Sweeper and sweeper control method

Abstract

The application relates to a sweeper, a sweeper control method and device and a computer device. When a sweeper cleans a main cleaning area, the ground dirtiness degree and the ground type of a pre-cleaning area adjacent to the main cleaning area are obtained. The main cleaning area is an area to be cleaned by the sweeper on a current travel route. When the sweeper actually cleans the pre-cleaning area, the corresponding gear and mode of the sweeper are switched according to the pre-obtained ground dirtiness degree and ground type to clean the pre-cleaning area. When the sweeper actually cleans the pre-cleaning area, the corresponding gear and mode of the sweeper can be switched in time and accurately according to the pre-obtained ground dirtiness degree and ground type to clean the pre-cleaning area, the time for gear and mode setting interaction is reduced, and therefore the cleaning efficiency of the sweeper is effectively improved.

Description

Technical Field

[0001] This application relates to the field of equipment control technology, and in particular to a sweeper and a sweeper control method. Background Technology

[0002] With the development of artificial intelligence technology, many smart home products have entered people's lives, among which robotic vacuum cleaners are one. Robotic vacuum cleaners can connect to smart devices to automatically clean floors. They typically can switch between multiple modes and speeds to handle different levels of dirt and different floor types.

[0003] In existing technologies, the sweeping machine's speed and mode are typically set manually before it begins sweeping. However, the level of dirt and the type of floor surface in the sweeping area can vary. Even within the same sweeping area, it is necessary to switch between speeds and modes, and setting these settings takes time, resulting in insufficient cleaning efficiency for existing sweeping machines. Summary of the Invention

[0004] Therefore, it is necessary to provide a sweeping machine and a sweeping machine control method to address the above-mentioned technical problems and solve the problem of insufficient sweeping efficiency of sweeping machines in related technologies.

[0005] In a first aspect, this application provides a sweeping machine, which includes a sweeping machine body and a mechanical tentacle installed on at least one side of the sweeping machine body; the mechanical tentacle is provided with a sensor;

[0006] The mechanical tentacles are used to detect the degree of dirtiness and type of the ground in the pre-sweeping area when the sweeper is cleaning the main sweeping area; wherein, the main sweeping area is the area that the sweeper needs to clean on its current travel route; the pre-sweeping area is the area to be cleaned that is adjacent to the main sweeping area.

[0007] In some real-time examples, the sweeper includes two mechanical tentacles symmetrically mounted on both sides of the sweeper body. When the sweeper is cleaning the main sweeping area, one of the mechanical tentacles is used to detect the degree of dirtiness of the cleaned area.

[0008] In some of these real-time examples, a cleaning device is installed at the bottom of the mechanical tentacle.

[0009] In some real-time examples, the angle and length of the mechanical tentacles are adjustable; preferably, the length of the mechanical tentacles is the diameter of the selected sweeper body.

[0010] In some of these real-time examples, the sensor is located on the rear side of the crossbeam of the mechanical tentacle.

[0011] In some of these real-time examples, the skeleton of the mechanical tentacle is made of a soft material.

[0012] Secondly, this application provides a method for controlling a sweeping robot, the method comprising the following steps:

[0013] When the sweeping machine is cleaning the main sweeping area, the degree of dirtiness and the type of the ground in the pre-sweeping area are obtained; the main sweeping area is the area that the sweeping machine needs to clean on its current route; the pre-sweeping area is the area to be cleaned that is adjacent to the main sweeping area.

[0014] When the sweeper actually cleans the pre-sweeped area, it controls the sweeper to switch the corresponding gear and mode to clean the pre-sweeped area based on the pre-acquired degree of dirtiness and the type of the ground.

[0015] In some embodiments, the method further includes:

[0016] When the sweeping machine is cleaning the main sweeping area, if it is determined that the degree of dirtiness of the ground in the pre-sweeping area has changed, the ground distance corresponding to different degrees of dirtiness is recorded.

[0017] When the sweeper is actually cleaning the pre-sweeping area, the sweeper is controlled to switch the corresponding gear and mode to clean the pre-sweeping area according to the ground distance corresponding to different degrees of dirtiness and the pre-acquired ground type.

[0018] In some embodiments, the method includes the following steps:

[0019] When the sweeping machine is cleaning the main sweeping area, it obtains the detection results of the degree of dirtiness of the cleaned area and generates a cleanliness result report based on the detection results.

[0020] Thirdly, this application provides a sweeping machine, including a controller, which is used to implement the sweeping machine control method described in the second aspect above.

[0021] The aforementioned sweeping machine and its control method acquire the degree of dirtiness and ground type of the pre-sweeping area while the sweeping machine is cleaning the main sweeping area. The main sweeping area is the area to be cleaned by the sweeping machine on its current path. The pre-sweeping area is the adjacent area to be cleaned. When the sweeping machine is actually cleaning the pre-sweeping area, it controls the sweeping machine to switch to the corresponding gear and mode to clean the pre-sweeping area based on the acquired degree of dirtiness and ground type. This application, by acquiring the degree of dirtiness and ground type of the pre-sweeping area before the sweeping machine is cleaning the main sweeping area, allows for timely and accurate control of the sweeping machine to switch to the corresponding gear and mode to clean the pre-sweeping area based on the acquired degree of dirtiness and ground type during actual cleaning. This reduces the interaction time for setting gears and modes, thereby effectively improving the sweeping machine's cleaning efficiency. Attached Figure Description

[0022] The accompanying drawings, which are included to provide a further understanding of this application and form part of this application, illustrate exemplary embodiments and are used to explain this application, but do not constitute an undue limitation of this application. In the drawings:

[0023] Figure 1 This is a schematic diagram of a sweeper provided according to an embodiment of this application. Figure 1 ;

[0024] Figure 2 This is a schematic diagram of the travel route of a sweeping robot according to an embodiment of this application;

[0025] Figure 3 This is a schematic diagram of a sweeper provided according to an embodiment of this application. Figure 2 ;

[0026] Figure 4 This is an application scenario diagram of the sweeper control method provided in the embodiments of this application;

[0027] Figure 5 This is a flowchart of a sweeper control method provided according to an embodiment of this application;

[0028] Figure 6 This is a schematic diagram of the ground distance corresponding to different degrees of dirtiness in the pre-sweeping area in the sweeping machine control method provided in the embodiments of this application;

[0029] Figure 7 This is a schematic diagram of a sweeper provided according to an embodiment of this application. Figure 3 ;

[0030] Figure 8 This is a schematic diagram of the structure of the sweeper control device provided in the embodiments of this application;

[0031] Figure 9This is a schematic diagram of the structure of a computer device provided according to an embodiment of this application. Detailed Implementation

[0032] To make the objectives, technical solutions, and advantages of this application clearer, the application is described and illustrated below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the scope of this application. All other embodiments obtained by those skilled in the art based on the embodiments provided in this application without inventive effort are within the scope of protection of this application.

[0033] Obviously, the accompanying drawings described below are merely some examples or embodiments of this application. Those skilled in the art can apply this application to other similar scenarios based on these drawings without any inventive effort. Furthermore, it is understood that although the efforts made in this development process may be complex and lengthy, for those skilled in the art related to the content disclosed in this application, any changes to design, manufacturing, or production based on the technical content disclosed in this application are merely conventional technical means and should not be construed as insufficient disclosure of the content of this application.

[0034] In this application, the reference to "embodiment" means that a specific feature, structure, or characteristic described in connection with an embodiment may be included in at least one embodiment of this application. The appearance of this phrase in various places in the specification does not necessarily refer to the same embodiment, nor is it a separate or alternative embodiment that is mutually exclusive with other embodiments. It will be explicitly and implicitly understood by those skilled in the art that the embodiments described in this application may be combined with other embodiments without conflict.

[0035] Unless otherwise defined, the technical or scientific terms used in this application shall have the ordinary meaning understood by one of ordinary skill in the art to which this application pertains. The terms “a,” “an,” “an,” “the,” and similar words used in this application do not indicate quantity limitation and may indicate singular or plural. The terms “comprising,” “including,” “having,” and any variations thereof used in this application are intended to cover non-exclusive inclusion; for example, a process, method, system, product, or device that includes a series of steps or modules (units) is not limited to the listed steps or units, but may also include steps or units not listed, or may include other steps or units inherent to these processes, methods, products, or devices. The terms “connected,” “linked,” “coupled,” and similar words used in this application are not limited to physical or mechanical connections, but may include electrical connections, whether direct or indirect. “Multiple” used in this application refers to two or more. “And / or” describes the relationship between related objects, indicating that three relationships may exist; for example, “A and / or B” can represent: A alone, A and B simultaneously, and B alone. The character " / " generally indicates that the preceding and following objects are in an "or" relationship. The terms "first," "second," and "third" used in this application are merely to distinguish similar objects and do not represent a specific ordering of the objects.

[0036] Figure 1 and Figure 3 This is a schematic diagram of a sweeping machine in an embodiment of this application. The sweeping machine 10 includes a sweeping machine body 11 and a mechanical hand 12 installed on at least one side of the sweeping machine body. A sensor is provided on the mechanical hand 12 on at least one side. When the sweeping machine 10 is cleaning the main sweeping area, the mechanical hand 12 on at least one side is used to detect the degree of dirtiness and the type of the ground in the pre-sweeping area. The main sweeping area is the area that the sweeping machine 10 needs to clean on its current travel route. The pre-sweeping area is the area to be cleaned that is adjacent to the main sweeping area.

[0037] Generally, a robotic vacuum cleaner 10 needs to clean multiple spaces, such as rooms, living room, bathroom, and kitchen within a house. The level of dirt and floor type may vary in each space, and even within a single space, the dirt and floor type can differ from area to area. Before cleaning, the robotic vacuum cleaner 10 plans a suitable route based on the current conditions of the space. In most cases, the robotic vacuum cleaner 10's route is as follows: Figure 2 As shown. It should be noted that the travel routes of sweeping robots constructed using other route construction methods are also applicable to the embodiments of this application. In this example, using... Figure 2Taking the robot vacuum's path as an example, the current main cleaning area can be the area the robot vacuum needs to clean along the first straight line from bottom to top. The corresponding pre-sweeping area can be the area the robot vacuum needs to clean along the second straight line, and so on. In other words, a straight line can be used as the robot vacuum's path for one pass. Alternatively, a preset distance can also be used as the basis for dividing the robot vacuum's path for one pass. Since the time interval between the sweeping robot 10 cleaning the current main sweeping area and its corresponding pre-sweeping area is very short, the degree of dirtiness and ground type of the pre-sweeping area obtained when the sweeping robot 10 is cleaning the current main sweeping area will not easily change when the sweeping robot 10 actually cleans the pre-sweeping area. Therefore, when the sweeping robot 10 is cleaning the current main sweeping area, the degree of dirtiness and ground type of the pre-sweeping area can be detected by the mechanical tentacles 12 installed on at least one side of the sweeping robot body, and the obtained degree of dirtiness and ground type of the pre-sweeping area can be used as the actual degree of dirtiness and ground type of the pre-sweeping area when the sweeping robot 10 actually cleans the pre-sweeping area.

[0038] To address varying degrees of dirtiness and different floor types, the sweeper 10 needs to switch between different gears and modes to ensure efficient cleaning. While the sweeper 10 is actually cleaning the pre-sweeping area, it uses a mechanical arm 12 installed on at least one side of the sweeper to detect the degree of dirtiness and floor type. By pre-obtaining this information, the sweeper 10 can accurately control itself to switch to the appropriate gear and mode to clean the pre-sweeping area.

[0039] In some embodiments, such as Figure 1 As shown, the sweeper 10 has a mechanical tentacle 12 on only one side of the sweeper body 11. When the sweeper 10 is in motion... Figure 2 When the sweeping machine 10 is cleaning the route, after the sweeping machine 10 has finished cleaning the current main sweeping area, the sweeping machine 10 can rotate (e.g., 180°) the body so that the mechanical tentacles 12 can be located on the uncleaned area adjacent to the area to be cleaned (i.e., the pre-sweeping area of ​​the next main sweeping area).

[0040] like Figure 3As shown, in a preferred embodiment, the sweeper 10 includes two mechanical tentacles 12 and 13 symmetrically mounted on both sides of the sweeper body 11. When the sweeper 10 cleans rooms, living rooms, bathrooms, and kitchens, it needs to turn and change direction when encountering walls or large furniture. After the sweeper changes direction, either mechanical tentacle 12 or mechanical tentacle 13 may be closer to the pre-sweeping area. Therefore, after the sweeper 10 changes direction, the closer one of the two mechanical tentacles 12 or 13 is to the pre-sweeping area, which can be used to detect the degree of dirtiness and floor type of the pre-sweeping area. The sensors of mechanical tentacles 12 and 13 can be located behind the crossbeams of mechanical tentacles 12 and 13. In one embodiment, mechanical tentacles 12 or 13 are used to detect the degree of dirtiness of the cleaned area when the sweeper 10 is cleaning the main sweeping area.

[0041] When the robot vacuum cleaner 10 cleans rooms, living rooms, bathrooms, and kitchens, it needs to turn and change direction when it encounters walls or large pieces of furniture. Either mechanical tentacle 12 or mechanical tentacle 13 may be closer to the cleaned area. Therefore, after the robot vacuum cleaner 10 changes direction, determining which of the two mechanical tentacles, 12 or 13, is closer to the cleaned area allows for the detection of the degree of dirtiness on the cleaned floor.

[0042] The cleaning effect of the sweeper 10 on the cleaned area can be obtained in time through mechanical tentacles 12 or 13. If the cleaning effect of the sweeper is not ideal, a response strategy can be taken in time.

[0043] In addition, the robot vacuum cleaner 10 can also be installed without mechanical tentacles. Sensors can be installed directly on at least one side of the robot vacuum cleaner 10 body. When the robot vacuum cleaner 10 is cleaning the main cleaning area, the sensors can be used to detect the degree of dirtiness, ground type, and the degree of dirtiness of the cleaned area.

[0044] In one embodiment, a cleaning device is installed at the bottom of the mechanical tentacle 12.

[0045] The cleaning device may include brushes, rubber brushes, and mops, and the cleaning methods may include sweeping and mopping. While the sweeper 10 is cleaning the main sweeping area, the cleaning device is used to clean the pre-sweeping area and merge the collected debris into the end point of the pre-sweeping area. Although the cleaning device cannot perform deep cleaning of the pre-sweeping area, it can collect large particles of debris from the surface of the pre-sweeping area. Therefore, the remaining debris in the pre-sweeping area is essentially of the same particle size. When the sweeper 10 actually cleans the pre-sweeping area, the degree of dirtiness on the ground in the pre-sweeping area is generally consistent. With the ground type in the pre-sweeping area remaining unchanged, the same mode and speed can be used to clean the pre-sweeping area without switching speeds and modes, thereby further improving the sweeper's cleaning efficiency.

[0046] In one implementation, the angles and lengths of the mechanical tentacles 12 and 13 are adjustable to suit different cleaning environments, enabling the detection of the degree of dirtiness, floor type, and cleanliness of the pre-sweeped area as well as the cleaned area. Furthermore, when encountering obstacles, the angles and lengths of the mechanical tentacles 12 and 13 can be adjusted to avoid them. In some embodiments, the length of the mechanical tentacles is equal to the diameter of the sweeper body. Thus, when the mechanical tentacles form a 90° angle with the sweeper's direction of travel, the width of the pre-sweeped area covered by the mechanical tentacles is close to the width of the current main sweeping area, thereby improving the sweeper's subsequent cleaning efficiency in the pre-sweeped area. It should be noted that when the sweeper body is not a standard circle, the aforementioned diameter refers to the maximum dimension of the sweeper body in the direction perpendicular to the sweeper's direction of travel.

[0047] In addition, to facilitate obstacle avoidance, the skeletons of mechanical tentacles 12 and 13 can be made of soft materials.

[0048] As one implementation method, mechanical tentacles can also be installed in front of the sweeper 10 to detect the degree of dirtiness, ground type, or obstacles on the ground in front of the sweeper 10.

[0049] If large particles of trash in a space (room, living room, bathroom, kitchen, etc.) are too large, the aforementioned mechanical tentacles 12 and 13 can be used to push the trash to a preset location for easy disposal by the user.

[0050] Figure 4 This diagram illustrates an application scenario of a sweeper control method provided in one embodiment of this application. Figure 4As shown, server 201 and robot vacuum 202 can transmit data via a network. When robot vacuum 202 is cleaning the main cleaning area, server 201 obtains the degree of dirtiness and floor type of the pre-sweeping area; the main cleaning area is the area that robot vacuum 202 needs to clean on its current path; the pre-sweeping area is the area to be cleaned adjacent to the main cleaning area; when robot vacuum 202 is actually cleaning the pre-sweeping area, server 201 controls robot vacuum 202 to switch the corresponding gear and mode to clean the pre-sweeping area based on the pre-obtained degree of dirtiness and floor type. Server 201 can be implemented by a standalone server or a server cluster consisting of multiple servers.

[0051] This embodiment provides a method for controlling a sweeping robot, such as... Figure 5 As shown, the method includes the following steps:

[0052] Step S310: When the sweeping machine is cleaning the main sweeping area, the degree of dirtiness and the type of the ground in the pre-sweeping area are obtained; the main sweeping area is the area that the sweeping machine needs to clean on the current travel route; the pre-sweeping area is the area to be cleaned that is adjacent to the main sweeping area.

[0053] The degree of dirtiness and type of the ground in the pre-scanned area can be detected and obtained by the mechanical tentacles described in the above embodiments, or by analyzing images captured by the camera; no limitation is made here.

[0054] Step S320: When the sweeper is actually cleaning the pre-sweeping area, the sweeper is controlled to switch to the corresponding gear and mode to clean the pre-sweeping area based on the pre-obtained degree of dirtiness and ground type.

[0055] Specifically, to address varying degrees of dirtiness and different floor types, the sweeper needs to switch between different speeds and modes to ensure efficient cleaning. When the sweeper is actually cleaning the pre-sweeping area, because the degree of dirtiness and floor type of the pre-sweeping area have been pre-acquired, it can accurately control the sweeper to switch to the corresponding speed and mode to clean the pre-sweeping area based on this information.

[0056] In existing technologies, the sweeping machine's speed and mode are typically set manually before it begins sweeping. However, the level of dirt and the type of floor surface in the sweeping area can vary. Even within the same sweeping area, it is necessary to switch between speeds and modes, and setting these settings takes time, resulting in insufficient cleaning efficiency for existing sweeping machines.

[0057] To address the aforementioned problems, this application proposes a sweeping machine control method. This method involves acquiring the degree of dirtiness and surface type of a pre-sweeping area while the sweeping machine is cleaning the main sweeping area. The main sweeping area is the area to be cleaned by the sweeping machine along its current path. The pre-sweeping area is the adjacent area to be cleaned. When the sweeping machine is actually cleaning the pre-sweeping area, it switches to the appropriate gear and mode based on the pre-acquired dirtiness and surface type. By acquiring the dirtiness and surface type of the pre-sweeping area before cleaning the main sweeping area, this application allows for timely and accurate control of the sweeping machine to switch to the appropriate gear and mode during actual cleaning, reducing the time spent on gear and mode settings and thus effectively improving the sweeping machine's cleaning efficiency.

[0058] In one embodiment, the sweeping robot control method provided in this application further includes the following steps:

[0059] Step S330: When the sweeper is cleaning the main sweeping area, if it is determined that the degree of dirtiness on the pre-sweeping area has changed, record the ground distance corresponding to different degrees of dirtiness.

[0060] Specifically, when the sweeper is cleaning the main cleaning area, if the degree of dirtiness in the pre-sweeping area changes, it means that the sweeper needs to switch gears and modes according to the degree of dirtiness when actually cleaning the pre-sweeping area. As mentioned above... Figure 2 Taking the cleaning route as an example, assume the pre-sweeping area is the area that the sweeper needs to clean on the second straight line from bottom to top. For example... Figure 6 As shown, assume that the ground distances corresponding to different degrees of dirtiness in the pre-sweeped area are L1, L2, L3 and L4, respectively.

[0061] Step S340: When the sweeper is actually cleaning the pre-sweeping area, the sweeper is controlled to switch the corresponding gear and mode to clean the pre-sweeping area according to the ground distance corresponding to different degrees of dirtiness and the pre-acquired ground type.

[0062] When the robot vacuum actually cleans the pre-sweeped area, since the distances corresponding to different levels of dirtiness have been recorded and the robot vacuum's speed is known, the level of dirtiness at the robot vacuum's current location can be determined. Therefore, based on the distances corresponding to different levels of dirtiness and the pre-acquired floor type, the robot vacuum can be accurately controlled to switch between the appropriate gears and modes to clean the pre-sweeped area.

[0063] As one implementation method, the sweeper control method further includes the following steps:

[0064] While the sweeping robot is cleaning the main sweeping area, it obtains the detection results of the degree of dirtiness of the cleaned area and generates a cleanliness result report based on the detection results.

[0065] Specifically, a cleanliness report is generated based on the detection results of the degree of dirtiness on the cleaned area, which can promptly obtain the cleaning effect of the sweeper. If the cleaning effect of the sweeper is not ideal, a response strategy can be taken in time.

[0066] Furthermore, in one embodiment, before the sweeper cleans the initial main sweeping area, the sweeper control method further includes the following steps:

[0067] Based on the historical data of the initial main sweeping area, the initial level and mode of the sweeping machine are determined when cleaning the initial main sweeping area.

[0068] Since the initial main sweeping area does not serve as a pre-sweeping area, it is impossible to obtain the degree of dirtiness and floor type of the initial main sweeping area in advance using the method described above. Therefore, in this embodiment, the initial gear and initial mode used by the sweeper when cleaning the initial main sweeping area can be determined based on the degree of dirtiness and floor type recorded in the historical data of the initial main sweeping area. This allows for more timely setting of the initial gear and initial mode, effectively improving the sweeper's cleaning efficiency.

[0069] Figure 7 This is a schematic diagram of the sweeper in the embodiments of this application. Figure 1 ,like Figure 7 As shown, a sweeping robot 40 is provided, which includes a controller for implementing the sweeping robot control method in the above embodiments. The controller is integrated into the sweeping robot 40.

[0070] Figure 8 A schematic diagram of the sweeper control device 50 according to an embodiment of the present invention is shown below. Figure 8 As shown, the sweeper control device 50 includes an acquisition module 51 and a switching module 52;

[0071] The acquisition module 51 is used to acquire the degree of dirtiness and the type of the ground in the pre-sweeping area when the sweeper is cleaning the main sweeping area; the main sweeping area is the area that the sweeper needs to clean on the current travel route; the pre-sweeping area is the area to be cleaned that is adjacent to the main sweeping area.

[0072] The switching module 52 is used to control the sweeper to switch the corresponding gear and mode to clean the pre-sweeping area when the sweeper is actually cleaning the pre-sweeping area, based on the pre-acquired degree of dirtiness and ground type.

[0073] The aforementioned sweeper control device 50 acquires the degree of dirtiness and ground type of the pre-sweeping area while the sweeper is cleaning the main sweeping area. The main sweeping area is the area to be cleaned by the sweeper on its current path. The pre-sweeping area is the adjacent area to be cleaned. When the sweeper is actually cleaning the pre-sweeping area, it controls the sweeper to switch to the corresponding gear and mode to clean the pre-sweeping area based on the acquired degree of dirtiness and ground type. This application, by acquiring the degree of dirtiness and ground type of the pre-sweeping area before the sweeper is cleaning the main sweeping area, allows for timely and accurate control of the sweeper to switch to the corresponding gear and mode to clean the pre-sweeping area based on the acquired degree of dirtiness and ground type, reducing the time spent on gear and mode settings and thus effectively improving the sweeper's cleaning efficiency.

[0074] In one embodiment, the sweeper control device 50 further includes a recording module, which records the ground distance corresponding to different levels of dirtiness when the sweeper is cleaning the main sweeping area and determines that the degree of dirtiness on the pre-sweeping area has changed; and controls the sweeper to switch the corresponding gear and mode to clean the pre-sweeping area based on the ground distance corresponding to different levels of dirtiness and the pre-acquired ground type.

[0075] In one embodiment, the sweeper control device 50 further includes a reporting module, which is used to obtain the detection results of the degree of dirtiness of the cleaned area when the sweeper is cleaning the main sweeping area, and generate a cleanliness result report based on the detection results.

[0076] In one embodiment, the sweeper control device 50 further includes a determination module, which determines the initial gear and initial mode to be used by the sweeper when cleaning the initial main sweeping area based on the degree of dirtiness and the type of the ground recorded in the historical data of the initial main sweeping area before the sweeper cleans the initial main sweeping area.

[0077] It should be noted that the above modules can be functional modules or program modules, and can be implemented in software or hardware. These modules can be embedded in the processor of a computer device in hardware form or independent of it, or they can be stored in the memory of a computer device in software form, so that the processor can call and execute the operations corresponding to each module.

[0078] In one embodiment, a computer device is provided, which may be a server, and its internal structure diagram may be as follows: Figure 9As shown, the computer device includes a processor, memory, network interface, and database connected via a system bus. The processor provides computing and control capabilities. The memory includes non-volatile storage media and internal memory. The non-volatile storage media stores the operating system, computer programs, and database. The memory provides an environment for the operation of the operating system and computer programs stored in the non-volatile storage media. The database stores a set of preset configuration information. The network interface is used for communication with external terminals via a network connection. When the computer program is executed by the processor, it implements a method for controlling the sweeping robot.

[0079] In one embodiment, a computer device is provided, which may be a terminal. The computer device includes a processor, memory, a network interface, a display screen, and an input device connected via a system bus. The processor of the computer device provides computing and control capabilities. The memory of the computer device includes a non-volatile storage medium and internal memory. The non-volatile storage medium stores an operating system and computer programs. The memory provides an environment for the operation of the operating system and computer programs in the non-volatile storage medium. The network interface of the computer device is used to communicate with an external terminal via a network connection. When the computer program is executed by the processor, it implements a method for controlling a robotic vacuum cleaner. The display screen of the computer device may be a liquid crystal display (LCD) or an e-ink display. The input device of the computer device may be a touch layer covering the display screen, or buttons, a trackball, or a touchpad located on the casing of the computer device, or an external keyboard, touchpad, or mouse, etc.

[0080] Those skilled in the art will understand that Figure 9 The structure shown is merely a block diagram of a portion of the structure related to the present application and does not constitute a limitation on the computer device to which the present application is applied. Specific computer devices may include more or fewer components than those shown in the figure, or combine certain components, or have different component arrangements.

[0081] In one embodiment, a computer-readable storage medium is provided having a computer program stored thereon, the computer program performing the following steps when executed by a processor:

[0082] When the sweeping machine is cleaning the main sweeping area, it obtains the degree of dirtiness and the type of the ground in the pre-sweeping area; the main sweeping area is the area that the sweeping machine needs to clean on its current path; the pre-sweeping area is the area to be cleaned that is adjacent to the main sweeping area.

[0083] When the sweeper is actually cleaning the pre-sweeping area, it controls the sweeper to switch to the corresponding gear and mode to clean the pre-sweeping area based on the pre-obtained level of dirtiness and ground type.

[0084] In one embodiment, when the robot vacuum cleaner is cleaning the main cleaning area, if it is determined that the degree of dirtiness on the pre-sweeping area has changed, the processor, when executing the computer program, also performs the following steps:

[0085] Record the ground distances corresponding to different levels of dirtiness or messiness;

[0086] Based on the distance to the ground corresponding to different levels of dirtiness and the pre-acquired ground type, the robot vacuum cleaner is controlled to switch the corresponding gear and mode to clean the pre-sweeping area.

[0087] In one embodiment, the processor, when executing a computer program, also performs the following steps:

[0088] While the sweeping robot is cleaning the main sweeping area, it obtains the detection results of the degree of dirtiness of the cleaned area and generates a cleanliness result report based on the detection results.

[0089] In one embodiment, before the robot vacuum cleaner cleans the initial main cleaning area, the processor executes the following steps when running the computer program:

[0090] Based on the historical data of the initial main sweeping area, the initial level and mode of the sweeping machine are determined when cleaning the initial main sweeping area.

[0091] The aforementioned storage medium, while the sweeper is cleaning the main sweeping area, acquires the degree of dirtiness and ground type of the pre-sweeping area; the main sweeping area is the area to be cleaned by the sweeper on its current path; the pre-sweeping area is the adjacent area to be cleaned; when the sweeper is actually cleaning the pre-sweeping area, it controls the sweeper to switch the corresponding gear and mode to clean the pre-sweeping area based on the pre-acquired degree of dirtiness and ground type. This application, by acquiring the degree of dirtiness and ground type of the pre-sweeping area in advance while the sweeper is cleaning the main sweeping area, allows for timely and accurate control of the sweeper to switch the corresponding gear and mode to clean the pre-sweeping area based on the pre-acquired degree of dirtiness and ground type, reducing the time spent on gear and mode settings and thus effectively improving the sweeper's cleaning efficiency.

[0092] In one embodiment, a computer program product is provided, including a computer program that, when executed by a processor, implements the steps in the above method embodiments.

[0093] It should be noted that the user information (including but not limited to user device information, user personal information, etc.) and data (including but not limited to data used for analysis, data stored, data displayed, etc.) involved in this application are all information and data authorized by the user or fully authorized by all parties.

[0094] It should be understood that the specific embodiments described herein are merely illustrative of the application and not intended to limit it. All other embodiments derived by those skilled in the art based on the embodiments provided in this application without inventive effort are within the scope of protection of this application.

[0095] Obviously, the accompanying drawings are merely some examples or embodiments of this application. Those skilled in the art can apply this application to other similar situations based on these drawings without any creative effort. Furthermore, it is understood that although the work done in this development process may be complex and lengthy, for those skilled in the art, certain design, manufacturing, or production modifications made based on the technical content disclosed in this application are merely conventional technical means and should not be considered as insufficient disclosure of this application.

[0096] The term "embodiment" in this application refers to a specific feature, structure, or characteristic described in connection with an embodiment that may be included in at least one embodiment of this application. The appearance of this phrase in various places in the specification does not necessarily imply the same embodiment, nor does it imply that it is mutually exclusive with or independent of other embodiments. It will be clearly or implicitly understood by those skilled in the art that the embodiments described in this application may be combined with other embodiments without conflict.

[0097] The above embodiments merely illustrate several implementation methods of this application, and while the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of patent protection. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this application, and these all fall within the scope of protection of this application. Therefore, the scope of protection of this application should be determined by the appended claims.

Claims

1. A sweeping machine, characterized in that, The sweeper includes a sweeper body and a mechanical tentacle installed on at least one side of the sweeper body; the mechanical tentacle is equipped with sensors; The mechanical tentacles are used to detect the degree of dirtiness and type of the ground in the pre-sweeping area when the sweeper is cleaning the main sweeping area; wherein, the main sweeping area is the area that the sweeper needs to clean on its current travel route; the pre-sweeping area is the area to be cleaned that is adjacent to the main sweeping area.

2. The sweeper according to claim 1, characterized in that, The sweeper includes two mechanical tentacles symmetrically installed on both sides of the sweeper body. When the sweeper is cleaning the main sweeping area, one of the mechanical tentacles is used to detect the degree of dirtiness of the cleaned area.

3. The sweeper according to claim 1, characterized in that, The mechanical tentacles are equipped with a cleaning device at their bottom.

4. The sweeper according to any one of claims 1 to 3, characterized in that, The angle and length of the mechanical tentacles are adjustable.

5. The sweeper according to claim 4, characterized in that, The length of the mechanical tentacle is equal to the diameter of the sweeper body.

6. The sweeper according to any one of claims 1 to 3, characterized in that, The sensor is located on the rear side of the crossbeam of the mechanical tentacle.

7. The sweeper according to any one of claims 1 to 3, characterized in that, The skeleton of the mechanical tentacle is made of soft material.

8. A method for controlling a sweeping machine, characterized in that, The method includes the following steps: When the sweeping machine is cleaning the main sweeping area, the degree of dirtiness and the type of the ground in the pre-sweeping area are obtained; the main sweeping area is the area that the sweeping machine needs to clean on its current route; the pre-sweeping area is the area to be cleaned that is adjacent to the main sweeping area; wherein, the degree of dirtiness and the type of the ground in the pre-sweeping area are detected and obtained by the mechanical tentacles on the sweeping machine. When the sweeper actually cleans the pre-sweeped area, it controls the sweeper to switch the corresponding gear and mode to clean the pre-sweeped area based on the pre-acquired degree of dirtiness and the type of the ground.

9. The sweeper control method according to claim 8, characterized in that, The method further includes: When the sweeping machine is cleaning the main sweeping area, if it is determined that the degree of dirtiness of the ground in the pre-sweeping area has changed, the ground distance corresponding to different degrees of dirtiness is recorded. When the sweeper is actually cleaning the pre-sweeping area, the sweeper is controlled to switch the corresponding gear and mode to clean the pre-sweeping area according to the ground distance corresponding to different degrees of dirtiness and the pre-acquired ground type.

10. The sweeper control method according to claim 8, characterized in that, The method includes the following steps: When the sweeping machine is cleaning the main sweeping area, it obtains the detection results of the degree of dirtiness of the cleaned area and generates a cleanliness result report based on the detection results.

11. A sweeping machine, characterized in that, The system includes a controller for implementing the sweeper control method according to any one of claims 8 to 10.

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