CN116421101A - A sweeping robot control method, system, terminal equipment and storage medium - Google Patents

Abstract

The application relates to the technical field of sweeping robots, in particular to a sweeping robot control method, a sweeping robot control system, terminal equipment and a storage medium. Identifying a current working mode and acquiring a corresponding historical cleaning task; analyzing the history cleaning task to obtain a corresponding cleaning area; if the number of the cleaning areas is multiple, the cleaning frequency corresponding to each cleaning area is obtained; calibrating a cleaning region with the cleaning frequency exceeding a preset cleaning frequency threshold as a target cleaning region; if the specified cleaning items exist in the target cleaning area, acquiring people flow information corresponding to the target cleaning area and cleaning workload corresponding to the specified cleaning items; setting a cleaning priority corresponding to a target cleaning area by combining people flow information and cleaning workload; and cleaning the target cleaning area according to the cleaning priority. The control method, the system, the terminal equipment and the storage medium of the sweeping robot can improve the sweeping effect of the sweeping robot in the sweeping process.

Description

A sweeping robot control method, system, terminal equipment and storage medium

technical field

The present application relates to the technical field of sweeping robots, in particular to a control method, system, terminal equipment and storage medium of a sweeping robot.

Background technique

Robotic vacuum cleaners are smart home devices that can move autonomously across indoor floors to clean up dust, debris, and other debris. These robots use sensors and navigation technology to avoid obstacles and recognize the layout of a room. Some robotic vacuum cleaners can even Control and monitoring via smartphone app.

At present, the sweeping robot can only use a fixed cleaning mode to clean a specific area according to the user's settings, so it cannot flexibly adjust to the actual situation of the area to be cleaned, resulting in a poor user experience.

Contents of the invention

In order to improve the cleaning effect of the sweeping robot during the cleaning process, the present application provides a control method, system, terminal equipment and storage medium for the sweeping robot.

In a first aspect, the present application provides a method for controlling a sweeping robot, including the following steps:

Obtain the current working mode corresponding to the sweeping robot;

Identify the current working mode, and obtain the corresponding historical cleaning tasks;

Analyzing the historical cleaning tasks to obtain the corresponding cleaning areas;

If there are multiple cleaning areas, obtaining the cleaning frequency corresponding to each of the cleaning areas;

Demarcating the cleaning area whose cleaning frequency exceeds a preset cleaning frequency threshold as a target cleaning area;

If there is a designated cleaning item in the target cleaning area, obtaining the flow of people information corresponding to the target cleaning area and the cleaning workload corresponding to the designated cleaning item;

Setting the cleaning priority corresponding to the target cleaning area in combination with the crowd flow information and the cleaning workload;

According to the cleaning priority, the target cleaning area is cleaned.

By adopting the above technical solution, according to the current working mode of the sweeping robot, the corresponding historical cleaning tasks can be obtained. By analyzing the historical cleaning tasks, the cleaning area currently set by the sweeping robot can be known, and the cleaning frequency that exceeds the conventional cleaning frequency is further selected, that is, the preset cleaning frequency. The threshold cleaning area is the main cleaning area, that is, the target cleaning area. At the same time, if there is a specified cleaning item in the target cleaning area, it means that the user has set a specific cleaning control command based on the actual needs, and then obtains and combines the corresponding crowd flow information of the above target cleaning area. And the cleaning workload corresponding to the specified cleaning item, comprehensively set the cleaning priority corresponding to the target cleaning area, and clean the target cleaning area through the above cleaning priority, due to the combination of the actual cleaning frequency of each cleaning area and the user-specific cleaning settings According to the habit, the corresponding cleaning priority of each area can be obtained, thereby improving the cleaning effect of the sweeping robot in the cleaning process.

Optionally, after the said cleaning area whose cleaning frequency exceeds the preset cleaning frequency threshold is marked as the target cleaning area, the following steps are further included:

If the specified cleaning item does not exist in the target cleaning area, then obtain the conventional cleaning item corresponding to the target cleaning area;

Identify the routine cleaning items and obtain the corresponding cleaning range;

Obtain the frequency of entry and exit of corresponding personnel within the cleaning range;

If the frequency of entry and exit of the person exceeds the preset frequency threshold, then obtain the corresponding entry and exit time period;

If the entry and exit time period overlaps with the default cleaning time period corresponding to the regular cleaning item, the default cleaning time period is adjusted according to the entry and exit time period to generate a corresponding target cleaning time period.

By adopting the above technical solution, the default cleaning time period of the sweeping robot is adjusted according to the user's daily entry and exit time period, thereby reducing the occurrence of conflicts between the cleaning time of the sweeping robot and the user's activity time, and improving the cleaning effect of the target cleaning area environment.

Optionally, setting the cleaning priority corresponding to the target cleaning area in combination with the crowd flow information and the cleaning workload includes the following steps:

Determine the corresponding personnel identity according to the crowd flow information;

Identify the identity of the person and match the corresponding behavioral characteristics;

According to the behavior characteristics, obtain the corresponding target designated cleaning items in the designated cleaning items;

specifying cleaning items according to the target, and obtaining the corresponding cleaning workload;

The cleaning priority corresponding to the target cleaning area is set according to the cleaning workload, and the cleaning workload is proportional to the cleaning priority.

By adopting the above technical solution, learning and recording the behavioral characteristics of users and personnel entering and leaving the target cleaning area and the target-designated cleaning items corresponding to the behavior characteristics, and further setting the cleaning priority corresponding to the target cleaning area through the cleaning workload of the target-designated cleaning items, Thus, the cleaning efficiency of the target cleaning area is improved.

Optionally, after obtaining the corresponding target specified cleaning item in the specified cleaning item according to the behavior characteristics, the following steps are further included:

Identify the specified cleaning item of the target, and obtain the corresponding cleaning record;

If there is an abnormal cleaning area in the cleaning record, the cleaning completion degree corresponding to the abnormal cleaning area is obtained;

If the cleaning completion degree does not meet the preset cleaning completion standard, output corresponding abnormal cleaning prompt information according to the abnormal cleaning area and the abnormal cleaning objects corresponding to the abnormal cleaning area.

By adopting the above technical solution, for the abnormal cleaning objects that are difficult to handle, that is, the cleaning completion degree does not meet the preset cleaning completion standard, the corresponding abnormal cleaning prompt information is output, so that the user can handle the abnormal cleaning objects in a timely manner.

Optionally, after obtaining the cleaning completion degree corresponding to the abnormal cleaning area if there is an abnormal cleaning area in the cleaning record, the following steps are further included:

If the cleaning completion degree meets the preset cleaning completion standard, acquiring the abnormal cleaning object corresponding to the abnormal cleaning area;

Identify the abnormal cleaning objects, and obtain the corresponding cleaning completion time;

Associate the abnormal cleaning objects with the cleaning completion time to generate a corresponding cleaning record table.

By adopting the above technical solution, associating the abnormal cleaning objects with the cleaning completion time, a corresponding cleaning record table is generated, and the cleaning record table is used to facilitate the user to keep abreast of the completion progress of each cleaning of the abnormal cleaning objects.

Optionally, after obtaining the cleaning frequency corresponding to each of the cleaning areas if there are multiple cleaning areas, the following steps are further included:

Marking the cleaning area whose cleaning frequency does not exceed the preset cleaning frequency threshold as a regular cleaning area;

If there are multiple conventional cleaning areas, obtaining cleaning environment information corresponding to each of the conventional cleaning areas;

Identify the cleaning environment information, and determine the corresponding cleaning difficulty;

According to the difficulty of cleaning, the routine cleaning priority corresponding to the routine cleaning area is set, and the cleaning difficulty is proportional to the routine cleaning priority;

According to the routine cleaning priority, the routine cleaning area is cleaned.

By adopting the above technical solution, the conventional cleaning priority corresponding to the conventional cleaning area is set according to the cleaning difficulty of the conventional cleaning area, thereby improving the cleaning efficiency of the conventional cleaning area.

Optionally, after the cleaning area whose cleaning frequency does not exceed the preset cleaning frequency threshold is marked as a regular cleaning area, the following steps are further included:

If the regular cleaning area is single, then obtain the regular cleaning item corresponding to the regular cleaning area;

If there are multiple routine cleaning items, then obtain the cleaning cycle corresponding to each of the routine cleaning items;

Associating the regular cleaning item with the cleaning cycle to generate a corresponding dynamic table of cleaning cycles.

By adopting the above technical solution, associating each conventional cleaning item in a single conventional cleaning area and its corresponding cleaning cycle, a corresponding cleaning cycle dynamic table is generated, so that the cleaning cycle dynamic table can be used to display to the user in real time what is in the conventional cleaning area Cleaning status, so that users can adapt to the cleaning needs of the conventional cleaning area according to their own needs, and improve the cleaning effect.

In a second aspect, the present application provides a sweeping robot control system, including:

The first acquisition module is used to acquire the current working mode corresponding to the sweeping robot;

An identification module, configured to identify the current working mode and obtain corresponding historical cleaning tasks;

An analysis module, configured to analyze the historical cleaning tasks and obtain corresponding cleaning areas;

A second acquisition module, if there are multiple cleaning areas, the second acquisition module is used to acquire the cleaning frequency corresponding to each of the cleaning areas;

A calibration module, configured to calibrate the cleaning area whose cleaning frequency exceeds the preset cleaning frequency threshold as the target cleaning area;

A third acquisition module, if there is a designated cleaning item in the target cleaning area, the third acquisition module is used to acquire the flow of people information corresponding to the target cleaning area and the cleaning workload corresponding to the designated cleaning item;

A combination module, configured to combine the people flow information and the cleaning workload to set the cleaning priority corresponding to the target cleaning area;

The cleaning module is configured to clean the target cleaning area according to the cleaning priority.

By adopting the above technical solution, the current working mode of the sweeping robot can be obtained according to the first acquisition module, the corresponding historical cleaning tasks can be identified and obtained through the identification module, and the cleaning area currently set by the sweeping robot can be known by randomly analyzing the historical cleaning tasks through the analysis module. Further, through the calibration module, the cleaning area that exceeds the conventional cleaning frequency, that is, the preset cleaning frequency threshold, is selected as the main cleaning area, that is, the target cleaning area. At the same time, if there is a specified cleaning item in the target cleaning area, it means that the user has set a specific cleaning based on actual needs. The control command is then acquired through the third acquisition module and combined with the above-mentioned crowd flow information corresponding to the target cleaning area and the cleaning workload corresponding to the specified cleaning item through the combination module, comprehensively setting the cleaning priority corresponding to the target cleaning area, and through the cleaning module according to The cleaning priority above cleans the target cleaning area. Due to the combination of the actual cleaning frequency of each cleaning area and the user's specific cleaning setting habits, the corresponding cleaning priority of each area is obtained, thereby improving the cleaning of the sweeping robot in the cleaning process. Effect.

In a third aspect, the present application provides a terminal device, which adopts the following technical solution:

A terminal device includes a memory and a processor. The memory stores computer instructions that can run on the processor. When the processor loads and executes the computer instructions, the above-mentioned sweeping robot control method is adopted.

By adopting the above technical solution, the above-mentioned sweeping robot control method generates computer instructions and stores them in the memory to be loaded and executed by the processor, so that the terminal equipment is made according to the memory and the processor, which is convenient to use.

In the fourth aspect, the present application provides a computer-readable storage medium, adopting the following technical solution:

A computer-readable storage medium, wherein computer instructions are stored in the computer-readable storage medium, and when the computer instructions are loaded and executed by a processor, the above-mentioned cleaning robot control method is adopted.

By adopting the above technical solution, by generating computer instructions from the above-mentioned sweeping robot control method, and storing them in a computer-readable storage medium, so as to be loaded and executed by a processor, the computer-readable storage medium facilitates the computer instructions. read and store.

In summary, this application includes at least one of the following beneficial technical effects: According to the current working mode of the sweeping robot, the corresponding historical cleaning tasks can be obtained, and the cleaning area currently set by the sweeping robot can be known by analyzing the historical cleaning tasks, and further selected The cleaning area that exceeds the regular cleaning frequency, that is, the preset cleaning frequency threshold, is the main cleaning area, that is, the target cleaning area. At the same time, if there is a specified cleaning item in the target cleaning area, it means that the user has set a specific cleaning control command based on actual needs, and it will be obtained immediately. Combined with the above-mentioned crowd flow information corresponding to the target cleaning area and the cleaning workload corresponding to the specified cleaning items, the cleaning priority corresponding to the target cleaning area is comprehensively set, and the target cleaning area is cleaned through the above cleaning priority. Based on the actual cleaning frequency and the user's specific cleaning setting habits, the corresponding cleaning priority of each area is obtained, thereby improving the cleaning effect of the sweeping robot during the cleaning process.

Description of drawings

Fig. 1 is a schematic flowchart of steps S101 to S108 in a method for controlling a cleaning robot of the present application.

Fig. 2 is a schematic flowchart of steps S201 to S205 in a method for controlling a sweeping robot of the present application.

Fig. 3 is a schematic flowchart of steps S301 to S305 in a method for controlling a cleaning robot of the present application.

Fig. 4 is a schematic flowchart of steps S401 to S403 in a method for controlling a cleaning robot of the present application.

Fig. 5 is a schematic flowchart of steps S501 to S503 in a method for controlling a cleaning robot of the present application.

Fig. 6 is a schematic flowchart of steps S601 to S605 in a method for controlling a cleaning robot of the present application.

Fig. 7 is a schematic flowchart of steps S701 to S703 in a method for controlling a cleaning robot of the present application.

Fig. 8 is a block diagram of a sweeping robot control system of the present application.

Explanation of reference signs:

1. The first acquisition module; 2. The identification module; 3. The analysis module; 4. The second acquisition module; 5. The calibration module; 6. The third acquisition module; 7. The combination module; 8. The cleaning module.

Detailed ways

The present application will be described in further detail below in conjunction with accompanying drawings 1-8.

The embodiment of the present application discloses a sweeping robot control method, as shown in Figure 1, including the following steps:

S101. Obtain the current working mode corresponding to the sweeping robot;

S102. Identify the current working mode and obtain the corresponding historical cleaning tasks;

S103. Analyzing historical cleaning tasks to obtain corresponding cleaning areas;

S104. If there are multiple cleaning areas, obtain the cleaning frequency corresponding to each cleaning area;

S105. Calibrate the cleaning area whose cleaning frequency exceeds the preset cleaning frequency threshold as the target cleaning area;

S106. If there is a designated cleaning item in the target cleaning area, obtain the flow information corresponding to the target cleaning area and the cleaning workload corresponding to the designated cleaning item;

S107. Combining the flow of people information and cleaning workload, set the cleaning priority corresponding to the target cleaning area;

S108. Clean the target cleaning area according to the cleaning priority.

In step S101, the current working mode refers to the specific working mode that the current cleaning robot has and can implement. For example, the sweeping robot has four major cleaning modes under normal circumstances, including the automatic cleaning mode, also called the random cleaning mode. The sweeping robot will perform random automatic cleaning work according to different environments; Locations such as areas with a lot of dust will automatically switch modes and perform rotary cleaning; in edge cleaning mode, the sweeping robot will automatically clean along the edge of the wall; in scheduled cleaning mode, the sweeping robot will clean from the set position.

In step S102, by identifying the above-mentioned current working mode, the historical cleaning tasks corresponding to each cleaning mode can be further obtained. The historical cleaning tasks refer to the cleaning implementation records of the cleaning robot in the process of implementing tasks in each working mode. For example, the current working mode is the fixed-point cleaning mode, and its corresponding historical cleaning tasks include task information such as the time when the sweeping robot implements the fixed-point cleaning mode, the area to be cleaned, and the completion of the cleaning. The current working mode of the sweeping robot can be The manual setting by the user may also be an adaptive setting in combination with the current actual environmental conditions.

In step S103, by analyzing the above-mentioned historical cleaning tasks, the area designated for cleaning each time, ie, the cleaning area, can be further obtained. Among them, the mobile control terminal can control the sweeping robot to move back and forth in the designated area, record the cleaning route at the same time, further construct the composition of the designated area according to the cleaning route, construct multiple areas for cleaning, and then perform positioning; Divide the area according to the space where the specified area is located, and then set the cleaning path. For example, you can first set the path according to the corner and edge, and then according to the zigzag.

In step S104, if there are multiple cleaning areas, that is, multiple divided areas, in order to focus on cleaning areas with frequent personnel activities or high cleaning needs, the cleaning frequency corresponding to each cleaning area is obtained. Among them, the cleaning frequency refers to the cleaning frequency of the sweeping robot in the designated area within a certain period.

In step S105, the preset cleaning frequency threshold refers to the preset threshold exceeding the conventional cleaning frequency. If the cleaning frequency exceeds the preset cleaning frequency threshold, it indicates that the area is an area with frequent personnel activities. Focus on the cleaning environment of the area, and the cleaning area whose cleaning frequency exceeds the preset cleaning frequency threshold is the target cleaning area.

For example, the preset cleaning frequency threshold is 3 times a week in the same specific area, and the corresponding cleaning frequency in room A is known to be 4 times a week, then it can be determined that room A is the target cleaning area.

In steps S106 to S107, the specified cleaning item refers to the cleaning mode specifically set by the user on the cleaning robot for a specific area, that is, the target cleaning area. For example, the target cleaning area corresponding to the specified cleaning item is the tea room in the room, and the specified cleaning item is daily sweeping dust, cleaning garbage, and mopping the floor.

Wherein, the cleaning priority corresponding to the target cleaning area is set in combination with the information on the flow of people and the cleaning workload determined in the above-mentioned target cleaning area. Among them, the more complex the crowd flow information is, that is, the frequent and intensive personnel activities, the higher the cleaning priority of the target cleaning area corresponding to the crowd flow information. Similarly, the higher the cleaning workload of the target cleaning area, the corresponding cleaning priority Also taller.

Further, in order to conduct a comprehensive analysis in combination with the actual situation of the target cleaning area and the internal activities, the information on the flow of people corresponding to the target cleaning area and the cleaning workload corresponding to the specified cleaning item are obtained.

Furthermore, the people flow information refers to the information of personnel entering and leaving the target cleaning area. The personnel information includes information such as the number of people entering and leaving the target cleaning area within a certain period of time and the identity of the personnel. , Through the personnel information collected and recorded above, the sweeping robot can record the behavior habits of specific personnel in and out of the target cleaning area in real time, so that it can adaptively formulate a cleaning mode that matches it. The cleaning workload refers to the specific cleaning task volume corresponding to a single designated cleaning item, and the cleaning task volume is determined according to the number of cleaning targets, the distribution range, and the difficulty of cleaning.

For example, user A usually smokes in the tea room and then goes to the balcony to bask in the sun. The sweeping robot collects, recognizes and analyzes user A's daily indoor activities through its own camera, and then calibrates the tea room and balcony as the target cleaning area, and user A is sweeping the floor. The designated cleaning items set in the tea room on the robot control system are to clear the smoke and dust that falls on the ground and spray air fresheners, and the designated cleaning items set on the balcony are to remove garbage.

Further, the sweeping robot tracks and records user A's activity traces by identifying and confirming user A's face information, collects and records user A's behavior habit in the tea room, that is, smoking, and then uses the camera to collect and identify the scattered range of user A's ash when smoking, and then The collection record shows that user A’s behavior on the balcony is lying down, and the generation of relevant garbage is not recognized. After the above analysis and comparison, the sweeping robot determines that the cleaning priority of the tea room is higher than that of the balcony.

In step S108, the cleaning robot cleans the corresponding target cleaning area based on the determined cleaning priority.

The sweeping robot control method provided in this embodiment can obtain the corresponding historical cleaning tasks according to the current working mode of the sweeping robot. By analyzing the historical cleaning tasks, the cleaning area currently set by the sweeping robot can be known, and further selected beyond the conventional cleaning frequency is The cleaning area of the preset cleaning frequency threshold is the main cleaning area, that is, the target cleaning area. At the same time, if there is a specified cleaning item in the target cleaning area, it means that the user has set a specific cleaning control command based on actual needs, and then obtains and combines the above target cleaning area According to the corresponding flow of people information and the cleaning workload corresponding to the specified cleaning items, the cleaning priority corresponding to the target cleaning area is comprehensively set, and the target cleaning area is cleaned through the above cleaning priority. Due to the combination of the actual cleaning frequency of each cleaning area and The user's specific cleaning setting habits can obtain the corresponding cleaning priority of each area, thereby improving the cleaning effect of the sweeping robot during the cleaning process.

In one of the implementations of this embodiment, as shown in FIG. 2, after step SS105, that is, the cleaning area whose cleaning frequency exceeds the preset cleaning frequency threshold is designated as the target cleaning area, the following steps are further included:

S201. If the specified cleaning item does not exist in the target cleaning area, obtain the conventional cleaning item corresponding to the target cleaning area;

S202. Identify routine cleaning items and obtain the corresponding cleaning range;

S203. Obtain the frequency of entry and exit of corresponding personnel within the cleaning range;

S204. If the frequency of personnel entry and exit exceeds the preset frequency threshold, obtain the corresponding entry and exit time period;

S205. If there is overlap between the entry and exit time period and the default cleaning time period corresponding to the routine cleaning item, adjust the default cleaning time period according to the entry and exit time period to generate a corresponding target cleaning time period.

In step S201, if there is no designated cleaning item in the target cleaning area, it means that the user has not deliberately set a fixed cleaning mode in a specific area on the cleaning robot. In order to effectively regulate the cleaning activities of the cleaning robot, obtain The regular cleaning items corresponding to the target cleaning area. The regular cleaning items refer to the cleaning items in the default setting state of the sweeping robot.

In steps S202 to S204, by identifying the routine cleaning items obtained above, the cleaning range corresponding to the routine cleaning items and the frequency of people entering and leaving the cleaning area can be obtained. Among them, the preset frequency threshold refers to the preset threshold standard for the number of times people enter and exit a specific area. If the frequency of people entering and exiting exceeds the preset frequency threshold, it means that there are frequent personnel activities in the cleaning area. In order to further reasonably regulate the sweeping robot Cleaning time, the access time period of the personnel in the area is obtained.

In step S205, if the entry and exit time period overlaps with the default cleaning time period corresponding to the regular cleaning item, it is likely to cause conflicts between the cleaning work of the sweeping robot and personnel activities. Adjust the default cleaning time zone to generate the corresponding target cleaning time zone. The target cleaning time zone is mainly generated based on the adaptive adjustment of the frequent entry and exit time of personnel.

For example, the preset frequency threshold is 8 times of entering and exiting the tea room in a week, and the frequency of user A entering and leaving the tea room in a week is 10 times in a week, and the time period of each entry and exit is between 3:00 pm and 6:00 pm According to the entry and exit time period, the default cleaning time period corresponding to the sweeping robot is adjusted to be after 6 pm and before 3 pm the next day, which is the target cleaning time period.

The control method of the sweeping robot provided in this embodiment adjusts the default cleaning time period of the sweeping robot according to the user’s daily entry and exit time period, thereby reducing the occurrence of conflicts between the cleaning time of the sweeping robot and the user’s activity time, and improving the environment of the target cleaning area. cleaning effect.

In one of the implementations of this embodiment, as shown in Figure 3, step S107 is to combine the flow of people information and the cleaning workload to set the cleaning priority corresponding to the target cleaning area, including the following steps:

S301. Determine the corresponding personnel identity according to the crowd flow information;

S302. Identify the identity of the person and match the corresponding behavioral characteristics;

S303. According to the behavior characteristics, obtain the corresponding target designated cleaning item in the designated cleaning item;

S304. Specify the cleaning item according to the target, and obtain the corresponding cleaning workload;

S305. According to the cleaning workload, the cleaning priority corresponding to the target cleaning area is set, and the cleaning workload is directly proportional to the cleaning priority.

In step S301, the people flow information refers to the number and identity information of people entering a certain area indoors. Among them, the number of personnel can be collected and identified by the camera set on the sweeping robot, and the identity information of the personnel can be authenticated by identifying the facial features of the personnel entering a specific area through the face recognition system set on the sweeping robot to determine the identity of the corresponding personnel .

In step S302, the behavior characteristics include the behavior of what kind of garbage is often produced by the corresponding person entering a specific area after the identity of the person is confirmed. Within the time limit, the sweeping robot will track the corresponding personnel and record their behavioral characteristics. For example, through face recognition, the identity of the person entering the tea room is authenticated, and the authentication result is person A, and the behavior characteristics of person A are further matched to be that he often eats melon seeds in the tea room.

In step S303, the target designated cleaning item is a designated cleaning item associated with a specific target person among the designated cleaning items. For example, the behavior characteristic of person A is that he often eats melon seeds in the tea room, and the designated cleaning items corresponding to the sweeping robot in the tea room are sweeping, mopping, and spraying air fresheners. The item is to comprehensively remove trivial garbage in the tea room.

In step S304 to step S305, according to the acquired target specified cleaning item, the corresponding cleaning workload can be obtained. Wherein, the cleaning workload can be identified according to the cleaning area and cleaning time of the target specified cleaning item.

For example, the target cleaning area is the tea room and balcony, and the corresponding target designated cleaning items for both are comprehensive removal of trivial garbage. The cleaning area of the balcony is 20㎡, and the regular cleaning time is 10 minutes. The cleaning area of the tea room is 50㎡, and its The regular cleaning time is 20 minutes. Based on the principle of cleaning the large area as soon as possible and cleaning the large area as soon as possible, according to the cleaning workload, set the cleaning priority corresponding to the target cleaning area, that is, the tea room and the balcony, and the cleaning workload. It is directly proportional to the cleaning priority, that is, the greater the cleaning workload, the higher the cleaning priority. It can be determined that the cleaning priority of the tea room is higher than that of the balcony.

In one of the implementations of this embodiment, as shown in FIG. 4, in step S103, according to the behavior characteristics, the following steps are further included after obtaining the corresponding target designated cleaning item in the designated cleaning item:

S401. Identify the specified cleaning item of the target, and obtain the corresponding cleaning record;

S402. If there is an abnormal cleaning area in the cleaning record, obtain the cleaning completion degree corresponding to the abnormal cleaning area;

S403. If the cleaning completion degree does not meet the preset cleaning completion standard, output corresponding abnormal cleaning prompt information according to the abnormal cleaning area and the abnormal cleaning objects corresponding to the abnormal cleaning area.

In step S401, the cleaning record refers to the cleaning process record of each execution of the target-designated cleaning item. For example, the designated cleaning item of the target is the comprehensive removal of trivial garbage in teahouses, and the corresponding cleaning records record the types of trivial garbage to be cleaned, the proportion and distribution of various types of trivial garbage, and the completion of cleaning.

In steps S402 to S403, the abnormal cleaning area refers to the garbage that is difficult to clean when the sweeping robot is cleaning in a specific area, and the cleaning completion refers to the specific area after each cleaning and its corresponding cleaning standard, that is, the preset cleaning Completion of standard comparative completion.

Secondly, if the cleaning completion does not meet the preset cleaning completion standard, it means that the current sweeping robot cannot complete the cleaning task of the abnormal cleaning area, and then output the corresponding abnormal cleaning according to the abnormal cleaning area and the abnormal cleaning objects corresponding to the abnormal cleaning area. Prompt information to remind the user to deal with the abnormal cleaning objects in the abnormal cleaning area in time.

For example, the abnormal cleaning area corresponding to the tea room is recorded in the cleaning record. The abnormal cleaning area is a muddy garbage area. The sweeping robot will leave mud spots after cleaning the muddy garbage area every time. The default cleaning area corresponding to the muddy garbage area If the completion standard is no mud spots, it can be judged that the cleaning completion of the muddy garbage area does not meet the corresponding preset cleaning completion standards, and then output the corresponding The abnormal cleaning prompt information.

In one implementation of this embodiment, as shown in Figure 5, in step S402, if there is an abnormal cleaning area in the cleaning record, the following steps are also included after obtaining the cleaning completion degree corresponding to the abnormal cleaning area:

S501. If the cleaning completion degree meets the preset cleaning completion standard, obtain the abnormal cleaning object corresponding to the abnormal cleaning area;

S502. Identify abnormal cleaning objects, and obtain the corresponding cleaning completion time;

S503. Associate the abnormal cleaning objects with the cleaning completion time, and generate a corresponding cleaning record table.

In step S501, if the cleaning completion degree meets the preset cleaning completion standard, it means that the corresponding abnormal cleaning objects in the abnormal cleaning area can be cleaned up by the current sweeping robot. In order to record and analyze these abnormal cleaning objects that are difficult to clean, then Obtain and record the abnormal cleaning objects corresponding to the current abnormal cleaning area.

In steps S502 to S503, the cleaning completion time refers to the time spent by the cleaning robot cleaning the abnormal cleaning objects. In order to display the detailed cleaning status of the abnormal cleaning objects to the user, the abnormal cleaning objects and the cleaning completion time corresponding to the abnormal cleaning objects are associated, and a corresponding cleaning record table is generated.

The sweeping robot control method provided in this embodiment associates the abnormal cleaning objects with the cleaning completion time, and generates a corresponding cleaning record table. Through the cleaning record table, the user can keep abreast of the progress of each cleaning completion of the abnormal cleaning objects.

In one implementation of this embodiment, as shown in FIG. 6, in step S104, if there are multiple cleaning areas, the following steps are also included after obtaining the cleaning frequency corresponding to each cleaning area:

S601. The cleaning area whose calibrated cleaning frequency does not exceed the preset cleaning frequency threshold is a routine cleaning area;

S602. If there are multiple conventional cleaning areas, obtain cleaning environment information corresponding to each conventional cleaning area;

S603. Identify the cleaning environment information, and determine the corresponding cleaning difficulty;

S604. According to the cleaning difficulty, set the routine cleaning priority corresponding to the routine cleaning area, and the cleaning difficulty is proportional to the routine cleaning priority;

S605. Clean the routine cleaning area according to the routine cleaning priority.

In step S601 to step S602, in order to divide the target cleaning area from other cleaning areas, the cleaning area whose calibrated cleaning frequency does not exceed the preset cleaning frequency threshold is a normal cleaning area. Secondly, if there are multiple conventional cleaning areas, in order to record and analyze the cleaning environment of each conventional cleaning area, the cleaning environment information corresponding to each conventional cleaning area is obtained. The cleaning environment information refers to the cleaning environment corresponding to each conventional cleaning area. Environment attribute information.

For example, the conventional cleaning areas are the bathroom and the kitchen, where the cleaning environment information corresponding to the bathroom includes water stains and residual water on the floor, and the cleaning environment information corresponding to the kitchen includes food waste on the floor and water and oil stains on the floor.

In step S603 to step S605, the cleaning difficulty refers to the cleaning workload corresponding to the cleaning environment information of the sweeping robot. The degree of difficulty is low. Based on the principle of difficulty first and then ease, the routine cleaning priority corresponding to the routine cleaning area is set according to the difficulty of cleaning. The difficulty of cleaning is directly proportional to the priority of routine cleaning.

For example, the routine cleaning areas are the bathroom and the kitchen. The main cleaning task corresponding to the bathroom is to clean up water stains and residual water, while the main cleaning task corresponding to the kitchen is not only to clean up food waste on the floor, but also to clean up water and oil stains on the floor. It can be determined The cleaning difficulty of the kitchen is higher than that of the bathroom, and then the routine cleaning priority of the kitchen is set higher than the routine cleaning priority of the bathroom. Clean up.

The sweeping robot control method provided in this embodiment sets the routine cleaning priority corresponding to the routine cleaning area according to the cleaning difficulty of the routine cleaning area, thereby improving the cleaning efficiency of the routine cleaning area.

In one of the implementations of this embodiment, as shown in FIG. 7, after step S601, that is, the cleaning area whose cleaning frequency does not exceed the preset cleaning frequency threshold is designated as a regular cleaning area, the following steps are also included;

S701. If the routine cleaning area is single, obtain the routine cleaning item corresponding to the routine cleaning area;

S702. If there are multiple routine cleaning items, obtain the cleaning cycle corresponding to each routine cleaning item;

S703. Associating the routine cleaning items with the cleaning cycle, and generating a corresponding cleaning cycle dynamic table.

In step S701, the regular cleaning item refers to a specific cleaning item corresponding to the regular cleaning area, and one regular cleaning area may correspond to multiple regular cleaning items. For example, the general cleaning area is the kitchen, and its corresponding general cleaning items are cleaning up food waste on the floor and cleaning up water and oil stains on the floor.

In step S702 to step S703, if there are multiple routine cleaning items, in order to show the cleaning status of each routine cleaning item to the user in detail, the cleaning cycle corresponding to each routine cleaning item is obtained. The cleaning cycle refers to the sweeping robot performing once. The time interval for regular sweep items.

Secondly, associating the routine cleaning item with the cleaning cycle corresponding to the above-mentioned determined routine cleaning item, generates a corresponding cleaning cycle dynamic table. Among them, the cleaning cycle corresponding to the routine cleaning item can be changed. It can be manually adjusted by the user, or it can be a cleaning cycle formulated by the sweeping robot according to the environmental attributes of each routine cleaning area. Through the cleaning cycle dynamic table, the basic cleaning status of each regular cleaning area and the implementation process of each regular cleaning item corresponding to the regular cleaning area can be displayed to the user.

The sweeping robot control system provided in this embodiment associates each routine cleaning item in a single routine cleaning area and its corresponding cleaning cycle to generate a corresponding cleaning cycle dynamic table, so that the cleaning cycle dynamic table can be used in real time. The cleaning status in the cleaning area is convenient for users to adapt to the cleaning needs of the conventional cleaning area according to their own needs, and the cleaning effect is improved.

The embodiment of the present application discloses a sweeping robot control system, as shown in Figure 8, including:

The first acquisition module 1 is used to acquire the current working mode corresponding to the sweeping robot;

The identification module 2 is used to identify the current working mode and obtain the corresponding historical cleaning tasks;

The analysis module 3 is used to analyze the historical cleaning tasks and obtain the corresponding cleaning areas;

The second acquisition module 4, if there are multiple cleaning areas, the second acquisition module 4 is used to acquire the cleaning frequency corresponding to each cleaning area;

Calibration module 5, used to calibrate the cleaning area whose cleaning frequency exceeds the preset cleaning frequency threshold as the target cleaning area;

The third acquisition module 6, if there is a designated cleaning item in the target cleaning area, the third acquisition module 6 is used to acquire the flow of people information corresponding to the target cleaning area and the cleaning workload corresponding to the designated cleaning item;

The combination module 7 is used to combine the flow of people information and the cleaning workload to set the cleaning priority corresponding to the target cleaning area;

The cleaning module 8 is configured to clean the target cleaning area according to the cleaning priority.

The sweeping robot control system provided in this embodiment obtains the current working mode of the sweeping robot according to the first acquisition module 1, can identify and obtain the corresponding historical cleaning tasks through the identification module 2, and randomly analyzes the historical cleaning tasks through the analysis module 3 to know the sweeping. The cleaning area currently set by the robot is further selected through the calibration module 5 to select the cleaning area that exceeds the conventional cleaning frequency, that is, the preset cleaning frequency threshold, as the main cleaning area, that is, the target cleaning area. At the same time, if there is a specified cleaning item in the target cleaning area, it means that the user has Set a specific cleaning control instruction in combination with actual needs, then obtain it through the third acquisition module 6 and combine the crowd flow information corresponding to the above-mentioned target cleaning area and the cleaning workload corresponding to the specified cleaning item through the combination module 7, and comprehensively set the target cleaning area. According to the cleaning priority of the cleaning module 8, the target cleaning area is cleaned according to the above cleaning priority. Due to the combination of the actual cleaning frequency of each cleaning area and the user's specific cleaning setting habits, the corresponding cleaning priority of each area is obtained. Thereby, the cleaning effect of the sweeping robot in the cleaning process is improved.

It should be noted that the sweeping robot control system provided in the embodiment of the present application also includes various modules and/or corresponding submodules corresponding to the logical functions or logical steps of any of the above-mentioned sweeping robot control methods, to realize The same effect as each logical function or logical step will not be repeated here.

The embodiment of the present application also discloses a terminal device, including a memory, a processor, and computer instructions stored in the memory and capable of running on the processor, wherein, when the processor executes the computer instructions, any one of the above-mentioned embodiments is adopted. A sweeping robot control method.

Wherein, the terminal device may be a computer device such as a desktop computer, a notebook computer, or a cloud server, and the terminal device includes but is not limited to a processor and a memory, for example, the terminal device may also include an input and output device, a network access device, and a bus.

Among them, the processor can use a central processing unit (CPU), of course, according to the actual use, it can also use other general processors, digital signal processors (DSP), application specific integrated circuits (ASIC), off-the-shelf programmable gate arrays ( FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc., general-purpose processors can be microprocessors or any conventional processors, etc., and this application does not limit this.

Wherein, the memory may be an internal storage unit of the terminal device, for example, a hard disk or internal memory of the terminal device, or may be an external storage device of the terminal device, for example, a plug-in hard disk, a smart memory card (SMC), a Secure Digital Card (SD) or Flash Memory Card (FC), etc., and the memory can also be a combination of the internal storage unit of the terminal device and an external storage device. The memory is used to store computer instructions and other instructions and data required by the terminal device. The memory can also be used to temporarily store outputted or to-be-outputted data, which is not limited in the present application.

Wherein, through this terminal device, any one of the sweeping robot control methods in the above embodiments is stored in the memory of the terminal device, and is loaded and executed on the processor of the terminal device, which is convenient for use.

The embodiment of the present application also discloses a computer-readable storage medium, and the computer-readable storage medium stores computer instructions, wherein, when the computer instructions are executed by the processor, any sweeping robot control method in the above-mentioned embodiments is adopted .

Wherein, the computer instructions may be stored in a computer-readable medium, and the computer instructions include computer instruction codes, and the computer instruction codes may be in the form of source code, object code, executable file or some middleware, etc., and the computer-readable medium includes Any entity or device carrying computer instruction code, recording medium, USB flash drive, removable hard disk, magnetic disk, optical disk, computer memory, read-only memory (ROM), random-access memory (RAM), electrical carrier signal, telecommunication signal and software It should be noted that the computer-readable medium includes but is not limited to the above components.

Wherein, through this computer-readable storage medium, any one of the sweeping robot control methods in the above-mentioned embodiments is stored in the computer-readable storage medium, and is loaded and executed on the processor, so as to facilitate the storage and operation of the above-mentioned method. application.

All of the above are preferred embodiments of the application, and are not intended to limit the protection scope of the application. Therefore, all equivalent changes made according to the structure, shape, and principle of the application should be covered by the protection scope of the application. Inside.

Claims (10)

1. The control method of the sweeping robot is characterized by comprising the following steps of:

acquiring a current working mode corresponding to the sweeping robot;

identifying the current working mode and acquiring a corresponding historical cleaning task;

analyzing the history cleaning task to obtain a corresponding cleaning area;

if the number of the cleaning areas is multiple, the cleaning frequency corresponding to each cleaning area is obtained;

calibrating the cleaning region with the cleaning frequency exceeding a preset cleaning frequency threshold as a target cleaning region;

if the specified cleaning items exist in the target cleaning area, acquiring people flow information corresponding to the target cleaning area and cleaning workload corresponding to the specified cleaning items;

setting a cleaning priority corresponding to the target cleaning area by combining the people stream information and the cleaning workload;

and cleaning the target cleaning area according to the cleaning priority.

2. The method according to claim 1, further comprising the step of, after said calibrating said sweeping area for which said sweeping frequency exceeds a preset sweeping frequency threshold value as a target sweeping area:

if the specified cleaning items do not exist in the target cleaning area, acquiring conventional cleaning items corresponding to the target cleaning area;

Identifying the conventional cleaning item and acquiring a corresponding cleaning range;

acquiring the corresponding personnel access frequency in the cleaning range;

if the personnel access frequency exceeds a preset frequency threshold, acquiring a corresponding access time period;

and if the access time period is overlapped with the default cleaning time period corresponding to the conventional cleaning item, adjusting the default cleaning time period according to the access time period, and generating a corresponding target cleaning time period.

3. The method according to claim 1, wherein the setting of the cleaning priority corresponding to the target cleaning area by combining the traffic information and the cleaning workload comprises the steps of:

determining corresponding personnel identities according to the people stream information;

identifying the identity of the person and matching corresponding behavior characteristics;

acquiring a corresponding target specified cleaning item in the specified cleaning items according to the behavior characteristics;

according to the target specified cleaning items, acquiring corresponding cleaning workload;

and setting the cleaning priority corresponding to the target cleaning area according to the size of the cleaning workload, wherein the cleaning workload is in direct proportion to the cleaning priority.

4. A control method of a floor sweeping robot according to claim 3, further comprising the steps of, after the acquisition of the corresponding target specified cleaning item among the specified cleaning items according to the behavior characteristics:

identifying the target specified cleaning item and acquiring a corresponding cleaning record;

if an abnormal cleaning area exists in the cleaning record, acquiring the cleaning completion degree corresponding to the abnormal cleaning area;

and if the cleaning completion degree does not meet the preset cleaning completion standard, outputting corresponding abnormal cleaning prompt information according to the abnormal cleaning area and the abnormal cleaning object corresponding to the abnormal cleaning area.

5. The method according to claim 4, further comprising the steps of, after the acquiring the cleaning completion degree corresponding to the abnormal cleaning area if the abnormal cleaning area exists in the cleaning record:

if the cleaning completion degree meets the preset cleaning completion standard, acquiring the abnormal cleaning object corresponding to the abnormal cleaning area;

identifying the abnormal cleaning object and obtaining corresponding cleaning completion time;

and associating the abnormal cleaning object with the cleaning completion time to generate a corresponding cleaning record list.

6. The method according to claim 1, further comprising the steps of, after the plurality of cleaning areas, acquiring cleaning frequencies corresponding to the respective cleaning areas:

calibrating the cleaning area, of which the cleaning frequency does not exceed the preset cleaning frequency threshold, as a conventional cleaning area;

if the number of the conventional cleaning areas is multiple, acquiring cleaning environment information corresponding to each conventional cleaning area;

identifying the cleaning environment information and determining the corresponding cleaning difficulty;

setting a conventional cleaning priority corresponding to the conventional cleaning area according to the cleaning difficulty, wherein the cleaning difficulty is in direct proportion to the conventional cleaning priority;

and cleaning the conventional cleaning area according to the conventional cleaning priority.

7. The method according to claim 6, further comprising the step of, after said calibrating said sweeping area for which said sweeping frequency does not exceed said preset sweeping frequency threshold value is a normal sweeping area:

if the conventional cleaning area is single, acquiring the conventional cleaning item corresponding to the conventional cleaning area;

If the conventional cleaning items are multiple, acquiring cleaning periods corresponding to the conventional cleaning items;

and associating the conventional cleaning item with the cleaning period to generate a corresponding cleaning period dynamic table.

8. A robot control system for sweeping floor, comprising:

the first acquisition module (1) is used for acquiring a current working mode corresponding to the sweeping robot;

the identification module (2) is used for identifying the current working mode and acquiring a corresponding historical cleaning task;

the analysis module (3) is used for analyzing the history cleaning task and obtaining a corresponding cleaning area;

the second acquisition module (4) is used for acquiring the cleaning frequency corresponding to each cleaning area if the number of the cleaning areas is multiple;

the calibration module (5) is used for calibrating the sweeping area with the sweeping frequency exceeding a preset sweeping frequency threshold value as a target sweeping area;

a third acquisition module (6), wherein if the target cleaning area has a designated cleaning item, the third acquisition module (6) is used for acquiring people flow information corresponding to the target cleaning area and cleaning workload corresponding to the designated cleaning item;

a combination module (7) for combining the people stream information and the cleaning workload and setting the cleaning priority corresponding to the target cleaning area;

And the cleaning module (8) is used for cleaning the target cleaning area according to the cleaning priority.

9. A terminal device comprising a memory and a processor, characterized in that the memory has stored therein computer instructions executable on the processor, which processor, when loaded and executed, employs a sweeping robot control method according to any one of claims 1 to 7.

10. A computer readable storage medium having stored therein computer instructions, wherein the computer instructions, when loaded and executed by a processor, employ a sweeping robot control method according to any one of claims 1 to 7.

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