Intelligent interaction method and device of cleaning robot and cleaning robot

Abstract

The application belongs to the technical field of intelligent interaction, and discloses an intelligent interaction method and device of a cleaning robot and the cleaning robot. The method comprises the following steps: when receiving a wake-up voice, controlling the cleaning robot to move to a target standby position according to the wake-up voice; when the cleaning robot moves to the target standby position, collecting a control instruction of a user; determining a target cleaning strategy according to the control instruction; and executing a cleaning task according to the target cleaning strategy. In the above manner, on the one hand, the robot is controlled to move to the user through the voice, thereby improving the receiving accuracy of the control instruction; on the other hand, the user can control the cleaning robot to perform indoor cleaning of different target cleaning strategies through the control instruction, so that the interactive control of the cleaning robot is more convenient, the accuracy is higher, and the user experience is better.

Description

Technical Field

[0001] This invention relates to the field of intelligent interaction technology, and in particular to an intelligent interaction method, device and cleaning robot for a cleaning robot. Background Technology

[0002] Currently, the level of intelligence in cleaning robots on the market is not high. They are generally controlled via a mobile app or buttons on the robot itself. Controlling the robot via an app requires the phone to connect to the robot before the app can execute commands. Controlling the robot via buttons requires the user to approach the robot. Clearly, the current robot control process is cumbersome and the human-computer interaction experience is unsatisfactory.

[0003] The above content is only used to help understand the technical solution of the present invention and does not represent an admission that the above content is prior art. Summary of the Invention

[0004] The main objective of this invention is to provide an intelligent interaction method, device, and cleaning robot for cleaning robots, aiming to solve the problems of cumbersome robot control processes and unsatisfactory human-computer interaction experience in existing robots.

[0005] To achieve the above objectives, the present invention provides an intelligent interaction method for a cleaning robot, the method comprising the following steps:

[0006] When a wake-up voice is received, the cleaning robot is controlled to move to the target standby position according to the wake-up voice command.

[0007] When the cleaning robot moves to the target standby position, it collects the user's control commands;

[0008] The target cleanup strategy is determined based on the control instructions;

[0009] The cleanup task is executed according to the target cleanup strategy.

[0010] Optionally, the step of moving the cleaning robot to the target standby position according to the wake-up voice control includes:

[0011] The decibel value and direction of the sound source are determined based on the wake-up voice.

[0012] The target movement distance is determined based on the voice decibel value, the target decibel value, and the predetermined movement coefficient.

[0013] The target's standby position is determined based on the target's moving distance and the direction of the sound source;

[0014] Control the cleaning robot to move to the target standby position.

[0015] Optionally, the step of moving the cleaning robot to the target standby position according to the wake-up voice control includes:

[0016] The direction of the sound source is determined based on the wake-up voice;

[0017] The target attitude angle and target path of the cleaning robot are determined based on the direction of the sound source.

[0018] Control the cleaning robot to move along the target path at the target attitude angle;

[0019] During the movement, the cleaning robot uses its visual sensors to collect and monitor data in real time, and identifies whether the monitored images contain any target human body parts.

[0020] After detecting that the monitored image contains a target human body part, the current position of the cleaning robot is set as the target standby position, and the robot stops moving.

[0021] Optionally, before recognizing the image containing the target human body part, the process further includes:

[0022] Obstacle information is acquired in real time during movement, and obstacle avoidance is performed in real time based on the obstacle information;

[0023] After each real-time obstacle avoidance operation is completed, return to the step of "controlling the cleaning robot to move along the target path at the target attitude angle".

[0024] Optionally, determining the target cleanup strategy according to the control command includes:

[0025] The target manipulation information is determined according to the control command;

[0026] Determine the target manipulation mode based on the target manipulation information;

[0027] The target cleanup strategy is determined based on the target manipulation pattern.

[0028] Optionally, determining the target cleanup strategy based on the target manipulation mode includes:

[0029] When the target operation mode is the stop working mode, obtain the current position of the cleaning robot and the base station position;

[0030] Determine the return route based on the current location and the base station location;

[0031] The target cleaning strategy is determined to be to control the cleaning robot to return to the base station along the return route and then stop working.

[0032] Optionally, determining the target cleanup strategy based on the target manipulation mode includes:

[0033] When the target manipulation mode is path adjustment mode, the path information to be modified is determined based on the target manipulation information;

[0034] Obtain the current path of the cleaning robot;

[0035] The target adjustment path is determined based on the modified path information and the current path;

[0036] The target cleaning strategy is to control the cleaning robot to move and clean the ground according to the target by adjusting its path.

[0037] Furthermore, to achieve the above objectives, the present invention also proposes an intelligent interaction device for a cleaning robot, the intelligent interaction device for the cleaning robot comprising:

[0038] The voice acquisition module is used to control the cleaning robot to move to the target standby position according to the wake-up voice when a wake-up voice is received.

[0039] The command acquisition module is used to acquire user control commands when the cleaning robot moves to the target standby position;

[0040] The strategy formulation module is used to determine the target cleanup strategy based on the control instructions;

[0041] The cleaning execution module is used to control the cleaning robot to perform cleaning tasks according to the target cleaning strategy.

[0042] Furthermore, to achieve the above objectives, the present invention also proposes a cleaning robot, the cleaning robot comprising: a memory, a processor, and an intelligent interaction program for the cleaning robot stored in the memory and executable on the processor, the intelligent interaction program for the cleaning robot being configured to implement the steps of the intelligent interaction method for the cleaning robot as described above.

[0043] Furthermore, to achieve the above objectives, the present invention also proposes a storage medium storing an intelligent interaction program for a cleaning robot, wherein when the intelligent interaction program for the cleaning robot is executed by a processor, it implements the steps of the intelligent interaction method for the cleaning robot as described above.

[0044] When this invention receives a wake-up voice command, it controls the cleaning robot to move to a target standby position based on the voice command. Once the cleaning robot reaches the target standby position, it collects the user's control commands; determines a target cleaning strategy based on the control commands; and executes the cleaning task according to the target cleaning strategy. In this way, the cleaning robot can move to the target standby position based on the wake-up voice command, ensuring accurate reception of user control commands at the target standby position. This improves the cleaning robot's response speed, making interactive control of the cleaning robot more convenient, more accurate, and providing a better user experience. Attached Figure Description

[0045] Figure 1 This is a schematic diagram of the structure of the intelligent interactive device of the cleaning robot in the hardware operating environment of the embodiment of the present invention;

[0046] Figure 2 This is a flowchart illustrating the first embodiment of the intelligent interaction method for the cleaning robot of the present invention;

[0047] Figure 3 This is a flowchart illustrating the second embodiment of the intelligent interaction method for the cleaning robot of the present invention;

[0048] Figure 4 This is a schematic diagram of automatic obstacle avoidance by a cleaning robot in one embodiment of the intelligent interaction method of the cleaning robot of the present invention;

[0049] Figure 5 This is a flowchart illustrating the third embodiment of the intelligent interaction method for the cleaning robot of the present invention;

[0050] Figure 6 This is a structural block diagram of the first embodiment of the intelligent interactive device for the cleaning robot of the present invention.

[0051] The realization of the objective, functional features and advantages of the present invention will be further explained in conjunction with the embodiments and with reference to the accompanying drawings. Detailed Implementation

[0052] It should be understood that the specific embodiments described herein are for illustrative purposes only and are not intended to limit the scope of the invention.

[0053] Reference Figure 1 , Figure 1 This is a schematic diagram of the intelligent interactive device structure of the cleaning robot in the hardware operating environment of the embodiment of the present invention.

[0054] like Figure 1As shown, the intelligent interaction device of the cleaning robot may include: a processor 1001, such as a central processing unit (CPU), a communication bus 1002, a user interface 1003, a network interface 1004, and a memory 1005. The communication bus 1002 is used to enable communication between these components. The user interface 1003 may include a display screen or an input unit such as a keyboard; optionally, the user interface 1003 may also include a standard wired interface or a wireless interface. The network interface 1004 may optionally include a standard wired interface or a wireless interface (such as a Wireless-Fidelity (Wi-Fi) interface). The memory 1005 may be a high-speed random access memory (RAM) or a stable non-volatile memory (NVM), such as a disk drive. The memory 1005 may also optionally be a storage device independent of the aforementioned processor 1001.

[0055] Those skilled in the art will understand that Figure 1 The structure shown does not constitute a limitation on the intelligent interactive device of the cleaning robot, and may include more or fewer parts than shown, or combine certain parts, or have different arrangements of parts.

[0056] like Figure 1 As shown, the memory 1005, which serves as a storage medium, may include an operating system, a network communication module, a user interface module, and an intelligent interactive program for the cleaning robot.

[0057] exist Figure 1 In the intelligent interactive device shown, the network interface 1004 is mainly used for data communication with the network server; the user interface 1003 is mainly used for data interaction with the user; the intelligent interactive device of the cleaning robot of the present invention includes a processor 1001 and a memory 1005. The intelligent interactive device of the cleaning robot calls the intelligent interactive program of the cleaning robot stored in the memory 1005 through the processor 1001 and executes the intelligent interactive method of the cleaning robot provided in the embodiment of the present invention.

[0058] This invention provides an intelligent interaction method for a cleaning robot, referring to... Figure 2 , Figure 2 This is a flowchart illustrating the first embodiment of an intelligent interaction method for a cleaning robot according to the present invention.

[0059] In this embodiment, the intelligent interaction method of the cleaning robot includes the following steps:

[0060] Step S10: When a wake-up voice is received, the cleaning robot is controlled to move to the target standby position according to the wake-up voice.

[0061] The execution subject in this embodiment is a cleaning robot, which is equipped with a sound acquisition device that can receive wake-up voice commands from the user.

[0062] It should be noted that the target standby position is closer to the user than the cleaning robot's current position. At the target standby position, the cleaning robot can accurately receive the user's control commands.

[0063] It should be understood that the current voice control of cleaning robots is limited by the distance between the cleaning robot and the user. The farther the distance, the lower the decibel of the wake-up voice received by the cleaning robot, which in turn reduces the accuracy of voice control and results in a poor user experience.

[0064] Therefore, in this embodiment, the cleaning robot moves to the target standby position according to the wake-up voice control, so that the cleaning robot is closer to the user, ensuring that the cleaning robot can obtain accurate voice control commands, thereby making the interactive control more accurate. At the same time, in this embodiment, the user does not need to move to the location of the cleaning robot, which can greatly improve the user experience.

[0065] In specific implementation, the wake-up voice refers to a pre-set specified password. The specified password can be any voice message and can be set by the user. This embodiment does not impose any restrictions on this.

[0066] It should be noted that the target standby location is determined based on the wake-up voice command. The cleaning robot needs to move to the target standby location based on the wake-up voice command.

[0067] It should be understood that when a wake-up voice is received, controlling the cleaning robot to move to the target standby position according to the wake-up voice means: when the user sends a voice message, and the user sends a wake-up voice message, the target standby position is determined according to the direction of the wake-up voice source and the voice decibel, and the robot moves to the target standby position.

[0068] Furthermore, in order to accurately determine the target standby position of the cleaning robot based on the sound source direction and decibel level of the wake-up voice, and to control the cleaning robot to move to the target standby position, step S10 may include: determining the decibel level and sound source direction based on the wake-up voice; determining the target movement distance based on the decibel level, the target decibel level, and a predetermined movement coefficient; determining the target standby position based on the target movement distance and the sound source direction; and controlling the cleaning robot to move to the target standby position.

[0069] It should be noted that the voice decibel value refers to the decibel value of the wake-up voice collected by the cleaning robot through its own sound acquisition device.

[0070] It should be understood that the target decibel value is an arbitrary decibel value preset by the user, used to calibrate the decibel value at which the cleaning robot can accurately receive the wake-up voice. The target decibel value can be any value, which is based on the cleaning robot being able to accurately receive the voice command. This embodiment does not impose any restrictions on this.

[0071] In specific implementation, the predetermined movement coefficient refers to the ratio between the difference between the target decibel value and the voice decibel value and the target movement distance. The predetermined movement coefficient is a positive value set by the user in advance, which can be set by the user. This embodiment does not limit this.

[0072] It should be noted that the specific calculation steps for determining the target movement distance based on the voice decibel value, the target decibel value, and the predetermined movement coefficient are as follows: L = (Rr) * k, where L is the target movement distance, R is the target decibel value, r is the voice decibel value, and k is the predetermined movement coefficient, where R > r. It can be deduced from the formula that the lower the voice decibel value received by the cleaning robot, the farther the cleaning robot is from the user's location. Therefore, the cleaning robot needs to move a greater distance to reach a target standby position closer to the user, thereby accurately receiving the user's control commands.

[0073] It should be understood that determining the target standby position based on the target moving distance and the sound source direction means taking the current position of the cleaning robot as the target standby position in the sound source direction, which is the distance from the target moving distance.

[0074] In this way, the target standby position can be accurately determined by combining the decibel value of the wake-up voice and the direction of the sound source with a pre-set predetermined movement coefficient and target decibel value. Then, the cleaning robot is controlled to automatically move to the target standby position. This allows the standby position of the cleaning robot to receive the user's control commands more accurately, preventing the cleaning robot from being too far or too close to the user, which could lead to incorrect reception of control commands and affect the cleaning robot's cleaning task execution.

[0075] Preferably, in the above embodiment, the sound acquisition device is installed at the center of the cleaning robot to minimize the error in determining the target standby position.

[0076] Furthermore, considering that the sound acquisition device is not installed at the center of the cleaning robot, and the relative position between the cleaning robot and the user is not fixed, the relative position between the sound acquisition device on the cleaning robot and the user is also not fixed. For example, when the user is in the first position, the distance between the user and the center of the cleaning robot is D, and the first decibel collected by the sound acquisition device is x. When the user is in the second position, the distance between the user and the center of the cleaning robot is D, and the first decibel collected by the sound acquisition device is y. If the target standby position is determined directly using the first decibel using the above implementation method, the target standby position will not be the same when the user is in the first position and the second position. Therefore, there is a certain error in determining the target standby position. To avoid this error, this embodiment provides another implementation method. In this implementation method, the wake-up voice includes a first wake-up voice and a second wake-up voice. When the cleaning robot receives the first wake-up voice, it adjusts its own posture to the target posture according to the direction of the sound source corresponding to the first wake-up voice. Then, the cleaning robot emits a corresponding voice signal. The voice signal is used to notify the user that the cleaning robot is ready and can receive the second wake-up voice emitted by the user. At this time, the user emits the second wake-up voice, and the cleaning robot determines the target cleaning position according to the second decibel corresponding to the second wake-up voice.

[0077] Step S20: When the cleaning robot moves to the target standby position, the user's control command is collected.

[0078] In this embodiment, when the cleaning robot moves to the target standby position, the user's control command can be a voice control command.

[0079] It should be understood that the voice control commands collected by the cleaning robot are clearer at the target standby location, and thus the target cleaning strategy can be determined based on the clear voice control commands.

[0080] Step S30: Determine the target cleanup strategy according to the control command.

[0081] It should be noted that determining the target cleaning strategy based on control commands means: determining the user's target manipulation information based on control commands, then determining the target manipulation mode, and finally determining the next target cleaning strategy for controlling the cleaning robot based on the target manipulation mode.

[0082] Step S40: Execute the cleanup task according to the target cleanup strategy.

[0083] It should be understood that performing cleaning tasks according to the target cleaning strategy means that, after the target cleaning strategy is determined, the cleaning robot is controlled to perform ground cleaning and tidying tasks according to the set pattern and path.

[0084] This embodiment achieves the cleaning robot's movement to a target standby position upon receiving a wake-up voice command. Once the robot reaches the target standby position, it collects the user's control instructions, determines a target cleaning strategy based on these instructions, and executes the cleaning task according to the strategy. This method enables the cleaning robot to move towards the user, accurately receiving voice control commands and using them to perform different target cleaning strategies for indoor cleaning. This makes the robot's interactive control more convenient, accurate, and provides a better user experience.

[0085] refer to Figure 3 , Figure 3 This is a flowchart illustrating a second embodiment of an intelligent interaction method for a cleaning robot according to the present invention.

[0086] Compared with the first embodiment described above, in this embodiment, the cleaning robot can move to the target standby position where its camera can capture the target human body part according to the wake-up voice, so that the cleaning robot can determine the cleaning task according to the posture control command of the target human body part, thereby avoiding the cleaning robot's inability to accurately determine the cleaning task due to unclear user speech (e.g., the user uses a dialect, or the user has a stutter or other language barrier).

[0087] In this embodiment, step S10 in embodiment 1 above may include:

[0088] Step S101: Determine the direction of the sound source based on the wake-up voice.

[0089] It should be noted that the wake-up voice refers to the voice preset by the user to wake up the cleaning robot. It can be any content and form of voice, and this embodiment does not impose any restrictions on it. When a voice is received and determined to be a wake-up voice, the direction of the sound source of the received wake-up voice is determined. It can be understood that the direction of the sound source also represents the direction of the user's location.

[0090] Step S102: Determine the target attitude angle and target path of the cleaning robot based on the direction of the sound source.

[0091] It should be understood that the target attitude angle refers to the angle between the sound source direction and the current direction of movement of the cleaning robot, determined based on the sound source direction. Specifically, the current direction of movement of the cleaning robot is taken as 0 degrees, and the angle between the sound source direction and the current direction of movement of the cleaning robot is determined based on the sound source direction; this is the target attitude angle. The target path refers to the straight-line path that the cleaning robot takes from its current position to the direction of the sound source according to the target attitude angle.

[0092] It should be noted that at this point, the cleaning robot does not know the exact length of the target path.

[0093] Step S103: Control the cleaning robot to move along the target path at the target attitude angle.

[0094] In specific implementation, controlling the cleaning robot to move along the target path at the target attitude angle means: controlling the cleaning robot to adjust its forward direction according to the target attitude angle, and then moving along the target path.

[0095] Step S104: During the movement, the visual sensors of the cleaning robot are used to collect and monitor data in real time, and to identify whether the monitored images contain any target human body parts.

[0096] It should be noted that the visual sensors on the cleaning robot collect and monitor images in real time during its movement, and perform image recognition on the collected images to determine whether the images contain target human body parts. These target human body parts can be pre-defined by the user, such as one or more of the following: face, mouth, hands, legs, etc.

[0097] Step S105: After identifying that the monitoring image contains the target human body part, the current position of the cleaning robot is taken as the target standby position, and the robot stops moving.

[0098] It should be understood that when image recognition is performed on the monitoring images collected in real time by the cleaning robot, and the monitoring image contains the target human body part, it is determined that the cleaning robot has reached the area where it can accurately receive the user's posture control commands. At this time, the current position of the cleaning robot is taken as the target standby position, and then the robot stops moving.

[0099] In practice, if the vision sensor does not acquire a monitoring image containing the target human body part, the cleaning robot is controlled to continue moving along the target path, maintaining the target posture angle, until the vision sensor can detect an image containing the target human body part.

[0100] Furthermore, in order to automatically avoid obstacles and accurately reach the target standby position during the process of the cleaning robot reaching the target standby position, before step S104, the method further includes: acquiring obstacle information in real time during the movement and performing real-time obstacle avoidance based on the obstacle information; after each real-time obstacle avoidance is completed, returning to the step of "controlling the cleaning robot to move on the target path at the target attitude angle".

[0101] It should be noted that when controlling the cleaning robot to move along the target path at the target attitude angle, obstacle information is acquired in real time. The obstacle information can be obtained in real time from pre-stored ground object information of the indoor space where the cleaning robot is located or objects that may collide with the cleaning robot on the target path obtained by vision sensors.

[0102] It should be understood that the step of performing real-time obstacle avoidance based on the obstacle information, and then returning to "controlling the cleaning robot to move on the target path at the target attitude angle" after each real-time obstacle avoidance operation, means that when the cleaning robot is controlled to perform the nth obstacle avoidance operation based on the obstacle information obtained for the nth time, the cleaning robot is controlled to first return to the target path and then restore the target attitude angle. Figure 4 The diagram illustrates the automatic obstacle avoidance of a cleaning robot. The rectangle represents the cleaning robot, the circular areas represent obstacles, the solid line represents the target path, and the dashed line represents the robot's movement trajectory during obstacle avoidance and its return to the target path. When the cleaning robot reaches point B, it detects an obstacle, automatically avoids it, moves to point A, and then returns to point C on the target path based on deviation information.

[0103] In this way, if there are obstacles that may cause collisions during the automatic movement of the cleaning robot to the target standby position along the target path, the robot can be controlled to automatically avoid obstacles and return to the target path. This makes the cleaning robot move to the target standby position automatically based on the wake-up voice, making it more automatic and intelligent. It also reduces the possibility of collisions that could damage the cleaning robot or other objects, thus improving the user experience.

[0104] In this embodiment, the direction of the sound source is determined based on the wake-up voice; the target posture angle and target path of the cleaning robot are determined based on the direction of the sound source; the cleaning robot is controlled to move along the target path at the target posture angle; during the movement, the visual sensor of the cleaning robot is used to collect and monitor data in real time, and to identify whether the monitored image contains a target human body part; after identifying that the monitored image contains a target human body part, the current position of the cleaning robot is taken as the target standby position, and the movement is stopped. In this way, the cleaning robot automatically adjusts its target posture angle and advances to the target standby position based on the user's wake-up voice and sets the target path. Furthermore, image recognition technology can determine in real time whether it acquires monitoring images containing the target human body parts during movement. This allows the cleaning robot to stop moving promptly at the position where it accurately receives the user's posture control command for the target human body parts. This ensures that the cleaning robot can determine the cleaning task based on the posture control command for the target human body parts, avoiding the inability to accurately determine the cleaning task due to unclear user speech (e.g., using a dialect, stuttering, or other language barriers). This makes the interaction of the cleaning robot more reliable, convenient, and intelligent. In addition, the cleaning robot can automatically avoid obstacles during movement, reducing the risk and danger of use.

[0105] It should be noted that in this embodiment, the target human body part can be the mouth, hand, leg, etc., and the posture control command can be the mouth control command, gesture control command, leg posture control command, etc.

[0106] refer to Figure 5 , Figure 5 This is a flowchart illustrating the third embodiment of an intelligent interaction method for a cleaning robot according to the present invention.

[0107] Based on the first embodiment described above, the intelligent interaction method for the cleaning robot in this embodiment includes the following in step S30:

[0108] Step S301: Determine target manipulation information based on the hand movement image.

[0109] It should be noted that target manipulation information refers to information such as the triggering method and content of the user's control commands, obtained after parsing the control commands. The triggering method refers to how the user issues the control commands, which can be one of the following: voice, gestures, leg movements, or limb movements. The command content refers to information about the user's intention to control the cleaning robot to perform actions, obtained from the control commands.

[0110] Step S302: Determine the target manipulation mode based on the target manipulation information.

[0111] It should be understood that determining the target control mode based on the target control information means: querying a pre-stored mode lookup table based on the target control information to determine which target control mode corresponds to the control command issued by the user at this time. The mode lookup table shows the correspondence between the command triggering method and command content in the target control information and the target control mode.

[0112] Step S303: Determine the target cleanup strategy based on the target manipulation mode.

[0113] It should be noted that determining the target cleaning strategy based on the target manipulation mode means: determining the strategy for controlling the cleaning robot based on the target manipulation mode, that is, the cleaning robot's cleaning mode, cleaning route, and other relevant information, as the target cleaning strategy. In other words, different target cleaning strategies are determined based on different target manipulation modes.

[0114] Furthermore, in order to enable the cleaning robot to stop working by control commands, step S303 includes: when the target operation mode is the stop working mode, obtaining the current position of the cleaning robot and the base station position; determining the return route based on the current position and the base station position; and determining the target cleaning strategy as controlling the cleaning robot to return to the base station according to the return route and stop working.

[0115] It should be understood that when the target operation mode is the stopped working mode, obtaining the current location of the cleaning robot and the base station location means: when the user's current target operation mode is determined to be the stopped working mode by querying the mode lookup table, obtaining the current location of the cleaning robot as the current location, and then obtaining the location of the cleaning robot's charging base station as the base station location.

[0116] In practice, determining the return route based on the current location and the base station location means: planning an unobstructed route from the current location to the base station location based on the cleaning robot's current location, the base station location, and ground obstacle information, and using this route as the return route.

[0117] It should be noted that determining the target cleaning strategy as controlling the cleaning robot to return to the base station along the return route and stop working means: setting the target cleaning strategy to control the cleaning robot to return from its current position to the base station position along the return route, and then enter the base station and stop working.

[0118] In this way, users can control the cleaning robot to automatically stop working and return to the base station via control commands, making the control of the cleaning robot more accurate and convenient, and improving the user experience.

[0119] Furthermore, in order to adjust the cleaning path of the cleaning robot at any time, step S303 includes: when the target operation mode is the path adjustment mode, determining the modified path information according to the target operation information; obtaining the current path of the cleaning robot; determining the target adjustment path according to the modified path information and the current path; and determining the target cleaning strategy as controlling the cleaning robot to move and clean the ground according to the target adjustment path.

[0120] It should be understood that when the target operation mode is the path adjustment mode, determining the path modification information based on the path adjustment mode means: when the query mode lookup table determines that the user's current target operation mode is the path adjustment gesture, the path modification information is determined in conjunction with the control command made by the user.

[0121] In specific implementation, obtaining the current path of the cleaning robot means obtaining the cleaning path currently set by the cleaning robot as the current path.

[0122] It should be noted that the cleaning robot stores several preset cleaning paths, and the current path is one of these preset paths. These preset cleaning paths can be user-defined paths that follow any route and trajectory; this embodiment does not impose any restrictions on this. Modifying path information refers to the user using control commands to adjust the cleaning robot to any of the preset cleaning paths.

[0123] It should be understood that determining the target adjustment path based on the modified path information and the current path means: if the current path and the path the user wants to adjust to in the modified path information are the same, then the current path is taken as the target adjustment path; if the current path and the path the user wants to adjust to in the modified path information are different, then the cleaning robot's cleaning path is adjusted to the path the user wants to adjust to in the modified path information, and this path is taken as the target adjustment path.

[0124] In this way, the cleaning path of the cleaning robot can be adjusted in real time according to the control commands made by the user, making the control of the cleaning robot more convenient and improving the user experience.

[0125] Furthermore, in order to control the cleaning robot to clean a designated area, step S303 includes: when the target operation mode is a fixed-point cleaning mode, determining a fixed-point cleaning area according to the fixed-point cleaning mode; determining a fixed-point cleaning route and a fixed-point cleaning mode according to the fixed-point cleaning area; and determining the target cleaning strategy as controlling the cleaning robot to move and clean the ground according to the fixed-point cleaning route and fixed-point cleaning mode.

[0126] In specific implementation, when the target operation mode is the fixed-point cleaning mode, determining the fixed-point cleaning area according to the fixed-point cleaning mode means: when the user's current target operation mode is determined to be the fixed-point cleaning mode by querying the mode lookup table, the area that the user intends the cleaning robot to clean is determined according to the instruction content in the control command, and is taken as the fixed-point cleaning area.

[0127] It should be noted that the designated cleaning area can be one of several preset areas set by the user. The user can divide the room into several numbered areas in advance, and then determine the number of the area to be cleaned by gesture in the designated cleaning gesture. For example, the room can be divided into 9 areas numbered 1-9, and then the designated cleaning area can be indicated by gesture as 7, so area 7 is the designated cleaning area.

[0128] It should be understood that the division of the preset area can be set by the user in advance, and can be an area of ​​any size and shape. This embodiment does not impose any restrictions on this.

[0129] In practical implementation, determining the fixed-point cleaning route and fixed-point cleaning mode based on the designated cleaning area means: determining the route for the cleaning robot to travel to the designated cleaning area, which serves as the fixed-point cleaning route, and then determining the corresponding fixed-point cleaning mode for each area. The fixed-point cleaning mode is a cleaning mode preset by the user for each designated cleaning area, such as multiple cleaning cycles predetermined.

[0130] In this way, the cleaning robot can be automatically controlled to clean designated areas according to the user's control commands, making the control of the cleaning robot more intelligent and convenient, and improving the user experience.

[0131] Furthermore, in order to enable remote control of the cleaning robot, before the step of controlling the cleaning robot to move to the target standby position according to the wake-up voice when a wake-up voice is received, the method further includes: when a remote cleaning command is received from the remote terminal, determining the remote cleaning area and remote cleaning mode according to the remote cleaning command; determining the remote cleaning strategy according to the remote cleaning area and remote cleaning mode; and controlling the cleaning robot to perform floor cleaning according to the remote cleaning strategy.

[0132] It should be noted that the remote terminal can be a smartphone, a tablet computer, a personal computer, or other smart devices that can perform this function. This embodiment does not limit this.

[0133] It should be understood that a remote cleaning command refers to an instruction issued by a remote terminal to a remotely controlled cleaning robot to complete a specified cleaning strategy.

[0134] In practical implementation, determining the remote cleaning area and remote cleaning mode based on the remote cleaning command means: determining the area that the user wants the cleaning robot to clean, as the remote cleaning area, based on the remote cleaning command; and then determining the cleaning mode that the cleaning robot will use when cleaning the floor in the remote cleaning area, as the remote cleaning mode. The remote cleaning mode may include parameters such as the cleaning robot's movement speed and suction power.

[0135] It should be noted that determining the remote cleaning strategy based on the remote cleaning area and remote cleaning mode means: determining the remote cleaning strategy to control the cleaning robot to perform floor cleaning in the remote cleaning area according to the remote cleaning mode.

[0136] This method enables remote control of cleaning robots to automatically sweep the floor, and allows for the designation of cleaning areas. The remote control of the cleaning robot improves the convenience of operation and enhances the user experience.

[0137] This embodiment determines target manipulation information based on the hand gesture image; determines the target manipulation mode based on the target manipulation information; and determines the target cleaning strategy based on the target manipulation mode. This enables accurate determination of the target manipulation mode based on collected user control commands, thereby specifying an accurate target cleaning strategy. This makes the control methods of the cleaning robot more diverse, improves the accuracy of control command recognition, and enhances the user experience.

[0138] Furthermore, this embodiment of the invention also proposes a storage medium storing an intelligent interaction program for a cleaning robot. When the intelligent interaction program for the cleaning robot is executed by a processor, it implements the steps of the intelligent interaction method for the cleaning robot as described above.

[0139] Since this storage medium adopts all the technical solutions of all the above embodiments, it has at least all the beneficial effects brought about by the technical solutions of the above embodiments, which will not be elaborated here.

[0140] Reference Figure 6 , Figure 6 This is a structural block diagram of the first embodiment of the intelligent interactive device for the cleaning robot of the present invention.

[0141] like Figure 6 As shown, the intelligent interaction device for the cleaning robot proposed in this embodiment of the invention includes:

[0142] The voice acquisition module 10 is used to control the cleaning robot to move to the target standby position according to the wake-up voice when a wake-up voice is received.

[0143] The instruction acquisition module 20 is used to acquire the user's control instructions when the cleaning robot moves to the target standby position.

[0144] The strategy formulation module 30 is used to determine the target cleanup strategy according to the control instructions.

[0145] The cleanup execution module 40 is used to execute cleanup tasks according to the target cleanup strategy.

[0146] This embodiment achieves indoor cleaning by controlling the cleaning robot to move to a target standby position according to the wake-up voice when a wake-up voice is received; when the cleaning robot moves to the target standby position, the user's control command is collected; a target cleaning strategy is determined according to the control command; and the cleaning task is executed according to the target cleaning strategy. In this way, the cleaning robot can be controlled by voice and control commands to perform indoor cleaning with different target cleaning strategies, making the interactive control of the cleaning robot more convenient, more accurate, and providing a better user experience.

[0147] In one embodiment, the voice acquisition module 10 is further configured to determine the voice decibel value and the direction of the sound source based on the wake-up voice; determine the target movement distance based on the voice decibel value, the target decibel value and the predetermined movement coefficient; determine the target standby position based on the target movement distance and the direction of the sound source; and control the cleaning robot to move to the target standby position.

[0148] In one embodiment, the voice acquisition module 10 is further configured to determine the direction of the sound source based on the wake-up voice; determine the target posture angle and target path of the cleaning robot based on the direction of the sound source; control the cleaning robot to move along the target path at the target posture angle; during the movement, use the visual sensor of the cleaning robot to collect and monitor in real time, and identify whether the monitored image contains a target human body part; after identifying that the monitored image contains a target human body part, take the current position of the cleaning robot as the target standby position, and stop moving.

[0149] In one embodiment, the voice acquisition module 30 is further configured to acquire obstacle information in real time during movement and perform real-time obstacle avoidance based on the obstacle information; after each real-time obstacle avoidance is completed, the module returns to the step of "controlling the cleaning robot to move on the target path at the target attitude angle".

[0150] In one embodiment, the strategy formulation module 30 is further configured to determine target manipulation information based on the control command; determine target manipulation mode based on the target manipulation information; and determine target cleanup strategy based on the target manipulation mode.

[0151] In one embodiment, the strategy formulation module 30 is further configured to, when the target operation mode is a stop working mode, obtain the current position of the cleaning robot and the base station position; determine a return route based on the current position and the base station position; and determine the target cleaning strategy as controlling the cleaning robot to return to the base station according to the return route and stop working.

[0152] In one embodiment, the strategy formulation module 30 is further configured to, when the target manipulation mode is a path adjustment mode, determine modified path information based on the target manipulation information; obtain the current path of the cleaning robot; determine the target adjustment path based on the modified path information and the current path; and determine the target cleaning strategy as controlling the cleaning robot to move and clean the ground according to the target adjustment path.

[0153] It should be understood that the above are merely illustrative examples and do not constitute any limitation on the technical solutions of the present invention. In specific applications, those skilled in the art can make settings as needed, and the present invention does not impose any restrictions on this.

[0154] It should be noted that the workflow described above is merely illustrative and does not limit the scope of protection of this invention. In practical applications, those skilled in the art can select some or all of the workflow to achieve the purpose of this embodiment according to actual needs, and no restrictions are imposed here.

[0155] In addition, for technical details not described in detail in this embodiment, please refer to the intelligent interaction method of the cleaning robot provided in any embodiment of the present invention, which will not be repeated here.

[0156] Furthermore, it should be noted that, in this document, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or system that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or system. Unless otherwise specified, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or system that includes that element.

[0157] The sequence numbers of the above embodiments of the present invention are for descriptive purposes only and do not represent the superiority or inferiority of the embodiments.

[0158] Through the above description of the embodiments, those skilled in the art can clearly understand that the methods of the above embodiments can be implemented by means of software plus necessary general-purpose hardware platforms. Of course, they can also be implemented by hardware, but in many cases the former is a better implementation method. Based on this understanding, the technical solution of the present invention, or the part that contributes to the prior art, can be embodied in the form of a software product. This computer software product is stored in a storage medium (such as read-only memory (ROM) / RAM, magnetic disk, optical disk) and includes several instructions to cause a terminal device (which may be a mobile phone, computer, server, or network device, etc.) to execute the methods described in the various embodiments of the present invention.

[0159] The above are merely preferred embodiments of the present invention and do not limit the scope of the patent. Any equivalent structural or procedural transformations made based on the description and drawings of the present invention, or direct or indirect applications in other related technical fields, are similarly included within the scope of patent protection of the present invention.

Claims

1. An intelligent interaction method for a cleaning robot, characterized in that, The cleaning robot includes a sound acquisition device for receiving wake-up voice commands, and the method includes: When a wake-up voice is received, the cleaning robot is controlled to move to the target standby position according to the wake-up voice command. When the cleaning robot moves to the target standby position, it collects the user's control commands, which include at least one of lip-reading control commands, gesture control commands, and leg posture control commands. The target cleanup strategy is determined based on the control instructions; Execute the cleanup task according to the target cleanup strategy; The step of moving the cleaning robot to the target standby position according to the wake-up voice control includes: When the sound acquisition device is installed at the center of the cleaning robot: The voice decibel value is determined based on the wake-up voice; The target movement distance is determined based on the voice decibel value, the target decibel value, and the predetermined movement coefficient. When the sound acquisition device is installed in a non-central position on the cleaning robot: The wake-up voice includes a first wake-up voice and a second wake-up voice. When the cleaning robot receives the first wake-up voice, it adjusts its own posture to the target posture according to the direction of the sound source corresponding to the first wake-up voice. The cleaning robot then emits a corresponding voice signal, which is used to notify the user that the cleaning robot is ready and can receive the second wake-up voice emitted by the user. Receive the second wake-up voice, and determine the target movement distance based on the voice decibel value corresponding to the second wake-up voice, the target decibel value, and the predetermined movement coefficient; The target's standby position is determined based on the target's moving distance and the direction of the sound source; The direction of the sound source is determined based on the wake-up voice, and the cleaning robot is controlled to move along a target path toward the direction of the sound source. During the movement, the cleaning robot uses its visual sensors to collect and monitor data in real time, and identifies whether the monitored images contain target human body parts, including at least one of the mouth, hands, and legs. After identifying that the monitored image contains a target human body part, the current position of the cleaning robot is taken as the target standby position, and the robot stops moving.

2. The method as described in claim 1, characterized in that, The cleaning robot is moved to the target standby position according to the wake-up voice control. include: The specific calculation steps for determining the target movement distance based on the voice decibel value, the target decibel value, and the predetermined movement coefficient are as follows: in, The target movement distance, The target decibel value, The decibel value of the speech. Let be the predetermined movement coefficient, where ; The target's standby position is determined based on the target's moving distance and the direction of the sound source; Control the cleaning robot to move to the target standby position.

3. The method as described in claim 1, characterized in that, The control of the cleaning robot to move along a target path toward the sound source also includes: Obstacle information is acquired in real time during movement, and obstacle avoidance is performed in real time based on the obstacle information; After each real-time obstacle avoidance operation, the cleaning robot is controlled to return to the target path and continue moving according to the target attitude angle.

4. The method as described in claim 1, characterized in that, The step of determining the target cleanup strategy according to the control command includes: The target manipulation information is determined according to the control command; Determine the target manipulation mode based on the target manipulation information; The target cleanup strategy is determined based on the target manipulation pattern.

5. The method as described in claim 3, characterized in that, Determine the target cleanup strategy based on the target manipulation pattern, including: When the target operation mode is the stop working mode, obtain the current position of the cleaning robot and the base station position; Determine the return route based on the current location and the base station location; The target cleaning strategy is determined to be to control the cleaning robot to return to the base station along the return route and then stop working.

6. The method as described in claim 3, characterized in that, Determine the target cleanup strategy based on the target manipulation pattern, including: When the target manipulation mode is path adjustment mode, the path information to be modified is determined based on the target manipulation information. Obtain the current path of the cleaning robot; The target adjustment path is determined based on the modified path information and the current path; The target cleaning strategy is to control the cleaning robot to move and clean the ground according to the target by adjusting its path.

7. An intelligent interactive device for a cleaning robot, characterized in that, The device includes: The voice acquisition module is used to control the cleaning robot to move to the target standby position according to the wake-up voice when a wake-up voice is received. The instruction acquisition module is used to acquire user control instructions when the cleaning robot moves to the target standby position. The control instructions include at least one of lip control instructions, gesture control instructions, and leg posture control instructions. The strategy formulation module is used to determine the target cleanup strategy based on the control instructions; The cleanup execution module is used to execute cleanup tasks according to the target cleanup strategy; The voice acquisition module is also used to control the cleaning robot to move to the target standby position according to the wake-up voice, including: The direction of the sound source is determined based on the wake-up voice, and the cleaning robot is controlled to move along a target path toward the direction of the sound source. During the movement, the cleaning robot uses its visual sensors to collect and monitor data in real time, and identifies whether the monitored images contain target human body parts, including at least one of the mouth, hands, and legs. After identifying that the monitored image contains a target human body part, the current position of the cleaning robot is taken as the target standby position, and the robot stops moving. The voice acquisition module is also used to determine the voice decibel value based on the wake-up voice when the voice acquisition device is installed in the center of the cleaning robot, determine the target movement distance based on the voice decibel value, the target decibel value and the predetermined movement coefficient, and determine the target standby position based on the target movement distance and the direction of the sound source. When the sound acquisition device is installed in a non-central position of the cleaning robot, the wake-up voice includes a first wake-up voice and a second wake-up voice. When the cleaning robot receives the first wake-up voice, it adjusts its own posture to the target posture according to the direction of the sound source corresponding to the first wake-up voice. The cleaning robot emits a corresponding voice signal, which is used to notify the user that the cleaning robot is ready and can receive the second wake-up voice emitted by the user. After receiving the second wake-up voice, the target movement distance is determined according to the voice decibel value corresponding to the second wake-up voice, the target decibel value, and the predetermined movement coefficient. The target standby position is determined according to the target movement distance and the direction of the sound source.

8. A cleaning robot, characterized in that, The cleaning robot includes: a memory, a processor, and an intelligent interaction program for the cleaning robot stored in the memory and executable on the processor, wherein the intelligent interaction program for the cleaning robot is configured to implement the intelligent interaction method for the cleaning robot as described in any one of claims 1 to 6.

9. A storage medium, characterized in that, The storage medium stores an intelligent interaction program for the cleaning robot, which, when executed by a processor, implements the intelligent interaction method for the cleaning robot as described in any one of claims 1 to 6.

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