Cleaning robot and control method thereof

A cleaning robot and control method technology, applied in the field of intelligent robot control, can solve problems such as wasting electric energy, prolonging cleaning time, and reducing user experience, and achieve the effect of improving accuracy and cleaning efficiency

Active Publication Date: 2021-01-29
SHARKNINJA CHINA TECH CO LTD
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0003] However, the current cleaning robots cannot identify the dirty areas on the solid-color floor, nor can they clean the dirty areas on the solid-color floor in a targeted manner
In order to clean the dirty area on the solid-color floor, the existing cleaning robot usually cleans the entire room and the entire partition again according to the user's operation instructions, which not only wastes electric energy, but also prolongs the cleaning time and reduces the user's usage. to experience

Method used

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  • Cleaning robot and control method thereof
  • Cleaning robot and control method thereof
  • Cleaning robot and control method thereof

Examples

Experimental program
Comparison scheme
Effect test

example 1

[0084] As an example 1: the closed area in the target image is identified according to the contour detection method.

[0085] Specifically, the target image is binarized to obtain a binarized image, and then contour detection is used to obtain a closed area in the binarized image.

example 2

[0086] As a second example: the closed area in the target image is identified according to the way of speckle detection, so as to identify the closed area formed by the small dirty area.

[0087]Specifically, the speckle detection method: preset a pixel threshold range, and set the threshold step; then select a series of pixel thresholds within the pixel threshold range according to the threshold step; then obtain the target A binarized image of the image; find all the spots in each of the binarized images; finally integrate all the spots in all the binarized images to obtain all closed areas in the target image.

[0088] Wherein, the pixel threshold range and the threshold step can be any feasible data interval, and those skilled in the art can determine the specific data of the pixel threshold range and the threshold step through multiple experiments.

[0089] Taking the acquired target image as a color image as an example, the speckle detection is described in detail:

[0...

example 3

[0102] As a third example: if the area of ​​the closed area is greater than the area threshold, it is determined that the closed area is a dirty area, otherwise it is determined that the area is not a dirty area.

[0103] Step S250, judging whether the cleanliness factor satisfies a preset cleaning condition.

[0104] Among them, the cleanliness coefficient represents the corresponding parameter after integrating all the dirty areas on the target image, and is used to indicate whether the ground is clean or not.

[0105] Specifically, according to the formula Calculate the cleanliness coefficient, where a represents the cleanliness coefficient, n represents the number of all effective dirty areas in the target image, and G i Indicates the area of ​​the i-th effective dirty area in the target image, and S indicates the scaling resolution. Among them, the larger the cleanliness coefficient, the more obvious the dirty area.

[0106] Specifically, the preset cleaning condition...

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Abstract

The invention provides a cleaning robot and a control method thereof. The cleaning robot comprises an image collecting module, wherein the image collecting module is used for obtaining image information of the surface of a cleaning object. The control method comprises the steps of obtaining a target image shot by the image collecting module; obtaining a dirty area on the target image and positioninformation of the dirty area; determining a corresponding cleanliness coefficient according to the sizes of all dirty areas on the target image; and if the cleanliness coefficient meets a preset cleaning condition, moving to the dirty area according to the position information of the dirty area, and cleaning the dirty area. According to the control method, the functions of automatically sensing the cleanliness of the ground and automatically obtaining the dirty area are achieved, so that the cleaning robot can clean the ground in a targeted mode, the cleanliness of the ground is improved, andthen the life experience of a user is improved.

Description

technical field [0001] The disclosure belongs to the technical field of intelligent robot control, and specifically provides a cleaning robot and a control method thereof. Background technique [0002] With the advent of the smart home era, cleaning robots, as smart home cleaning products, have brought great convenience to people's home life. At the same time, people's requirements for home cleanliness are getting higher and higher. Since many families now choose solid-color floors, this makes dirty areas easily attract people's visual attention, resulting in higher requirements for cleanliness of solid-color floors. [0003] However, the current cleaning robot cannot identify the dirty area on the solid-color floor, nor can it clean the dirty area on the solid-color floor in a targeted manner. In order to clean the dirty areas on the solid-color floor, the existing cleaning robots usually clean the entire room and the entire partition again according to the user's operatio...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): A47L11/24A47L11/40
CPCA47L11/24A47L11/40A47L11/4011
Inventor 王旭宁苗忠良白椿山
Owner SHARKNINJA CHINA TECH CO LTD
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