CN114424911B - Cleaning method and mobile device - Google Patents
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- CN114424911B CN114424911B CN202210075914.9A CN202210075914A CN114424911B CN 114424911 B CN114424911 B CN 114424911B CN 202210075914 A CN202210075914 A CN 202210075914A CN 114424911 B CN114424911 B CN 114424911B
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- 238000004140 cleaning Methods 0.000 title claims abstract description 48
- 238000000034 method Methods 0.000 title claims abstract description 37
- 238000004590 computer program Methods 0.000 claims description 21
- 230000000007 visual effect Effects 0.000 claims description 3
- 230000006870 function Effects 0.000 description 5
- 238000003384 imaging method Methods 0.000 description 5
- 230000008569 process Effects 0.000 description 5
- 238000010586 diagram Methods 0.000 description 4
- 238000012545 processing Methods 0.000 description 4
- 230000008878 coupling Effects 0.000 description 3
- 238000010168 coupling process Methods 0.000 description 3
- 238000005859 coupling reaction Methods 0.000 description 3
- 238000013459 approach Methods 0.000 description 2
- 238000004891 communication Methods 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000003491 array Methods 0.000 description 1
- 230000003247 decreasing effect Effects 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000003287 optical effect Effects 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
- 238000010408 sweeping Methods 0.000 description 1
Classifications
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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
- A47L11/4002—Installations of electric equipment
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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
- A47L11/4002—Installations of electric equipment
- A47L11/4008—Arrangements of switches, indicators or the like
-
- 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
- A47L11/4061—Steering means; Means for avoiding obstacles; Details related to the place where the driver is accommodated
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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
-
- 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
- A47L2201/04—Automatic control of the travelling movement; Automatic obstacle detection
-
- 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
Landscapes
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The invention provides a cleaning method, which comprises the following steps: if a descending target object exists in the target space, controlling the mobile equipment to move towards the direction approaching to the target object; and controlling the mobile equipment to clean the target object. By the cleaning method, the efficiency of cleaning objects can be improved.
Description
Technical Field
The present invention relates to the field of cleaning technologies, and in particular, to a cleaning method, a mobile device, and a computer readable storage medium.
Background
With the progress and development of science, various devices are continuously updated, and a lot of convenience is provided for the life of people. For example, a mobile device can clean up debris, wherein the mobile device is a mobile device. Mobile devices have become an indispensable product in people's life or work. However, mobile devices still have some drawbacks, which need to be addressed.
For example, the mobile device cleans the garbage as follows: the mobile device first plans a path, assuming that the planned path is a bow-shaped path, there may be garbage at point B, as shown in fig. 1, while other locations on the bow-shaped path are not. The mobile equipment starts to walk from the point A, cleans the ground while walking according to the bow-shaped path until reaching the point B, and cleans the garbage at the point B.
Disclosure of Invention
In view of the above, the embodiments of the present invention provide a cleaning method, a mobile device, and a computer readable storage medium, so as to solve the problem that the cleaning efficiency of the current mobile device on garbage is low. The invention provides a cleaning method, which comprises the following steps: if a descending target object exists in the target space, controlling the mobile equipment to move towards the direction approaching to the target object; and controlling the mobile equipment to clean the target object.
In some embodiments of the present invention, the mobile device is provided with an imaging device, and correspondingly before the mobile device is controlled to move towards a direction approaching to the target object if the descending target object exists in the target space, the method includes: acquiring a target image by the image pickup device, wherein the target image is an image obtained by shooting the target space; and determining whether a descending target object exists in the target space according to the target image.
In some embodiments of the present invention, the determining whether there is a descending target object in the target space according to the target image includes: obtaining differential images corresponding to at least two frames of the target images; and determining whether a descending target object exists in the target space according to the differential image.
In some embodiments of the present invention, the determining whether there is a descending target object in the target space according to the target image includes: inputting the target image into a trained image recognition model, wherein the trained image recognition model can recognize objects in the target image and output recognition results, and the recognition results comprise object types corresponding to the objects in the target image; and determining whether a descending target object exists in the target space according to the identification result.
In some embodiments of the invention, the controlling the movement of the mobile device toward the direction proximate to the target object comprises: controlling the mobile device to move within a target range, the target range comprising: when the target object is shot by the image pickup device, the visual field range of the image pickup device.
In some embodiments of the present invention, if there is a descending target object in the target space, controlling the mobile device to move toward a direction approaching the target object includes:
and if the descending target object exists in the target space and the size of the target object is smaller than or equal to the designated size, controlling the mobile equipment to move towards the direction approaching the target object.
In some embodiments of the present invention, if there is a descending target object in the target space, controlling the mobile device to move toward a direction approaching the target object includes: if a descending target object exists in the target space, acquiring the position information of the target object; and controlling the mobile device to move towards a direction approaching the target object based on the position information.
In some embodiments of the present invention, the number of target objects is greater than or equal to two, and correspondingly, the controlling the mobile device to move toward the direction approaching the target object and the controlling the mobile device to clean the target object includes: according to the distance between each target object and the mobile device, controlling the mobile device to move towards the direction approaching the target object according to the sequence from the near to the far, and controlling the mobile device to clean the target object.
A second aspect of an embodiment of the present invention provides a mobile device comprising a memory, a processor and a computer program stored in the memory and executable on the processor, the processor implementing the steps of the cleaning method as described above when executing the computer program.
A third aspect of the embodiments of the present invention provides a computer readable storage medium storing a computer program which, when executed by a processor, implements the steps of the cleaning method as described above.
In the embodiment of the invention, if the descending target object exists in the target space, the mobile equipment is controlled to move towards the direction close to the target object, and the mobile equipment is controlled to clean the target object. Wherein the target object comprises: descending in the target space and belonging to the object to be cleaned. In this embodiment, as soon as a descending target object exists in the target space, the mobile device moves directly towards the direction close to the target object, and then the mobile device is controlled to clean the target object, i.e. the mobile device can clean the target object in time, so that the efficiency of the mobile device in cleaning the object can be greatly improved, and the target object comprises garbage, i.e. the efficiency of cleaning the garbage can be greatly improved.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings that are required in the embodiments or the description of the prior art will be briefly described, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and other drawings may be obtained according to the structures shown in these drawings without inventive effort for a person skilled in the art.
FIG. 1 is a schematic illustration of an arcuate path;
FIG. 2 is a flow chart of a cleaning method according to an embodiment of the invention;
FIG. 3 is a schematic illustration of a walking path according to an embodiment of the present invention;
FIG. 4 is a schematic diagram of a control device according to an embodiment of the present invention;
fig. 5 is a schematic diagram of a mobile device according to an embodiment of the invention.
The achievement of the objects, functional features and advantages of the present invention will be further described with reference to the accompanying drawings, in conjunction with the embodiments.
Detailed Description
In the following description, for purposes of explanation and not limitation, specific details are set forth such as the particular system architecture, techniques, etc., in order to provide a thorough understanding of the embodiments of the present invention. It will be apparent, however, to one skilled in the art that the present invention may be practiced in other embodiments that depart from these specific details. In other instances, detailed descriptions of well-known systems, devices, circuits, and methods are omitted so as not to obscure the description of the present invention with unnecessary detail.
In order to illustrate the technical scheme of the invention, the following description is made by specific examples. It should be understood that the terms "comprises" and/or "comprising," when used in this specification and the appended claims, specify the presence of stated features, integers, steps, operations, elements, and/or components, but do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and/or groups thereof.
It is also to be understood that the terminology used in the description of the present application is for the purpose of describing particular embodiments only and is not intended to be limiting of the application. As used in this specification and the appended claims, the singular forms "a," "an," and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise.
It should be further understood that the term "or/and" as used in this specification and the appended claims refers to any and all possible combinations of one or more of the associated listed items, and includes such combinations.
Example 1
Fig. 2 is a schematic flow chart of a cleaning method according to an embodiment of the present application, where the cleaning method may be applied to a mobile device, and the mobile device is a device capable of moving. By way of example and not limitation, the mobile device in this embodiment is capable of cleaning up debris. The mobile device includes a cleaning robot, which is a robot capable of cleaning work, such as a sweeping robot. The cleaning method comprises the following steps:
step S101, if there is a descending target object in the target space, the mobile device is controlled to move toward the direction approaching the target object.
The target space is a space to be cleaned, and the target object refers to an object descending in the target space.
By way of example and not limitation, the target space may be an indoor space or an outdoor space, and the indoor space may include at least one of: indoor space of family, indoor space of public place. The target object may include an object that is descending in the target space, and the target object may also include an object that once descended in the target space. The number of the target objects is greater than or equal to one.
In some embodiments, the controlling the movement of the mobile device toward the direction proximate to the target object comprises: controlling the mobile device to linearly move towards a direction approaching the target object, wherein the linear movement refers to: the track formed by the mobile device in the process of moving towards the direction approaching the target object is a straight line segment, and the starting point of the straight line segment is the current position of the mobile device.
By way of example and not limitation, as shown in fig. 3, fig. 3 illustrates a walking path of a mobile device, the target space including a point B where there is a descending target object, the mobile device currently being located at a point a, the mobile device moving from the point a directly to move straight toward a direction approaching the point B to approach or reach the point B, and cleaning the target object.
In addition, the target object may include: descending in the target space and belonging to the object to be cleaned. Namely, in the embodiment, the mobile device can timely clean the object to be cleaned.
By way of example and not limitation, assuming that the user has thrown a bolus of paper in the target space at his disposal, the bolus of paper begins to descend, since it belongs to the object to be cleaned (refuse), the mobile device controls itself to move in a direction close to the bolus of paper.
Optionally, the step S101 includes: and if the descending target object exists in the target space and a cleaning instruction is received, controlling the mobile equipment to move towards the direction approaching to the target object.
The cleaning instruction is an instruction for indicating the mobile equipment to clean the target object.
By way of example and not limitation, if there is a descending target object in the target space and the mobile device receives a cleaning instruction sent by a designated terminal, the mobile device controls itself to move in a direction approaching the target object. The terminal is designated as a terminal capable of communicating with the mobile device, for example, the terminal is designated as a mobile phone capable of communicating with the mobile device.
Optionally, the mobile device is provided with an image capturing device, and correspondingly, before the step S101, includes: acquiring a target image by the image pickup device, wherein the target image is an image obtained by shooting the target space; and determining whether a descending target object exists in the target space according to the target image. The image can be used for accurately determining whether a descending target object exists in the target space.
The image pickup device is used for shooting.
By way of example and not limitation, the range of view of the camera device includes a space above the ground, i.e., the camera device is able to capture a space above the ground, and the range of view of the camera device may also include the ground.
In some embodiments, the determining whether there is a descending target object in the target space from the target image includes: and obtaining differential images corresponding to at least two frames of the target images, and determining whether a descending target object exists in a target space according to the differential images. Thus, whether the descending target object exists in the target space can be rapidly and accurately determined.
By way of example and not limitation, pixel values corresponding to target images of adjacent frames from the same camera are subtracted to obtain a differential image, if there are pixels in the differential image having pixel values greater than or equal to a specified pixel threshold, then a moving object is determined to be present in the target space, and then it is determined whether the moving object includes a descending target object.
Optionally, the determining whether there is a descending target object in the target space according to the target image includes:
step a1, inputting the target image into a trained image recognition model, wherein the trained image recognition model can recognize objects in the target image and output recognition results, and the recognition results comprise object types corresponding to the objects in the target image;
and a2, determining whether a descending target object exists in the target space according to the identification result.
The object type corresponding to the object in the target image can be rapidly and accurately determined through the image recognition model, and then the mobile equipment can rapidly and accurately determine whether the descending target object exists in the target space.
By way of example and not limitation, said step a2 comprises: and determining whether an object to be cleaned exists in the target space according to the identification result, if the object to be cleaned exists in the target space, determining the motion state of the object to be cleaned in the target space, and determining whether a descending target object exists in the target space according to the motion state, wherein the target object comprises the object which descends in the target space and belongs to the object to be cleaned.
For example, determining whether the object to be cleaned exists in the target space according to the identification result includes: if the identification result indicates that the object in the target space comprises a paper cluster, the paper cluster belongs to the object to be cleaned, and the object to be cleaned can be determined to exist in the target space. Or if the identification result indicates that the object in the target space only has shoes and human bodies, and the shoes and the human bodies do not belong to the object to be cleaned, the object to be cleaned can be determined to be absent in the target space.
Optionally, the controlling the mobile device to move toward a direction approaching the target object includes: controlling the mobile device to move within a target range, the target range comprising: when the target object is shot by the image pickup device, the visual field range of the image pickup device.
As an example and not by way of limitation, assuming that when an imaging device captures a target object, the field of view of the imaging device is a range a, the target range includes a range a, and correspondingly, the controlling the mobile device to move toward a direction approaching the target object includes: the mobile device is controlled to move within the range A to search for the target object. Therefore, the range of searching the target object can be greatly reduced, so that the efficiency of searching the target object is improved, and the efficiency of cleaning the target object is further improved.
Optionally, if there is a descending target object in the target space, controlling the mobile device to move towards a direction approaching the target object includes: and if the descending target object exists in the target space and the size of the target object is smaller than or equal to the designated size, controlling the mobile equipment to move towards the direction approaching the target object. I.e. the mobile device in this embodiment is able to clean objects of smaller volume.
By way of example and not limitation, the dimensions of the target object include at least one of: the length of the target object, the width of the target object, the surface area of the target object, the height of the target object.
Optionally, the step S101 includes: if a descending target object exists in the target space, acquiring the position information of the target object; and controlling the mobile device to move towards a direction approaching the target object based on the position information. Based on this location information, the mobile device can control itself to quickly approach the target object.
The position information of the target object comprises the current position or/and the estimated position of the target object, wherein the estimated position is the position where the estimated target object is positioned after finishing descending. For example, the estimated position is a position where the estimated target object is located when it lands on the ground.
By way of example and not limitation, the mobile device is provided with an imaging device, the imaging device comprises a binocular camera, the acquiring the position information of the target object comprises acquiring the current position of the target object, and the current position of the target object comprises: the position of the target object relative to the mobile device, or/and the distance between the target object and the mobile device.
Step S102, controlling the mobile equipment to clean the target object.
And if the descending target object exists in the target space, controlling the mobile equipment to move towards the direction approaching to the target object, and controlling the mobile equipment to clean the target object. Wherein the target object comprises: descending in the target space and belonging to the object to be cleaned.
In this embodiment, as soon as a descending target object exists in the target space, the mobile device moves directly towards the direction close to the target object, and then the mobile device is controlled to clean the target object, that is, the mobile device can clean the target object in time, so that the efficiency of the mobile device in cleaning the object can be greatly improved, and the target object comprises garbage, that is, the efficiency of cleaning the garbage can be greatly improved.
By way of example and not limitation, the mobile device is provided with a storage device, the storage device being operable to store a target object, the controlling the mobile device to clear the target object comprising: and controlling the mobile equipment to absorb the target object into the storage device. Or, a manipulator is disposed on the mobile device, and the controlling the mobile device to clean the target object includes: and controlling the manipulator to pick up the target object. After controlling the manipulator to pick up the target object, the mobile device may also control itself to move to a designated place, which is a place for storing the target object.
In some embodiments, the number of target objects is greater than or equal to two, and correspondingly, the controlling the mobile device to move toward a direction approaching the target object and the controlling the mobile device to clean the target object includes: and controlling the mobile device to move towards the direction approaching to the target object according to the distance between each target object and the mobile device, and controlling the mobile device to clean the target object. Therefore, the efficiency of the mobile equipment for cleaning the target object can be effectively improved.
Specifically, according to the distance between each target object and the mobile device, the mobile device is controlled to move towards the direction approaching the target object according to the sequence from the near to the far, and the mobile device is controlled to clean the target object.
By way of example and not limitation, assuming that the number of target objects is equal to two, including a target object a and a target object b, wherein the distance between the target object a and the mobile device is 1 meter and the distance between the target object b and the mobile device is 2 meters, i.e., the target object a is closer to the mobile device than the target object b, the mobile device controls itself to move toward the position of the target object a and controls the mobile device to clear the target object a, and then the mobile device controls itself to move toward the position of the target object b and controls the mobile device to clear the target object b.
It should be understood that the sequence number of each step in the foregoing embodiment does not mean that the execution sequence of each process should be determined by the function and the internal logic, and should not limit the implementation process of the embodiment of the present invention.
Example two
Corresponding to the above embodiments, fig. 4 shows a schematic diagram of a control device provided in the embodiments of the present application, where the control device may be applied to a mobile device, and for convenience of explanation, only a portion related to the embodiments of the present application is shown.
The control device includes: a moving unit 21 and a cleaning unit 22.
And a moving unit 21 for controlling the moving device to move toward a direction approaching the target object if the descending target object exists in the target space.
Optionally, an image capturing device is disposed on the mobile device, and the control device includes an image acquisition unit.
The image acquisition unit is used for: before the mobile unit 21 performs the movement of the mobile device in a direction approaching the target object if there is a descending target object in the target space, it includes: acquiring a target image by the image pickup device, wherein the target image is an image obtained by shooting the target space; and determining whether a descending target object exists in the target space according to the target image. The image can be used for accurately determining whether a descending target object exists in the target space.
The image pickup device is used for shooting.
A cleaning unit 22, configured to control the mobile device to clean the target object.
The cleaning unit 22 is specifically configured to: if a descending target object exists in the target space, controlling the mobile equipment to move towards the direction approaching the target object, and controlling the mobile equipment to clean the target object
It should be noted that, for technical details not described in detail in this embodiment, reference may be made to the cleaning method provided in each of the above embodiments.
Example III
Fig. 5 is a schematic diagram of a mobile device according to an embodiment of the present invention. As shown in fig. 5, the mobile device 3 of this embodiment includes: a processor 31, a memory 32 and a computer program 33 stored in the memory 32 and executable on the processor 31. The mobile device 3 may further be provided with at least one of the following: display device, voice receiving device, cleaning device, distance detection device.
The steps of the respective cleaning method embodiments described above, such as steps S101 to S102 shown in fig. 1, are implemented when the processor 31 executes the computer program 33. Alternatively, the processor 31, when executing the computer program 33, implements the functions of the units in the above-described embodiments of the apparatus, such as the functions of the units 21 to 22 shown in fig. 4.
By way of example, the computer program 33 may be divided into one or more modules/units, which are stored in the memory 32 and executed by the processor 31 to complete the present invention. One or more of the modules/units may be a series of computer program instruction segments capable of performing specific functions for describing the execution of the computer program 33 in the mobile device 3. For example, the computer program 33 may be divided into a mobile unit and a cleaning unit, each unit functioning in particular as follows:
and the mobile unit is used for controlling the mobile equipment to move towards the direction approaching to the target object if the descending target object exists in the target space.
And the cleaning unit is used for controlling the mobile equipment to clean the target object.
It will be appreciated by those skilled in the art that fig. 5 is merely an example of mobile device 3 and is not intended to limit mobile device 3, and may include more or fewer components than shown, or may combine certain components, or different components, e.g., a mobile device may also include an input-output device, a network access device, a bus, etc.
The processor 31 may be a central processing unit (Central Processing Unit, CPU), but may also be other general purpose processors, digital signal processors (Digital Signal Processor, DSP), application specific integrated circuits (Application Specific Integrated Circuit, ASIC), field programmable gate arrays (Field-Programmable Gate Array, FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, or the like. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like.
The memory 32 may be an internal storage unit of the mobile device 3, such as a hard disk or a memory of the mobile device 3. The memory 32 may also be an external storage device of the mobile device 3, such as a plug-in hard disk, a Smart Media Card (SMC), a Secure Digital (SD) Card, a Flash memory Card (Flash Card) or the like, which are provided on the mobile device 3. Further, the memory 32 may also include both internal storage units and external storage devices of the mobile device 3. The memory 32 is used to store computer programs and other programs and data required by the mobile device. The memory 32 may also be used to temporarily store data that has been output or is to be output.
It will be apparent to those skilled in the art that, for convenience and brevity of description, only the above-described division of the functional units and modules is illustrated, and in practical application, the above-described functional distribution may be performed by different functional units and modules according to needs, i.e. the internal structure of the apparatus is divided into different functional units or modules to perform all or part of the above-described functions. The functional units and modules in the embodiment may be integrated in one processing unit, or each unit may exist alone physically, or two or more units may be integrated in one unit, where the integrated units may be implemented in a form of hardware or a form of a software functional unit. In addition, specific names of the functional units and modules are only for convenience of distinguishing from each other, and are not used for limiting the protection scope of the present application. The specific working process of the units and modules in the above system may refer to the corresponding process in the foregoing method embodiment, which is not described herein again.
In the foregoing embodiments, the descriptions of the embodiments are emphasized, and in part, not described or illustrated in any particular embodiment, reference is made to the related descriptions of other embodiments.
Those of ordinary skill in the art will appreciate that the various illustrative elements and algorithm steps described in connection with the embodiments disclosed herein may be implemented as electronic hardware, or combinations of computer software and electronic hardware. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the solution. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present invention.
In the embodiments provided in the present invention, it should be understood that the disclosed apparatus/mobile device and method may be implemented in other manners. For example, the apparatus/mobile device embodiments described above are merely illustrative, e.g., the division of modules or elements is merely a logical functional division, and there may be additional divisions when actually implemented, e.g., multiple elements or components may be combined or integrated into another system, or some features may be omitted or not performed. Alternatively, the coupling or direct coupling or communication connection shown or discussed may be an indirect coupling or communication connection via interfaces, devices or units, which may be in electrical, mechanical or other forms.
The units described as separate units may or may not be physically separate, and units shown as units may or may not be physical units, may be located in one place, or may be distributed over a plurality of network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.
In addition, each functional unit in the embodiments of the present invention may be integrated in one processing unit, or each unit may exist alone physically, or two or more units may be integrated in one unit. The integrated units may be implemented in hardware or in software functional units.
The integrated modules/units, if implemented in the form of software functional units and sold or used as stand-alone products, may be stored in a computer readable storage medium. Based on such understanding, the present invention may implement all or part of the flow of the method of the above embodiment, or may be implemented by a computer program to instruct related hardware, where the computer program may be stored in a computer readable storage medium, and when the computer program is executed by a processor, the steps of each method embodiment described above may be implemented. Wherein the computer program comprises computer program code, which may be in the form of source code, object code, executable files or in some intermediate form, etc. The computer readable medium may include: any entity or device capable of carrying computer program code, a recording medium, a U disk, a removable hard disk, a magnetic disk, an optical disk, a computer Memory, a Read-Only Memory (ROM), a random access Memory (RAM, random Access Memory), an electrical carrier signal, a telecommunications signal, a software distribution medium, and so forth. It should be noted that the content of the computer readable medium can be appropriately increased or decreased according to the requirements of the jurisdiction's jurisdiction and the patent practice, for example, in some jurisdictions, the computer readable medium does not include electrical carrier signals and telecommunication signals according to the jurisdiction and the patent practice.
The above embodiments are only for illustrating the technical solution of the present invention, and are not limiting; although the invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit and scope of the technical solutions of the embodiments of the present invention, and are intended to be included in the scope of the present invention.
The foregoing description of the preferred embodiments of the present invention should not be construed as limiting the scope of the invention, but rather should be understood to cover all modifications, equivalents, and alternatives falling within the spirit and scope of the invention as defined by the following description and drawings or any application directly or indirectly to other relevant art(s).
Claims (9)
1. A cleaning method applied to a mobile device provided with an image pickup device, the method comprising:
acquiring a target image by the image pickup device, wherein the target image is an image obtained by shooting a target space;
determining whether a target object exists in a target space according to the target image;
if the target object exists in the target space, controlling the mobile equipment to move towards the direction approaching to the target object and cleaning the target object; the target object includes an object once lowered in the target space.
2. The cleaning method of claim 1, wherein determining whether a target object is present in a target space based on the target image comprises:
obtaining differential images corresponding to at least two frames of the target images;
and determining whether a target object exists in the target space according to the differential image.
3. The cleaning method of claim 1, wherein determining whether a target object is present in a target space based on the target image comprises:
inputting the target image into a trained image recognition model, wherein the trained image recognition model can recognize objects in the target image and output recognition results, and the recognition results comprise object types corresponding to the objects in the target image;
and determining whether a target object exists in the target space according to the identification result.
4. The cleaning method of claim 1, wherein the controlling the movement of the mobile device toward the target object comprises:
controlling the mobile device to move within a target range, the target range comprising: when the target object is shot by the image pickup device, the visual field range of the image pickup device.
5. The cleaning method according to claim 1, wherein controlling the movement of the mobile device toward the direction approaching the target object if the target object is present in the target space comprises:
and if the target object exists in the target space and the size of the target object is smaller than or equal to the specified size, controlling the mobile equipment to move towards the direction approaching the target object.
6. The cleaning method according to claim 1, wherein controlling the mobile device to move toward a direction approaching the target object if the target object exists in the target space comprises:
if the target object exists in the target space, acquiring the position information of the target object;
and controlling the mobile device to move towards a direction approaching the target object based on the position information.
7. The cleaning method according to claim 1, wherein the number of the target objects is equal to or greater than two, and correspondingly, the controlling the moving device to move toward the direction approaching the target object and cleaning the target object includes:
and controlling the mobile equipment to move towards the direction approaching the target object and clean the target object according to the distance between each target object and the mobile equipment and the sequence from the near to the far.
8. A mobile device comprising a memory, a processor and a computer program stored in the memory and executable on the processor, characterized in that the processor implements the steps of the cleaning method according to any one of claims 1 to 7 when the computer program is executed.
9. A computer readable storage medium storing a computer program, characterized in that the computer program when executed by a processor implements the steps of the cleaning method according to any one of claims 1 to 7.
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