the current height is the maximum height, generate garbage dump Command, execute the garbage disposal command; when the current height is not the maximum height, generate a lift command, execute the lift command, the lift command is set to raise the height of the sweeper.

In one embodiment, when the computer program is executed by the processor, the following steps are also implemented: calculate the height difference between the height of the current obstacle and the height of the garbage; determine whether the height difference is less than the preset difference; when the height difference is greater than or equal to the preset difference When the value is set, the cleaning instruction is generated and the cleaning instruction is executed; when the height difference is less than the preset difference value, the step of judging whether the current height is the maximum height is executed.

Those of ordinary skill in the art can understand that all or part of the processes in the methods of the above embodiments can be implemented by computer programs instructing relevant hardware, and the programs can be stored in a non-volatile computer readable storage medium. When the program is executed, it may include the processes of the above-mentioned method embodiments. Wherein, any reference to memory, storage, database or other media used in the embodiments provided in the present disclosure may include non-volatile and/or volatile memory. Non-volatile memory may include read only memory (ROM), programmable ROM (PROM), electrically programmable ROM (EPROM), electrically erasable programmable ROM (EEPROM), or flash memory. Volatile memory may include random access memory (RAM) or external cache memory. As an illustration and not a limitation, RAM is available in many forms, such as static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), double data rate SDRAM (DDRSDRAM), enhanced SDRAM (ESDRAM), synchronous chain Channel (Synchlink) DRAM (SLDRAM), memory bus (Rambus) direct RAM (RDRAM), direct memory bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM), etc.

It should be noted that in this article, relational terms such as "first" and "second" are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply these There is any such actual relationship or sequence between entities or operations. Moreover, the terms "including", "including" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article, or device that includes a series of elements includes not only those elements, but also those that are not explicitly listed Other elements of, or also include elements inherent to this process, method, article or equipment. Without more restrictions, the element defined by the sentence "including a..." does not exclude the existence of other identical elements in the process, method, article, or equipment that includes the element.

The above are only specific implementations of the present disclosure to enable those skilled in the art to understand or implement the present disclosure. Various modifications to these embodiments will be obvious to those skilled in the art, and the general principles defined herein can be implemented in other embodiments without departing from the spirit or scope of the present disclosure. Therefore, the present disclosure will not be limited to the embodiments shown in this document, but should conform to the widest scope consistent with the principles and novel features applied for in this document.

Claims

A control method of a sweeper, the method comprising:

Acquiring parameter information of the current obstacle, where the parameter information includes height, and the height is the height of the obstacle from the ground;

Get the current height of the sweeper;

When the current height is greater than the height of the current obstacle, generating an adjustment instruction according to the difference between the height of the current obstacle and the current height, and the adjustment instruction is set to adjust the height of the sweeper;

Execute the adjustment instruction.
The method according to claim 1, wherein the parameter information further includes location information, and the method further includes:

Acquiring the current position of the sweeper;

When the current position is inconsistent with the position information of the current obstacle, generating a movement instruction according to the current position and the position information of the current obstacle;

Execute the movement instruction.
The method according to claim 2, wherein before said obtaining the parameter information of the current obstacle, it further comprises:

Acquiring parameter information of obstacles in a preset area, where the preset area contains at least two obstacles;

According to the height and position information of each obstacle, plan a cleaning path of the sweeper, and any obstacle in the preset area is the current obstacle.
The method according to claim 3, wherein the planning the cleaning path of the sweeper according to the height and position information of each of the obstacles comprises:

Sort according to the height of each obstacle from low to high, and obtain the first cleaning order of each obstacle;

According to the first cleaning sequence of each of the obstacles, path planning is performed with the corresponding position information of the obstacles to obtain the cleaning path of the sweeper.
The method according to claim 3, wherein the planning the cleaning path of the sweeper according to the height and position information of each of the obstacles comprises:

Weighting the height and position information of each of the obstacles to obtain a weighted value of each of the obstacles;

Sort the weighted values of each of the obstacles to obtain the second cleaning order of each of the obstacles;

Perform path planning according to the second cleaning sequence of each obstacle and the corresponding position information of the obstacle to obtain the cleaning path of the sweeper.
The method according to claim 3, wherein the planning the cleaning path of the sweeper according to the height and position information of each of the obstacles comprises:

Calculating the difference between the position information of each of the obstacles and the current position of the sweeper to obtain the distance value of each of the obstacles from the sweeping machine;

Sort according to the distance value of each of the obstacles from small to large, and obtain the third cleaning order of each of the obstacles;

According to the third cleaning sequence of each of the obstacles, path planning is performed with the corresponding position information of the obstacles to obtain the cleaning path of the sweeper.
The method according to claim 1, wherein when the current height is greater than the height of the current obstacle, the method further comprises:

Obtaining the height of the garbage in the sweeper;

When the height of the garbage is less than the height of the current obstacle, the step of generating an adjustment instruction according to the difference between the height of the current obstacle and the current height is executed.
The method according to claim 7, wherein the method further comprises:

When the height of the garbage is greater than or equal to the height of the current obstacle, judging whether the current height is the maximum height;

When the current height is the maximum height, generate a garbage disposal instruction, and execute the garbage disposal instruction;

When the current height is not the maximum height, a lifting instruction is generated, the lifting instruction is executed, and the lifting instruction is set to raise the height of the sweeper.
The method according to claim 8, wherein the method further comprises:

Calculating the height difference between the height of the current obstacle and the height of the garbage;

Determine whether the height difference is less than a preset difference;

When the height difference is greater than or equal to the preset difference value, a cleaning instruction is generated, and the cleaning instruction is executed;

When the height difference is less than the preset difference value, the step of determining whether the current height is the maximum height is executed.
A control device of a sweeper, the device comprising:

The parameter acquisition module is configured to acquire parameter information of the current obstacle, the parameter information includes height, and the height is the height of the obstacle from the ground;

The height acquisition module is set to acquire the current height of the sweeper;

The adjustment instruction acquisition module is configured to generate an adjustment instruction according to the difference between the current height of the obstacle and the current height when the current height is greater than the height of the current obstacle, and the adjustment instruction is set to Adjust the height of the sweeper;

The execution module is set to execute the adjustment instruction.
A sweeper, which is configured to implement the steps of the method in any one of claims 1-9.
A computer device, comprising a memory, a processor, and a computer program stored on the memory and capable of running on the processor. The processor implements the method described in any one of claims 1 to 9 when the processor executes the computer program step.
A computer-readable storage medium having a computer program stored thereon, and when the computer program is executed by a processor, the steps of the method according to any one of claims 1 to 9 are realized.