CN113143118A - Cleaning robot, intelligent control method and device thereof, and storage medium - Google Patents
Cleaning robot, intelligent control method and device thereof, and storage medium Download PDFInfo
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- 238000004140 cleaning Methods 0.000 title claims abstract description 174
- 238000000034 method Methods 0.000 title claims abstract description 43
- 238000001514 detection method Methods 0.000 claims abstract description 78
- 238000011282 treatment Methods 0.000 claims abstract description 19
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims description 41
- 230000001276 controlling effect Effects 0.000 claims description 19
- 230000008569 process Effects 0.000 claims description 10
- 230000006698 induction Effects 0.000 claims description 7
- 238000004590 computer program Methods 0.000 claims description 6
- 230000009471 action Effects 0.000 claims description 5
- 230000001105 regulatory effect Effects 0.000 claims description 3
- 230000008859 change Effects 0.000 abstract description 12
- 230000000694 effects Effects 0.000 abstract description 7
- 230000006870 function Effects 0.000 description 8
- 230000003287 optical effect Effects 0.000 description 3
- 238000010408 sweeping Methods 0.000 description 3
- 230000033228 biological regulation Effects 0.000 description 2
- 238000004364 calculation method Methods 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 239000000428 dust Substances 0.000 description 2
- 230000006872 improvement Effects 0.000 description 2
- 239000000463 material Substances 0.000 description 2
- 239000002699 waste material Substances 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000003247 decreasing effect Effects 0.000 description 1
- 238000005265 energy consumption Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
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- 239000013307 optical fiber Substances 0.000 description 1
- 238000005507 spraying 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
- A47L11/24—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
- A47L11/28—Floor-scrubbing 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
- A47L11/40—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
- A47L11/4008—Arrangements of switches, indicators or the like
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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
- A47L11/4061—Steering means; Means for avoiding obstacles; Details related to the place where the driver is accommodated
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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
- A47L11/408—Means for supplying cleaning or surface treating agents
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0242—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using non-visible light signals, e.g. IR or UV signals
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
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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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- 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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- Engineering & Computer Science (AREA)
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- Radar, Positioning & Navigation (AREA)
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- Automation & Control Theory (AREA)
- Electromagnetism (AREA)
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Abstract
The invention discloses a cleaning robot, an intelligent control method and device thereof and a storage medium. The control method comprises the following steps: detecting a target position in a current working area through the cleaning robot to obtain a first ground characteristic detection parameter; after detection, controlling the cleaning robot to perform one or more times of cleaning treatment on the target position, and detecting the target position in the current working area again through the cleaning robot to obtain a second ground characteristic detection parameter; and comparing the second ground characteristic detection parameter with the first ground characteristic detection parameter, generating a real-time control command according to the parameter comparison result, and controlling the cleaning robot based on the real-time control command. The invention can detect and obtain the ground environment change generated by cleaning based on different ground characteristics before and after cleaning treatment, and adaptively control the working mode of the cleaning robot according to the environment change, thus having the advantages of good dynamic adjustment effect, good real-time performance, high intelligent degree and the like.
Description
Technical Field
The invention relates to the technical field of intelligent cleaning robots, in particular to an intelligent control method and device of a cleaning robot and the cleaning robot.
Background
With the continuous improvement of the quality of life and quality of people, more and more intelligent household devices begin to enter thousands of households, wherein the cleaning robot is representative. The cleaning robot is used for cleaning and washing of household sanitation generally, and has the advantages of time saving, labor saving, portability, small size and the like. Besides the function of conventional floor sweeping, more and more cleaning robots have the function of floor mopping, and users only need to add water and replace cleaning rags on the robot equipment regularly. However, due to the limitations of the existing cleaning robot technology, it is often the case that the floor is wet or dry after mopping. Whether leaving an excessively wet floor or a drier floor after mopping by the cleaning robot is not desirable to the user. The reason for the above problem is that the prior art is poor in water output control effect of the cleaning robot, and is difficult to intelligently control the robot to work according to actual conditions, and the intelligence degree of the existing cleaning robot needs to be improved urgently.
Disclosure of Invention
In order to solve the problems of poor water yield control effect and low intelligent degree of the existing cleaning robot, the invention can provide the cleaning robot, an intelligent control method and an intelligent control device thereof and a storage medium, so as to achieve the technical purposes of self-adaptively controlling the cleaning robot according to the actual conditions of the working environment and the like.
To achieve the above technical objects, the present invention can provide an intelligent control method of a cleaning robot, which may include, but is not limited to, one or more of the following steps. According to the invention, the cleaning robot is used for detecting the target position in the current working area so as to obtain the first ground characteristic detection parameter. And after detection, controlling the cleaning robot to perform one or more times of cleaning treatment on the target position in the current working area, and then detecting the target position in the current working area again through the cleaning robot to obtain a second ground characteristic detection parameter. And then comparing the second ground characteristic detection parameter with the first ground characteristic detection parameter, generating a real-time control command according to the parameter comparison result, and controlling the cleaning robot by using the real-time control command.
Based on the technical scheme, the intelligent control method for the robot can respectively carry out the ground characteristic detection process before and after cleaning treatment, and can adaptively and dynamically control the work of the cleaning robot according to the difference of two detections; therefore, the cleaning robot can carry out subsequent work by taking the current ground environment change as an objective fact basis, and the control method of the cleaning robot provided by the invention has the outstanding advantages of capability of realizing dynamic adjustment of cleaning robot equipment, high intelligent degree, high user reliability and the like.
Further, comparing the second ground feature detection parameter with the first ground feature detection parameter includes:
and calculating a deviation value of the second ground characteristic detection parameter and the first ground characteristic detection parameter.
And comparing the deviation value with a preset range to generate a parameter comparison result.
Based on the improved technical scheme, the invention can realize quantifiable treatment of the change degree of the ground environment caused by cleaning treatment. By calculating the deviation value of the ground characteristic detection parameters twice, the invention can objectively and accurately determine the deviation value range and correspondingly control the deviation value range.
Further, generating the real-time control command according to the parameter comparison result includes:
and respectively matching the deviation value with a plurality of gear intervals contained in a preset range according to the parameter comparison result, wherein different gear intervals correspond to different control parameters.
And determining the control parameters corresponding to the successfully matched gear intervals.
And generating a real-time control instruction according to the control parameter.
Based on the improved technical scheme, the control quantity can be judged finely and more accurately based on the set gear interval. And determining control parameters through the matched proper gear intervals, and further obtaining a real-time control instruction suitable for the environment where the cleaning robot is located through the control parameters.
Further, generating the real-time control instruction according to the control parameter includes:
and obtaining a water yield regulating value of the cleaning robot in a mode of analyzing the control parameters.
And generating a real-time control instruction according to the water yield regulating value.
Wherein the real-time control instruction is used for dynamically adjusting the water yield of the cleaning robot.
Based on the improved technical scheme, the water yield of the cleaning robot can be dynamically and accurately controlled according to the current ground environment. The invention can provide water for mopping floor according to the requirement no matter in the relatively humid or dry air environment, thereby avoiding the waste of water resource and the problem that the mopping effect is influenced by a small amount of water outlet. Therefore, the technical scheme provided by the invention can better solve one or more technical problems in the prior art and has the outstanding advantages of good water yield control effect of the cleaning robot and the like.
Further, according to the present invention, the first ground characteristic detection parameter is a ground humidity value before one or more cleaning processes, and the second ground characteristic detection parameter is a ground humidity value after one or more cleaning processes.
Based on the improved technical scheme, the invention can respectively detect the ground humidity before and after cleaning treatment, and control the change of the water yield of the cleaning robot according to the change of the ground humidity generated by mopping. The scheme provided by the invention has the advantages of easy implementation, strong reliability, high intelligent level and the like.
Further, the detecting of the target position within the current working area by the cleaning robot may include: a first ground characteristic detection parameter is obtained through induction of a first sensor arranged on the cleaning robot.
The detecting again the target position within the current working area by the cleaning robot includes: and a second ground characteristic detection parameter is obtained by the induction of a second sensor arranged on the cleaning robot.
Based on the improved technical scheme, the first sensor and the second sensor are used for respectively detecting the ground characteristics before and after cleaning, and the requirement on the accuracy of the sensors can be reduced based on the calculation of the deviation value, so that the cost of the equipped sensors is reduced, and the product cost of the cleaning robot is further reduced.
Further, the first sensor and the second sensor are both located on a straight line where the current working direction of the cleaning robot is located.
Based on the improved technical scheme, the invention can detect the characteristics of the ground before cleaning through the first sensor arranged in front of the equipment, and then detect the characteristics of the ground after cleaning through the second sensor arranged in back of the equipment. According to the improved scheme of the invention, the first sensor and the second sensor are arranged on the straight line of the working direction, so that the situation that the position of the robot frequently moves due to characteristic detection can be avoided, and the improved structure has the advantages of reducing electric quantity loss, saving energy and being durable.
To achieve the above technical objects, one or more embodiments of the present invention can provide a computer storage medium storing a computer program, which when executed by one or more processors, implements an intelligent control method of a cleaning robot according to any one of the embodiments of the present invention.
To achieve the above technical objects, the present invention can also provide an intelligent control device for a cleaning robot, which may include, but is not limited to, a first characteristic acquisition module, a cleaning action control module, a second characteristic acquisition module, a characteristic parameter comparison module, and an equipment dynamic control module.
The first characteristic acquisition module is used for detecting the target position in the current working area through the cleaning robot to obtain a first ground characteristic detection parameter;
the cleaning action control module is used for controlling the cleaning robot to perform one or more times of cleaning treatment on the target position in the current working area;
the second characteristic acquisition module is used for detecting the target position in the current working area again through the cleaning robot to obtain a second ground characteristic detection parameter;
the characteristic parameter comparison module is used for comparing the second ground characteristic detection parameter with the first ground characteristic detection parameter and generating a real-time control instruction according to a parameter comparison result;
and the equipment dynamic control module is used for controlling the cleaning robot by utilizing the real-time control instruction.
Based on the technical scheme, the invention can respectively carry out ground characteristic detection before and after cleaning treatment, and can carry out self-adaptive and dynamic reasonable control on the cleaning robot according to the difference of the two detections, so that the cleaning robot carries out cleaning work by taking the current ground environment change as an objective fact basis.
To achieve the above technical objects, further embodiments of the present invention can provide a cleaning robot including, but not limited to, an intelligent control apparatus in any of the embodiments of the present invention.
The invention has the beneficial effects that:
the invention can detect and obtain the ground environment change generated by cleaning based on different ground characteristics before and after cleaning treatment, and adaptively control the working mode of the cleaning robot according to the environment change.
Compared with a cleaning robot with high humidity, low humidity or middle humidity functions set before leaving a factory, the invention can more finely and accurately adjust the water yield of the cleaning robot. The water yield is adjusted based on the humidity change of the ground before and after mopping, and the invention can better adapt to the change of different indoor humidity environments of different users. No matter under very moist, very dry, general moist or general dry indoor environment all can guarantee to drag ground effect, can make full use of water resource moreover, avoid water waste, user experience is splendid.
In addition, the sensors are respectively arranged in the front and the back of the cleaning robot in the working direction, and the self error of the sensors can be effectively reduced by utilizing deviation calculation.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the structures shown in the drawings without creative efforts.
Fig. 1 shows a flow diagram of a method for intelligently controlling a cleaning robot according to one or more embodiments of the present invention.
FIG. 2 shows a schematic view of a cleaning robot having both a first sensor and a second sensor in one or more embodiments of the invention.
Fig. 3 is a schematic diagram illustrating the components of an intelligent control device of a cleaning robot according to one or more embodiments 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
The following explains and explains the intelligent control method and device for the cleaning robot and the cleaning robot in detail with reference to the drawings of the specification.
As shown in fig. 1, which may be combined with fig. 2 and 3, one or more embodiments of the present invention may provide an intelligent control method of a cleaning robot. In particular, the method may include, but is not limited to, one or more of the following steps to better address at least one technical problem of the prior art.
And 200, controlling the cleaning robot to perform one or more times of cleaning treatment on the target position in the current working area, wherein the cleaning treatment can comprise mopping, water spraying, sweeping and the like. It will be appreciated that the cleaning process is a basic function of the cleaning robot product and will not be described in detail herein.
And 300, detecting the target position in the current working area again through the cleaning robot, specifically obtaining a second ground characteristic detection parameter through induction of a second sensor arranged on the cleaning robot so as to obtain the second ground characteristic detection parameter, wherein the cleaning robot is in a working state after cleaning treatment when the working procedure is executed. In the embodiment of the invention, when the ground characteristic detection parameter is a humidity value, the second ground characteristic detection parameter is a ground humidity value after one or more cleaning treatments, namely an induction feedback value output by the second sensor according to the ground humidity. In the case that the first ground characteristic detection parameter is the degree of ground pollution, the second sensor may be an infrared sensor for detecting the degree of ground pollution, or another optical sensor capable of detecting the degree of ground pollution.
In some preferred embodiments of the present invention, the first sensor and the second sensor are both located on a straight line in which the current working direction of the cleaning robot is located. More specifically, as shown in fig. 2, the first sensor of the present invention is installed in front of the cleaning robot in the current working direction, and the second sensor is installed in back of the cleaning robot in the working direction, wherein a straight line connecting a center point of the first sensor and a center point of the second sensor coincides with a straight line in the working direction of the cleaning robot.
As shown in fig. 2, taking a cleaning process as an example, the present invention can control the cleaning robot to reach the position to be cleaned (i.e., the target position). At this time, the first sensor sensing range includes the position to be cleaned, and the first floor characteristic detection parameter is acquired before cleaning. After the target position of the working area is cleaned, the sensing range of the second sensor comprises a position to be cleaned, and a second ground characteristic detection parameter is obtained. Therefore, the continuity of the whole work flow of the first detection, the cleaning and the second detection is very good, the problem that the robot equipment is frequently moved to enable the sensor to detect the corresponding position is effectively avoided, and the technical effects of reducing the energy consumption of products, controlling the equipment in real time, dynamically adjusting related parameters and the like can be achieved.
The present invention provides some improvements to the process of generating current real-time control instructions. In some specific embodiments of the present invention, the implementation of step 400 can include, but is not limited to, steps 401 through 405, as described in detail below.
In step 401, the present invention can calculate a deviation value between the second ground characteristic detection parameter and the first ground characteristic detection parameter. In a specific scene, when the ground characteristic detection parameter is humidity, the deviation value is a humidity deviation value; or when the ground characteristic detection parameter is the dirt degree, the deviation value is the dirt degree deviation value.
In some embodiments of the present invention, the deviation value D can be calculated by the first ground characteristic detecting parameter P1 and the second ground characteristic detecting parameter P2, and can be specifically calculated as follows.
D＝(P2-P1)÷P1
Alternatively, the present invention may also provide a simpler way of calculating the deviation value, specifically, D-P2-P1 or D-P2 ÷ P1, etc., although the way of calculating the deviation value is not limited to the exemplary ones.
Step 402, comparing the deviation value with a preset range to generate a parameter comparison result.
For example, the current water yield is too high to cause the ground to be too wet, the preset range of the invention can be represented by > N.
Alternatively, the preset range of the present invention may be expressed by < M, for example, in the case where the current water output is too low, resulting in too dry floor.
And step 403, respectively matching the deviation values with a plurality of gear intervals contained in a preset range according to the parameter comparison result, wherein different gear intervals correspond to different control parameters. Taking the current water yield as an example, the preset range of the invention may include a plurality of shift intervals of n1 and n2 …, for example, and the specific number of the specific shift intervals may be set according to actual conditions; or taking the current water yield as an example, the preset range of the invention may include a plurality of gear intervals m1 and m2 …, and the specific number of the gear intervals can also be set according to actual situations.
And step 404, determining a control parameter corresponding to the successfully matched gear interval, wherein the control parameter can be used for representing the water quantity adjusting value needing to be increased or decreased in the current control. When the method is applied specifically, no matter on the basis of humidity detection or dirt degree detection, when the current water yield is too large, the control parameters can be used for representing a water quantity adjusting value needing to be reduced; when the current water output is too small, the control parameters can be used to characterize the water adjustment value that needs to be increased.
Step 405, generating a real-time control instruction according to the control parameter. When the method is specifically used in a water yield regulation scene, the step of generating the real-time control instruction according to the obtained control parameters comprises the following steps: and obtaining a water yield adjusting value of the cleaning robot by analyzing the control parameters, and generating a real-time control instruction according to the water yield adjusting value. The real-time control instruction can be used for dynamically adjusting the water yield of the cleaning robot, so that the water yield of the cleaning robot can be dynamically adjusted according to the humidity change before and after mopping, and the functional requirements of mopping, dust removal and the like can be better met.
And 500, controlling the cleaning robot by using the currently generated real-time control instruction so as to realize the functions of real-time and dynamic regulation of water yield and the like.
It should be understood that the specific values of the relevant parameters related to the technical solution provided by the present invention, such as the deviation value, the preset range value, the water amount adjustment value, etc., can be reasonably set according to the conditions of the volume, the power, etc., of the actual cleaning robot product, so as to achieve the technical purpose of the present invention.
One or more embodiments of the present invention can provide a computer storage medium storing a computer program. The computer program is an intelligent control program of the cleaning robot, and the computer program is executed by one or more processors to implement the intelligent control method of the cleaning robot in any embodiment of the present invention. The detailed steps of the control method of the cleaning robot will not be described herein.
In an actual application scenario of the present invention, whether the ground is completely dragged can be further determined according to a deviation value or a difference value between the second ground characteristic detection parameter and the first ground characteristic detection parameter. For example, when the difference between the two ground feature detection parameters before and after cleaning reaches a set threshold, it may be determined that the ground at the current position is completely mopped, the mopping task at the current position is completed, and the next task may be performed or the task may be ended.
Further embodiments of the invention may provide a computer program product, in which instructions are executed by a robot processor to perform a method for intelligently controlling a cleaning robot according to any of the embodiments of the invention. The detailed steps of the method are not described herein.
As shown in fig. 3, based on the same technical concept as the intelligent control method provided by the present invention, further embodiments of the present invention can provide an intelligent control apparatus for a cleaning robot. Specifically, the intelligent control device of the cleaning robot may include, but is not limited to, a first characteristic acquisition module, a cleaning action control module, a second characteristic acquisition module, a characteristic parameter comparison module, a device dynamic control module, and the like. It can be understood that each functional module related to the present invention may be separately arranged, or may be integrated into the intelligent controller of the cleaning robot of the present invention, that is, the technical solution provided by the present invention may be implemented by hardware, software, or a combination of both, so as to achieve the technical purpose of the present invention.
The first feature acquisition module may be configured to detect a target position within a current work area by the cleaning robot to obtain a first ground feature detection parameter. The first floor characteristic sensing parameter in some embodiments of the present invention is a floor wetness value prior to performing one or more cleaning processes. The first characteristic acquisition module is specifically used for obtaining a first ground characteristic detection parameter by controlling the induction of a first sensor arranged on the cleaning robot equipment. The first sensor may be a humidity sensor or an infrared sensor.
The cleaning action control module is used for controlling the cleaning robot to perform one or more times of cleaning treatment on the target position in the current working area.
The second characteristic acquisition module is used for detecting the target position in the current working area again through the cleaning robot so as to obtain second ground characteristic detection parameters. The second ground characteristic detection parameter in some embodiments of the invention is a ground humidity value after one or more cleaning processes. The second characteristic acquisition module can specifically obtain the second ground characteristic detection parameter through the induction of a second sensor arranged on the cleaning robot equipment, as shown in fig. 2, the first sensor and the second sensor in the invention are both arranged on a straight line where the current working direction of the cleaning robot is located, for example, the first sensor and the second sensor can be respectively arranged on the front part and the rear part of the cleaning robot equipment. The second sensor may be a humidity sensor or an infrared sensor. According to the invention, the first ground characteristic detection parameter and the second ground characteristic detection parameter can be humidity parameters or pollution degree parameters.
The characteristic parameter comparison module can be used for comparing the second ground characteristic detection parameter with the first ground characteristic detection parameter and generating a real-time control instruction according to a parameter comparison result. The comparing module may be specifically configured to calculate a deviation value between the first ground characteristic detection parameter and the second ground characteristic detection parameter, compare the deviation value with a preset range, and finally generate a parameter comparison result. More specifically, the characteristic parameter comparison module may be configured to match the deviation value with a plurality of gear intervals included in a preset range according to a parameter comparison result, where different gear intervals correspond to different control parameters, so as to determine the control parameter corresponding to the gear interval that is successfully matched, and the comparison module is configured to generate a real-time control instruction according to the control parameter. In the cleaning robot water yield adjustment strategy, the characteristic parameter comparison module is specifically used for obtaining a water yield adjustment value of the cleaning robot in a mode of analyzing control parameters and specifically used for generating a real-time control instruction according to the water yield adjustment value. Wherein the real-time control instruction is used for dynamically adjusting the real-time water yield of the cleaning robot.
The equipment dynamic control module is used for controlling the cleaning robot by utilizing the real-time control instruction so as to achieve one or more purposes of dynamically controlling the water yield of the robot equipment and the like.
As shown in fig. 2, the present invention can provide an intelligent cleaning robot, which can include an intelligent control apparatus in any embodiment of the present invention. The cleaning robot provided by the invention is provided with a first sensor and a second sensor, wherein the first sensor is arranged at the front part of a cleaning robot structure, the second sensor is arranged at the rear part of the cleaning robot structure, and the first sensor and the second sensor are preferably arranged on a straight line of the working direction of the cleaning robot. In addition, it can be understood that, for the basic device components or product structures for realizing the functions of the cleaning robot, and the like, corresponding selection can be performed according to actual situations, and the details are not repeated.
When the invention is applied specifically, the cleaning robot provided in the embodiment of the invention may be, for example, an intelligent cleaning device for cleaning a scene, such as an intelligent floor-mopping robot, an intelligent floor-sweeping robot, or an intelligent dust collector.
The logic and/or steps represented in the flowcharts or otherwise described herein, such as an ordered listing of executable instructions that can be considered to implement logical functions, can be embodied in any computer-readable storage medium for use by or in connection with an instruction execution system, apparatus, or device, such as a computer-based system, processor-containing system, or other system that can fetch the instructions from the instruction execution system, apparatus, or device and execute the instructions. For the purposes of this description, a "computer-readable storage medium" can be any means that can contain, store, communicate, propagate, or transport the program for use by or in connection with the instruction execution system, apparatus, or device. More specific examples (a non-exhaustive list) of the computer readable storage medium would include the following: an electrical connection (electronic device) having one or more wires, a portable computer cartridge (magnetic device), a Random Access Memory (RAM), a Read-Only Memory (ROM), an Erasable Programmable Read-Only Memory (EPROM-Only Memory, or flash Memory), an optical fiber device, and a portable Compact Disc Read-Only Memory (CDROM). Additionally, the computer-readable storage medium may even be paper or another suitable medium upon which the program is printed, as the program can be electronically captured, via for instance optical scanning of the paper or other medium, then compiled, interpreted or otherwise processed in a suitable manner if necessary, and then stored in a computer memory.
It should be understood that portions of the present invention may be implemented in hardware, software, firmware, or a combination thereof. In the above embodiments, the various steps or methods may be implemented in software or firmware stored in memory and executed by a suitable instruction execution system. For example, if implemented in hardware, as in another embodiment, any one or combination of the following techniques, which are known in the art, may be used: a discrete logic circuit having a logic Gate circuit for implementing a logic function on a data signal, an application specific integrated circuit having an appropriate combinational logic Gate circuit, a Programmable Gate Array (PGA), a Field Programmable Gate Array (FPGA), or the like.
In the description herein, references to the description of the term "the present embodiment," "one embodiment," "some embodiments," "an example," "a specific example," or "some examples," etc., mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the present invention. In this specification, the schematic representations of the terms used above are not necessarily intended to refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Furthermore, various embodiments or examples and features of different embodiments or examples described in this specification can be combined and combined by one skilled in the art without contradiction.
Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In the description of the present invention, "a plurality" means at least two, e.g., two, three, etc., unless specifically limited otherwise.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents and simplifications made in the spirit of the present invention are intended to be included in the scope of the present invention.
Claims (10)
1. An intelligent control method of a cleaning robot, comprising:
detecting a target position in a current working area through the cleaning robot to obtain a first ground characteristic detection parameter;
controlling the cleaning robot to perform one or more times of cleaning treatment on the target position in the current working area;
detecting the target position in the current working area again through the cleaning robot to obtain a second ground characteristic detection parameter;
comparing the second ground characteristic detection parameter with the first ground characteristic detection parameter, and generating a real-time control instruction according to a parameter comparison result;
and controlling the cleaning robot by using the real-time control instruction.
2. The intelligent control method of a cleaning robot according to claim 1, wherein the comparing the second floor characteristic detection parameter with the first floor characteristic detection parameter includes:
calculating a deviation value of the second ground characteristic detection parameter and the first ground characteristic detection parameter;
and comparing the deviation value with a preset range to generate a parameter comparison result.
3. The intelligent control method of a cleaning robot according to claim 2, wherein the generating of the real-time control command according to the parameter comparison result comprises:
according to the parameter comparison result, the deviation value is respectively matched with a plurality of gear intervals contained in the preset range, and different gear intervals correspond to different control parameters;
determining control parameters corresponding to the successfully matched gear intervals;
and generating the real-time control instruction according to the control parameter.
4. The intelligent control method of a cleaning robot according to claim 3, wherein the generating the real-time control command according to the control parameter includes:
obtaining a water yield regulating value of the cleaning robot by analyzing the control parameters;
generating the real-time control instruction according to the water yield adjusting value;
wherein the real-time control instruction is used for dynamically adjusting the water yield of the cleaning robot.
5. The intelligent control method of a cleaning robot according to claim 1 or 4,
the first floor feature detection parameter is a floor humidity value prior to the one or more cleaning treatments;
the second ground characteristic detection parameter is a ground humidity value after the one or more cleaning processes.
6. The intelligent control method of a cleaning robot according to claim 1,
the detecting of the target position within the current working area by the cleaning robot includes: sensing by a first sensor arranged on the cleaning robot to obtain a first ground characteristic detection parameter;
the detecting again the target position within the current working area by the cleaning robot includes: and a second ground characteristic detection parameter is obtained by the induction of a second sensor arranged on the cleaning robot.
7. The intelligent control method of a cleaning robot according to claim 6,
the first sensor and the second sensor are both positioned on a straight line where the current working direction of the cleaning robot is located.
8. A computer storage medium, characterized in that the computer storage medium stores a computer program which, when executed by one or more processors, implements the intelligent control method of a cleaning robot according to any one of claims 1 to 7.
9. An intelligent control device of a cleaning robot, comprising:
the first characteristic acquisition module is used for detecting the target position in the current working area through the cleaning robot to obtain a first ground characteristic detection parameter;
the cleaning action control module is used for controlling the cleaning robot to perform one or more times of cleaning treatment on the target position in the current working area;
the second characteristic acquisition module is used for detecting the target position in the current working area again through the cleaning robot to obtain a second ground characteristic detection parameter;
the characteristic parameter comparison module is used for comparing the second ground characteristic detection parameter with the first ground characteristic detection parameter and generating a real-time control instruction according to a parameter comparison result;
and the equipment dynamic control module is used for controlling the cleaning robot by utilizing the real-time control instruction.
10. A cleaning robot characterized by comprising the intelligent control apparatus of claim 9.
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Application publication date: 20210723 |