CN112462780A - Sweeping control method and device, sweeping robot and computer readable storage medium - Google Patents
Sweeping control method and device, sweeping robot and computer readable storage medium Download PDFInfo
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- CN112462780A CN112462780A CN202011374059.9A CN202011374059A CN112462780A CN 112462780 A CN112462780 A CN 112462780A CN 202011374059 A CN202011374059 A CN 202011374059A CN 112462780 A CN112462780 A CN 112462780A
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- 238000010408 sweeping Methods 0.000 title claims abstract description 303
- 238000000034 method Methods 0.000 title claims abstract description 48
- 230000033001 locomotion Effects 0.000 claims abstract description 40
- 238000013135 deep learning Methods 0.000 claims abstract description 15
- 238000004140 cleaning Methods 0.000 claims description 64
- 238000001514 detection method Methods 0.000 claims description 22
- 238000000354 decomposition reaction Methods 0.000 claims description 7
- 230000000694 effects Effects 0.000 abstract description 3
- 238000004891 communication Methods 0.000 description 7
- 238000010586 diagram Methods 0.000 description 4
- 238000013473 artificial intelligence Methods 0.000 description 3
- 230000008901 benefit Effects 0.000 description 2
- 230000007613 environmental effect Effects 0.000 description 2
- 238000012549 training Methods 0.000 description 2
- 238000013528 artificial neural network Methods 0.000 description 1
- 230000004888 barrier function Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000004364 calculation method Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
- A47L11/4011—Regulation of the cleaning machine by electric means; Control systems and remote control systems therefor
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/28—Floor-scrubbing machines, motor-driven
- A47L11/282—Floor-scrubbing machines, motor-driven having rotary tools
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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
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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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- Electric Vacuum Cleaner (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a sweeping control method, a sweeping control device, a sweeping robot and a computer readable storage medium, wherein the sweeping control method comprises the following steps: acquiring image information of a region to be cleaned, performing deep learning identification on the image information, and acquiring room region information in the image information; determining a cleanable area in the area to be cleaned according to the room area information, wherein the cleanable area is a accessible room area which can be entered by the sweeping robot in the area to be cleaned; and determining a target area according to the sweeping motion track, and controlling the sweeping robot to sweep the target area additionally, wherein the target area is an unswept area in the cleanable area. The sweeping robot can additionally sweep the target area which is not swept in the sweeping process, and the sweeping efficiency and the sweeping effect of the sweeping robot are improved.
Description
Technical Field
The invention relates to the technical field of artificial intelligence, in particular to a sweeping control method, a sweeping control device, a sweeping control system and a computer-readable storage medium.
Background
Along with the rapid development of the field of artificial intelligence, the floor sweeping robot based on the artificial intelligence technology is also rapidly developed, and the floor sweeping robot can be used as an intelligent household appliance to clean a to-be-cleaned area in a room and can replace manpower to clean and sanitarily. However, the existing sweeping robot cannot intelligently distinguish the rooms to be swept in the operation process, so that the sweeping robot can omit the rooms which are not swept when sweeping in a complex house type, the cleaning effect is not ideal, and the use experience of a user is influenced.
Disclosure of Invention
The invention mainly aims to provide a sweeping control method, and aims to solve the technical problem which cannot be realized in the prior art.
In order to achieve the above object, the present invention provides a floor sweeping control method, which comprises the following steps:
acquiring image information of a region to be cleaned, performing deep learning identification on the image information, and acquiring room region information in the image information;
determining a cleanable area in the area to be cleaned according to the room area information, wherein the cleanable area is a accessible room area which can be entered by the sweeping robot in the area to be cleaned;
and determining a target area according to the sweeping motion track, and controlling the sweeping robot to sweep the target area additionally, wherein the target area is an unswept area in the cleanable area.
Before the step of obtaining the image information of the area to be cleaned, performing deep learning identification on the image information, and obtaining the room area information in the image information, the method further includes:
controlling the sweeping robot to traverse the area to be cleaned;
calling a laser sensor, and collecting detection data of the sweeping robot in the movement process of the sweeping robot in the area to be swept;
and establishing a grid map of the area to be cleaned according to the detection data.
The acquiring of the image information of the area to be cleaned and the deep learning identification of the image information, wherein the acquiring of the room area information in the image information comprises the following steps:
controlling the sweeping robot to traverse the area to be cleaned;
calling a photographing module to photograph the area to be cleaned and acquiring the image information of the area to be cleaned;
and inputting the image information into a room door recognition network, and calling a trained room door recognition model to recognize the room door information of the area to be cleaned in the image information.
Wherein, the step of establishing the grid map of the area to be cleaned further comprises:
inputting the image information into a room door recognition network, and calling a trained room door recognition model to recognize the room door information of the area to be cleaned in the image information;
and according to the acquired room door information, carrying out area decomposition on the grid map to obtain the house type environment information of the room area corresponding to each room door in the area to be cleaned in the grid map.
Wherein the determining a cleanable area in the area to be cleaned according to the room area information comprises:
controlling the sweeping robot to initialize and explore the area to be cleaned based on the room area information;
acquiring an exploration track of the sweeping robot, and judging whether the sweeping robot can enter the room area corresponding to the room door information;
if the sweeping robot can enter the room area corresponding to the room door information, marking the accessible room area which the sweeping robot can enter as a cleanable area.
Determining a target area according to the cleaning motion track, and controlling the sweeping robot to sweep the target area, wherein the sweeping step comprises the following steps:
responding to a sweeping control instruction, and controlling the sweeping robot to sweep the area to be cleaned;
calling the grid map to be compared with the cleaning motion track of the sweeping robot, and determining that the cleaning has a room area which is not swept;
calling a navigation module to perform navigation, controlling the sweeping robot to move to a room area to be swept, and calling a sensor to detect whether the room door of the room area to be swept can pass through;
and if the room door can pass, determining that the missed-cleaning room area is a target area, and controlling the cleaning robot to enter the target area for supplementary cleaning.
Wherein, according to cleaning motion trail, confirm the target area, control the robot of sweeping the floor to the step is swept again in the target area, still include:
responding to a sweeping control instruction, and controlling the sweeping robot to sweep the area to be cleaned;
calling the grid map to be compared with the cleaning motion track of the sweeping robot, and determining that the cleaning has a room area which is not swept;
calling a navigation module to perform navigation, controlling the sweeping robot to move to a room area to be swept, and calling a sensor to detect whether the room door of the room area to be swept can pass or not;
if the room door cannot pass through the room door, marking the missed-scanning room area as an unavailable area, reporting the room area information of the unavailable area to a server, and stopping the missed-scanning detection of the unavailable area.
In addition, in order to achieve the above object, the present invention further provides a sweeping robot, including: the sweeping control method comprises a memory, a processor and a sweeping control program which is stored on the memory and can run on the processor, wherein the steps of the sweeping control method are realized when the sweeping control program is executed by the processor.
In addition, in order to achieve the above object, the present invention further provides a floor sweeping control device, including:
the room area identification module is used for acquiring image information of an area to be cleaned, performing deep learning identification on the image information and acquiring room area information in the image information;
the cleaning area determining module is used for determining a cleanable area in the area to be cleaned according to the room area information;
and the target area supplementary sweeping module is used for determining a target area according to the sweeping motion track, and controlling the sweeping robot to carry out supplementary sweeping on the target area, wherein the target area is an unswept area in the cleanable area.
The invention also provides a computer readable storage medium, which stores a sweeping control program, and when the sweeping control program is executed by a processor, the steps of the sweeping control method are realized.
According to the sweeping control method provided by the embodiment of the invention, the image information of the area to be swept is obtained, the deep learning identification is carried out on the image information, the room area information in the image information is obtained, the cleanable area in the area to be cleaned is determined according to the room area information, the sweeping motion track of the sweeping robot is detected, the uncleaned area existing in the cleanable area is determined, and the uncleaned area existing in the cleanable area is subjected to supplementary sweeping. The control of the floor sweeping robot is achieved, the room information of the area to be cleaned is effectively identified, then the detection is carried out on the non-swept room in the sweeping process, whether the room can reach is determined, and the supplementary sweeping is carried out on the non-swept room which can reach the floor sweeping robot, so that the condition of missing sweeping is avoided, and the beneficial effect of the cleaning efficiency of the floor sweeping robot is improved.
Drawings
Fig. 1 is a schematic structural diagram of a sweeping robot in a hardware operating environment according to an embodiment of the present invention;
FIG. 2 is a schematic flow chart of a first embodiment of the present invention;
FIG. 3 is a schematic flow chart of a second embodiment of the present invention;
fig. 4 is a schematic diagram of a sweeping control device module of a hardware operating environment according to an 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.
The main solution of the embodiment of the application is as follows: acquiring image information of a region to be cleaned, performing deep learning identification on the image information, and acquiring room region information in the image information;
determining a cleanable area in the area to be cleaned according to the room area information, wherein the cleanable area is a accessible room area which can be reached by the sweeping robot in the area to be cleaned;
and determining a target area according to the sweeping motion track, and controlling the sweeping robot to sweep the target area additionally, wherein the target area is an unswept area in the cleanable area.
As shown in fig. 1, fig. 1 is a schematic structural diagram of a sweeping robot in a hardware operating environment according to an embodiment of the present application.
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. The communication bus 1002 is used for realizing communication connection among the above components. The user interface 1003 may include a Display (Display), an input unit such as a Keyboard (Keyboard), and optionally, the user interface 1003 may include a standard wired interface and a wireless interface, and the network interface 1004 may include a standard wired network interface and a wireless network interface (e.g., WI-FI interface). The memory 1005 may be a high-speed RAM memory or a non-volatile memory (e.g., a magnetic disk memory). Alternatively, the memory 1005 may be a storage device independent of the processor 1001.
Optionally, the sweeping robot may further include a camera, an RFF (Radio Frequency) circuit, a sensor, an audio circuit, a WiFi module, and the like. The sensor may be a laser sensor, a vision sensor, a motion sensor, and others. Of course, the mobile terminal may also be configured with other sensors such as a gyroscope, a barometer, a hygrometer, a thermometer, an infrared sensor, and a temperature sensor, which are not described herein again.
It will be appreciated by those skilled in the art that the terminal structure shown in figure 1 does not constitute a limitation of the sweeping robot and may include more or fewer components than those shown, or some components may be combined, 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, a user interface module, and a sweeping robot control method program.
In the cleaning robot shown in fig. 1, the network interface 1004 is mainly used for connecting to a background server and performing data communication with the background server; the user interface 1003 is mainly used for connecting a client installed on the user intelligent terminal and performing data communication with the client; and the processor 1001 may be configured to call the sweeping control program stored in the memory 1005, and perform the following operations:
acquiring image information of a region to be cleaned, performing deep learning identification on the image information, and acquiring room region information in the image information;
determining a cleanable area in the area to be cleaned according to the room area information, wherein the cleanable area is a accessible room area which can be entered by the sweeping robot in the area to be cleaned;
and determining a target area according to the sweeping motion track, and controlling the sweeping robot to sweep the target area additionally, wherein the target area is an unswept area in the cleanable area.
Optionally, the processor 1001 may also call the sweeping control program stored in the memory 1005 to perform the following operations:
controlling the sweeping robot to traverse the area to be cleaned;
calling a laser sensor, and collecting detection data of the sweeping robot in the movement process of the sweeping robot in the area to be swept;
and establishing a grid map of the area to be cleaned according to the detection data.
Optionally, the processor 1001 may also call the sweeping control program stored in the memory 1005 to perform the following operations:
controlling the sweeping robot to traverse the area to be cleaned;
calling a photographing module to photograph the area to be cleaned and acquiring the image information of the area to be cleaned;
and inputting the image information into a room door recognition network, and calling a trained room door recognition model to recognize the room door information of the area to be cleaned in the image information.
Optionally, the processor 1001 may also call the sweeping control program stored in the memory 1005 to perform the following operations:
inputting the image information into a room door recognition network, and calling a trained room door recognition model to recognize the room door information of the area to be cleaned in the image information;
and according to the acquired room door information, carrying out area decomposition on the grid map to obtain the house type environment information of the room area corresponding to each room door in the area to be cleaned in the grid map.
Optionally, the processor 1001 may also call the sweeping control program stored in the memory 1005 to perform the following operations:
controlling the sweeping robot to initialize and explore the area to be cleaned based on the room area information;
acquiring an exploration track of the sweeping robot, and judging whether the sweeping robot can enter the room area corresponding to the room door information;
if the sweeping robot can enter the room area corresponding to the room door information, marking the accessible room area which the sweeping robot can enter as a cleanable area.
Optionally, the processor 1001 may also call the sweeping control program stored in the memory 1005 to perform the following operations:
responding to a sweeping control instruction, and controlling the sweeping robot to sweep the cleanable area;
calling the grid map to be compared with the cleaning motion track of the sweeping robot, and determining that the cleaning has a room area which is not swept;
calling a navigation module to perform navigation, controlling the sweeping robot to move to a room area to be swept, and calling a sensor to detect whether the room door of the room area to be swept can pass through;
and if the room door can pass, determining that the missed-cleaning room area is a target area, and controlling the cleaning robot to enter the target area for supplementary cleaning.
Optionally, the processor 1001 may also call the sweeping control program stored in the memory 1005 to perform the following operations:
responding to a sweeping control instruction, and controlling the sweeping robot to sweep the area to be cleaned;
calling the grid map to be compared with the cleaning motion track of the sweeping robot, and determining that the cleaning has a room area which is not swept;
calling a navigation module to perform navigation, controlling the sweeping robot to move to a room area to be swept, and calling a sensor to detect whether the room door of the room area to be swept can pass or not;
if the room door cannot pass through the room door, marking the missed-scanning room area as an unavailable area, reporting the room area information of the unavailable area to a server, and stopping the missed-scanning detection of the unavailable area.
Referring to fig. 2, fig. 2 is a flowchart of a sweeping control method according to a first embodiment of the present invention.
In this embodiment, the sweeping control method includes the following steps:
step S10: acquiring image information of a region to be cleaned, performing deep learning identification on the image information, and acquiring room region information in the image information;
in this embodiment, after the sweeping robot is started up in the power-on state, the sweeping robot is controlled to explore the area to be cleaned for the first time, and the area to be cleaned is traversed. The area to be cleaned can be a room area range divided by the working environment of the sweeping robot. Optionally, the area to be cleaned may be the whole area in the house, or may be a partial area in the house, in a specific embodiment, the area to be cleaned is the area in the whole house, and the user issues a cleaning task to the sweeping robot through the sweeping application client installed on the intelligent terminal, wherein the cleaning task is based on the range of the area to be cleaned, and issues a task to the sweeping robot to treat the partial or the entire area of the area to be cleaned. In another specific embodiment, a user issues a cleaning task with the content of cleaning a room a and a room B in an area to be cleaned to a cleaning robot through a cleaning application client installed on an intelligent terminal, and drives the cleaning robot to clean the room a and the room B.
Specifically, the floor sweeping robot is provided with a laser sensor, when a floor is swept, namely a daily traversal is performed on an area to be cleaned, the laser sensor emits a detection signal, detection data reflected back in the area to be cleaned are received, the detection data are analyzed, a grid map is established, the area to be cleaned is divided into a plurality of grids through the grid map, and whether a room area exists in each grid is marked. Optionally, in order to ensure the integrity of the grid map, the cleaning area traversed by the sweeping robot for establishing the complete grid map is the area in the whole house. The floor sweeping robot preliminarily acquires the house type environment information of the area to be cleaned according to the established grid map.
Specifically, this robot of sweeping the floor still is provided with the module of shooing, when the robot of sweeping the floor traversals and treats the clean region, treat the clean region through the module of shooing and shoot in real time, gather the image information who treats the clean region, wherein, the image information who treats the clean region is for the robot of sweeping the floor treat many pictures of the environmental information in the clean region of reflection that the module of shooing gathered, and is optional, this image information also can be the image frame of drawing in the video of the environmental information of the clean region of waiting of collection when the robot of sweeping the floor traversals and treats the clean region. Optionally, in a specific embodiment, the photographing module is a depth camera, and image information acquired based on the depth camera is depth image information.
Optionally, the floor sweeping robot presets a room door recognition network, where the room door recognition network includes a trained room door recognition model, where the room door recognition model is established based on a neural network algorithm, and after training for multiple times, can recognize a network model of room door information in an image. The floor sweeping robot inputs image information into a room door identification network after acquiring the image information of an area to be cleaned, a room door identification model is called by utilizing a deep learning algorithm, target detection is carried out on the image information, room door characteristics in the image information are extracted according to the room door identification model, whether room doors exist in the image information acquired when the floor sweeping robot traverses the area to be cleaned is judged, if the room door characteristics exist in the image information, position information of the room doors is output through the room door identification model, and therefore the floor sweeping robot can acquire the room door information in the area to be detected. The position information of the room door may include coordinates or other data capable of reflecting the position relationship.
Step S20: determining a cleanable area in the area to be cleaned according to the room area information;
in this embodiment, after the room door information in the area to be detected is acquired after the room door identification model is identified through training, where the acquired room door information includes position information of the room door, the room door information is marked at a corresponding position on the grid map, the grid map is subjected to area decomposition, a room corresponding to each room door is obtained, and the grid map capable of completely reflecting the house type environment information of the area to be cleaned is obtained. The sweeping robot can identify room area information in the area to be cleaned according to the grid map subjected to the area decomposition, and performs path planning according to the grid map subjected to the area decomposition, wherein the room area information comprises room door information and house type environment information of the area to be cleaned.
The scanning robot acquires the grid map subjected to area decomposition, acquires room area information carried in the grid map, explores the room areas in the area to be cleaned decomposed in the grid map, traverses each room area, and judges whether the decomposed room areas can enter the cleaning mode or not. The method comprises the steps that a sweeping robot reads room area information of a grid map and generates an exploration path plan, wherein the exploration path plan is a sweeping robot advancing route plan which is obtained by calculation and can explore all or part of room areas in the grid map based on the room area information reflected by the grid map, a navigation module is called to explore the rooms in the room area information, and an exploration track of the sweeping robot is recorded. The exploration track is a motion track of the sweeping robot in an exploration process. Judging a cleanable area in the area to be cleaned according to the exploration track of the sweeping robot, specifically, comparing the exploration track with a grid map, identifying the exploration track of the sweeping robot in the area near a room door, if the exploration track shows that the sweeping robot can reach the room door, determining that the room door can reach according to the exploration track, and determining the communication relation of all rooms in the area to be cleaned. The connectivity is stored in a designated memory. And controlling the sweeping robot to continuously identify the exploration track, judging whether the sweeping robot can enter a room area corresponding to the room door through the room door, if the exploration track extends into the room area, indicating that the sweeping robot can enter the room area, and marking the room area into which the sweeping robot can enter as a cleanable area, wherein the cleanable area is a room area into which the sweeping robot can enter and is to be cleaned in the area to be cleaned.
Optionally, if the sweeping robot searches a room, when a certain room door may have a barrier or other factors, so that the sweeping robot cannot reach the room door, the photographing module is called to photograph, and the inaccessible notification information of the room door is generated to the sweeping control client installed on the intelligent terminal and bound with the sweeping robot, so as to prompt a user using the sweeping robot.
Optionally, if the sweeping robot finds a room, when it is determined that a certain room door can reach and the sweeping robot cannot enter the room area connected with the room door through the room door, it is determined that the room door cannot pass through the room door, notification information that the room area cannot enter the room area is generated to the sweeping control client installed on the intelligent terminal and bound with the sweeping robot, and a user using the sweeping robot is prompted.
Step S30: and determining a target area according to the sweeping motion track, and controlling the sweeping robot to sweep the target area additionally, wherein the target area is an unswept area in the cleanable area.
In this embodiment, the sweeping robot responds to a sweeping control instruction issued by a user through a sweeping application client installed on an intelligent terminal, reads the sweeping control instruction, acquires a sweeping task, identifies a to-be-swept area to be swept in the task, calls a navigation module to plan a sweeping line according to a grid map in which room areas are divided, and controls the sweeping robot to sweep the to-be-swept area in the sweeping task according to a sweeping route planned by the navigation module.
Specifically, when the sweeping robot cleans, a sweeping motion track is recorded, wherein the sweeping motion track is a motion track of the sweeping robot when the sweeping robot moves to an area to be cleaned to clean after receiving a sweeping control command. After the sweeping robot finishes sweeping, the recorded sweeping motion track is analyzed, and whether a missed sweeping room exists in the sweeping process of the sweeping robot is detected. Specifically, the cleaning motion track is analyzed to determine whether the cleaning robot cleans rooms in the cleaning process, whether the cleaned rooms are matched with the areas to be cleaned specified by the cleaning task in the cleaning control instruction is determined, optionally, if the cleaning motion track indicates that the cleaned areas of the cleaning robot are matched with the areas to be cleaned specified in the control instruction, the cleaning robot does not have rooms to be cleaned in the cleaning task, the cleaning robot completes the cleaning task, and the cleaning task is checked in the system.
Specifically, when the cleaning motion trajectory of the cleaning robot is analyzed, the cleaned area of the cleaning robot obtained according to the cleaning motion trajectory is not matched with the area to be cleaned specified in the control command, that is, an area which is not cleaned by the cleaning robot exists in the area to be cleaned. And judging that the sweeping robot has a missing sweeping condition in the current sweeping task. Calling a grid map of a divided room area, determining the position of a missed room, controlling a sweeping robot to navigate to a room door area of the missed room, detecting whether the sweeping robot can pass through the room door again, specifically, calling a photographing module by the sweeping robot, photographing the room door of the missed room, identifying a photographed picture, judging whether the room door is blocked, if the identification result is that no blockage exists, moving the sweeping robot to the room door again, judging whether the sweeping robot can pass through the room door of the missed room, if the sweeping robot can enter the missed room through the room door, marking the unscanned area as a target area, and controlling the sweeping robot to sweep the target area again. And after the floor sweeping robot finishes the passability detection of all the missed-swept rooms, the target area which can be entered by all the floor sweeping robots is subjected to supplementary sweeping.
In the embodiment, by acquiring the image information of the area to be cleaned, extracting the room door information in the image information, dividing the generated grid map into areas according to the room door information, to obtain each room area corresponding to the room door in the grid map, to perform cleaning route planning according to the grid map into which the room areas have been divided, after cleaning, according to the robot that sweeps the floor clean the motion orbit and sweep the control command regulation treat the area of sweeping and contrast, judge whether the robot that sweeps the floor has the room of leaking to sweep, if there is the room of leaking to sweep, control the robot that sweeps the floor and judge again whether should leak and sweep the room and can arrive, if should leak and sweep the room and can arrive, carry out the benefit to the room of leaking to sweeping again, ensure that the robot of sweeping the floor can effectively sweep the room in the task of sweeping, avoid leaking and sweep the room, improve the robot that sweeps the cleaning efficiency and the effect of sweeping.
Referring to fig. 3, fig. 3 is a flowchart of a sweeping control method according to a second embodiment of the present invention, in this embodiment, the sweeping control method includes the following steps:
s31, responding to a sweeping control instruction, and controlling the sweeping robot to sweep the area to be cleaned;
step S32, calling the grid map to be compared with the cleaning motion track of the sweeping robot, and determining that the area of the missed sweeping room exists in the current sweeping;
step S33: calling a navigation module to perform navigation, controlling the sweeping robot to move to a room area to be swept, and calling a sensor to detect whether the room door of the room area to be swept can pass or not;
and step S34, if the room door can not pass through, marking the missed-scanning room area as an inaccessible area, reporting the room area information of the inaccessible area to a client, and stopping the missed-scanning detection of the inaccessible area.
In this embodiment, the sweeping robot responds to a sweeping control instruction issued by a user through a sweeping application client installed on an intelligent terminal, reads the sweeping control instruction, acquires a sweeping task, identifies a cleanable area needing to be cleaned in the sweeping task, calls a navigation module to plan a sweeping line according to a grid map in which room areas are divided, and controls the sweeping robot to sweep the cleanable area in the sweeping task according to a sweeping route planned by the navigation module.
Specifically, when the sweeping robot cleans, a sweeping motion track is recorded, wherein the sweeping motion track is a motion track of the sweeping robot when the sweeping robot moves to an area to be cleaned to clean after receiving a sweeping control command. After the sweeping robot finishes sweeping, the recorded sweeping motion track is analyzed, the sweeping motion track is compared with a grid map, and whether a missed sweeping room exists in the sweeping process of the sweeping robot is detected. And if the comparison result shows that the sweeping robot does not sweep one or more rooms in the sweeping task, determining that the sweeping robot has missing sweeping in the current sweeping task. The method comprises the steps of determining the position of a missed room in a grid map, controlling a sweeping robot to navigate to the missed room door area, calling a photographing module to photograph, carrying out obstacle recognition on a photographed picture, and judging whether obstacles exist in a road section of the room door area or not, so that the sweeping robot cannot reach the room door.
Optionally, if the sweeping robot recognizes that the photo result indicates that the obstacle exists, the sweeping robot cannot reach the room door, the missed-sweeping room is marked as an unreachable room, the sweeping robot sends a prompt message indicating that the unreachable room exists in the current sweeping task to the mobile terminal bound with the sweeping robot, and the missed-sweeping detection of the missed-sweeping room is stopped.
Optionally, if the sweeping robot recognizes that no obstacle exists in the photo result, the sweeping robot moves to a room door, calls a binocular sensor to judge whether the room door can pass through, and if the sweeping robot acquires that the room door is in a closed state according to the binocular sensor, judges that the room door cannot pass through, the sweeping robot cannot enter a room which is not swept, marks that the room is an inaccessible room, sends a prompt message indicating that the inaccessible room exists in the cleaning task to a mobile terminal bound with the sweeping robot, and stops to perform the missing sweeping detection on the missed room.
In this embodiment, through carrying out the missing scanning detection to the missing scanning room that the robot of sweeping the floor exists in cleaning the task, the room door that the robot of sweeping the floor can not reach and/or the room region that the robot of sweeping the floor can not get into in cleaning the task mark, and send corresponding prompt message and remind the user, make the user can carry out the investigation to the region that the robot of sweeping the floor was not swept, avoid the robot of sweeping the floor to meet the room door that can not reach and/or the room region that the robot of sweeping the floor can not get into when carrying out the missing scanning detection and repeatedly carry out the missing scanning detection, lead to the dead condition of robot card of sweeping the floor to take place, and then improve the missing scanning detection efficiency, ensure that the robot of sweeping the floor can carry out the missing scanning room that can mend effectively.
In addition, referring to fig. 4, fig. 4 is a schematic block diagram of the sweeping control device of the present application.
In order to implement the above embodiment, the present invention further provides a sweeping control device, including:
the room area identification module 10 is configured to acquire image information of an area to be cleaned, perform deep learning identification on the image information, and acquire room area information in the image information;
a cleaning area determining module 20, configured to determine a cleanable area in the area to be cleaned according to the room area information, where the cleanable area is a accessible room area that can be reached by the cleaning robot in the area to be cleaned;
and the target area supplementary sweeping module 30 is configured to determine a target area according to the sweeping motion trajectory, and control the sweeping robot to perform supplementary sweeping on the target area, where the target area is an area that can be cleaned and is not swept.
In addition, an embodiment of the present invention further provides a computer-readable storage medium, where a sweeping robot control program is stored on the computer-readable storage medium, and when the sweeping robot control program is executed by a processor, the steps of the sweeping control method are implemented.
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 identical 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 causing a terminal 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. The sweeping control method is characterized by being applied to a sweeping robot and comprising the following steps:
acquiring image information of a region to be cleaned, performing deep learning identification on the image information, and acquiring room region information in the image information;
determining a cleanable area in the area to be cleaned according to the room area information, wherein the cleanable area is a accessible room area which can be entered by the sweeping robot in the area to be cleaned;
and determining a target area according to the sweeping motion track, and controlling the sweeping robot to sweep the target area additionally, wherein the target area is an unswept area in the cleanable area.
2. The sweeping control method according to claim 1, wherein before the step of obtaining the image information of the area to be cleaned, performing deep learning identification on the image information, and obtaining the room area information in the image information, the method further comprises:
controlling the sweeping robot to traverse the area to be cleaned;
calling a laser sensor, and collecting detection data of the sweeping robot in the movement process of the sweeping robot in the area to be swept;
and establishing a grid map of the area to be cleaned according to the detection data.
3. The sweeping control method according to claim 1, wherein the step of obtaining image information of an area to be swept, performing deep learning identification on the image information, and obtaining room area information in the image information comprises:
controlling the sweeping robot to traverse the area to be cleaned;
calling a photographing module to photograph the area to be cleaned and acquiring the image information of the area to be cleaned;
and inputting the image information into a room door recognition network, and calling a trained room door recognition model to recognize the room door information of the area to be cleaned in the image information.
4. The floor sweeping control method according to claim 2, wherein the step of establishing the grid map of the area to be swept further comprises:
inputting the image information into a room door recognition network, and calling a trained room door recognition model to recognize the room door information of the area to be cleaned in the image information;
and according to the acquired room door information, carrying out area decomposition on the grid map to obtain the house type environment information of the room area corresponding to each room door in the area to be cleaned in the grid map.
5. The floor sweeping control method according to claim 4, wherein the step of determining a cleanable area in the area to be cleaned according to the room area information comprises:
controlling the sweeping robot to initialize and explore the area to be cleaned based on the room area information;
acquiring an exploration track of the sweeping robot, and judging whether the sweeping robot can enter the room area corresponding to the room door information;
if the sweeping robot can enter the room area corresponding to the room door information, the accessible room area which the sweeping robot can enter is marked as a cleanable area.
6. The sweeping control method according to claim 5, wherein the step of determining a target area according to the sweeping motion trajectory, and the step of controlling the sweeping robot to sweep the target area again comprises:
responding to a sweeping control instruction, and controlling the sweeping robot to sweep the area to be cleaned;
calling the grid map to be compared with the cleaning motion track of the sweeping robot, and determining that the cleaning has a room area which is not swept;
calling a navigation module to perform navigation, controlling the sweeping robot to move to a room area to be swept, and calling a sensor to detect whether the room door of the room area to be swept can pass through;
and if the room door can pass, determining that the missed-cleaning room area is a target area, and controlling the cleaning robot to enter the target area for supplementary cleaning.
7. The sweeping control method according to claim 5, wherein the step of determining a target area according to the sweeping motion trajectory and controlling the sweeping robot to sweep the target area additionally comprises the following steps:
responding to a sweeping control instruction, and controlling the sweeping robot to sweep the area to be cleaned;
calling the grid map to be compared with the cleaning motion track of the sweeping robot, and determining that the cleaning has a room area which is not swept;
calling a navigation module to perform navigation, controlling the sweeping robot to move to a room area to be swept, and calling a sensor to detect whether the room door of the room area to be swept can pass or not;
if the room door cannot pass through the room door, marking the missed-scanning room area as an unavailable area, reporting the room area information of the unavailable area to a server, and stopping the missed-scanning detection of the unavailable area.
8. The utility model provides a control device sweeps floor, its characterized in that, control device sweeps floor includes:
the room area identification module is used for acquiring image information of an area to be cleaned, performing deep learning identification on the image information and acquiring room area information in the image information;
the cleaning area determining module is used for determining a cleanable area in the area to be cleaned according to the room area information, wherein the cleanable area is a accessible room area which can be entered by the cleaning robot in the area to be cleaned;
and the target area supplementary sweeping module is used for determining a target area according to the sweeping motion track, and controlling the sweeping robot to carry out supplementary sweeping on the target area, wherein the target area is an unswept area in the cleanable area.
9. A sweeping robot, comprising a memory, a processor and a sweeping control program stored in the memory and capable of running on the processor, wherein the processor implements the steps of the sweeping control method according to any one of claims 1 to 7 when executing the sweeping control program.
10. A computer-readable storage medium, having a sweeping control program stored thereon, which when executed by a processor, implements the steps of the sweeping control method according to any one of claims 1 to 7.
Priority Applications (3)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011374059.9A CN112462780B (en) | 2020-11-30 | 2020-11-30 | Sweeping control method and device, sweeping robot and computer readable storage medium |
| CN202410523708.9A CN118490116A (en) | 2020-11-30 | 2020-11-30 | Sweeping control method, sweeping robot and computer readable storage medium |
| PCT/CN2021/132880 WO2022111539A1 (en) | 2020-11-27 | 2021-11-24 | Floor sweeping control method, apparatus, floor sweeping robot, and computer-readable medium |
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| CN202011374059.9A CN112462780B (en) | 2020-11-30 | 2020-11-30 | Sweeping control method and device, sweeping robot and computer readable storage medium |
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| CN202410523708.9A Division CN118490116A (en) | 2020-11-30 | 2020-11-30 | Sweeping control method, sweeping robot and computer readable storage medium |
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| CN112462780B (en) | 2024-05-21 |
| CN118490116A (en) | 2024-08-16 |
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