Control method of cleaning equipment and cleaning equipment
By using a camera in a sweeping robot to compare the images before and after cleaning, and identifying and cleaning dirt, the problems of inaccurate identification of dirt and high training cost in the prior art are solved, and efficient and accurate dirt cleaning is achieved.
Patent Information
- Application Number
- CN202311044410.1
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2023-08-17
- Publication Date
- 2025-02-21
AI Technical Summary
When existing sweeping robots use big data training to identify dirt, it is difficult to accurately determine whether there is dirt in the picture, which can easily lead to misidentification, and the cost of big data training is high.
Compare the images before cleaning taken by the camera at the same location to be cleaned with the images after cleaning, identify dirt and other dirt, and control the cleaning equipment to clean dirt.
It realizes that cleaning equipment accurately recognizes and cleans dirt without pre-big data training, reduces training costs, and can clean dirt in real time and accurately in the position to be cleaned to avoid leakage or incorrect cleaning. .
Smart Images
Figure CN119488240A_ABST
Abstract
Description
Technical Field
[0001] The present invention relates to the technical field of cleaning machines, and in particular to a control method for cleaning equipment and a cleaning equipment. Background Art
[0002] At present, sweeping robots are mainly trained through big data to identify dirt in pictures, and then carry out subsequent dirt processing. The matching degree of this method of identifying dirt depends on the effect of big data learning and training. It is difficult to collect multiple real dirt, grime and other data, and it requires a high cost. Once the big data training is not comprehensive enough, it will make it difficult for the sweeping robot to accurately determine whether there is dirt in the picture, which is easy to cause misidentification. Summary of the invention
[0003] The main purpose of the present invention is to provide a control method for cleaning equipment. The technical solution of the present invention aims to identify dirt and other contaminants by comparing the image before cleaning taken by a camera at the same position to be cleaned with the image after previous cleaning, thereby controlling the cleaning equipment to clean the dirt, thereby ensuring the accuracy of the cleaning equipment in identifying dirt.
[0004] To achieve the above object, an embodiment of the present invention provides a control method for a cleaning device, the control method comprising:
[0005] The processor obtains a comparison image of the position to be cleaned and stores the comparison image in a memory;
[0006] The camera captures an image of the location to be cleaned as a first image;
[0007] The processor compares the first image with the comparison image to obtain a dirt mark; and
[0008] The processor controls the cleaning component to clean dirt at the dirt mark.
[0009] Optionally, the processor acquires a comparison image of the position to be cleaned, and stores the comparison image in a memory, comprising:
[0010] The camera captures an image of the location to be cleaned after being cleaned as a second image;
[0011] The processor compares a plurality of second images obtained within a period of time, retains the same image features possessed by the plurality of second images, and obtains the comparison image;
[0012] The memory stores the comparison image.
[0013] Optionally, the processor acquires a comparison image of the position to be cleaned, and stores the comparison image in a memory, comprising:
[0014] The camera captures an image of the location to be cleaned after being thoroughly cleaned, as a third image;
[0015] The processor uses the third image as the comparison image and stores the image in the memory.
[0016] Optionally, the step of capturing, by the camera, an image of the location to be cleaned after being thoroughly cleaned as a third image comprises:
[0017] The camera captures an image of the location to be cleaned after being cleaned as a fourth image;
[0018] The processor compares the fourth images obtained twice in a time sequence, and uses the fourth image with fewer image features as the third image.
[0019] Optionally, the control method of the cleaning device further comprises a step in which the cleaning device obtains a preset image, and the preset image is the first image or the comparison image;
[0020] Wherein, the step of obtaining a preset image by the cleaning device comprises:
[0021] The cleaning device moves along a predetermined route;
[0022] The camera captures a plurality of images at different positions of the predetermined route according to a preset interval time as the fifth image;
[0023] The processor arranges the plurality of fifth images to obtain the preset image.
[0024] Optionally, the processor arranges the plurality of fifth images to obtain the preset image, comprising:
[0025] The processor identifies a common portion of two adjacent fifth images as a positioning mark;
[0026] The processor adjusts the relative positions of the positioning marks of two adjacent fifth images so that the same parts of the two adjacent fifth images overlap;
[0027] The processor removes one of the same parts in two adjacent fifth images to obtain the preset image.
[0028] Optionally, after the processor controls the cleaning component to clean dirt at the dirt mark, the method further comprises:
[0029] The camera captures an image of the location to be cleaned after being cleaned by the cleaning component as a sixth image;
[0030] The processor compares the sixth image with the first image to determine whether the dirt mark changes;
[0031] If yes, the cleaning component repeatedly cleans the dirt at the dirt mark until the dirt is removed;
[0032] If not, the processor determines that the dirt at the dirt mark cannot be cleaned, and updates the comparison image according to the dirt mark.
[0033] Optionally, before or at the same time as the step of taking the image of the location to be cleaned by the camera as the first image, the step further includes:
[0034] The laser scanning component emits a scanning laser to the position to be cleaned, so that the processor obtains three-dimensional information of the object at the position to be cleaned as a height parameter;
[0035] The processor records the height parameter in the first image so that the image feature corresponding to the first image has the height parameter.
[0036] Optionally, before the step of the processor controlling the cleaning component to clean dirt at the dirt mark, the step further includes:
[0037] The processor determines, based on the height parameter, whether the height of the dirt at the dirt mark is within a preset height;
[0038] If so, the processor controls the cleaning component to clean the dirt at the dirt mark;
[0039] If not, the processor determines that the dirt at the dirt mark cannot be cleaned, and updates the comparison image according to the dirt mark.
[0040] Optionally, the control method of the cleaning device further comprises a step in which the cleaning device displays a preset image on a user terminal, wherein the preset image is the first image or the comparison image;
[0041] The step of displaying the preset image on the user terminal by the cleaning device includes:
[0042] The laser scanning component emits a scanning laser to the position to be cleaned, so that the processor obtains the height parameter of the object at the position to be cleaned;
[0043] The processor records the height parameter in the preset image and sends a preset image signal to the user terminal;
[0044] The user terminal receives the preset image signal to display a preset image; wherein the preset image records at least one of a height parameter, a color parameter, and a grayscale parameter.
[0045] The present invention also proposes a cleaning device, which includes a cleaning component, a processor, a memory and at least one camera, wherein the memory stores a control program that can be run on the processor, and when the processor executes the control program, the steps of the aforementioned control method are implemented.
[0046] The present invention further proposes a computer-readable storage medium, on which a control program is stored, and when the control program is executed by the processor, the steps of the aforementioned control method are implemented.
[0047] In the technical solution of the present invention, when the cleaning device is in the cleaning mode, the cleaning device will clean the position to be cleaned along a preset path. During the cleaning process of the cleaning device, the camera obtains a first image, and uses a processor to analyze and compare the difference between the first image and the comparison image stored in the memory. The processor obtains the difference between the two images and defines the difference as a dirt mark. Then, the processor issues a cleaning instruction to the cleaning component, and the cleaning component cleans the position to be cleaned that is defined as the dirt mark. In this way, the cleaning device can directly distinguish dirt without pre-training big data, thereby reducing the pre-training cost, thereby completing the cleaning of dirt. At the same time, by comparing the difference between the first image and the comparison image, the dirt on the position to be cleaned can be cleaned in real time and accurately, avoiding missed cleaning or mistaken cleaning. BRIEF DESCRIPTION OF THE DRAWINGS
[0048] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on the structures shown in these drawings without paying creative work.
[0049] Figure 1 A flow chart of an embodiment of a control method for a cleaning device of the present invention;
[0050] Figure 2 A flow chart of another embodiment of a control method for a cleaning device of the present invention;
[0051] Figure 3 A flow chart of another embodiment of the control method of the cleaning device of the present invention;
[0052] Figure 4 A flow chart of another embodiment of a control method for a cleaning device of the present invention;
[0053] Figure 5 A flow chart of another embodiment of a control method for a cleaning device of the present invention;
[0054] Figure 6 A flow chart of another embodiment of a control method for a cleaning device of the present invention;
[0055] Figure 7 A flow chart of another embodiment of a control method for a cleaning device of the present invention;
[0056] Figure 8 This is a control logic diagram of the cleaning device of the present invention.
[0057] Description of Figure Numbers:
[0058] Label name Label name 100 processor 200 Cleaning components 300 Memory 400 Camera 500 Laser scans
[0059] The realization of the purpose, functional features and advantages of the present invention will be further explained in conjunction with embodiments and with reference to the accompanying drawings. DETAILED DESCRIPTION
[0060] It should be understood that the specific embodiments described herein are only used to explain the present invention, and are not used to limit the present invention.
[0061] The present invention provides a control method for a cleaning device. In a first embodiment of the control method, referring to Figure 1 , the control methods of cleaning equipment include:
[0062] S100, the processor 100 obtains a comparison image of the position to be cleaned, and stores the comparison image in the memory 300;
[0063] S200, the camera 400 captures an image of the location to be cleaned as a first image;
[0064] S300: The processor 100 compares the first image with the comparison image to obtain a dirt mark; and
[0065] S400: The processor 100 controls the cleaning component 200 to clean dirt at the dirt mark.
[0066] It should be noted that, in the present embodiment, the memory 300 first stores a comparison image to be compared, and the comparison image may be the first picture of the position to be cleaned after being cleaned, which is obtained when the cleaning device cleans the position to be cleaned for the first time, or it may be a picture formed by continuous stacking and updating during subsequent use, when the cleaning device cleans the position to be cleaned multiple times, which can represent the position to be cleaned in a relatively clean state.
[0067] In the technical solution of the present invention, when the cleaning device is in the cleaning mode, the cleaning device will clean the position to be cleaned along a preset path. During the cleaning process of the cleaning device, the camera 400 obtains a first image, and uses the processor 100 to analyze and compare the difference between the first image and the comparison image stored in the memory 300. The processor 100 obtains the difference between the two images and defines the difference as a dirt mark. Then, the processor 100 issues a cleaning instruction to the cleaning component 200, and the cleaning component 200 cleans the position to be cleaned that is defined as the dirt mark. In this way, the cleaning device can directly distinguish dirt without pre-training big data, thereby reducing the pre-training cost, thereby completing the cleaning of the dirt. At the same time, by comparing the difference between the first image and the comparison image, the dirt on the position to be cleaned can be cleaned in real time and accurately to avoid missing cleaning or mistaken cleaning.
[0068] The position to be cleaned can be the ground, but is not limited to floor tiles, wooden floors or carpets, etc. The camera 400 focuses on the position to be cleaned to make the first image clearer, so that when the processor 100 compares the comparison image with the first image, it can more easily distinguish the difference between the two images to improve the accuracy of the dirt marking.
[0069] Specifically, the first image may be an image of the cleaning device before cleaning the position to be cleaned at a certain section along the preset path. At this time, the processor 100 may control the cleaning component 200 to clean the dirty mark multiple times according to the degree of dirtiness of the dirty mark compared with the first image and the comparison image, wherein the degree of dirtiness of the dirty mark is determined by the color and grayscale difference; or, the camera 400 obtains an image of the position to be cleaned again after being cleaned, and the processor 100 compares the image with the first image or the comparison image to determine whether the dirty mark has changed, thereby determining whether it is necessary to repeatedly clean the dirty mark. Of course, the first image may also be an image after the position to be cleaned is initially cleaned at a certain section along the preset path. At this time, the processor 100 may compare the first image with the comparison image to determine the presence of the dirty mark, and then clean the dirty mark. After the dirty mark is cleaned, the camera 400 obtains an image of the dirty mark again, and the processor 100 compares the image with the first image or the comparison image to determine whether the dirty mark has changed, thereby determining whether it is necessary to repeatedly clean the dirty mark. If both of the above situations require repeated cleaning of the dirty mark, after the camera 400 obtains an image after a certain cleaning, the processor 100 determines that the dirtiness of the dirty mark is lower than a certain threshold, and then controls the cleaning component 200 to stop cleaning the dirty mark, and controls the cleaning equipment to go to the next section of the preset path for cleaning.
[0070] In one embodiment, please refer to Figure 2 , step S100 specifically includes:
[0071] S110, the camera 400 captures an image of the location to be cleaned after being cleaned as a second image;
[0072] S120, the processor 100 compares the multiple second images obtained within a period of time, retains the same image features of the multiple second images, and obtains a comparison image;
[0073] S130 , the memory 300 stores the comparison image.
[0074] After each cleaning of the position to be cleaned by the cleaning device, the camera 400 obtains a second image of the position to be cleaned after being cleaned. When the cleaning device completes the preset number of cleanings, the processor 100 compares and analyzes the multiple stored second images, extracts the common image features of the multiple second images, and splices or overlays these same image features to form a comparison image. It should be noted that in the process of the cleaning device completing the preset number of cleanings, the comparison image used by the cleaning device can be an image after the cleaning device cleans the position to be cleaned for the first time, or an image obtained after the previous cleaning in two adjacent cleaning processes, or, before the cleaning device completes the preset number of cleanings, the cleaning device performs simple cleaning according to a predetermined cleaning path, without controlling the cleaning device to clean dirt by image comparison, and obtains a second image after each cleaning; wherein the preset number of times can be 100 times, 50 times or 150 times, etc. It should be noted that for the same position to be cleaned, based on the time sequence, the same features of multiple images recording after cleaning should belong to the clean part of the position to be cleaned or the part that cannot be cleaned by the cleaning equipment. In this way, the obtained comparison image can more accurately reflect the lower image information of the cleaner state of the position to be cleaned.
[0075] In another embodiment, please refer to Figure 3 , step S100 specifically includes:
[0076] S140, the camera 400 captures an image of the location to be cleaned after being thoroughly cleaned, as a third image;
[0077] S150 : The processor 100 uses the third image as a comparison image and stores it in the memory 300 .
[0078] It should be noted that the third image can represent the relatively clean state of the position to be cleaned before this cleaning. In this way, before each cleaning, the processor 100 compares the first image with the image of the relatively clean state of the position to be cleaned, and can more accurately determine the dirty position of the position to be cleaned before cleaning, so that the processor 100 can more accurately determine the dirty mark, so that the cleaning equipment can better ensure the cleanliness of the position to be cleaned.
[0079] Further, in this embodiment, please continue to refer to Figure 3 , step S140 specifically includes:
[0080] S141, the camera 400 captures an image of the cleaned location as a fourth image;
[0081] S142: The processor 100 compares the fourth images obtained two consecutive times according to the time sequence, and uses the fourth image with fewer image features as the third image.
[0082] After each cleaning of the position to be cleaned by the cleaning device, the camera 400 obtains a fourth image of the position to be cleaned after cleaning. During the use of the cleaning device, the fourth images obtained after the previous cleaning will be stored in the memory 300, and after each fourth image is obtained, the processor 100 will compare the newly obtained fourth image with the fourth image obtained after the last cleaning stored in the memory 300, and use the fourth image with fewer image features as a representation of the relatively clean state of the position to be cleaned. In this way, the obtained comparison image can more timely and accurately reflect the lower image information of the relatively clean state of the position to be cleaned. It should be noted that in the interval between two adjacent cleanings, the objects placed on the position to be cleaned change less, so that the fourth image with fewer image features in the fourth images of the two times will be an image in which the position to be cleaned is cleaned more thoroughly, avoiding the situation where the cleaning device is missed. Of course, in other embodiments, the processor 100 can compare the currently obtained fourth image with all the fourth images stored in the memory 300 to use the fourth image with fewer image features as the third image. It should be noted that the camera 400 mainly obtains image information of the ground. The number of image features referred to in this embodiment is based on the floor surface in the image. The number of objects on the floor surface is the number of image features.
[0083] In another embodiment, please refer to Figure 4 The control method of the cleaning device further includes a step in which the cleaning device obtains a preset image, where the preset image is a first image or a comparison image; wherein the step in which the cleaning device obtains the preset image specifically includes:
[0084] S500, the cleaning device moves along a predetermined route;
[0085] S600, the camera 400 captures a plurality of images at different positions of the predetermined route according to a preset interval time as the fifth image;
[0086] S700: The processor 100 arranges a plurality of fifth images to obtain a preset image.
[0087] It should be noted that the location to be cleaned can be an indoor or outdoor environment such as a room, a living room, a lobby, a terrace or a combination thereof. Since the camera 400 is shooting at the ground, the range of the picture taken by the camera 400 in a single shot is small, while the area of the location to be cleaned is relatively large, and considering that if the single shooting area of the camera 400 is increased, it is easy to cause the captured image to be deformed relative to the location to be cleaned, thereby affecting the judgment of the processor 100. In this way, multiple fifth images of different ground surfaces of the location to be cleaned taken by the camera 400 are processed by the processor 100 to splice a first image that can fully record the location to be cleaned, thereby ensuring the clarity of the image features recorded in the first image. Of course, in other embodiments, the cleaning device can use a camera 400 with higher pixels, and the camera 400 can directly and clearly cover all ground features of the location to be cleaned to form a first image.
[0088] Among them, the preset interval time is based on the walking speed of the cleaning device, the image size of the fifth image obtained by the camera 400 each time, and the shooting speed of the camera 400, so as to reduce the number of repeated image information in two adjacent fifth images as much as possible. Specifically, the cleaning device has a relatively accurate positioning capability, such as obtaining positioning information by light reflection or image information reference, so that the cleaning device can move stably along the preset route. Through accurate positioning, the processor 100 can associate the fifth image with the coordinates of the cleaning device, so that when the fifth images at different positions are combined, a complete first image reflecting the position to be cleaned can be spliced. It can be understood that the first image and the comparison image are both spliced in the above manner to ensure the clarity of the comparison image and the first image, which is convenient for the judgment of the processor 100, or, in this technical solution, any image that needs to fully cover the position to be cleaned obtained by the cleaning device through the camera 400 can be constructed with reference to the ideas of the above steps S500 to S700.
[0089] Further, in this embodiment, please continue to refer to Figure 4 , step S700 specifically includes:
[0090] S710: The processor 100 identifies a common portion of two adjacent fifth images as a positioning mark;
[0091] S720: The processor 100 adjusts the relative positions of the positioning marks of two adjacent fifth images so that the same parts of the two adjacent fifth images overlap.
[0092] S730: The processor 100 removes one of the same parts in two adjacent fifth images to obtain a preset image.
[0093] It should be noted that, since the speed of movement of the cleaning device is not fast, while the speed of shooting of the camera 400 is fast, in the actual movement process, the error of the moving speed will inevitably cause overlapping parts between adjacent fifth images. Considering that there will be a certain deviation in the positioning of the cleaning device, the processor 100 first identifies the same part of the two adjacent fifth images to determine the positioning mark, and then, with the positioning marks of the two adjacent fifth images as a reference, the same part of the two adjacent fifth images is superimposed. Then, the processor removes the redundant overlapping parts and splices the multiple fifth images into the first image. In this way, the positioning mark can provide a splicing reference for the processor 100, reducing the amount of calculation of the processor 100. In addition, considering that image splicing does not require the complete recognition of the fifth image, when the processor 100 recognizes the same part of the two adjacent fifth images, the positioning mark can be used as a reference to adjust the position of the two adjacent fifth images, and then the two fifth images are superimposed and spliced.
[0094] In another embodiment, please refer to Figure 5 , after step S400, further comprising:
[0095] S800, the camera 400 captures an image of the location to be cleaned after being cleaned by the cleaning component 200 as a sixth image;
[0096] S900: The processor 100 compares the sixth image with the first image to determine whether the dirt mark changes;
[0097] If yes, step S901 is executed, the cleaning component 200 repeatedly cleans the dirt at the dirt mark until the dirt is completely removed;
[0098] If not, step S902 is executed, and the processor 100 determines that the dirt at the dirt mark cannot be cleaned, and updates the comparison image according to the dirt mark.
[0099] It can be understood that after the first image is compared with the comparison image, it will be stored in the memory 300. When the cleaning component 200 cleans the dirty mark, the processor 100 compares the sixth image obtained by the camera 400 with the first image just stored in the memory 300. If the comparison analysis shows that the dirty mark has changed, the processor 100 determines that the dirt at the dirty mark can be cleaned by the cleaning component 200, and thus controls the cleaning component 200 to repeatedly clean the dirt at the dirty mark; if the comparison analysis shows that the dirty mark has not changed, the processor 100 determines that the cleaning component 200 cannot clean the dirt at the dirty mark, and changes the dirty mark to a common image feature and records it in the comparison image to avoid the subsequent cleaning process from repeatedly cleaning the position that cannot be cleaned. In this way, the cleaning device can better judge the dirt at the dirty mark to avoid missed cleaning or mistaken cleaning. Here, it should be noted that before the camera 400 obtains the sixth image, the cleaning component 200 may obtain the sixth image after cleaning the dirt at the dirt mark for the first time, or may obtain the sixth image after repeatedly cleaning the dirt at the dirt mark for multiple times.
[0100] In addition, after the processor 100 determines that the dirt at the dirty mark can be cleaned by the cleaning component 200, and the cleaning component 200 repeatedly cleans for a predetermined number of times, the camera 400 will obtain the image of the dirty mark again, and compare it with the sixth image and the first image to determine whether the dirt at the dirty mark has been thoroughly cleaned. If the dirtiness of the dirty mark is lower than the preset threshold, the processor 100 will determine that the dirty mark has been cleaned. If the dirtiness of the dirty mark is still higher than the preset threshold, the processor 100 controls the cleaning component 200 to continue cleaning the dirt at the dirty mark until the dirtiness is lower than the preset threshold. It should be noted that the processor 100 can judge the image features in the image by using the color and grayscale of the image features as a reference for the processor 100 to judge the changes in the image features.
[0101] In another embodiment, please refer to Figure 6 , before or at the same time as step S200, further comprising:
[0102] S201, the laser scanning element 500 emits a scanning laser to the position to be cleaned, so that the processor 100 obtains three-dimensional information of the object at the position to be cleaned as a height parameter;
[0103] S202: The processor 100 records the height parameter in the first image, so that the image feature corresponding to the first image has the height parameter.
[0104] Specifically, the scanning laser emitted by the laser scanning element 500 is in a straight line and is perpendicular to the emission direction of the laser scanning element 500. The processor 100 analyzes the angle and time of the emitted light and the reflected light after being reflected at the position to be cleaned to obtain the distance between the position that can reflect the light at the position to be cleaned and the current cleaning device, thereby converting and calculating the height of the position. In this embodiment, the laser scanning element 500 is set as a distance sensor for obtaining height information, such as a line laser sensor, a surface array laser sensor or a TOF (Time of flight) sensor. Specifically, if there is a table leg in front of the camera 400, the scanning laser will be blocked by the table corner. The processor 100 first analyzes the distance from the position of the reflected light on the table leg to the cleaning device, and calculates the height of the table leg on the ground based on the angle and time difference between the emitted light and the reflected light and the ground, so that the image feature of the first image can have a height parameter, which is convenient for the subsequent processor to judge and analyze or transmit to the user terminal for the user to view.
[0105] Please continue to refer to Figure 6 , before step S400, further comprising:
[0106] S410, the processor 100 determines whether the height of the dirt at the dirt mark is within a preset height according to the height parameter;
[0107] If yes, step S411 is executed, the processor 100 controls the cleaning component 200 to clean the dirt on the dirty mark;
[0108] If not, step S902 is executed, and the processor 100 determines that the dirt at the dirt mark cannot be cleaned, and updates the comparison image according to the dirt mark.
[0109] Without loss of generality, the preset height matches the processing capability of the processor 100 and the cleaning capability of the cleaning device. In this embodiment, the preset height is set to 1 cm, 2 cm or 1.5 cm, etc. In this way, the processor 100 identifies the dirt mark in a certain image feature of the first image, and associates the height parameter of the image feature with the dirt mark, thereby obtaining the height of the dirt at the dirt mark, and then the processor 100 determines whether the height of the dirt at the dirt mark is within the preset height. If the processor 100 compares and analyzes that the height of the dirt at the dirt mark is within the preset height, the dirt at the dirt mark can be cleaned by the cleaning component 200, and the processor 100 controls the cleaning component 200 to clean the dirt at the dirt mark; if the processor 100 compares and analyzes that the height of the dirt at the dirt mark exceeds the preset height, the processor 100 determines that the dirt mark cannot be cleaned, and defines the dirt mark as a common image feature and records it in the comparison image, so as to avoid the subsequent cleaning process from repeatedly cleaning the position that cannot be cleaned, and at the same time, it also avoids the cleaning device from being damaged by the dirt whose cleaning height exceeds the preset height, thereby ensuring the continuous cleaning capability of the cleaning device.
[0110] In one embodiment, please refer to Figure 7 , the control method of the cleaning device also includes a step in which the cleaning device displays a preset image on a user terminal, the preset image being a first image or a comparison image;
[0111] The step of displaying the preset image on the user terminal by the cleaning device includes:
[0112] S10, the laser scanning component emits a scanning laser to the position to be cleaned, so that the processor obtains the height parameter of the object at the position to be cleaned;
[0113] S20, the processor records the height parameter in a preset image, and sends a preset image signal to the user terminal;
[0114] S30. The user terminal receives a preset image signal to display a preset image; wherein the preset image records at least one of a height parameter, a color parameter, and a grayscale parameter.
[0115] It should be noted that the user terminal can be an APP on a mobile phone, tablet or computer, or a display dedicated to the cleaning device. In this way, the preset image obtained by the cleaning device can be displayed on the user terminal, so that the user can intuitively understand the environmental conditions of the current position to be cleaned, giving the user a more intuitive experience. Specifically, in this embodiment, the user terminal can display at least one of the first image and the comparison image. When the user terminal displays the comparison image, the user can understand the cleanliness of the current position to be cleaned through the user terminal. When the user terminal displays the first image, the user can understand the dirtiness of the current position to be cleaned through the user terminal.
[0116] Please refer to Figures 1 to 8 , it can be seen that the control method described in this embodiment is applied to a cleaning device. The present invention also proposes a cleaning device, which includes a cleaning component 200, a processor 100, a memory 300 and at least one camera 400. The camera 400 shoots to obtain a captured image, the processor 100 analyzes the captured image, the memory 300 stores the image captured by the camera 400 and the image formed after the processor 100 sorts it out, and the image stored in the memory 300 can be called by the processor 100. After receiving the instruction of the processor 100, the cleaning component 200 cleans the position to be cleaned. It can be understood that the functions of each program module of the cleaning device of this embodiment can be specifically embodied according to the method in the above control method embodiment, and its specific implementation process can refer to the relevant description of the above control method embodiment, which will not be repeated here. Among them, in this embodiment, the cleaning device is set as a floor cleaning robot, a sweeping robot or a carpet cleaning robot, etc. When the cleaning device is set as a carpet cleaning robot, the cleaning device has the ability to flush and clean the carpet.
[0117] The present invention also proposes a computer-readable storage medium, the above-mentioned computer program product includes a non-transitory computer-readable program medium storing a computer program, and the above-mentioned computer program is operable to enable a computer to execute part or all of the steps of any method recorded in the above-mentioned control method, that is, the specific implementation method of the computer-readable storage medium of the present invention is basically the same as the various embodiments of the above-mentioned node positioning method, and will not be repeated here.
[0118] As a computer-readable storage medium, any combination of one or more computer-readable media may be used. A computer-readable storage medium may be a computer-readable signal medium or a computer-readable storage medium. A computer-readable storage medium may be, for example, but not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, device, or device, or any combination thereof. More specific examples of computer-readable storage media (a non-exhaustive list) include: an electrical connection with one or more wires, a portable computer disk, a hard disk, a random access memory 300 (RAM), a read-only memory 300 (ROM), an erasable programmable read-only memory 300 (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory 300 (CDROM), an optical storage 300 piece, a magnetic storage 300 piece, or any suitable combination thereof. In this document, a computer-readable storage medium may be any tangible medium containing or storing a program that may be used by or in conjunction with an instruction execution system, device, or device.
[0119] The program code contained on the computer-readable storage medium may be transmitted using any appropriate medium, including but not limited to wireless, wireline, optical fiber cable, RF, etc., or any suitable combination of the foregoing.
[0120] In the above description, the suffixes such as "module", "component" or "unit" used to represent elements are only used to facilitate the description of the present invention, and have no specific meanings. Therefore, "module", "component" or "unit" can be used in a mixed manner.
[0121] It should be noted that, in this article, the terms "include", "comprises" or any other variations thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, an element defined by the sentence "comprises a ..." does not exclude the existence of other identical elements in the process, method, article or device including the element.
[0122] Through the description of the above implementation methods, those skilled in the art can clearly understand that the above embodiment methods can be implemented by means of software plus a necessary general hardware platform, and of course by hardware, but in many cases the former is a better implementation method.
[0123] The above are only preferred embodiments of the present invention, and are not intended to limit the patent scope of the present invention. Any equivalent structure or equivalent process transformation made using the contents of the present invention specification and drawings, or directly or indirectly applied in other related technical fields, are also included in the patent protection scope of the present invention.
Claims
1. A method for controlling a cleaning device, characterized in that: The control method comprises: The processor obtains a comparison image of the position to be cleaned and stores the comparison image in a memory; The camera captures an image of the location to be cleaned as a first image; The processor compares the first image with the comparison image to obtain a dirt mark; and The processor controls the cleaning component to clean dirt at the dirt mark.
2. The control method of the cleaning equipment according to claim 1, characterized in that: The processor acquires a comparison image of the position to be cleaned, and stores the comparison image in a memory, comprising: The camera captures an image of the location to be cleaned after being cleaned as a second image; The processor compares a plurality of second images obtained within a period of time, retains the same image features possessed by the plurality of second images, and obtains the comparison image; The memory stores the comparison image.
3. The control method of the cleaning equipment according to claim 1, characterized in that: The processor acquires a comparison image of the position to be cleaned, and stores the comparison image in a memory, comprising: The camera captures an image of the location to be cleaned after being thoroughly cleaned, as a third image; The processor uses the third image as the comparison image and stores the image in the memory.
4. The control method of the cleaning equipment according to claim 3, characterized in that: The step of capturing, by the camera, an image of the location to be cleaned after being thoroughly cleaned as a third image comprises: The camera captures an image of the location to be cleaned after being cleaned as a fourth image; The processor compares the fourth images obtained twice in a time sequence, and uses the fourth image with fewer image features as the third image.
5. The control method of the cleaning equipment according to claim 1, characterized in that: The control method of the cleaning device further comprises a step of the cleaning device obtaining a preset image, wherein the preset image is the first image or the comparison image; Wherein, the step of obtaining a preset image by the cleaning device comprises: The cleaning device moves along a predetermined route; The camera captures a plurality of images at different positions of the predetermined route according to a preset interval time as the fifth image; The processor arranges the plurality of fifth images to obtain the preset image.
6. The control method of the cleaning device according to claim 5, characterized in that: The processor collates a plurality of the fifth images to obtain the preset image, comprising: The processor identifies a common portion of two adjacent fifth images as a positioning mark; The processor adjusts the relative positions of the positioning marks of two adjacent fifth images so that the same parts of the two adjacent fifth images overlap; The processor removes one of the same parts in two adjacent fifth images to obtain the preset image.
7. The control method of the cleaning equipment according to claim 1, characterized in that: After the processor controls the cleaning component to clean dirt at the dirt mark, the method further includes: The camera captures an image of the location to be cleaned after being cleaned by the cleaning component as a sixth image; The processor compares the sixth image with the first image to determine whether the dirt mark changes; If yes, the cleaning component repeatedly cleans the dirt at the dirt mark until the dirt is removed; If not, the processor determines that the dirt at the dirt mark cannot be cleaned, and updates the comparison image according to the dirt mark.
8. The control method of the cleaning equipment according to claim 1, characterized in that: Before or at the same time as the step of taking the image of the location to be cleaned by the camera as the first image, the step further includes: The laser scanning component emits a scanning laser to the position to be cleaned, so that the processor obtains three-dimensional information of the object at the position to be cleaned as a height parameter; The processor records the height parameter in the first image so that the image feature corresponding to the first image has the height parameter.
9. The control method of the cleaning device according to claim 8, characterized in that: Before the step of the processor controlling the cleaning component to clean dirt at the dirt mark, the step further includes: The processor determines, based on the height parameter, whether the height of the dirt at the dirt mark is within a preset height; If so, the processor controls the cleaning component to clean the dirt at the dirt mark; If not, the processor determines that the dirt at the dirt mark cannot be cleaned, and updates the comparison image according to the dirt mark.
10. The control method of the cleaning equipment according to claim 1, characterized in that: The control method of the cleaning device further comprises a step in which the cleaning device displays a preset image on a user terminal, wherein the preset image is the first image or the comparison image; The step of displaying the preset image on the user terminal by the cleaning device includes: The laser scanning component emits a scanning laser to the position to be cleaned, so that the processor obtains the height parameter of the object at the position to be cleaned; The processor records the height parameter in the preset image and sends a preset image signal to the user terminal; The user terminal receives the preset image signal to display a preset image; wherein the preset image records at least one of a height parameter, a color parameter, and a grayscale parameter.
11. A cleaning device, characterized in that: The cleaning device includes a cleaning component, a processor, a memory and at least one camera, wherein the memory stores a control program that can be run on the processor, and when the processor executes the control program, the steps of the control method as described in any one of claims 1 to 10 are implemented.
12. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores a control program, and when the control program is executed by the processor, the steps of the control method according to any one of claims 1 to 10 are implemented.