A method and system for cleaning a floor by a robot cleaner and a storage medium

Abstract

The application relates to the field of floor cleaning robots, in particular to a floor cleaning robot cleaning method, which comprises the following steps: acquiring an outdoor corridor picture in real time; analyzing the outdoor corridor picture to obtain outdoor corridor ground data; and sending a starting control instruction when the outdoor corridor ground data is inconsistent with preset data. The application has the advantage of improving the cleaning efficiency of the floor cleaning robot.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of sweeping robots, in particular to a sweeping robot cleaning method, system and storage medium. BACKGROUND

[0002] With the progress of science and technology and the development of society, intelligent robots gradually enter thousands of households and replace people to handle daily chores. A sweeping robot is a robot that can automatically clean indoor or outdoor hygiene under unattended conditions.

[0003] Existing house buildings usually have outdoor corridors that are connected with courtyard and other building facilities. Conventional sweeping robots usually clean the ground of outdoor corridors regularly. However, in the face of special circumstances, after cloudy and rainy weather, water usually accumulates on the surface of outdoor corridors. If the sweeping robot cannot clean the accumulated water in time, the user may fall when stepping into the outdoor corridor. SUMMARY

[0004] In order to improve the cleaning efficiency of the sweeping robot, the present application provides a sweeping robot cleaning method, system and storage medium.

[0005] In a first aspect, the present application provides a sweeping robot cleaning method, which adopts the following technical solution:

[0006] A sweeping robot cleaning method comprises the following steps:

[0007] Real-time acquisition of an outdoor corridor picture;

[0008] Analysis of the outdoor corridor picture to obtain outdoor corridor ground data;

[0009] If the outdoor corridor ground data is inconsistent with the preset data, a start control instruction is sent.

[0010] By adopting the above technical solution, the processor acquires the outdoor corridor picture in real time, analyzes the outdoor corridor picture, and obtains the outdoor corridor ground data. If the outdoor corridor ground data is inconsistent with the preset data, specifically, water accumulates on the outdoor corridor ground, which causes the outdoor corridor ground data to be inconsistent with the preset data. A start control instruction is sent to the sweeping robot to control the sweeping robot to clean the outdoor corridor ground. Thus, the accumulated water can be cleaned in time, the situation that the user falls when stepping into the outdoor corridor is reduced, and the cleaning efficiency of the sweeping robot is indirectly improved.

[0011] Optionally, the real-time acquisition of the outdoor corridor picture comprises the following steps:

[0012] Receiving the signal sent by the weather pan-tilt, confirming sending the picture acquisition instruction;

[0013] Based on the operation performed by the monitoring device in response to the picture acquisition instruction, confirming acquiring the outdoor corridor picture.

[0014] By adopting the above technical solution, when it is cloudy and rainy, the processor receives the signal sent by the weather pan-tilt, confirms sending the picture acquisition instruction to the monitoring device, and based on the monitoring operation performed by the monitoring device in response to the picture acquisition instruction, confirms acquiring the outdoor corridor picture in real time. In the above process, only when it is cloudy and rainy, the monitoring device monitors the outdoor corridor in real time, and transmits the picture back to the processor, thereby reducing the occupancy rate of network resources of the monitoring device.

[0015] Optionally, the outdoor corridor picture is analyzed to acquire the outdoor corridor ground data, including the following steps: sending an irradiation control instruction, based on the operation performed by the irradiation device in response to the irradiation control instruction, acquiring the light parameter;

[0016] Meanwhile, a humidity detection control instruction is sent, based on the operation performed by the humidity device in response to the humidity detection control instruction, acquiring the humidity parameter;

[0017] Based on the light parameter and the humidity parameter, confirming acquiring the outdoor corridor ground data.

[0018] By adopting the above technical solution, the processor sends an irradiation control instruction to the irradiation device, the irradiation device responds to the irradiation control instruction, performs the operation of emitting light to the outdoor corridor ground, acquires the parameter of light reflection, and sends the parameter of light reflection to the processor. On the other hand, the processor simultaneously sends a humidity detection control instruction, based on the humidity detection operation performed by the humidity device in response to the humidity detection control instruction, acquires the humidity parameter; the processor integrates the acquired light parameter and humidity parameter, and confirms acquiring the outdoor corridor ground data.

[0019] Optionally, if the outdoor corridor ground data is inconsistent with the preset data, confirming sending the start control instruction, further including the following steps:

[0020] In response to the signal sent by the infrared sensor, sending the stop control instruction, and simultaneously sending the prompt control instruction;

[0021] When the infrared signal disappears, confirming re-sending the start control instruction.

[0022] By adopting the above technical solution, when the robotic vacuum cleaner encounters an obstacle during its movement, the infrared sensor sends a signal to the processor, which in turn sends a stop control command to the robotic vacuum cleaner. Simultaneously, the processor sends a prompt control command to the user's mobile terminal, which then prompts the user. After the user moves away from the obstacle, the infrared signal disappears, and the processor confirms and resends the start control command to the robotic vacuum cleaner, which then resumes cleaning.

[0023] Optionally, after responding to the signal sent by the infrared sensor, sending a stop control command, and simultaneously sending a prompt control command, the method further includes the following steps:

[0024] Send timing control commands to obtain the duration of infrared sensor readings;

[0025] If the infrared sensor's sensing duration reaches a preset value, a scanning control command is sent.

[0026] Obstacle parameters are acquired based on the operations performed by the scanning device in response to the scanning control command;

[0027] If the obstacle parameters match the preset parameters, the obstacle parameters are sent to the navigation device;

[0028] Based on the operation performed by the navigation device upon receiving the obstacle parameters, the start control command is confirmed to be resent.

[0029] By adopting the above technical solution, the processor sends prompt control commands to the user's mobile terminal and simultaneously sends timing control commands to the timing device. Based on the timing operation performed by the timing device, the processor obtains the sensing duration value of the infrared sensor. If the sensing duration value of the infrared sensor reaches a preset data, the processor sends a scanning control command. Based on the operation performed by the scanning device in response to the scanning control command, the processor obtains obstacle parameters. If the obstacle parameters are consistent with preset parameters, the obstacle parameters are sent to the navigation device. Based on the operation performed by the navigation device upon receiving the obstacle parameters, the start control command is confirmed and resent. In the above process, when obstacles cannot be dealt with in time, the robot vacuum cleaner, under the guidance of the navigation device, avoids the obstacles and continues cleaning, reducing the impact on cleaning efficiency and improving the working stability of the robot vacuum cleaner during cleaning.

[0030] Optionally, after acquiring obstacle parameters based on the operation performed by the scanning device in response to the scanning control command, the method further includes the following steps:

[0031] If the obstacle parameters are inconsistent with the preset parameters, confirm the sending of the expulsion control command.

[0032] By adopting the above technical solution, if the obstacle parameters are inconsistent with the preset parameters, the obstacle parameters correspond to the parameters of a dynamic living creature, and the obstacle is determined to be a small animal. The processor sends a driving control command to the driving device to drive away the small animal.

[0033] Optionally, after acquiring obstacle parameters based on the operation performed by the scanning device in response to the scanning control command, the method further includes the following steps:

[0034] Based on the obstacle parameters, generate data on the area to be cleaned;

[0035] The data of the area to be cleaned is transmitted to the user's mobile terminal.

[0036] By adopting the above technical solution, the processor analyzes the obstacle parameters, generates the data of the area to be cleaned based on the obstacle parameters, and then transmits the data of the area to be cleaned to the user's mobile terminal so that the user's mobile terminal can display the content and let the user know the specific information of the area to be cleaned.

[0037] Secondly, this application provides a robotic vacuum cleaner system, which adopts the following technical solution:

[0038] A robotic vacuum cleaner system includes:

[0039] The image acquisition module is used to acquire real-time images of the outdoor corridor.

[0040] The outdoor corridor ground data acquisition module is used to analyze the outdoor corridor image and acquire outdoor corridor ground data; the start control command module is used to confirm and send a start control command if the outdoor corridor ground data is inconsistent with the preset data.

[0041] By adopting the above technical solution, the image acquisition module acquires the outdoor corridor image in real time, and the outdoor corridor ground data acquisition module analyzes the outdoor corridor image to acquire the outdoor corridor ground data. If the outdoor corridor ground data is inconsistent with the preset data, the start control command module confirms and sends the start control command to control the robot vacuum cleaner to clean the outdoor corridor ground. This enables timely cleaning of accumulated water, reduces the chance of users slipping and falling when entering the outdoor corridor, and indirectly improves the cleaning efficiency of the robot vacuum cleaner.

[0042] Thirdly, this application provides an electronic device that adopts the following technical solution:

[0043] An electronic device includes a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor, when executing the computer program, implements the steps of the robotic vacuum cleaner cleaning method as described in any of the preceding claims.

[0044] Fourthly, this application provides a computer storage medium, which adopts the following technical solution:

[0045] A computer storage medium includes a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor, when executing the computer program, implements the steps of the robotic vacuum cleaner cleaning method as described in any of the preceding claims.

[0046] In summary, this application includes the following beneficial technical effects:

[0047] Controlling the robot vacuum cleaner to clean the outdoor corridor floor can promptly remove accumulated water, reducing the risk of users slipping and falling when entering the outdoor corridor, and indirectly improving the cleaning efficiency of the robot vacuum cleaner.

[0048] The monitoring equipment only monitors the outdoor corridor in real time during cloudy and rainy weather and transmits the images back to the processor, reducing the network resource consumption of the monitoring equipment.

[0049] When obstacles cannot be dealt with in time, the robot vacuum cleaner, guided by its navigation system, will bypass the obstacles and continue cleaning, reducing the impact on cleaning efficiency and improving the working stability of the robot vacuum cleaner. Attached Figure Description

[0050] Figure 1 This is a flowchart of a sweeping robot cleaning method according to an embodiment of this application.

[0051] Figure 2 This is a flowchart of a sub-step of step S1 in the embodiments of this application.

[0052] Figure 3 This is a flowchart of a sub-step of step S2 in the embodiments of this application.

[0053] Figure 4 This is a flowchart of steps Q1-Q3 in the embodiments of this application.

[0054] Figure 5 This is a flowchart of a sub-step of step Q3 in the embodiments of this application. Detailed Implementation

[0055] The following is in conjunction with the appendix Figures 1-5 This application will be described in further detail.

[0056] This application discloses a cleaning method for a robotic vacuum cleaner, which can improve the cleaning efficiency of the robotic vacuum cleaner. (Refer to...) Figure 1 The method specifically includes the following steps:

[0057] S1: Real-time acquisition of outdoor corridor footage.

[0058] Reference Figure 2 Corresponding to step S1, the following sub-steps are also included:

[0059] S11: Receive the signal sent by the weather PTZ and confirm the command to send the image.

[0060] S12: Based on the operation performed by the monitoring device in response to the image acquisition command, confirm the acquisition of the outdoor corridor image.

[0061] It should be noted that a transmission protocol is established between the processing unit and the weather PTZ in this embodiment. When cloudy or rainy weather occurs, the weather PTZ backend sends a signal to the processor. Upon receiving the signal, the processor sends an image acquisition command to the monitoring device. In this embodiment, the monitoring device is a PTZ-based smart camera. This type of camera can transmit data over the network and has storage capabilities. Correspondingly, after acquiring the outdoor corridor image data, the monitoring device can simultaneously transmit the outdoor corridor image data to the user's mobile terminal and the processor, allowing the processor to confirm the acquisition of the outdoor corridor image. Furthermore, in the above process, the monitoring device only performs real-time monitoring of the outdoor corridor and transmits the image back to the processor during cloudy or rainy weather, reducing the network resource consumption of the monitoring device.

[0062] Looking back Figure 1 This includes the following steps:

[0063] S2: Analyze the outdoor corridor images to obtain outdoor corridor ground data.

[0064] Reference Figure 3 For step S2, there are the following sub-steps.

[0065] S21: Send an illumination control command and obtain light parameters based on the operation performed by the illumination device in response to the illumination control command.

[0066] It should be noted that in this embodiment, the irradiation device consists of a laser generator and a laser receiver, with the laser generator emitting light towards the ground. Correspondingly, conventional outdoor corridor flooring is typically tiled, which reflects the light emitted by the laser generator. Under normal circumstances, the light path remains constant, and the laser receiver, installed in the corresponding position, can also normally receive the light reflected from the tiles. However, when there is standing water on the outdoor corridor floor, the light emitted by the laser generator is affected by the water surface, changing the reflected path and thus altering parameters such as the path and angle of the reflected light. After receiving both types of light, the laser receiver sends these light parameters to the processor.

[0067] S22: Simultaneously send a humidity detection and control command, and obtain humidity parameters based on the operation performed by the humidity device in response to the humidity detection and control command.

[0068] Correspondingly, in this embodiment, the humidity device uses a humidity sensor, which senses the humidity of the outdoor corridor floor and transmits the humidity parameters to the processor.

[0069] S23: Based on light and humidity parameters, confirm the acquisition of outdoor corridor ground data.

[0070] Specifically, the processor integrates the received light and humidity parameters to confirm the acquisition of outdoor corridor ground data.

[0071] Looking back Figure 1 This includes the following steps:

[0072] S3: If the outdoor corridor ground data is inconsistent with the preset data, confirm the sending of the start control command.

[0073] Specifically, when water accumulates on the outdoor corridor floor, causing discrepancies between the outdoor corridor floor data and the preset data, a start control command is sent to the robot vacuum cleaner to clean the outdoor corridor floor. This allows for timely removal of the water, reducing the risk of users slipping and falling when entering the outdoor corridor, and indirectly improving the cleaning efficiency of the robot vacuum cleaner.

[0074] S4: In response to the signal sent by the infrared sensor, send a stop control command and a prompt control command.

[0075] It should be noted that when the robotic vacuum cleaner encounters an obstacle during operation, the infrared sensor sends a signal to the processor, which then sends a stop control command to the robot to stop. Simultaneously, the processor sends a prompt control command to the user's mobile device, which in this embodiment can be a mobile phone, smart bracelet, mobile computer, etc., to prompt the user to remove the obstacle promptly.

[0076] Reference Figure 4 After step S4, there is another process step, which is as follows:

[0077] Q1: Send a timing control command to obtain the infrared sensor's sensing duration value.

[0078] Q2: If the infrared sensor's sensing time reaches the preset value, send a scanning control command.

[0079] Q3: Obtain obstacle parameters based on the operations performed by the scanning device in response to scanning control commands.

[0080] It should be noted that when the infrared sensor's sensing time reaches the preset value, that is, after the robot vacuum cleaner has been waiting for too long, the processor sends a scanning control command to the scanning device. In this embodiment, the scanning device uses a holographic scanner, which can scan the shape of the obstacle, determine the type of the obstacle, and obtain the obstacle's parameters.

[0081] Reference Figure 5 Step Q3 is further divided into the following three sub-steps, one of which is as follows:

[0082] Q3A1: If the obstacle parameters are consistent with the preset parameters, the obstacle parameters will be sent to the navigation device.

[0083] Q3A2: Based on the operation performed by the navigation device receiving obstacle parameters, confirm the resending of the start control command.

[0084] It should be noted that the processor sends obstacle parameters to the navigation device, which then sets the cleaning path based on these parameters, enabling the robot vacuum to restart and continue cleaning. This reduces the impact on cleaning efficiency and improves the stability of the robot vacuum during cleaning.

[0085] For step Q3, the other sub-steps are:

[0086] Q3B1: If the obstacle parameters are inconsistent with the preset parameters, confirm the sending of the expulsion control command.

[0087] It should be noted that when the obstacle is a living object, if the obstacle parameters are inconsistent with the preset parameters, the processor sends a repulsion control command to the sound and light emitting device to make the sound and light emitting device to repel the living object, thereby reducing the possibility of the living object being caught in the robot vacuum cleaner and causing damage to the robot vacuum cleaner.

[0088] For step Q3, the last part of the sub-steps is:

[0089] Q3C1: Generates data on the area to be cleaned based on obstacle parameters.

[0090] Q3C2: Transmits the data of the area to be cleaned to the user's mobile terminal.

[0091] The processor analyzes the obstacle parameters, generates data on the area to be cleaned based on the obstacle parameters, and then transmits the data to the user's mobile terminal so that the user's mobile terminal can display the content and let the user know the specific information of the area to be cleaned.

[0092] It should be understood that the sequence number of each step in the above embodiments does not imply the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of the present invention.

[0093] This embodiment also provides a robotic vacuum cleaner system, which includes an image acquisition module, an outdoor corridor floor data acquisition module, and a start control command module. Detailed descriptions of each functional module are as follows:

[0094] The image acquisition module is used to confirm and send a start control command if the outdoor corridor ground data is inconsistent with the preset data.

[0095] The outdoor corridor ground data acquisition module is used to analyze outdoor corridor images and acquire outdoor corridor ground data.

[0096] The start control command module is used to confirm the sending of a start control command if the outdoor corridor ground data is inconsistent with the preset data.

[0097] Specifically, the image acquisition module acquires real-time images of the outdoor corridor, and the outdoor corridor ground data acquisition module analyzes the images to obtain outdoor corridor ground data. If the outdoor corridor ground data is inconsistent with the preset data, the start control command module confirms and sends a start control command to control the robot vacuum cleaner to clean the outdoor corridor ground. This allows for timely removal of accumulated water, reducing the risk of users slipping and falling when entering the outdoor corridor, and indirectly improving the cleaning efficiency of the robot vacuum cleaner.

[0098] Specific limitations regarding the cleaning system of a robotic vacuum cleaner can be found in the method limitations section above, and will not be repeated here. Each module in the above system can be implemented entirely or partially through software, hardware, or a combination thereof. These modules can be embedded in the processor of the electronic device in hardware form or independent of it, or stored in the memory of the electronic device in software form, so that the processor can call and execute the corresponding operations of each module.

[0099] This embodiment also provides an electronic device, which includes a processor, a memory, a network interface, and a database connected via a system bus. The processor provides computing and control capabilities. The memory includes a non-volatile storage medium and internal memory. The non-volatile storage medium stores an operating system, computer programs, and a database. The internal memory provides an environment for the operation of the operating system and computer programs in the non-volatile storage medium. The network interface is used to communicate with external terminals via a network connection. When the computer program is executed by the processor, it implements a cleaning method for a robotic vacuum cleaner.

[0100] S1: Real-time acquisition of outdoor corridor footage.

[0101] S2: Analyze the outdoor corridor images to obtain outdoor corridor ground data.

[0102] S3: If the outdoor corridor ground data is inconsistent with the preset data, confirm the sending of the start control command.

[0103] When executed by a processor, the computer program can implement any of the sweeping robot cleaning methods described in the above method embodiments.

[0104] This embodiment also provides a computer-readable storage medium on which a computer program is stored, and when the computer program is executed by a processor, it performs the following steps:

[0105] S1: Real-time acquisition of outdoor corridor footage.

[0106] S2: Analyze the outdoor corridor images to obtain outdoor corridor ground data.

[0107] S3: If the outdoor corridor ground data is inconsistent with the preset data, confirm the sending of the start control command.

[0108] When the computer program is executed by the processor, it can implement any of the methods described in the above method embodiments.

[0109] Those skilled in the art will understand that all or part of the processes in the above embodiments can be implemented by a computer program instructing related hardware. The computer program can be stored in a non-volatile computer-readable storage medium. When executed, the computer program can include the processes of the embodiments of the above methods. Any references to memory, storage, databases, or other media used in the embodiments provided in this application can include non-volatile and / or volatile memory. Non-volatile memory can include read-only memory (ROM), programmable ROM (PROM), electrically programmable ROM (EPROM), electrically erasable programmable ROM (EEPROM), or flash memory. Volatile memory can include random access memory (RAM) or external cache memory. By way of illustration and not limitation, RAM is available in various forms, such as static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), dual data rate SDRAM (DDRSDRAM), enhanced SDRAM (ESDRAM), synchronous link DRAM (SLDRAM), RAMbus direct RAM (RDRAM), direct memory bus dynamic RAM (DRDRAM), and RAMbus dynamic RAM (RDRAM), etc.

[0110] Those skilled in the art will understand that, for the sake of convenience and brevity, the above-described division of functional units and modules is used as an example. In practical applications, the above functions can be assigned to different functional units and modules as needed, that is, the internal structure of the system can be divided into different functional units or modules to complete all or part of the functions described above.

[0111] The above embodiments are only used to illustrate the technical solutions of this application, and are not intended to limit them. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of this application, and should all be included within the protection scope of this application.

Claims

1. A cleaning method for a robotic vacuum cleaner, characterized in that, Includes the following steps: Real-time acquisition of outdoor corridor images; The outdoor corridor images are analyzed to obtain outdoor corridor ground data; If the outdoor corridor ground data is inconsistent with the preset data, a start control command is confirmed and sent; a stop control command is sent in response to the signal sent by the infrared sensor, and a prompt control command is sent simultaneously; a timing control command is sent to obtain the infrared sensor sensing duration value; if the infrared sensor sensing duration value reaches the preset data, a scan control command is sent; based on the operation performed by the scanning device in response to the scan control command, obstacle parameters are obtained, wherein the scanning device is a holographic scanner, and the acquisition of obstacle parameters specifically involves: using the holographic scanner to scan the shape of the obstacle, determining the type of obstacle, and obtaining obstacle parameters; if the obstacle parameters are consistent with the preset parameters, the obstacle parameters are sent to the navigation device; based on the operation performed by the navigation device upon receiving the obstacle parameters, a start control command is confirmed and resent; when the infrared signal disappears, a start control command is confirmed and resent; if the obstacle parameters are inconsistent with the preset parameters, a repulsion control command is confirmed and sent, specifically: when the obstacle is a living object, and the obstacle parameters are inconsistent with the preset parameters, a repulsion control command is sent to the sound and light emitting device, so that the sound and light emitting device emits sound and light to repel the living object; The analysis of the outdoor corridor image to obtain outdoor corridor ground data specifically includes: sending an illumination control command, and obtaining the path and angle parameters of the laser reflected light based on the operation performed by the illumination device in response to the illumination control command; wherein, the illumination device includes a laser generator and a laser receiver, and the laser generator emits light towards the ground; The specific steps for obtaining the path and angle parameters of the laser reflected light are as follows: The path and angle parameters of the light reflected from the ground are obtained through the laser receiver; simultaneously, a humidity detection control command is sent, and humidity parameters are obtained based on the operation performed by the humidity device in response to the humidity detection control command; based on the path and angle parameters of the laser reflected light and the humidity parameters, the outdoor corridor ground data is confirmed; specifically, by analyzing the changes in the path and angle parameters of the reflected light, combined with the humidity parameters, it is confirmed whether there is water accumulation on the outdoor corridor ground.

2. The cleaning method of a sweeping robot according to claim 1, characterized in that, The real-time acquisition of outdoor corridor images includes the following steps: Receive signals sent by the weather station and confirm the command to send the image; Based on the operation performed by the monitoring device in response to the image acquisition command, the outdoor corridor image is confirmed to be acquired.

3. The cleaning method of a sweeping robot according to claim 1, characterized in that, After acquiring obstacle parameters based on the operation performed by the scanning device in response to the scanning control command, the method further includes the following steps: Based on the obstacle parameters, generate data on the area to be cleaned; The data of the area to be cleaned is transmitted to the user's mobile terminal.

4. A robotic vacuum cleaner system, characterized in that, The method for any one of claims 1-3 comprises: The image acquisition module is used to acquire real-time images of the outdoor corridor. The outdoor corridor ground data acquisition module is used to analyze the outdoor corridor image and acquire outdoor corridor ground data. The start control command module is used to confirm the sending of a start control command if the outdoor corridor ground data is inconsistent with the preset data.

5. An electronic device, characterized in that, It includes a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the computer program to implement the steps of the sweeping robot cleaning method as described in any one of claims 1-3.

6. A computer storage medium, characterized in that, The computer-readable storage medium stores a computer program that, when executed by a processor, implements the steps of the sweeping robot cleaning method as described in any one of claims 1-3.

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