Robot cleaning method and device, computer equipment and storage medium

Abstract

The invention discloses a robot cleaning method and device, computer equipment, a storage medium and a computer program product. The method comprises the following steps: acquiring detection information obtained by detecting a living object in a target area through a millimeter wave radar; when it is determined that the living object leaves the target area, generating a cleaning strategy for the target area according to the detection information; and controlling the robot to clean the target area based on the cleaning strategy. By adopting the method, the cleaning efficiency of the robot can be improved.

Description

TECHNICAL FIELD

[0001] This application is a divisional application of the application with the application number 202310395137.0 and the title "Cleaning method, device, computer equipment and storage medium of robot" filed in the China Patent Office on April 13, 2023, the whole content of which is incorporated herein by reference. BACKGROUND

[0002] With the development of artificial intelligence technology, robots are widely used in the field of smart home. In the traditional technology, the robot plans a cleaning route in advance and cleans according to the planned cleaning route. However, due to the possible changes in the environment of the indoor space, the robot has poor flexibility and low cleaning efficiency when cleaning according to the fixed cleaning route. SUMMARY

[0003] Therefore, the technical problem to be solved by the present application is how to improve the efficiency of the robot in performing cleaning operations.

[0004] To solve the above technical problems, the present application provides a cleaning method, device, computer equipment, computer readable storage medium and computer program product of a robot.

[0005] In a first aspect, the present application provides a cleaning method of a robot. The method comprises:

[0006] obtaining detection information obtained by detecting a living object in a target area by a millimeter wave radar;

[0007] generating a cleaning strategy for the target area according to the detection information when it is determined that the living object leaves the target area;

[0008] controlling the robot to clean the target area based on the cleaning strategy.

[0009] In a second aspect, the present application further provides a cleaning device of a robot, which comprises:

[0010] an acquisition module configured to obtain detection information obtained by detecting a living object in a target area by a millimeter wave radar;

[0011] a generation module configured to generate a cleaning strategy for the target area according to the detection information when it is determined that the living object leaves the target area;

[0012] a cleaning module configured to control the robot to clean the target area based on the cleaning strategy.

[0013] In one embodiment, the generation module is further configured to:

[0014] determine a moving track of the living object in the target area and a stay duration of each track point in the moving track according to the detection information when determining that the living object leaves the target area;

[0015] generate a cleaning strategy for the target area according to the detection information if it is determined to clean the target area according to the moving track and the stay duration.

[0016] In an embodiment, the generating module is further configured to:

[0017] determine a moving track of the living object in the target area and a stay duration of each track point in the moving track according to the detection information;

[0018] generate a cleaning strategy for the target area based on the moving track and the stay duration.

[0019] In an embodiment, the generating module is further configured to:

[0020] determine a sub-area corresponding to each track point in the moving track in the target area;

[0021] determine a cleaning parameter corresponding to each sub-area according to the stay duration;

[0022] generate a cleaning strategy for the target area based on the cleaning parameter.

[0023] In an embodiment, the apparatus further comprises:

[0024] a determining module configured to determine a cleaning sequence number corresponding to each sub-area according to a region position coordinate corresponding to each sub-area and a current position coordinate of the robot;

[0025] the generating module is further configured to generate a cleaning strategy for the target area based on the cleaning parameter and the cleaning sequence number.

[0026] In an embodiment, the generating module is further configured to:

[0027] determine a moving track of the living object in the target area according to the detection information when determining that the living object leaves the target area;

[0028] determine a track area corresponding to the moving track;

[0029] if the track area contains a target indoor space object, determine a cleaning area according to a position coordinate of the target indoor space object and control the robot to perform a cleaning operation on the cleaning area.

[0030] In an embodiment, the generation module is further configured to:

[0031] extract first cleaning information corresponding to the target indoor space object; the first cleaning information comprises at least one of cleaning strength, cleaning mode, and cleaning duration;

[0032] control the robot to perform a cleaning operation on the cleaning area according to the first cleaning information.

[0033] In an embodiment, the detection information comprises action information of the living object, and the target area is a first area of an indoor environment; the determination module is further configured to:

[0034] determine, based on the action information, a historical action of the living object in a historical period when the living object is in the target area;

[0035] if the historical action comprises a target action, determine position information of the living object when the target action is emitted, and determine a second area in the indoor environment according to the position information;

[0036] control the robot to perform a cleaning operation on the second area.

[0037] In an embodiment, the determination module is further configured to:

[0038] extract second cleaning information corresponding to the target action; the second cleaning information comprises at least one of cleaning strength, cleaning mode, and cleaning duration;

[0039] perform a cleaning operation on the second area according to the second cleaning information.

[0040] In an embodiment, the detection information comprises vital sign information; the apparatus further comprises:

[0041] a sending module configured to send, if it is determined based on the vital sign information that the living object is in a preset state, prompt information for prompting the living object to be in the preset state to a client;

[0042] a collection module configured to collect new detection information by the millimeter wave radar;

[0043] the generation module is further configured to, if it is determined based on the new detection information that the living object leaves the target area, generate a cleaning strategy for the target area according to the detection information and the new detection information.

[0044] In an embodiment, the apparatus further comprises:

[0045] The determining module is further configured to determine position information corresponding to the living body object according to the detection information in response to a calling instruction issued by the living body object.

[0046] The cleaning module is further configured to determine a cleaning area according to the position information, and control the robot to perform a cleaning operation on the cleaning area.

[0047] In a third aspect, the present application provides a computer device, which comprises a memory and a processor, the memory stores a computer program, and the processor implements the following steps when executing the computer program:

[0048] obtaining detection information obtained by detecting a living body object in a target area by using a millimeter wave radar;

[0049] generating a cleaning strategy for the target area according to the detection information when it is determined that the living body object leaves the target area;

[0050] controlling the robot to clean the target area based on the cleaning strategy.

[0051] In a fourth aspect, the present application provides a computer readable storage medium. The computer readable storage medium stores a computer program, and the computer program implements the following steps when executed by a processor:

[0052] obtaining detection information obtained by detecting a living body object in a target area by using a millimeter wave radar;

[0053] generating a cleaning strategy for the target area according to the detection information when it is determined that the living body object leaves the target area;

[0054] controlling the robot to clean the target area based on the cleaning strategy.

[0055] In a fifth aspect, the present application provides a computer program product. The computer program product comprises a computer program, and the computer program implements the following steps when executed by a processor:

[0056] obtaining detection information obtained by detecting a living body object in a target area by using a millimeter wave radar;

[0057] generating a cleaning strategy for the target area according to the detection information when it is determined that the living body object leaves the target area;

[0058] controlling the robot to clean the target area based on the cleaning strategy.

[0059] The cleaning method, device, computer equipment, storage medium and computer program product of the robot obtain detection information obtained by detecting a living object in a target area through a millimeter wave radar. The millimeter wave radar is a radar working in a millimeter wave band, and has high detection accuracy for the living object. The detection information obtained by the millimeter wave radar can accurately reflect the movement and vital signs of the living object. When it is determined that the living object leaves the target area, a cleaning strategy for the target area is generated according to the detection information, so that the robot can assist in generating the cleaning strategy according to the detection information of the living object. The generated cleaning strategy takes into account the movement and vital signs of the living object, so that the target area can be cleaned flexibly according to the cleaning strategy, and the cleaning efficiency is improved. BRIEF DESCRIPTION OF DRAWINGS

[0060] In order to more clearly illustrate the specific embodiments of the present application or the technical solutions in the prior art, the drawings required to be used in the specific embodiments or prior art description will be briefly introduced. Obviously, the drawings in the following description are some embodiments of the present application, and other drawings can be obtained by those skilled in the art without creative labor.

[0061] Figure 1 An application environment diagram of the cleaning method of the robot in an embodiment;

[0062] Figure 2 A flowchart of the cleaning method of the robot in an embodiment;

[0063] Figure 3a A schematic diagram of a trajectory area in an embodiment;

[0064] Figure 3b A schematic diagram of a trajectory area in another embodiment;

[0065] Figure 4 A flowchart of the cleaning strategy generation method in an embodiment;

[0066] Figure 5 A schematic diagram of a trajectory in an embodiment;

[0067] Figure 6 A flowchart of the cleaning strategy generation method in another embodiment;

[0068] Figure 7 A flowchart of the cleaning area determination method in an embodiment;

[0069] Figure 8 A schematic diagram of a trajectory area in another embodiment;

[0070] Figure 9Flowchart of a cleaning method of a robot in another embodiment;

[0071] Figure 10a Flowchart of a cleaning strategy generation method in yet another embodiment;

[0072] Figure 10b Schematic diagram of a target area including a sleeping baby in an embodiment;

[0073] Figure 11 Flowchart of a cleaning method of a robot in yet another embodiment;

[0074] Figure 12 Structural block diagram of a cleaning device of a robot in an embodiment;

[0075] Figure 13 Structural block diagram of a cleaning device of a robot in another embodiment;

[0076] Figure 14 Internal structural diagram of a computer device in an embodiment. DETAILED DESCRIPTION

[0077] The technical solutions of the present application will be described clearly and completely below with reference to the drawings. Obviously, the described embodiments are part of the embodiments of the present application, but not all the embodiments. The present application will be described in detail below with reference to the drawings and in combination with the embodiments. It should be noted that the embodiments in the present application and the features in the embodiments can be combined with each other without conflict.

[0078] It should be noted that the terms "first", "second" and the like in the specification and claims of the present application and the above-mentioned drawings are used to distinguish similar objects, and do not necessarily describe a specific order or sequence.

[0079] In the present application, the orientation words such as "up", "down", "top", "bottom" are generally directed to the direction shown in the drawings, or to the vertical, vertical or gravity direction of the components themselves; similarly, for the convenience of understanding and description, "inner", "outer" refers to the inner and outer relative to the contour of each component itself, but the above orientation words are not used to limit the present application.

[0080] The cleaning method of the robot provided by the embodiments of the present application can be applied to the application environment as shown in Figure 1 The robot 102 obtains detection information obtained by detecting a living object in a target area by a millimeter wave radar; when it is determined that the living object leaves the target area, a cleaning strategy for the target area is generated according to the detection information; and the robot is controlled to clean the target area based on the cleaning strategy.

[0081] The robot 102 is various robots that can perform cleaning tasks, including a sweeping robot, a mopping robot, or a sweeping and mopping integrated robot, etc. The robot 102 is provided with a millimeter wave radar, which can detect living objects through the millimeter wave radar.

[0082] In one embodiment, as shown in Figure 2 , a cleaning method of a robot is provided, which is applied to the robot in Figure 1 for example, and includes the following steps.

[0083] S202, obtaining detection information obtained by detecting living objects in a target area through a millimeter wave radar.

[0084] The millimeter wave radar is a radar working in a millimeter wave band (a band with a frequency of 30-300 GHz and a wavelength of 1-10 mm), which has characteristics of wide frequency band, short wavelength, light weight, strong resolution, and strong penetration. The millimeter wave radar emits electromagnetic waves through an antenna, the emitted electromagnetic waves are reflected by objects in space to generate reflected echoes, and the objects can be detected according to the echo intensity of the reflected echoes, including living body detection, living body recognition, vital sign detection, or moving track detection, etc. The detection information is information obtained by the millimeter wave radar, including spatial position information, motion information, action information, or vital sign information of the living object, etc. The spatial position information is information used to represent the position of the living object in a three-dimensional space, including the distance or direction between the living object and the robot, etc. The motion information is information used to represent the motion of the living object, including the speed and motion direction of the living object, etc. The action information is information used to represent the action posture of the living object, including the action type (such as falling, jumping, throwing, or standing, etc.), action amplitude, action direction, gesture type (such as fist, confirmation, left finger, or number, etc.) of the living object, etc. The vital sign information is information used to represent the vital sign of the living object, including the living body detection result, heart rate, or breathing rate, etc. In one embodiment, the millimeter wave radar can be deployed on the robot, and when the robot is charging on a charging pile, the millimeter wave radar can detect a target area with a distance less than a preset value from the charging pile. Or when the robot moves to a target point, the millimeter wave radar can also detect a target area around the target point.

[0085] The target area is an area in a three-dimensional space, which can be an area in an indoor space or an area in an outdoor space. In an embodiment, the target area can include all areas in an indoor space or areas formed by inherent boundaries (e.g., walls, doors, or steps) in an indoor space. For example, the target area can be a bedroom, a living room, a dining room, or a bathroom. In another embodiment, the target area can also be a divided area in a space, for example, the target area can be a specific area pre-divided near a charging pile, furniture, or household appliances. In an embodiment, the target area can also be a specific working area of the robot. For example, the target area can be a kitchen, a dining room, a living room, or a pet activity area that needs to be cleaned by the robot. For example, the target area can also be a working area where the robot needs to reduce noise, such as a bedroom or a study. The living object includes a human or an animal, for example, the living object can be an adult, a child, or a pet in a household. In another embodiment, the target area can be a detection area of the millimeter wave radar. For example, when the millimeter wave radar is deployed on the robot or the charging pile, the target area can be the detection area of the millimeter wave radar on the robot or the charging pile.

[0086] S204, when it is determined that the living object leaves the target area, generating a cleaning strategy for the target area according to the detection information.

[0087] The cleaning strategy is a collection of cleaning steps, cleaning parameters, or cleaning modes for achieving a cleaning goal, including the positions of the areas to be cleaned, the cleaning sequence corresponding to each area, the cleaning intensity (which can be represented by suction) corresponding to each area, the cleaning mode (sweeping mode or mopping mode, etc.), or the cleaning duration, etc. For example, as shown in Table 1, the cleaning strategy includes a cleaning range of sub-area 1, sub-area 2, and sub-area 3 in the target area, and a cleaning sequence of sub-area 1, sub-area 2, and sub-area 3. The cleaning duration corresponding to sub-area 1 is 3 minutes, and the suction is 1600 Pa; the cleaning duration corresponding to sub-area 2 is 4 minutes, and the suction is 1800 Pa; the cleaning duration corresponding to sub-area 3 is 5 minutes, and the suction is 2200 Pa.

[0088] Table 1

[0089] Cleaning sequence Cleaning duration (min) Suction (Pa) Sub-area 1 3 1600 Sub-area 2 4 1800 Sub-area 3 5 2200

[0090] In an embodiment, S204 specifically includes that the robot can determine whether the living object leaves the target area through the detection information obtained by the millimeter wave radar. Specifically, the robot can determine whether there is a living object in the target area according to the vital sign information in the detection information. When there is a living object in the target area, the robot can track the target object through the millimeter wave radar, locate the position coordinates of the living object, and determine whether the living object leaves the target area according to the position coordinates of the living object.

[0091] In one embodiment, S204 specifically includes: when it is determined that the living body object leaves the target area, if it is determined according to the detection information that the target area needs to be cleaned, generating a cleaning strategy for the target area according to the detection information.

[0092] In one embodiment, S204 specifically includes: when it is determined that the living body object leaves the target area, determining a moving track of the living body object in the target area and a stay duration of each track point in the moving track according to the detection information; if it is determined according to the moving track and the stay duration that the target area needs to be cleaned, generating a cleaning strategy for the target area according to the detection information. The robot can determine the moving track of the living body object in the target area and the stay duration of each track point in the moving track according to the detection information, and then determine a track area of the living body object in the target area according to the moving track. For example, as shown in Figure 3a , if the living body object moves from point A to point B and then from point B to point C, the moving track includes track points A, B and C, and the robot can determine a circular area with track points A, B and C as the center points as the track area. Alternatively, as shown in Figure 3b , the robot can also determine an area with a distance from the moving track within a preset range as the track area. If the track area meets a track condition and / or the stay duration meets a duration condition, the robot determines that the target area needs to be cleaned. The track condition may, for example, be that the area of the track area reaches a preset value, or that the track area contains a preconfigured specific area. The duration condition may, for example, be that the sum of the stay durations corresponding to each track point reaches a preset value, or that the stay duration corresponding to each track point is greater than a preset value.

[0093] The detection information includes the position, direction and the like of the living body object, and the activity of the living body object can be determined according to the detection information. Since the activity of the living body object in the target area can generate some garbage, the garbage can fall within the track area of the moving track of the living body object, and thus the track area corresponding to the moving track of the living body object can need to be cleaned, while other areas in the target area not involved by the living body object can not need to be cleaned. The robot generates a cleaning strategy for the target area according to the detection information, so that the generated cleaning strategy can take into account the activity of the living body object, and the flexibility of generating the cleaning strategy is improved.

[0094] S206, controlling the robot to clean the target area based on the cleaning strategy.

[0095] The robot cleans the target area according to the cleaning strategy. For example, the robot can determine sub-areas that need to be cleaned in the target area according to the cleaning strategy, and the cleaning mode and cleaning duration of each sub-area, etc. For example, the robot cleans sub-area 1 in a sweeping mode for three minutes and cleans sub-area 2 in a mopping mode for five minutes according to the cleaning strategy.

[0096] In the above embodiment, the detection information obtained by detecting the living object in the target area by the millimeter wave radar is acquired. The millimeter wave radar is a radar working in the millimeter wave band, and has high detection accuracy for living objects. The detection information obtained by the millimeter wave radar can accurately reflect the movement and vital signs of the living object. When it is determined that the living object leaves the target area, the cleaning strategy for the target area is generated according to the detection information, so that the robot can assist in generating the cleaning strategy according to the detection information of the living object. The generated cleaning strategy takes into account the movement and vital signs of the living object, so that the target area can be cleaned flexibly according to the cleaning strategy, and the cleaning efficiency is improved.

[0097] In one embodiment, as shown in Figure 4 S204 specifically includes the following steps:

[0098] S402, determining the moving track of the living object in the target area and the stay duration of each track point in the moving track according to the detection information.

[0099] The moving track is composed of track points passed by the living object. For example, as shown in Figure 5 The living object moves from a dining chair to a toilet, and then moves from the toilet to a sofa. The track points passed by the living object during the movement form the moving track of the living object. The stay duration is the duration of the living object staying at the track point. For example, the living object stays at track point A for three minutes, and the stay duration corresponding to track point A is three minutes.

[0100] In one embodiment, S402 specifically includes: determining the distance and direction between the living object and the robot at each time point according to the detection information, determining the position coordinates of the living object at each time point according to the distance and direction and the position coordinates of the robot, generating the moving track of the living object in the target area according to the position coordinates of the living object, and determining the stay duration of the living object at each track point.

[0101] S404, generating a cleaning strategy for the target area based on the moving track and the stay duration.

[0102] Since the living object can generate garbage on the moving track, and the longer the track point stays, the more garbage is generated, therefore, the robot can flexibly clean the target area according to the moving track and the staying time, and customize the cleaning strategy for the target area.

[0103] In the above embodiment, the robot determines the moving track of the living object in the target area and the staying time of each track point in the moving track according to the detection information, and generates a cleaning strategy for the target area based on the moving track and the staying time. Therefore, the cleaning strategy can be customized according to the moving track and the staying time of the living object in the target area, the flexibility of the robot cleaning is improved, and the robot can clean according to the activity of the living object, and the cleaning efficiency is improved.

[0104] In one embodiment, as shown in Figure 6 S404 specifically includes the following steps:

[0105] S602, in the target area, determine the sub-area corresponding to each track point in the moving track.

[0106] The sub-area is a part of the target area, and can be a region of various geometric shapes or irregular shapes. For example, the sub-area is a circular region, a rectangular region or a triangular region centered on the track point, etc. In one embodiment, the sub-area corresponding to each track point can constitute the target area. In another embodiment, all the sub-areas corresponding to each track point are only part of the target area, and the target area also includes the remaining area outside the sub-areas corresponding to each track point.

[0107] In one embodiment, the sub-area corresponding to the track point can contain the track point, for example, the track point is the center point or the boundary point of the corresponding sub-area. In another embodiment, the track point can not be contained in the corresponding sub-area. For example, the sub-area corresponding to the track point can be a preset area on one side of the track point.

[0108] S604, determine the cleaning parameter corresponding to each sub-area according to the staying time.

[0109] The cleaning parameter is a parameter used to represent the cleaning ability of the robot, including the rotation speed, the suction force or the cleaning time, etc. For example, the cleaning parameter can be a suction force of 1900 Pa. For another example, the cleaning parameter can be a rotation speed of 2000 revolutions per minute. For another example, the cleaning parameter can be a cleaning time of 5 minutes.

[0110] In order to improve the cleaning effect, the robot can strengthen the cleaning of the track point with a longer staying time of the living object. In one embodiment, the cleaning time, the suction force and the rotation speed determined by the robot can be proportional to the staying time.

[0111] S606, generate a cleaning strategy for the target area based on the cleaning parameters.

[0112] The robot determines sub-areas to be cleaned in the target area according to the movement trajectory of the living object, determines the cleaning parameters corresponding to each sub-area, and then generates a cleaning strategy for cleaning each sub-area based on the cleaning parameters. For example, the generated cleaning strategy includes three cleaning steps: cleaning sub-area 1, cleaning parameters: cloth motor speed: 2000 rpm, cleaning time: 3 minutes, suction force 1900 Pa; cleaning sub-area 2, cleaning parameters: cloth motor speed: 2200 rpm, cleaning time: 5 minutes, suction force 2300 Pa; cleaning sub-area 3, cleaning parameters: cloth motor speed: 2500 rpm, cleaning time: 6 minutes, suction force 2500 Pa.

[0113] In one embodiment, S606 further includes: determining a cleaning sequence number corresponding to each sub-area according to the region position coordinates corresponding to each sub-area and the current position coordinates of the robot. S606 specifically includes: generating a cleaning strategy for the target area based on the cleaning parameters and the cleaning sequence number.

[0114] The robot can determine the distance between each sub-area and the robot according to the region position coordinates corresponding to each sub-area and the current position coordinates of the robot, determine the cleaning sequence number corresponding to each sub-area according to the distance between each sub-area and the robot, and clean each sub-area in the order determined by the cleaning sequence number. For example, the robot can determine the cleaning sequence number corresponding to each sub-area in the order from near to far.

[0115] In the above embodiment, the robot determines the cleaning sequence number corresponding to each sub-area according to the region position coordinates corresponding to each sub-area and the current position coordinates of the robot, and then generates a cleaning strategy for the target area based on the cleaning parameters and the cleaning sequence number. Thus, the robot can clean the sub-areas in order, improving the cleaning efficiency.

[0116] In one embodiment, as shown in Figure 7 S204 specifically includes the following steps:

[0117] S702, when it is determined that the living object leaves the target area, determining a movement trajectory of the living object in the target area according to the detection information.

[0118] S704, determining a trajectory region corresponding to the movement trajectory.

[0119] S706, if the trajectory area contains a target indoor space object, determine the cleaning area based on the position coordinates of the target indoor space object, and control the robot to perform cleaning operations on the cleaning area.

[0120] The trajectory region is the area containing the movement trajectory, which can be the area extending outwards from the line connecting the movement trajectories. For example, such as... Figure 8 As shown, before a living object moves from a dining chair to the gas stove in the kitchen, its movement trajectory is the path from the dining chair to the gas stove. The trajectory area is the region extending to the left and right of the moving object's direction of movement, centered on the movement trajectory. Indoor space objects are objects placed indoors, including various furniture or appliances, both movable and immovable. For example, indoor space objects can be movable sofas, beds, refrigerators, or washing machines. Alternatively, they can be immovable cabinets, wardrobes, gas stoves, or toilets. Target indoor space objects can be one or more of these, and the robot can pre-set target indoor space objects. For example, the target indoor space object set by the robot could be an indoor space object around which the living object frequently generates trash, such as a coffee table or gas stove. Since living objects often generate trash around certain indoor space objects—for example, when people are cooking, they easily drop trash near the gas stove or kitchen preparation area—if a person stays near the preparation area or gas stove, the preparation area or area around the gas stove needs to be cleaned. Therefore, the robot can determine the cleaning area based on the position coordinates of the target indoor space object, and define the area around the target indoor space object as the cleaning area. For example, when the trajectory area corresponding to the movement trajectory of a living object includes a gas stove, the rectangular area in front of the gas stove is defined as the cleaning area.

[0121] In one embodiment, S706 specifically includes: extracting first cleaning information corresponding to the target indoor space object; the first cleaning information includes at least one of cleaning intensity, cleaning mode and cleaning duration; and controlling the robot to perform cleaning operations on the cleaning area according to the first cleaning information.

[0122] The first cleaning information is information for instructing the robot to perform a cleaning operation on the target indoor space object, and includes cleaning strength, cleaning mode, or cleaning duration, etc. The cleaning strength is used to represent the strength of the cleaning ability of the robot, and can be represented by suction power. The cleaning mode is a mode adopted by the robot when performing the cleaning operation, and includes a sweeping mode or a mopping mode, etc. The robot can pre-set the first cleaning information corresponding to each target indoor space object. For example, the robot can set the first cleaning information corresponding to the gas stove as "cleaning strength: suction power 3000 Pa, cleaning mode: mopping mode, and cleaning duration: 5 minutes". When the robot determines that the target indoor space object is included in the trajectory region corresponding to the movement trajectory, the first cleaning information corresponding to the target indoor space object is determined. In an embodiment, the first cleaning information corresponding to each target indoor space object can be stored in a configuration file, and the robot determines the first cleaning information corresponding to the target indoor space object included in the trajectory region based on the configuration file.

[0123] The robot performs the cleaning operation according to the first cleaning information corresponding to the target indoor space object. For example, the robot can increase the cleaning strength and the cleaning duration for the area such as the gas stove, which is prone to generate garbage and is not easy to clean; or the robot can also adopt the mopping mode to clean the area such as the tea table, which is prone to generate water stains. The robot performs the cleaning operation according to the first cleaning information, which can customize the cleaning of the cleaning area according to the characteristics of the target indoor space object, improves the cleaning efficiency of the robot, and ensures the cleaning effect.

[0124] In the above embodiment, when the robot determines that the living body object leaves the target region, the movement trajectory of the living body object in the target region is determined according to the detection information. If the target indoor space object is included in the trajectory region corresponding to the movement trajectory, the cleaning region is determined according to the position coordinates of the target indoor space object, and the robot is controlled to perform the cleaning operation on the cleaning region. Thus, the robot can perform the cleaning operation on the cleaning region in a targeted manner, improving the cleaning efficiency. Moreover, the robot can clean the area that is prone to generate garbage in a timely manner according to the movement trajectory of the living body object, improving the user experience and ensuring the cleaning effect.

[0125] In an embodiment, the detection information includes action information of the living body object, and the target region is a first region of the indoor environment; as Figure 9 As shown in FIG. 2, S202 further includes the following steps:

[0126] S902, determining a historical action of the living body object in a historical period when the living body object is in the target region based on the action information.

[0127] The action information is information used to describe the action posture of the living object, and includes an action type, an action amplitude, an action direction, and the like. The historical period is a time period in which the living object is in the target region. The robot can determine the historical period according to a time system configured by itself and detection information. For example, the historical period can be a period between 9:00 and 9:30. The historical action is an action performed by the living object in the historical period. For example, the historical action can be throwing garbage, pouring water, or pruning flowers and the like.

[0128] In S904, if the historical action includes the target action, the robot determines position information of the living object when the target action is performed, and determines a second region in the indoor environment according to the position information.

[0129] The target action can be a specific action configured in advance. For example, the target action can be an action in which the living object is likely to generate garbage. For example, the target action can be pruning flowers and plants, wiping a table, or the like. If the historical action of the living object includes the target action, the living object can generate garbage when the target action is performed, and the robot needs to clean the region in which the living object is located when the target action is performed. The robot determines position information of the living object when the target action is performed, and determines a second region in the indoor environment according to the position information. The determined second region can be a part of the target region, or can be a region partially overlapping with the target region, or can be a region outside the target region, and the like.

[0130] In S906, the robot is controlled to perform a cleaning operation on the second region.

[0131] When the robot determines the second region that needs to be cleaned, the robot cleans the second region. When the second region is cleaned, the robot can select a cleaning mode. For example, the robot can select a sweeping mode, or can select a mopping mode.

[0132] In one embodiment, S908 specifically includes: extracting second cleaning information corresponding to the target action; the second cleaning information includes at least one of a cleaning strength, a cleaning mode, and a cleaning time length; and performing a cleaning operation on the second region according to the second cleaning information.

[0133] The second cleaning information is information used to instruct the robot to perform a cleaning operation for the target action, and includes cleaning strength, cleaning mode, or cleaning duration, etc. The robot can pre-set the second cleaning information corresponding to each target action. For example, the robot can set the first cleaning information corresponding to the target action of trimming flowers as "cleaning strength: suction power 3200 Pa, cleaning mode: sweeping mode, and cleaning duration: 10 minutes". When the robot determines that the historical action contains the target action, the second cleaning information corresponding to the target action is determined. In an embodiment, the second cleaning information corresponding to each target action can be stored in a configuration file, and the robot determines the second cleaning information corresponding to the target action contained in the historical action based on the configuration file.

[0134] The robot performs a cleaning operation according to the second cleaning information corresponding to the target action. For example, the robot can increase the cleaning strength and the cleaning duration for an area such as a flower trimming area where garbage is easily generated and is not easy to clean; or the robot can also use a mopping mode to clean for an action such as pouring water where water stains are easily generated. The robot performs a cleaning operation according to the second cleaning information, which can flexibly clean the second area according to the characteristics of the target action, improves the flexibility and efficiency of the robot cleaning, and ensures the cleaning effect.

[0135] In the above embodiment, the robot determines a historical action issued by the living body object in a historical period when the living body object is in the target area based on the action information. If the historical action contains the target action, the position information when the living body object issues the target action is determined, and the second area is determined in the indoor environment according to the position information and the robot is controlled to perform a cleaning operation on the second area. Thus, the robot can perform a cleaning operation according to the action issued by the living body object, which improves the flexibility and cleaning efficiency of the cleaning operation.

[0136] In an embodiment, the detection information includes vital sign information; for example, Figure 10a As shown, S202 further includes S1002a-S1004a, and S204 specifically includes S1006a:

[0137] S1002a, if it is determined that the living body object is in a preset state based on the vital sign information, the prompt information used to prompt the living body object to be in the preset state is sent to the client.

[0138] The vital sign information is information used to describe the vital sign of the living body object, and includes a living body detection result, heart rate, or breathing rate, etc. The preset state is a specific physiological state of the living body object, for example, the preset state can be a sleep state, a sleep-wake state, or a motion state, etc. The prompt information is information used to prompt the state of the living body object, and can be various types of information such as text, voice, or video, etc.

[0139] When the living body object in the target area is in a certain state (for example, a sleep state), the cleaning operation of the robot can interfere with the living body object, at this time, the robot can temporarily stop cleaning the target area, and continuously detect the living body object, when it is detected that the living body object is in a preset state (for example, a wake-up state), the robot can send prompt information to the client to assist the client in monitoring the living body object (for example, the living body object is an old person or a baby). When the user sees the prompt information sent by the robot to the client, the user can assist the living body object in the target area to leave the target area. For example, as shown in Figure 10b the robot sends prompt information to the client when the baby in the target area wakes up, and the user carries the baby away from the target area according to the prompt information of the robot. If the robot detects that the baby has left the target area, the target area is cleaned, which can avoid the influence of the cleaning operation of the robot on the baby's sleep, and can also assist the user in monitoring the baby.

[0140] S1004a, collecting new detection information by the millimeter wave radar.

[0141] After the robot sends the prompt information to the client, the robot continues to detect the target area to determine whether the living body object has left the target area. The new detection information is the information detected by the millimeter wave radar after the robot sends the prompt information, including vital sign information, motion information, spatial position information or action information of the living body object.

[0142] S1006a, if it is determined that the living body object has left the target area based on the new detection information, generating a cleaning strategy for the target area according to the detection information and the new detection information.

[0143] If the robot determines that the living body object has left the target area based on the new detection information, the cleaning operation of the living body object will not interfere with the living body object, and the robot can start cleaning the target area. The robot generates a cleaning strategy for the target area according to the detection information and the new detection information, so as to consider the activity of the living body object in the target area when generating the cleaning strategy, and to strengthen the cleaning of the area where the living body object stays for a long time.

[0144] In one embodiment, when the robot moves to the target area, vital sign detection is performed on the target area by the millimeter wave radar to obtain vital sign information, and when it is detected that the living body object (for example, a baby, a pet, an old person or an adult) is in a wake-up state, prompt information is sent to the client. Then continue to perform vital sign detection on the target area to obtain new vital sign information. When it is determined that the living body object has left the target area according to the new vital sign information, the target area is cleaned.

[0145] In the above embodiment, the robot sends prompt information for prompting the living body object to be in the preset state to the client if it is determined that the living body object is in the preset state based on the vital sign information. New detection information is collected by the millimeter wave radar; and when it is determined that the living body object leaves the target area, the cleaning strategy for the target area is generated according to the detection information and the new detection information. Thus, the cleaning operation can be prevented from interfering with the living body object, the cleaning efficiency is improved, and the user can be assisted in monitoring the living body object in the target area.

[0146] In one embodiment, S202 is further followed by: in response to a summon instruction issued by the living body object, determining position information corresponding to the living body object according to the detection information; determining a cleaning area according to the position information, and controlling the robot to perform a cleaning operation on the cleaning area.

[0147] The summon instruction is an instruction for summoning the robot to a specific position, and includes a voice instruction or a gesture instruction, etc. The position information is information for indicating the position of the living body object, and can be the position coordinates of the living body object. The robot can determine the cleaning area according to the position information when the living body object issues the summon instruction. In one embodiment, the position information can be position coordinates, and the robot determines a region that satisfies a distance condition with the position coordinates as the cleaning area, and performs a cleaning operation on the cleaning area. The distance condition may, for example, be that the distance is less than a preset value; or the distance condition may, for example, be that the distance is within a preset numerical interval, etc.

[0148] In one embodiment, the robot determines the distance and angle between the robot and the living body object according to the detection information in response to the summon instruction issued by the living body object, and then determines the position information of the living body object according to the distance and angle.

[0149] In one embodiment, the summon instruction is a gesture instruction, and the robot determines a direction according to the gesture instruction in response to the gesture instruction issued by the living body object, determines the cleaning area according to the position information of the living body object and the direction, and controls the robot to perform a cleaning operation on the cleaning area. The gesture instruction is an instruction for indicating the direction of the cleaning area by a gesture. For example, the gesture instruction can be an instruction for pointing to the left area, and the robot determines a specific area to the left of the living body object as the cleaning area according to the gesture instruction.

[0150] In the above embodiment, the robot determines the position information corresponding to the living body object according to the detection information in response to the summon instruction issued by the living body object; determines the cleaning area according to the position information, and controls the robot to perform a cleaning operation on the cleaning area. Thus, the detection information of the millimeter wave radar can assist the robot to move to a specific area around the living body object that issued the summon instruction to perform a cleaning operation, and the flexibility of the cleaning operation is improved.

[0151] In one embodiment, as shown in Figure 11 The cleaning method of the robot comprises the following steps:

[0152] S1102, obtaining detection information obtained by detecting a living object in a target area by a millimeter wave radar.

[0153] S1104, when it is determined that the living object leaves the target area, determining a moving track of the living object in the target area and a stay duration of each track point in the moving track according to the detection information.

[0154] S1106, if it is determined to clean the target area according to the moving track and the stay duration, determining the moving track of the living object in the target area and the stay duration of each track point in the moving track according to the detection information.

[0155] S1108, in the target area, determining a sub-area corresponding to each track point in the moving track; determining a cleaning parameter corresponding to each sub-area according to the stay duration; and generating a cleaning strategy for the target area based on the cleaning parameter.

[0156] S1110, when the detection information is vital sign information, if it is determined that the living object is in a preset state based on the vital sign information, sending prompt information to the client for prompting the living object to be in the preset state; collecting new detection information by the millimeter wave radar; if it is determined that the living object leaves the target area based on the new detection information, generating a cleaning strategy for the target area according to the detection information and the new detection information.

[0157] S1112, when the living object issues a calling instruction, in response to the calling instruction issued by the living object, determining position information corresponding to the living object according to the detection information; determining a cleaning area according to the position information, and controlling the robot to perform a cleaning operation on the cleaning area.

[0158] The specific content of S1102 to S1112 can refer to the specific implementation process described above.

[0159] It should be understood that although the steps in the flowcharts involved in the embodiments described above are shown in sequence according to the arrows, the steps are not necessarily executed in the order indicated by the arrows. Unless otherwise specified herein, the execution of the steps is not strictly limited in sequence, and the steps can be executed in other orders. Moreover, at least some of the steps in the flowcharts involved in the embodiments described above can include multiple steps or multiple stages, which are not necessarily executed at the same time, but can be executed at different times, and the execution order of the steps or stages is not necessarily sequential, but can be executed alternately or alternately with at least part of other steps or steps or stages in other steps.

[0160] Based on the same inventive concept, the embodiments of the present application also provide a robot cleaning device for implementing the robot cleaning method described above. The implementation scheme for solving the problem provided by the device is similar to the implementation scheme described in the above method, so the specific limitations in one or more robot cleaning device embodiments provided below can refer to the limitations of the robot cleaning method described above, which will not be repeated here.

[0161] In one embodiment, as shown in Figure 12 A robot cleaning device is provided, comprising: an acquisition module 1202, a generation module 1204, and a cleaning module 1206, wherein:

[0162] The acquisition module 1202 is configured to acquire detection information obtained by detecting a living object in a target area by a millimeter wave radar;

[0163] The generation module 1204 is configured to generate a cleaning strategy for the target area according to the detection information when it is determined that the living object leaves the target area;

[0164] The cleaning module 1206 is configured to control the robot to clean the target area based on the cleaning strategy.

[0165] In one embodiment, the generation module 1204 is further configured to:

[0166] determine a moving track of the living object in the target area and a stay duration of each track point in the moving track according to the detection information when it is determined that the living object leaves the target area;

[0167] If it is determined to clean the target area according to the moving track and the stay duration, the generation module 1204 generates a cleaning strategy for the target area according to the detection information.

[0168] In one embodiment, the generation module 1204 is further configured to:

[0169] determine a moving track of the living object in the target area and a stay duration of each track point in the moving track according to the detection information;

[0170] generate a cleaning strategy for the target area based on the moving track and the stay duration.

[0171] In an embodiment, the generating module 1204 is further configured to:

[0172] determine a sub-area corresponding to each track point in the moving track in the target area;

[0173] determine a cleaning parameter corresponding to each sub-area according to the stay duration;

[0174] generate the cleaning strategy for the target area based on the cleaning parameter.

[0175] In an embodiment, as shown in Figure 13 the apparatus further comprises:

[0176] The determining module 1208 is configured to determine a cleaning sequence number corresponding to each sub-area according to a region position coordinate corresponding to each sub-area and a current position coordinate of the robot.

[0177] The generating module 1204 is further configured to generate the cleaning strategy for the target area based on the cleaning parameter and the cleaning sequence number.

[0178] In an embodiment, the generating module 1204 is further configured to:

[0179] determine the moving track of the living object in the target area according to the detection information when the living object leaves the target area;

[0180] determine a track area corresponding to the moving track;

[0181] if the track area contains a target indoor space object, determine a cleaning area according to a position coordinate of the target indoor space object, and control the robot to perform a cleaning operation on the cleaning area.

[0182] In an embodiment, the generating module 1204 is further configured to:

[0183] extract first cleaning information corresponding to the target indoor space object; the first cleaning information includes at least one of a cleaning strength, a cleaning mode, and a cleaning duration;

[0184] control the robot to perform the cleaning operation on the cleaning area according to the first cleaning information.

[0185] In an embodiment, the detection information includes action information of the living object, and the target area is a first area of an indoor environment; the determining module 1208 is further configured to:

[0186] determine a historical action of the living object in a historical period when the living object is in the target area based on the action information;

[0187] if the historical action includes the target action, determine position information when the living object emits the target action, and determine a second area in the indoor environment according to the position information;

[0188] control the robot to perform a cleaning operation on the second area.

[0189] In an embodiment, the determining module 1208 is further configured to:

[0190] extract second cleaning information corresponding to the target action; the second cleaning information includes at least one of cleaning strength, cleaning mode, and cleaning duration;

[0191] perform the cleaning operation on the second area according to the second cleaning information.

[0192] In an embodiment, the detection information includes vital sign information; the apparatus further includes:

[0193] The sending module 1210 is configured to send prompt information for prompting the living object to be in the preset state to the client if it is determined based on the vital sign information that the living object is in the preset state.

[0194] The acquisition module 1212 is configured to acquire new detection information through a millimeter wave radar.

[0195] The generating module 1204 is further configured to generate a cleaning strategy for the target area according to the detection information and the new detection information if it is determined based on the new detection information that the living object leaves the target area.

[0196] In an embodiment, the apparatus further includes:

[0197] The determining module 1208 is further configured to determine position information corresponding to the living object according to the detection information in response to a summon instruction emitted by the living object.

[0198] The cleaning module 1206 is further configured to determine a cleaning area according to the position information, and control the robot to perform a cleaning operation on the cleaning area.

[0199] The above-described various modules in the cleaning apparatus of the robot can be all or part realized by software, hardware, and a combination thereof. The above-described various modules can be embedded in or independent of a processor in a computer device in a hardware form, or stored in a memory in a computer device in a software form, so as to be called and executed by a processor to perform operations corresponding to the above-described various modules.

[0200] In an embodiment, a computer device is provided, which can be a robot, and an internal structure diagram of the computer device can be as shown in Figure 14The computer device shown in the figure includes a processor, a memory, an input / output interface, a communication interface, a display unit and an input device. Among them, the processor, the memory and the input / output interface are connected through a system bus, and the communication interface, the display unit and the input device are connected to the system bus through the input / output interface. Among them, the processor of the computer device is used to provide computing and control capability. The memory of the computer device includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system and a computer program. The internal memory provides an environment for the operating system and the computer program in the non-volatile storage medium to run. The input / output interface of the computer device is used to exchange information between the processor and external devices. The communication interface of the computer device is used to communicate with external terminals in a wired or wireless manner. The wireless manner can be realized through WIFI, mobile cellular network, NFC (near field communication) or other technologies. The computer program is executed by the processor to realize a cleaning method of a robot. The display unit of the computer device is used to form a visually visible picture, which can be a display screen, a projection device or a virtual reality imaging device. The display screen can be a liquid crystal display screen or an electronic ink display screen. The input device of the computer device can be a touch layer overlaid on the display screen, or a key, trackball or touchpad arranged on the shell of the computer device. It can also be an external keyboard, touchpad or mouse, etc.

[0201] Those skilled in the art can understand that, Figure 14 The structure shown in the figure is only a block diagram of part of the structure related to the scheme of the present application, and does not constitute a limitation on the computer device to which the scheme of the present application is applied. The specific computer device can include more or fewer components than those shown in the figure, or combine certain components, or have a different component arrangement.

[0202] In one embodiment, a computer device is provided, including a memory and a processor, the memory storing a computer program, and the processor executing the computer program to implement the steps in each of the above method embodiments.

[0203] In one embodiment, a computer readable storage medium is provided, which stores a computer program, and the computer program is executed by a processor to implement the steps in each of the above method embodiments.

[0204] In one embodiment, a computer program product is provided, including a computer program, and the computer program is executed by a processor to implement the steps in each of the above method embodiments.

[0205] It should be noted that the user information (including but not limited to user equipment information, user personal information, etc.) and data (including but not limited to data for analysis, stored data, displayed data, etc.) involved in the present application are all information and data authorized by the user or authorized by all parties, and the collection, use and processing of related data need to comply with relevant laws, regulations and standards of the country and region.

[0206] A person 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. The computer program can be stored in a non-volatile computer readable storage medium, and when the computer program is executed, the processes of the above-mentioned embodiments of each method can be included. In the embodiments provided in the present application, any reference to memory, database or other medium can include at least one of non-volatile and volatile memory. Non-volatile memory can include read-only memory (ROM), magnetic tape, floppy disk, flash memory, optical storage, high-density embedded non-volatile memory, resistive memory (ReRAM), magnetoresistive random access memory (MRAM), ferroelectric memory (FRAM), phase change memory (PCM), graphene memory, etc. Volatile memory can include random access memory (RAM) or external cache memory, etc. As an illustration but not limitation, RAM can be in various forms, such as static random access memory (SRAM) or dynamic random access memory (DRAM), etc. The database involved in the embodiments provided in the present application can include at least one of a relational database and a non-relational database. The non-relational database can include a distributed database based on a block chain, etc., without being limited thereto. The processor involved in the embodiments provided in the present application can be a general-purpose processor, a central processing unit, a graphics processing unit, a digital signal processor, a programmable logic device, a data processing logic device based on quantum computing, etc., without being limited thereto.

[0207] The technical features of the above embodiments can be combined in any way. To make the description concise, not all possible combinations of the technical features in the above embodiments are described, but as long as the combinations of the technical features do not exist contradictions, they should be considered as the scope of the present application.

[0208] The above-described embodiments are merely illustrative of several embodiments of the present application, and the description is relatively specific and detailed, but should not be understood as a limitation on the scope of the patent. It should be noted that for those skilled in the art, without departing from the concept of the present application, a number of modifications and improvements can be made, which are all within the scope of the present application. Therefore, the scope of protection of the present application should be subject to the appended claims.

Claims

1. A cleaning method for a robot, characterized in that, The method includes: Acquire detection information obtained from detecting live objects within the target area using millimeter-wave radar; The location information corresponding to the living object is determined based on the detection information; In response to a gesture command issued by the living object, the direction is determined according to the gesture command; The cleaning area is determined based on the location information of the living object and the direction, and the robot is controlled to perform cleaning operations on the cleaning area.

2. The method according to claim 1, characterized in that, The detection information includes the motion information of the living object, the target area is a first area of ​​the indoor environment, and the method further includes: Based on the action information, determine the historical actions performed by the living object during a historical period within the target area; If the historical actions include a target action, then the location information of the living object when it performs the target action is determined, and a second area is determined in the indoor environment based on the location information. The robot is controlled to perform a cleaning operation on the second area.

3. The method according to claim 2, characterized in that, The control of the robot to perform cleaning operations on the second area includes: Extract the second cleaning information corresponding to the target action; the second cleaning information includes at least one of cleaning intensity, cleaning mode and cleaning duration; wherein, the second cleaning information corresponding to each target action is stored in a configuration file, and the configuration file is used to determine the second cleaning information corresponding to the target action included in the historical actions; Perform cleaning operations on the second area based on the second cleaning information.

4. The method according to claim 1, characterized in that, The detection information includes vital signs information; the method further includes: If the living object is determined to be in a preset state based on the vital signs information, a prompt message is sent to the client to indicate that the living object is in the preset state; the preset state is a specific physiological state of the living object, which includes a sleep state, a waking state, or a movement state. New detection information is acquired using the millimeter-wave radar; The step of generating a cleaning strategy for the target area based on the detection information when it is determined that the living object has left the target area includes: If it is determined based on the new detection information that the living object has left the target area, a cleaning strategy for the target area is generated based on the detection information and the new detection information.

5. The method according to claim 4, characterized in that, The step of acquiring new detection information through the millimeter-wave radar includes: after sending a prompt message to the client, continuously detecting and acquiring new detection information in the target area through the millimeter-wave radar to determine whether the living object has left the target area; wherein, the new detection information is the information detected by the millimeter-wave radar after sending the prompt message, and the new detection information includes the living object's vital signs, motion information, spatial location information, or action information.

6. The method according to claim 1, characterized in that, Determining the location information corresponding to the living object based on the detection information includes: The distance and angle between the robot and the living object are determined based on the detection information; The position information of the living object is determined based on the distance and the angle.

7. A cleaning device for a robot, characterized in that, The device includes: The acquisition module is used to acquire detection information obtained by detecting live objects within the target area using millimeter-wave radar; The determination module is used to determine the position information corresponding to the living object based on the detection information; and to determine the direction based on the gesture command issued by the living object in response to the gesture command. The cleaning module is used to determine the cleaning area based on the position information of the living object and the direction, and to control the robot to perform cleaning operations on the cleaning area.

8. A computer device comprising a memory and a processor, wherein the memory stores a computer program, characterized in that, When the processor executes the computer program, it implements the steps of the method according to any one of claims 1 to 6.

9. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by a processor, it implements the steps of the method according to any one of claims 1 to 6.

10. A computer program product, comprising a computer program, characterized in that, When the computer program is executed by a processor, it implements the steps of the method according to any one of claims 1 to 6.

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