Sweeper control method, device and equipment based on green light and storage medium

Abstract

The invention relates to the technical field of sweepers, and discloses a sweeper control method, device and equipment based on green light and a storage medium, and the method comprises the steps: carrying out garbage particle analysis according to target detection data obtained by detecting a target area under the irradiation of green light through a detector, and obtaining target analysis data; determining sweeping control data according to the target analysis data; and controlling a sweeper to sweep the target area according to the sweeping control data. The sweeping control data are dynamically determined according to the garbage particle analysis result, sweeping of the sweeper is promoted to be matched with sweeping needed by ground garbage, and therefore the cleanliness degree of the ground is guaranteed; by means of the data obtained by detecting the target area under the irradiation of the green light, the garbage particles in the target area can be better detected, and the matching degree of sweeping of the sweeper and sweeping of ground garbage can be improved.

Description

Technical Field

[0001] The present invention relates to the technical field of sweeping machines, and in particular to a sweeping machine control method, device, equipment and storage medium based on green light. Background Art

[0002] A sweeping machine, also known as a sweeping robot, automatic sweeping machine, smart vacuum cleaner, robot vacuum cleaner, cleaning machine, etc., is a type of smart home appliance that can automatically complete floor cleaning work in the room with the help of artificial intelligence. A sweeping machine generally uses a brushing and vacuuming method to absorb dust and debris on the ground into its own dust box (also known as a garbage collection box), thereby completing the function of floor cleaning. However, the suction force of existing sweeping machines is constant. When encountering a floor with a lot of dust or slightly larger debris, it still uses conventional suction force for cleaning, and the cleanliness of the floor cannot be guaranteed. Summary of the invention

[0003] Based on this, it is necessary to propose a green light-based sweeper control method, device, equipment and storage medium to address the technical problem that the existing sweepers in the prior art have constant suction force, and when encountering a ground with a lot of dust or a slightly larger volume of debris, they still use conventional suction force to clean, and the cleanliness of the ground cannot be guaranteed.

[0004] In a first aspect, a green light-based sweeper control method is provided, the method comprising:

[0005] Acquire target detection data of the target area, wherein the target detection data is data obtained by detecting the target area under green light illumination;

[0006] Performing garbage particle analysis according to the target detection data to obtain target analysis data;

[0007] Determine sweeping control data according to the target analysis data;

[0008] According to the sweeping control data, the sweeping machine is controlled to clean the target area.

[0009] Furthermore, the step of acquiring target detection data of the target area includes:

[0010] Obtaining a green light on instruction, and controlling the green light source of the sweeper to emit green light to the target area according to the green light on instruction;

[0011] The data obtained by the detector of the sweeping machine detecting the target area under the green light is obtained as the target detection data of the target area.

[0012] Further, the detector is a camera of the sweeper for obstacle avoidance detection;

[0013] The step of performing garbage particle analysis according to the target detection data to obtain target analysis data comprises:

[0014] Obtaining data obtained by the camera performing obstacle avoidance detection on the target area as obstacle avoidance detection data;

[0015] Determining an obstacle area of ​​the target area according to the obstacle avoidance detection data;

[0016] Cutting data corresponding to the obstacle area from the target detection data to obtain ground detection data;

[0017] Garbage particle analysis is performed based on the ground detection data to obtain the target analysis data.

[0018] Further, the detector is located on a side of the green light source away from the ground;

[0019] The green light source emits green light at a preset illumination angle to illuminate the target area.

[0020] Furthermore, the number of the green light sources is multiple;

[0021] The step of acquiring target detection data of the target area includes:

[0022] Obtaining a green light on instruction, and controlling each green light source of the sweeper to emit green light to the target area according to the green light on instruction;

[0023] For each green light source emitting green light to the target area, data obtained by the detector of the sweeper detecting the target area under the green light illumination is obtained as the target detection data;

[0024] The step of performing garbage particle analysis according to the target detection data to obtain target analysis data comprises:

[0025] Perform garbage particle analysis according to each of the target detection data to obtain initial analysis data corresponding to each of the target detection data;

[0026] The various initial analysis data are fused to obtain the target analysis data of the target area.

[0027] Furthermore, the step of performing garbage particle analysis according to the target detection data to obtain target analysis data includes:

[0028] Correcting the target detection data according to the shooting angle of the target detection data, the angle between the green light beam and the ground, and the preset detection distance;

[0029] Garbage particle analysis is performed based on the corrected target detection data to obtain the target analysis data.

[0030] Furthermore, the step of performing garbage particle analysis according to the target detection data to obtain target analysis data further includes:

[0031] Perform garbage particle analysis based on the target detection data to obtain initial analysis data;

[0032] The initial analysis data is corrected according to the shooting angle of the target detection data, the angle between the green light beam and the ground, and the preset detection distance to obtain the target analysis data.

[0033] In a second aspect, a green light-based sweeper control device is provided, the device comprising:

[0034] A data acquisition module, used to acquire target detection data of a target area, wherein the target detection data is data obtained by detecting the target area under green light irradiation;

[0035] A garbage particle analysis module, used to perform garbage particle analysis according to the target detection data to obtain target analysis data;

[0036] A sweeping control data module, used to determine sweeping control data according to the target analysis data;

[0037] A cleaning control module is used to control the sweeping machine to clean the target area according to the sweeping control data.

[0038] In a third aspect, a sweeping machine is provided, which includes a green light source, a detector, a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor is electrically connected to the green light source and the detector, and the processor implements the steps of the above-mentioned green light-based sweeping machine control method when executing the computer program.

[0039] In a fourth aspect, a computer-readable storage medium is provided, wherein the computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the steps of the green light-based sweeper control method are implemented.

[0040] The green light-based sweeper control method, device, equipment and storage medium of the present application obtains target detection data of the target area, the target detection data is data obtained by detecting the target area under green light irradiation, performs garbage particle analysis based on the target detection data to obtain target analysis data, determines sweeping control data based on the target analysis data, and controls the sweeper to clean the target area based on the sweeping control data. It realizes dynamically clarifying the sweeping control data based on the results of the garbage particle analysis, prompting the sweeper's cleaning to match the required cleaning of ground garbage, thereby ensuring the cleanliness of the ground; by using the data obtained by detecting the target area under green light irradiation, it is possible to better detect garbage particles in the target area, which is beneficial to improve the matching degree between the sweeper's cleaning and the required cleaning of ground garbage. BRIEF DESCRIPTION OF THE DRAWINGS

[0041] 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 these drawings without paying creative work.

[0042] in:

[0043] Figure 1 This is a diagram of an application environment of a green light-based sweeper control method in one embodiment;

[0044] Figure 2 is a flow chart of a green light based sweeper control method in one embodiment;

[0045] Figure 3 is a flow chart of a green light based sweeper control method in one embodiment;

[0046] Figure 4 is a structural block diagram of a green light-based sweeper control device in one embodiment;

[0047] Figure 5 A schematic diagram of the structure of a sweeping machine in one embodiment;

[0048] Figure 6 A schematic diagram of a partial structure of a sweeping machine in one embodiment;

[0049] Figure 7 Schematic diagram of green light irradiation and detection in one embodiment. DETAILED DESCRIPTION

[0050] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0051] The green light based sweeper control method provided by the embodiment of the present invention can be applied in the following aspects: Figure 1 In the application environment, Figure 1 The application environment includes a sweeping machine 1, a server 2, and a client 3. The client 3 communicates with the server 2 through a network, and the sweeping machine 1 communicates with the server 2 and the client 3 respectively.

[0052] Optionally, the sweeper 1 is configured to implement the green light-based sweeper control method of the present application, which specifically includes: obtaining target detection data of the target area, the target detection data is data obtained by detecting the target area under green light irradiation, performing garbage particle analysis based on the target detection data to obtain target analysis data, determining sweeping control data based on the target analysis data, and controlling the sweeper to clean the target area based on the sweeping control data. The sweeping control data is dynamically clarified based on the results of the garbage particle analysis, so that the sweeper's cleaning is adapted to the required cleaning of ground garbage, thereby ensuring the cleanliness of the ground; by using the data obtained by detecting the target area under green light irradiation, the garbage particles in the target area can be better detected, which is beneficial to improving the matching degree between the sweeper's cleaning and the required cleaning of ground garbage.

[0053] Optionally, the server 2 obtains target detection data of the target area from the client 3 or the sweeping machine 1, and the target detection data is data obtained by detecting the target area under green light. The server 2 is configured to implement the following steps: perform garbage particle analysis according to the target detection data to obtain target analysis data, determine sweeping control data according to the target analysis data, and control the sweeping machine to clean the target area according to the sweeping control data.

[0054] Optionally, the client 3 obtains target detection data of the target area from the sweeping machine, and the target detection data is data obtained by detecting the target area under green light. The client 3 is configured to implement the following steps: perform garbage particle analysis according to the target detection data to obtain target analysis data, determine sweeping control data according to the target analysis data, and control the sweeping machine to clean the target area according to the sweeping control data.

[0055] See also Figure 5and 6 Optionally, the sweeping machine 1 includes a green light source 16, a detector 17, a cleaning component (including but not limited to a roller brush 11, a dust box 12, a filter 13, and a fan), a memory (not shown in the figure), a processor (not shown in the figure), and a computer program stored in the memory and executable on the processor, the processor is electrically connected to the green light source 16 and the detector 17, the detector is used to detect the target area under green light irradiation, the processor is electrically connected to the green light source 16, the detector 17, and the cleaning component, and the processor implements the steps of the green light-based sweeping machine control method when executing the computer program.

[0056] Optionally, the detector 17 is a camera.

[0057] See also Figure 6 It can be understood that the rotation of the roller brush 11 drives the garbage on the ground to mix with the air to form an airflow carrying the garbage on the ground. The airflow carrying the garbage on the ground enters the garbage storage chamber 15 in the dust box 12 from the garbage inlet 14 of the dust box 12 of the sweeper 1 through the suction force of the fan. The airflow passes from the garbage storage chamber 15 through the clean outlet of the dust box 12 and the filter 13. The airflow filtered by the filter 13 is cleaner than the airflow entering the dust box. During the whole process, the garbage brought into the garbage storage chamber 15 by the airflow is deposited in the garbage storage chamber 15. The air filtered by the filter 13 is discharged into the external environment.

[0058] See also Figure 7 The green light source 16 emits a light beam to illuminate the garbage 61 and garbage 62 in the target area. The garbage 61 forms a shadow between point A and point B, and the garbage 62 forms a shadow between point C and point D. Figure 7 In the example, the heights of garbage 61 and garbage 62 are the same. Figure 7 It can be seen that the distance from point A to point B is smaller than the distance from point C to point D. In other words, for garbage particles of the same height, the farther they are from the green light source, the longer their shadows.

[0059] The client may be, but is not limited to, various personal computers, laptops, smart phones, tablet computers, and portable wearable devices. The server may be implemented as an independent server or a server cluster consisting of multiple servers.

[0060] The present invention is described in detail below through specific embodiments.

[0061] See also Figure 2 As shown, Figure 2 A schematic flow chart of a green light-based sweeper control method provided in an embodiment of the present invention includes the following steps:

[0062] S1: Acquire target detection data of a target area, wherein the target detection data is data obtained by detecting the target area under green light illumination;

[0063] The target area is the area you want to clean.

[0064] First, green light is used to illuminate the target area. When the green light illuminates the target area, the detector is controlled to detect the target area under the green light illumination, and the data obtained by the detection is used as the target detection data of the target area.

[0065] The target area is illuminated by green light, and the green light can be a green laser. Optionally, the wavelength of the green laser of the present application is in the range of 495 to 570 nm, and the output power of the green laser is 50 mW. The green laser has the characteristics of high brightness and low power consumption. High brightness means that green light appears brighter to the human eye compared to light of other colors of the same brightness, because the human eye contains a larger number of green light receptor cones than red or blue light receptor cells. For a given brightness, the brightness of a green laser is about eight times that of a red laser. For the desired perceived intensity of illumination of the working surface area (that is, the target area) located in front of the sweeper, the use of a laser emitting green light can further reduce power consumption compared to an LED (light emitting diode) emitting white light.

[0066] It can be understood that, by irradiating the target area with green light, the shadows of garbage particles (such as dust and debris) are obviously magnified and easier to identify.

[0067] Specifically, the target detection data of the target area can be obtained from the sweeper, and the target detection data of the target area sent by the monitoring device can be obtained through the Internet of Things.

[0068] S2: performing garbage particle analysis according to the target detection data to obtain target analysis data;

[0069] Optionally, since there is a large color difference between the shadow formed by the garbage particles (without green light) and the ground illuminated by green light without garbage particles, the green sub-region and the non-green sub-region can be found by performing color analysis on the target detection data, and each non-green sub-region found can be used as a shadow sub-region in the target detection data, and the number of shadow sub-regions is calculated as the number of garbage particles. The size of the garbage particles is calculated based on the area of ​​the shadow sub-region, and the calculated number of garbage particles and the size of the garbage particles are used as target analysis data.

[0070] S3: determining sweeping control data according to the target analysis data;

[0071] Specifically, according to the target analysis data, the sweeping control data is determined by using a table lookup method.

[0072] Optionally, the sweeping control data includes suction parameters.

[0073] Suction parameters include maximum suction, continuous suction, static pressure and air volume. Maximum suction: indicates the strongest suction value that the sweeper can generate, generally in Pascals (Pa), which is an important indicator to measure the suction size. Continuous suction: reflects the suction level that the sweeper can maintain for a long time under normal working conditions. Static pressure: reflects the pressure generated by the sweeper on the air under specific conditions, and is also a reference for suction performance. Air volume: that is, the volume of air passing through the sweeper per unit time, which is also related to suction.

[0074] Optionally, the sweeping control data includes suction parameters and roller brush speed parameters.

[0075] The roller brush speed parameter is a parameter that describes the speed of the roller brush.

[0076] S4: According to the sweeping control data, control the sweeping machine to clean the target area.

[0077] Specifically, a control signal is generated according to the target cleaning control parameter, and the cleaning of the sweeping machine is controlled according to the control signal.

[0078] Optionally, a first signal in the control signal is generated according to the suction parameters in the sweeping control data, and the operation of the fan of the sweeping machine is controlled by the first signal, so that the airflow is sucked from the garbage inlet of the dust box into the garbage collection chamber in the dust box through the operation of the fan.

[0079] Optionally, a second signal in the control signal is generated according to the roller brush speed parameter in the sweeping control data, and the operation of the roller brush motor of the sweeping machine is controlled by the second signal, and the roller brush is driven to rotate by the operation of the roller brush motor.

[0080] This embodiment obtains target detection data of the target area, the target detection data is data obtained by detecting the target area under green light, performs garbage particle analysis based on the target detection data to obtain target analysis data, determines sweeping control data based on the target analysis data, and controls the sweeper to clean the target area based on the sweeping control data. The sweeping control data is dynamically clarified based on the results of the garbage particle analysis, so that the sweeper's cleaning is adapted to the required cleaning of ground garbage, thereby ensuring the cleanliness of the ground; by using the data obtained by detecting the target area under green light, the garbage particles in the target area can be better detected, which is beneficial to improving the matching degree between the sweeper's cleaning and the required cleaning of ground garbage.

[0081] In one embodiment, the step of acquiring target detection data of the target area includes:

[0082] S111: Obtain a green light on instruction, and control the green light source of the sweeping robot to emit green light to the target area according to the green light on instruction;

[0083] The green light on command is a command to emit green light.

[0084] Specifically, the green light on instruction may be obtained from a user input, from a third-party application system, or generated by a program file implementing the present application according to preset conditions. For example, the green light on instruction is actively generated according to a preset time interval.

[0085] It can be understood that when the green light on instruction is obtained, the green light source of the sweeping machine is controlled to emit green light according to the green light on instruction, and the emitted green light illuminates the target area.

[0086] Optionally, the green light source is an emitter of green laser.

[0087] S112: Acquire data obtained by the detector of the sweeping machine from detecting the target area under the green light as the target detection data of the target area.

[0088] Specifically, during the period when the green light source of the sweeping machine emits green light to the target area, the detector (camera) of the sweeping machine is controlled to detect (take photos and / or video) the target area under the green light, and the data obtained from the detection is used as the target detection data of the target area.

[0089] This embodiment obtains data obtained by detecting the target area under green light through the cooperation of the green light source of the sweeping machine and the camera of the sweeping machine, which provides a basis for better detecting garbage particles in the target area and is beneficial to improving the matching degree between the sweeping machine's cleaning and the garbage that needs to be cleaned on the ground.

[0090] In one embodiment, the detector is a camera of the sweeper for obstacle avoidance detection;

[0091] The step of performing garbage particle analysis according to the target detection data to obtain target analysis data comprises:

[0092] S211: Acquire data obtained by the camera performing obstacle avoidance detection on the target area as obstacle avoidance detection data;

[0093] Specifically, the camera is used to detect the target area (take photos and / or videos), and the data obtained by the detection is used as obstacle avoidance detection data.

[0094] S212: determining an obstacle area of ​​the target area according to the obstacle avoidance detection data;

[0095] Specifically, according to the obstacle avoidance detection data, a method for determining the obstacle area of ​​the target area can be selected from the existing technology, which will not be described in detail here.

[0096] Obstacle areas include, but are not limited to: areas corresponding to walls, areas corresponding to furniture, areas corresponding to home appliances, areas corresponding to human bodies, and areas corresponding to animals.

[0097] S213: cutting data corresponding to the obstacle area from the target detection data to obtain ground detection data;

[0098] Specifically, based on the positional relationship, the data corresponding to the obstacle area is cut from the target detection data, and the remaining data in the target detection data is used as the ground detection data.

[0099] S214: Perform garbage particle analysis according to the ground detection data to obtain the target analysis data.

[0100] Specifically, color analysis is performed on the ground detection data to find out green sub-regions and non-green sub-regions, and each non-green sub-region found is used as a shadow sub-region in the ground detection data. The number of shadow sub-regions is calculated as the number of garbage particles, and the size of the garbage particles is calculated based on the area of ​​the shadow sub-region. The calculated number of garbage particles and the size of the garbage particles are used as target analysis data.

[0101] It can be understood that the detector of the present application can also be an independently arranged camera. In this case, the sweeper includes a camera for obstacle avoidance detection and a camera for detecting the target area under green light.

[0102] This embodiment avoids the situation in which the sweeping control data includes data of the obstacle area by cutting out the data corresponding to the obstacle area from the target detection data and then performing garbage particle analysis based on the remaining data in the target detection data, thereby improving the accuracy of controlling the sweeping machine to clean the target area based on the sweeping control data; the camera used for obstacle avoidance detection of the sweeping machine is a camera that must be set up in the sweeping machine. This application detects the target area under green light by using the camera used for obstacle avoidance detection of the sweeping machine, and there is no need to set up an additional camera, thereby reducing the cost of the sweeping machine.

[0103] In one embodiment, the detector is located on a side of the green light source away from the ground;

[0104] The green light source emits green light at a preset illumination angle to illuminate the target area.

[0105] Specifically, the detector is located on a side of the green light source away from the ground, that is, when the sweeper is working, the detector is located directly above or obliquely above the green light source.

[0106] The preset irradiation angle may be 3°, 8°, or an angle between 3° and 8°.

[0107] Optionally, the preset irradiation angle is 5°. The center line of the green light beam emitted by the green light source ( Figure 7 The angle between b) in the figure and the ground (the ground on the side of the center line close to the sweeper) ( Figure 7 The α in ) adopts the preset illumination angle.

[0108] The green light source in this embodiment emits green light at a preset illumination angle to illuminate the target area, thereby facilitating lengthening the shadow of the garbage particles. The lengthened shadow of the garbage particles is beneficial to improving the accuracy of the target analysis data.

[0109] See also Figure 3 As shown, in one embodiment, the number of the green light sources is multiple;

[0110] The number of the green light sources may be at least 2. The multiple green light sources do not overlap, and the specific positions may be set according to requirements, which is not limited here.

[0111] The step of acquiring target detection data of the target area includes:

[0112] S121: Obtain a green light on instruction, and control each green light source of the sweeping robot to emit green light to the target area according to the green light on instruction;

[0113] Specifically, each green light source of the sweeper is controlled in sequence to emit green light to the target area according to the green light turn-on instruction.

[0114] S122: for each green light source, emitting green light to the target area, acquiring data obtained by the detector of the sweeper for detecting the target area under the green light as the target detection data;

[0115] Specifically, during the period when each green light source emits green light to the target area, the detector of the sweeping machine is controlled to detect the target area under the irradiation of the green light, and the data obtained by the detection is used as the target detection data.

[0116] It can be understood that by repeatedly executing step S121 to step S122, a set of target detection data can be obtained for each green light source.

[0117] The step of performing garbage particle analysis according to the target detection data to obtain target analysis data comprises:

[0118] S221: performing garbage particle analysis according to each target detection data to obtain initial analysis data corresponding to each target detection data;

[0119] Specifically, color analysis is performed on the target detection data to find out green sub-regions and non-green sub-regions, and each non-green sub-region found is used as a shadow sub-region in the target detection data. The number of shadow sub-regions is calculated as the position of garbage particles, and the size of the garbage particles is calculated according to the area of ​​the shadow sub-region. The calculated position and size of the garbage particles are used as initial analysis data corresponding to the target detection data.

[0120] S222: Fusing the various initial analysis data to obtain the target analysis data of the target area.

[0121] Specifically, only one copy of the data on the location of the same garbage particles (the data is the location of the garbage particles and the size of the garbage particles) is retained for each of the initial analysis data to obtain the data to be analyzed, the number of garbage particles is calculated based on the data to be analyzed, and the calculated number of garbage particles and the size of the garbage particles are used as target analysis data.

[0122] This embodiment first obtains multiple copies of the target detection data based on multiple green light sources, then performs garbage particle analysis based on each of the target detection data to obtain initial analysis data corresponding to each of the target detection data, and fuses each of the initial analysis data to obtain the target analysis data of the target area. A single green light source may have garbage particles covered by an elongated shadow that cannot be detected. In order to solve this problem, this application obtains multiple copies of the target detection data through multiple green light sources, which can detect garbage particles covered by an elongated shadow, thereby improving the accuracy of the determined target analysis data.

[0123] In one embodiment, the step of performing garbage particle analysis according to the target detection data to obtain target analysis data includes:

[0124] S231: Correcting the target detection data according to the shooting angle of the target detection data, the angle between the green light beam and the ground, and the preset detection distance;

[0125] Specifically, since the angle between the green light beam emitted by the green light source and the ground is acute, the farther away from the green light source, the greater the proportion of the shadow of the garbage particle is elongated (e.g. Figure 7 As shown, that is, for garbage particles of the same height, the farther they are from the green light source, the longer their shadows), the first correction formula is used to adjust the shadow length of the non-green area in the target detection data according to the shooting angle of the target detection data (the angle between the center line of the shooting range of the detector and the ground on the side of the center line close to the sweeper) and the angle between the green light beam and the ground, so as to correct the target detection data. The shadow lengths in the corrected target detection data are all based on the shadow lengths at the preset detection distance.

[0126] The first correction formula can be obtained by fitting multiple groups of data, which will not be described in detail here.

[0127] S232: Perform garbage particle analysis according to the corrected target detection data to obtain the target analysis data.

[0128] Specifically, the number of garbage particles and the size of garbage particles are calculated according to the corrected target detection data, and the calculated number of garbage particles and the size of garbage particles are used as target analysis data.

[0129] This embodiment first corrects the target detection data according to the shooting angle of the target detection data, the angle between the green light beam and the ground, and the preset detection distance, and then performs garbage particle analysis based on the corrected target detection data to obtain the target analysis data, thereby improving the accuracy of the determined target analysis data.

[0130] In one embodiment, the step of performing garbage particle analysis according to the target detection data to obtain target analysis data further includes:

[0131] S241: performing garbage particle analysis according to the target detection data to obtain initial analysis data;

[0132] Specifically, the number of garbage particles, the positions of garbage particles, and the sizes of garbage particles are calculated based on the target detection data, and the calculated data are used as initial analysis data.

[0133] S242: Correcting the initial analysis data according to the shooting angle of the target detection data, the angle between the green light beam and the ground, and the preset detection distance to obtain the target analysis data.

[0134] Specifically, a second correction formula is used to correct the height of the size of the garbage particles corresponding to the position of the garbage particles in the initial analysis data according to the shooting angle of the target detection data, the angle between the green light beam and the ground, the preset detection distance and the position of the garbage particles in the initial analysis data, so as to obtain the accurate height of the garbage particles; after completing the correction of the sizes of all garbage particles in the initial analysis data, the sizes of all garbage particles and the number of garbage particles in the initial analysis data are used as the target analysis data.

[0135] The second correction formula can be obtained by fitting multiple groups of data, which will not be described in detail here.

[0136] This embodiment corrects the initial analysis data according to the shooting angle of the target detection data, the angle between the green light beam and the ground, and the preset detection distance, thereby improving the accuracy of the determined target analysis data.

[0137] See also Figure 4 As shown, in one embodiment, a green light-based sweeper control device is provided, the device comprising:

[0138] A data acquisition module 801 is used to acquire target detection data of a target area, wherein the target detection data is data obtained by detecting the target area under green light illumination;

[0139] A garbage particle analysis module 802 is used to perform garbage particle analysis according to the target detection data to obtain target analysis data;

[0140] A sweeping control data module 803 is used to determine sweeping control data according to the target analysis data;

[0141] The cleaning control module 804 is used to control the sweeping machine to clean the target area according to the sweeping control data.

[0142] This embodiment obtains target detection data of the target area, the target detection data is data obtained by detecting the target area under green light, performs garbage particle analysis based on the target detection data to obtain target analysis data, determines sweeping control data based on the target analysis data, and controls the sweeper to clean the target area based on the sweeping control data. The sweeping control data is dynamically clarified based on the results of the garbage particle analysis, so that the sweeper's cleaning is adapted to the required cleaning of ground garbage, thereby ensuring the cleanliness of the ground; by using the data obtained by detecting the target area under green light, the garbage particles in the target area can be better detected, which is beneficial to improving the matching degree between the sweeper's cleaning and the required cleaning of ground garbage.

[0143] In one embodiment, the step of acquiring target detection data of the target area in the data acquisition module 801 includes:

[0144] Obtaining a green light on instruction, and controlling the green light source of the sweeper to emit green light to the target area according to the green light on instruction;

[0145] The data obtained by the detector of the sweeping machine detecting the target area under the green light is obtained as the target detection data of the target area.

[0146] In one embodiment, the detector is a camera of the sweeper for obstacle avoidance detection;

[0147] The step of performing garbage particle analysis according to the target detection data to obtain target analysis data in the garbage particle analysis module 802 includes:

[0148] Obtaining data obtained by the camera performing obstacle avoidance detection on the target area as obstacle avoidance detection data;

[0149] Determining an obstacle area of ​​the target area according to the obstacle avoidance detection data;

[0150] Cutting data corresponding to the obstacle area from the target detection data to obtain ground detection data;

[0151] Garbage particle analysis is performed based on the ground detection data to obtain the target analysis data.

[0152] In one embodiment, the detector is located on a side of the green light source away from the ground;

[0153] The green light source emits green light at a preset illumination angle to illuminate the target area.

[0154] In one embodiment, the number of the green light sources is multiple;

[0155] The step of acquiring target detection data of the target area in the data acquisition module 801 includes:

[0156] Obtaining a green light on instruction, and controlling each green light source of the sweeper to emit green light to the target area according to the green light on instruction;

[0157] For each green light source emitting green light to the target area, data obtained by the detector of the sweeper detecting the target area under the green light illumination is obtained as the target detection data;

[0158] The step of performing garbage particle analysis according to the target detection data to obtain target analysis data comprises:

[0159] Perform garbage particle analysis according to each of the target detection data to obtain initial analysis data corresponding to each of the target detection data;

[0160] The various initial analysis data are fused to obtain the target analysis data of the target area.

[0161] In one embodiment, the step of performing garbage particle analysis according to the target detection data to obtain target analysis data in the garbage particle analysis module 802 includes:

[0162] Correcting the target detection data according to the shooting angle of the target detection data, the angle between the green light beam and the ground, and the preset detection distance;

[0163] Garbage particle analysis is performed based on the corrected target detection data to obtain the target analysis data.

[0164] In one embodiment, the step of performing garbage particle analysis according to the target detection data to obtain target analysis data in the garbage particle analysis module 802 further includes:

[0165] Perform garbage particle analysis based on the target detection data to obtain initial analysis data;

[0166] The initial analysis data is corrected according to the shooting angle of the target detection data, the angle between the green light beam and the ground, and the preset detection distance to obtain the target analysis data.

[0167] See also Figure 5 and Figure 6 As shown, in one embodiment, a sweeping machine is provided, the sweeping machine includes a green light source, a detector, a memory, a processor, and a computer program stored in the memory and executable on the processor, the processor is electrically connected to the green light source and the detector, and the processor implements the following steps when executing the computer program:

[0168] Acquire target detection data of the target area, wherein the target detection data is data obtained by detecting the target area under green light illumination;

[0169] Performing garbage particle analysis according to the target detection data to obtain target analysis data;

[0170] Determine sweeping control data according to the target analysis data;

[0171] According to the sweeping control data, the sweeping machine is controlled to clean the target area.

[0172] By acquiring target detection data of the target area, the target detection data is data obtained by detecting the target area under green light, performing garbage particle analysis based on the target detection data to obtain target analysis data, determining sweeping control data based on the target analysis data, and controlling the sweeper to clean the target area based on the sweeping control data. The sweeping control data is dynamically clarified based on the results of the garbage particle analysis, so that the sweeper's cleaning is adapted to the required cleaning of ground garbage, thereby ensuring the cleanliness of the ground; by using the data obtained by detecting the target area under green light, the garbage particles in the target area can be better detected, which is beneficial to improving the matching degree between the sweeper's cleaning and the required cleaning of ground garbage.

[0173] In one embodiment, a computer-readable storage medium is provided, wherein the computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the following steps are implemented:

[0174] Acquire target detection data of the target area, wherein the target detection data is data obtained by detecting the target area under green light illumination;

[0175] Performing garbage particle analysis according to the target detection data to obtain target analysis data;

[0176] Determine sweeping control data according to the target analysis data;

[0177] According to the sweeping control data, the sweeping machine is controlled to clean the target area.

[0178] By acquiring target detection data of the target area, the target detection data is data obtained by detecting the target area under green light, performing garbage particle analysis based on the target detection data to obtain target analysis data, determining sweeping control data based on the target analysis data, and controlling the sweeper to clean the target area based on the sweeping control data. The sweeping control data is dynamically clarified based on the results of the garbage particle analysis, so that the sweeper's cleaning is adapted to the required cleaning of ground garbage, thereby ensuring the cleanliness of the ground; by using the data obtained by detecting the target area under green light, the garbage particles in the target area can be better detected, which is beneficial to improving the matching degree between the sweeper's cleaning and the required cleaning of ground garbage.

[0179] It should be noted that the above functions or steps that can be implemented by the computer-readable storage medium or computer device can refer to the relevant descriptions on the server side and the client side in the aforementioned method embodiment. To avoid repetition, they will not be described one by one here.

[0180] Those of ordinary skill in the art can understand that all or part of the processes in the above-mentioned embodiment methods can be completed by instructing related hardware through a computer program, and the computer program can be stored in a non-volatile computer-readable storage medium. When the computer program is executed, it can include the processes of the embodiments of the above-mentioned methods. Among them, any reference to memory, storage, database or other media used in the embodiments provided in this application may include non-volatile and / or volatile memory. Non-volatile memory may include read-only memory (ROM), programmable ROM (PROM), electrically programmable ROM (EPROM), electrically erasable programmable ROM (EEPROM) or flash memory. Volatile memory may include random access memory (RAM) or external cache memory. By way of illustration and not limitation, RAM is available in many forms, such as static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), double data rate SDRAM (DDRSDRAM), enhanced SDRAM (ESDRAM), synchronous link DRAM (SLDRAM), RAMbus direct RAM (RDRAM), direct RAMbus dynamic RAM (DRDRAM), and RAMbus dynamic RAM (RDRAM), etc.

[0181] Those skilled in the art can clearly understand that for the convenience and simplicity of description, only the division of the above-mentioned functional units and modules is used as an example. In actual applications, the above-mentioned functions can be distributed and completed by different functional units and modules as needed, that is, the internal structure of the device can be divided into different functional units or modules to complete all or part of the functions described above.

[0182] The embodiments described above are only used to illustrate the technical solutions of the present invention, rather than to limit the same. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that the technical solutions described in the aforementioned embodiments may still be modified, or some of the technical features may be replaced by equivalents. Such modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present invention, and should all be included in the protection scope of the present invention.

Claims

1. A green light based sweeper control method, characterized in that: The method comprises: Acquire target detection data of the target area, wherein the target detection data is data obtained by detecting the target area under green light illumination; Performing garbage particle analysis according to the target detection data to obtain target analysis data; Determine sweeping control data according to the target analysis data; According to the sweeping control data, the sweeping machine is controlled to clean the target area.

2. The green light based sweeper control method according to claim 1, characterized in that: The step of acquiring target detection data of the target area includes: Obtaining a green light on instruction, and controlling the green light source of the sweeper to emit green light to the target area according to the green light on instruction; The data obtained by the detector of the sweeping machine detecting the target area under the green light is obtained as the target detection data of the target area.

3. The green light based sweeper control method according to claim 2, characterized in that: The detector is a camera of the sweeper for obstacle avoidance detection; The step of performing garbage particle analysis according to the target detection data to obtain target analysis data comprises: Obtaining data obtained by the camera performing obstacle avoidance detection on the target area as obstacle avoidance detection data; Determining an obstacle area of ​​the target area according to the obstacle avoidance detection data; Cutting data corresponding to the obstacle area from the target detection data to obtain ground detection data; Garbage particle analysis is performed based on the ground detection data to obtain the target analysis data.

4. The green light based sweeper control method according to claim 2, characterized in that: The detector is located on a side of the green light source away from the ground; The green light source emits green light at a preset illumination angle to illuminate the target area.

5. The green light based sweeper control method according to claim 2, characterized in that: The number of the green light sources is multiple; The step of acquiring target detection data of the target area includes: Obtaining a green light on instruction, and controlling each green light source of the sweeper to emit green light to the target area according to the green light on instruction; For each green light source emitting green light to the target area, data obtained by the detector of the sweeper detecting the target area under the green light illumination is obtained as the target detection data; The step of performing garbage particle analysis according to the target detection data to obtain target analysis data comprises: Perform garbage particle analysis according to each of the target detection data to obtain initial analysis data corresponding to each of the target detection data; The various initial analysis data are fused to obtain the target analysis data of the target area.

6. The green light based sweeper control method according to claim 1, characterized in that: The step of performing garbage particle analysis according to the target detection data to obtain target analysis data comprises: Correcting the target detection data according to the shooting angle of the target detection data, the angle between the green light beam and the ground, and the preset detection distance; Garbage particle analysis is performed based on the corrected target detection data to obtain the target analysis data.

7. The green light based sweeper control method according to claim 1, characterized in that: The step of performing garbage particle analysis according to the target detection data to obtain target analysis data also includes: Perform garbage particle analysis based on the target detection data to obtain initial analysis data; The initial analysis data is corrected according to the shooting angle of the target detection data, the angle between the green light beam and the ground, and the preset detection distance to obtain the target analysis data.

8. A green light based sweeper control device, characterized in that: The device comprises: A data acquisition module, used to acquire target detection data of a target area, wherein the target detection data is data obtained by detecting the target area under green light irradiation; A garbage particle analysis module, used to perform garbage particle analysis according to the target detection data to obtain target analysis data; A sweeping control data module, used to determine sweeping control data according to the target analysis data; A cleaning control module is used to control the sweeping machine to clean the target area according to the sweeping control data.

9. A sweeping machine, characterized in that: The sweeping machine includes a green light source, a detector, a memory, a processor, and a computer program stored in the memory and executable on the processor. The processor is electrically connected to the green light source and the detector. When the processor executes the computer program, the steps of the green light-based sweeping machine control method as described in any one of claims 1 to 7 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 green light-based sweeper control method as described in any one of claims 1 to 7 are implemented.

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