WO2023025023A1

WO2023025023A1 - Cleaning method and apparatus of mobile robot, and storage medium and electronic apparatus

Info

Publication number: WO2023025023A1
Application number: PCT/CN2022/113265
Authority: WO
Inventors: 孙佳佳; 罗绍涵; 周影
Original assignee: 追觅创新科技(苏州)有限公司
Priority date: 2021-08-23
Filing date: 2022-08-18
Publication date: 2023-03-02
Also published as: CN116172447A; CN113616119A; CN113616119B

Abstract

A cleaning method and apparatus of a mobile robot, and a storage medium and an electronic apparatus. The cleaning method comprises: controlling a mobile robot to recognize an obstacle in a target area, so as to obtain a recognition result (S202); when the recognition result indicates that parameter information of the obstacle satisfies a preset condition, sending obstacle information of the obstacle to a mobile terminal corresponding to the mobile robot, so as to prompt a target object to clear away the obstacle (S204); and when the obstacle has been cleared away, controlling the mobile robot to clean the target area (S206). In this way, the problem of incomplete cleaning of an area corresponding to an obstacle after a mobile robot avoids the obstacle is solved, thereby improving the cleaning effect of the mobile robot for the target area, and improving the working efficiency of the mobile robot.

Description

Cleaning method and device, storage medium, and electronic device of mobile robot

This application claims the priority of the following patent application: a Chinese patent application submitted to the China Patent Office on August 23, 2021, with the application number 202110971057.6, and the title of the invention is "Cleaning method and device, storage medium, and electronic device for a mobile robot", The entire contents of the aforementioned patent applications are incorporated by reference in this application.

【Technical field】

The invention relates to the field of smart home, in particular to a cleaning method and device for a mobile robot, a storage medium and an electronic device.

【Background technique】

With the rapid development of science and technology, more and more smart devices are born, and mobile robots, as a cleaning device, are also widely used. Because the mobile robot usually encounters some obstacles in the process of performing cleaning work. When the current mobile robot encounters an obstacle, it will first go around the area where the obstacle is located, and then perform the cleaning operation. However, in some application scenarios, due to too many obstacles in an area, although the mobile robot can bypass these obstacles, it will make the cleaning work in this area incomplete and affect the cleaning effect.

Regarding the related technologies, since the mobile robot avoids the obstacles, the area corresponding to the obstacles will be incompletely cleaned, etc., and no effective solution has been proposed yet.

Therefore, it is necessary to improve the related technology to overcome the above-mentioned defects in the related technology.

【Content of invention】

The object of the present invention is to provide a cleaning method and device, a storage medium, and an electronic device for a mobile robot, so as to at least solve the problem of incomplete cleaning of the area corresponding to the obstacle after the mobile robot avoids the obstacle.

The purpose of the present invention is to realize through the following technical solutions:

According to an aspect of an embodiment of the present invention, there is provided a cleaning method for a mobile robot, the method comprising: controlling the mobile robot to identify obstacles in the target area, and obtaining the identification result; when the identification result indicates the obstacle When the parameter information of the object satisfies the preset condition, the obstacle information of the obstacle is sent to the mobile terminal corresponding to the mobile robot to prompt the target object to sort out the obstacle; When the sorting is completed, the mobile robot is controlled to clean the target area.

Further, the obstacle information sent to the mobile terminal includes at least parameter information of the obstacle.

Further, the parameter information of the obstacle includes at least one of the type of the obstacle, the state of the obstacle, the number of the obstacle, and the coverage area of the obstacle.

Further, when the parameter information includes at least one of the following: the type of the obstacle, the state of the obstacle, the number of the obstacle, and the coverage area of the obstacle, the method further Including: determining that the parameter information of the obstacle satisfies a preset condition in at least one of the following ways: when the parameter information includes the type of the obstacle, determining that the type of the obstacle is the target type; If the parameter information includes the state of the obstacle, determine that the state of the obstacle is the target state; if the parameter information includes the number of the obstacle, determine that the number of the obstacle exceeds the first A preset threshold; if the parameter information includes the coverage area of the obstacle, determine that the ratio of the coverage area of the obstacle to the area of the target area is greater than a second preset threshold.

Further, sending the obstacle information of the obstacle to the mobile terminal corresponding to the mobile robot to prompt the target object to sort out the obstacle includes: controlling the mobile robot to exit the target area, and The obstacle information is sent to the mobile terminal; or the mobile robot is controlled to continue the cleaning mode currently being executed, and the obstacle information is sent to the mobile terminal.

Further, controlling the mobile robot to clean the target area includes: when the mobile robot is controlled to exit the target area and the obstacle information is sent to the mobile terminal, determining the Whether the target object has cleared the obstacle; if the obstacle has been cleared, control the mobile robot to drive to the target area to continue cleaning the target area.

Further, controlling the mobile robot to clean the target area also includes: when the mobile robot has been controlled to continue to execute the currently executing cleaning mode, and send the obstacle information to the mobile terminal Next, determine whether the target object has cleared the obstacle; if the obstacle is cleared, control the mobile robot to drive to the target area to supplement the area where the obstacle is located clean up.

Further, the manner in which the obstacles are arranged is determined at least according to one of the type of the obstacle, the state of the obstacle, and the number of the obstacles.

Further, the cleaning mode is selected according to parameter information of the obstacle or a control instruction of the mobile terminal.

Further, the method further includes: determining that the obstacle has been sorted out at least in the following manner: receiving a sorting completion instruction sent by the mobile terminal; or determining that the obstacle is identified after a preset time The recognition result indicates that the parameter information of the obstacle does not satisfy a preset condition.

According to yet another aspect of the embodiments of the present invention, there is also provided a cleaning device for a mobile robot, including: a first control module, configured to control the mobile robot to identify obstacles in the target area and obtain the identification result; a sending module, is used to send the obstacle information of the obstacle to the mobile terminal corresponding to the mobile robot when the recognition result indicates that the parameter information of the obstacle satisfies a preset condition, so as to prompt the target object to Obstacles are sorted out; the second control module is configured to control the mobile robot to clean the target area when the obstacles are sorted out.

Further, the device further includes: a determination module, wherein the determination module is configured to include at least one of the following in the parameter information: the type of the obstacle, the state of the obstacle, the In the case of the coverage area of the obstacle, at least one of the following methods is used to determine that the parameter information of the obstacle satisfies the preset condition: when the parameter information includes the type of the obstacle, determine the The type of the obstacle is a target type; in the case where the parameter information includes the state of the obstacle, determine that the state of the obstacle is a target state; in the case where the parameter information includes the number of the obstacle , determining that the number of obstacles exceeds a first preset threshold; when the parameter information includes the coverage area of the obstacle, determining that the ratio of the coverage area of the obstacle to the area of the target area is greater than Second preset threshold.

According to yet another aspect of the embodiments of the present invention, there is also provided a computer-readable storage medium, wherein a computer program is stored in the storage medium, wherein the computer program is configured to execute any of the above items when running. The cleaning method of the mobile robot described above.

According to yet another embodiment of the embodiments of the present invention, there is also provided an electronic device, including a memory and a processor, wherein a computer program is stored in the memory, and the processor is configured to run the computer program to perform any of the above A cleaning method for a mobile robot described in one.

Through the present invention, during the cleaning process of the mobile robot, it is determined whether the parameter information of the obstacle satisfies the preset condition according to the recognition result of the obstacle in the target area, and if the parameter information of the obstacle satisfies the preset condition, Send the obstacle information of the obstacle to the mobile terminal to prompt the target object to clean up the obstacle, and after the obstacle is sorted out, clean the target area again, which solves the problem that the mobile robot will make the obstacle correspond to the obstacle after avoiding the obstacle. The cleaning effect of the mobile robot on the target area is improved, and the work efficiency of the mobile robot is improved.

【Description of drawings】

The accompanying drawings described here are used to provide a further understanding of the present invention, and constitute a part of the present invention. The schematic embodiments of the present invention and their descriptions are used to explain the present invention, and do not constitute improper limitations to the present invention. In the attached picture:

Fig. 1 is the hardware structural block diagram of the mobile robot of the cleaning method of a kind of mobile robot of the embodiment of the present invention;

2 is a flow chart (1) of a cleaning method for a mobile robot according to an embodiment of the present invention;

3 is a flow chart (2) of a cleaning method for a mobile robot according to an embodiment of the present invention;

4 is a structural block diagram (1) of a cleaning device for a mobile robot according to an embodiment of the present invention;

Fig. 5 is a structural block diagram (2) of a cleaning device of a mobile robot according to an embodiment of the present invention.

【Detailed ways】

Hereinafter, the present invention will be described in detail with reference to the drawings and examples. It should be noted that, in the case of no conflict, the embodiments of the present invention and the features in the embodiments can be combined with each other.

It should be noted that the terms "first" and "second" in the description and claims of the present invention and the above drawings are used to distinguish similar objects, but not necessarily used to describe a specific sequence or sequence.

The method embodiments provided by the embodiments of the present invention may be executed in a mobile robot or a similar computing device. Taking running on a mobile robot as an example, FIG. 1 is a hardware structural block diagram of a mobile robot cleaning method according to an embodiment of the present invention. As shown in Figure 1, the mobile robot can include one or more (only one is shown in Figure 1) processor 102 (the processor 102 can include but not limited to a microprocessor (Microprocessor Unit, MPU for short) or programmable logic device (Programmable logic device, PLD for short) and other processing devices and a memory 104 for storing data, optionally, the above-mentioned mobile robot can also include a transmission device 106 and an input and output device 108 for communication functions. Common in the art Those skilled in the art can understand that the structure shown in Figure 1 is only illustrative, and it does not limit the structure of the above-mentioned mobile robot.For example, the mobile robot can also include more or less components than shown in Figure 1, or have the same Functionally equivalent to that shown in Figure 1 or a different configuration with more functionality than shown in Figure 1.

The memory 104 can be used to store computer programs, for example, software programs and modules of application software, such as the computer program corresponding to the cleaning method of the mobile robot in the embodiment of the present invention, the processor 102 runs the computer program stored in the memory 104, thereby Executing various functional applications and data processing is to realize the above-mentioned method. The memory 104 may include high-speed random access memory, and may also include non-volatile memory, such as one or more magnetic storage devices, flash memory, or other non-volatile solid-state memory. In some embodiments, the memory 104 may further include memory located remotely relative to the processor 102, and these remote memories may be connected to the mobile robot through a network. Examples of the aforementioned network include, but are not limited to, the Internet, an intranet, a local area network, a mobile communication network, and combinations thereof.

The transmission device 106 is used to receive or transmit data via the network. The network embodiment described above may include a wireless network provided by the mobile robot's communication provider. In one embodiment, the transmission device 106 includes a network adapter (Network Interface Controller, NIC for short), which can be connected to other network devices through a base station so as to communicate with the Internet. In one embodiment, the transmission device 106 may be a radio frequency (Radio Frequency, referred to as RF) module, which is used to communicate with the Internet in a wireless manner.

The above-mentioned mobile terminals include but are not limited to smart phones, tablet computers, PDA (Personal Digital Assistant, personal digital assistant) smart devices, wearable devices, and the like.

In this embodiment, a cleaning method for a mobile robot is provided, which is applied to a mobile robot. FIG. 2 is a flow chart (1) of a cleaning method for a mobile robot according to an embodiment of the present invention. As shown in FIG. 2 , the The process includes the following steps:

Step S202, controlling the mobile robot to identify obstacles in the target area, and obtaining the identification result.

Step S204, when the recognition result indicates that the parameter information of the obstacle satisfies the preset condition, send the obstacle information of the obstacle to the mobile terminal corresponding to the mobile robot, so as to prompt the target object to recognize the obstacle. The above obstacles are sorted out.

Step S206, when the obstacles are cleared, control the mobile robot to clean the target area.

Through the above steps, during the cleaning process of the mobile robot, the obstacles in the target area are identified, and whether the parameter information of the obstacle meets the preset condition is determined according to the recognition result, and the parameter information of the obstacle meets the preset condition In the case of the obstacle, the obstacle information of the obstacle is sent to the mobile terminal to prompt the target object to clean up the obstacle, and after the obstacle is sorted out, the target area is cleaned again, which solves the problem of the mobile robot avoiding the obstacle. Make the target area cleaning incomplete and other problems.

It should be noted that the above-mentioned mobile robot can be understood as a smart home appliance for cleaning, such as a sweeping robot, which can absorb ground debris into the sweeping floor by brushing and/or vacuuming. The garbage storage box set by the robot to complete the cleaning work.

The above-mentioned target area can be the room to be cleaned where the mobile robot performs cleaning work. After the mobile robot enters the room to be cleaned, it obtains the environmental information in the room and the parameter information of obstacles in the room, such as the type of room, furniture information in the room, Types of obstacles in the room, locations of obstacles in the room, and the like.

The above obstacles can be understood as garbage that cannot be cleaned by the mobile robot or objects that hinder the cleaning work of the mobile robot. In the case that the obstacle is garbage that cannot be cleaned by the mobile robot, the obstacle may be excrement, fruit peel, liquid, electronic waste, and the like. In the case where the obstacle is an object that hinders the mobile robot from cleaning, the obstacle can be a large toy, an overturned table and chair, a water cup placed on the ground, etc.

The above obstacle information is used to indicate the existence state of the obstacle in the target area, and may include at least one of the type of the obstacle, the state of the obstacle, the number of the obstacle, and the position of the obstacle.

It should be noted that in step S202, the mobile robot can use ultrasonic detection, laser radar detection, infrared detection, etc. to identify obstacles. Taking ultrasonic detection as an example, in the process of identifying obstacles, the mobile robot Transmit ultrasonic signals in the target area and receive the reflected wave signals reflected by obstacles. When it is determined that there are obstacles in the target area, the distance between the obstacle and the mobile robot can be further judged according to the ultrasonic ranging method, and the obstacle can be determined. The number of objects and the location of obstacles. In addition, the mobile robot can use its built-in camera to take pictures of obstacles to obtain images of obstacles, perform image recognition on images of obstacles, and can determine any information in the above obstacle information.

In an optional embodiment, the above-mentioned target area may be a bedroom, a kitchen, a dining room, a living room, a washroom, a toilet, and the like. When the target area is a bedroom, the mobile robot enters the bedroom and recognizes the furniture in the bedroom. If it is determined that the recognition result includes an overturned table and chair, the position of the overturned table and chair is used as the obstacle information of the obstacle Send it to the mobile terminal to remind the target object to tidy up the overturned tables and chairs.

In order to better understand how the recognition result indicates that the parameter information of the obstacle meets the preset condition in step S204, the obstacle information of the obstacle is sent to the mobile terminal corresponding to the mobile robot to prompt the target The object organizes the obstacles, optionally, it can be realized through the following technical solution: the parameter information includes at least one of the following: the type of the obstacle, the state of the obstacle, the In the case of the coverage area of the obstacle, at least one of the following methods is used to determine that the parameter information of the obstacle satisfies the preset condition: when the parameter information includes the type of the obstacle, determine the The type of the obstacle is a target type; in the case where the parameter information includes the state of the obstacle, determine that the state of the obstacle is a target state; in the case where the parameter information includes the number of the obstacle , determining that the number of obstacles exceeds a first preset threshold; when the parameter information includes the coverage area of the obstacle, determining that the ratio of the coverage area of the obstacle to the area of the target area is greater than Second preset threshold.

It should be noted that the above-mentioned parameter information can be used to provide a basis for identifying obstacles, and the above-mentioned target type can be preset for the target object, for example, setting the target type as excrement, fruit peel, liquid, electronic waste, large toys, Overturned tables and chairs, water cups placed on the ground, etc., if the parameter information includes the type of obstacle, if the type of obstacle is determined to include excrement, fruit peel, liquid, electronic waste, large toys, tables and chairs, and water cups One of the obstacles, then determine that the type of obstacle is the target type, that is, the parameter information of the obstacle meets the preset conditions, and further, the type of obstacle can be sent to the mobile terminal corresponding to the mobile robot as the obstacle information of the obstacle , to remind the target object to sort out the obstacles.

It should be noted that the above target state may be preset for the target object, for example, the target state may be in a liquid state or placed upside down. The state of the above obstacles can be understood as the state of the items in the target area that hinder the cleaning work of the mobile robot, for example, the state of the obstacle is liquid, or the state of the obstacle is placed overturned.

In an optional embodiment, when it is determined that the state of the obstacle is liquid, the mobile robot cannot clean the liquid obstacle, so the mobile robot sends the liquid state of the obstacle as the obstacle information of the obstacle to the mobile terminal to prompt the target object to sort out the obstacles.

In an optional embodiment, when the parameter information includes the type of the obstacle and the state of the obstacle, if it is determined that the type of the obstacle is a table and chair, and the state of the obstacle is determined to be placed overturned, then it is determined The parameter information of the obstacle meets the preset conditions, and the mobile robot sends the type and state of the obstacle as obstacle information to the mobile terminal to prompt the target object to sort out the obstacle.

It should be noted that the first preset threshold can be set according to the size of the target area. For example, in the case that the area of the target area is 10m ² , the first preset threshold can be set to 10, or the area of the target area In the case of 15m ² , the first preset threshold can be set to 15. In the case where the parameter information includes the number of obstacles and the first preset threshold is 10, if it is determined that the number of obstacles in the target area is 20, it is determined that the number of obstacles exceeds the first preset threshold, that is, the determination of obstacles The parameter information of the object satisfies the preset condition. Further, the number of obstacles can be sent to the mobile terminal corresponding to the mobile robot as the obstacle information of the obstacle to prompt the target object to sort out the obstacles.

In an optional embodiment, the ratio of the coverage area of the obstacle to the area of the target area can be understood as the ratio of the coverage area of the obstacle to the area of the target area, and the second preset threshold can be set to 40%. In the parameter information Including the coverage area of obstacles, if the area of the target area is 10m ² and the coverage area of obstacles is 5m ² , the ratio of the coverage area of obstacles to the area of the target area is determined to be 50%, that is, the coverage of obstacles The ratio of the area to the target area is greater than the second preset threshold, that is, it is determined that the parameter information of the obstacle satisfies the preset condition. Further, the coverage area of the obstacle can be sent as the obstacle information of the obstacle to the corresponding The mobile terminal is used to prompt the target object to sort out the obstacles.

It should be noted that the above-mentioned target object may be understood as an execution subject that sorts out obstacles, and the execution subject may be a human being or a robot, which is not limited in this embodiment of the present invention. The object's arrangement of obstacles is related to the type of obstacle, the state of the obstacle, and the number of obstacles. The arrangement of obstacles includes at least one of the following:

In an optional embodiment, in the case where the target object is a robot, if it is determined that the type of the obstacle is electronic waste, the robot's sorting method is: to detect the radiation intensity of the electronic waste, and if it is determined that the radiation intensity of the electronic waste is If the intensity is less than the preset intensity, the robot will store the electronic waste in a dustbin that does not have the function of isolating radiation. Wherein, the aforementioned preset intensity may be 0.001 mSv, but not limited thereto.

In an optional embodiment, when the target object is a robot, if it is determined that the number of obstacles is less than a preset value, for example, when the preset value is 5 and the number of obstacles is 2, then The sorting method of the robot is: directly sorting out the obstacles. If it is determined that the number of obstacles is greater than the preset value, for example, when the preset value is 5 and the number of obstacles is 8, the robot determines the distance between the obstacle and itself according to the position of the obstacle and its own position, And use a sorting algorithm to sort the distance between the obstacles and itself to determine the sorting order for sorting out the obstacles, and sort out the obstacles according to the sorting order.

In an optional embodiment, in the case where the target object is a robot, if it is determined that the state of the obstacle is in a liquid state, the robot's sorting method is: detect the pH value of the liquid obstacle, and if it is determined that the state of the liquid obstacle is The PH value meets the preset range, and the robot uses cleaning tools to clean up liquid obstacles. Wherein, the aforementioned preset range may be [6,8], and the aforementioned cleaning tools may include brooms, dustpans, mops, squeezers, buckets, scouring pads, etc., but are not limited thereto.

In order to better understand how step S204 sends the obstacle information of the obstacle to the mobile terminal corresponding to the mobile robot, so as to prompt the target object to organize the obstacle, optionally, the mobile robot can be controlled Exit the target area, and send the obstacle information to the mobile terminal; or control the mobile robot to continue the cleaning mode currently being executed, and send the obstacle information to the mobile terminal.

It should be noted that, when it is determined that the state of the obstacle is liquid, the mobile robot can be controlled to exit the target area, which can reduce the possibility of the mobile robot malfunctioning due to contact with the liquid obstacle, thereby reducing the damage probability of the mobile robot and improving Service life of mobile robots.

In order to better understand how step S206 controls the mobile robot to clean the target area, further, after the mobile robot has been controlled to exit the target area, the obstacle information can be sent to the mobile In the case of a terminal, determine whether the target object has sorted out the obstacles; if the obstacles are sorted out, control the mobile robot to drive to the target area to continue to detect the target area Clean up.

In an optional embodiment, when an obstacle is identified during this cleaning process, the mobile robot is controlled to exit the target area, and when the obstacle information is sent to the mobile terminal and it is determined that the obstacle has been sorted out, Controlling the mobile robot to drive to the target area to continue cleaning the target area can increase the number of feedback of obstacle information, speed up the speed of sorting out obstacle information, improve the feedback speed of work progress, and further improve user experience.

In order to better understand how to control the mobile robot to clean the target area in step S206, further, the mobile robot can continue to execute the current cleaning mode after it has been controlled, and send the obstacle information to In the case of the mobile terminal, it is determined whether the target object has cleared the obstacle; if the obstacle is cleared, control the mobile robot to drive to the target area, so as to clear the obstacle Supplementary cleaning of the area where the obstacle is located.

In an optional embodiment, if an obstacle is identified during this cleaning process, the mobile robot is controlled to continue the current cleaning mode, and the obstacle information is sent to the mobile terminal, and it is determined that the obstacle has been sorted out When it is completed, supplementary cleaning is performed on the area where the obstacle is located, which can improve the cleaning effect of the mobile robot on the target area and improve the work efficiency of the mobile robot.

During the cleaning process of the mobile robot, the mobile robot uses various sensors installed on itself to obtain the parameter information of obstacles in the target area, and automatically selects different working modes according to the parameter information, or selects according to the control instructions of the mobile terminal. Set the working mode.

It should be noted that the above-mentioned cleaning modes can be understood as working modes when the mobile robot performs cleaning work, and may include an automatic mode, an edge mode, a fixed-point mode, and a fine-sweeping mode.

In an optional embodiment, when the working mode of the mobile robot for cleaning is the automatic mode, the mobile robot cleans along a straight line, and if it is determined that the mobile robot recognizes an obstacle, the mobile robot will change the cleaning direction to avoid obstacles, and continue cleaning in a straight line after avoiding obstacles.

In an optional embodiment, when the working mode of the mobile robot for cleaning is the side-by-side mode, if it is determined that the mobile robot has identified an obstacle, the mobile robot will perform cleaning work along the periphery of the obstacle.

In an optional embodiment, when the working mode of the mobile robot is the fixed-point mode when performing cleaning work, if it is determined that the mobile robot recognizes an obstacle, the mobile robot will use the position of the obstacle in a spiral manner to Carry out a concentrated cleaning of the surrounding area of the obstacle at a fixed point, and the surrounding area can be a circular area with a diameter of 1m.

In an optional embodiment, when the working mode of the mobile robot is the fine sweep mode when cleaning, if it is determined that the mobile robot recognizes an obstacle, the mobile robot avoids the obstacle, and updates the cleaning direction with Sweeping direction consistent with automatic mode.

In order to better understand how step S206 controls the mobile robot to clean the target area when the obstacle has been sorted out, optionally, it can be determined that the obstacle has been sorted out at least in the following manner : receiving a sorting completion instruction sent by the mobile terminal; or, determining that the identification result of identifying the obstacle after a preset time indicates that the parameter information of the obstacle does not meet a preset condition.

In an optional embodiment, since the mobile robot sends obstacle information to the mobile terminal to prompt the target object to sort out the obstacles, if the target object finishes sorting out the obstacles, and sends the sorting completion instruction to the mobile robot, Then the mobile robot responds to the received sorting completion instruction, and determines that the obstacle has been sorted out.

It should be noted that the aforementioned preset time may be set according to parameter information. For example, when the parameter information includes the number of obstacles, different durations of preset time may be set according to the number of obstacles.

In an optional embodiment, the preset time may be 20 minutes, 40 minutes or one hour. In the case that the preset time is 20 minutes, if it is determined that the parameter information does not meet the preset condition after 20 minutes, it is determined that the obstacle has been cleared.

Apparently, the above-described embodiments are only part of the embodiments of the present invention, not all of them. In order to better understand the cleaning method of the mobile robot, the above-mentioned process is described below in conjunction with the embodiments, but it is not used to limit the technical solutions of the embodiments of the present invention, specifically:

In an optional embodiment, FIG. 3 is a flowchart (2) of a cleaning method for a mobile robot according to an embodiment of the present invention, and the specific steps are as follows:

Step S302, acquiring parameter information during the cleaning process;

Step S304, judging whether the parameter information indicated by the recognition result satisfies the preset condition, if yes, proceed to step S308, and if no, proceed to step S306;

It should be noted that, in step S304, the parameter information includes at least one of the following: type of obstacle, state of obstacle, number of obstacles, and coverage area of obstacles. Correspondingly, at least one of the following methods can be used to determine that the parameter information of the obstacle satisfies the preset condition:

In the case where the parameter information includes the type of obstacle, determine that the type of obstacle is the target type, for example, the target type is peel, and the type of obstacle is also peel; in the case where the parameter information includes the state of the obstacle, determine the obstacle The state of the object is the target state, for example, the target state is liquid, and the state of the obstacle is liquid; when the parameter information includes the number of obstacles, it is determined that the number of obstacles exceeds a first preset threshold, for example, the first preset Set the threshold to be 6, and the number of obstacles to be 8; in the case where the parameter information includes the coverage area of the obstacle, it is determined that the ratio of the coverage area of the obstacle to the area of the target area is greater than the second preset threshold, for example, the second preset The threshold is 40%, and the ratio of the area covered by obstacles to the area of the target area is 50%.

Step S306, in the case that the parameter information indicated by the recognition result does not meet the preset condition, control the mobile robot to continue to execute the cleaning mode currently being executed;

Step S308, when the parameter information indicated by the recognition result satisfies the preset condition, select the following cleaning strategy: in the case of selecting cleaning strategy A, proceed to step S310, and in the case of selecting cleaning strategy B, proceed to step S312;

Step S310, cleaning strategy A: exit the target area, and send obstacle information and obstacle positions to the mobile terminal;

It should be noted that, in the cleaning strategy A, the cleaning mode can be launched while exiting the target area, or the currently executing cleaning mode can be continued while exiting the target area.

Step S312, cleaning strategy B: avoid obstacles, continue to execute the current cleaning mode, record the location of obstacles during the cleaning process, and send obstacle information and obstacle locations to the mobile terminal after cleaning is completed;

Step S314, prompting the target object to organize obstacles;

It should be noted that in step S314, the prompt method for the target object can be to send a voice reminder through the mobile device, or to send a vibration reminder through the mobile device. At the same time, the type of obstacle, the position of the obstacle, the The number of obstacles, the status of obstacles, and the coverage area of obstacles are sent to mobile devices as obstacle information.

Step S316, judging whether the obstacle has been sorted out, if yes, go to step S318, if no, go to step S314;

Step S318, when the obstacles are cleared, control the mobile robot to clean the target area.

It should be noted that step S316-step S318 can also be realized through the following technical solutions:

It can be judged whether the obstacle has been cleared according to the preset time. The specific steps include:

Step 1, recording the duration of the sorting process, and judging whether the duration of the sorting process is greater than the preset time;

Step 2, when the duration of the sorting process is longer than the preset time, enter the target area to clean again;

Step 3, in the case that the duration of the sorting process is less than the preset time, repeat step 1.

Alternatively, it may be determined whether the obstacle has been sorted out according to whether the sorting completion instruction sent by the mobile terminal is received, and the specific steps include:

Step 1, judging whether the sorting completion instruction sent by the mobile terminal is received;

Step 2, in the case of receiving the sorting completion instruction sent by the mobile terminal, responding to the completion instruction sent by the mobile terminal, and entering the target area again for cleaning,

Step 3, in the case that the sorting completion instruction sent by the mobile terminal is not received, step 1 is repeated.

It should be noted that the process of obtaining parameter information in the above step S302 can be completed by the following steps:

Step 1, enter the cleaning mode;

It should be noted that in the cleaning mode, the mobile robot can perform cleaning work according to the cleaning route planned by the path algorithm.

Step 2, marking obstacles;

It should be noted that during the cleaning process, the mobile robot records the cleaning position in real time, corrects the cleaning route in real time according to the cleaning position, and marks the obstacle position on the cleaning route;

Step 3, identify the obstacle, identify the obstacle and obtain the recognition result, the recognition result includes parameter information.

Through the description of the above embodiments, those skilled in the art can clearly understand that the method according to the above embodiments can be implemented by means of software plus a necessary general-purpose hardware platform, and of course also by hardware, but in many cases the former is Better implementation. Based on this understanding, the technical solution of the present application can be embodied in the form of a software product in essence or the part that contributes to the prior art, and the computer software product is stored in a storage medium (such as a read-only memory (Read-Only Memory, abbreviated as ROM), random access memory (Random Access Memory, abbreviated as RAM), magnetic disk, optical disk), including several instructions to make a terminal device (which can be a mobile phone, computer, server, or network device) etc.) execute the methods described in the various embodiments of the present application.

In this embodiment, a cleaning device of a mobile robot is also provided, and the cleaning device of a mobile robot is used to realize the above-mentioned embodiments and preferred implementation modes, and what has already been described will not be repeated. As used below, the term "module" may be a combination of software and/or hardware that realizes a predetermined function. Although the devices described in the following embodiments are preferably implemented in software, implementations in hardware, or a combination of software and hardware are also possible and contemplated.

Fig. 4 is a structural block diagram (1) of a cleaning device of a mobile robot according to an optional embodiment of the present invention, as shown in Fig. 4:

The first control module 42 is used to control the mobile robot to identify the obstacles in the target area and obtain the identification result;

The sending module 44 is configured to send the obstacle information of the obstacle to the mobile terminal corresponding to the mobile robot to prompt the target when the recognition result indicates that the parameter information of the obstacle satisfies a preset condition The object organizes the obstacles;

The second control module 46 is configured to control the mobile robot to clean the target area when the obstacles are cleared.

Optionally, the first control module 42 is also used to control the mobile robot to use the ultrasonic detection method to identify obstacles. During the process of identifying obstacles, the mobile robot emits ultrasonic signals in the target area and receives the reflected signals from the obstacles. If there is an obstacle in the target area, the distance between the obstacle and the mobile robot can be further judged according to the principle of ultrasonic ranging, and the number and position of the obstacle can be determined. In addition, the mobile robot can use its built-in camera to take pictures of obstacles to obtain images of obstacles, and perform image recognition on images of obstacles to determine the type and status of obstacles.

Optionally, the sending module 44 is also used to determine that the state of the obstacle is liquid, and the mobile robot cannot clean the liquid obstacle. Therefore, the mobile robot regards the liquid state of the obstacle as the obstacle of the obstacle The information is sent to the mobile terminal to prompt the target object to sort out the obstacles.

Optionally, the sending module 44 is also used to determine that the type of the obstacle is a table and chair and that the state of the obstacle is placed overturned when the parameter information includes the type of the obstacle and the state of the obstacle, If it is determined that the parameter information of the obstacle satisfies the preset condition, the mobile robot sends the type and state of the obstacle as obstacle information to the mobile terminal to prompt the target object to sort out the obstacle.

Optionally, when the area of the target area is 10m ² , the first preset threshold may be set to 10 or 15. In the case where the parameter information includes the number of obstacles and the first preset threshold is 10, if it is determined that the number of obstacles in the target area is 20, it is determined that the number of obstacles exceeds the first preset threshold, that is, the determination of obstacles The parameter information of the object satisfies the preset condition. Further, the number of obstacles can be sent to the mobile terminal corresponding to the mobile robot as the obstacle information of the obstacle to prompt the target object to sort out the obstacles.

Optionally, if the parameter information includes the coverage area of the obstacle, if the area of the target area is 10m ² and the coverage area of the obstacle is 5m ² , then determine that the ratio of the coverage area of the obstacle to the area of the target area is 50 %, that is, the ratio of the coverage area of the obstacle to the area of the target area is greater than the second preset threshold, that is, it is determined that the parameter information of the obstacle meets the preset condition, and further, the coverage area of the obstacle can be used as the obstacle of the obstacle The information is sent to the mobile terminal corresponding to the mobile robot to prompt the target object to sort out the obstacles.

Fig. 5 is a structural block diagram (2) of a cleaning device of a mobile robot according to an optional embodiment of the present invention. As shown in Fig. 5, the cleaning device of a mobile robot also includes:

The determination module 50, wherein the determination module is configured to include at least one of the following in the parameter information: the type of the obstacle, the state of the obstacle, the number of the obstacle, and the coverage of the obstacle In the case of the area, at least one of the following methods is used to determine that the parameter information of the obstacle satisfies the preset condition:

In the case where the parameter information includes the type of the obstacle, determine that the type of the obstacle is a target type; in the case where the parameter information includes the state of the obstacle, determine the state of the obstacle is the target state; if the parameter information includes the number of obstacles, determine that the number of obstacles exceeds a first preset threshold; if the parameter information includes the coverage area of the obstacles , determining that the ratio of the coverage area of the obstacle to the area of the target area is greater than a second preset threshold.

Optionally, the sending module 44 is also used to control the mobile robot to exit the target area, and send the obstacle information to the mobile terminal; or control the mobile robot to continue the cleaning mode currently being executed , and send the obstacle information to the mobile terminal.

Optionally, the second control module 46 is also used to determine whether the target object has been detected under the condition that the mobile robot has been controlled to exit the target area and the obstacle information is sent to the mobile terminal. After clearing the obstacles; when the obstacles are cleared, control the mobile robot to drive to the target area, so as to continue cleaning the target area.

Optionally, the second control module 46 is also used to determine the target when the mobile robot has been controlled to continue the current cleaning mode and send the obstacle information to the mobile terminal. Whether the object has cleared the obstacle; if the obstacle has been cleared, control the mobile robot to drive to the target area, so as to perform supplementary cleaning of the area where the obstacle is located.

Optionally, the second control module 46 is also configured to determine that the obstacle has been sorted out at least in the following manner: receiving a sorting completion instruction sent by the mobile terminal; or, determining that the obstacle is sorted out after a preset time The identification result of identifying the obstacle indicates that the parameter information of the obstacle does not satisfy a preset condition.

Optionally, the second control module 46 is also used to determine that the obstacle has been sorted out in response to the received finishing command if the target object finishes sorting out the obstacles and sends the sorting completion instruction to the mobile robot. .

Optionally, the second control module 46 is further configured to determine that the obstacle has been sorted out if it is determined that the parameter information does not meet the preset condition after 20 minutes when the preset time is 20 minutes.

It should be noted that the above-mentioned modules can be realized by software or hardware. For the latter, it can be realized by the following methods, but not limited to this: the above-mentioned modules are all located in the same processor; or, the above-mentioned modules can be combined in any combination The forms of are located in different processors.

Embodiments of the present invention also provide a computer-readable storage medium, in which a computer program is stored, wherein the computer program is set to execute the steps in any one of the above method embodiments when running.

Optionally, in this embodiment, the above-mentioned storage medium may be configured to store a computer program for performing the following steps:

S1, control the mobile robot to identify the obstacles in the target area, and obtain the identification result.

S2. When the recognition result indicates that the parameter information of the obstacle satisfies the preset condition, send the obstacle information of the obstacle to the mobile terminal corresponding to the mobile robot, so as to prompt the target object to Obstacles are sorted out.

S3. Control the mobile robot to clean the target area when the obstacles are cleared.

Optionally, in this embodiment, the above-mentioned storage medium may include but not limited to: various media capable of storing computer programs such as USB flash drive, read-only memory ROM, random access memory RAM, mobile hard disk, magnetic disk or optical disk.

An embodiment of the present invention also provides an electronic device, including a memory and a processor, where a computer program is stored in the memory, and the processor is configured to run the computer program to perform the steps in any one of the above method embodiments.

Optionally, the above-mentioned electronic device may further include a transmission device and an input-output device, wherein the transmission device is connected to the above-mentioned processor, and the input-output device is connected to the above-mentioned processor.

Optionally, in this embodiment, the above-mentioned processor may be configured to execute the following steps through a computer program:

Optionally, for specific examples in this embodiment, reference may be made to the examples described in the foregoing embodiments and optional implementation manners, and details are not repeated in this embodiment.

An embodiment of the present invention also provides a robot, including a main body, a motion component, and a controller, where the controller is configured to execute the steps in any one of the above method embodiments.

Obviously, those skilled in the art should understand that each module or each step of the above-mentioned present invention can be realized by a general-purpose computing device, and they can be concentrated on a single computing device, or distributed in a network formed by multiple computing devices Alternatively, they may be implemented in program code executable by a computing device so that they may be stored in a storage device to be executed by a computing device, and in some cases in an order different from that shown here The steps shown or described are carried out, or they are separately fabricated into individual integrated circuit modules, or multiple modules or steps among them are fabricated into a single integrated circuit module for implementation. As such, the present invention is not limited to any specific combination of hardware and software.

The above descriptions are only preferred embodiments of the present invention, and are not intended to limit the present invention. For those skilled in the art, the present invention may have various modifications and changes. Any modification, equivalent replacement, improvement, etc. made within the principle of the present invention shall be included in the protection scope of the present invention.

Claims

A cleaning method for a mobile robot, characterized in that the method comprises:

Control the mobile robot to identify obstacles in the target area and obtain the identification results;

When the recognition result indicates that the parameter information of the obstacle satisfies the preset condition, the obstacle information of the obstacle is sent to the mobile terminal corresponding to the mobile robot to prompt the target object to be aware of the obstacle organize;

When the obstacles are cleared, the mobile robot is controlled to clean the target area.
The cleaning method for a mobile robot according to claim 1, wherein the obstacle information sent to the mobile terminal includes at least parameter information of the obstacle.
The cleaning method of the mobile robot according to claim 1, wherein the parameter information of the obstacle at least includes the type of the obstacle, the state of the obstacle, the number of the obstacle, and the obstacle One of the coverage areas of objects.
The cleaning method of the mobile robot according to claim 3, wherein the parameter information of the obstacle is determined to meet a preset condition at least in one of the following ways:

If the parameter information includes the type of the obstacle, determine that the type of the obstacle is a target type;

If the parameter information includes the state of the obstacle, determine that the state of the obstacle is a target state;

If the parameter information includes the number of obstacles, determine that the number of obstacles exceeds a first preset threshold;

If the parameter information includes the coverage area of the obstacle, it is determined that the ratio of the coverage area of the obstacle to the area of the target area is greater than a second preset threshold.
The cleaning method of the mobile robot according to claim 1, wherein the obstacle information of the obstacle is sent to the mobile terminal corresponding to the mobile robot to prompt the target object to sort out the obstacle, including :

controlling the mobile robot to exit the target area, and sending the obstacle information to the mobile terminal; or

The mobile robot is controlled to continue the currently executing cleaning mode, and the obstacle information is sent to the mobile terminal.
The cleaning method of the mobile robot according to claim 5, wherein controlling the mobile robot to clean the target area comprises:

When the mobile robot has been controlled to exit the target area and the obstacle information is sent to the mobile terminal, determine whether the target object has cleared the obstacle;

When the obstacles are cleared, the mobile robot is controlled to travel to the target area, so as to continue cleaning the target area.
The cleaning method of the mobile robot according to claim 5, wherein controlling the mobile robot to clean the target area comprises:

When the mobile robot has been controlled to continue the cleaning mode currently being executed, and the obstacle information is sent to the mobile terminal, it is determined whether the target object has cleared the obstacle;

When the obstacle is cleaned up, the mobile robot is controlled to travel to the target area, so as to perform supplementary cleaning of the area where the obstacle is located.
The method for cleaning a mobile robot according to claim 1, wherein the manner in which the obstacles are sorted is at least based on one of the type of the obstacle, the state of the obstacle, and the number of the obstacle Kind of sure.
The cleaning method of the mobile robot according to claim 5, wherein the cleaning mode is selected according to the parameter information of the obstacle or the control instruction of the mobile terminal.
The cleaning method of a mobile robot according to claim 1, wherein at least the obstacles are determined to be sorted out in the following manner:

receiving a sorting completion instruction sent by the mobile terminal;

Or, it is determined that the identification result of identifying the obstacle after a preset time indicates that the parameter information of the obstacle does not satisfy a preset condition.
A cleaning device for a mobile robot, characterized in that it comprises:

The first control module is used to control the mobile robot to identify the obstacles in the target area and obtain the identification result;

A sending module, configured to send the obstacle information of the obstacle to the mobile terminal corresponding to the mobile robot to prompt the target object when the recognition result indicates that the parameter information of the obstacle satisfies a preset condition sort out the obstacles;

The second control module is configured to control the mobile robot to clean the target area when the obstacles are cleared.
The cleaning device for a mobile robot according to claim 11, wherein the parameter information of the obstacle at least includes the type of the obstacle, the state of the obstacle, the number of the obstacle, and the obstacle One of the coverage areas of objects.
The cleaning device of the mobile robot according to claim 12, characterized in that, the device further comprises: a determination module, wherein the determination module is used to include at least one of the following in the parameter information: the obstacle Type, the state of the obstacle, the number of the obstacle, and the coverage area of the obstacle, at least one of the following methods is used to determine that the parameter information of the obstacle meets the preset conditions:

If the parameter information includes the type of the obstacle, determine that the type of the obstacle is a target type;

If the parameter information includes the state of the obstacle, determine that the state of the obstacle is a target state;

If the parameter information includes the number of obstacles, determine that the number of obstacles exceeds a first preset threshold;

If the parameter information includes the coverage area of the obstacle, it is determined that the ratio of the coverage area of the obstacle to the area of the target area is greater than a second preset threshold.
A computer-readable storage medium, characterized in that a computer program is stored in the storage medium, wherein the computer program is configured to perform the method described in any one of claims 1 to 10 when running .
An electronic device, comprising a memory and a processor, wherein a computer program is stored in the memory, and the processor is configured to run the computer program to perform the process described in any one of claims 1 to 10 described method.