A rotational speed determination method, apparatus, device, storage medium, and computer program product

Abstract

Embodiments of the present application disclose a rotating speed determination method, which comprises: obtaining a target motion form of a self-moving device when performing a cleaning operation in a task area, and a target position of a current to-be-cleaned object in the task area; determining a target area corresponding to the current to-be-cleaned object based on the target motion form and the target position, wherein the target area is an area where the current to-be-cleaned object scatters to after being cleaned by the self-moving device; determining a target rotating speed of a brush assembly of the self-moving device based on the target area and the task area, and controlling the brush assembly to rotate at the target rotating speed to clean the current to-be-cleaned object. Embodiments of the present application also disclose a rotating speed determination device, equipment, a storage medium and a computer program product.

Description

Technical Field

[0001] This application relates to the field of intelligent control, and in particular to a method, apparatus, device, storage medium, and computer program product for determining rotational speed. Background Technology

[0002] Currently, to ensure the cleaning effect of cleaning robots, the side brush assembly is typically controlled to rotate at high speed during the robot's movement. This is to draw all objects near the robot into the dust collection port, from where they are then drawn into the robot for cleaning. However, if the side brush assembly rotates too fast, it will not only fail to draw the objects into the dust collection port but will also fling them to other areas outside the robot, causing secondary pollution and thus affecting the cleaning efficiency. Summary of the Invention

[0003] To address the aforementioned technical problems, this application aims to provide a method, apparatus, device, storage medium, and computer program product for determining rotation speed, which can solve the problem in related technologies where the object to be cleaned is flung to other areas due to excessively fast rotation speed of the side brush assembly, causing secondary pollution.

[0004] The technical solution of this application is implemented as follows: A method for determining rotational speed, the method being applied to a self-moving device, the method comprising: The target motion pattern of the self-moving device when performing cleaning operations within the task area is obtained, as well as the target position of the current object to be cleaned within the task area; Based on the target motion pattern and the target position, the target area corresponding to the current object to be cleaned is determined; wherein, the target area is the area to which the current object to be cleaned is scattered after being cleaned by the self-moving device; Based on the target area and the task area, the target rotation speed of the side brush component of the self-moving device is determined, and the side brush component is controlled to rotate at the target rotation speed to clean the current object to be cleaned.

[0005] In the above scheme, determining the target area corresponding to the object to be cleaned based on the target motion pattern and the target position includes: Obtain the first correspondence between the motion pattern of the self-moving device, the position of the object to be cleaned, and the area corresponding to the object to be cleaned; The target region is determined based on the target motion pattern, the target position, and the first correspondence.

[0006] In the above scheme, determining the target rotation speed of the side brush component of the self-moving device based on the target area and the task area includes: If the target area is located within the sub-area to be cleaned in the task area, the target rotation speed is determined to be the current first speed of the side brush assembly; If the target area is not within the sub-area to be cleaned, the target rotation speed is determined to be the second speed; wherein the first speed is greater than the second speed.

[0007] In the above scheme, determining the target rotation speed of the side brush component of the self-moving device based on the target area and the task area includes: Determine the category of the current object to be cleaned; wherein, the category represents the difficulty of cleaning the current object; The speed level of the side brush assembly is determined based on the target area and the task area; wherein the speed level characterizes the speed at which the side brush assembly rotates; The target rotational speed is determined based on the category and the speed level.

[0008] In the above scheme, determining the category of the current object to be cleaned includes: Obtain the attribute information and second correspondence of the current object to be cleaned; wherein, the second correspondence is the correspondence between the category of the object to be cleaned and the attribute information of the object to be cleaned; Based on the attribute information and the second correspondence, the category of the current object to be cleaned is determined.

[0009] In the above scheme, determining the speed level of the side brush component based on the target area and the task area includes: If the target area is located within the sub-area to be cleaned in the task area, the speed level of the side brush component is determined to be the first level; If the target area is not within the sub-area to be cleaned, the speed level of the side brush assembly is determined to be the second level; wherein, the first level is higher than the second level.

[0010] In the above scheme, determining the target rotation speed based on the category and the speed level includes: If the speed level is the first level, a plurality of first candidate speeds are determined based on the first level, and the target rotation speed is determined from the plurality of first candidate speeds based on the category; If the speed level is the second level, a plurality of second candidate speeds are determined based on the second level, and the target rotational speed is determined from the plurality of second candidate speeds based on the category.

[0011] A speed determining device, the device comprising: The acquisition unit is used to acquire the target motion pattern of the self-moving device when performing cleaning operations in the task area, and the target position of the current object to be cleaned in the task area; The first determining unit is configured to determine the target area corresponding to the current object to be cleaned based on the target motion pattern and the target position; wherein, the target area is the area to which the current object to be cleaned is scattered after being cleaned by the self-moving device; The second determining unit is used to determine the target rotation speed of the side brush component of the self-moving device based on the target area and the task area, and control the side brush component to rotate at the target rotation speed to clean the current object to be cleaned.

[0012] A self-moving device, the device comprising: a processor, a memory, and a communication bus; The communication bus is used to realize the communication connection between the processor and the memory; The processor is used to execute the speed determination program in the memory to implement the steps of the speed determination method described above.

[0013] A storage medium storing one or more programs that can be executed by one or more processors to implement the steps of the above-described speed determination method.

[0014] A computer program product comprising a computer program that, when executed by a processor, implements the aforementioned speed determination method.

[0015] The rotation speed determination method, apparatus, device, storage medium, and computer program product provided in this application can acquire the target motion pattern of the self-moving device when performing a cleaning operation within a task area, and the target position of the current object to be cleaned within the task area; based on the target motion pattern and the target position, determine the target area corresponding to the current object to be cleaned; the target area is the area where the current object to be cleaned is scattered after being cleaned by the self-moving device; based on the target area and the task area, determine the target rotation speed of the side brush assembly of the self-moving device, and control the side brush assembly to rotate at the target rotation speed to clean the current object to be cleaned. Based on the target motion of the self-moving device and the target position of the object to be cleaned, the robot can proactively predict the target area to which the object might be flung after cleaning. Then, based on the target area and the pre-set task area, the optimal rotation speed (i.e., the target rotation speed) of the side brush assembly can be derived in reverse, instead of using a fixed high-speed rotation strategy to ensure cleaning effect as in related technologies. In this way, by controlling the side brush assembly to perform cleaning operations at the optimal rotation speed during the cleaning process of the cleaning robot, not only can the cleaning effect be guaranteed, but the problem of secondary pollution caused by the side brush assembly rotating too fast and flung to other areas can also be solved at the root in related technologies, thereby improving cleaning efficiency. Attached Figure Description

[0016] Figure 1 This is a schematic flowchart of a method for determining rotational speed provided in an embodiment of this application; Figure 2 This is a schematic diagram of the secondary pollution zone generated by the self-moving device when it moves forward in a speed determination method provided in this application embodiment; Figure 3 This is a flowchart illustrating another method for determining rotational speed provided in an embodiment of this application; Figure 4 This is a first schematic diagram of a method for determining rotation speed provided in this application, in which a secondary contamination zone is generated by a self-moving device during a cleaning operation; Figure 5 This is a second schematic diagram of a method for determining rotation speed provided in this application, in which a secondary contamination zone is generated by a self-moving device during a cleaning operation; Figure 6 This is a third schematic diagram of a method for determining rotation speed provided in this application, in which a secondary contamination zone is generated by a self-moving device during a cleaning operation; Figure 7 This is another schematic diagram of the secondary pollution zone generated by the self-moving device when it moves forward in a speed determination method provided in this application embodiment; Figure 8This is a schematic diagram of the secondary pollution zone generated by the self-moving device when it moves backward in a speed determination method provided in this application embodiment; Figure 9 This is a schematic diagram of the secondary contamination zone generated by the self-moving device when rotating to the left in a speed determination method provided in this application embodiment; Figure 10 This is a schematic diagram of the secondary pollution zone generated by the self-moving device when rotating to the right in a speed determination method provided in this application embodiment; Figure 11 This is a schematic diagram of the structure of a speed determining device provided in an embodiment of this application; Figure 12 This is a schematic diagram of the structure of a self-moving device provided in an embodiment of this application. Detailed Implementation

[0017] The technical solutions in the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings.

[0018] It should be understood that the phrases "embodiments of this application" or "foreign embodiments" throughout the specification mean that a specific feature, structure, or characteristic related to an embodiment is included in at least one embodiment of this application. Therefore, "embodiments of this application" or "in the foreign embodiments" appearing throughout the specification do not necessarily refer to the same embodiment. Furthermore, these specific features, structures, or characteristics can be combined in any suitable manner in one or more embodiments. In the various embodiments of this application, the sequence numbers of the above-described processes do not imply a sequential order of execution; the execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of this application. The sequence numbers of the above-described embodiments are merely descriptive and do not represent the superiority or inferiority of the embodiments.

[0019] Unless otherwise specified, any step in the embodiments of this application performed by the electronic device may be executed by the processor of the electronic device. It is also worth noting that the embodiments of this application do not limit the order in which the electronic device performs the following steps. Furthermore, the methods used to process data in different embodiments may be the same or different methods. It should also be noted that any step in the embodiments of this application can be executed independently by the electronic device; that is, when the electronic device performs any step in the following embodiments, it may not depend on the execution of other steps.

[0020] It should be understood that the specific embodiments described herein are for illustrative purposes only and are not intended to limit the scope of this application.

[0021] This application provides a method for determining rotational speed, which can be applied to self-moving devices. (Refer to...) Figure 1 As shown, the method includes the following steps: Step 101: Obtain the target motion pattern of the self-moving device when performing cleaning operations within the task area, and the target position of the current object to be cleaned within the task area.

[0022] In this embodiment, the self-moving device can refer to intelligent cleaning devices such as cleaning robots and sweeping robots; the task area can refer to the task area of ​​the cleaning task that the self-moving device is currently performing, that is, the area that the self-moving device is to clean; the target motion form can refer to the current motion direction and motion mode of the self-moving device, which can specifically include forward, backward, left rotation in place, right rotation in place, left arc, and right arc.

[0023] In this embodiment of the application, the object to be cleaned can refer to the object (i.e., the object) that the mobile device currently detects within the task area is about to be cleaned.

[0024] It should be noted that when the self-moving device performs cleaning operations within the task area, it will initially rotate the side brush component at high speed by default (the specific rotation speed can be a manually set empirical value, i.e., the empirical speed) in order to roll up as many objects to be cleaned as possible into the self-moving device.

[0025] Step 102: Based on the target motion form and target position, determine the target area corresponding to the object to be cleaned.

[0026] The target area is the area where the object to be cleaned has been scattered after being cleaned by the mobile device.

[0027] In one feasible way, such as Figure 2 As shown, taking the self-moving device in forward motion as an example, theoretically, when the self-moving device is in forward motion, the side brush component of the self-moving device can first roll the object to be cleaned in area A to area B (that is, the object to be cleaned will move in the tangential direction determined by the rotation direction of the side brush component and the movement direction of the self-moving device), and then the dust collection port will roll the object to be cleaned into the self-moving device, thereby achieving the cleaning purpose. However, when the rotation speed of the side brush component is too fast, the dirt in area A will be subjected to a greater force, and thus be thrown to area C outside the self-moving device, causing secondary pollution.

[0028] In this embodiment, the target area can refer to the area to which the object to be cleaned will be knocked (or flung) when the self-moving device rotates at an empirical speed to clean the object, that is, Figure 2 Area C in the text can also be called the secondary pollution area.

[0029] It should be noted that the target area is a predicted area. In other words, the self-moving device actively predicts the target area to which the object to be cleaned will be knocked if the side brush component continues to rotate at an empirical speed, based on the target's motion and position.

[0030] In this embodiment of the application, a first correspondence between the motion pattern of the mobile device and the target position of the object to be cleaned can be obtained, and the target area corresponding to the object to be cleaned can be determined based on the target motion pattern, the target position and the first correspondence.

[0031] Step 103: Based on the target area and the task area, determine the target rotation speed of the side brush component of the self-moving device, and control the side brush component to rotate at the target rotation speed to clean the current object to be cleaned.

[0032] In this embodiment of the application, the target rotation speed may refer to the rotation speed of the side brush component when cleaning the current object to be cleaned.

[0033] In one feasible approach, it can be determined whether the target area is within the sub-area to be cleaned in the task area, and the target rotation speed of the side brush assembly can be determined based on the determination result.

[0034] In another possible approach, the category of the object to be cleaned can be determined first, and then the target rotation speed of the side brush component can be determined based on the target area, task area, and category of the object to be cleaned.

[0035] In this embodiment of the application, after determining the target rotation speed, the self-moving device controls the side brush assembly to rotate at the target rotation speed, thereby drawing the object to be cleaned into the dust collection port to complete the cleaning operation of the object to be cleaned.

[0036] The rotation speed determination method provided in the embodiments of this application can first predict the target area to which the object to be cleaned may be flung after being cleaned, based on the target motion form of the self-moving device and the target position of the object to be cleaned. Then, based on the target area and the pre-set task area, the optimal rotation speed (i.e., the target rotation speed) of the side brush assembly is derived in reverse, instead of using a fixed high-speed rotation strategy to ensure cleaning effect as in related technologies. In this way, by controlling the side brush assembly to perform cleaning operations at the optimal rotation speed during the cleaning process of the cleaning robot, not only can the cleaning effect be guaranteed, but the problem of secondary pollution caused by the side brush assembly rotating too fast and flung to other areas can also be solved from the root of the problem in related technologies, thereby improving cleaning efficiency.

[0037] Based on the foregoing embodiments, embodiments of this application provide a method for determining rotational speed, which can be applied to self-moving devices, referring to... Figure 3As shown, the method includes the following steps: Step 201: The self-moving device obtains the target motion pattern when the self-moving device performs cleaning operations within the task area, as well as the target position of the current object to be cleaned within the task area.

[0038] In this embodiment of the application, the self-moving device can obtain the rotation state of the wheels of the self-moving device through its own motion sensor, and then determine the target motion form of the self-moving device based on the motion state of the wheels, that is, whether the self-moving device is currently in a forward state, a backward state, a left rotation state, etc.

[0039] In this embodiment, the self-moving device can acquire images of the area to be cleaned in real time using its built-in image acquisition module (e.g., a camera). Then, a target detection algorithm can be used to process the acquired images to identify the object to be cleaned. Furthermore, a distance estimation algorithm can be used to determine the location of the object to be cleaned, i.e., the target location. The target location can be represented by two-dimensional coordinates.

[0040] Step 202: The self-moving device obtains the first correspondence between the motion pattern of the self-moving device, the position of the object to be cleaned, and the area corresponding to the object to be cleaned.

[0041] In this embodiment of the application, the first correspondence may be pre-set and stored in the processor of the self-moving device.

[0042] In one feasible approach, different types of objects to be cleaned can be pre-laid at multiple different locations, and the positions of these objects can be recorded. Then, a self-moving device can be controlled to perform cleaning operations on the pre-laid objects of different types under different motion patterns, thereby recording the first area to which each type of object is knocked. Next, the union of the first areas corresponding to each type of object can be calculated to obtain a second area, which represents the area corresponding to all objects to be cleaned. Furthermore, a first correspondence can be constructed based on the motion pattern of the self-moving device, the positions of the objects to be cleaned, and the areas corresponding to all objects to be cleaned. Both the first and second areas (i.e., the areas) are represented using two-dimensional coordinates.

[0043] For example, the first correspondence can be shown in Table 1 below. In the first correspondence, the column for the area corresponding to the object to be cleaned records the coordinates of the upper left corner and the lower right corner of the area.

[0044] It should be noted that when the self-moving device performs cleaning operations on different types of objects to be cleaned under different operating modes, the side brush component maintains a high-speed rotation state (that is, the rotation speed of the side brush component remains consistent). In this case, the rotation speed of the side brush component can be set to the empirical speed, which is set manually.

[0045]

[0046] Table 1 In another feasible approach, the user can first roughly predefine the reference area corresponding to each type of object to be cleaned based on basic mechanical properties and experience. This reference area represents the region where the object might be knocked away by the self-moving device under different motion patterns. After determining the reference area for each type of object, the union of multiple reference areas can be calculated to obtain a merged area. Furthermore, the intersection of the second area obtained above and the merged area can be calculated to obtain the areas corresponding to all objects to be cleaned. Then, based on the motion pattern of the self-moving device, the position of the object to be cleaned, and the areas corresponding to all objects to be cleaned, a first correspondence can be constructed.

[0047] In one feasible approach, the reference area is determined using an example of a first-category (i.e., hard particles) object to be cleaned. Specifically, as... Figure 4 As shown, when the side brush assembly rotates, the objects to be cleaned (also known as debris) swept up by the side brush assembly move in a tangential direction along the rotation direction of the side brush assembly. However, if the self-moving device is moving forward / backward (e.g., ...), the objects to be cleaned (also known as debris) move in a tangential direction along the rotation direction of the side brush assembly. Figure 5 (as shown) or rotate (as shown) Figure 6 As shown in the figure, the rotation center of the side brush assembly itself will also be displaced, which will apply a new force to the debris already collected inside the side brush assembly, causing the contaminated area to shift in the direction of movement.

[0048] Specifically, based on the aforementioned fundamental mechanical properties, reference areas for the first category of objects to be cleaned can be determined under different operating conditions. Here, we will proceed as follows (e.g., ...). Figure 7 As shown), back (as shown) Figure 8 As shown), rotate left (as shown) Figure 9 (as shown) and right rotation (as shown) Figure 10 The following example will be used to illustrate this. Figure 7During the forward movement of the self-moving device, secondary contamination zones a and b may be generated. If the user-set experience speed is high, the object to be cleaned will be propelled to the rear left of the self-moving device, further away from the side brush assembly; this is secondary contamination zone a. If the user-set experience speed is low / medium, the object to be cleaned will be propelled to the front right of the self-moving device, closer to the side brush assembly; this is secondary contamination zone b. In other words, the reference area for the first category of objects to be cleaned during forward movement includes both secondary contamination zones a and b. It should be noted that even if the experience speed is set to low / medium, it is within the low / medium range of high speed, not a change in the side brush assembly's rotation speed from high to low.

[0049] further, Figure 8 During the backward movement of a mobile device, secondary pollution zones c and d may be generated. If the user's set experience speed value is high, then... Figure 2 Objects already swept into area B will be flung back into secondary contamination area c. If the user-set experience speed is low / medium, objects already swept into area B will be flung back into secondary contamination area c. Figure 8 The secondary contamination zone d in the text means that the reference area corresponding to the first category of objects to be cleaned when moving backward includes the secondary contamination zone c and the secondary contamination zone d.

[0050] further, Figure 9 During the leftward rotation of the mobile device, secondary contamination zones e and f may be generated. If the empirical speed value is high, the objects to be cleaned that have already been drawn into area B will be flung back into secondary contamination zone e. If the empirical speed value is low / medium, the objects to be cleaned that have already been drawn into area B will be flung back into secondary contamination zone f. In other words, the reference area corresponding to the first category of objects to be cleaned during the leftward rotation includes secondary contamination zones e and f. Figure 10 During the rightward rotation of the mobile device, secondary contamination zones g and h may be generated. If the empirical speed value is high, the object to be cleaned that has already been rolled into area B will be thrown back into secondary contamination zone g. Conversely, if the empirical speed value is low / medium, the object to be cleaned that has already been rolled into area B will be thrown back into secondary contamination zone h. In other words, the reference area corresponding to the first category of objects to be cleaned during the rightward rotation includes secondary contamination zones g and h.

[0051] Step 203: The self-moving device determines the target area based on the target motion form, target position, and the first correspondence.

[0052] In this embodiment of the application, after the self-moving device determines the target motion form, it can determine multiple positions of the object to be cleaned corresponding to the target motion form according to the target motion form and the first correspondence. Then, it can calculate the Euclidean distance between the target position and the multiple positions respectively, and determine the position with the smallest Euclidean distance among the multiple positions as the matching position. Finally, it can determine the area corresponding to the matching position as the target area.

[0053] It should be noted that the target area can be represented by two-dimensional coordinates of the upper left and lower right corners.

[0054] In the embodiments of this application, step 204 or step 205, or steps 206-208 can be executed after step 203.

[0055] Step 204: If the target area is within the sub-area to be cleaned in the task area, the self-moving device determines the target rotation speed as the current first speed of the side brush component.

[0056] In this embodiment of the application, the sub-region to be cleaned may refer to the sub-region in the task area of ​​the cleaning task that has not yet been cleaned.

[0057] In this embodiment of the application, if the target area is within the sub-area to be cleaned, it means that if the side brush component rotates and cleans the current object to be cleaned at the empirical speed, the area to which the current object to be cleaned will be knocked away is the area that the self-moving device needs to clean later. This means that even if the current object to be cleaned is knocked away to an area outside the self-moving device, it will not cause secondary pollution, because the area to which it is knocked away will be cleaned later. At this time, the target rotation speed can be directly determined as the first speed (i.e., the default empirical speed of the side brush component).

[0058] In the embodiments of this application, the first speed (i.e., the empirical speed) may refer to the minimum rotation speed of the side brush component under the premise that the side brush component can collect most of the nearby objects to be cleaned, or it may refer to the minimum rotation speed of the side brush component under the premise that the side brush component can collect all the nearby objects to be cleaned.

[0059] Step 205: If the target area is not within the sub-area to be cleaned, the self-moving device determines the target rotation speed as the second speed.

[0060] The first speed is greater than the second speed.

[0061] In this embodiment, the second speed refers to the maximum rotational speed of the side brush component without causing secondary contamination by the side brush component knocking the object to be cleaned away. Specifically, if the target area is not within the sub-area to be cleaned, it means that if the side brush component rotates to clean the current object at the empirical speed, the area to which the object will be knocked away is an area / restricted zone that the self-moving device has already cleaned, i.e., an area that will not be cleaned again. This means that if the object is knocked away to an area outside the self-moving device, the knocked-away object will not be cleaned again, which will inevitably cause secondary contamination because the area to which it is knocked away will not be cleaned. In this case, the target rotational speed can be directly determined as the second speed.

[0062] It should be noted that if the side brush assembly rotates at the second speed, it means that the side brush assembly is actually in a low-speed rotation state. In this state, the side brush assembly will collect the objects to be cleaned from the vicinity (i.e., the surrounding area) of the mobile device as much as possible to complete the cleaning operation, while ensuring that no secondary pollution is generated.

[0063] Step 206: The self-moving device determines the category of the object to be cleaned.

[0064] The category represents the difficulty of cleaning the object to be cleaned.

[0065] In this embodiment, the objects to be cleaned can be categorized into three main types: hard particles, soft debris, and dust. Hard particles can include silica sand, millet, and simulated pet food pellets, while soft debris can include tea leaves, lint, hair, and paper scraps. It should be noted that hard particles are the easiest to clean, while dust is the most difficult to clean, and soft debris is of moderate difficulty.

[0066] In this embodiment of the application, the image of the object to be cleaned, which is acquired by the image acquisition device, can be analyzed first to obtain the attribute information of the object to be cleaned. Then, the category of the object to be cleaned can be determined according to the attribute information and the pre-set second correspondence.

[0067] In the embodiments of this application, step 206 can be implemented through steps 206a-206b.

[0068] Step 206a: Obtain the attribute information and second correspondence of the object to be cleaned from the self-moving device.

[0069] The second correspondence is the correspondence between the category of the object to be cleaned and the attribute information of the object to be cleaned.

[0070] In this embodiment, the attribute information of the object to be cleaned may include the visual features and size of the object. Specifically, the self-moving device may use an artificial intelligence (AI) visual model to process the image acquired by the image acquisition device to obtain the visual features and size of the object to be cleaned in the image, i.e., the attribute information.

[0071] It should be noted that the visual features of the object to be cleaned can include its texture and boundary features. Texture features characterize whether the surface of the object to be cleaned is reflective; boundary features characterize the clarity of the object's boundaries. Specifically, texture features can include whether the surface of the object to be cleaned is reflective or matte; boundary features can include whether the object has clear boundaries (with obvious geometric contours) or blurred boundaries (with gradients or flocculent edges).

[0072] In this embodiment, the second correspondence is a pre-set correspondence stored in the processor of the self-moving device. In one possible implementation, the second correspondence can be as shown in Table 2 below.

[0073]

[0074] Table 2 Step 206b: The self-moving device determines the category of the current object to be cleaned based on the attribute information and the second correspondence.

[0075] In this embodiment of the application, after obtaining the attribute information of the object to be cleaned, the attribute information of the object to be cleaned can be matched with the attribute information of the object to be cleaned in the second correspondence relationship, and the category of the object to be cleaned can be determined according to the matching result.

[0076] For example, if the attribute information of the object to be cleaned indicates that the surface of the object to be cleaned is reflective, the boundary is clear, and the size is greater than the target threshold, then the category of the object to be cleaned can be determined as hard particles.

[0077] Step 207: The self-moving device determines the speed level of the side brush component based on the target area and the task area.

[0078] The speed rating indicates how fast the brush assembly rotates.

[0079] In this embodiment of the application, the speed level of the side brush component may include a first level and a second level, where the first level is a high-speed level and the second level is a low-speed level, that is, the first level is higher than the second level.

[0080] It should be noted that the higher the speed level of the side brush component, the faster its rotation speed; correspondingly, the lower the speed level of the side brush component, the slower its rotation speed.

[0081] In the embodiments of this application, each speed level can correspond to multiple candidate speeds. For example, the high-speed level can correspond to multiple first candidate speeds, such as 330RPM, 320RPM, 300RPM, etc.

[0082] In the embodiments of this application, step 207 can be implemented through steps 207a-207b.

[0083] Step 207a: If the target area is within the sub-area to be cleaned in the task area, the self-moving device determines the speed level of the side brush component to be the first level.

[0084] In this embodiment of the application, if it is determined that the target area to which the object to be cleaned is thrown is within the sub-area to be cleaned, it means that if the side brush component rotates and cleans the object to be cleaned at an empirical speed, then the area to which the object to be cleaned will be thrown is the area that the self-moving device still needs to clean later, which means that secondary pollution will not be caused. At this time, the speed level of the side brush component can be directly determined as the first level, that is, the speed level of the side brush component is the high-speed level.

[0085] Step 207b: If the target area is not within the sub-area to be cleaned, the self-moving device determines the speed level of the side brush component to be the second level.

[0086] The first level is higher than the second level.

[0087] In this embodiment of the application, if the target area is not within the sub-area to be cleaned, it means that if the side brush component rotates and cleans the current object to be cleaned at an empirical speed, the area to which the current object to be cleaned will be kicked away is an area / restricted area that has already been cleaned by the self-moving device, that is, an area that will not be cleaned again in the future, which will inevitably cause secondary pollution. At this time, the speed level of the side brush component can be directly determined to be the second level, that is, the speed level of the side brush component is the low speed level.

[0088] In this embodiment, by determining whether the target area is within a preset sub-area to be cleaned, differentiated side brush speed control can be performed. That is, if the object to be cleaned is about to be knocked into the area to be cleaned later, a higher first-level speed is used to enhance the cleaning ability of corners and stubborn debris and avoid omissions. If the object to be cleaned is about to be knocked into the already cleaned area / restricted area, a lower second-level speed can be used to prevent the knocking of lightweight debris, reduce energy consumption and working noise, and reduce ineffective wear of the side brush components. This method can not only ensure the overall cleaning efficiency of the machine, but also optimize the battery life and durability of the self-moving device.

[0089] Step 208: The self-moving device determines the target rotation speed based on the category and speed level.

[0090] In this embodiment of the application, multiple candidate speeds corresponding to the current object to be cleaned can be determined first based on the speed level of the side brush component. Then, the target rotation speed can be determined from the multiple candidate speeds based on the category of the current object to be cleaned.

[0091] In the embodiments of this application, step 208 can be implemented through steps 208a-208b.

[0092] Step 208a: If the speed level is the first level, the self-moving device determines multiple first candidate speeds based on the first level, and determines the target rotation speed from the multiple first candidate speeds based on the category.

[0093] In this embodiment of the application, if the speed level of the side brush component is determined to be the first level (i.e., the high-speed level), the self-moving device can determine multiple first candidate speeds based on the first level. Then, a third correspondence between the category of the object to be cleaned and the multiple first candidate speeds can be obtained, and the optimal rotation speed (i.e. the target rotation speed) of the side brush component can be determined based on the category of the object to be cleaned and the third correspondence.

[0094] In one feasible approach, the third correspondence can be as shown in Table 3 below, and it is pre-set based on experience.

[0095]

[0096] Table 3 It should be noted that the 330RPM, 300RPM, and 280RPM in Table 2 are merely illustrative examples, and other values ​​that meet the first target condition can also be used. The first target condition can refer to the side brush assembly being in a high-speed rotating state, meaning that the side brush assembly can draw most / all of the objects to be cleaned near the self-moving device into the air intake.

[0097] Step 208b: If the speed level is the second level, the self-moving device determines multiple second candidate speeds based on the second level, and determines the target rotation speed from the multiple second candidate speeds based on the category.

[0098] In this embodiment of the application, if the speed level of the side brush component is determined to be the second level (i.e., low speed level), the self-moving device can determine multiple second candidate speeds based on the second level. Then, a fourth correspondence between the category of the object to be cleaned and the multiple second candidate speeds can be obtained, and the optimal rotation speed (i.e. target rotation speed) of the side brush component can be determined based on the category of the object to be cleaned and the fourth correspondence.

[0099] In one feasible approach, the fourth correspondence can be shown in Table 4 below.

[0100]

[0101] Table 4 It should be noted that the 100RPM, 120RPM, and 100RPM in Table 2 are merely illustrative examples, and can also be other values ​​that meet the second objective condition. The second objective condition can refer to the side brush assembly being in a low-speed rotation state, meaning that the side brush assembly can collect as many objects as possible around the self-moving device as possible without knocking the objects to be cleaned away and causing secondary pollution.

[0102] In the embodiments of this application, step 209 can be executed after steps 204, 205 and 208.

[0103] Step 209: The self-moving device controls the side brush assembly to rotate at the target rotation speed to clean the current object to be cleaned.

[0104] In this embodiment, after determining the target rotation speed, the side brush assembly can be controlled to rotate at the target rotation speed to clean the current object to be cleaned detected by the self-moving device. This can improve the side brush assembly's ability to collect dirt (i.e., the object to be cleaned) while preventing the side brush assembly from throwing dirt into cleaned areas / restricted areas that will not be cleaned again. Thus, the cleaning efficiency of the self-moving device can be improved while avoiding the problem of secondary pollution.

[0105] The rotation speed determination method provided in the embodiments of this application can first predict the target area to which the object to be cleaned may be flung after being cleaned, based on the target motion form of the self-moving device and the target position of the object to be cleaned. Then, based on the target area and the pre-set task area, the optimal rotation speed (i.e., the target rotation speed) of the side brush assembly is derived in reverse, instead of using a fixed high-speed rotation strategy to ensure cleaning effect as in related technologies. In this way, by controlling the side brush assembly to perform cleaning operations at the optimal rotation speed during the cleaning process of the cleaning robot, not only can the cleaning effect be guaranteed, but the problem of secondary pollution caused by the side brush assembly rotating too fast and flung to other areas can also be solved from the root of the problem in related technologies, thereby improving cleaning efficiency.

[0106] Based on the foregoing embodiments, this application provides a speed determination device, which can be applied to... Figure 1 and 3 In the corresponding embodiment, the rotational speed determination method is referred to Figure 11As shown, the rotational speed determining device 3 may include: an acquisition unit 31, a first determining unit 32, and a second determining unit 33, wherein: The acquisition unit 31 is used to acquire the target motion pattern of the self-moving device when performing cleaning operations in the task area, and the target position of the current object to be cleaned in the task area. The first determining unit 32 is used to determine the target area corresponding to the current object to be cleaned based on the target motion form and target position; wherein, the target area is the area to which the current object to be cleaned is scattered after being cleaned by the self-moving device; The second determining unit 33 is used to determine the target rotation speed of the side brush component of the self-moving device based on the target area and the task area, and control the side brush component to rotate at the target rotation speed to clean the current object to be cleaned.

[0107] In other embodiments of this application, the first determining unit 32 is further configured to perform the following steps: The first correspondence between the motion pattern of the mobile device, the position of the object to be cleaned, and the area corresponding to the object to be cleaned is obtained; The target area is determined based on the target's motion pattern, target location, and the first correspondence.

[0108] In other embodiments of this application, the second determining unit 33 is further configured to perform the following steps: If the target area is within the sub-area to be cleaned in the task area, the target rotation speed is determined to be the current first speed of the side brush assembly; If the target area is not within the sub-area to be cleaned, the target rotation speed is determined as the second speed; wherein, the first speed is greater than the second speed.

[0109] In other embodiments of this application, the second determining unit 33 is further configured to perform the following steps: Determine the category of the object to be cleaned; where the category represents the difficulty of cleaning the object. The speed level of the brush component is determined based on the target area and the task area; whereby the speed level characterizes how fast the brush component rotates. The target rotation speed is determined based on the category and speed level.

[0110] In other embodiments of this application, the second determining unit 33 is further configured to perform the following steps: Obtain the attribute information and second correspondence of the object to be cleaned; wherein, the second correspondence is the correspondence between the category of the object to be cleaned and the attribute information of the object to be cleaned; Based on attribute information and the second correspondence, the category of the object to be cleaned is determined.

[0111] In other embodiments of this application, the second determining unit 33 is further configured to perform the following steps: If the target area is within the sub-area to be cleaned in the task area, set the speed level of the side brush component to the first level. If the target area is not within the sub-area to be cleaned, the speed level of the side brush component is determined to be the second level; where the first level is higher than the second level.

[0112] In other embodiments of this application, the second determining unit 33 is further configured to perform the following steps: If the speed level is the first level, multiple first candidate speeds are determined based on the first level, and the target rotation speed is determined from the multiple first candidate speeds based on the category; If the speed level is the second level, multiple second candidate speeds are determined based on the second level, and the target rotation speed is determined from the multiple second candidate speeds based on the category.

[0113] It should be noted that a detailed explanation of the steps performed by each unit can be found in [reference needed]. Figure 1 and 3 The description of the rotational speed determination method provided in the corresponding embodiment will not be repeated here.

[0114] The rotation speed determination method provided in the embodiments of this application can first predict the target area to which the object to be cleaned may be flung after being cleaned, based on the target motion form of the self-moving device and the target position of the object to be cleaned. Then, based on the target area and the pre-set task area, the optimal rotation speed (i.e., the target rotation speed) of the side brush assembly is derived in reverse, instead of using a fixed high-speed rotation strategy to ensure cleaning effect as in related technologies. In this way, by controlling the side brush assembly to perform cleaning operations at the optimal rotation speed during the cleaning process of the cleaning robot, not only can the cleaning effect be guaranteed, but the problem of secondary pollution caused by the side brush assembly rotating too fast and flung to other areas can also be solved from the root of the problem in related technologies, thereby improving cleaning efficiency.

[0115] Based on the foregoing embodiments, embodiments of this application provide a self-moving device that can be applied to... Figure 1 and 3 In the corresponding embodiment, the rotational speed determination method is referred to Figure 12 As shown, the self-moving device 4 may include: a processor 41, a memory 42, and a communication bus 43, wherein: Communication bus 43 is used to realize the communication connection between processor 41 and memory 42; The processor 41 is used to execute the speed determination program in the memory 42 to perform the following steps: The target motion pattern of the mobile device when performing cleaning operations within the task area is obtained, as well as the target position of the current object to be cleaned within the task area; Based on the target's motion pattern and location, determine the target area corresponding to the object to be cleaned; where the target area is the area to which the object to be cleaned will be scattered after being cleaned by the self-moving device. Based on the target area and the task area, the target rotation speed of the side brush component of the self-moving device is determined, and the side brush component is controlled to rotate at the target rotation speed to clean the current object to be cleaned.

[0116] In other embodiments of this application, processor 41 is used to execute a rotational speed determination program in memory 42 to perform the following steps: The first correspondence between the motion pattern of the mobile device, the position of the object to be cleaned, and the area corresponding to the object to be cleaned is obtained; The target area is determined based on the target's motion pattern, target location, and the first correspondence.

[0117] In other embodiments of this application, processor 41 is used to execute a rotational speed determination program in memory 42 to perform the following steps: If the target area is within the sub-area to be cleaned in the task area, the target rotation speed is determined to be the current first speed of the side brush assembly; If the target area is not within the sub-area to be cleaned, the target rotation speed is determined as the second speed; wherein, the first speed is greater than the second speed.

[0118] In other embodiments of this application, processor 41 is used to execute a rotational speed determination program in memory 42 to perform the following steps: Determine the category of the object to be cleaned; where the category represents the difficulty of cleaning the object. The speed level of the brush component is determined based on the target area and the task area; whereby the speed level characterizes how fast the brush component rotates. The target rotation speed is determined based on the category and speed level.

[0119] In other embodiments of this application, processor 41 is used to execute a rotational speed determination program in memory 42 to perform the following steps: Obtain the attribute information and second correspondence of the object to be cleaned; wherein, the second correspondence is the correspondence between the category of the object to be cleaned and the attribute information of the object to be cleaned; Based on attribute information and the second correspondence, the category of the object to be cleaned is determined.

[0120] In other embodiments of this application, processor 41 is used to execute a rotational speed determination program in memory 42 to perform the following steps: If the target area is within the sub-area to be cleaned in the task area, set the speed level of the side brush component to the first level. If the target area is not within the sub-area to be cleaned, the speed level of the side brush component is determined to be the second level; where the first level is higher than the second level.

[0121] In other embodiments of this application, processor 41 is used to execute a rotational speed determination program in memory 42 to perform the following steps: If the speed level is the first level, multiple first candidate speeds are determined based on the first level, and the target rotation speed is determined from the multiple first candidate speeds based on the category; If the speed level is the second level, multiple second candidate speeds are determined based on the second level, and the target rotation speed is determined from the multiple second candidate speeds based on the category.

[0122] It should be noted that a detailed description of the steps performed by processor 41 can be found in [reference needed]. Figure 1 and 3 The rotational speed determination method provided in the corresponding embodiment will not be described again here.

[0123] The rotation speed determination method provided in the embodiments of this application can first predict the target area to which the object to be cleaned may be flung after being cleaned, based on the target motion form of the self-moving device and the target position of the object to be cleaned. Then, based on the target area and the pre-set task area, the optimal rotation speed (i.e., the target rotation speed) of the side brush assembly is derived in reverse, instead of using a fixed high-speed rotation strategy to ensure cleaning effect as in related technologies. In this way, by controlling the side brush assembly to perform cleaning operations at the optimal rotation speed during the cleaning process of the cleaning robot, not only can the cleaning effect be guaranteed, but the problem of secondary pollution caused by the side brush assembly rotating too fast and flung to other areas can also be solved from the root of the problem in related technologies, thereby improving cleaning efficiency.

[0124] Based on the foregoing embodiments, embodiments of this application provide a computer-readable storage medium storing one or more programs, which can be executed by one or more processors to implement... Figure 1 and 3 The steps of the rotational speed determination method provided in the corresponding embodiment.

[0125] Based on the foregoing embodiments, embodiments of this application provide a computer program product, which includes a computer program that is implemented when executed by processor 41. Figure 1 and 3 The steps of the rotational speed determination method provided in the corresponding embodiment.

[0126] Those skilled in the art will understand that embodiments of this application can be provided as methods, systems, or computer program products. Therefore, this application can take the form of hardware embodiments, software embodiments, or embodiments combining software and hardware aspects. Furthermore, this application can take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage and optical storage) containing computer-usable program code.

[0127] This application is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of this application. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, generate instructions for implementing the flowchart... Figure 1 One or more processes and / or boxes Figure 1 A device that provides the functions specified in one or more boxes.

[0128] These computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing device to function in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means, which are implemented in a process Figure 1 One or more processes and / or boxes Figure 1 The function specified in one or more boxes.

[0129] These computer program instructions may also be loaded onto a computer or other programmable data processing equipment to cause a series of operational steps to be performed on the computer or other programmable equipment to produce a computer-implemented process, thereby providing instructions that execute on the computer or other programmable equipment for implementing the process. Figure 1 One or more processes and / or boxes Figure 1 The steps of the function specified in one or more boxes.

[0130] The above description is merely an embodiment of this application and is not intended to limit the scope of protection of this application. Any modifications, equivalent substitutions, and improvements made within the spirit and scope of this application are included within the scope of protection of this application.

Claims

1. A method for determining rotational speed, characterized in that, The method is applied to a self-moving device, and the method includes: The target motion pattern of the self-moving device when performing cleaning operations within the task area is obtained, as well as the target position of the current object to be cleaned within the task area; Based on the target motion pattern and the target position, the target area corresponding to the current object to be cleaned is determined; wherein, the target area is the area to which the current object to be cleaned is scattered after being cleaned by the self-moving device; Based on the target area and the task area, the target rotation speed of the side brush component of the self-moving device is determined, and the side brush component is controlled to rotate at the target rotation speed to clean the current object to be cleaned.

2. The method according to claim 1, characterized in that, Determining the target area corresponding to the object to be cleaned based on the target motion pattern and the target position includes: Obtain the first correspondence between the motion pattern of the self-moving device, the position of the object to be cleaned, and the area corresponding to the object to be cleaned; The target region is determined based on the target motion pattern, the target position, and the first correspondence.

3. The method according to claim 1, characterized in that, Determining the target rotation speed of the side brush component of the self-moving device based on the target region and the task region includes: If the target area is located within the sub-area to be cleaned in the task area, the target rotation speed is determined to be the current first speed of the side brush assembly; If the target area is not within the sub-area to be cleaned, the target rotation speed is determined to be the second speed; wherein the first speed is greater than the second speed.

4. The method according to claim 1, characterized in that, Determining the target rotation speed of the side brush component of the self-moving device based on the target region and the task region includes: Determine the category of the current object to be cleaned; wherein, the category represents the difficulty of cleaning the current object; The speed level of the side brush assembly is determined based on the target area and the task area; wherein the speed level characterizes the speed at which the side brush assembly rotates; The target rotational speed is determined based on the category and the speed level.

5. The method according to claim 4, characterized in that, Determining the category of the current object to be cleaned includes: Obtain the attribute information and second correspondence of the current object to be cleaned; wherein, the second correspondence is the correspondence between the category of the object to be cleaned and the attribute information of the object to be cleaned; Based on the attribute information and the second correspondence, the category of the current object to be cleaned is determined.

6. The method according to claim 4, characterized in that, Determining the speed level of the side brush component based on the target area and the task area includes: If the target area is located within the sub-area to be cleaned in the task area, the speed level of the side brush component is determined to be the first level; If the target area is not within the sub-area to be cleaned, the speed level of the side brush assembly is determined to be the second level; wherein, the first level is higher than the second level.

7. The method according to claim 6, characterized in that, Determining the target rotation speed based on the category and the speed level includes: If the speed level is the first level, a plurality of first candidate speeds are determined based on the first level, and the target rotation speed is determined from the plurality of first candidate speeds based on the category; If the speed level is the second level, a plurality of second candidate speeds are determined based on the second level, and the target rotational speed is determined from the plurality of second candidate speeds based on the category.

8. A speed determining device, characterized in that, The device includes: The acquisition unit is used to acquire the target motion pattern of the self-moving device when performing cleaning operations in the task area, and the target position of the current object to be cleaned in the task area; The first determining unit is configured to determine the target area corresponding to the current object to be cleaned based on the target motion pattern and the target position; wherein, the target area is the area to which the current object to be cleaned is scattered after being cleaned by the self-moving device; The second determining unit is used to determine the target rotation speed of the side brush component of the self-moving device based on the target area and the task area, and control the side brush component to rotate at the target rotation speed to clean the current object to be cleaned.

9. A self-moving device, characterized in that, The device includes: a processor, a memory, and a communication bus; The communication bus is used to realize the communication connection between the processor and the memory; The processor is used to execute a speed determination program in the memory to implement the steps of the speed determination method as described in any one of claims 1-7.

10. A storage medium, characterized in that, The storage medium stores one or more programs, which can be executed by one or more processors to implement the steps of the rotational speed determination method as described in any one of claims 1-7.

11. A computer program product, the computer program product comprising a computer program, characterized in that, When the computer program is executed by the processor, it implements the rotational speed determination method according to any one of claims 1-7.

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