WO2022095320A1

WO2022095320A1 - Carpet recognition-based cleaning method for robot mop, electronic device, and storage medium

Info

Publication number: WO2022095320A1
Application number: PCT/CN2021/081334
Authority: WO
Inventors: 曾思远; 赵传涛
Original assignee: 深圳市普森斯科技有限公司
Priority date: 2020-11-04
Filing date: 2021-03-17
Publication date: 2022-05-12
Also published as: CN112353295A

Abstract

A carpet recognition-based cleaning method for robot mop, an electronic device (1), and a storage medium. The method comprises: detecting, by using a pre-configured detection device, an object to be cleaned in a scene where cleaning is to be performed, and determining the type of said object according to a signal fed back by the detection device (S10); when it is determined that said object is an object of a first preset type, marking said object by means of an identifier of a first preset format in a pre-established map of said scene (S20); when it is determined that said object is an object of a second preset type, marking said object by means of an identifier of a second preset format in the pre-established map of said scene (S30); and performing a cleaning operation on said scene on the basis of the identifier of the first preset format, the identifier of the second preset format, and the map of said scene (S40).

Description

Sweeper cleaning method, electronic device and storage medium based on carpet recognition

technical field

The present application relates to the field of data processing, and in particular, to a cleaning method, an electronic device and a storage medium of a sweeper based on carpet recognition.

Background technique

With the continuous advancement of technology, the technology of smart sweepers has developed rapidly. Most of the sweepers on the market now have the function of mopping the floor. The sweeper may enter the carpet and contaminate it during the mopping process. Although the exemplary technology can identify the carpet , Due to the limitation of technical characteristics and installation location, there is a delay in identification, which leads to the fact that the sweeper often enters the carpet for a certain distance before exiting during the mopping process, which reduces the cleaning effect and efficiency a lot, and pollutes the carpet.

technical problem

In view of the above, the present application provides a cleaning method, an electronic device and a storage medium for a floor sweeper based on carpet recognition, the purpose of which is to solve the technical problem of low cleaning efficiency due to a delay in the recognition of a carpet by the floor sweeper in the exemplary technology.

technical solutions

In order to achieve the above object, the present application provides a cleaning method for a sweeper based on carpet identification, the method comprising:

Judging step: use a preconfigured detection device to detect the object to be cleaned in the scene to be cleaned, and determine the type of the object to be cleaned according to the signal fed back by the detection device;

The first marking step: determining and judging that the object to be cleaned is an object of a first preset type, and marking the object to be cleaned in a pre-established map of the scene to be cleaned with an identifier of the first preset format;

The second marking step: determining and judging that the object to be cleaned is an object of a second preset type, and marking the object to be cleaned in a pre-established map of the scene to be cleaned with an identifier of the second preset format;

The cleaning step: performing a cleaning operation on the scene to be cleaned based on the identifier of the first preset format, the identifier of the second preset format and the map of the scene to be cleaned.

Optionally, the preconfigured detection equipment includes ultrasonic detection equipment, and the judging step includes:

The ultrasonic detection device generates ultrasonic echo signals with different intensities based on the surface density of the object to be cleaned, and compares the intensity of the ultrasonic echo signal with a preset threshold to determine the type of the object to be cleaned. .

Optionally, the preset threshold includes a first threshold and a second threshold, and comparing the intensity of the ultrasonic echo signal with a preset threshold to determine the type of the object to be cleaned includes:

Based on the intensity of the ultrasonic echo signal being less than or equal to a first threshold, determining that the object to be cleaned is an object of a second preset type;

When the strength of the ultrasonic echo signal is greater than a first threshold and less than a second threshold, it is determined that the object to be cleaned is an object of a first preset type, wherein the first threshold is less than the second threshold.

Optionally, the preconfigured detection device includes an optical flow device, and the judging step includes:

The optical flow device determines based on the intensity of the reflected signal of the object to be cleaned, and obtains the type of the object to be cleaned.

Optionally, the pre-established map of the scene to be cleaned is obtained by scanning a pre-configured lidar scanner, and the specific scanning process includes:

A lidar scanner is used to scan the margin of the scene to be cleaned, or a travel operation is performed according to a predetermined margin track line, so as to generate a map of the scene to be cleaned.

Optionally, the cleaning step includes:

It is determined that an identifier of the first preset format is detected from the map of the scene to be cleaned, and the cleaning operation of the first preset mode is performed;

It is determined that the identifier of the second preset format is detected from the map of the scene to be cleaned, and the cleaning operation of the third preset mode is performed;

It is determined that the first preset format marker and the second preset format marker are not detected from the map of the scene to be cleaned, and the cleaning operation of the first preset model and the cleaning operation of the second preset mode are performed.

In order to achieve the above object, the present application also provides an electronic device, the electronic device includes: a memory and a processor, the memory stores a sweeper cleaning program based on carpet identification, and the carpet identification-based sweeper cleaning program is stored. The processor executes the following steps:

Optionally, the preconfigured detection device includes an ultrasonic detection device, and the ultrasonic detection device is configured to generate ultrasonic echo signals with different intensities based on the surface density of the object to be cleaned, and the ultrasonic echo The intensity of the wave signal is compared with a preset threshold to determine the type of the object to be cleaned.

Optionally, the preset threshold includes a first threshold and a second threshold, and the ultrasonic detection device is set to determine the to-be-cleaned based on the strength of the ultrasonic echo signal being less than or equal to the first threshold. the object is an object of the second preset type;

Optionally, the preconfigured detection device includes an optical flow device, and the optical flow device is configured to analyze based on the intensity of the reflected signal of the object to be cleaned to obtain the type of the object to be cleaned.

Optionally, it also includes a lidar scanner, the lidar scanner is configured to scan the margin of the scene to be cleaned, or perform a traveling operation according to a predetermined margin trajectory line, and generate a map of the scene to be cleaned. .

Optionally, the sweeper is configured to determine that an identifier of the first preset format is detected from the map of the scene to be cleaned, and perform the cleaning operation in the first preset mode;

In order to achieve the above object, the present application also provides a computer-readable storage medium, the computer-readable storage medium includes a sweeper cleaning program based on carpet identification, and when the carpet identification-based sweeper cleaning program is executed by a processor , to realize any steps in the cleaning method of the sweeper based on the carpet recognition as described above.

beneficial effect

The carpet recognition-based cleaning method, electronic device, and storage medium for a sweeper proposed in the present application detect objects to be cleaned in a scene to be cleaned through a preconfigured detection device, and determine the type of the object to be cleaned according to signals fed back by the detection device , when it is determined that the object to be cleaned is an object of the first preset type, the object to be cleaned is marked in the pre-established map of the scene to be cleaned with the identifier of the first preset format, and when it is determined that the object to be cleaned is the second preset type When setting the type of object, the object to be cleaned is marked in the pre-established map of the scene to be cleaned with the identification of the second preset format, based on the identification of the first preset format, the identification of the second preset format and the identification of the to-be-cleaned The map of the scene, to perform the cleaning operation on the scene to be cleaned. Using the present application, the sweeper can mark different types of objects to be cleaned on the map of the scene to be cleaned in different formats, and perform corresponding cleaning or avoidance according to the marks in the map during cleaning, which improves the cleaning efficiency.

Description of drawings

1 is a schematic diagram of a preferred embodiment of an electronic device of the present application;

Fig. 2 is the module schematic diagram of the preferred embodiment of the sweeper cleaning program based on carpet identification in Fig. 1;

FIG. 3 is a flowchart of a preferred embodiment of the cleaning method for a sweeper based on carpet identification according to the present application;

The realization, functional characteristics and advantages of the purpose of the present application will be further described with reference to the accompanying drawings in conjunction with the embodiments.

BEST MODE FOR CARRYING OUT THE INVENTION

In order to make the purpose, technical solutions and advantages of the present application more clearly understood, the present application will be described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application, but not to limit the present application. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present application.

Referring to FIG. 1 , it is a schematic diagram of a preferred embodiment of the electronic device 1 of the present application.

The electronic device 1 includes but is not limited to: a memory 11 , a processor 12 , a display 13 and a network interface 14 . The electronic device 1 is connected to the network through the network interface 14 . The network may be a wireless or wired network such as the Internet (Internet), a 4G network, a 5G network, Bluetooth (Bluetooth), Wi-Fi, and a call network.

Wherein, the memory 11 includes at least one type of readable storage medium, and the readable storage medium includes flash memory, hard disk, multimedia card, card-type memory (for example, SD or DX memory, etc.), random access memory (RAM), static Random Access Memory (SRAM), Read Only Memory (ROM), Electrically Erasable Programmable Read Only Memory (EEPROM), Programmable Read Only Memory (PROM), Magnetic Memory, Magnetic Disk, Optical Disk, etc. In some embodiments, the memory 11 may be an internal storage unit of the electronic device 1 , such as a hard disk or a memory of the electronic device 1 . In other embodiments, the memory 11 may also be an external storage device of the electronic device 1, such as a plug-in hard disk, a smart memory card (Smart Media Card, SMC), a secure digital ( Secure Digital, SD) card, flash card (Flash Card), etc. Of course, the memory 11 may also include both an internal storage unit of the electronic device 1 and an external storage device thereof. In this embodiment, the memory 11 is generally configured to store the operating system and various application software installed in the electronic device 1 , such as the program code of the sweeper cleaning program 10 based on carpet recognition. In addition, the memory 11 may also be configured to temporarily store various types of data that have been output or will be output.

The processor 12 may be a central processing unit (Central Processing Unit) in some embodiments. Processing Unit, CPU), controller, microcontroller, microprocessor, or other data processing chip. The processor 12 is generally configured to control the overall operation of the electronic device 1, such as performing data interaction or communication-related control and processing. In this embodiment, the processor 12 is configured to run the program code or process data stored in the memory 11 , for example, run the program code of the sweeper cleaning program 10 based on carpet recognition, and the like.

The display 13 may be referred to as a display screen or a display unit. In some embodiments, the display 13 may be an LED display, a liquid crystal display, a touch-sensitive liquid crystal display, and an organic light emitting diode (Organic Light Emitting Diode). Light-Emitting Diode, OLED) touch device, etc. The display 13 is configured to display information processed in the electronic device 1 and configured to display a visual working interface, such as the results of data statistics.

The network interface 14 may optionally include a standard wired interface, a wireless interface (such as a WI-FI interface), and the network interface 14 is usually configured to establish a communication connection between the electronic device 1 and other electronic devices.

FIG. 1 only shows the electronic device 1 with components 11-14 and the carpet recognition based sweeper cleaning program 10, but it should be understood that implementation of all shown components is not required, and more or more may be implemented instead. fewer components.

Optionally, the electronic device 1 may further include a user interface, and the user interface may include a display (Display), an input unit such as a keyboard (Keyboard), and an optional user interface may also include a standard wired interface and a wireless interface. Optionally, in some embodiments, the display may be an LED display, a liquid crystal display, a touch-sensitive liquid crystal display, or the like. The display may also be appropriately called a display screen or a display unit, and is configured to display information processed in the electronic device 1 and configured to display a visualized user interface.

The electronic device 1 may further include a radio frequency (Radio Frequency, RF) circuit, a sensor, an audio circuit, and the like, which will not be repeated here.

In the above embodiment, when the processor 12 executes the carpet recognition-based sweeper cleaning program 10 stored in the memory 11, the following steps can be implemented:

The first marking step: when it is determined that the object to be cleaned is an object of the first preset type, the object to be cleaned is marked in a pre-established map of the scene to be cleaned with an identifier of the first preset format;

The second marking step: when it is determined that the object to be cleaned is an object of the second preset type, marking the object to be cleaned in the pre-established map of the scene to be cleaned with an identifier of the second preset format;

The storage device may be the memory 11 of the electronic device 1 , or may be other storage devices communicatively connected to the electronic device 1 .

In an actual application scenario, the electronic device 1 may be a sweeping robot, an automatic cleaning machine, a smart vacuum cleaner, a robot vacuum cleaner, etc., which is not limited herein.

For the detailed introduction of the above steps, please refer to the following description of FIG. 2 for the program module diagram of the carpet recognition-based sweeper cleaning program 10 embodiment and FIG. 3 for the flowchart of the carpet recognition-based sweeper cleaning method embodiment.

In other embodiments, the carpet recognition-based cleaning program 10 may be divided into multiple modules, and the multiple modules are stored in the memory 11 and executed by the processor 12 to complete the present application. A module referred to in this application refers to a series of computer program instruction segments that can perform specific functions.

Referring to FIG. 2 , it is a program module diagram of an embodiment of the sweeper cleaning program 10 based on carpet recognition in FIG. 1 . In this embodiment, the cleaning program 10 for a sweeper based on carpet recognition can be divided into: a judgment module 110 , a first marking module 120 , a second marking module 130 , and a cleaning module 140 .

The determination module 110 is configured to detect objects to be cleaned in the scene to be cleaned by using a preconfigured detection device, and to determine the type of the objects to be cleaned according to the signals fed back by the detection device.

In this embodiment, in order to identify the type of the cleaning object in the actual cleaning scene, that is, to identify whether there is a carpet in the scene to be cleaned, or what type of carpet exists, a preconfigured detection device can be used to detect the to-be-cleaned For the objects to be cleaned in the cleaning scene, the type of the objects to be cleaned can be determined according to the signals fed back by the detection equipment. By configuring the detection equipment in the sweeper in advance, the type of the objects to be cleaned can be accurately detected.

Embodiments of the present invention

In one embodiment, the pre-configured detection device includes an ultrasonic detection device, the ultrasonic detection device generates ultrasonic echo signals with different intensities based on the surface density of the object to be cleaned, and the ultrasonic echo signals are The intensity is compared with a preset threshold to determine the type of the object to be cleaned. Due to the different surface densities of the objects to be cleaned, the pre-configured ultrasonic detection equipment of the sweeper will receive ultrasonic echo signals of different intensities when detecting the ground. By comparing the intensity of the ultrasonic echo signals with the preset threshold By comparison, the type of objects to be cleaned (eg, floor tiles, carpets, etc.) can be determined. In other embodiments, the preconfigured detection device includes an optical flow device, and the optical flow device analyzes the intensity of the reflected signal of the object to be cleaned to obtain the type of the object to be cleaned, and the detection device includes Multiple optical flow sensors may be included.

Further, the preset threshold includes a first threshold and a second threshold, and comparing the intensity of the ultrasonic echo signal with a preset threshold to determine the type of the object to be cleaned includes:

When the intensity of the ultrasonic echo signal is less than or equal to the first threshold, determine that the object to be cleaned is an object of the second preset type;

Since the surface density of each object to be cleaned is different, the intensity of the ultrasonic echo signal fed back is also different. Therefore, the first threshold and the second threshold can be set according to the intensity of the corresponding ultrasonic echo signal of the object to be cleaned. The type of the object to be cleaned, when the intensity of the ultrasonic echo signal is less than or equal to the first threshold, it is determined that the object to be cleaned is an object of the second preset type, and the object of the second preset type can be a long-haired carpet. During the measurement process, the intensity of the ultrasonic echo signal fed back by the long-haired carpet will be lower than that of the short-haired carpet and floor tiles, so the object to be cleaned whose intensity of the ultrasonic echo signal is less than or equal to the first threshold can be judged as the second preset type. The object to be cleaned when the intensity of the ultrasonic echo signal is greater than the first threshold and less than the second threshold is judged as the object of the first preset type, and the object of the first preset type can be a short-haired carpet, and further, The object to be cleaned whose intensity of the ultrasonic echo signal is greater than the second threshold value can also be determined to be an object of a third preset type, and the object of the third preset type can be a floor with a smooth surface.

The first marking module 120 is configured to mark the object to be cleaned in a pre-established map of the scene to be cleaned with an identifier of the first preset format when it is determined that the object to be cleaned is an object of a first preset type.

In this embodiment, when it is determined that the object to be cleaned belongs to the object of the first preset type, the object to be cleaned is marked in the pre-established map of the scene to be cleaned with the identifier of the first preset format. When the object to be cleaned belongs to a short-haired carpet, the carpet can be marked on the pre-established map of the scene to be cleaned in the form of a blue rectangle. The pre-established map of the scene to be cleaned is obtained by scanning a pre-configured lidar scanner, and the specific scanning process includes: using the lidar scanner to scan the margin of the scene to be cleaned, or according to the predetermined margin track line Perform a marching operation to generate a map of the scene to be cleaned. For example, a lidar scanner is used to scan the surrounding walls or indoor maps of the scene to be cleaned, or the sweeper performs a traveling operation according to a predetermined margin trajectory line (indoor surrounding line) before cleaning to generate a map of the scene to be cleaned. By marking the objects of the first preset type as the identifiers of the first preset format in the pre-established map of the scene to be cleaned, the objects of the first preset type can be accurately and quickly identified during the cleaning process, and corresponding cleaning operation.

The second marking module 130 is configured to mark the to-be-cleaned object in the pre-established map of the to-be-cleaned scene with an identifier of the second preset format when it is determined that the to-be-cleaned object is an object of the second preset type.

In this embodiment, when it is determined that the object to be cleaned is an object of the second preset type, the object to be cleaned is marked in a pre-established map of the scene to be cleaned with an identifier of the second preset format. For example, when it is determined that the object to be cleaned belongs to a long-haired carpet, the carpet can be marked in the form of a yellow rectangular frame in the pre-established map of the scene to be cleaned, and the map of the scene to be cleaned can be generated as described above. Objects of the second preset type are marked as identifiers of the second preset format in the map of the scene to be cleaned, so that the objects of the second preset type can be accurately and quickly identified during the cleaning process, and corresponding cleaning operations can be performed.

The cleaning module 140 is configured to perform a cleaning operation on the scene to be cleaned based on the identifier of the first preset format, the identifier of the second preset format and the map of the scene to be cleaned.

In this embodiment, according to the identification of the first preset format, the identification of the second preset format, and the map of the scene to be cleaned, the cleaning operation is performed on the scene to be cleaned, so that the objects of the first preset type and the objects of the first preset type can be accurately and quickly identified. The objects of the second preset type are located on the map of the scene to be cleaned, and perform different cleaning modes for different objects to be cleaned, thereby improving the cleaning efficiency.

In one embodiment, when an identifier of the first preset format is detected from the map of the scene to be cleaned, a cleaning operation in the first preset mode is performed;

When an identifier of the second preset format is detected from the map of the scene to be cleaned, the cleaning operation of the third preset mode is performed;

When the first preset format marker and the second preset format marker are not detected from the map of the scene to be cleaned, the cleaning operation of the first preset model and the cleaning operation of the second preset mode are performed.

When an identifier of the first preset format is detected from the map of the scene to be cleaned, that is, when the sweeper detects that the object to be cleaned is a short-haired carpet, the cleaning operation in the first preset mode is performed. The cleaning operation can be a high-pressure vacuuming model. When the second preset format is detected from the map of the scene to be cleaned, that is, when the sweeper detects that the object to be cleaned is a long-haired carpet, the third preset mode is executed. Cleaning operation, the cleaning operation in the third preset mode can be a low-pressure vacuuming model. When the first preset format marker and the second preset format marker are not detected from the map of the scene to be cleaned, the object to be cleaned is not a carpet At the time, the cleaning operation of the first preset model and the cleaning operation of the second preset mode are performed, and the cleaning operation of the second preset model may be a mopping model. Perform high-pressure vacuuming and mopping mode on ordinary floors, only perform high-pressure vacuuming when short-pile carpets are detected, prevent carpets from getting wet, and only perform low-pressure vacuuming when long-pile carpets are detected, which can prevent sweepers and long-haired carpets. Wool carpets are entangled, improving cleaning efficiency.

In addition, the present application also provides a cleaning method for a sweeper based on carpet identification. Referring to FIG. 3 , it is a schematic flow chart of an embodiment of a cleaning method for a sweeper based on carpet recognition of the present application. When the processor 12 of the electronic device 1 executes the carpet recognition-based sweeper cleaning program 10 stored in the memory 11, the following steps are implemented to implement the carpet recognition-based sweeper cleaning method:

Step S10: Use a preconfigured detection device to detect the object to be cleaned in the scene to be cleaned, and determine the type of the object to be cleaned according to the signal fed back by the detection device.

Step S20 : when it is determined that the object to be cleaned is an object of the first preset type, mark the object to be cleaned in a pre-established map of the scene to be cleaned with an identifier of the first preset format.

In this embodiment, when it is determined that the object to be cleaned belongs to the object of the first preset type, the object to be cleaned is marked in the pre-established map of the scene to be cleaned with the identifier of the first preset format. When the object to be cleaned belongs to a short-haired carpet, the carpet can be marked on the pre-established map of the scene to be cleaned in the form of a blue rectangle. The pre-established map of the scene to be cleaned is obtained by scanning a pre-configured lidar scanner, and the specific scanning process includes: using the lidar scanner to scan the margin of the scene to be cleaned, or according to the predetermined margin track line Perform a marching operation to generate a map of the scene to be cleaned. For example, a lidar scanner is used to scan the surrounding walls or indoor maps of the scene to be cleaned, or the sweeper performs a traveling operation according to a predetermined margin trajectory line (indoor surrounding line) before cleaning to generate a map of the scene to be cleaned. By marking the objects of the first preset type as the identifiers of the first preset format in the pre-established map of the scene to be cleaned, the objects of the first preset type can be accurately and quickly identified during the cleaning process, and corresponding cleaning operation

Step S30 : when it is determined that the object to be cleaned is an object of the second preset type, the object to be cleaned is marked in a pre-established map of the scene to be cleaned with an identifier of the second preset format.

Step S40: Based on the identifier of the first preset format, the identifier of the second preset format, and the map of the scene to be cleaned, perform a cleaning operation on the scene to be cleaned.

When an identifier of the first preset format is detected from the map of the scene to be cleaned, that is, when the sweeper detects that the object to be cleaned is a short-haired carpet, the cleaning operation in the first preset mode is performed. The cleaning operation can be a high-pressure vacuuming model. When the second preset format is detected from the map of the scene to be cleaned, that is, when the sweeper detects that the object to be cleaned is a long-haired carpet, the third preset mode is executed. Cleaning operation, the cleaning operation in the third preset mode can be a low-pressure vacuuming model. When the first preset format marker and the second preset format marker are not detected from the map of the scene to be cleaned, the object to be cleaned is not a carpet At the time, the cleaning operation of the first preset model and the cleaning operation of the second preset mode are performed, and the cleaning operation of the second preset model may be a mopping model. Perform high-pressure vacuuming and mopping mode on ordinary floors to improve cleaning efficiency, only perform high-pressure vacuuming when short-pile carpets are detected, and prevent carpets from getting wet, and only perform low-pressure vacuuming when long-pile carpets are detected, which can prevent The sweeper is entangled with the plush carpet, improving the cleaning efficiency.

In addition, an embodiment of the present application also proposes a computer-readable storage medium, where the computer-readable storage medium may be a hard disk, a multimedia card, an SD card, a flash memory card, an SMC, a read-only memory (ROM), an erasable programmable Read-only memory (EPROM), portable compact disk read-only memory (CD-ROM), USB memory, etc. any one or any combination of several. The computer-readable storage medium includes a sweeper cleaning program 10 based on carpet recognition, and when the carpet recognition-based sweeper cleaning program 10 is executed by a processor, the following operations are implemented:

The specific implementation of the computer-readable storage medium of the present application is substantially the same as the specific implementation of the above-mentioned carpet recognition-based cleaning method for a sweeper, and will not be repeated here.

It should be noted that the above-mentioned serial numbers of the embodiments of the present application are only for description, and do not represent the advantages and disadvantages of the embodiments. And the terms "comprising", "comprising" or any other variation thereof herein are intended to encompass a non-exclusive inclusion such that a process, device, article or method comprising a list of elements includes not only those elements, but also includes no explicit Other elements listed, or those inherent to such a process, apparatus, article, or method are also included. Without further limitation, an element qualified by the phrase "comprising a..." does not preclude the presence of additional identical elements in the process, apparatus, article, or method that includes the element.

From the description of the above embodiments, those skilled in the art can clearly understand that the method of the above embodiment can be implemented by means of software plus a necessary general hardware platform, and of course can also be implemented by hardware, but in many cases the former is better implementation. Based on this understanding, the technical solutions of the present application can be embodied in the form of software products in essence or the parts that make contributions to the prior art. The computer software products are stored in a storage medium (such as ROM/RAM) as described above. , magnetic disk, optical disk), including several instructions to make a terminal device (which may be a mobile phone, a computer, an electronic device, or a network device, etc.) to execute the methods described in the various embodiments of the present application.

The above are only the preferred embodiments of the present application, and are not intended to limit the patent scope of the present application. Any equivalent structure or equivalent process transformation made by using the contents of the description and drawings of the present application, or directly or indirectly applied in other related technical fields , are similarly included within the scope of patent protection of this application.

Claims

A cleaning method for a sweeper based on carpet identification, applied to an electronic device, wherein the method comprises:

Judging step: use a preconfigured detection device to detect the object to be cleaned in the scene to be cleaned, and determine the type of the object to be cleaned according to the signal fed back by the detection device;

The first marking step: determining that the object to be cleaned is an object of a first preset type, and marking the object to be cleaned in a pre-established map of the scene to be cleaned with an identifier of the first preset format;

The second marking step: determining that the object to be cleaned is an object of a second preset type, and marking the object to be cleaned in a pre-established map of the scene to be cleaned with an identifier of the second preset format;

The cleaning step: performing a cleaning operation on the scene to be cleaned based on the identifier of the first preset format, the identifier of the second preset format and the map of the scene to be cleaned.
The cleaning method for a sweeper based on carpet recognition according to claim 1, wherein the pre-configured detection device includes an ultrasonic detection device, and the judgment step includes:

The ultrasonic detection device generates ultrasonic echo signals with different intensities based on the surface density of the object to be cleaned, and compares the intensity of the ultrasonic echo signal with a preset threshold to determine the type of the object to be cleaned .
The cleaning method for a sweeper based on carpet identification according to claim 2, wherein the preset threshold includes a first threshold and a second threshold, and the intensity of the ultrasonic echo signal is compared with the preset threshold. The thresholds are compared to determine the type of the object to be cleaned, including:

Based on the intensity of the ultrasonic echo signal being less than or equal to a first threshold, determining that the object to be cleaned is an object of a second preset type;

When the strength of the ultrasonic echo signal is greater than a first threshold and less than a second threshold, it is determined that the object to be cleaned is an object of a first preset type, wherein the first threshold is less than the second threshold.
The cleaning method for a sweeper based on carpet recognition according to claim 1, wherein the pre-configured detection device comprises an optical flow device, and the judgment step comprises:

The optical flow device determines based on the intensity of the reflected signal of the object to be cleaned, and obtains the type of the object to be cleaned.
The method for cleaning a sweeper based on carpet recognition according to claim 1, wherein the pre-established map of the scene to be cleaned is obtained by scanning a pre-configured lidar scanner, and the specific scanning process includes:

A lidar scanner is used to scan the margin of the scene to be cleaned, or a travel operation is performed according to a predetermined margin track line, so as to generate a map of the scene to be cleaned.
The cleaning method for a sweeper based on carpet identification according to claim 1, wherein the cleaning step comprises:

It is determined that an identifier of the first preset format is detected from the map of the scene to be cleaned, and the cleaning operation in the first preset mode is performed;

It is determined that the identifier of the second preset format is detected from the map of the scene to be cleaned, and the cleaning operation of the third preset mode is performed;

It is determined that the first preset format marker and the second preset format marker are not detected from the map of the scene to be cleaned, and the cleaning operation of the first preset model and the cleaning operation of the second preset mode are performed.
An electronic device, the electronic device comprising: a memory and a processor, the memory stores a sweeper cleaning program based on carpet recognition, the carpet recognition-based sweeper cleaning program is executed by the processor, and the following steps are implemented:

Judging step: use a preconfigured detection device to detect the object to be cleaned in the scene to be cleaned, and determine the type of the object to be cleaned according to the signal fed back by the detection device;

The first marking step: it is determined and judged that the object to be cleaned is an object of a first preset type, and the object to be cleaned is marked in a pre-established map of the scene to be cleaned with an identifier of the first preset format;

The second marking step: determining and judging that the object to be cleaned is an object of the second preset type, and marking the object to be cleaned in the pre-established map of the scene to be cleaned with an identifier of the second preset format;

The cleaning step: performing a cleaning operation on the scene to be cleaned based on the identifier of the first preset format, the identifier of the second preset format and the map of the scene to be cleaned.
7. The electronic device of claim 7, wherein the preconfigured detection device comprises an ultrasonic detection device configured to generate ultrasonic echoes of different intensities based on the surface density of the object to be cleaned wave signal, and compare the intensity of the ultrasonic echo signal with a preset threshold to determine the type of the object to be cleaned.
8. The electronic device of claim 8, wherein the preset threshold includes a first threshold and a second threshold, and the ultrasonic detection device is set to be less than or equal to the first threshold based on the intensity of the ultrasonic echo signal. a threshold, determining that the object to be cleaned is an object of the second preset type;

When the intensity of the ultrasonic echo signal is greater than a first threshold and less than a second threshold, it is determined that the object to be cleaned is an object of a first preset type, wherein the first threshold is less than the second threshold.
The electronic device according to claim 7, wherein the preconfigured detection device comprises an optical flow device, and the optical flow device is configured to analyze based on the intensity of the reflected signal of the object to be cleaned to obtain the to-be-cleaned object. The type of cleaning object.
The electronic device according to claim 7, further comprising a lidar scanner, wherein the lidar scanner is configured to scan the margin of the scene to be cleaned, or perform a traveling operation according to a predetermined margin track line, A map of the scene to be cleaned is generated.
The electronic device according to claim 7, wherein the sweeper is configured to determine that an identifier of the first preset format is detected from the map of the scene to be cleaned, and perform the cleaning operation in the first preset mode;

It is determined that the identifier of the second preset format is detected from the map of the scene to be cleaned, and the cleaning operation of the third preset mode is performed;

It is determined that the first preset format marker and the second preset format marker are not detected from the map of the scene to be cleaned, and the cleaning operation of the first preset model and the cleaning operation of the second preset mode are performed.
A computer-readable storage medium, wherein the computer-readable storage medium includes a sweeper cleaning program based on carpet identification, and when the carpet identification-based sweeper cleaning program is executed by a processor, the method as claimed in claim 1 can be implemented. The steps of the sweeper cleaning method based on carpet recognition.