Working method and device of sweeper, electronic equipment and computer storage medium

Abstract

The embodiment of the invention provides a working method and device of a sweeper, electronic equipment and a computer readable storage medium, and relates to the technical field of sweepers, and the working method comprises the steps that the sweeper collects ground information through each sensor to obtain a plurality of sensor data, then at least two parts of sensor data in the multiple parts of sensor data are combined in sequence to be matched with multiple preset working modes, and if a matched item exists, the matched working mode can be started. Therefore, the sweeper can perform mutual verification and comprehensive judgment by using the data of a plurality of sensors, so that the ground information is accurately identified, the problem that the detection precision of a single sensor is not enough is solved, false alarm and missing alarm are reduced, and the detection precision is improved. Meanwhile, after the ground information is determined, the corresponding working mode can be started, so that the working mode can be adjusted in real time according to different ground information, the adaptive capacity of the sweeper under different working conditions is enhanced, and the cleaning effect is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of sweeping machines, and in particular to a working method of a sweeping machine, a working device of a sweeping machine, an electronic device and a computer-readable storage medium. Background Art

[0002] A sweeper, also known as an automatic sweeper, smart vacuum cleaner, robot vacuum cleaner, etc., is a type of smart home appliance that can automatically clean the floor in the room with the help of artificial intelligence. It generally uses brushing and vacuuming to absorb the debris on the floor into its own garbage collection box, thereby completing the function of floor cleaning. Generally speaking, robots that complete sweeping, vacuuming, and mopping are also collectively classified as sweepers.

[0003] Common problems with current sweepers include: (1) the detection accuracy of a single sensor is insufficient, resulting in false alarms and missed alarms; (2) the ability to identify ground media is poor, and the cleaning strategy is relatively simple, resulting in poor cleaning results. Summary of the invention

[0004] In view of the above problems, embodiments of the present invention are proposed to provide a working method of a sweeping machine, a working device of a sweeping machine, an electronic device and a computer-readable storage medium that overcome the above problems or at least partially solve the above problems.

[0005] The embodiment of the present invention discloses a working method of a sweeping machine, the method comprising:

[0006] Acquire multiple sets of sensor data; the multiple sets of sensor data are collected by multiple sensors, and the sensors correspond to the sensor data one by one;

[0007] Matching at least two of the plurality of sensor data with the preset plurality of working modes;

[0008] If there is a matching item, the working mode corresponding to the matching item is started.

[0009] In one or more embodiments, the sensor includes a visual sensor and a cliff sensor; the multiple operating modes include a first operating mode, the first operating mode includes a first sensor data threshold and a first sensor data interval;

[0010] The matching of at least two of the multiple sensor data with the preset multiple working modes includes:

[0011] If the first sensor data corresponding to the visual sensor is not less than the first sensor data threshold, and the second sensor data corresponding to the cliff sensor belongs to the first sensor data interval, the first working mode is determined as the matching item.

[0012] In one or more embodiments, the sensor further comprises an infrared sensor; the plurality of operating modes further comprises a second operating mode, the second operating mode comprising a second sensor data threshold and a third sensor data threshold;

[0013] The matching of at least two of the multiple sensor data with the preset multiple working modes includes:

[0014] If the third sensor data corresponding to the visual sensor is not less than the second sensor data threshold, and the fourth sensor data corresponding to the infrared sensor is not less than the third sensor data threshold, the second working mode is determined as the matching item.

[0015] In one or more embodiments, the plurality of operating modes further include a third operating mode, the third operating mode including a target identifier, a second sensor data interval, and a third sensor data interval;

[0016] The matching of at least two of the multiple sensor data with the preset multiple working modes includes:

[0017] If the identification identifier corresponding to the visual sensor is the same as the target identifier, the second sensor data corresponding to the cliff sensor belongs to the second sensor data interval, and the fifth sensor data corresponding to the current sensor belongs to the third sensor data interval, the third working mode is determined as the matching item.

[0018] In one or more embodiments, the second working mode further includes a working gear, and the working gear includes a plurality of first sensor data gears and a plurality of second sensor data gears;

[0019] The method further comprises:

[0020] Matching the third sensor data with each first sensor data gear to obtain a target first sensor data gear, and matching the fourth sensor data with each second sensor data gear to obtain a target second sensor data gear;

[0021] The sensor data gear with the highest level between the target first sensor data gear and the target second sensor data gear is used as the working gear.

[0022] In one or more embodiments, the first working mode among the multiple working modes is a water accumulation treatment mode, the second working mode is a dirt treatment mode, and the third working mode is a carpet treatment mode.

[0023] Accordingly, an embodiment of the present invention discloses a working device of a sweeping machine, the device comprising:

[0024] An acquisition module, used for acquiring multiple sets of sensor data; the multiple sets of sensor data are collected by multiple sensors, and the sensors correspond to the sensor data one by one;

[0025] A matching module, used for matching at least two of the multiple sensor data with the preset multiple working modes;

[0026] The startup module is used to start the working mode corresponding to the matching item if there is a matching item.

[0027] In one or more embodiments, the sensor includes a visual sensor and a cliff sensor; the multiple operating modes include a first operating mode, the first operating mode includes a first sensor data threshold and a first sensor data interval;

[0028] The matching module is specifically used for:

[0029] If the first sensor data corresponding to the visual sensor is not less than the first sensor data threshold, and the second sensor data corresponding to the cliff sensor belongs to the first sensor data interval, the first working mode is determined as the matching item.

[0030] In one or more embodiments, the sensor further comprises an infrared sensor; the plurality of operating modes further comprises a second operating mode, the second operating mode comprising a second sensor data threshold and a third sensor data threshold;

[0031] The matching module is further specifically used for:

[0032] If the third sensor data corresponding to the visual sensor is not less than the second sensor data threshold, and the fourth sensor data corresponding to the infrared sensor is not less than the third sensor data threshold, the second working mode is determined as the matching item.

[0033] In one or more embodiments, the plurality of operating modes further include a third operating mode, the third operating mode including a target identifier, a second sensor data interval, and a third sensor data interval;

[0034] The matching module is further specifically used for:

[0035] If the identification identifier corresponding to the visual sensor is the same as the target identifier, the second sensor data corresponding to the cliff sensor belongs to the second sensor data interval, and the fifth sensor data corresponding to the current sensor belongs to the third sensor data interval, the third working mode is determined as the matching item.

[0036] In one or more embodiments, the second working mode further includes a working gear, and the working gear includes a plurality of first sensor data gears and a plurality of second sensor data gears;

[0037] The matching module is further specifically used for:

[0038] Matching the third sensor data with each first sensor data gear to obtain a target first sensor data gear, and matching the fourth sensor data with each second sensor data gear to obtain a target second sensor data gear;

[0039] The sensor data gear with the highest level between the target first sensor data gear and the target second sensor data gear is used as the working gear.

[0040] In one or more embodiments, the first working mode among the multiple working modes is a water accumulation treatment mode, the second working mode is a dirt treatment mode, and the third working mode is a carpet treatment mode.

[0041] Correspondingly, an embodiment of the present invention discloses an electronic device, including: a processor, a memory, and a computer program stored in the memory and capable of running on the processor, and when the computer program is executed by the processor, the various steps of the above-mentioned sweeping machine working method embodiment are implemented.

[0042] Correspondingly, an embodiment of the present invention discloses a computer-readable storage medium, on which a computer program is stored. When the computer program is executed by a processor, each step of the above-mentioned embodiment of the working method of the sweeping machine is implemented.

[0043] The embodiments of the present invention include the following advantages:

[0044] The sweeper collects ground information through various sensors to obtain multiple sets of sensor data, and then combines at least two of the multiple sets of sensor data with the preset multiple working modes in turn for matching. If there is a match, the matching working mode can be started. In this way, the sweeper can use the data of multiple sensors to verify and comprehensively judge each other, so as to accurately identify the ground information, solve the problem of insufficient detection accuracy of a single sensor, reduce false alarms and missed alarms, and improve detection accuracy. At the same time, after determining the ground information, the corresponding working mode can be started, so that the working mode can be adjusted in real time according to different ground information, which enhances the adaptability of the sweeper under different working conditions and improves the cleaning effect. BRIEF DESCRIPTION OF THE DRAWINGS

[0045] Figure 1 It is a flowchart of steps of an embodiment of a working method of a sweeping machine of the present invention;

[0046] Figure 2 It is a structural block diagram of an embodiment of a working device of a sweeping machine of the present invention. DETAILED DESCRIPTION

[0047] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, the present invention is further described in detail below with reference to the accompanying drawings and specific embodiments.

[0048] One of the core concepts of the embodiments of the present invention is that the sweeper can use the data of multiple sensors to verify and comprehensively judge each other, so as to accurately identify the ground information, solve the problem of insufficient detection accuracy of a single sensor, reduce false positives and false negatives, and improve detection accuracy. At the same time, after determining the ground information, the corresponding working mode can be started, so that the working mode can be adjusted in real time according to different ground information, which enhances the adaptability of the sweeper under different working conditions and improves the cleaning effect.

[0049] Reference Figure 1 , shows a flowchart of a working method of a sweeping machine according to an embodiment of the present invention, the method can be applied to a sweeping machine, and a plurality of sensors can be arranged in the sweeping machine. In the embodiment of the present invention, the sensors include but are not limited to: a visual sensor, a cliff sensor, an infrared sensor, and a current sensor.

[0050] Among them, visual sensors are instruments that use optical elements and imaging devices to obtain image information of the external environment. Image resolution is usually used to describe the performance of visual sensors. The accuracy of visual sensors is not only related to resolution, but also to the detection distance of the object being measured. The farther the object is, the worse its absolute position accuracy is. The visual sensor is the direct source of information for the entire machine vision system. It is mainly composed of one or two image sensors, and sometimes it is equipped with a light projector and other auxiliary equipment. The main function of the visual sensor is to obtain enough of the most original images to be processed by the machine vision system. Image sensors can use laser scanners, linear arrays, cameras, etc.

[0051] The cliff sensor can also be called a ground height detection sensor. The sensor can include a pair of infrared tubes, which can include an infrared emitting tube and a phototransistor. The infrared emitting tube emits infrared light, and the phototransistor receives infrared light. After being processed by the peripheral circuit, the phototransistor will feedback different data according to the change in the light intensity of the infrared emitting tube. Using this principle, the sensor can complete height detection and detection of different ground materials.

[0052] Infrared sensor is a sensor that uses infrared to process data. It has the advantages of high sensitivity. Infrared sensor can control the operation of driving device. Sensor that uses the physical properties of infrared to measure. Infrared is also called infrared light. It has the properties of reflection, refraction, scattering, interference, absorption, etc. Any substance, as long as it has a certain temperature (higher than absolute zero), can radiate infrared. Infrared sensor does not directly contact with the measured object during measurement, so there is no friction, and it has the advantages of high sensitivity and fast response. The sensor can include a pair of infrared tubes, and the infrared tubes can include an infrared transmitting tube and a phototransistor. The infrared transmitting tube emits infrared light, and the phototransistor receives infrared light. After being processed by the peripheral circuit, the phototransistor will feedback different data according to the change of light intensity of the infrared transmitting tube. This principle can be used to realize the degree of dirt detection. The degree of dirt detection measures the degree of dirt by detecting the number of pulses per unit time. When the number of pulses detected per unit time is greater than the set maximum value, it is severe dirt, when the number of pulses detected is moderate, it is moderate dirt, and when the number of pulses detected is small, it is light dirt.

[0053] A current sensor is a detection device that can sense the information of the measured current and convert the sensed information into an electrical signal or other required form of information output that meets certain standards according to certain rules to meet the requirements of information transmission, processing, storage, display, recording and control.

[0054] Furthermore, each sensor can collect corresponding sensor data, that is, there is a one-to-one correspondence between the sensor and the sensor data.

[0055] It should be noted that, in practical applications, in addition to the above-mentioned sensors, the number and types of sensors can be set according to actual needs, and the embodiments of the present invention do not limit this.

[0056] The specific steps may include:

[0057] Step 101, obtaining multiple sensor data.

[0058] After each sensor in the sweeping machine collects corresponding sensor data, the processing chip in the sweeping machine can obtain each sensor data from each sensor for processing.

[0059] Step 102: Match at least two of the multiple sensor data with the preset multiple working modes.

[0060] After acquiring each set of sensor data, the processing chip can match at least two sets of sensor data with preset multiple working modes according to preset rules. That is to say, each working mode can be matched with at least two sets of sensor data. For example, sensor data 1 can be combined with sensor data 2 for matching, or sensor data 1 can be combined with sensor data 3 for matching.

[0061] It should be noted that the matching rules can be set before matching. In practical applications, specific matching rules can be set according to actual needs, and the embodiment of the present invention does not limit this.

[0062] Step 103: If there is a matching item, start the working mode corresponding to the matching item.

[0063] If there is a match, it means that the corresponding working mode is set in the sweeping robot, so the sweeping robot can start the working mode.

[0064] In an embodiment of the present invention, the sweeping machine collects ground information through various sensors to obtain multiple sets of sensor data, and then sequentially combines at least two of the multiple sets of sensor data with multiple preset working modes for matching. If there is a match, the matching working mode can be started. In this way, the sweeping machine can use the data of multiple sensors to conduct mutual verification and comprehensive judgment, so as to accurately identify the ground information, solve the problem of insufficient detection accuracy of a single sensor, reduce false alarms and missed alarms, and improve detection accuracy. At the same time, after determining the ground information, the corresponding working mode can be started, so that the working mode can be adjusted in real time according to different ground information, which enhances the adaptability of the sweeping machine under different working conditions and improves the cleaning effect.

[0065] The embodiment of the present invention Figure 1 The working method of a sweeping machine shown in the figure is further described, and specifically may include the following steps:

[0066] Step 101, acquiring multiple sets of sensor data; the multiple sets of sensor data are collected by multiple sensors, and the sensors correspond to the sensor data one by one.

[0067] After each sensor in the sweeping machine collects corresponding sensor data, the processing chip in the sweeping machine can obtain each sensor data from each sensor for processing.

[0068] Step 102: Match at least two of the multiple sensor data with the preset multiple working modes.

[0069] After acquiring each set of sensor data, the processing chip can match at least two sets of sensor data with a plurality of preset working modes according to preset rules, that is, each working mode can be matched with at least two sets of sensor data.

[0070] It should be noted that the matching rules can be set before matching. In practical applications, specific matching rules can be set according to actual needs, and the embodiment of the present invention does not limit this.

[0071] In an embodiment of the present invention, the multiple working modes include a first working mode, and the first working mode includes a first sensor data threshold and a first sensor data interval;

[0072] The matching of at least two of the multiple sensor data with the preset multiple working modes includes:

[0073] If the first sensor data corresponding to the visual sensor is not less than the first sensor data threshold, and the second sensor data corresponding to the cliff sensor belongs to the first sensor data interval, the first working mode is determined as the matching item.

[0074] Specifically, the multiple working modes in the sweeper may include a first working mode, and the first working mode may be a water accumulation processing mode for cleaning the accumulated water on the ground.

[0075] When the sweeper is working normally, after each sensor collects the corresponding sensor data, the sensor data collected by the visual sensor (recorded as "first sensor data" for easy distinction) and the sensor data collected by the cliff sensor (recorded as "second sensor data") can be jointly detected, that is, to detect whether the first sensor data is less than a preset sensor data threshold (recorded as "first sensor data threshold"), and to detect whether the second sensor data belongs to a preset sensor data interval (recorded as "first sensor data interval").

[0076] If the first sensor data is not less than the first sensor data threshold, and the second sensor data belongs to the first sensor data interval, then the first operating mode among the multiple operating modes may be determined as a matching item.

[0077] Further, the first sensor data threshold may be generated in the following manner.

[0078] During the positioning and mapping stage of the sweeper, the visual sensor can be used to collect information about the ground without water accumulation, and then the visual sensor can be used to collect information about the ground with water accumulation, and then the ground with water accumulation can be used to obtain ground information. The difference between the ground information without water accumulation and the ground information with water accumulation is calculated, and the difference obtained can be used as the first sensor data threshold. When the first sensor data is not less than the first sensor data threshold, it can be determined that there is water accumulation on the ground.

[0079] Among them, the positioning and mapping stage mainly completes the collection of mapping information of the cleaning area, and does not execute sweeping and dragging action instructions.

[0080] It should be noted that, in practical applications, multiple differences can be calculated, and then the average value of the differences can be calculated using the multiple differences, and the average value of the differences is used as the first sensor data threshold. Of course, the specific method of generating the first sensor data threshold can also be other methods, and in practical applications, it can be set according to actual needs, and the embodiment of the present invention does not limit this.

[0081] Furthermore, the first sensor data interval may be generated in the following manner.

[0082] During the positioning and mapping stage of the sweeper, the cliff sensor can be used to collect information about the ground without water accumulation, and multiple sets of ground information about the ground without water accumulation can be obtained. Then, the cliff sensor can be used to collect information about the ground with water accumulation, and multiple sets of ground information about the ground with water accumulation can be obtained. The difference between each set of ground information about the ground without water accumulation and the ground information about the ground with water accumulation is calculated to obtain the range of the difference, which can be used as the first sensor data interval. When the second sensor data belongs to the first sensor data interval, it can be determined that there is water accumulation on the ground.

[0083] Step 103: If there is a matching item, start the working mode corresponding to the matching item.

[0084] If there is a match, it means that the corresponding working mode is set in the sweeping machine, so the sweeping machine can start the working mode. In other words, after determining that the match is the first working mode, the sweeping machine can be switched to the first working mode to clean up the accumulated water on the ground.

[0085] In an embodiment of the present invention, the sweeping machine collects ground information through various sensors to obtain multiple sets of sensor data, and then jointly matches the first sensor data corresponding to the visual sensor and the second sensor data corresponding to the cliff sensor in the multiple sets of sensor data. If a matching working mode exists, it indicates that there is water on the ground, so the matching working mode is activated to clean up the water. In this way, the sweeping machine can use the data of the visual sensor and the cliff sensor to verify and comprehensively judge each other, so as to accurately identify the water on the ground, solve the problem of insufficient detection accuracy of a single sensor, reduce false alarms and missed alarms, and improve detection accuracy. At the same time, after determining that there is water on the ground, the corresponding working mode can be activated, so that the working mode can be adjusted in real time according to the water on the ground, which enhances the adaptability of the sweeping machine under different working conditions and improves the cleaning effect of the water on the ground.

[0086] The embodiment of the present invention Figure 1 The working method of a sweeping machine shown in the figure is further described in an embodiment, which may specifically include the following steps:

[0087] Step 101, acquiring multiple sets of sensor data; the multiple sets of sensor data are collected by multiple sensors, and the sensors correspond to the sensor data one by one.

[0088] After each sensor in the sweeping machine collects corresponding sensor data, the processing chip in the sweeping machine can obtain each sensor data from each sensor for processing.

[0089] Step 102: Match at least two of the multiple sensor data with the preset multiple working modes.

[0090] After acquiring each set of sensor data, the processing chip can match at least two sets of sensor data with a plurality of preset working modes according to preset rules, that is, each working mode can be matched with at least two sets of sensor data.

[0091] It should be noted that the matching rules can be set before matching. In practical applications, specific matching rules can be set according to actual needs, and the embodiment of the present invention does not limit this.

[0092] In an embodiment of the present invention, the multiple working modes further include a second working mode, and the second working mode includes a second sensor data threshold and a third sensor data threshold;

[0093] The matching of at least two of the multiple sensor data with the preset multiple working modes includes:

[0094] If the third sensor data corresponding to the visual sensor is not less than the second sensor data threshold, and the fourth sensor data corresponding to the infrared sensor is not less than the third sensor data threshold, the second working mode is determined as the matching item.

[0095] Specifically, the multiple working modes in the sweeping machine may also include a second working mode, and the second working mode may be a dirt handling mode for cleaning dirt on the ground.

[0096] When the sweeping machine is working normally, after each sensor collects the corresponding sensor data, the sensor data collected by the visual sensor (recorded as "third sensor data") and the sensor data collected by the infrared sensor (recorded as "fourth sensor data") can be jointly detected, that is, to detect whether the third sensor data is less than a preset sensor data threshold (recorded as "second sensor data threshold"), and to detect whether the fourth sensor data is less than a preset sensor data threshold (recorded as "third sensor data threshold").

[0097] If the third sensor data is not less than the second sensor data threshold, and the fourth sensor data is not less than the third sensor data threshold, then the second operating mode among the multiple operating modes may be determined as a matching item.

[0098] Further, the second sensor data threshold may be generated in the following manner.

[0099] During the positioning and mapping stage of the sweeper, the visual sensor can be used to collect information about the clean ground and obtain ground information about the clean ground. Then, the visual sensor can be used to collect information about the dirty ground and obtain ground information about the dirty ground. The difference between the clean ground information and the dirty ground information is calculated, and the difference can be used as the second sensor data threshold. When the third sensor data is not less than the second sensor data threshold, it can be determined that the ground is dirty.

[0100] Among them, the positioning and mapping stage mainly completes the collection of mapping information of the cleaning area, and does not execute sweeping and dragging action instructions.

[0101] Further, the third sensor data threshold may be generated in the following manner.

[0102] During the positioning and mapping stage of the sweeper, the infrared sensor can be used to collect information about the clean ground to obtain clean ground information, and then the infrared sensor can be used to collect information about the dirty ground to obtain dirty ground information. The difference between the clean ground information and the dirty ground information is calculated, and the difference can be used as the third sensor data threshold. When the fourth sensor data is not less than the third sensor data threshold, it can be determined that the ground is dirty.

[0103] In an embodiment of the present invention, the second working mode further includes a working gear, and the working gear includes a plurality of first sensor data gears and a plurality of second sensor data gears;

[0104] The method further comprises:

[0105] Matching the third sensor data with each first sensor data gear to obtain a target first sensor data gear, and matching the fourth sensor data with each second sensor data gear to obtain a target second sensor data gear;

[0106] The sensor data gear with the highest level between the target first sensor data gear and the target second sensor data gear is used as the working gear.

[0107] Specifically, the second working mode may further include working gears, and the working gears may include multiple first sensor data gears and multiple second sensor data gears. For example, the first sensor data gear may include three gears: severe, moderate, and mild, and the second sensor data gear may also include three gears: severe, moderate, and mild.

[0108] After determining the second working mode, the third sensor data can be matched with each first sensor data gear to obtain the target first sensor data gear, and the fourth sensor data can be matched with each second sensor data gear to obtain the target second sensor data gear. For example, continuing with the above example, the third sensor data can be matched with the three gears of heavy, medium and light to obtain the "medium" gear, and the fourth sensor data can be matched with the three gears of heavy, medium and light to obtain the "high" gear.

[0109] Then, the highest sensor data gear of the target first sensor data gear and the target second sensor data gear is used as the working gear. For example, in the above example, after determining the "medium" gear and the "high" gear, the "high" gear can be used as the working gear of the sweeper.

[0110] The order of the levels of each gear from high to low may be "high" > "medium" > "mild".

[0111] Furthermore, the "mild" gear can be set to the second sensor data threshold and the third sensor data threshold. That is, when the third sensor data is not less than the "mild" in the first sensor data gear, and the fourth sensor data is not less than the "mild" in the second sensor data gear, the second working mode among the multiple working modes can be determined as a match.

[0112] It should be noted that, in actual applications, the specific number of gears of the first sensor data gear and the second sensor data gear may include not only the three gears of severe, moderate and mild, but also may be set according to actual needs, and the embodiment of the present invention does not limit this.

[0113] Step 103: If there is a matching item, start the working mode corresponding to the matching item.

[0114] If there is a match, it means that the corresponding working mode is set in the sweeping machine, so the sweeping machine can start the working mode. In other words, after determining that the match is the second working mode, the sweeping machine can be switched to the second working mode to clean the dirt on the ground.

[0115] In an embodiment of the present invention, the sweeping machine collects ground information through various sensors to obtain multiple sets of sensor data, and then jointly matches the third sensor data corresponding to the visual sensor and the fourth sensor data corresponding to the infrared sensor in the multiple sets of sensor data. If a matching working mode exists, it indicates that there is dirt on the ground, so the matching working mode is activated to clean the dirt. In this way, the sweeping machine can use the data of the visual sensor and the infrared sensor to verify and comprehensively judge each other, so as to accurately identify the dirt on the ground, solve the problem of insufficient detection accuracy of a single sensor, reduce false alarms and missed alarms, and improve detection accuracy. At the same time, after determining that there is dirt on the ground, the corresponding working mode can be activated, so that the working mode can be adjusted in real time according to the dirt on the ground, which enhances the adaptability of the sweeping machine under different working conditions and improves the cleaning effect of dirt on the ground.

[0116] The embodiment of the present invention Figure 1 The working method of a sweeping machine shown in the figure is further described in an embodiment, which may specifically include the following steps:

[0117] Step 101, acquiring multiple sets of sensor data; the multiple sets of sensor data are collected by multiple sensors, and the sensors correspond to the sensor data one by one.

[0118] After each sensor in the sweeping machine collects corresponding sensor data, the processing chip in the sweeping machine can obtain each sensor data from each sensor for processing.

[0119] Step 102: Match at least two of the multiple sensor data with the preset multiple working modes.

[0120] After acquiring each set of sensor data, the processing chip can match at least two sets of sensor data with preset multiple working modes according to preset rules. That is to say, each working mode can be matched with at least two sets of sensor data. For example, sensor data 1 can be combined with sensor data 2 for matching, or sensor data 1 can be combined with sensor data 3 for matching.

[0121] It should be noted that the matching rules can be set before matching. In practical applications, specific matching rules can be set according to actual needs, and the embodiment of the present invention does not limit this.

[0122] In an embodiment of the present invention, the multiple working modes further include a third working mode, and the third working mode includes a target identifier, a second sensor data interval, and a third sensor data interval;

[0123] The matching of at least two of the multiple sensor data with the preset multiple working modes includes:

[0124] If the identification identifier corresponding to the visual sensor is the same as the target identifier, the second sensor data corresponding to the cliff sensor belongs to the second sensor data interval, and the fifth sensor data corresponding to the current sensor belongs to the third sensor data interval, the third working mode is determined as the matching item.

[0125] Specifically, the multiple working modes in the sweeping machine may further include a third working mode, and the third working mode may be a carpet processing mode for cleaning the carpet on the ground.

[0126] When the sweeper is working normally, after each sensor collects the corresponding sensor data, it can jointly detect the identification of the physical object recognized by the visual sensor, the second sensor data collected by the cliff sensor, and the sensor data collected by the current sensor (recorded as "fifth sensor data"), that is, detect whether the identification identification is the same as the target identification, whether the second sensor data belongs to a preset sensor data interval (recorded as "second sensor data interval"), and detect whether the fifth sensor data belongs to a preset sensor data interval (recorded as "third sensor data interval").

[0127] If the identification identifier is the same as the target identifier, and the second sensor data belongs to the second sensor data interval, and the fifth sensor data belongs to the third sensor data interval, then the third operating mode among the multiple operating modes can be determined as a matching item.

[0128] Furthermore, the target identifier may be generated in the following manner.

[0129] During the positioning and mapping stage of the sweeper, the visual sensor can be used to collect information about the presence of carpets on the ground, and obtain ground information about the presence of carpets on the ground. The carpets in the ground information are then identified as target identifiers. When the identifier of the identified physical object is the same as the target identifier, it can be determined that there is a carpet on the ground.

[0130] Among them, the positioning and mapping stage mainly completes the collection of mapping information of the cleaning area, and does not execute sweeping and dragging action instructions.

[0131] Furthermore, the second sensor data interval may be generated in the following manner.

[0132] During the positioning and mapping stage of the sweeper, the cliff sensor can be used to collect information about the ground without carpets, and then the cliff sensor can be used to collect information about the ground with carpets, and then multiple groups of ground information about the ground with carpets can be obtained. The difference between each group of ground information without carpets and ground information with carpets is calculated to obtain a range of the difference, which can be used as the second sensor data interval. When the second sensor data belongs to the second sensor data interval, it can be determined that there is water on the ground.

[0133] Furthermore, the third sensor data interval may be generated in the following manner.

[0134] In the positioning and mapping stage of the sweeper, the current sensor can be used to collect the fluctuation range of the working current of the driving wheel when the sweeper works on different carpets, determine the upper and lower limits of the working current, and use the interval formed by the upper and lower limits as the third sensor data interval. When the fifth sensor data belongs to the third sensor data interval, it can be determined that there is a carpet on the ground.

[0135] Step 103: If there is a matching item, start the working mode corresponding to the matching item.

[0136] If there is a match, it means that the corresponding working mode is set in the sweeping machine, so the sweeping machine can start the working mode. In other words, after determining that the match is the third working mode, the sweeping machine can be switched to the third working mode to clean the carpet on the ground.

[0137] In an embodiment of the present invention, the sweeping machine collects ground information through various sensors to obtain multiple sets of sensor data, and then performs joint matching on the identification mark corresponding to the visual sensor, the second sensor data corresponding to the cliff sensor, and the fifth sensor data corresponding to the current sensor in the multiple sets of sensor data. If there is a matching working mode, it means that there is a carpet on the ground, so the matching working mode is activated to clean the carpet. In this way, the sweeping machine can use the data of the visual sensor, the cliff sensor, and the current sensor to verify and comprehensively judge each other, so as to accurately identify the carpet on the ground, solve the problem of insufficient detection accuracy of a single sensor, reduce false alarms and missed alarms, and improve detection accuracy. At the same time, after determining that there is a carpet on the ground, the corresponding working mode can be activated, so that the working mode can be adjusted in real time for the carpet on the ground, thereby enhancing the adaptability of the sweeping machine under different working conditions and improving the cleaning effect of the carpet on the ground.

[0138] It should be noted that, for the sake of simplicity, the method embodiments are described as a series of action combinations, but those skilled in the art should be aware that the embodiments of the present invention are not limited by the order of the actions described, because according to the embodiments of the present invention, certain steps can be performed in other orders or simultaneously. Secondly, those skilled in the art should also be aware that the embodiments described in the specification are all preferred embodiments, and the actions involved are not necessarily required by the embodiments of the present invention.

[0139] Reference Figure 2 , shows a structural block diagram of a working device embodiment of a sweeping machine of the present invention, which may specifically include the following modules:

[0140] An acquisition module 201 is used to acquire multiple sets of sensor data; the multiple sets of sensor data are collected by multiple sensors, and the sensors correspond to the sensor data one by one;

[0141] A matching module 202, used for matching at least two sensor data among the multiple sensor data with the preset multiple working modes;

[0142] The start module 203 is used to start the working mode corresponding to the matching item if there is a matching item.

[0143] In an embodiment of the present invention, the sensor includes a visual sensor and a cliff sensor; the multiple working modes include a first working mode, and the first working mode includes a first sensor data threshold and a first sensor data interval;

[0144] The matching module is specifically used for:

[0145] If the first sensor data corresponding to the visual sensor is not less than the first sensor data threshold, and the second sensor data corresponding to the cliff sensor belongs to the first sensor data interval, the first working mode is determined as the matching item.

[0146] In an embodiment of the present invention, the sensor further comprises an infrared sensor; the multiple working modes further comprise a second working mode, and the second working mode comprises a second sensor data threshold and a third sensor data threshold;

[0147] The matching module is further specifically used for:

[0148] If the third sensor data corresponding to the visual sensor is not less than the second sensor data threshold, and the fourth sensor data corresponding to the infrared sensor is not less than the third sensor data threshold, the second working mode is determined as the matching item.

[0149] In an embodiment of the present invention, the multiple working modes further include a third working mode, and the third working mode includes a target identifier, a second sensor data interval, and a third sensor data interval;

[0150] The matching module is further specifically used for:

[0151] If the identification identifier corresponding to the visual sensor is the same as the target identifier, the second sensor data corresponding to the cliff sensor belongs to the second sensor data interval, and the fifth sensor data corresponding to the current sensor belongs to the third sensor data interval, the third working mode is determined as the matching item.

[0152] In an embodiment of the present invention, the second working mode further includes a working gear, and the working gear includes a plurality of first sensor data gears and a plurality of second sensor data gears;

[0153] The matching module is further specifically used for:

[0154] Matching the third sensor data with each first sensor data gear to obtain a target first sensor data gear, and matching the fourth sensor data with each second sensor data gear to obtain a target second sensor data gear;

[0155] The sensor data gear with the highest level between the target first sensor data gear and the target second sensor data gear is used as the working gear.

[0156] In the embodiment of the present invention, the first working mode among the multiple working modes is the water treatment mode, the second working mode is the dirt treatment mode, and the third working mode is the carpet treatment mode.

[0157] As for the device embodiment, since it is basically similar to the method embodiment, the description is relatively simple, and the relevant parts can be referred to the partial description of the method embodiment.

[0158] An embodiment of the present invention further provides an electronic device, including:

[0159] It includes a processor, a memory, and a computer program stored in the memory and capable of running on the processor. When the computer program is executed by the processor, each process of the working method embodiment of the above-mentioned sweeping machine is implemented, and the same technical effect can be achieved. To avoid repetition, it will not be repeated here.

[0160] An embodiment of the present invention also provides a computer-readable storage medium, on which a computer program is stored. When the computer program is executed by a processor, the various processes of the above-mentioned sweeping machine working method embodiment are implemented, and the same technical effect can be achieved. To avoid repetition, it will not be repeated here.

[0161] The various embodiments in this specification are described in a progressive manner, and each embodiment focuses on the differences from other embodiments. The same or similar parts between the various embodiments can be referenced to each other.

[0162] It will be appreciated by those skilled in the art that the embodiments of the present invention may be provided as methods, devices, or computer program products. Therefore, the embodiments of the present invention may take the form of a complete hardware embodiment, a complete software embodiment, or an embodiment combining software and hardware. Moreover, the embodiments of the present invention may take the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program codes.

[0163] The embodiments of the present invention are described with reference to the flowcharts and / or block diagrams of the methods, terminal devices (systems), and computer program products according to the embodiments of the present invention. It should be understood that each process and / or block in the flowchart and / or block diagram, as well as the combination of the processes and / or blocks in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing terminal device to generate a machine, so that the instructions executed by the processor of the computer or other programmable data processing terminal device generate instructions for implementing the processes in the flowchart and / or block diagram. Figure 1 A process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0164] These computer program instructions may also be stored in a computer-readable memory capable of directing a computer or other programmable data processing terminal device to operate in a specific manner, so that the instructions stored in the computer-readable memory produce a manufactured product including an instruction device, which implements the process Figure 1 A process or multiple processes and / or boxes Figure 1 A function specified in one or more boxes.

[0165] These computer program instructions can also be loaded onto a computer or other programmable data processing terminal device so that a series of operating steps are executed on the computer or other programmable terminal device to produce a computer-implemented process, thereby providing instructions for executing on the computer or other programmable terminal device to implement the process. Figure 1 A process or multiple processes and / or boxes Figure 1 The steps for the functions specified in one or more boxes.

[0166] Although the preferred embodiments of the present invention have been described, those skilled in the art may make additional changes and modifications to these embodiments once they have learned the basic creative concept. Therefore, the appended claims are intended to be interpreted as including the preferred embodiments and all changes and modifications that fall within the scope of the embodiments of the present invention.

[0167] Finally, it should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or terminal 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 terminal device. In the absence of further restrictions, the elements defined by the sentence "comprise a ..." do not exclude the existence of other identical elements in the process, method, article or terminal device including the elements.

[0168] The working method of a sweeping machine and a working device of a sweeping machine provided by the present invention are introduced in detail above. Specific examples are used herein to illustrate the principle and implementation mode of the present invention. The description of the above embodiments is only used to help understand the method of the present invention and its core idea; at the same time, for general technical personnel in this field, according to the idea of ​​the present invention, there will be changes in the specific implementation mode and application scope. In summary, the content of this specification should not be understood as limiting the present invention.

Claims

1. A working method of a sweeping machine, characterized in that: The method comprises: Acquire multiple sets of sensor data; the multiple sets of sensor data are collected by multiple sensors, and the sensors correspond to the sensor data one by one; Matching at least two of the plurality of sensor data with the preset plurality of working modes; If there is a matching item, the working mode corresponding to the matching item is started.

2. The working method of the sweeping machine according to claim 1, characterized in that: The sensor includes a visual sensor and a cliff sensor; the multiple working modes include a first working mode, and the first working mode includes a first sensor data threshold and a first sensor data interval; The matching of at least two of the multiple sensor data with the preset multiple working modes includes: If the first sensor data corresponding to the visual sensor is not less than the first sensor data threshold, and the second sensor data corresponding to the cliff sensor belongs to the first sensor data interval, the first working mode is determined as the matching item.

3. The working method of the sweeping machine according to claim 1, characterized in that: The sensor further comprises an infrared sensor; the multiple working modes further comprise a second working mode, the second working mode comprising a second sensor data threshold and a third sensor data threshold; The matching of at least two of the multiple sensor data with the preset multiple working modes includes: If the third sensor data corresponding to the visual sensor is not less than the second sensor data threshold, and the fourth sensor data corresponding to the infrared sensor is not less than the third sensor data threshold, the second working mode is determined as the matching item.

4. The working method of the sweeping machine according to claim 1, characterized in that: The multiple working modes also include a third working mode, and the third working mode includes a target identifier, a second sensor data interval, and a third sensor data interval; The matching of at least two of the multiple sensor data with the preset multiple working modes includes: If the identification identifier corresponding to the visual sensor is the same as the target identifier, the second sensor data corresponding to the cliff sensor belongs to the second sensor data interval, and the fifth sensor data corresponding to the current sensor belongs to the third sensor data interval, the third working mode is determined as the matching item.

5. The working method of the sweeping machine according to claim 3, characterized in that: The second working mode further includes a working gear, and the working gear includes a plurality of first sensor data gears and a plurality of second sensor data gears; The method further comprises: Matching the third sensor data with each first sensor data gear to obtain a target first sensor data gear, and matching the fourth sensor data with each second sensor data gear to obtain a target second sensor data gear; The sensor data gear with the highest level between the target first sensor data gear and the target second sensor data gear is used as the working gear.

6. The working method of the sweeping machine according to claim 1, characterized in that: The first working mode of the multiple working modes is a water treatment mode, the second working mode is a dirt treatment mode, and the third working mode is a carpet treatment mode.

7. A working device of a sweeping machine, characterized in that: The device comprises: An acquisition module, used for acquiring multiple sets of sensor data; the multiple sets of sensor data are collected by multiple sensors, and the sensors correspond to the sensor data one by one; A matching module, used for matching at least two of the multiple sensor data with the preset multiple working modes; The startup module is used to start the working mode corresponding to the matching item if there is a matching item.

8. The working device of the sweeper according to claim 1, characterized in that: The sensor includes a visual sensor and a cliff sensor; the multiple working modes include a first working mode, and the first working mode includes a first sensor data threshold and a first sensor data interval; The matching module is specifically used for: If the first sensor data corresponding to the visual sensor is not less than the first sensor data threshold, and the second sensor data corresponding to the cliff sensor belongs to the first sensor data interval, the first working mode is determined as the matching item.

9. An electronic device, characterized in that: include: A processor, a memory, and a computer program stored in the memory and capable of running on the processor, wherein when the computer program is executed by the processor, the steps of the working method of the sweeping machine as claimed in any one of claims 1 to 6 are implemented.

10. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the steps of the working method of the sweeping machine as claimed in any one of claims 1 to 6 are implemented.

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