CN112022003A - Sweeping robot, control method and device thereof, and computer-readable storage medium - Google Patents
Sweeping robot, control method and device thereof, and computer-readable storage medium Download PDFInfo
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- CN112022003A CN112022003A CN202010854088.9A CN202010854088A CN112022003A CN 112022003 A CN112022003 A CN 112022003A CN 202010854088 A CN202010854088 A CN 202010854088A CN 112022003 A CN112022003 A CN 112022003A
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/24—Floor-sweeping machines, motor-driven
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/32—Carpet-sweepers
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
- A47L11/4002—Installations of electric equipment
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
- A47L11/4011—Regulation of the cleaning machine by electric means; Control systems and remote control systems therefor
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B17/00—Measuring arrangements characterised by the use of infrasonic, sonic or ultrasonic vibrations
- G01B17/08—Measuring arrangements characterised by the use of infrasonic, sonic or ultrasonic vibrations for measuring roughness or irregularity of surfaces
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L2201/00—Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
- A47L2201/04—Automatic control of the travelling movement; Automatic obstacle detection
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L2201/00—Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
- A47L2201/06—Control of the cleaning action for autonomous devices; Automatic detection of the surface condition before, during or after cleaning
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- Electric Vacuum Cleaner (AREA)
Abstract
The invention relates to the technical field of sweeping robots, and discloses a control method, a control device, control equipment and a computer readable storage medium of a sweeping robot. The control method of the sweeping robot comprises the following steps: detecting whether the area to be cleaned is a non-smooth area in real time in a conventional cleaning mode; when the area to be cleaned is a non-smooth area, increasing and adjusting the current cleaning parameters; and cleaning the non-smooth area according to the adjusted cleaning parameters. The intelligent control of the sweeping robot can be realized, and energy waste is avoided while the sweeping effect is ensured.
Description
Technical Field
The invention relates to the technical field of sweeping robots, in particular to a control method, a control device, control equipment and a computer readable storage medium of a sweeping robot.
Background
With the improvement of living standard, the floor sweeping robot gradually enters the lives of people because of simple operation and convenient use. The floor cleaning robot can automatically complete the floor cleaning work, and greatly saves the cleaning time of people. However, the sweeping robot only performs cyclic cleaning according to a set suction gear during the cleaning process, and cannot perform targeted cleaning on different cleaning objects. If a lower suction gear is set, the problem of incomplete cleaning exists for cleaning objects with larger cleaning difficulty, such as non-smooth areas of carpets and the like; if a high suction gear is set, although thorough cleaning can be achieved, a problem of energy waste occurs.
Disclosure of Invention
The invention mainly aims to provide a control method, a control device, control equipment and a computer readable storage medium of a sweeping robot, and aims to realize intelligent control of the sweeping robot and avoid energy waste while ensuring a sweeping effect.
In order to achieve the above object, the present invention provides a control method of a sweeping robot, including:
detecting whether the area to be cleaned is a non-smooth area in real time in a conventional cleaning mode;
when the area to be cleaned is a non-smooth area, increasing and adjusting the current cleaning parameters;
and cleaning the non-smooth area according to the adjusted cleaning parameters.
Optionally, the step of performing an increase adjustment on the current sweeping parameter includes:
acquiring current cleaning parameters;
and increasing and adjusting the current cleaning parameters according to a preset adjustment range.
Optionally, the step of performing an increase adjustment on the current sweeping parameter includes:
acquiring a material type corresponding to the non-smooth area, and acquiring a current cleaning parameter;
determining a target adjustment amplitude corresponding to the material type according to a mapping relation between a preset material type and the adjustment amplitude;
and increasing and adjusting the current cleaning parameters according to the target adjustment amplitude.
Optionally, the sweeping parameter includes at least a magnitude of the suction force and a sweeping time.
Optionally, in the normal sweeping mode, the step of detecting whether the area to be swept is a non-smooth area in real time includes:
in a conventional cleaning mode, shooting in real time through a camera to obtain an image of an area to be cleaned;
carrying out feature extraction on the image to obtain image features;
inputting the image characteristics to a preset classification model to obtain a classification result;
and judging whether the area to be cleaned is a non-smooth area or not according to the classification result.
Optionally, in the normal sweeping mode, the step of detecting whether the area to be swept is a non-smooth area in real time includes:
in a conventional cleaning mode, an ultrasonic detection device sends an ultrasonic signal to the ground of an area to be cleaned in real time and receives a returned ultrasonic echo signal;
calculating the energy of the ultrasonic echo signal, and detecting whether the energy is in a preset range;
and judging whether the area to be cleaned is a non-smooth area or not according to the detection result.
Optionally, before the step of performing increase adjustment on the current sweeping parameter, the method further includes:
detecting whether the type of the normal sweeping mode is wet mopping or dry sweeping;
if the type of the conventional sweeping mode is wet sweeping, adjusting the type to be dry sweeping, and executing the following steps: increasing and adjusting the current cleaning parameters; or the like, or, alternatively,
controlling the sweeping robot to avoid the non-smooth area;
if the type of the conventional cleaning mode is dry cleaning, executing the following steps: and increasing and adjusting the current sweeping parameters.
Optionally, before the step of performing increase adjustment on the current sweeping parameter, the method further includes:
detecting whether an intelligent cleaning mode has been activated;
if the intelligent cleaning mode is started, executing the following steps: increasing and adjusting the current cleaning parameters;
and if the intelligent cleaning mode is not started, sweeping the non-smooth area according to the conventional sweeping mode.
Optionally, after the step of performing increase adjustment on the current sweeping parameter, the method further includes:
and updating the gear state of the sweeping robot according to the adjusted sweeping parameters.
Optionally, the control method of the sweeping robot further includes:
and when the non-smooth area is cleaned, controlling the sweeping robot to leave the non-smooth area and recovering to the cleaning parameters before adjustment.
In addition, in order to achieve the above object, the present invention further provides a control device for a cleaning robot, including:
the first detection module is used for detecting whether the area to be cleaned is a non-smooth area in real time in a conventional cleaning mode;
the parameter adjusting module is used for increasing and adjusting the current cleaning parameters when the area to be cleaned is a non-smooth area;
and the first cleaning module is used for cleaning the non-smooth area according to the adjusted cleaning parameters.
Optionally, the parameter adjusting module includes:
the first acquisition unit is used for acquiring the current cleaning parameters;
and the first adjusting unit is used for increasing and adjusting the current cleaning parameters according to a preset adjusting range.
Optionally, the parameter adjusting module includes:
the second acquisition unit is used for acquiring the material type corresponding to the non-smooth area and acquiring the current cleaning parameter;
the determining unit is used for determining a target adjustment amplitude corresponding to the material type according to a mapping relation between a preset material type and the adjustment amplitude;
and the second adjusting unit is used for increasing and adjusting the current cleaning parameters according to the target adjusting range.
Optionally, the sweeping parameter includes at least a magnitude of the suction force and a sweeping time.
Optionally, the first detection module includes:
the image shooting unit is used for shooting images of an area to be cleaned in real time through the camera in a conventional cleaning mode;
the characteristic extraction unit is used for extracting the characteristics of the image to obtain the image characteristics;
the characteristic input unit is used for inputting the image characteristics to a preset classification model to obtain a classification result;
and the first judging unit is used for judging whether the area to be cleaned is a non-smooth area or not according to the classification result.
Optionally, the first detection module includes:
the signal sending unit is used for sending ultrasonic signals to the ground of an area to be cleaned in real time through the ultrasonic detection device and receiving returned ultrasonic echo signals in a conventional cleaning mode;
the energy detection unit is used for calculating the energy of the ultrasonic echo signal and detecting whether the energy is in a preset range;
and the second judging unit is used for judging whether the area to be cleaned is a non-smooth area or not according to the detection result.
Optionally, the control device of the sweeping robot further includes:
the second detection module is used for detecting whether the type of the conventional sweeping mode is wet mopping or dry sweeping;
the type adjusting module is used for adjusting the type to be dry sweeping and increasing and adjusting the current sweeping parameters if the type of the conventional sweeping mode is wet sweeping;
the parameter adjusting module is further configured to increase and adjust the current sweeping parameter if the type of the conventional sweeping mode is dry sweeping.
Optionally, the control device of the sweeping robot further includes:
the third detection module is used for detecting whether the intelligent cleaning mode is started;
the parameter adjusting module is also used for increasing and adjusting the current sweeping parameter if the intelligent cleaning mode is started;
and the second sweeping module is used for sweeping the non-smooth area according to the conventional sweeping mode if the intelligent cleaning mode is not started.
In addition, in order to achieve the above object, the present invention further provides a sweeping robot, including: the control method comprises a memory, a processor and a control program of the sweeping robot, wherein the control program of the sweeping robot is stored in the memory and can run on the processor, and when the control program of the sweeping robot is executed by the processor, the steps of the control method of the sweeping robot are realized.
In addition, in order to achieve the above object, the present invention further provides a computer readable storage medium, where a control program of the sweeping robot is stored, and when the control program of the sweeping robot is executed by a processor, the steps of the control method of the sweeping robot are implemented.
The invention provides a control method, a control device, control equipment and a computer readable storage medium of a sweeping robot, wherein in a conventional sweeping mode, whether an area to be swept is a non-smooth area or not is detected in real time; and when the area to be cleaned is a non-smooth area, increasing and adjusting the current cleaning parameters, and further cleaning the non-smooth area according to the adjusted cleaning parameters. In the invention, under the normal sweeping mode of a low-suction gear, when a non-smooth area is encountered, the current sweeping parameter is increased and adjusted, so that the non-smooth area is cleaned powerfully through the increased sweeping parameter, and the problem that the non-smooth area such as a carpet and the like cannot be cleaned thoroughly in the normal sweeping mode is solved. Meanwhile, the cleaning parameters are increased and adjusted only when a non-smooth area is met, and compared with the method of cleaning by always adopting high-suction gears, the method can save energy. Therefore, by means of the mode, the intelligent control of the sweeping robot can be achieved, and energy waste is avoided while the sweeping effect is guaranteed.
Drawings
FIG. 1 is a schematic diagram of an apparatus architecture of a hardware operating environment according to an embodiment of the present invention;
fig. 2 is a schematic flow chart of a control method of the sweeping robot according to a first embodiment of the present invention;
fig. 3 is a functional block diagram of a control device of a sweeping robot according to a first embodiment of the present invention.
The implementation, functional features and advantages of the objects of the present invention will be further explained with reference to the accompanying drawings.
Detailed Description
It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
Referring to fig. 1, fig. 1 is a schematic device structure diagram of a hardware operating environment according to an embodiment of the present invention.
The sweeping robot in the embodiment of the invention can be a smart phone, and can also be terminal equipment such as a Personal Computer (PC), a tablet Personal Computer and a portable Computer.
As shown in fig. 1, the sweeping robot may include: a processor 1001, such as a CPU, a communication bus 1002, a user interface 1003, a network interface 1004, and a memory 1005. Wherein a communication bus 1002 is used to enable connective communication between these components. The user interface 1003 may include a Display screen (Display), an input unit such as a Keyboard (Keyboard), and the optional user interface 1003 may also include a standard wired interface, a wireless interface. The network interface 1004 may optionally include a standard wired interface, a wireless interface (e.g., a Wi-Fi interface). The memory 1005 may be a high-speed RAM memory or a non-volatile memory (e.g., a magnetic disk memory). The memory 1005 may alternatively be a storage device separate from the processor 1001.
It will be appreciated by those skilled in the art that the sweeping robot configuration shown in figure 1 does not constitute a limitation of the sweeping robot and may include more or fewer components than shown, or some components in combination, or a different arrangement of components.
As shown in fig. 1, a memory 1005, which is a kind of computer storage medium, may include therein an operating system, a network communication module, and a control program of the sweeping robot.
In the terminal shown in fig. 1, the network interface 1004 is mainly used for connecting to a backend server and performing data communication with the backend server; the user interface 1003 is mainly used for connecting a client and performing data communication with the client; and the processor 1001 may be configured to call up the control program of the sweeping robot stored in the memory 1005, and perform the following operations:
detecting whether the area to be cleaned is a non-smooth area in real time in a conventional cleaning mode;
when the area to be cleaned is a non-smooth area, increasing and adjusting the current cleaning parameters;
and cleaning the non-smooth area according to the adjusted cleaning parameters.
Further, the processor 1001 may call the control program of the sweeping robot stored in the memory 1005, and also perform the following operations:
acquiring current cleaning parameters;
and increasing and adjusting the current cleaning parameters according to a preset adjustment range.
Further, the processor 1001 may call the control program of the sweeping robot stored in the memory 1005, and also perform the following operations:
acquiring a material type corresponding to the non-smooth area, and acquiring a current cleaning parameter;
determining a target adjustment amplitude corresponding to the material type according to a mapping relation between a preset material type and the adjustment amplitude;
and increasing and adjusting the current cleaning parameters according to the target adjustment amplitude.
Further, the sweeping parameters at least comprise the suction force and the sweeping time.
Further, the processor 1001 may call the control program of the sweeping robot stored in the memory 1005, and also perform the following operations:
in a conventional cleaning mode, shooting in real time through a camera to obtain an image of an area to be cleaned;
carrying out feature extraction on the image to obtain image features;
inputting the image characteristics to a preset classification model to obtain a classification result;
and judging whether the area to be cleaned is a non-smooth area or not according to the classification result.
Further, the processor 1001 may call the control program of the sweeping robot stored in the memory 1005, and also perform the following operations:
in a conventional cleaning mode, an ultrasonic detection device sends an ultrasonic signal to the ground of an area to be cleaned in real time and receives a returned ultrasonic echo signal;
calculating the energy of the ultrasonic echo signal, and detecting whether the energy is in a preset range;
and judging whether the area to be cleaned is a non-smooth area or not according to the detection result.
Further, the processor 1001 may call the control program of the sweeping robot stored in the memory 1005, and also perform the following operations:
detecting whether the type of the normal sweeping mode is wet mopping or dry sweeping;
if the type of the conventional cleaning mode is wet cleaning, adjusting the type to be dry cleaning, and increasing and adjusting the current cleaning parameters; or the like, or, alternatively,
controlling the sweeping robot to avoid the non-smooth area;
and if the type of the conventional cleaning mode is dry cleaning, increasing and adjusting the current cleaning parameters.
Further, the processor 1001 may call the control program of the sweeping robot stored in the memory 1005, and also perform the following operations:
detecting whether an intelligent cleaning mode has been activated;
if the intelligent cleaning mode is started, increasing and adjusting the current cleaning parameters;
and if the intelligent cleaning mode is not started, sweeping the non-smooth area according to the conventional sweeping mode.
Further, the processor 1001 may call the control program of the sweeping robot stored in the memory 1005, and also perform the following operations:
and updating the gear state of the sweeping robot according to the adjusted sweeping parameters.
Further, the processor 1001 may call the control program of the sweeping robot stored in the memory 1005, and also perform the following operations:
and when the non-smooth area is cleaned, controlling the sweeping robot to leave the non-smooth area and recovering to the cleaning parameters before adjustment.
Based on the hardware structure, various embodiments of the control method of the sweeping robot are provided.
The invention provides a control method of a sweeping robot.
Referring to fig. 2, fig. 2 is a schematic flow chart of a first embodiment of a control method of a sweeping robot according to the present invention.
In this embodiment, the control method of the sweeping robot includes:
step a10, detecting whether the area to be cleaned is a non-smooth area in real time in a normal cleaning mode;
the control method of the sweeping robot in the embodiment is realized by the sweeping robot.
In the present embodiment, in the normal sweeping mode, it is detected in real time whether the area to be swept is a non-smooth area. The conventional cleaning mode is a cleaning mode with a low suction level (i.e. the suction is in a small range), in which objects to be cleaned (such as tiles and floors in smooth areas) with small difficulty in cleaning can be cleaned, and objects to be cleaned (such as carpets in non-smooth areas) with large difficulty in cleaning may not be cleaned thoroughly. The non-smooth area is the area corresponding to the non-smooth material, and the non-smooth material may be ground pavement made of natural fiber or chemical synthetic fiber such as cotton, hemp, wool, silk, grass yarn, etc. and through manual or mechanical knitting, tufting or weaving. For example, the non-smooth material may be a carpet made of plastic, cotton wool, or the like.
For the detection of the non-smooth region, the following ways may be included, but not limited to: 1) in the image detection mode, an image of an area to be cleaned is obtained by shooting in real time through a camera; then, carrying out feature extraction on the image to obtain image features; inputting the image characteristics into a preset classification model to obtain a classification result; judging whether the area to be cleaned is a non-smooth area or not according to the classification result; 2) the ultrasonic detection mode is that an ultrasonic detection device sends an ultrasonic signal to the ground of an area to be cleaned in real time and receives a returned ultrasonic echo signal; then, calculating the energy of the ultrasonic echo signal, and detecting whether the energy is in a preset range; and then judging whether the area to be cleaned is a non-smooth area or not according to the detection result. For specific implementation, reference may be made to the second and third embodiments described below, which are not described herein again. Of course, it is understood that the above two methods may be combined to improve the accuracy of the detection result.
When the area to be cleaned is a non-smooth area, executing step S20, and performing increasing adjustment on the current cleaning parameter;
then, when the area to be cleaned is a non-smooth area, increasing and adjusting the current cleaning parameters, wherein the cleaning parameters at least comprise the suction force and can also comprise the cleaning time.
As an embodiment, step S20 may include:
step a21, acquiring current cleaning parameters;
step a22, increasing and adjusting the current cleaning parameter according to a preset adjustment range.
As one of the adjustment manners of the cleaning parameters, a current cleaning parameter may be obtained first, where the obtained cleaning parameter may be a current specific value thereof, or may be a current gear of the parameter.
And then, increasing and adjusting the current cleaning parameters according to the preset adjustment range. The preset adjustment range may be a numerical value (such as an increase value or an increase percentage), or may be a gear increase. For example, if the suction force has a value a and the preset adjustment range is increased by 20%, the adjusted suction force has a value (1+ 20%) a ═ 1.2 a; for another example, the current gear of the suction force is 1 gear, the preset adjustment range is 2 gears increased, and the gear of the adjusted suction force is 3 gears (here, the higher the gear is, the larger the suction force is).
As another embodiment, step S20 may further include:
a23, acquiring the material type corresponding to the non-smooth area and acquiring the current cleaning parameter;
a24, determining a target adjustment amplitude corresponding to a material type according to a mapping relation between the preset material type and the adjustment amplitude;
step a25, increasing and adjusting the current cleaning parameter according to the target adjustment range.
As another adjustment method of the cleaning parameter, a material type corresponding to the non-smooth region may be obtained first, and the current cleaning parameter may be obtained, where the material type may be obtained in a corresponding manner based on the detection method of the non-smooth region. For example, when images of an area to be cleaned are classified through the preset classification model, different material types can be distinguished in the training process of the preset classification model, so that the preset classification model has the capability of distinguishing the material types, and the material types can be directly obtained according to the classification result. For another example, when the non-smooth region is detected by ultrasonic detection, since ultrasonic echo signals with different energies are formed on the surface densities of different types of objects to be cleaned, the energy ranges corresponding to the different types of non-smooth regions can be detected in advance, and the material type can be determined according to the energy range of the energy of the ultrasonic echo signal. In addition, the acquired cleaning parameter may be a current specific value thereof, or may be a current gear of the parameter.
And then, determining a target adjustment amplitude corresponding to the material type according to a preset mapping relation between the material type and the adjustment amplitude. For example, when the material type is a long-hair carpet, a relatively large adjustment amplification can be set, for example, 2 gears; when the material type is a short-hair carpet, a relatively small adjustment amplification can be set, for example, 1 gear. And then, increasing and adjusting the current cleaning parameters according to the target adjustment range.
Further, when the area to be cleaned is not a non-smooth area, cleaning is continued according to the cleaning parameters of the normal cleaning mode.
And a30, cleaning the non-smooth area according to the adjusted cleaning parameters.
And finally, cleaning the non-smooth area according to the adjusted cleaning parameters. Through the mode, in the conventional cleaning mode, when the non-smooth area is cleaned, the cleaning parameter is increased and adjusted, so that the non-smooth area is cleaned powerfully through the increased cleaning parameter, and the problem that the non-smooth area such as a carpet cannot be cleaned thoroughly in the conventional cleaning mode is solved.
The embodiment of the invention provides a control method of a sweeping robot, which is used for detecting whether an area to be swept is a non-smooth area in real time in a conventional sweeping mode; and when the area to be cleaned is a non-smooth area, increasing and adjusting the current cleaning parameters, and further cleaning the non-smooth area according to the adjusted cleaning parameters. In the embodiment of the invention, in the normal sweeping mode of the low-suction gear, when a non-smooth area is encountered, the current sweeping parameter is increased and adjusted, so that the non-smooth area is cleaned powerfully through the increased sweeping parameter, and the problem that the non-smooth area such as a carpet and the like cannot be cleaned thoroughly in the normal sweeping mode is solved. Meanwhile, in the embodiment of the invention, the cleaning parameters are increased and adjusted only when a non-smooth area is met, and compared with the method of cleaning by always adopting a high-suction gear, the method can save energy. Therefore, by means of the mode, the intelligent control of the sweeping robot can be achieved, and energy waste is avoided while the sweeping effect is guaranteed.
Further, based on the first embodiment, a second embodiment of the control method of the sweeping robot of the present invention is provided. In this embodiment, the step S10 may include:
step a11, in a conventional cleaning mode, shooting in real time through a camera to obtain an image of an area to be cleaned;
in this embodiment, as one of the detection modes of the non-smooth region, the detection may be performed by an image detection mode, and the detection process specifically includes the following steps:
and in a conventional cleaning mode, shooting by a camera in real time to obtain an image of the area to be cleaned.
Step a12, extracting the features of the image to obtain image features;
and then, carrying out feature extraction on the image to obtain image features. Wherein the image features may include one or more of: image texture features, shape features, and histogram of oriented gradient features.
The extraction method of the image texture features comprises a statistical method, a geometric method, a model method, a signal processing method, a structural method and the like; the method for extracting the shape features comprises the following steps: firstly, segmenting a suspected non-smooth area from an image according to color features, and then describing shape features of the suspected non-smooth area in a boundary feature method, a Fourier shape descriptor method, a geometric parameter method, a shape invariant moment method and other modes; the Histogram of Oriented Gradients (HOG) features can be extracted through steps such as image segmentation, blocking Histogram of oriented gradients calculation, composition features and the like. The specific extraction process can be found in the prior art.
Step a13, inputting the image features into a preset classification model to obtain a classification result;
and after the image characteristics of the area to be cleaned are obtained, inputting the image characteristics into a preset classification model to obtain a classification result. The preset classification model is obtained by training based on training samples in advance, and the type of the preset classification model can be a decision tree, a random forest model, a neural network model, an SVM (Support Vector Machine), a KNN (K-Nearest Neighbor) classification model and the like.
And a step a14, judging whether the area to be cleaned is a non-smooth area according to the classification result.
And then whether the area to be cleaned is a non-smooth area can be judged according to the classification result.
It should be noted that, in order to further ensure the accuracy of the detection result, before the feature extraction is performed on the image, the image may be subjected to a preprocessing, such as denoising processing, contrast enhancement processing, gray scale processing, and the like, so as to facilitate the subsequent extraction of the image feature, thereby improving the accuracy of the detection result.
In this embodiment, the detection of whether the area to be cleaned is a non-smooth area can be realized by acquiring the image of the area to be cleaned and then classifying the image in combination with the image classification model.
Further, based on the first embodiment, a third embodiment of the control method of the sweeping robot of the present invention is provided.
In this embodiment, step S10 may further include:
step a15, in a conventional cleaning mode, sending an ultrasonic signal to the ground of an area to be cleaned in real time through an ultrasonic detection device, and receiving a returned ultrasonic echo signal;
in this embodiment, as another detection method of the non-smooth region, the detection may be performed by ultrasonic detection, and the detection process is specifically as follows:
in a normal cleaning mode, an ultrasonic detection device sends an ultrasonic signal to the ground of an area to be cleaned in real time and receives a returned ultrasonic echo signal. Wherein, ultrasonic detection device sets up in the bottom of sweeping the floor robot.
Step a16, calculating the energy of the ultrasonic echo signal, and detecting whether the energy is in a preset range;
then, the energy of the ultrasonic echo signal is calculated, and whether the energy is within a preset range or not is detected. The method of calculating the energy of the ultrasonic echo signal may refer to the related art, and the preset range is obtained by transmitting the ultrasonic signal to the non-smooth region by the ultrasonic detection device in advance and setting the energy based on the received returned ultrasonic echo signal.
Step a17, judging whether the area to be cleaned is a non-smooth area according to the detection result.
And judging whether the area to be cleaned is a non-smooth area or not according to the detection result. If the energy of the ultrasonic echo signal is in a preset range, judging that the area to be cleaned is a non-smooth area; and if the energy of the ultrasonic echo signal is not in the preset range, judging that the area to be cleaned is not a non-smooth area.
In this embodiment, ultrasonic echo signals of different energies are formed based on the surface densities of different types of objects to be cleaned, and whether the area to be cleaned is a non-smooth area can be detected by using an ultrasonic detection method.
Further, in implementation, the following method may be further adopted to detect the non-smooth area: 1) acquiring the position of an area to be cleaned, detecting whether the position is within a preset non-smooth area position range, and if so, determining that the area to be cleaned is a non-smooth area; 2) acquiring current cleaned time in real time, detecting whether the current cleaned time is a preset value, and if so, determining that an area to be cleaned is a non-smooth area; 3) detecting whether the area to be cleaned is a non-smooth area or not by a sensor, such as an infrared sensor; 4) whether the area to be cleaned is a non-smooth area or not is detected according to the change of the target parameter, for example, the current value of a pulley of the sweeping robot can be obtained, and when the current value of the pulley is detected to be increased, the area to be cleaned is determined to be the non-smooth area.
Further, based on the above embodiments, a fourth embodiment of the control method of the sweeping robot of the present invention is provided.
In this embodiment, before the step S20, the method for controlling a sweeping robot further includes:
step A, detecting whether the type of the conventional sweeping mode is wet mopping or dry sweeping;
in this embodiment, the normal sweeping mode can be divided into wet-mopping and dry-sweeping types, and the difference is only whether water is sprayed or not, and other sweeping parameters (such as the amount of suction and the sweeping time) are the same. Since non-smooth areas (such as carpets) are generally not conducive to sprinkling water, it is necessary to check whether the type of sweeping in the normal sweeping mode is wet or dry sweeping before adjusting the sweeping parameters.
If the type of the conventional cleaning mode is wet cleaning, executing a step B, adjusting the type to be dry cleaning, and executing the steps of: increasing and adjusting the current cleaning parameters;
or, the step of: controlling the sweeping robot to avoid the non-smooth area;
and if the type of the conventional cleaning mode is wet cleaning, the adjustment type is dry cleaning, then the current cleaning parameters are increased and adjusted, and the non-smooth area is cleaned according to the adjusted cleaning parameters. The specific implementation process can refer to the above embodiment. Or, the sweeping robot is controlled to avoid the non-smooth area.
Further, after the non-smooth area cleaning is completed, the type of the non-smooth area cleaning can be returned to the wet mopping mode so as to clean other areas to be cleaned.
If the type of the normal sweeping mode is dry sweeping, the step S20 is executed: and increasing and adjusting the current sweeping parameters.
And if the type of the conventional cleaning mode is dry cleaning, directly increasing and adjusting the current cleaning parameters, and cleaning the non-smooth area according to the adjusted cleaning parameters. The specific implementation process can refer to the above embodiment.
In this embodiment, when it is detected that the area to be cleaned is a non-smooth area, it is first detected whether the type of the normal cleaning mode is wet mopping or dry mopping, and if the type of the normal cleaning mode is wet mopping, the type of the wet mopping needs to be adjusted to be a dry mopping type, so as to prevent objects in the non-smooth area, such as a carpet, from being damaged due to water sprinkling under the wet mopping type.
Further, based on the above embodiments, a fifth embodiment of the control method of the sweeping robot of the present invention is provided.
In this embodiment, before the step S20, the method for controlling a sweeping robot further includes:
step C, detecting whether the intelligent cleaning mode is started;
in this embodiment, in order to meet different requirements of a user, the user can select whether to increase the suction force and the cleaning time when cleaning a non-smooth area such as a carpet according to actual needs, and correspondingly, an intelligent cleaning mode can be set, and the mode can be set simultaneously with a conventional cleaning mode, and the mode and the conventional cleaning mode are not in conflict. When the intelligent cleaning mode is started, the cleaning parameters are increased and adjusted when the non-smooth area is cleaned, so that deep cleaning of the non-smooth area such as a carpet is realized.
Therefore, when the area to be cleaned is detected to be a non-smooth area, it is required to detect whether the intelligent cleaning mode is started or not.
If the smart cleaning mode has been activated, go to step S20: increasing and adjusting the current cleaning parameters;
and if the intelligent cleaning mode is started, increasing and adjusting the current cleaning parameters, and cleaning the non-smooth area according to the adjusted cleaning parameters. The specific implementation process can refer to the above embodiment.
And D, if the intelligent cleaning mode is not started, executing step D, and cleaning the non-smooth area according to the conventional cleaning mode.
If the intelligent cleaning mode is not started, the non-smooth area is cleaned continuously according to the conventional cleaning mode. Certainly, in specific implementation, corresponding prompt information (such as voice prompt information) can be generated to prompt a user whether to start the intelligent cleaning mode, and when a determination instruction of the user is received, the intelligent cleaning mode is started, so that the current cleaning parameter is increased and adjusted, and then the non-smooth area is cleaned according to the adjusted cleaning parameter.
In this embodiment, whether the intelligent cleaning mode is started or not is detected to determine whether the current sweeping parameter is increased or not, and by the above manner, it is possible to determine whether deep cleaning of a non-smooth area is required or not according to personalized settings of a user.
Further, based on the above embodiments, a sixth embodiment of the control method of the sweeping robot of the present invention is provided.
In this embodiment, after step S20, the method further includes:
and E, updating the gear state of the sweeping robot according to the adjusted sweeping parameters.
In this embodiment, after the current sweeping parameters are increased and adjusted, the gear state of the sweeping robot can be updated according to the adjusted sweeping parameters, so that a user can be intuitively connected to the gear state of the sweeping robot in the current operation.
Further, based on the above embodiments, a seventh embodiment of the control method of the sweeping robot of the present invention is provided.
In this embodiment, after step S30, the method further includes:
and F, when the non-smooth area is cleaned, controlling the sweeping robot to leave the non-smooth area and recovering to the cleaning parameters before adjustment.
In this embodiment, when the non-smooth area is cleaned, if the cleaning time is up, the cleaning robot is controlled to leave the non-smooth area and return to the cleaning parameter before adjustment, so as to continue to clean other areas based on the cleaning parameter before adjustment. By the mode, the situation that the cleaning parameters after being increased and adjusted are used for cleaning all the time and the energy is wasted can be avoided, and therefore the situation that the energy is wasted while the cleaning effect is guaranteed can be further achieved.
The invention also provides a control device of the sweeping robot.
Referring to fig. 3, fig. 3 is a functional module schematic diagram of a control device of a sweeping robot according to a first embodiment of the present invention.
As shown in fig. 3, the control device of the sweeping robot includes:
the first detection module 10 is used for detecting whether the area to be cleaned is a non-smooth area in real time in a conventional cleaning mode;
a parameter adjusting module 20, configured to increase and adjust a current cleaning parameter when the area to be cleaned is a non-smooth area;
and the first cleaning module 30 is used for cleaning the non-smooth area according to the adjusted cleaning parameters.
Further, the parameter adjusting module 20 includes:
the first acquisition unit is used for acquiring the current cleaning parameters;
and the first adjusting unit is used for increasing and adjusting the current cleaning parameters according to a preset adjusting range.
Further, the parameter adjusting module 20 includes:
the second acquisition unit is used for acquiring the material type corresponding to the non-smooth area and acquiring the current cleaning parameter;
the determining unit is used for determining a target adjustment amplitude corresponding to the material type according to a mapping relation between a preset material type and the adjustment amplitude;
and the second adjusting unit is used for increasing and adjusting the current cleaning parameters according to the target adjusting range.
Further, the sweeping parameters at least comprise the suction force and the sweeping time.
Further, the first detection module 10 includes:
the image shooting unit is used for shooting images of an area to be cleaned in real time through the camera in a conventional cleaning mode;
the characteristic extraction unit is used for extracting the characteristics of the image to obtain the image characteristics;
the characteristic input unit is used for inputting the image characteristics to a preset classification model to obtain a classification result;
and the first judging unit is used for judging whether the area to be cleaned is a non-smooth area or not according to the classification result.
Further, the first detection module 10 includes:
the signal sending unit is used for sending ultrasonic signals to the ground of an area to be cleaned in real time through the ultrasonic detection device and receiving returned ultrasonic echo signals in a conventional cleaning mode;
the energy detection unit is used for calculating the energy of the ultrasonic echo signal and detecting whether the energy is in a preset range;
and the second judging unit is used for judging whether the area to be cleaned is a non-smooth area or not according to the detection result.
Further, the control device of the sweeping robot further comprises:
the second detection module is used for detecting whether the type of the conventional sweeping mode is wet mopping or dry sweeping;
the type adjusting module is used for adjusting the type to be dry sweeping and increasing and adjusting the current sweeping parameters if the type of the conventional sweeping mode is wet sweeping;
the parameter adjusting module 20 is further configured to increase and adjust the current sweeping parameter if the type of the conventional sweeping mode is dry sweeping.
Further, the control device of the sweeping robot further comprises:
the third detection module is used for detecting whether the intelligent cleaning mode is started;
the parameter adjusting module 20 is further configured to increase and adjust the current cleaning parameter if the intelligent cleaning mode is started;
and the second sweeping module is used for sweeping the non-smooth area according to the conventional sweeping mode if the intelligent cleaning mode is not started.
Further, the control device of the sweeping robot further comprises:
and the gear updating module is used for updating the gear state of the sweeping robot according to the adjusted sweeping parameters.
Further, the control device of the sweeping robot further comprises:
and the mobile control module is used for controlling the sweeping robot to leave the non-smooth area and recover to the sweeping parameters before adjustment when the non-smooth area is swept.
The function implementation of each module in the control device of the sweeping robot corresponds to each step in the control method embodiment of the sweeping robot, and the functions and implementation processes are not described in detail here.
The invention further provides a computer-readable storage medium, on which a control program of a sweeping robot is stored, and when the control program of the sweeping robot is executed by a processor, the steps of the control method of the sweeping robot according to any one of the above embodiments are implemented.
The specific embodiment of the computer-readable storage medium of the present invention is basically the same as the embodiments of the control method of the sweeping robot, and is not described herein again.
It should be noted that, in this document, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or system that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or system. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other like elements in a process, method, article, or system that comprises the element.
The above-mentioned serial numbers of the embodiments of the present invention are merely for description and do not represent the merits of the embodiments.
Through the above description of the embodiments, those skilled in the art will clearly understand that the method of the above embodiments can be implemented by software plus a necessary general hardware platform, and certainly can also be implemented by hardware, but in many cases, the former is a better implementation manner. Based on such understanding, the technical solution of the present invention may be embodied in the form of a software product, which is stored in a storage medium (e.g., ROM/RAM, magnetic disk, optical disk) as described above and includes instructions for enabling a terminal device (e.g., a mobile phone, a computer, a server, an air conditioner, or a network device) to execute the method according to the embodiments of the present invention.
The above description is only a preferred embodiment of the present invention, and not intended to limit the scope of the present invention, and all modifications of equivalent structures and equivalent processes, which are made by using the contents of the present specification and the accompanying drawings, or directly or indirectly applied to other related technical fields, are included in the scope of the present invention.
Claims (10)
1. A control method of a sweeping robot is characterized by comprising the following steps:
detecting whether the area to be cleaned is a non-smooth area in real time in a conventional cleaning mode;
when the area to be cleaned is a non-smooth area, increasing and adjusting the current cleaning parameters;
and cleaning the non-smooth area according to the adjusted cleaning parameters.
2. The method of claim 1, wherein the step of incrementally adjusting the current cleaning parameters comprises:
acquiring current cleaning parameters;
and increasing and adjusting the current cleaning parameters according to a preset adjustment range.
3. The method of claim 1, wherein the step of incrementally adjusting the current cleaning parameters comprises:
acquiring a material type corresponding to the non-smooth area, and acquiring a current cleaning parameter;
determining a target adjustment amplitude corresponding to the material type according to a mapping relation between a preset material type and the adjustment amplitude;
and increasing and adjusting the current cleaning parameters according to the target adjustment amplitude.
4. A method for controlling a sweeping robot according to any one of claims 1 to 3, wherein the sweeping parameters include at least the magnitude of suction and the sweeping time.
5. The method for controlling a sweeping robot according to any one of claims 1 to 3, wherein the step of detecting whether the area to be swept is a non-smooth area in real time in the normal sweeping mode comprises:
in a conventional cleaning mode, shooting in real time through a camera to obtain an image of an area to be cleaned;
carrying out feature extraction on the image to obtain image features;
inputting the image characteristics to a preset classification model to obtain a classification result;
and judging whether the area to be cleaned is a non-smooth area or not according to the classification result.
6. The method for controlling a sweeping robot according to any one of claims 1 to 3, wherein the step of detecting whether the area to be swept is a non-smooth area in real time in the normal sweeping mode comprises:
in a conventional cleaning mode, an ultrasonic detection device sends an ultrasonic signal to the ground of an area to be cleaned in real time and receives a returned ultrasonic echo signal;
calculating the energy of the ultrasonic echo signal, and detecting whether the energy is in a preset range;
and judging whether the area to be cleaned is a non-smooth area or not according to the detection result.
7. The method for controlling a sweeping robot according to any one of claims 1 to 3, wherein the step of increasing and adjusting the current sweeping parameters is preceded by the steps of:
detecting whether the type of the normal sweeping mode is wet mopping or dry sweeping;
if the type of the conventional sweeping mode is wet sweeping, adjusting the type to be dry sweeping, and executing the following steps: increasing and adjusting the current cleaning parameters; or the like, or, alternatively,
controlling the sweeping robot to avoid the non-smooth area;
if the type of the conventional cleaning mode is dry cleaning, executing the following steps: and increasing and adjusting the current sweeping parameters.
8. The utility model provides a control device of robot sweeps floor, its characterized in that, control device of robot sweeps floor includes:
the first detection module is used for detecting whether the area to be cleaned is a non-smooth area in real time in a conventional cleaning mode;
the parameter adjusting module is used for increasing and adjusting the current cleaning parameters when the area to be cleaned is a non-smooth area;
and the first cleaning module is used for cleaning the non-smooth area according to the adjusted cleaning parameters.
9. A robot of sweeping floor, characterized in that, the robot of sweeping floor includes: a memory, a processor and a control program of the sweeping robot stored on the memory and operable on the processor, the control program of the sweeping robot when executed by the processor implementing the steps of the control method of the sweeping robot as claimed in any one of claims 1 to 7.
10. A computer-readable storage medium, on which a control program of a sweeping robot is stored, which, when executed by a processor, implements the steps of the control method of the sweeping robot according to any one of claims 1 to 7.
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