CN113509104B - Cleaning method, storage medium and cleaning robot - Google Patents
Cleaning method, storage medium and cleaning robot Download PDFInfo
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- CN113509104B CN113509104B CN202110450275.5A CN202110450275A CN113509104B CN 113509104 B CN113509104 B CN 113509104B CN 202110450275 A CN202110450275 A CN 202110450275A CN 113509104 B CN113509104 B CN 113509104B
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- 238000004140 cleaning Methods 0.000 title claims abstract description 361
- 238000000034 method Methods 0.000 title claims abstract description 60
- 238000003860 storage Methods 0.000 title claims abstract description 10
- 238000010408 sweeping Methods 0.000 claims description 20
- 238000004590 computer program Methods 0.000 claims description 10
- 230000008859 change Effects 0.000 claims description 5
- 238000005265 energy consumption Methods 0.000 abstract description 5
- 241001417527 Pempheridae Species 0.000 description 38
- 238000004422 calculation algorithm Methods 0.000 description 18
- 230000000694 effects Effects 0.000 description 18
- 238000001514 detection method Methods 0.000 description 13
- 238000013135 deep learning Methods 0.000 description 5
- 230000000737 periodic effect Effects 0.000 description 4
- 238000007781 pre-processing Methods 0.000 description 4
- 230000004044 response Effects 0.000 description 3
- 238000004458 analytical method Methods 0.000 description 2
- 230000003749 cleanliness Effects 0.000 description 2
- 230000003247 decreasing effect Effects 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 206010063385 Intellectualisation Diseases 0.000 description 1
- 241001122767 Theaceae Species 0.000 description 1
- 238000005299 abrasion Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000004364 calculation method Methods 0.000 description 1
- 238000011086 high cleaning Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 239000011159 matrix material Substances 0.000 description 1
- 238000012544 monitoring process Methods 0.000 description 1
- 238000010926 purge Methods 0.000 description 1
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/24—Floor-sweeping machines, motor-driven
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
- A47L11/4011—Regulation of the cleaning machine by electric means; Control systems and remote control systems therefor
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L2201/00—Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
- A47L2201/06—Control of the cleaning action for autonomous devices; Automatic detection of the surface condition before, during or after cleaning
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Abstract
The invention discloses a cleaning method, a storage medium and a cleaning robot, wherein the cleaning method comprises the following steps: detecting life body information and/or target object position information in a specified area; and determining a cleaning mode corresponding to the designated area according to the life body information and/or the position information of the target object in the designated area. The invention can dynamically adjust the cleaning mode according to the actual use condition in the designated area, so as to reduce the energy consumption to the maximum extent while ensuring that the designated area is cleaned completely.
Description
Technical Field
The invention belongs to the technical field of intelligent household application, and particularly relates to a cleaning method, a storage medium and a cleaning robot.
Background
The sweeper is a common household appliance, the degree of intellectualization of the sweeper is higher and higher, and meanwhile, the sweeper is more and more popular. The sweeper on the market can automatically clean each room according to a preset cleaning mode, and great convenience is provided for users.
However, at present, the sweeper cleans each room according to a preset cleaning mode only, and thus the following problems may occur: firstly, some areas are not used by people for a long time, but are cleaned repeatedly, namely, in actual life, some areas have little or no activities of people, and the sweeper still cleans according to a preset cleaning frequency, so that the problems of too fast abrasion of hardware of the sweeper and high cleaning cost caused by power consumption are caused; secondly, some regional personnel move more, and the machine of sweeping the floor still cleans according to preset cleaning frequency, leads to clean not in place, user experience feels poor and intelligent degree is low problem.
There is a need for a cleaning method, a storage medium, and a cleaning robot.
Disclosure of Invention
The invention aims to solve the technical problem of reducing the energy consumption of the sweeper on the premise of ensuring that the sweeper can sweep a designated area cleanly.
In view of the above problems, the present invention provides a cleaning method, a storage medium, and a cleaning robot.
In a first aspect, the present invention provides a sweeping method, including the steps of:
detecting life body information and/or target object position information in the designated area;
and determining a cleaning mode corresponding to the designated area according to the life body information and/or the target article position information in the designated area.
According to an embodiment of the present invention, before the detecting the living body information and/or the target item location information in the designated area, the method further includes:
acquiring image information of the designated area, wherein the image information comprises life body information and/or target object position information.
According to an embodiment of the present invention, preferably, the determining a cleaning mode corresponding to the designated area according to the living body information in the designated area includes:
judging whether a life body appears in the preset time length of the designated area or not according to the life body information in the designated area:
and when a living body appears in the preset time of the specified area, determining a cleaning mode corresponding to the specified area according to a preset cleaning mode determination rule.
According to an embodiment of the present invention, preferably, the determining a cleaning mode corresponding to the designated area according to the target article position information in the designated area includes:
identifying the type of the designated area according to the item name in the target item position information;
determining a preset cleaning mode corresponding to a specified area according to the type of the specified area based on the corresponding relation between the known type of the specified area and the preset cleaning mode;
comparing the position information of the currently detected target object with the position information of the target object detected last time, and judging whether the position of the target object changes:
and when the position of the target object is changed, adjusting a preset cleaning mode corresponding to the specified area according to the number of times of the change of the position of the target object in a preset time.
According to an embodiment of the present invention, preferably, the determining a cleaning mode corresponding to the designated area according to the living body information and the target article position information in the designated area includes:
identifying the type of the designated area according to the item name in the target item position information;
determining a preset cleaning mode corresponding to a specified area according to the type of the specified area based on the corresponding relation between the known type of the specified area and the preset cleaning mode;
judging whether a preset cleaning mode corresponding to the designated area needs to be adjusted or not according to the life body information in the designated area:
when the preset cleaning mode corresponding to the designated area needs to be adjusted, adjusting the preset cleaning mode corresponding to the designated area according to a preset cleaning mode adjustment rule so as to clean according to the adjusted cleaning mode;
and when the preset cleaning mode corresponding to the designated area does not need to be adjusted, cleaning according to the preset cleaning mode.
According to an embodiment of the present invention, preferably, the determining whether a preset cleaning mode corresponding to the designated area needs to be adjusted according to the living body information in the designated area includes:
judging whether a life body appears in the preset time length of the designated area or not according to the life body information in the designated area:
when a living body appears in the preset duration of the specified area, judging that a preset cleaning mode corresponding to the specified area needs to be adjusted;
and when the condition of the life body does not appear in the preset time of the specified area, further judging whether the preset cleaning mode corresponding to the specified area needs to be adjusted or not according to the position information of the target object.
According to the embodiment of the present invention, preferably, the further determining whether the preset cleaning mode corresponding to the designated area needs to be adjusted according to the target article position information includes:
comparing the position information of the currently detected target object with the position information of the target object detected last time, and judging whether the position of the target object changes:
when the position of the target object is changed, judging that a preset cleaning mode corresponding to the designated area needs to be adjusted;
and when the position of the target object is not changed, judging that the preset cleaning mode corresponding to the designated area does not need to be adjusted.
According to an embodiment of the present invention, preferably, the method further comprises:
when the position of the target object is not changed, accumulating the time length of the position of the target object which is not changed in the specified period;
and correspondingly reducing the cleaning frequency in a preset cleaning mode corresponding to the specified area according to the accumulated time length of the unchanged position of the target object.
According to the embodiment of the present invention, preferably, the correspondingly reducing the cleaning frequency in the preset cleaning mode corresponding to the designated area according to the accumulated time length during which the position of the target item has not changed includes:
determining the cleaning frequency needing to be reduced according to the accumulated time length of the unchanged position of the target object in the given period and the corresponding relation between the total time length of the unchanged position of the target object and the cleaning frequency needing to be reduced;
subtracting the cleaning frequency required to be reduced from the cleaning frequency in the preset cleaning mode corresponding to the specified area to obtain the reduced cleaning frequency;
and adjusting the cleaning frequency in a preset cleaning mode corresponding to the specified area to the reduced cleaning frequency.
According to the embodiment of the present invention, preferably, the adjusting the preset cleaning mode corresponding to the designated area according to a preset cleaning mode adjustment rule includes:
determining the total number of life bodies in each occurrence of life bodies in the preset time length;
and correspondingly increasing the cleaning frequency in a preset cleaning mode corresponding to the specified area according to the total number of the life bodies when the life bodies appear each time in the preset time length.
According to an embodiment of the present invention, preferably, the correspondingly increasing the cleaning frequency in the preset cleaning mode corresponding to the designated area according to the total number of the living beings occurring each time within the preset time period includes:
determining the cleaning frequency which needs to be increased every time when the living body appears according to the known corresponding relation between the total number of the living bodies when the living body appears and the cleaning frequency which needs to be increased;
adding the cleaning frequency which needs to be increased each time a life body appears and the cleaning frequency in the preset cleaning mode corresponding to the specified area to obtain the increased cleaning frequency;
and adjusting the cleaning frequency in a preset cleaning mode corresponding to the specified area to the increased cleaning frequency.
In a second aspect, the invention provides a storage medium having stored thereon a computer program which, when executed by a processor, carries out the steps of the above-described cleaning method.
In a third aspect, the invention provides a cleaning robot comprising a memory and a processor, the memory having stored thereon a computer program which, when executed by the processor, carries out the steps of the above-described cleaning method.
Compared with the prior art, one or more embodiments in the above scheme can have the following advantages or beneficial effects:
by applying the cleaning method, the life body information and/or the position information of the target object in the designated area are/is detected; and determining a cleaning mode corresponding to the designated area according to the life information and/or the position information of the target object in the designated area, and dynamically adjusting the cleaning mode according to the actual use condition in the designated area so as to reduce energy consumption to the maximum extent while ensuring that the designated area is cleaned cleanly.
Additional features and advantages of the invention will be set forth in the description which follows, and in part will be obvious from the description, or may be learned by the practice of the invention. The objectives and other advantages of the invention will be realized and attained by the structure particularly pointed out in the written description and claims hereof as well as the appended drawings.
Drawings
The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the principles of the invention and not to limit the invention. In the drawings:
FIG. 1 is a flow chart illustrating a cleaning method according to an embodiment of the present invention;
FIG. 2 is a flow chart of a second purging method according to an embodiment of the present invention;
FIG. 3 shows a flow chart of a third cleaning method according to an embodiment of the invention;
FIG. 4 shows another flow chart of a third cleaning method according to an embodiment of the present invention.
Detailed Description
The following detailed description of the embodiments of the present invention will be provided with reference to the drawings and examples, so that how to apply the technical means to solve the technical problems and achieve the technical effects can be fully understood and implemented. It should be noted that, as long as there is no conflict, the embodiments and the features of the embodiments of the present invention may be combined with each other, and the technical solutions formed are within the scope of the present invention.
Example one
In order to solve the above technical problems in the prior art, an embodiment of the present invention provides a cleaning method, and in this embodiment, a cleaning mode corresponding to a specified area is determined only according to information of a living body in the specified area.
Referring to fig. 1, the cleaning method of the present embodiment includes:
s11, detecting the life information in the designated area, wherein the life information can be periodically detected by an image acquisition device arranged on the sweeper or obtained by the image acquisition device arranged in the designated area; in this embodiment, the living body information includes information of a human body or a pet, so as to estimate the cleanliness of the designated area according to activity of the human body or the pet, the periodic detection includes but is not limited to detection once an hour, and when the sweeper detects the living body information and the position information of the target object in the designated area through the image acquisition device, only the walking mode is started, and the cleaning mode is not started.
S12, judging whether a life body appears in the preset time length of the designated area according to the life body information in the designated area:
if yes, go to step S13;
if not, no response is given;
in this embodiment, the preset time period includes, but is not limited to, 4 hours.
S13, a cleaning mode corresponding to the designated area is determined according to a preset cleaning mode determination rule. In this embodiment, in step S11, the designated area is an independent unit in the sweeper application scenario, and may be each room in a home.
In this embodiment, before step S11, the method further includes:
acquiring image information of the designated area, wherein the image information comprises life body information and/or target object position information.
In this embodiment, in step S12, based on a deep learning algorithm, it is determined whether there is a person in the specified area within a preset time period according to the living body information in the specified area.
In the present embodiment, in step S13, the preset cleaning mode determination rule includes, but is not limited to, the following ways: determining the total number of life bodies in each occurrence of life bodies in the preset time length; determining the cleaning frequency in the preset cleaning mode corresponding to the specified area according to the total number of the life bodies appearing each time in the preset time, wherein the determining the cleaning frequency in the preset cleaning mode corresponding to the specified area according to the total number of the life bodies appearing each time in the preset time comprises:
determining the cleaning frequency of each life body according to the known corresponding relation between the total number of the life bodies when the life bodies appear and the cleaning frequency;
and accumulating the cleaning frequency when the life body appears every time in the preset duration to obtain the cleaning frequency corresponding to the specified area, wherein the cleaning frequency can be replaced by cleaning force or the combination of the cleaning frequency and the cleaning force.
Table 1 below shows the correspondence between the known total number of living organisms when they appear and the frequency of cleaning.
| Total number of living organisms/number of living organisms when they appear | Frequency/times of cleaning |
| 1～3 | 1 |
| 4～6 | 2 |
| ＞6 | 3 |
According to the cleaning method, the image acquisition device installed on the sweeper is used for periodically detecting, the image acquisition device does not need to be installed in the designated area, compared with a 24-hour monitoring state of a camera installed in a room, images are periodically acquired, and on the premise that privacy is protected to a certain extent, life body information and target object position information in the designated area can be acquired.
The cleaning method of the embodiment sets different initial cleaning modes for different types of specified areas, so that the initial cleaning modes are closer to the actual situation, and more accurate cleaning frequency can be determined.
Example two
In order to solve the above technical problems in the prior art, an embodiment of the present invention provides a cleaning method, and in this embodiment, a cleaning mode corresponding to a specified area is determined only according to position information of a target object in the specified area.
Referring to fig. 2, the cleaning method of the present embodiment includes:
s21, detecting the position information of the target object in the designated area, wherein the position information of the target object can be periodically detected by an image acquisition device arranged on the sweeper or obtained by the image acquisition device arranged in the designated area;
in this embodiment, the periodic detection includes, but is not limited to, detection once an hour, and when the sweeper detects the living body information and the target object position information in the designated area through the image acquisition device, only the walking mode is started, and the cleaning mode is not started.
S22, identifying the type of the designated area according to the name of the object in the position information of the object, wherein the position information of the object is obtained by periodically detecting through an image acquisition device arranged on the sweeper;
s23, determining a preset cleaning mode corresponding to the designated area according to the type of the designated area based on the corresponding relation between the known type of the designated area and the preset cleaning mode, wherein the designated areas of different types correspond to different preset cleaning modes, and in practical application, when the type of the designated area is identified to be a bedroom, the preset cleaning mode is the preset bedroom cleaning mode; when the type of the designated area is identified as the toilet, the preset cleaning mode is a preset toilet cleaning mode;
s24, comparing the position information of the currently detected target object with the position information of the last detected target object;
s25, judging whether the position of the target article changes:
if yes, go to step S26;
if not, go to step S27;
s26, adjusting a preset cleaning mode corresponding to the appointed area according to the number of times that the position of the target article changes within a preset time length;
in this embodiment, the preset time period includes, but is not limited to, 4 hours.
S27, accumulating the time length of the unchanged position of the target object in the appointed period;
in the present embodiment, the specified period includes, but is not limited to, one day.
And S28, correspondingly reducing the cleaning frequency in the preset cleaning mode corresponding to the specified area according to the accumulated unchanged duration of the position of the target object, wherein the cleaning frequency can be replaced by cleaning strength or the combination of the cleaning frequency and the cleaning strength.
In this embodiment, before step S21, the method further includes:
acquiring image information of the designated area, wherein the image information comprises life body information and/or target object position information.
In this embodiment, in step S21, the designated area is an independent unit in the sweeper application scenario, and may be each room in a home.
In the present embodiment, in step S24, the current target item position information is compared with the last target item position information based on the deep learning algorithm.
In this embodiment, in step S26, the adjusting the preset cleaning mode corresponding to the designated area according to the number of times that the position of the target item changes within the preset time period includes:
determining the cleaning frequency which needs to be increased when the position of the target object changes according to the corresponding relation between the number of times of the position of the target object changing within the known preset time and the cleaning frequency which needs to be increased;
adding the cleaning frequency which needs to be increased when the position of the target object changes and the cleaning frequency in a preset cleaning mode corresponding to the specified area to obtain the increased cleaning frequency;
and adjusting the cleaning frequency in a preset cleaning mode corresponding to the specified area to the increased cleaning frequency.
In the present embodiment, table 2 below shows the correspondence between the number of times the position of the target article is changed within a known preset time period and the frequency of cleaning that needs to be increased.
In this embodiment, in step S28, the correspondingly reducing the cleaning frequency in the preset cleaning mode corresponding to the designated area according to the accumulated unchanged time length of the position of the target item includes:
determining the cleaning frequency needing to be reduced according to the accumulated time length of the target object position which is not changed according to the corresponding relation between the time length of the target object position which is not changed and the cleaning frequency needing to be reduced in the known specified period;
subtracting the cleaning frequency required to be reduced from the cleaning frequency in the preset cleaning mode corresponding to the specified area to obtain the reduced cleaning frequency;
and adjusting the cleaning frequency in a preset cleaning mode corresponding to the specified area to the reduced cleaning frequency.
In the present embodiment, table 3 below shows a correspondence relationship between a known length of time during which the position of the target article does not change and the frequency of sweeping that needs to be reduced within a specified period, where the specified period is one day.
In the cleaning method of the embodiment, when the position of the target object is not changed, the cleaning frequency in the preset cleaning mode corresponding to the specified area is reduced; the sweeping frequency of an area without human activities for a long time can be reduced, so that the cleaning of the designated area is ensured, and the technical effect of reducing the sweeping energy consumption of the sweeper is achieved.
The cleaning method of the embodiment determines the cleaning frequency according to the correspondence between the time length during which the position of the target object is not changed and the reduced cleaning frequency within the known specified period, and can quickly acquire the cleaning frequency.
The cleaning method of the embodiment determines the cleaning frequency according to the known corresponding relationship between the number of people who appear and the cleaning frequency which needs to be increased, and can quickly acquire the cleaning frequency.
EXAMPLE III
In order to solve the above technical problems in the prior art, an embodiment of the present invention provides a cleaning method, in which a cleaning mode corresponding to a specified area is determined according to life information and target article position information in the specified area.
Referring to fig. 3, the cleaning method of the present embodiment includes:
s31, detecting life body information and target article position information in the designated area, wherein the life body information and the target article position information can be obtained through periodic detection of an image acquisition device arranged on the sweeper or an image acquisition device arranged in the designated area;
in this embodiment, the living body information includes information of a human body or a pet, so as to estimate the cleanliness of the designated area through activity of the human body or the pet. The periodic detection comprises but is not limited to detection once in one hour, and when the sweeper detects the life information and the position information of the target object in the designated area through the image acquisition device, only the walking mode is started, and the cleaning mode is not started.
S32, identifying the type of the designated area according to the item name in the target item position information;
s33, determining a preset cleaning mode corresponding to the designated area according to the type of the designated area based on the corresponding relation between the known type of the designated area and the preset cleaning mode, wherein the designated areas of different types correspond to different preset cleaning modes, and in practical application, when the type of the designated area is identified to be a bedroom, the preset cleaning mode is the preset bedroom cleaning mode; when the type of the designated area is identified as the toilet, the preset cleaning mode is a preset toilet cleaning mode;
s34, judging whether the preset cleaning mode corresponding to the specified area needs to be adjusted according to the life body information in the specified area:
if yes, go to step S35;
if not, go to step S36;
s35, adjusting a preset cleaning mode corresponding to the specified area according to a preset cleaning mode adjustment rule, and cleaning according to the adjusted cleaning mode;
and S36, cleaning according to the preset cleaning mode. In this embodiment, in step S31, the designated area is an independent unit in the sweeper application scenario, and may be each room in a home.
In this embodiment, before step S31, the method further includes:
acquiring image information of the designated area, wherein the image information comprises life body information and/or target object position information.
In this embodiment, in step S34, the determining whether the preset cleaning mode corresponding to the designated area needs to be adjusted according to the information of the living body in the designated area includes:
judging whether a life body appears in a preset time length of the designated area according to the life body information in the designated area, wherein the preset time length includes but is not limited to 4 hours:
when a living body appears in the preset duration of the specified area, judging that a preset cleaning mode corresponding to the specified area needs to be adjusted;
when the condition of a living body does not occur within the preset time of the specified area, further judging whether a preset cleaning mode corresponding to the specified area needs to be adjusted or not according to the position information of the target object, wherein further judging whether the preset cleaning mode corresponding to the specified area needs to be adjusted or not according to the position information of the target object comprises the following steps:
comparing the position information of the currently detected target object with the position information of the target object detected last time, and judging whether the position of the target object changes:
when the position of the target object is changed, judging that a preset cleaning mode corresponding to the designated area needs to be adjusted;
when the position of the target object is not changed, judging that the preset cleaning mode corresponding to the specified area does not need to be adjusted, and further, when the position of the target object is not changed, accumulating the time length of the target object position which is not changed in the specified period; and when the accumulated time length of the position of the target object which is not changed meets the requirement of reducing the cleaning frequency, correspondingly reducing the cleaning frequency in a preset cleaning mode corresponding to the specified area.
Aiming at the condition that a life body appears in the preset time length of the specified area, the preset cleaning mode corresponding to the specified area is adjusted according to the preset cleaning mode adjustment rule, and the method comprises the following steps:
determining the total number of life bodies in each occurrence of life bodies in the preset time length;
correspondingly increasing the cleaning frequency in the preset cleaning mode corresponding to the specified area according to the total number of the life bodies appearing each time in the preset duration, wherein the correspondingly increasing the cleaning frequency in the preset cleaning mode corresponding to the specified area according to the total number of the life bodies appearing each time in the preset duration comprises:
determining the cleaning frequency which needs to be increased every time a living body appears according to the known corresponding relation between the total number of the living bodies appearing in the living body and the cleaning frequency which needs to be increased, wherein the cleaning frequency can be replaced by cleaning force or the combination of the cleaning frequency and the cleaning force;
adding the cleaning frequency which needs to be increased each time a life body appears and the cleaning frequency in a preset cleaning mode corresponding to the specified area to obtain the increased cleaning frequency;
and adjusting the cleaning frequency in a preset cleaning mode corresponding to the specified area to the increased cleaning frequency.
Aiming at the situation that the position of the target object changes, the preset cleaning mode corresponding to the specified area is adjusted according to the preset cleaning mode adjustment rule, and the method comprises the following steps:
adjusting a preset cleaning mode corresponding to the specified area according to the number of times that the position of the target object changes within a preset time, wherein adjusting the preset cleaning mode corresponding to the specified area according to the number of times that the position of the target object changes within the preset time comprises:
determining the cleaning frequency which needs to be increased when the position of the target object changes according to the corresponding relation between the number of times of the position of the target object changing in the known preset time and the cleaning frequency which needs to be increased;
adding the cleaning frequency which needs to be increased when the position of the target object is changed and the cleaning frequency in a preset cleaning mode corresponding to the specified area to obtain the increased cleaning frequency;
and adjusting the cleaning frequency in a preset cleaning mode corresponding to the specified area to the increased cleaning frequency.
In addition, when the position of the target object is not changed, accumulating the time length of the target object position which is not changed in the specified period;
correspondingly reducing the cleaning frequency in the preset cleaning mode corresponding to the specified area according to the accumulated unchanged time length of the position of the target object, wherein the correspondingly reducing the cleaning frequency in the preset cleaning mode corresponding to the specified area according to the accumulated unchanged time length of the position of the target object comprises:
determining the cleaning frequency needing to be reduced according to the accumulated time length of the target object position which is not changed according to the corresponding relation between the time length of the target object position which is not changed and the cleaning frequency needing to be reduced in the known specified period;
subtracting the cleaning frequency required to be reduced from the cleaning frequency in the preset cleaning mode corresponding to the specified area to obtain the reduced cleaning frequency;
and adjusting the cleaning frequency in a preset cleaning mode corresponding to the specified area to the reduced cleaning frequency.
When the sweeping method of the embodiment of the invention is applied to a sweeper, referring to fig. 4, the sweeping method of the embodiment of the invention comprises the following steps:
s41, collecting a video frame sequence in real time through a terminal camera of the sweeper as input;
s42, preprocessing an input video frame sequence, wherein the preprocessing comprises image size adjustment, centralization, standardization and the like;
s43, analyzing and calculating the video frame sequence after preprocessing by using a deep learning algorithm;
in this embodiment, the yolov5 algorithm is adopted to analyze and calculate the video sequence collected by the camera of the sweeper, and the specific flow is as follows:
s431, collecting model training data;
s432, marking the training data by using a marking tool;
s433, preprocessing the training data;
s434, training the training data by using a yolov5 algorithm;
s435, analyzing and calculating a video frame sequence collected by the sweeper by using a trained yolov5 model;
s44, resolving the inference calculation result of yolov5 algorithm: this process mainly results in the type of room, people statistics and frequency records of people activities in each area, and detection information of some key items.
S441, the detection logic is as follows: if the algorithm detects a bed, the room in which the sweeper is located is qualified as a bedroom; if the tea table is detected by the algorithm, the room where the sweeper is located is qualified as a living room; if the algorithm detects a dining table, the room where the sweeper is located is identified as a restaurant; if the algorithm detects that the positions of key articles in the bedroom are never changed, judging that the room is unoccupied; when the algorithm detects the key articles, the number of the personnel in the area is counted, the positions of the personnel are judged to determine whether the personnel move, and the information of the number of the personnel and the information of the activity of the personnel in the area are stored;
s442, automatically generating a sweeping strategy of the sweeper according to an analysis result of the yolov5 algorithm;
s4421, analyzing the detection information of the yolov5 algorithm on the key articles to obtain the types of each room, outputting a result of the yolov5 algorithm as the confidence coefficient of the room type (namely the possibility of belonging to rooms such as a living room and a bedroom), and extracting the index with the maximum confidence coefficient to obtain the room type;
s4422, analyzing and recording the detection information of the personnel and the personnel activity information by analyzing the yolov5 algorithm, analyzing and recording the personnel number and the personnel activity condition of each area, taking the result output by the yolov5 algorithm as the confidence coefficient of the target and the coordinate of the target in a video frame, obtaining the personnel number of the current area by counting the information, and recording the personnel number so as to compare and analyze the personnel number with the detection result of the next time point;
s45, judging whether the cleaning frequency needs to be adjusted:
if the adjustment is needed, the adjustment is carried out according to a preset strategy;
if no adjustment is needed, the process returns to step S41 to re-detect the information of the designated area;
s451, determining the cleaning frequency which needs to be increased every time when the life is present according to the known corresponding relation between the number of people when the life is present and the cleaning frequency which needs to be increased, wherein in specific application, the number of people is large and the activities of the people are frequent for a living room, and for the situation, the cleaning frequency and the cleaning force are properly increased; for a bedroom, if the number of personnel is small and the personnel do not move frequently, the cleaning frequency is properly reduced; for a restaurant, this area activity typically occurs only within a particular time period, and it may be appropriate to reduce the frequency of sweeps, such as once a day or otherwise;
s452, detecting position information of key articles when life information is not detected, adjusting corresponding cleaning strategies according to whether the position information of the articles changes or not and the changing times within a preset time length, wherein in the specific application, the result output by the yolov5 algorithm is the confidence coefficient and the coordinate position of the key articles through detecting the positions of the key articles (such as the state of bedding articles, the orientation and the shape of quilts) in a bedroom, and if the coordinate position of the key article at the previous moment is not changed, the room is judged to be free of people, at the moment, the room can automatically execute a cleaning plan for multiple days, and if the coordinate position is changed frequently, the room is judged to be occupied, and the cleaning plan is executed for multiple times a day.
S46, the sweeper executes corresponding sweeping actions according to the sweeping strategy, the optimized sweeping strategy can automatically increase the sweeping frequency for areas with intensive personnel activities, and the areas with less personnel activities can be swept once in multiple days, so that not only is repeated sweeping of the sweeper mechanical avoided, but also the optimal sweeping effect can be achieved, and meanwhile, the sweeping cost is reduced.
The cleaning method of the embodiment calibrates the label and the position of the target article in the collected picture through steps S431 to S434, completes the production of the data set and the model training, and detects the daily article state in the actual scene by using the trained yolov5 detection model through step S435, firstly, performs convolution on the image pixel matrix for multiple times, calculates the confidence and the position coordinate of the label of the target article, secondly, compares the use frequency of the judgment area according to the actually set standard, i.e. the actual cleaning strategy, calculates the activity frequency of the personnel, makes a flexible cleaning strategy and mode, automatically judges which areas should increase the cleaning frequency and which areas should decrease the cleaning frequency, or executes other cleaning strategies, and can flexibly adjust the cleaning mode according to the actual use condition of each room area.
The cleaning method of the embodiment utilizes a deep learning algorithm yolov5 to analyze the changeable use state of daily articles in the area, namely, the stacking direction and shape of bedroom comforters and the opening and closing state of curtains are learned and recorded, the use frequency of the area is judged, the activity frequency of personnel is calculated, the cleaning frequency of which areas should be increased and the cleaning frequency of which areas should be decreased are automatically judged, and a flexible cleaning strategy and mode are made.
According to the cleaning method, a deep learning method is used for judging the room type and counting the personnel activity frequency, an efficient sweeper cleaning strategy is automatically generated through analysis of the information, the cleaning frequency is automatically judged which areas should be increased or decreased, and then consumption of the sweeper and intervention operation of personnel are reduced.
The cleaning method of the embodiment aims at the problem that the cleaning strategy of the sweeper in the prior art is not flexible enough, and the actual use frequency of the area is determined according to the life information and the position information of the target object in the area so as to prevent excessive repeated cleaning or insufficient cleaning.
The cleaning method of the present embodiment can rationally make an adjustment of the cleaning mode in the designated area with the living body information as a priority factor and the target article position information as an aid.
The cleaning method of the embodiment can reduce unnecessary cleaning and excessive cleaning on the basis of flexibly formulating the cleaning strategy, prevent the consumption of hardware materials of the sweeper, reduce the cost of hardware, reduce the time cost of cleaning and improve the use experience of a user.
According to the cleaning method, the number of people who appear each time is used as a reference factor for determining the cleaning frequency, so that the current cleaning frequency is closer to the requirement for reducing the cleaning energy consumption of the sweeper while the cleanness of the designated area is ensured.
EXAMPLE five
In order to solve the above technical problems in the prior art, an embodiment of the present invention further provides a storage medium.
The storage medium of the present embodiment has stored thereon a computer program which, when executed by a processor, implements the steps of the method in the above-described embodiments.
In one embodiment, the program when executed by a processor implements the steps of:
s11, detecting the information of the living body in the designated area;
s12, judging whether a life body appears in the preset time length of the designated area according to the life body information in the designated area:
if yes, go to step S13;
if not, no response is given;
s13, a cleaning mode corresponding to the designated area is determined according to a preset cleaning mode determination rule.
In one embodiment, the program when executed by a processor implements the steps of:
s21, detecting the position information of the target object in the designated area, wherein the position information of the target object is obtained by periodically detecting through an image acquisition device arranged on the sweeper;
s22, identifying the type of the designated area according to the item name in the target item position information;
s23, determining a preset cleaning mode corresponding to the specified area according to the type of the specified area based on the corresponding relation between the known type of the specified area and the preset cleaning mode;
s24, comparing the position information of the currently detected target object with the position information of the last detected target object;
s25, judging whether the position of the target article changes:
if yes, go to step S26;
if not, go to step S27;
s26, adjusting a preset cleaning mode corresponding to the specified area according to the number of times that the position of the target article changes within a preset time length;
in this embodiment, the preset time period includes, but is not limited to, 4 hours.
S27, accumulating the time length of the unchanged position of the target object in the appointed period;
and S28, correspondingly reducing the cleaning frequency in the preset cleaning mode corresponding to the specified area according to the accumulated unchanged duration of the position of the target object, wherein the cleaning frequency can be replaced by cleaning strength or the combination of the cleaning frequency and the cleaning strength.
In one embodiment, the program when executed by a processor implements the steps of:
s31, detecting the life information and the position information of the target object in the designated area;
s32, identifying the type of the designated area according to the item name in the target item position information;
s33, determining a preset cleaning mode corresponding to the specified area according to the type of the specified area based on the corresponding relation between the known type of the specified area and the preset cleaning mode;
s34, judging whether the preset cleaning mode corresponding to the specified area needs to be adjusted according to the life body information in the specified area:
if yes, go to step S35;
if not, go to step S36;
s35, adjusting a preset cleaning mode corresponding to the specified area according to a preset cleaning mode adjustment rule, and cleaning according to the adjusted cleaning mode;
and S36, cleaning according to the preset cleaning mode.
EXAMPLE six
In order to solve the technical problems in the prior art, the embodiment of the invention also provides a cleaning robot.
The cleaning robot of the present embodiment includes a memory and a processor, the memory having a computer program stored thereon, the computer program implementing the steps of the method when executed by the processor.
In a particular embodiment, the computer program when executed by a processor implements the steps of:
s11, detecting the information of the living body in the designated area;
s12, judging whether a life body appears in the preset time length of the designated area according to the life body information in the designated area:
if yes, go to step S13;
if not, no response is given;
s13, a cleaning mode corresponding to the designated area is determined according to a preset cleaning mode determination rule.
In a particular embodiment, the computer program when executed by a processor implements the steps of:
s21, detecting the position information of the target object in the designated area, wherein the position information of the target object is obtained by periodically detecting through an image acquisition device arranged on the sweeper;
s22, identifying the type of the designated area according to the item name in the target item position information;
s23, determining a preset cleaning mode corresponding to the specified area according to the type of the specified area based on the corresponding relation between the known type of the specified area and the preset cleaning mode;
s24, comparing the position information of the currently detected target object with the position information of the last detected target object;
s25, judging whether the position of the target article changes:
if yes, go to step S26;
if not, go to step S27;
s26, adjusting a preset cleaning mode corresponding to the specified area according to the number of times that the position of the target article changes within a preset time length;
in this embodiment, the preset time period includes, but is not limited to, 4 hours.
S27, accumulating the time length of the unchanged position of the target object in the appointed period;
and S28, correspondingly reducing the cleaning frequency in the preset cleaning mode corresponding to the specified area according to the accumulated unchanged duration of the position of the target object, wherein the cleaning frequency can be replaced by cleaning strength or the combination of the cleaning frequency and the cleaning strength.
In a particular embodiment, the computer program when executed by a processor implements the steps of:
in one embodiment, the program when executed by a processor implements the steps of:
s31, detecting the life information and the position information of the target object in the designated area;
s32, identifying the type of the designated area according to the item name in the target item position information;
s33, determining a preset cleaning mode corresponding to the specified area according to the type of the specified area based on the corresponding relation between the known type of the specified area and the preset cleaning mode;
s34, judging whether the preset cleaning mode corresponding to the specified area needs to be adjusted according to the life body information in the specified area:
if yes, go to step S35;
if not, go to step S36;
s35, adjusting a preset cleaning mode corresponding to the specified area according to a preset cleaning mode adjustment rule, and cleaning according to the adjusted cleaning mode;
and S36, cleaning according to the preset cleaning mode.
Although the embodiments of the present invention have been described above, the above description is only for the convenience of understanding the present invention, and is not intended to limit the present invention. It will be understood by those skilled in the art that various changes in form and details may be made therein without departing from the spirit and scope of the invention as defined by the appended claims.
Claims (12)
1. A sweeping method, comprising the steps of:
detecting life body information and/or target object position information in the designated area;
determining a cleaning mode corresponding to the designated area according to the living body information and/or the target article position information in the designated area, wherein determining the cleaning mode corresponding to the designated area according to the target article position information in the designated area comprises:
identifying the type of the designated area according to the item name in the target item position information;
determining a preset cleaning mode corresponding to a specified area according to the type of the specified area based on the corresponding relation between the known type of the specified area and the preset cleaning mode;
comparing the position information of the currently detected target object with the position information of the target object detected last time, and judging whether the position of the target object changes:
and when the position of the target object is changed, adjusting a preset cleaning mode corresponding to the specified area according to the number of times of the change of the position of the target object in a preset time.
2. The method according to claim 1, wherein before the detecting the animate body information and/or the position information of the target object in the designated area, the method further comprises:
and acquiring image information of the designated area, wherein the image information comprises life body information and target article position information.
3. The method according to claim 1, wherein the determining a cleaning pattern corresponding to the designated area from the vital body information within the designated area comprises:
judging whether a life body appears in the preset time length of the designated area or not according to the life body information in the designated area:
and when a living body appears in the preset time of the specified area, determining a cleaning mode corresponding to the specified area according to a preset cleaning mode determination rule.
4. The method according to claim 1, wherein the determining a cleaning mode corresponding to the designated area from the vital body information and the target item position information within the designated area comprises:
identifying the type of the designated area according to the item name in the target item position information;
determining a preset cleaning mode corresponding to a specified area according to the type of the specified area based on the corresponding relation between the known type of the specified area and the preset cleaning mode;
judging whether a preset cleaning mode corresponding to the designated area needs to be adjusted or not according to the life body information in the designated area:
when the preset cleaning mode corresponding to the designated area needs to be adjusted, adjusting the preset cleaning mode corresponding to the designated area according to a preset cleaning mode adjustment rule so as to clean according to the adjusted cleaning mode;
and when the preset cleaning mode corresponding to the designated area does not need to be adjusted, cleaning according to the preset cleaning mode.
5. The method according to claim 4, wherein the determining whether a preset cleaning mode corresponding to the designated area needs to be adjusted according to the living body information in the designated area comprises:
judging whether a life body appears in a preset time length of the designated area or not according to the life body information in the designated area:
when a living body appears in the preset duration of the specified area, judging that a preset cleaning mode corresponding to the specified area needs to be adjusted;
and when the condition of the life body does not appear in the preset time of the specified area, further judging whether the preset cleaning mode corresponding to the specified area needs to be adjusted or not according to the position information of the target object.
6. The method according to claim 5, wherein the further determining whether the preset cleaning mode corresponding to the designated area needs to be adjusted according to the target article position information comprises:
comparing the position information of the currently detected target object with the position information of the target object detected last time, and judging whether the position of the target object changes:
when the position of the target object is changed, judging that a preset cleaning mode corresponding to the designated area needs to be adjusted;
and when the position of the target object is not changed, judging that the preset cleaning mode corresponding to the designated area does not need to be adjusted.
7. The method of claim 1 or 6, further comprising:
when the position of the target object is not changed, accumulating the time length of the position of the target object which is not changed in the specified period;
and correspondingly reducing the cleaning frequency in a preset cleaning mode corresponding to the specified area according to the accumulated unchanged time length of the position of the target object.
8. The method according to claim 7, wherein the correspondingly reducing the sweeping frequency in the preset sweeping mode corresponding to the designated area according to the accumulated unchanged time length of the position of the target item comprises:
determining the cleaning frequency needing to be reduced according to the accumulated duration that the position of the target object does not change in the given period and the corresponding relation between the duration that the position of the target object does not change and the cleaning frequency needing to be reduced;
subtracting the cleaning frequency required to be reduced from the cleaning frequency in the preset cleaning mode corresponding to the specified area to obtain the reduced cleaning frequency;
and adjusting the cleaning frequency in a preset cleaning mode corresponding to the specified area to the reduced cleaning frequency.
9. The method according to claim 4, wherein the adjusting the preset sweeping mode corresponding to the designated area according to the preset sweeping mode adjusting rule comprises:
determining the total number of life bodies in each occurrence of life bodies in the preset time length;
and correspondingly increasing the cleaning frequency in a preset cleaning mode corresponding to the specified area according to the total number of the life bodies when the life bodies appear each time in the preset time length.
10. The method according to claim 9, wherein the increasing the cleaning frequency in the preset cleaning mode corresponding to the designated area according to the total number of the living beings appearing each time in the preset time period comprises:
determining the cleaning frequency which needs to be increased when the life body appears each time in the preset time length according to the known corresponding relation between the total number of the life bodies when the life body appears and the cleaning frequency which needs to be increased;
adding the cleaning frequency which needs to be increased every time a life body appears in a preset time length and the cleaning frequency in a preset cleaning mode corresponding to the specified area to obtain the increased cleaning frequency;
and adjusting the cleaning frequency in a preset cleaning mode corresponding to the specified area to the increased cleaning frequency.
11. A storage medium on which a computer program is stored which, when being executed by a processor, carries out the steps of the method according to any one of claims 1 to 10.
12. A cleaning robot comprising a memory and a processor, characterized in that the memory has stored thereon a computer program which, when being executed by the processor, carries out the steps of the method as set forth in any one of the claims 1 to 10.
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| CN113925393A (en) * | 2021-10-21 | 2022-01-14 | 微思机器人(深圳)有限公司 | Intelligent cleaning method and device, sweeping robot and storage medium |
| CN114451816B (en) * | 2021-12-23 | 2024-02-09 | 杭州华橙软件技术有限公司 | Cleaning policy generation method, cleaning policy generation device, computer device and storage medium |
| CN114468855A (en) * | 2022-01-07 | 2022-05-13 | 珠海格力电器股份有限公司 | Equipment control method, device, equipment and storage medium |
| CN116636776A (en) * | 2022-02-16 | 2023-08-25 | 追觅创新科技(苏州)有限公司 | Method and device for determining cleaning strategy, storage medium and electronic device |
| CN115040038A (en) * | 2022-06-22 | 2022-09-13 | 杭州萤石软件有限公司 | Robot control method and device and robot |
| CN115644739B (en) * | 2022-11-21 | 2023-03-21 | 深圳博鹏智能科技有限公司 | Commercial cleaning robot control method and system based on Internet of things |
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