本申请要求于2023年05月19日提交到的申请号为“202310566489.8”，申请名称为“清洁机器人的控制方法、装置、存储介质和清洁机器人”和申请号为“202310566487.9”，申请名称为“清洁方法、装置、可读存储介质和自移动清洁设备”的中国专利申请的优先权，其全部内容通过引用结合在本申请中。This application claims priority to Chinese patent applications with application number "202310566489.8" filed on May 19, 2023, application name "Control method, device, storage medium and cleaning robot of cleaning robot" and application number "202310566487.9" filed on May 19, 2023, application name "Cleaning method, device, readable storage medium and self-moving cleaning device", all contents of which are incorporated by reference into this application.
本申请涉及清洁设备技术领域，具体而言，涉及一种清洁机器人及其控制方法和可读存储介质。The present application relates to the technical field of cleaning equipment, and in particular to a cleaning robot, a control method thereof, and a readable storage medium.
随着智能清洁技术的发展，在许多家庭选择使用清洁机器人对房屋进行清洁，节省了大量劳动力。With the development of intelligent cleaning technology, many families choose to use cleaning robots to clean the house, saving a lot of labor.
相关技术中，清洁机器人进行清洁时，通常会按照预设的清洁方式对全屋进行清洁。当用户需要对房屋内某一特定区域的污渍进行单独清洁时，需要用户对该区域的清洁方式进行单独设置，导致用户对清洁机器人的操作过于繁琐。In the related art, when a cleaning robot performs cleaning, it usually cleans the whole house according to a preset cleaning method. When a user needs to clean stains in a specific area of the house separately, the user needs to set the cleaning method for the area separately, which makes the user's operation of the cleaning robot too cumbersome.
申请内容Application Contents
本申请旨在解决现有技术或相关技术中存在的技术问题之一。The present application aims to solve one of the technical problems existing in the prior art or related technology.
为此，本申请的第一方面提出了一种清洁机器人的控制方法。To this end, the first aspect of the present application proposes a control method for a cleaning robot.
本申请的第二方面提出了一种清洁机器人的控制方法。A second aspect of the present application proposes a control method for a cleaning robot.
本申请的第三方面提出了一种清洁机器人的控制装置。A third aspect of the present application provides a control device for a cleaning robot.
本申请的第四方面提出了一种清洁机器人的控制装置。A fourth aspect of the present application provides a control device for a cleaning robot.
本申请的第五方面提出了一种清洁机器人的控制装置。A fifth aspect of the present application proposes a control device for a cleaning robot.
本申请的第六方面提出了一种计算机程序产品。A sixth aspect of the present application proposes a computer program product.
本申请的第七方面提出了一种可读存储介质。A seventh aspect of the present application proposes a readable storage medium.
本申请的第八方面提出了一种清洁机器人。The eighth aspect of the present application proposes a cleaning robot.
本申请的第九方面提出了一种清洁方法。The ninth aspect of the present application proposes a cleaning method.
本申请的第十方面提出了一种清洁装置。A tenth aspect of the present application proposes a cleaning device.
本申请的第十一方面提出了一种清洁装置。The eleventh aspect of the present application proposes a cleaning device.
本申请的第十二方面提出了一种可读存储介质。A twelfth aspect of the present application proposes a readable storage medium.
本申请的第十三方面提出了一种清洁机器人。The thirteenth aspect of the present application proposes a cleaning robot.
有鉴于此，根据本申请的第一方面提出一种清洁机器人的控制方法，由清洁机器人执行，包括：在清洁机器人行驶的过程中，通过图像采集装置采集脏污图像；根据脏污图像，确定脏污的类型信息和/或尺寸信息；根据类型信息和/或尺寸信息，控制清洁机器人运行。In view of this, according to the first aspect of the present application, a control method for a cleaning robot is proposed, which is executed by the cleaning robot, including: collecting dirty images through an image acquisition device during the driving of the cleaning robot; determining the type information and/or size information of the dirt based on the dirty image; and controlling the operation of the cleaning robot based on the type information and/or size information.
本申请的技术方案中提出了一种清洁机器人的控制方法，清洁机器人行驶在清洁路径上时，持续通过图像采集装置采集脏污图像。通过对脏污图像进行识别，能够确定所需清洁的脏污的尺寸信息，以及脏污的类型信息，并据此对清洁机器人清洁脏污的过程进行规划，无需用户手动对脏污的清洁方式进行设置，清洁机器人能够自动选择效率高的方式清洁脏污，提高了用户使用清洁机器人的便捷性。The technical solution of the present application proposes a control method for a cleaning robot. When the cleaning robot is traveling on a cleaning path, it continuously collects dirt images through an image acquisition device. By identifying the dirt images, the size information of the dirt to be cleaned and the type information of the dirt can be determined, and the cleaning process of the cleaning robot can be planned accordingly. The user does not need to manually set the cleaning method for the dirt. The cleaning robot can automatically select a highly efficient method to clean the dirt, thereby improving the convenience of the user using the cleaning robot.
清洁机器人上设置有图像采集装置，在清洁机器人出站执行清洁任务时，保持该图像采集装置的运行状态，以对清洁机器人周围的拍摄数据进行采集。The cleaning robot is provided with an image acquisition device. When the cleaning robot goes out to perform a cleaning task, the image acquisition device is kept in a running state to collect shooting data around the cleaning robot.
在该技术方案中，清洁机器人在通过图像采集装置进行拍摄的过程中，通过语义识别的方式判断采集到的拍摄数据是否包括脏污图像，在采集到脏污图像后，基于对该脏污图像的识别，对清洁机器人对相应脏污的清洁方式进行规划。In this technical solution, during the process of shooting through the image acquisition device, the cleaning robot determines whether the captured shooting data includes a dirty image through semantic recognition. After collecting the dirty image, based on the recognition of the dirty image, the cleaning robot plans the cleaning method for the corresponding dirt.
需要说明的是，清洁机器人在识别到脏污图像之后，结合语义地图，能够确定脏污图像中的脏污在语义地图中的定位信息，使清洁机器人能够精准定位脏污图像中的脏污。It should be noted that after recognizing the dirty image, the cleaning robot can determine the location information of the dirt in the dirty image in the semantic map in combination with the semantic map, so that the cleaning robot can accurately locate the dirt in the dirty image.
本申请的技术方案中，清洁机器人通过图像采集装置，采集清洁机器人行驶路径所在区域内的脏污图像，通过识别该脏污图像能够使清洁机器人确定脏污的类型信息，以及尺寸信息。清洁机器人能够基于识别到的类型信息，以及尺寸信息自动对脏污图像中的脏污进行清洁，无需进行人工参数设置，提高了用户使用清洁机器人的便捷性，还保证了清洁机器人在识别到脏污时，能够及时对其进行清洁，提高了清洁效率。In the technical solution of the present application, the cleaning robot collects the dirty image in the area where the cleaning robot is traveling through the image acquisition device, and can determine the type information and size information of the dirt by identifying the dirty image. The cleaning robot can automatically clean the dirt in the dirty image based on the identified type information and size information, without the need for manual parameter setting, which improves the convenience of the user to use the cleaning robot, and also ensures that the cleaning robot can clean the dirt in time when it identifies it, thereby improving the cleaning efficiency.
在上述任一技术方案中，清洁机器人包括多个清洁组件；根据类型信息和/或尺寸信息，控制清洁机器人运行，包括：根据类型信息，确定多个清洁组件中的目标组件；根据尺寸信息，规划清洁机器人的清洁路径；控制清洁机器人沿清洁路径行驶；在清洁机器人行驶过程中，控制目标组件运行。In any of the above technical solutions, the cleaning robot includes multiple cleaning components; according to the type information and/or size information, controlling the operation of the cleaning robot includes: determining a target component among the multiple cleaning components according to the type information; planning the operation of the cleaning robot according to the size information; cleaning path; controlling the cleaning robot to travel along the cleaning path; and controlling the target component to operate during the driving process of the cleaning robot.
在该技术方案中提出了清洁机器人通过类型信息，以及尺寸信息对清洁方式进行规划的具体过程，提高清洁机器人对该脏污进行清洁的清洁效率。This technical solution proposes a specific process in which the cleaning robot plans the cleaning method through type information and size information, thereby improving the cleaning efficiency of the cleaning robot in cleaning the dirt.
在该技术方案中，清洁机器人配备有多种不同的清洁组件，以应对不同性状的脏污。清洁机器人通过识别到的类型信息，确定脏污图像中的脏污的性状，例如：液体脏污、固体脏污。清洁机器人能够通过识别到的类型信息，选择多个清洁组件中的目标组件对脏污进行清洁，实现了清洁机器人能够对不同类型信息的脏污选择相应的清洁组件进行清洁，进一步提高了清洁效率和清洁效果。In this technical solution, the cleaning robot is equipped with a variety of different cleaning components to deal with dirt of different properties. The cleaning robot determines the properties of the dirt in the dirt image by identifying the type information, such as liquid dirt and solid dirt. The cleaning robot can select a target component from multiple cleaning components to clean the dirt by identifying the type information, so that the cleaning robot can select the corresponding cleaning component for cleaning dirt of different types of information, further improving the cleaning efficiency and cleaning effect.
在该技术方案中，清洁机器人能够通过识别到的尺寸信息，确定脏污对地面的覆盖范围。清洁机器人能够针对不同的尺寸信息，规划相应的清洁路径，从而提高对脏污的清洁效率。In this technical solution, the cleaning robot can determine the coverage of the dirt on the ground through the identified size information. The cleaning robot can plan corresponding cleaning paths according to different size information, thereby improving the cleaning efficiency of the dirt.
本申请的技术方案中，清洁机器人基于类型信息选择目标组件，以及基于尺寸信息确定清洁路径之后，控制清洁机器人按照清洁路径行驶，并在行驶时开启目标组件对脏污图像中的脏污进行清洁。使清洁机器人在清洁过程中使用的目标组件与脏污的性状相符，且清洁轨迹能够覆盖完整的脏污，保证了清洁效果的同时，还能够提高清洁机器人对脏污的清洁效率。In the technical solution of the present application, the cleaning robot selects the target component based on the type information, and after determining the cleaning path based on the size information, controls the cleaning robot to travel along the cleaning path, and turns on the target component to clean the dirt in the dirt image while traveling. The target component used by the cleaning robot during the cleaning process is consistent with the properties of the dirt, and the cleaning trajectory can cover the complete dirt, which ensures the cleaning effect and improves the cleaning efficiency of the cleaning robot for dirt.
在上述任一技术方案中，多个清洁组件包括吸尘组件和拖擦组件；根据类型信息，确定多个清洁组件中的目标组件，包括：基于类型信息为液体类型，确定拖擦组件为目标组件；基于类型信息为固体类型，确定吸尘组件为目标组件。In any of the above technical solutions, the multiple cleaning components include a dust collection component and a mopping component; based on the type information, the target component among the multiple cleaning components is determined, including: based on the type information being a liquid type, determining the mopping component as the target component; based on the type information being a solid type, determining the dust collection component as the target component.
在该技术方案中提供了清洁机器人根据类型信息，选择吸尘组件和拖擦组件中的一个作为目标组件的过程。This technical solution provides a process in which the cleaning robot selects one of a dust collection component and a mopping component as a target component according to type information.
清洁机器人的清洁组件包括吸尘组件和拖擦组件，吸尘组件和拖擦组件位于清洁机器人的不同位置。The cleaning components of the cleaning robot include a dust suction component and a mopping component, and the dust suction component and the mopping component are located at different positions of the cleaning robot.
在该技术方案中，在检测到类型信息为液体类型，即判定脏污属于液体脏污，则清洁机器人将用于清洁液体脏污的拖擦组件作为目标组件。在清洁机器人运行过程中，控制抹布盘旋转，对液体脏污拖干，并保持吸尘组件停止运行，避免将液体脏污收集到清洁机器人内部。In this technical solution, when the type information is detected as liquid, that is, the dirt is determined to be liquid dirt, the cleaning robot uses the mopping component for cleaning liquid dirt as the target component. During the operation of the cleaning robot, the rag plate is controlled to rotate to mop the liquid dirt, and the vacuum component is kept stopped to avoid collecting liquid dirt inside the cleaning robot.
在该技术方案中，在检测到类型信息为固体类型，即判定脏污属于固体脏污，则清洁机器人将用于清洁固体脏污的吸尘组件作为目标组件。在清洁机器人运行过程中，控制吸尘组件运行，对固体脏污进行收集，并保持拖擦组件停止运行，避免拖擦组件运行时将固体脏污打散影响清洁效率。In this technical solution, when the type information is detected as a solid type, that is, the dirt is determined to be solid dirt, the cleaning robot uses the vacuum component for cleaning solid dirt as the target component. During the operation of the cleaning robot, the vacuum component is controlled to operate to collect the solid dirt, and the mopping component is kept stopped to prevent the mopping component from breaking up the solid dirt and affecting the cleaning efficiency.
在一些可能的实施方式中，吸尘组件包括吸尘口、风机和边刷，拖擦组件为可升降的抹布盘。在为固体脏污时，清洁机器人减速运行，抹布盘停转抬升，风机吸力加大，边刷和滚刷减速运行。在为液体脏污时，机器人减速运行，边刷和滚刷停转，风机停止保持停止吸力，增大抹布盘转速。In some possible implementations, the dust suction component includes a dust suction port, a fan and a side brush, and the mopping component is a raftable rag plate. When the dirt is solid, the cleaning robot slows down, the rag plate stops and rises, the fan suction increases, and the side brush and the roller brush slow down. When the dirt is liquid, the robot slows down, the side brush and the roller brush stop, the fan stops and keeps the suction, and the rag plate speed increases.
本申请的技术方案中，清洁机器人能够根据脏污图像识别脏污为液体脏污或固体脏污，并在选用相应的目标组件对脏污进行清洁，提高了清洁效率的同时，还提高了清洁效果。In the technical solution of the present application, the cleaning robot can identify the dirt as liquid dirt or solid dirt based on the dirt image, and select the corresponding target component to clean the dirt, thereby improving the cleaning efficiency and the cleaning effect.
在上述任一技术方案中，基于类型信息为固体类型，确定吸尘组件为目标组件之后，包括：识别固体类型的脏污的颗粒物直径；根据颗粒物直径，确定吸尘组件的运行功率。In any of the above technical solutions, after determining that the dust collection component is a target component based on the type information being a solid type, the method includes: identifying the diameter of the solid type dirty particles; and determining the operating power of the dust collection component according to the diameter of the particles.
在该技术方案中提出了在识别到脏污为固体脏污时，通过语义识别继续识别该固体脏污的颗粒物直径，并基于该颗粒物直径选择吸尘组件的运行功率，进一步保证吸尘组件对固体脏污的清洁效率和清洁效果。This technical solution proposes that when the dirt is identified as solid dirt, the particle diameter of the solid dirt is further identified through semantic recognition, and the operating power of the dust collection component is selected based on the particle diameter, so as to further ensure the cleaning efficiency and cleaning effect of the dust collection component on solid dirt.
需要说明的是，脏污的颗粒物直径越大，则对固体脏污的进行清洁时，吸尘组件所需的吸力越大。通过对脏污图像进行语义识别，能够确定固体脏污对应的颗粒物直径，并据此设置吸尘组件的运行功率，保证在对固体脏污进行清洁时，能够有足够的吸力对固体脏污进行收集。It should be noted that the larger the diameter of the dirt particles, the greater the suction force required by the dust collection component when cleaning solid dirt. By performing semantic recognition on the dirt image, the particle diameter corresponding to the solid dirt can be determined, and the operating power of the dust collection component can be set accordingly to ensure that there is sufficient suction force to collect the solid dirt when cleaning.
本申请的技术方案中，清洁机器人不仅能够识别脏污的类型信息，还能够在脏污为固体脏污时，识别固体脏污的颗粒物直径，并据此调整吸尘组件的运行功率，实现了在保证对脏污清洁效果的同时，降低能源的浪费。In the technical solution of the present application, the cleaning robot can not only identify the type information of dirt, but also identify the particle diameter of solid dirt when the dirt is solid dirt, and adjust the operating power of the dust collection component accordingly, thereby ensuring the cleaning effect of dirt while reducing energy waste.
在上述任一技术方案中，尺寸信息包括脏污面积，清洁路径包括清洁进程路径；根据尺寸信息，规划清洁机器人的清洁路径，包括：在脏污面积大于或等于预设面积的情况下，将第一清洁轨迹确定为清洁进程路径；在脏污面积小于预设面积的情况下，将第二清洁轨迹确定为清洁进程路径。In any of the above technical solutions, the size information includes the dirty area, and the cleaning path includes the cleaning process path; based on the size information, the cleaning path of the cleaning robot is planned, including: when the dirty area is greater than or equal to the preset area, the first cleaning trajectory is determined as the cleaning process path; when the dirty area is smaller than the preset area, the second cleaning trajectory is determined as the cleaning process path.
在该技术方案中提出了根据脏污的脏污面积，选择不同性状的清洁轨迹作为清洁进程路径，提高对脏污清洁的清洁效果和清洁效率。This technical solution proposes selecting cleaning trajectories with different characteristics as cleaning process paths according to the area of dirt, so as to improve the cleaning effect and cleaning efficiency of dirt cleaning.
在该技术方案中，第一清洁轨迹和第二清洁轨迹的轨迹形状不同，在对不同脏污面积的脏污进行清洁时，通过选择不同形状的清洁轨迹，能够提高对脏污的清洁效率。其中，第一清洁轨迹为适用于对脏污面积较大的脏污进行清洁，故检测到脏污面积不小于预设面积时，将第一清洁轨迹作为清洁进程路径，保证对较大面积的脏污的清洁效果。第二清洁轨迹为适用于对面积较小的脏污进行清洁，故检测到脏污面积小于预设面积时，将第二清洁轨迹作为清洁进程路径，保证对较小面积的脏污的清洁效率。In this technical solution, the first cleaning track and the second cleaning track have different track shapes. When cleaning dirt of different dirt areas, by selecting cleaning tracks of different shapes, the cleaning efficiency of dirt can be improved. Among them, the first cleaning track is suitable for cleaning dirt with a larger dirt area. Therefore, when it is detected that the dirt area is not less than the preset area, the first cleaning track is used as the cleaning process path to ensure the cleaning effect of dirt with a larger area. The second cleaning track is suitable for cleaning dirt with a smaller area. Therefore, when it is detected that the dirt area is less than the preset area, the second cleaning track is used as the cleaning process path to ensure the cleaning efficiency of dirt with a smaller area.
本申请的技术方案中，清洁机器人能够通过将识别到的脏污面积与预设面积进行数值比对，并将基于比对结果选择不同形状的清洁轨迹作为清洁进程路径，实现了在保证对脏污清洁效果的同时，降低能源的浪费。In the technical solution of the present application, the cleaning robot can numerically compare the identified dirty area with the preset area, and select cleaning trajectories of different shapes as the cleaning process path based on the comparison results, thereby reducing energy waste while ensuring the cleaning effect of dirt.
在上述任一技术方案中，第一清洁轨迹包括“弓”字形轨迹；和/或第二清洁轨迹包括“回”字形轨迹。In any of the above technical solutions, the first cleaning trajectory includes a "bow"-shaped trajectory; and/or the second cleaning trajectory includes a "return"-shaped trajectory.
在该技术方案中，“弓”字形轨迹适合对较大脏污面积的脏污进行清洁，故将第一清洁轨迹设置包括“弓”字形轨迹。“回”字形轨迹适合对较小脏污面积的脏污进行清洁，故将第二清洁轨迹设置包括“回”字形轨迹。In this technical solution, the "bow"-shaped track is suitable for cleaning dirt with a larger dirty area, so the first cleaning track is set to include the "bow"-shaped track. The "return"-shaped track is suitable for cleaning dirt with a smaller dirty area, so the second cleaning track is set to include the "return"-shaped track.
其中，脏污面积大则选择“弓”字形轨迹进行清洁，先横向“弓”字形轨迹进行清洁，清洁完成后，切换为纵向“弓”字形轨迹进行清洁，共清洁2遍。脏污面积小则选择“回”字形轨迹进行清洁，先由内向外行驶，再由外向内行驶，共清洁2遍。If the dirty area is large, choose the "bow"-shaped track for cleaning. First, clean it horizontally. After cleaning, switch to the vertical "bow"-shaped track for cleaning, and clean it twice in total. If the dirty area is small, choose the "U"-shaped track for cleaning. First, drive from the inside to the outside, and then drive from the outside to the inside, and clean it twice in total.
本申请技术方案中通过选择将“弓”字形轨迹作为第一清洁轨迹，以及将“回”字形轨迹作为第二清洁轨迹，能够保证清洁机器人根据不同脏污面积均能够选择到合适的清洁轨迹对其进行清洁。In the technical solution of the present application, by selecting a "bow"-shaped trajectory as the first cleaning trajectory and a "return"-shaped trajectory as the second cleaning trajectory, it can be ensured that the cleaning robot can select a suitable cleaning trajectory for cleaning according to different dirty areas.
在上述任一技术方案中，清洁路径包括回站导航路径；根据尺寸信息，规划清洁机器人的清洁路径，包括：基于尺寸信息确定清洁路径中的回站导航路径的数量。In any of the above technical solutions, the cleaning path includes a return-to-station navigation path; and planning the cleaning path of the cleaning robot according to the size information includes: determining the number of return-to-station navigation paths in the cleaning path based on the size information.
在该技术方案中提出了根据尺寸信息能够确定清洁机器人的回站次数，并据此对清洁机器人完整的清洁路径进行规划，避免清洁机器人过多次数回站导致的能源浪费，也避免清洁机器人过少次回站导致清洁机器人影响对脏污的清洁效果。This technical solution proposes that the number of times the cleaning robot returns to the station can be determined based on the size information, and the complete cleaning path of the cleaning robot can be planned accordingly, so as to avoid energy waste caused by the cleaning robot returning to the station too many times, and also to avoid the cleaning robot returning to the station too few times, which will affect the cleaning effect of the dirt.
具体来说，在脏污的尺寸信息较大时，判定脏污量比较大，则需要较多次回站对清洁机器人内部的脏污进行清理，避免清洁机器人的收集脏污的装置满溢后影响清洁效果。在脏污的尺寸信息较小时，判定脏污量比较小，则需要较少次回站对清洁机器人内部的脏污进行清理，避免多次回站导致的浪费能源。Specifically, when the size information of the dirt is large, it is determined that the amount of dirt is large, and it is necessary to return to the station more often to clean the dirt inside the cleaning robot, so as to avoid the cleaning effect being affected by the overflow of the dirt collecting device of the cleaning robot. When the size information of the dirt is small, it is determined that the amount of dirt is small, and it is necessary to return to the station less often to clean the dirt inside the cleaning robot, so as to avoid wasting energy caused by multiple returns to the station.
本申请实施例中，清洁机器人在清洁开始之前，能够根据尺寸信息规划清洁路径中回站导航路径的数量，使清洁机器人能够及时对收集的脏污进行清理，从而提高清洁效果，并且避免过多次数回站造成的能源浪费。In an embodiment of the present application, before cleaning begins, the cleaning robot can plan the number of return navigation paths in the cleaning path based on the size information, so that the cleaning robot can clean the collected dirt in time, thereby improving the cleaning effect and avoiding energy waste caused by too many returns to the station.
在上述任一技术方案中，控制清洁机器人沿清洁路径行驶之前，包括：基于目标组件，确定清洁机器人的目标行驶姿态，其中，在清洁机器人按照目标行驶姿态行驶过程中，多个清洁组件中的目标组件优先与脏污接触。In any of the above technical solutions, before controlling the cleaning robot to travel along the cleaning path, it includes: determining the target driving posture of the cleaning robot based on the target component, wherein, when the cleaning robot travels according to the target driving posture, the target component among the multiple cleaning components preferentially contacts the dirt.
在该技术方案中，清洁机器人能够根据在多个清洁组件中选择的目标组件，确定清洁机器人在行驶过程中的目标行驶姿态。使清洁机器人行驶过程中，目标组件在清洁机器人的前方，优先与脏污进行接触，保证在清洁机器人的目标组件对脏污的清洁效果，避免其他组件优先接触到脏污后，将脏污推散。In this technical solution, the cleaning robot can determine the target driving posture of the cleaning robot during driving according to the target component selected from multiple cleaning components. When the cleaning robot is driving, the target component is in front of the cleaning robot and contacts the dirt first, ensuring the cleaning effect of the target component of the cleaning robot on the dirt, and avoiding other components contacting the dirt first and then pushing the dirt away.
本申请的技术方案中，清洁机器人通过确定自身的目标行驶姿态，从而保证多个清洁组件中的目标组件优先与脏污接触，以保证清洁机器人对脏污的清洁效果和清洁效率。In the technical solution of the present application, the cleaning robot determines its own target driving posture to ensure that a target component among multiple cleaning components comes into contact with dirt first, thereby ensuring the cleaning effect and cleaning efficiency of the cleaning robot on the dirt.
在上述任一技术方案中，控制清洁机器人沿清洁路径行驶，包括：控制清洁机器人按照初始行驶姿态，行驶至目标区域，目标区域为脏污所在区域；控制清洁机器人按照目标行驶姿态，在目标区域内行驶；基于清洁机器人行驶至目标区域外，控制清洁机器人由目标行驶姿态切换至初始行驶姿态进行行驶。In any of the above technical solutions, controlling the cleaning robot to travel along a cleaning path includes: controlling the cleaning robot to travel to a target area according to an initial driving posture, where the target area is a dirty area; controlling the cleaning robot to travel within the target area according to a target driving posture; and based on the cleaning robot traveling outside the target area, controlling the cleaning robot to switch from the target driving posture to the initial driving posture for driving.
在该技术方案中提出了清洁机器人在未移动至脏污所在的目标区域之前，按照初始行驶姿态行驶，在清洁机器人进入到脏污所在的目标区域之后，则控制清洁机器人以目标形式姿态行驶，直至对脏污清洁完毕，在清洁机器人移动出目标区域之外，则控制清洁机器人回到初始行驶姿态进行行驶，实现了保证清洁机器人对目标区域内的脏污的清洁效率和清洁效果的同时，还能够保证清洁机器人在目标区域之外导航行驶的行驶速度。This technical solution proposes that the cleaning robot drives in an initial driving posture before it moves to the target area where the dirt is located. After the cleaning robot enters the target area where the dirt is located, the cleaning robot is controlled to drive in the target posture until the dirt is cleaned. When the cleaning robot moves out of the target area, the cleaning robot is controlled to return to the initial driving posture to drive. This ensures the cleaning efficiency and cleaning effect of the cleaning robot on the dirt in the target area while also ensuring the driving speed of the cleaning robot when navigating outside the target area.
本申请的技术方案中，多个清洁组件包括吸尘组件和拖擦组件，在行驶过程中，吸尘组件和拖擦组件前后分布。In the technical solution of the present application, the multiple cleaning components include a dust suction component and a mopping component. During driving, the dust suction component and the mopping component are distributed front and back.
具体来说，在确定脏污为液体污渍时，持续检测清洁机器人与液体污渍的边界之间的间隔距离，在间隔距离小于或等于预设距离的情况下，则控制清洁机器人调整姿态，使拖擦组件位于行驶的前方，保证拖擦组件优先与液体污渍接触。或者在确定脏污为液体污渍后间隔预设时长，控制清洁机器人调整姿态，使拖擦组件位于行驶的前方，保证拖擦组件优先与液体污渍接触。Specifically, when it is determined that the dirt is a liquid stain, the distance between the cleaning robot and the boundary of the liquid stain is continuously detected. When the distance is less than or equal to the preset distance, the cleaning robot is controlled to adjust its posture so that the mopping component is located in front of the vehicle, ensuring that the mopping component contacts the liquid stain first. Alternatively, after determining that the dirt is a liquid stain, the cleaning robot is controlled to adjust its posture so that the mopping component is located in front of the vehicle, ensuring that the mopping component contacts the liquid stain first.
具体来说，在确定脏污为固体污渍时，持续检测清洁机器人与固体污渍的边界之间的间隔距离，在间隔距离小于或等于预设距离的情况下，则控制清洁机器人调整姿态，使吸尘组件位于行驶的前方，保证吸尘组件优先与固体污渍接触。或者在确定脏污为固体污渍后间隔预设时长，控制清洁机器人调整姿态，使吸尘组件位于行驶的前方，保证吸尘组件优先与固体污渍接触。Specifically, when the dirt is determined to be a solid stain, the distance between the cleaning robot and the boundary of the solid stain is continuously detected. When the distance is less than or equal to the preset distance, the cleaning robot is controlled to adjust its posture so that the dust collection component is located in front of the vehicle, ensuring that the dust collection component contacts the solid stain first. Alternatively, after determining that the dirt is a solid stain, the cleaning robot is controlled to adjust its posture after a preset time interval so that the dust collection component is located in front of the vehicle, ensuring that the dust collection component contacts the solid stain first.
本申请的技术方案中，初始行驶姿态与目标行驶姿态可以相同，也可以不同。在初始行驶姿态与目标行驶姿态相同的情况下，则清洁机器人在移动至目标区域、在目标区域内移动、移动出目标区域外的三个阶段可保持相同的姿态行驶。在初始行驶姿态与目标行驶姿态不同的情况下，清洁机器人需要在进入目标区域之前，由初始行驶姿态切换至目标行驶姿态，在由目标区域内移动至目标区域外之后，由目标行驶姿态切换至初始行驶姿态，保证清洁机器人在目标区域内均以目标行驶姿态行驶，保证目标组件优先与脏污接触。In the technical solution of the present application, the initial driving posture and the target driving posture may be the same or different. When the initial driving posture and the target driving posture are the same, the cleaning robot can maintain the same driving posture in the three stages of moving to the target area, moving within the target area, and moving out of the target area. When the initial driving posture and the target driving posture are different, the cleaning robot needs to maintain the same driving posture in the three stages of moving to the target area, moving within the target area, and moving out of the target area. Before entering the target area, the initial driving posture is switched to the target driving posture. After moving from the target area to outside the target area, the target driving posture is switched to the initial driving posture to ensure that the cleaning robot drives in the target driving posture in the target area and ensures that the target component contacts the dirt first.
本申请的技术方案中，清洁机器人行驶在目标区域之外的情况下，清洁机器人保持初始行驶姿态行驶，提高了清洁机器人在不对脏污进行清洁阶段的行驶速度。并且清洁机器人形式在目标区域之内的情况下，清洁机器人以目标行驶姿态行驶，保证了清洁机器人的目标组件能够优先与脏污接触，保证对脏污的清洁效果和清洁效率。In the technical solution of the present application, when the cleaning robot is outside the target area, the cleaning robot maintains the initial driving posture, thereby increasing the driving speed of the cleaning robot in the stage of not cleaning dirt. And when the cleaning robot is within the target area, the cleaning robot drives in the target driving posture, ensuring that the target component of the cleaning robot can contact the dirt first, thereby ensuring the cleaning effect and cleaning efficiency of the dirt.
在上述任一技术方案中，根据脏污图像，确定脏污的类型信息和/或尺寸信息，包括：通过语义识别算法，确定脏污图像中的参照物特征和类型信息；根据参照物特征，确定尺寸信息。In any of the above technical solutions, determining the type information and/or size information of the dirt based on the dirty image includes: determining the reference object features and type information in the dirty image through a semantic recognition algorithm; and determining the size information based on the reference object features.
在该技术方案中提出了根据语义识别算法，识别采集到的脏污图像中的参照物特征和脏污特征，通过语义模型对脏污特征进行识别，得到脏污对应的类型信息。通过将参照物特征与脏污特征通过算法进行比对，得到脏污对应的尺寸信息。This technical solution proposes to identify the reference object features and dirt features in the collected dirt image according to the semantic recognition algorithm, identify the dirt features through the semantic model, and obtain the type information corresponding to the dirt. By comparing the reference object features with the dirt features through the algorithm, the size information corresponding to the dirt is obtained.
示例性地，清洁机器人中存储有语义识别模型，通过语义识别模型能够识别脏污图像中的脏污特征，并获取相应的类型信息和/或尺寸信息。Exemplarily, a semantic recognition model is stored in the cleaning robot, and the semantic recognition model can be used to identify dirt features in a dirt image and obtain corresponding type information and/or size information.
本申请的技术方案中，清洁机器人能够通过脏污图像准确识别脏污的尺寸信息，以及脏污的类型信息，便于后续对清洁机器人运行进行控制。In the technical solution of the present application, the cleaning robot can accurately identify the size information and type information of the dirt through the dirt image, which facilitates the subsequent control of the operation of the cleaning robot.
在上述任一技术方案中，在清洁机器人行驶的过程中，通过图像采集装置采集脏污图像之后，包括：根据脏污图像，确定脏污的定位信息；根据定位信息，更新清洁机器人中的语义地图。In any of the above technical solutions, during the driving process of the cleaning robot, after the dirty image is collected by the image collection device, it includes: determining the location information of the dirt according to the dirty image; and updating the semantic map in the cleaning robot according to the location information.
在该技术方案中提出了清洁机器人能够基于对脏污图像的识别，确定脏污在语义地图中的定位信息，并基于该定位信息对语义地图进行更新，实现了清洁机器人在回站后，通过语义地图能够快速定位到脏污所在位置。This technical solution proposes that the cleaning robot can determine the location information of the dirt in the semantic map based on the recognition of the dirty image, and update the semantic map based on the location information, so that the cleaning robot can quickly locate the location of the dirt through the semantic map after returning to the station.
本申请的技术方案中，清洁机器人在识别到脏污图像之后，结合语义地图，能够确定脏污图像中的脏污在语义地图中的定位信息，使清洁机器人能够精准定位脏污图像中的脏污，避免清洁机器人回站后重新定位脏污位置的过程，进一步提高了清洁机器人的清洁效率。In the technical solution of the present application, after identifying a dirty image, the cleaning robot can determine the location information of the dirt in the dirty image in the semantic map in combination with the semantic map, so that the cleaning robot can accurately locate the dirt in the dirty image, avoiding the process of relocating the dirt position after the cleaning robot returns to the station, thereby further improving the cleaning efficiency of the cleaning robot.
根据本申请的第二方面提出一种清洁机器人的控制方法，由清洁机器人执行，清洁机器人包括湿式清洁件，湿式清洁件设于清洁机器人尾部，清洁机器人的控制方法包括：According to a second aspect of the present application, a control method of a cleaning robot is provided, which is performed by the cleaning robot. The cleaning robot includes a wet cleaning element, which is disposed at the tail of the cleaning robot. The control method of the cleaning robot includes:
在清洁机器人沿行进方向行驶的过程中，获取地面图像，地面图像是由设置于清洁机器人头部的图像采集装置采集；When the cleaning robot is moving in the direction of travel, a ground image is acquired, and the ground image is acquired by an image acquisition device arranged on the head of the cleaning robot;
在沿行进方向距离清洁机器人预设距离处存在液体脏污时，控制清洁机器人调整尾部朝向，以使湿式清洁件朝向液体脏污；When there is liquid dirt at a preset distance from the cleaning robot along the traveling direction, the cleaning robot is controlled to adjust the direction of the tail so that the wet cleaning element faces the liquid dirt;
控制所述清洁机器人继续沿所述行进方向行驶，并控制所述湿式清洁件运行以清洁所述液体脏污。The cleaning robot is controlled to continue to travel along the traveling direction, and the wet cleaning element is controlled to operate to clean the liquid dirt.
本申请的实施例中提出了一种清洁机器人的控制方法，清洁机器人的控制方法用于控制清洁机器人，清洁机器人包括湿式清洁件和图像采集装置，该湿式清洁件设置在清洁机器人的尾部，图像采集装置设置在清洁机器人的头部。在清洁机器人沿行进方向行驶的过程中，清洁机器人的头部朝前且尾部朝后，图像采集装置能够对清洁机器人的行进方向上的地面图像进行采集。清洁机器人在采集到的地面图像中识别到液体脏污时，则通过图像识别的方式确定清洁机器人与液体脏污之间的距离是否达到预设距离。在清洁机器人与液体脏污之间的距离达到预设距离的情况下，则控制清洁机器人调整尾部朝向，使尾部朝向液体脏污，并控制清洁机器人继续沿行进方向行驶，使位于尾部的湿式清洁件先与液体脏污接触，提高清洁效果和清洁效率。In an embodiment of the present application, a control method for a cleaning robot is proposed. The control method for the cleaning robot is used to control the cleaning robot. The cleaning robot includes a wet cleaning member and an image acquisition device. The wet cleaning member is arranged at the tail of the cleaning robot, and the image acquisition device is arranged at the head of the cleaning robot. When the cleaning robot moves along the travel direction, the head of the cleaning robot faces forward and the tail faces backward, and the image acquisition device can collect the ground image in the travel direction of the cleaning robot. When the cleaning robot recognizes liquid dirt in the collected ground image, it determines whether the distance between the cleaning robot and the liquid dirt reaches a preset distance by image recognition. When the distance between the cleaning robot and the liquid dirt reaches the preset distance, the cleaning robot is controlled to adjust the direction of the tail so that the tail faces the liquid dirt, and the cleaning robot is controlled to continue to move along the travel direction so that the wet cleaning member located at the tail contacts the liquid dirt first, thereby improving the cleaning effect and cleaning efficiency.
本申请实施例中，清洁机器人能够通过图像识别的方式确定脏污为液体脏污，并在距离液体脏污达到预设距离时，调整清洁机器人的行驶朝向，使湿式清洁件优先与液体脏污接触，能够使湿式清洁件优先与液体脏污接触，以提高清洁效果。In an embodiment of the present application, the cleaning robot can determine that the dirt is liquid dirt through image recognition, and when the distance from the liquid dirt reaches a preset distance, the cleaning robot can adjust the driving direction of the cleaning robot so that the wet cleaning parts come into contact with the liquid dirt first, thereby improving the cleaning effect.
在上述任一实施例中，在沿行进方向距离清洁机器人预设距离处存在液体脏污时，控制清洁机器人调整尾部朝向，包括：In any of the above embodiments, when there is liquid dirt at a preset distance from the cleaning robot along the traveling direction, controlling the cleaning robot to adjust the tail direction includes:
根据脏污图像特征确定脏污为液体脏污，以及确定清洁机器人与液体脏污之间的第一距离，脏污图像特征包括在地面图像中提取到的图像特征；Determining that the dirt is liquid dirt according to dirt image features, and determining a first distance between the cleaning robot and the liquid dirt, wherein the dirt image features include image features extracted from the ground image;
基于第一距离小于或等于预设距离，控制清洁机器人调整尾部朝向。Based on the first distance being less than or equal to the preset distance, the cleaning robot is controlled to adjust the direction of the tail.
在该实施例中，在拍摄得到地面图像时，能够提取地面图像中的脏污图像特征，并对脏污图像特征进行图像识别以确定脏污为液体脏污。在确定地面图像中的脏污图像特征为液体脏污时，通过图像识别算法确定液体脏污与清洁机器人之间的第一距离。在第一距离小于或等于预设距离时，则需要调整清洁机器人的行驶朝向，使清洁机器人的尾部朝向该液体脏污。In this embodiment, when the ground image is captured, the dirty image features in the ground image can be extracted, and the dirty image features are image recognized to determine that the dirt is liquid dirt. When the dirty image features in the ground image are determined to be liquid dirt, the first distance between the liquid dirt and the cleaning robot is determined by the image recognition algorithm. When the first distance is less than or equal to the preset distance, the driving direction of the cleaning robot needs to be adjusted so that the tail of the cleaning robot faces the liquid dirt.
本申请实施例中，清洁机器人在行驶过程中通过头部的图像采集装置采集地面图像，并通过图像识别算法确定地面图像中的脏污图像特征的脏污类型，以及该脏污图像特征对应的脏污与清洁机器人之间的第一距离，提高了基于脏污类型和第一距离对清洁机器人调整行驶朝向，以及控制清洁件运行的及时性和准确性。In an embodiment of the present application, the cleaning robot collects ground images through an image acquisition device on its head during driving, and determines the type of dirt of the dirty image features in the ground image, as well as the first distance between the dirt corresponding to the dirty image features and the cleaning robot through an image recognition algorithm, thereby improving the timeliness and accuracy of adjusting the driving direction of the cleaning robot based on the dirt type and the first distance, and controlling the operation of the cleaning parts.
根据本申请第三方面提出了一种清洁机器人的控制装置，应用于清洁机器人，包括：采集模块，用于在清洁机器人行驶的过程中，通过图像采集装置采集脏污图像；确定模块，用于根据脏污图像，确定脏污的类型信息和/或尺寸信息；控制模块，用于根据类型信息和尺寸信息，控制清洁机器人运行。According to the third aspect of the present application, a control device for a cleaning robot is proposed, which is applied to the cleaning robot and includes: an acquisition module, which is used to acquire dirty images through an image acquisition device during the driving of the cleaning robot; a determination module, which is used to determine the type information and/or size information of the dirt based on the dirty image; and a control module, which is used to control the operation of the cleaning robot based on the type information and size information.
本申请的技术方案中提出了一种清洁机器人的控制装置，清洁机器人行驶在清洁路径上时，持续通过图像采集装置采集脏污图像。通过对脏污图像进行识别，能够确定所需清洁的脏污的尺寸信息，以及脏污的类型信息，并据此对清洁机器人清洁脏污的过程进行规划，无需用户手动对脏污的清洁方式进行设置，清洁机器人能够自动选择效率高的方式清洁脏污，提高了用户使用清洁机器人的便捷性。The technical solution of the present application proposes a control device for a cleaning robot. When the cleaning robot is traveling on a cleaning path, it continuously collects dirt images through an image acquisition device. By identifying the dirt images, the size information of the dirt to be cleaned and the type information of the dirt can be determined, and the cleaning process of the cleaning robot can be planned accordingly. The user does not need to manually set the cleaning method for the dirt. The cleaning robot can automatically select a highly efficient method to clean the dirt, thereby improving the convenience of the user using the cleaning robot.
清洁机器人上设置有图像采集装置，在清洁机器人出站执行清洁任务时，保持该图像采集装置的运行状态，以对清洁机器人周围的拍摄数据进行采集。The cleaning robot is provided with an image acquisition device. When the cleaning robot goes out to perform a cleaning task, the image acquisition device is kept in a running state to collect shooting data around the cleaning robot.
在该技术方案中，清洁机器人在通过图像采集装置进行拍摄的过程中，通过语义识别的方式判断采集到的拍摄数据是否包括脏污图像，在采集到脏污图像后，基于对该脏污图像的识别，对清洁机器人对相应脏污的清洁方式进行规划。In this technical solution, during the process of shooting through the image acquisition device, the cleaning robot determines whether the captured shooting data includes a dirty image through semantic recognition. After collecting the dirty image, based on the recognition of the dirty image, the cleaning robot plans the cleaning method for the corresponding dirt.
需要说明的是，清洁机器人在识别到脏污图像之后，结合语义地图，能够确定脏污图像中的脏污在语义地图中的定位信息，使清洁机器人能够精准定位脏污图像中的脏污。It should be noted that after recognizing the dirty image, the cleaning robot can determine the location information of the dirt in the dirty image in the semantic map in combination with the semantic map, so that the cleaning robot can accurately locate the dirt in the dirty image.
本申请的技术方案中，清洁机器人通过图像采集装置，采集清洁机器人行驶路径所在区域内的脏污图像，通过识别该脏污图像能够使清洁机器人确定脏污的类型信息，以及尺寸信息。清洁机器人能够基于识别到的类型信息，以及尺寸信息自动对脏污图像中的脏污进行清洁，无需进行人工参数设置，提高了用户使用清洁机器人的便捷性，还保证了清洁机器人在识别到脏污时，能够及时对其进行清洁，提高了清洁效率。In the technical solution of the present application, the cleaning robot collects the dirty image in the area where the cleaning robot is traveling through the image acquisition device, and can determine the type information and size information of the dirt by identifying the dirty image. The cleaning robot can automatically clean the dirt in the dirty image based on the identified type information and size information, without the need for manual parameter setting, which improves the convenience of the user to use the cleaning robot, and also ensures that the cleaning robot can clean the dirt in time when it identifies it, thereby improving the cleaning efficiency.
根据本申请第四方面提出了一种清洁机器人的控制装置，应用于清洁机器人，清洁机器人包括湿式清洁件，湿式清洁件设于清洁机器人尾部，清洁机器人的控制装置包括：According to a fourth aspect of the present application, a control device for a cleaning robot is provided, which is applied to the cleaning robot. The cleaning robot includes a wet cleaning element, which is arranged at the tail of the cleaning robot. The control device for the cleaning robot includes:
获取模块，用于在清洁机器人沿行进方向行驶的过程中，获取地面图像，地面图像是由设置于清洁机器人头部的图像采集装置采集；An acquisition module is used to acquire a ground image when the cleaning robot is moving along the traveling direction, and the ground image is acquired by an image acquisition device arranged on the head of the cleaning robot;
控制模块，用于在沿行进方向距离清洁机器人预设距离处存在液体脏污时，控制清洁机器人调整尾部朝向，以使湿式清洁件朝向液体脏污；A control module, for controlling the cleaning robot to adjust the tail direction so that the wet cleaning element faces the liquid dirt when there is liquid dirt at a preset distance from the cleaning robot along the traveling direction;
控制模块，用于控制清洁机器人继续沿行进方向行驶，并控制湿式清洁件运行以清洁液体脏污。The control module is used to control the cleaning robot to continue to move in the traveling direction and control the wet cleaning element to operate to clean liquid dirt.
本申请的实施例中提出了一种清洁机器人的控制装置，该清洁机器人的控制装置用于控制清洁机器人，清洁机器人包括湿式清洁件和图像采集装置，该湿式清洁件设置在清洁机器人的尾部，图像采集装置设置在清洁机器人的头部。在清洁机器人沿行进方向行驶的过程中，清洁机器人的头部朝前且尾部朝后，图像采集装置能够对清洁机器人的行进方向上的地面图像进行采集。清洁机器人在采集到的地面图像中识别到液体脏污时，则通过图像识别的方式确定清洁机器人与液体脏污之间的距离是否达到预设距离。在清洁机器人与液体脏污之间的距离达到预设距离的情况下，则控制清洁机器人调整尾部朝向，使尾部朝向液体脏污，并控制清洁机器人继续沿行进方向行驶，使位于尾部的湿式清洁件先与液体脏污接触，提高清洁效果和清洁效率。In an embodiment of the present application, a control device for a cleaning robot is proposed. The control device for the cleaning robot is used to control the cleaning robot. The cleaning robot includes a wet cleaning member and an image acquisition device. The wet cleaning member is arranged at the tail of the cleaning robot, and the image acquisition device is arranged at the head of the cleaning robot. When the cleaning robot moves along the travel direction, the head of the cleaning robot faces forward and the tail faces backward, and the image acquisition device can collect the ground image in the travel direction of the cleaning robot. When the cleaning robot recognizes liquid dirt in the collected ground image, it determines whether the distance between the cleaning robot and the liquid dirt reaches a preset distance by image recognition. When the distance between the cleaning robot and the liquid dirt reaches the preset distance, the cleaning robot is controlled to adjust the direction of the tail so that the tail faces the liquid dirt, and the cleaning robot is controlled to continue to move along the travel direction so that the wet cleaning member located at the tail contacts the liquid dirt first, thereby improving the cleaning effect and cleaning efficiency.
本申请实施例中，清洁机器人能够通过图像识别的方式确定脏污为液体脏污，并在距离液体脏污达到预设距离时，调整清洁机器人的行驶朝向，使湿式清洁件优先与液体脏污接触，能够使湿式清洁件优先与液体脏污接触，以提高清洁效果。In an embodiment of the present application, the cleaning robot can determine that the dirt is liquid dirt through image recognition, and when the distance from the liquid dirt reaches a preset distance, the cleaning robot can adjust the driving direction of the cleaning robot so that the wet cleaning parts come into contact with the liquid dirt first, thereby improving the cleaning effect.
根据本申请第五方面提出了一种清洁机器人的控制装置，包括：存储器，存储器中存储有程序或指令；处理器，处理器执行存储在存储器中的程序或指令以实现如第一方面中任一技术方案中的清洁机器人的控制方法的步骤，因而具有上述第一方面中任一技术方案中的清洁机器人的控制方法的全部有益技术效果，在此不再做过多赘述。According to the fifth aspect of the present application, a control device for a cleaning robot is proposed, comprising: a memory, in which programs or instructions are stored; a processor, which executes the programs or instructions stored in the memory to implement the steps of the control method for the cleaning robot in any technical solution in the first aspect, thereby having all the beneficial technical effects of the control method for the cleaning robot in any technical solution in the first aspect above, and no further details will be given here.
根据本申请第六方面提出了一种计算机程序产品，计算机程序产品被处理器执行时实现如上述任一技术方案中的清洁机器人的控制方法的步骤，因而具有上述任一技术方案中的清洁机器人的控制方法的全部有益技术效果，在此不再做过多赘述。According to the sixth aspect of the present application, a computer program product is proposed. When the computer program product is executed by a processor, it implements the steps of the control method of the cleaning robot in any of the above-mentioned technical solutions, and thus has all the beneficial technical effects of the control method of the cleaning robot in any of the above-mentioned technical solutions, which will not be elaborated herein.
根据本申请第七方面提出了一种可读存储介质，可读存储介质上存储有程序或指令，程序或指令被处理器执行时实现如上述任一技术方案中的清洁机器人的控制方法的步骤。因而具有上述任一技术方案中的清洁机器人的控制方法的全部有益技术效果，在此不再做过多赘述。According to the seventh aspect of the present application, a readable storage medium is provided, on which a program or instruction is stored, and when the program or instruction is executed by a processor, the steps of the control method of the cleaning robot in any of the above technical solutions are implemented. Therefore, all the beneficial technical effects of the control method of the cleaning robot in any of the above technical solutions are achieved, and no further elaboration is made here.
根据本申请第八方面提出了一种清洁机器人，包括：如上述任一技术方案中的清洁机器人的控制装置，和/或上述任一技术方案中的计算机程序产品，和/或上述任一技术方案中的可读存储介质，因而具有上述任一技术方案中的清洁机器人的控制装置，和/或上述任一技术方案中的计算机程序产品，和/或上上述任一技术方案中的可读存储介质的全部有益技术效果，在此不再做过多赘述。According to the eighth aspect of the present application, a cleaning robot is proposed, comprising: a control device of the cleaning robot as in any of the above-mentioned technical solutions, and/or a computer program product in any of the above-mentioned technical solutions, and/or a readable storage medium in any of the above-mentioned technical solutions, and thus has all the beneficial technical effects of the control device of the cleaning robot in any of the above-mentioned technical solutions, and/or the computer program product in any of the above-mentioned technical solutions, and/or the readable storage medium in any of the above-mentioned technical solutions, and no further details will be given here.
根据本申请的第九方面提出了一种清洁方法，适用于清洁机器人，包括：通过图像采集装置采集脏污图像；基于脏污图像，识别目标污渍；至少部分基于目标污渍的污渍信息，控制清洁机器人沿第一行驶轨迹行驶，以对目标污渍进行清洁。According to the ninth aspect of the present application, a cleaning method is proposed, which is suitable for a cleaning robot, including: collecting a dirty image through an image acquisition device; identifying a target stain based on the dirty image; and controlling the cleaning robot to travel along a first driving trajectory at least partially based on stain information of the target stain to clean the target stain.
本申请的技术方案提出了一种清洁方法，在清洁机器人行驶的过程中，持续通过图像采集装置采集脏污图像。通过对脏污图像进行识别，从而识别到脏污图像中的目标污渍。至少部分基于目标污渍的污渍信息对清洁机器人的第一行驶轨迹进行规划，能够对不同的目标污渍确定针对性的特地行驶轨迹，从而保证清洁机器人的清洁效果，避免相关技术中固定轨迹无法清洁干净现象的发生，不需要用户多次设置或手动清洁，提高用户使用清洁机器人的便捷性，提高用户的使用体验。The technical solution of the present application proposes a cleaning method, in which dirty images are continuously collected by an image acquisition device during the driving process of the cleaning robot. The dirty images are identified, thereby identifying the target stains in the dirty images. The first driving trajectory of the cleaning robot is planned at least partially based on the stain information of the target stains, and a targeted special driving trajectory can be determined for different target stains, thereby ensuring the cleaning effect of the cleaning robot, avoiding the occurrence of the fixed trajectory in the related art that cannot be cleaned thoroughly, and does not require the user to set up or clean manually multiple times, thereby improving the convenience of the user using the cleaning robot and improving the user's experience.
其中，在规划第一行驶轨迹的过程中，至少需要根据污渍信息进行规划，即在规划过程中，还可以根据实际需求选择根据目标污渍的定位信息等信息对第一行驶轨迹进行规划。In the process of planning the first driving trajectory, it is necessary to at least plan based on the stain information, that is, in the planning process, the first driving trajectory can also be planned based on the location information of the target stain and other information according to actual needs.
在该技术方案中，清洁机器人在通过图像采集装置进行拍摄的过程中，通过语义识别的方式判断采集到的拍摄数据是否包括脏污图像，在采集到脏污图像后，通过对脏污图像进行语义识别，得到目标污渍。In this technical solution, during the process of shooting through the image acquisition device, the cleaning robot determines whether the captured shooting data includes a dirty image through semantic recognition. After capturing the dirty image, the target stain is obtained by performing semantic recognition on the dirty image.
本申请的技术方案中，清洁机器人通过图像采集装置，采集清洁机器人行驶路径所在区域内的脏污图像，通过识别该脏污图像中的目标污渍，能够确定目标污渍的污渍信息。清洁机器人能够基于识别到的污渍信息控制清洁机器人按照第一行驶轨迹对目标污渍进行清洁，能够对不同的目标污渍针对性地规划行驶轨迹，保证对目标污渍的清洁效果，同时避免固定的清洁轨迹清洁效果不好或能耗较高现象的发生，整个过程无需进行人工参数设置，提高了用户使用清洁机器人的便捷性，不需要用户多次设置或手动清洁，提高了清洁效率。In the technical solution of the present application, the cleaning robot collects dirty images in the area where the cleaning robot's driving path is located through an image acquisition device, and can determine the stain information of the target stain by identifying the target stain in the dirty image. The cleaning robot can control the cleaning robot to clean the target stain according to the first driving trajectory based on the identified stain information, and can plan the driving trajectory for different target stains in a targeted manner to ensure the cleaning effect of the target stain, while avoiding the occurrence of fixed cleaning trajectories with poor cleaning effects or high energy consumption. The entire process does not require manual parameter settings, which improves the convenience of users using the cleaning robot, does not require users to set up multiple times or manually clean, and improves cleaning efficiency.
在上述任一技术方案中，清洁方法，进一步包括：根据脏污图像，确定目标污渍的定位信息。至少部分基于目标污渍的污渍信息，控制清洁机器人沿第一行驶轨迹行驶，包括：根据定位信息和污渍信息，规划第一行驶轨迹；其中，第一行驶轨迹包括以目标污渍的参考点为中心，由内向外盘绕延伸，和/或由外向内盘绕延伸；控制清洁机器人，按照第一行驶轨迹行驶。In any of the above technical solutions, the cleaning method further includes: determining the location information of the target stain according to the dirty image. Controlling the cleaning robot to travel along a first driving trajectory based at least in part on the stain information of the target stain includes: planning the first driving trajectory according to the location information and the stain information; wherein the first driving trajectory includes a reference point of the target stain as the center, winding and extending from the inside to the outside, and/or winding and extending from the outside to the inside; controlling the cleaning robot to travel along the first driving trajectory.
在该技术方案中提出了根据脏污图像，确定目标污渍的定位信息，根据定位信息和污渍信息规划完整的第一行驶轨迹，与整体的全屋清洁相比，能够通过第一行驶轨迹对目标污渍进行单独清洁，从而降低清洁机器人的能耗，减少清洁机器人提高清洁效率。This technical solution proposes determining the positioning information of the target stain based on the dirty image, and planning a complete first driving trajectory based on the positioning information and the stain information. Compared with overall whole-house cleaning, the target stain can be cleaned separately through the first driving trajectory, thereby reducing the energy consumption of the cleaning robot and improving the cleaning efficiency.
在该技术方案中，第一行驶轨迹的形状为“回”字形，且第一行驶轨迹的行驶方向可以为由内向外，也可以为由外向内，还可以为上述两个方向往复式的移动。In this technical solution, the shape of the first driving track is a "U" shape, and the driving direction of the first driving track can be from inside to outside, from outside to inside, or can be a reciprocating movement in the above two directions.
在该实施例中，参考点是基于目标污渍的轮廓线确定的，该参考点可以为位于目标污渍范围内的坐标点。In this embodiment, the reference point is determined based on the contour of the target stain, and the reference point may be a coordinate point within the range of the target stain.
在该实施例中，根据脏污图像，能够确定目标污渍的定位信息，从而根据不同的定位信息和污渍信息规划相应的第一行驶轨迹，使规划得到的第一行驶轨迹途经目标污渍，且第一行驶轨迹的中心为目标污渍的参考点，保证行驶在第一行驶轨迹上能够对目标污渍进行清洁的清洁效果和清洁效率。In this embodiment, based on the dirty image, the positioning information of the target stain can be determined, so that the corresponding first driving trajectory is planned according to different positioning information and stain information, so that the planned first driving trajectory passes through the target stain, and the center of the first driving trajectory is the reference point of the target stain, ensuring the cleaning effect and cleaning efficiency of the target stain when driving on the first driving trajectory.
本申请的技术方案中，根据目标污渍的定位信息，与目标污渍的污渍信息，能够合理规划第一行驶轨迹，从而避免用户手动设置参数，提高清洁机器人的智能化程度和自动化程度，仅针对目标污渍进行清洁，提高清洁效率和清洁效果，提升用户的使用体验。In the technical solution of the present application, the first driving trajectory can be reasonably planned based on the positioning information of the target stain and the stain information of the target stain, thereby avoiding the user from manually setting parameters, improving the intelligence and automation level of the cleaning robot, and only cleaning the target stains, thereby improving cleaning efficiency and cleaning effects, and enhancing the user experience.
在上述任一技术方案中，基于定位信息和污渍信息，规划第一行驶轨迹，包括：至少部分基于定位信息，确定第一行驶轨迹中的第一轨迹点和/或第二轨迹点；其中，第一行驶轨迹由第一轨迹点出发，由内向外盘绕延伸，和/或第一行驶轨迹由第二轨迹点出发，由外向内盘绕延伸；基于污渍信息，确定第一行驶轨迹的盘绕密度；根据第一轨迹点和/或第二轨迹点，以及盘绕密度，确定第一行驶轨迹。In any of the above technical solutions, based on the positioning information and the stain information, planning the first driving trajectory includes: determining the first trajectory point and/or the second trajectory point in the first driving trajectory at least partially based on the positioning information; wherein the first driving trajectory starts from the first trajectory point, and extends in a winding manner from the inside to the outside, and/or the first driving trajectory starts from the second trajectory point, and extends in a winding manner from the outside to the inside; based on the stain information, determining the winding density of the first driving trajectory; determining the first driving trajectory according to the first trajectory point and/or the second trajectory point, and the winding density.
在该技术方案中提出了根据第一轨迹点和/或第二轨迹点，以及盘绕密度规划相应的第一行驶轨迹的过程，保证规划得到的第一行驶轨迹的定位准确性，以及沿特定形式轨迹行驶对目标污渍进行清洁的清洁效果和清洁效率。This technical solution proposes a process of planning a corresponding first driving trajectory according to the first trajectory point and/or the second trajectory point, and the winding density, to ensure the positioning accuracy of the planned first driving trajectory, as well as the cleaning effect and cleaning efficiency of cleaning the target stains by driving along a specific form of trajectory.
本申请技术方案中，第一轨迹点和第二轨迹点均为第一行驶轨迹的起点。在将第一轨迹点作为第一行驶轨迹的起点时，则第一行驶轨迹由第一轨迹点出发，由内向外盘绕延伸。在将第二轨迹点作为第一行驶轨迹的起点时，则第一行驶轨迹由第二轨迹点出发，由外向内盘绕延伸。其中，第一行驶轨迹还可以包括多个起点，即先将第一轨迹点作为第一个起点由内向外盘绕延伸，延伸至第二轨迹点后，将第二轨迹点作为第二个起点，由外向内盘绕延伸。In the technical solution of the present application, the first trajectory point and the second trajectory point are both starting points of the first driving trajectory. When the first trajectory point is used as the starting point of the first driving trajectory, the first driving trajectory starts from the first trajectory point and coils from the inside to the outside. When the second trajectory point is used as the starting point of the first driving trajectory, the first driving trajectory starts from the second trajectory point and coils from the outside to the inside. Among them, the first driving trajectory can also include multiple starting points, that is, the first trajectory point is first used as the first starting point to coil from the inside to the outside, and after extending to the second trajectory point, the second trajectory point is used as the second starting point to coil from the outside to the inside.
具体来说，至少基于定位信息选择第一行驶轨迹的起点为第一轨迹点和/或第二轨迹点，即清洁机器人可以仅根据目标污渍的定位信息规划第一行驶轨迹的起点，还可以根据污渍信息等其他信息，规划第一行驶轨迹的起点。Specifically, the starting point of the first driving trajectory is selected as the first trajectory point and/or the second trajectory point at least based on the positioning information, that is, the cleaning robot can plan the starting point of the first driving trajectory only according to the positioning information of the target stain, and can also plan the starting point of the first driving trajectory according to other information such as the stain information.
在该技术方案中，根据目标污渍的定位信息，能够划定目标污渍的覆盖区域，再根据第一行驶轨迹的行驶方向，选择将第一轨迹点和/或第二轨迹点作为第一行驶轨迹的起点。In this technical solution, according to the positioning information of the target stain, the coverage area of the target stain can be delineated, and then according to the driving direction of the first driving trajectory, the first trajectory point and/or the second trajectory point can be selected as the starting point of the first driving trajectory.
本申请的技术方案中，盘绕密度用于表征第一行驶轨迹中平行的相邻两条路径之间的间距的大小。其中，盘绕密度越大，则第一行驶轨迹中平行的相邻两条路径之间的间距越小，盘绕密度越小，则第一行驶轨迹中平行的相邻两条路径之间的间距越大。In the technical solution of the present application, the winding density is used to characterize the size of the distance between two adjacent parallel paths in the first driving trajectory. The greater the winding density, the smaller the distance between two adjacent parallel paths in the first driving trajectory, and the smaller the winding density, the larger the distance between two adjacent parallel paths in the first driving trajectory.
在该技术方案中，根据目标污渍的污渍信息，规划第一行驶轨迹的盘绕密度，使目标污渍分布较密集的区域，适当的提高盘绕密度，在目标污渍分布较分散的地方，适当的降低盘绕密度，进而能够根据目标污渍的分布情况规划第一行驶轨迹的盘绕密度，确定清洁机器人的行驶轨迹，保证清洁效果。In this technical solution, the winding density of the first driving trajectory is planned according to the stain information of the target stains, so that the winding density is appropriately increased in areas where the target stains are densely distributed, and the winding density is appropriately reduced in areas where the target stains are more dispersed. Then, the winding density of the first driving trajectory can be planned according to the distribution of the target stains, the driving trajectory of the cleaning robot can be determined, and the cleaning effect can be ensured.
本申请的技术方案中，基于第一轨迹点和/或第二轨迹点，能够确定第一行驶轨迹中的起点，再根据目标污渍的污渍信息规划在边缘端点之间的轨迹的盘绕密度，从而准确规划得到第一行驶轨迹，保证清洁机器人按照第一行驶轨迹行驶能够对目标污渍进行有效清洁。In the technical solution of the present application, based on the first trajectory point and/or the second trajectory point, the starting point in the first driving trajectory can be determined, and then the winding density of the trajectory between the edge endpoints is planned according to the stain information of the target stain, so as to accurately plan the first driving trajectory and ensure that the cleaning robot can effectively clean the target stain by driving along the first driving trajectory.
在上述任一技术方案中，目标污渍包括固体污渍；基于污渍信息，确定第一行驶轨迹的盘绕密度，包括：基于固体污渍的分布密度，确定盘绕密度，其中，盘绕密度与分布密度呈正相关。In any of the above technical solutions, the target stain includes solid stains; based on the stain information, determining the winding density of the first driving trajectory includes: determining the winding density based on the distribution density of the solid stains, wherein the winding density is positively correlated with the distribution density.
在该技术方案中提出了目标污渍包括固体污渍时，在固体污渍的分布密度较大时，则将第一行驶轨迹的盘绕密度同样设置较大，在固体物体的分布密度较小时，则将第一行驶轨迹的盘绕密度同样设置较小，保证清洁机器人对固体污渍清洁效果的同时，避免电能的浪费。This technical solution proposes that when the target stains include solid stains, when the distribution density of the solid stains is large, the winding density of the first driving trajectory is also set to be large; when the distribution density of the solid objects is small, the winding density of the first driving trajectory is also set to be small, thereby ensuring the cleaning robot's cleaning effect on solid stains while avoiding waste of electric energy.
在该技术方案中，在污渍包括固体污渍的情况下，污渍信息包括固体污渍的分布密度，即通过图像识别的方式识别到固体污渍的分布密度。In this technical solution, when the stains include solid stains, the stain information includes the distribution density of the solid stains, that is, the distribution density of the solid stains is identified by image recognition.
具体来说，在固体污渍分布比较稀疏零散的情况下，则增大第一行驶轨迹中平行且相邻的两个路径之间的距离，即增大“回”字形轨迹的递增距离，从而提高清洁效率，减少电能浪费。在固体污渍分布比较密集的情况下，则减小第一行驶轨迹中平行且相邻的两个路径之间的距离，即增大“回”字形轨迹的递增距离，从而提高清洁效果，避免按照第一行驶轨迹进行清洁对固体污渍产生遗漏。Specifically, when the solid stains are sparsely distributed, the distance between the two parallel and adjacent paths in the first driving trajectory is increased, that is, the incremental distance of the "U"-shaped trajectory is increased, thereby improving the cleaning efficiency and reducing the waste of electric energy. When the solid stains are densely distributed, the distance between the two parallel and adjacent paths in the first driving trajectory is reduced, that is, the incremental distance of the "U"-shaped trajectory is increased, thereby improving the cleaning effect and avoiding the omission of solid stains when cleaning according to the first driving trajectory.
本申请的技术方案中，在规划第一行驶轨迹的过程中，充分考虑固体污渍的分布情况，并基于分布情况设置第一行驶轨迹的盘绕密度，保证对分布较密集的固体污渍的清洁效果，以及提高对分布比较稀疏的固体污渍的清洁效率。In the technical solution of the present application, in the process of planning the first driving trajectory, the distribution of solid stains is fully considered, and the winding density of the first driving trajectory is set based on the distribution, so as to ensure the cleaning effect of densely distributed solid stains and improve the cleaning efficiency of sparsely distributed solid stains.
在上述任一技术方案中，目标污渍包括液体污渍；基于污渍信息，确定第一行驶轨迹的盘绕密度，包括：基于液体物体包括水类污渍，确定盘绕密度为第一密度；基于液体污渍包括油类污渍，确定盘绕密度为第二密度。In any of the above technical solutions, the target stain includes a liquid stain; based on the stain information, the winding density of the first driving trajectory is determined, including: based on the liquid object including water stains, the winding density is determined to be a first density; based on the liquid stain including oil stains, the winding density is determined to be a second density.
在该技术方案中提出了在目标污渍包括液体污渍时，根据液体污渍的液体类型，对第一行驶轨迹设置相应的盘绕密度。This technical solution proposes that when the target stain includes a liquid stain, a corresponding winding density is set for the first driving track according to the liquid type of the liquid stain.
在该技术方案中，在污渍包括液体污渍的情况下，污渍信息包括液体污渍的污渍类别。清洁机器人中配置有图像识别模型，通过图像识别模型能够识别到图像数据中的液体污渍的污渍类别。In this technical solution, when the stain includes liquid stain, the stain information includes the stain category of the liquid stain. The cleaning robot is equipped with an image recognition model, through which the stain category of the liquid stain in the image data can be recognized.
本申请的技术方案中，在规划第一行驶轨迹的过程中，充分考虑有液体污渍的液体类别，并基于液体污渍的液体类别选择不同的盘绕密度，保证对不同类别的液体污渍的清洁效率和清洁效果。In the technical solution of the present application, in the process of planning the first driving trajectory, the type of liquid with liquid stains is fully considered, and different coiling densities are selected based on the liquid type of the liquid stains to ensure the cleaning efficiency and cleaning effect of different types of liquid stains.
在上述任一技术方案中，第二密度大于第一密度。In any of the above technical solutions, the second density is greater than the first density.
在该技术方案中，目标污渍包括液体污渍时，在液体污渍为水类污渍时，由于水类污渍比较容易清洁，则将第一行驶轨迹的盘绕密度设置较小的第一密度，保证自移动清洁对水类污渍的清洁效率。在液体污渍为油类污渍时，由于油类污渍比较难以清洁，则将第一行驶轨迹的盘绕密度设置为较大的第二密度，保证清洁机器人对油类污渍的清洁效果。In this technical solution, when the target stains include liquid stains, when the liquid stains are water stains, since water stains are relatively easy to clean, the winding density of the first driving track is set to a smaller first density to ensure the cleaning efficiency of the self-moving cleaning robot on water stains. When the liquid stains are oil stains, since oil stains are relatively difficult to clean, the winding density of the first driving track is set to a larger second density to ensure the cleaning effect of the cleaning robot on oil stains.
本申请的技术方案中，清洁机器人能够基于液体污渍的污渍类别设置第一行驶轨迹的盘绕密度，在对油类污渍进行清洁时，设置较大的第二密度对其进行清洁，保证对难以清洁的油类污渍的清洁效果，在对水类污渍进行清洁时，设置较小的第二密度对其进行清洁，提高对容易清洁的水类污渍的清洁效率。In the technical solution of the present application, the cleaning robot can set the winding density of the first driving trajectory based on the stain type of the liquid stain. When cleaning oil stains, a larger second density is set to clean them, thereby ensuring the cleaning effect on difficult-to-clean oil stains. When cleaning water stains, a smaller second density is set to clean them, thereby improving the cleaning efficiency of easy-to-clean water stains.
在上述任一技术方案中，控制清洁机器人，沿第一行驶轨迹行驶，包括：在清洁机器人按照第一行驶轨迹行驶过程中，基于清洁机器人处于预设状态，控制清洁机器人旋转预设角度，并按照第二行驶轨迹行驶。In any of the above technical solutions, controlling the cleaning robot to travel along a first driving trajectory includes: while the cleaning robot is traveling along the first driving trajectory, based on the cleaning robot being in a preset state, controlling the cleaning robot to rotate by a preset angle and travel along a second driving trajectory.
在该技术方案中提出了在清洁机器人按照第一行驶轨迹行驶过程中，基于清洁机器人处于预设状态，控制清洁机器人旋转预设角度，再按照第二行驶轨迹行驶，能够对目标污渍进行多次清洁，避免受到碰撞或触发防跌落等异常情况的影响，保证清洁过程的顺利进行，同时保证清洁机器人的安全。This technical solution proposes that when the cleaning robot is driving along a first driving trajectory, based on the fact that the cleaning robot is in a preset state, the cleaning robot is controlled to rotate at a preset angle, and then drives along a second driving trajectory. This allows the target stains to be cleaned multiple times, avoiding the impact of abnormal situations such as collisions or triggering anti-fall protection, thereby ensuring the smooth progress of the cleaning process and the safety of the cleaning robot.
其中，第二行驶轨迹也为“回”字形轨迹，保证清洁机器人在按照第一行驶轨迹行驶过程中转向后，依然保持“回”字形轨迹行驶。The second driving track is also a U-shaped track, which ensures that the cleaning robot turns when driving along the first driving track. Still maintain the "U" shaped trajectory.
在该技术方案中，预设状态可以通过防跌落传感器检测或通过预设时长进行控制。本申请并不对跌落传感器的具体设置形式进行严格限制。在满足清洁机器人的成本要求和空间布置要求的情况下进行适应性选择。In this technical solution, the preset state can be detected by an anti-fall sensor or controlled by a preset duration. This application does not strictly limit the specific setting form of the fall sensor. Adaptive selection is made while meeting the cost requirements and space layout requirements of the cleaning robot.
具体来说，清洁机器人移动过程中，检测到清洁机器人处于预设状态下，则确定此时清洁机器人存在跌落风险或碰撞风险，故此时需要控制清洁机器人转向行驶，并在转向后，继续再按照第二行驶轨迹行驶进行清洁。Specifically, during the movement of the cleaning robot, if it is detected that the cleaning robot is in a preset state, it is determined that the cleaning robot is at risk of falling or colliding at this time, so it is necessary to control the cleaning robot to turn and drive, and after turning, continue to drive along the second driving trajectory for cleaning.
本申请的技术方案中，清洁机器人按照第一行驶轨迹行驶的过程中，持续检测是否处于预设状态，从而判定是否存在跌落风险或碰撞风险等，并在判定存在跌落风险或碰撞风险等时，清洁机器人能够自动进行转向进行规避，并在转向后及时再按照第二行驶轨迹行驶进行清洁，保证清洁效果的同时，提高清洁机器人的稳定性。In the technical solution of the present application, while the cleaning robot is driving along the first driving trajectory, it continuously detects whether it is in a preset state, so as to determine whether there is a risk of falling or collision, etc., and when it is determined that there is a risk of falling or collision, etc., the cleaning robot can automatically turn to avoid it, and after turning, it can promptly drive along the second driving trajectory for cleaning, thereby ensuring the cleaning effect while improving the stability of the cleaning robot.
在上述任一技术方案中，清洁机器人包括第一传感器；预设状态包括：接收到第一传感器输出的目标信号；和/或清洁机器人按照第一行驶轨迹行驶的第一时长达到预设时长。In any of the above technical solutions, the cleaning robot includes a first sensor; the preset state includes: receiving a target signal output by the first sensor; and/or the first duration of the cleaning robot traveling along the first driving trajectory reaches a preset duration.
在该技术方案中提出了清洁机器人通过相应的第一传感器输出的目标信号判断清洁机器人是否处于预设状态的方案，以及通过清洁机器人所行驶的第一时长判断清洁机器人是否处于预设状态的方案。This technical solution proposes a solution for the cleaning robot to determine whether it is in a preset state by a target signal output by a corresponding first sensor, and a solution for determining whether the cleaning robot is in a preset state by a first driving time of the cleaning robot.
本申请的技术方案中，第一传感器为清洁机器人中用于检测异常状态的传感器，例如：防跌落传感器、防碰撞传感器等。目标信号为第一传感器在检测到异常状态下输出的信号。In the technical solution of the present application, the first sensor is a sensor in the cleaning robot for detecting abnormal conditions, such as an anti-fall sensor, an anti-collision sensor, etc. The target signal is a signal output by the first sensor when an abnormal condition is detected.
本申请实的技术方案中，清洁机器人还能够对当前所行驶经过的第一时长进行记录，预设时长为清洁机器人根据行驶速度和第一行驶轨迹的长度，计算完成第一行驶轨迹所需的时长。如果检测到当前行驶的第一时长超过该预设时长仍未完成当前的特定形式轨迹，则判定行驶过程出现超时异常，即清洁机器人处于预设状态。In the technical solution implemented in the present application, the cleaning robot can also record the first duration of the current driving, and the preset duration is the duration required for the cleaning robot to complete the first driving trajectory according to the driving speed and the length of the first driving trajectory. If it is detected that the current first duration of driving exceeds the preset duration and the current specific form trajectory is still not completed, it is determined that a timeout exception occurs during the driving process, that is, the cleaning robot is in a preset state.
本申请的技术方案中，清洁机器人能够根据第一传感器输出的目标信号，以及行驶过程的第一时长中的至少一项，对清洁机器人是否处于预设状态进行准确判断，避免清洁机器人在行驶过程中频繁转向，同时能够及时规避行驶过程中的风险。In the technical solution of the present application, the cleaning robot can accurately judge whether the cleaning robot is in a preset state based on the target signal output by the first sensor and at least one of the first durations of the driving process, thereby avoiding frequent turns of the cleaning robot during driving and timely avoiding risks during driving.
在上述任一技术方案中，在清洁机器人按照第一行驶轨迹行驶过程中，基于清洁机器人处于预设状态下，控制清洁机器人旋转预设角度，并继续按照第一行驶轨迹行驶之后，还包括：在检测到清洁机器人运行达到预设条件的情况下，结束第一行驶轨迹和/或第二行驶轨迹。In any of the above technical solutions, when the cleaning robot is driving along the first driving trajectory, based on the cleaning robot being in a preset state, the cleaning robot is controlled to rotate by a preset angle, and continues to drive along the first driving trajectory, it also includes: when it is detected that the operation of the cleaning robot meets the preset conditions, the first driving trajectory and/or the second driving trajectory is ended.
在该技术方案中提出了清洁机器人能够自动检测是否满足回站的预设条件，在检测到行驶过程中满足预设条件，则结束当前进行的第一行驶轨迹和/或第二行驶轨迹，无需用户手动操作控制清洁机器人停止行驶进程，提升用户的使用体验。This technical solution proposes that the cleaning robot can automatically detect whether the preset conditions for returning to the station are met. If it is detected that the preset conditions are met during driving, the current first driving trajectory and/or second driving trajectory will be terminated. There is no need for the user to manually control the cleaning robot to stop the driving process, thereby improving the user experience.
具体来说，清洁机器人需要回站进行充电，以及对清洁组件进行清洗等操作，通过设置相应的预设条件，使清洁机器人能够判断是否结束当前沿第一行驶轨迹和/或第二行驶轨迹行驶的清洁过程，在判定结束后，清洁机器人自动回站。Specifically, the cleaning robot needs to return to the station for charging and to clean the cleaning components. By setting corresponding preset conditions, the cleaning robot can determine whether to end the current cleaning process along the first driving trajectory and/or the second driving trajectory. After the determination is completed, the cleaning robot automatically returns to the station.
本申请的技术方案中，清洁机器人能够自动对是否满足回站的预设条件进行检测判断，并据此控制清洁机器人自动回站，进一步减少用户对清洁机器人的操作步骤，简化用户的操作流程。In the technical solution of the present application, the cleaning robot can automatically detect and determine whether the preset conditions for returning to the station are met, and control the cleaning robot to automatically return to the station accordingly, further reducing the user's operating steps for the cleaning robot and simplifying the user's operating process.
在上述任一技术方案中，预设条件包括以下至少一项：清洁机器人处于预设状态的次数达到预设次数；清洁机器人与目标污渍的距离大于预设距离。In any of the above technical solutions, the preset condition includes at least one of the following: the number of times the cleaning robot is in a preset state reaches a preset number; the distance between the cleaning robot and the target stain is greater than a preset distance.
在该技术方案中，通过设置不同的预设条件，能够提高清洁机器人沿第一行驶轨迹和/或第二行驶轨迹行驶的稳定性，并且提高清洁机器人回站的及时性。In this technical solution, by setting different preset conditions, the driving stability of the cleaning robot along the first driving trajectory and/or the second driving trajectory can be improved, and the timeliness of the cleaning robot returning to the station can be improved.
本申请的技术方案中，预设条件可以为清洁机器人处于预设状态的次数达到预设次数。在清洁机器人处于预设状态的次数达到预设次数，则判定清洁机器人沿第一行驶轨迹和/或第二行驶轨迹行驶，存在较大的风险，故中断当前沿第一行驶轨迹和/或第二行驶轨迹行驶的进程，直接控制清洁机器人回站，避免清洁机器人继续按照第一行驶轨迹和/或第二行驶轨迹行驶，造成的清洁机器人损坏。In the technical solution of the present application, the preset condition may be that the cleaning robot is in a preset state for a preset number of times. When the cleaning robot is in a preset state for a preset number of times, it is determined that there is a greater risk that the cleaning robot is traveling along the first driving trajectory and/or the second driving trajectory, so the current process of traveling along the first driving trajectory and/or the second driving trajectory is interrupted, and the cleaning robot is directly controlled to return to the station to avoid the cleaning robot continuing to travel along the first driving trajectory and/or the second driving trajectory, which may cause damage to the cleaning robot.
本申请的技术方案中，预设条件可以为清洁机器人与目标污渍之间的距离大于预设距离。在清洁机器人沿第一行驶轨迹和/或第二行驶轨迹行驶过程中，通过图像识别的方式持续检测清洁机器人与目标污渍之间的距离，在检测到该距离大于预设距离时，则判定清洁机器人已经完成对目标污渍的清洁，故控制清洁机器人回站，减少清洁机器人的电能浪费。In the technical solution of the present application, the preset condition may be that the distance between the cleaning robot and the target stain is greater than a preset distance. When the cleaning robot is driving along the first driving track and/or the second driving track, the distance between the cleaning robot and the target stain is continuously detected by image recognition. When it is detected that the distance is greater than the preset distance, it is determined that the cleaning robot has completed cleaning the target stain, so the cleaning robot is controlled to return to the station, thereby reducing the power waste of the cleaning robot.
具体来说，随着清洁机器人沿第一行驶轨迹和/或第二行驶轨迹对目标污渍进行清洁的过程，目标污渍的面积越来越小，则清洁机器人距离目标污渍的距离越来越远，故在检测到目标污渍与清洁机器人之间的距离大于预设距离时，则控制清洁机器人回站。Specifically, as the cleaning robot cleans the target stain along the first driving trajectory and/or the second driving trajectory, the area of the target stain becomes smaller and smaller, and the distance between the cleaning robot and the target stain becomes farther and farther. Therefore, when it is detected that the distance between the target stain and the cleaning robot is greater than the preset distance, the cleaning robot is controlled to return to the station.
本申请的技术方案中，清洁机器人能够基于行驶过程中发生的异常次数，以及行驶过程中与目标污渍之间的距离中的任一项，对清洁机器人是否回站进行准确控制。In the technical solution of the present application, the cleaning robot can accurately control whether to return to the station based on any one of the number of abnormalities occurring during driving and the distance between the cleaning robot and the target stain during driving.
在上述任一技术方案中，清洁机器人包括多个清洁组件；控制清洁机器人按照第一行驶轨迹，包括：根据目标污渍的污渍信息，确定多个清洁组件中的目标组件；控制清洁机器人以目标姿态，按照第一行驶轨迹，对目标污渍进行清洁。其中，在清洁机器人按照目标姿态行驶过程中，多个清洁组件中的目标组件优先与目标污渍接触。In any of the above technical solutions, the cleaning robot includes multiple cleaning components; controlling the cleaning robot to follow a first driving trajectory includes: determining a target component among the multiple cleaning components according to stain information of the target stain; and controlling the cleaning robot to clean the target stain in a target posture according to the first driving trajectory. In the process of the cleaning robot driving in the target posture, the target component among the multiple cleaning components preferentially contacts the target stain.
在该技术方案中提出了根据类型信息，确定清洁组件中的目标组件，不同类型对应的清洁组件不同，从而能够保证对目标污渍的清洁效果，与相关技术中固定清洁组件固定路线清洁相比，能够针对性地对不同类型目标污渍选择合适的行驶轨迹，避免固体污渍对应的清洁组件清洁液体污渍导致清洁不干净现象的发生，进而提高清洁效率，避免用户多次设置或手动清洁，提高用户使用体验。This technical solution proposes determining the target component in the cleaning component based on the type information. Different types correspond to different cleaning components, thereby ensuring the cleaning effect of the target stains. Compared with the fixed route cleaning of fixed cleaning components in the related art, it is possible to select appropriate driving trajectories for different types of target stains in a targeted manner, avoiding the occurrence of unclean cleaning caused by the cleaning components corresponding to solid stains cleaning liquid stains, thereby improving the cleaning efficiency, avoiding multiple settings or manual cleaning by users, and improving the user experience.
在该技术方案中，清洁机器人能够根据在多个清洁组件中选择目标组件，确定清洁机器人在行驶过程中的目标行驶姿态。使清洁机器人行驶过程中，目标组件在清洁机器人的前方，优先与目标污渍进行接触，保证在清洁机器人的目标组件对目标污渍的清洁效果，避免其他组件优先接触到目标污渍后，将目标污渍推散。In this technical solution, the cleaning robot can determine the target driving posture of the cleaning robot during driving by selecting a target component from multiple cleaning components. When the cleaning robot is driving, the target component is in front of the cleaning robot and contacts the target stain first, ensuring the cleaning effect of the target stain by the target component of the cleaning robot, and avoiding other components contacting the target stain first and then pushing the target stain away.
具体来说，在确定目标污渍为液体污渍时，持续检测清洁机器人与液体污渍的边界之间的间隔距离，在间隔距离小于或等于预设距离的情况下，则控制清洁机器人调整姿态，使拖擦组件位于行驶的前方，保证拖擦组件优先与液体污渍接触。或者在确定目标污渍为液体污渍后间隔预设时长，控制清洁机器人调整姿态，使拖擦组件位于行驶的前方，保证拖擦组件优先与液体污渍接触。Specifically, when the target stain is determined to be a liquid stain, the distance between the cleaning robot and the boundary of the liquid stain is continuously detected. When the distance is less than or equal to the preset distance, the cleaning robot is controlled to adjust its posture so that the mopping component is located in front of the vehicle, ensuring that the mopping component contacts the liquid stain first. Alternatively, after determining that the target stain is a liquid stain, the cleaning robot is controlled to adjust its posture after a preset time interval so that the mopping component is located in front of the vehicle, ensuring that the mopping component contacts the liquid stain first.
具体来说，在确定目标污渍为固体污渍时，持续检测清洁机器人与固体污渍的边界之间的间隔距离，在间隔距离小于或等于预设距离的情况下，则控制清洁机器人调整姿态，使吸尘组件位于行驶的前方，保证吸尘组件优先与固体污渍接触。或者在确定目标污渍为固体污渍后间隔预设时长，控制清洁机器人调整姿态，使吸尘组件位于行驶的前方，保证吸尘组件优先与固体污渍接触。Specifically, when the target stain is determined to be a solid stain, the distance between the cleaning robot and the boundary of the solid stain is continuously detected. When the distance is less than or equal to the preset distance, the cleaning robot is controlled to adjust its posture so that the vacuum component is located in front of the vehicle, ensuring that the vacuum component contacts the solid stain first. Alternatively, after determining that the target stain is a solid stain, the cleaning robot is controlled to adjust its posture after a preset time interval so that the vacuum component is located in front of the vehicle, ensuring that the vacuum component contacts the solid stain first.
本申请的技术方案中，清洁机器人通过确定自身的目标行驶姿态，从而保证多个清洁组件中的目标组件优先与脏污接触，以保证清洁机器人对目标污渍的清洁效果和清洁效率。In the technical solution of the present application, the cleaning robot determines its own target driving posture to ensure that a target component among multiple cleaning components comes into contact with dirt first, thereby ensuring the cleaning effect and cleaning efficiency of the cleaning robot on the target stains.
在上述任一技术方案中，多个清洁组件包括吸尘组件和拖擦组件；根据类型信息，确定多个清洁组件中的目标组件，包括：基于目标污渍包括液体污渍，确定拖擦组件为目标组件；基于目标污渍包括固体污渍，确定吸尘组件为目标组件。In any of the above technical solutions, the multiple cleaning components include a dust collection component and a mopping component; based on the type information, a target component among the multiple cleaning components is determined, including: based on the target stains including liquid stains, determining the mopping component as the target component; based on the target stains including solid stains, determining the dust collection component as the target component.
在该技术方案中提出了清洁机器人根据类型信息，选择吸尘组件和拖擦组件中的一个作为目标组件的过程。This technical solution proposes a process in which the cleaning robot selects one of the dust collection component and the mopping component as a target component according to type information.
在该技术方案中，在检测到目标污渍包括液体污渍，则清洁机器人将用于清洁液体污渍的拖擦组件作为目标组件。在清洁机器人运行过程中，控制拖擦组件旋转，对液体污渍拖干，并保持吸尘组件停止运行，避免将液体污渍收集到清洁机器人内部。In this technical solution, when it is detected that the target stains include liquid stains, the cleaning robot uses the mopping component for cleaning the liquid stains as the target component. During the operation of the cleaning robot, the mopping component is controlled to rotate to mop the liquid stains dry, and the vacuum component is kept stopped to avoid collecting the liquid stains inside the cleaning robot.
在该技术方案中，在检测到目标污渍包括固体污渍，即判定目标污渍属于固体污渍，则清洁机器人将用于清洁固体污渍的吸尘组件作为目标组件。在清洁机器人运行过程中，控制吸尘组件运行，对固体污渍进行收集，并保持拖擦组件停止运行，避免拖擦组件运行时将固体污渍打散影响清洁效率。In this technical solution, when it is detected that the target stains include solid stains, that is, it is determined that the target stains are solid stains, the cleaning robot uses the vacuum component for cleaning solid stains as the target component. During the operation of the cleaning robot, the vacuum component is controlled to operate to collect the solid stains, and the mopping component is kept stopped to prevent the mopping component from breaking up the solid stains and affecting the cleaning efficiency.
本申请的技术方案中，清洁机器人能够根据脏污图像识别目标污渍为液体污渍或固体污渍，并在选用相应的目标组件对目标污渍进行清洁，提高了清洁效率的同时，还提高了清洁效果。In the technical solution of the present application, the cleaning robot can identify the target stain as a liquid stain or a solid stain based on the dirty image, and select the corresponding target component to clean the target stain, thereby improving the cleaning efficiency and the cleaning effect.
根据本申请的第十方面提出了一种清洁装置，适用于清洁机器人，清洁装置包括：采集模块，用于通过图像采集装置采集脏污图像；识别模块，用于基于脏污图像，识别目标污渍；控制模块，用于至少部分基于目标污渍的污渍信息，控制清洁机器人沿第一行驶轨迹行驶，以对目标污渍进行清洁。According to the tenth aspect of the present application, a cleaning device is proposed, which is suitable for a cleaning robot. The cleaning device includes: an acquisition module, which is used to acquire a dirty image through an image acquisition device; an identification module, which is used to identify a target stain based on the dirty image; and a control module, which is used to control the cleaning robot to travel along a first driving trajectory at least partially based on the stain information of the target stain to clean the target stain.
本申请的技术方案提出了一种清洁装置，在清洁机器人行驶的过程中，持续通过图像采集装置采集脏污图像。通过对脏污图像进行识别，从而识别到脏污图像中的目标污渍。至少部分根据目标污渍的污渍信息对清洁机器人的第一行驶轨迹进行规划，能够对不同的目标污渍确定针对性的特地行驶轨迹，从而保证清洁机器人的清洁效果，避免相关技术中固定轨迹无法清洁干净现象的发生，不需要用户多次设置或手动清洁，提高用户使用清洁机器人的便捷性，提高用户的使用体验。The technical solution of the present application proposes a cleaning device, which continuously collects dirty images through an image acquisition device during the driving process of the cleaning robot. By identifying the dirty image, the target stain in the dirty image is identified. The first driving trajectory of the cleaning robot is planned at least in part based on the stain information of the target stain, and a targeted special driving trajectory can be determined for different target stains, thereby ensuring the cleaning effect of the cleaning robot, avoiding the occurrence of the fixed trajectory in the related art that cannot be cleaned completely, and does not require the user to set up or clean manually multiple times, thereby improving the convenience of the user using the cleaning robot and improving the user's experience.
本申请的技术方案中，清洁机器人通过图像采集装置，采集清洁机器人行驶路径所在区域内的脏污图像，通过识别该脏污图像中的目标污渍，能够确定目标污渍的污渍信息。清洁机器人能够基于识别到的污渍信息控制清洁机器人按照第一行驶轨迹对目标污渍进行清洁，能够对不同的目标污渍针对性地规划行驶轨迹，保证对目标污渍的清洁效果，同时避免固定的清洁轨迹清洁效果不好或能耗较高现象的发生，整个过程无需进行人工参数设置，提高了用户使用清洁机器人的便捷性，不需要用户多次设置或手动清洁，提高了清洁效率。In the technical solution of the present application, the cleaning robot collects dirty images in the area where the cleaning robot's driving path is located through an image acquisition device, and can determine the stain information of the target stain by identifying the target stain in the dirty image. The cleaning robot can control the cleaning robot to clean the target stain according to the first driving trajectory based on the identified stain information, and can plan the driving trajectory for different target stains in a targeted manner to ensure the cleaning effect of the target stain, while avoiding the occurrence of fixed cleaning trajectories with poor cleaning effect or high energy consumption. The entire process does not require manual parameter setting, which improves the convenience of users using the cleaning robot, does not require users to set up multiple times or manually clean, and improves cleaning efficiency.
根据本申请第十一方面提出了一种清洁装置，包括：存储器，存储器中存储有程序或指令；处理器，处理器执行存储在存储器中的程序或指令以实现如第七方面中任一技术方案中的清洁方法的步骤，因而具有上述第七方面中任一技术方案中的清洁方法的全部有益技术效果，在此不再做过多赘述。According to the eleventh aspect of the present application, a cleaning device is proposed, comprising: a memory, in which programs or instructions are stored; a processor, which executes the programs or instructions stored in the memory to implement the steps of the cleaning method in any technical solution in the seventh aspect, thereby having all the beneficial technical effects of the cleaning method in any technical solution in the seventh aspect, and no further details will be given here.
根据本申请第十二方面提出了一种可读存储介质，可读存储介质上存储有程序或指令，程序或指令被处理器执行时实现如上述任一技术方案中的清洁方法的步骤。因而具有上述任一技术方案中的清洁方法的全部有益技术效果，在此不再做过多赘述。According to the twelfth aspect of the present application, a readable storage medium is provided, on which a program or instruction is stored, and when the program or instruction is executed by a processor, the steps of the cleaning method in any of the above technical solutions are implemented. Therefore, all the beneficial technical effects of the cleaning method in any of the above technical solutions are achieved, and no further elaboration is made here.
根据本申请第十三方面提出了一种清洁机器人，包括：如上述任一技术方案中中限定的清洁装置，和/或上述任一技术方案中的可读存储介质，因而具有上述任一技术方案中的清洁装置，和/或上述任一技术方案中的可读存储介质的全部有益技术效果，在此不再做过多赘述。According to the thirteenth aspect of the present application, a cleaning robot is proposed, comprising: a cleaning device as defined in any of the above technical solutions, and/or a readable storage medium in any of the above technical solutions, and thus has all the beneficial technical effects of the cleaning device in any of the above technical solutions, and/or the readable storage medium in any of the above technical solutions, and no further details will be given here.
在上述任一技术方案中，清洁机器人还包括：本体和图像采集装置，图像采集装置设置于本体。图像采集装置可以设置在清洁机器人的本体的顶部、侧壁等位置。In any of the above technical solutions, the cleaning robot further comprises: a body and an image acquisition device, wherein the image acquisition device is arranged on the body. The image acquisition device can be arranged on the top, side wall or other positions of the body of the cleaning robot.
本申请的附加方面和优点将在下面的描述部分中变得明显，或通过本申请的实践了解到。Additional aspects and advantages of the present application will become apparent in the following description or will be learned through practice of the present application.
本申请的上述和/或附加的方面和优点从结合下面附图对实施例的描述中将变得明显和容易理解，其中：The above and/or additional aspects and advantages of the present application will become apparent and easily understood from the description of the embodiments in conjunction with the following drawings, in which:
图1示出了本申请的一些实施例中提供的清洁机器人的控制方法的示意流程图之一；FIG1 shows one of the schematic flow charts of the control method of the cleaning robot provided in some embodiments of the present application;
图2示出了本申请的一些实施例中提供的清洁机器人的结构示意图；FIG2 is a schematic diagram showing the structure of a cleaning robot provided in some embodiments of the present application;
图3示出了本申请的一些实施例中提供的清洁机器人的控制方法的示意流程图之二；FIG3 shows a second schematic flow chart of a control method for a cleaning robot provided in some embodiments of the present application;
图4示出了本申请的一些实施例中提供的清洁机器人的控制方法的示意流程图之三；FIG4 shows a third schematic flow chart of a control method for a cleaning robot provided in some embodiments of the present application;
图5示出了本申请的一些实施例中提供的第一清洁轨迹和第二清洁轨迹的示意图；FIG5 shows a schematic diagram of a first cleaning trajectory and a second cleaning trajectory provided in some embodiments of the present application;
图6示出了本申请的一些实施例中提供的清洁机器人行驶姿态示意图；FIG6 is a schematic diagram showing a driving posture of a cleaning robot provided in some embodiments of the present application;
图7示出了本申请的一些实施例中提供的清洁机器人的控制方法的示意流程图之四；FIG7 shows a fourth schematic flow chart of a control method for a cleaning robot provided in some embodiments of the present application;
图8示出了本申请的一些实施例中提供的清洁机器人的控制方法的示意流程图之五；FIG8 shows a fifth schematic flow chart of a control method for a cleaning robot provided in some embodiments of the present application;
图9示出了本申请的一些实施例中提供的清洁机器人的控制方法的示意流程图之六；FIG9 shows a sixth schematic flow chart of a control method for a cleaning robot provided in some embodiments of the present application;
图10示出了本申请的一些实施例中提供的清洁机器人的控制装置的结构框图；FIG10 shows a structural block diagram of a control device of a cleaning robot provided in some embodiments of the present application;
图11示出了本申请的一些实施例中提供的清洁机器人的控制装置的结构框图；FIG11 is a block diagram showing a control device of a cleaning robot provided in some embodiments of the present application;
图12示出了本申请的一些实施例提供的清洁机器人的控制装置的结构框图；FIG12 shows a structural block diagram of a control device of a cleaning robot provided in some embodiments of the present application;
图13示出了本申请的一些实施例提供的清洁机器人的结构框图；FIG13 shows a structural block diagram of a cleaning robot provided by some embodiments of the present application;
图14示出了本申请的一些实施例中提出的清洁方法的示意流程图之一；FIG. 14 shows one of the schematic flow charts of the cleaning method proposed in some embodiments of the present application;
图15示出了本申请的一些实施例中提出的清洁方法的示意流程图之二；FIG. 15 shows a second schematic flow chart of a cleaning method proposed in some embodiments of the present application;
图16示出了本申请的一些实施例中提出的第一行驶轨迹的示意图之一；FIG16 shows one of the schematic diagrams of the first driving trajectory proposed in some embodiments of the present application;
图17示出了本申请的一些实施例中提出的清洁方法的示意流程图之三；FIG. 17 shows a third schematic flow chart of a cleaning method proposed in some embodiments of the present application;
图18示出了本申请的一些实施例中提出的第一行驶轨迹的示意图之二；FIG18 shows a second schematic diagram of a first driving trajectory proposed in some embodiments of the present application;
图19示出了本申请的一些实施例中提出的第一行驶轨迹的示意图之三；FIG19 shows a third schematic diagram of the first driving trajectory proposed in some embodiments of the present application;
图20示出了本申请的一些实施例中提出的第一行驶轨迹的示意图之四；FIG20 shows a fourth schematic diagram of the first driving trajectory proposed in some embodiments of the present application;
图21示出了本申请的一些实施例中提出的清洁方法的示意流程图之四；FIG. 21 shows a fourth schematic flow chart of a cleaning method proposed in some embodiments of the present application;
图22示出了本申请的一些实施例中提出的清洁装置的结构框图之一；FIG. 22 shows one of the structural block diagrams of the cleaning device proposed in some embodiments of the present application;
图23示出了本申请的一些实施例中提出的清洁装置的结构框图之二；FIG23 shows a second structural block diagram of a cleaning device proposed in some embodiments of the present application;
图24示出了本申请的一些实施例提出的清洁机器人的结构框图。FIG. 24 shows a structural block diagram of a cleaning robot proposed in some embodiments of the present application.
附图标记如下：
200清洁机器人，210清洁组件，212吸尘组件，214拖擦组件，220图像采集装置，230本体。The reference numerals are as follows:
200 cleaning robot, 210 cleaning component, 212 vacuum component, 214 mopping component, 220 image acquisition device, 230 body.
为了能够更清楚地理解本申请的上述目的、特征和优点，下面结合附图和具体实施方式对本申请进行进一步的详细描述。需要说明的是，在不冲突的情况下，本实施例及实施例中的特征可以相互组合。In order to more clearly understand the above-mentioned objectives, features and advantages of the present application, the present application is further described in detail below in conjunction with the accompanying drawings and specific implementation methods. It should be noted that, in the absence of conflict, the present embodiment and the features in the embodiment can be combined with each other.
在下面的描述中阐述了很多具体细节以便于充分理解本申请，但是，本申请还可以采用其他不同于在此描述的其他方式来实施，因此，本申请的保护范围并不受下面公开的具体实施例的限制。In the following description, many specific details are set forth to facilitate a full understanding of the present application. However, the present application may also be implemented in other ways different from those described herein. Therefore, the scope of protection of the present application is not limited to the specific embodiments disclosed below.
下面参照图1至图24描述根据本申请一些实施例的清洁机器人及其控制方法和可读存储介质。The cleaning robot, its control method, and readable storage medium according to some embodiments of the present application are described below with reference to Figures 1 to 24.
根据本申请的一个实施例中，如图1所示，提出了一种清洁机器人的控制方法，由清洁机器人执行，包括：According to one embodiment of the present application, as shown in FIG1 , a control method for a cleaning robot is proposed, which is executed by the cleaning robot and includes:
步骤102，在清洁机器人行驶的过程中，通过图像采集装置采集脏污图像；Step 102, during the driving process of the cleaning robot, a dirty image is collected by an image collection device;
步骤104，根据脏污图像，确定脏污的类型信息和/或尺寸信息；Step 104, determining the type information and/or size information of the dirt according to the dirt image;
步骤106，根据类型信息和/或尺寸信息，控制清洁机器人运行。Step 106: Control the cleaning robot to operate according to the type information and/or size information.
本申请的实施例中提出了一种清洁机器人的控制方法，清洁机器人行驶在清洁路径上时，持续通过图像采集装置采集脏污图像。通过对脏污图像进行识别，能够确定所需清洁的脏污的尺寸信息，以及脏污的类型信息，并据此对清洁机器人清洁脏污的过程进行规划，无需用户手动对脏污的清洁方式进行设置，清洁机器人能够自动选择效率高的方式清洁脏污，提高了用户使用清洁机器人的便捷性。其中，清洁机器人包括但不限于扫地机、洗地机、拖扫一体机。In an embodiment of the present application, a control method for a cleaning robot is proposed. When the cleaning robot is traveling on a cleaning path, it continuously collects dirt images through an image acquisition device. By identifying the dirt images, the size information of the dirt to be cleaned and the type information of the dirt can be determined, and the cleaning process of the cleaning robot can be planned accordingly. The user does not need to manually set the cleaning method for the dirt. The cleaning robot can automatically select a highly efficient method to clean the dirt, thereby improving the convenience of the user using the cleaning robot. Among them, cleaning robots include but are not limited to sweepers, scrubbers, and mopping and sweeping machines.
如图2所示，清洁机器人200上设置有图像采集装置220，在清洁机器人200出站执行清洁任务时，保持该图像采集装置220的运行状态，以对清洁机器人200周围的拍摄数据进行采集。As shown in FIG. 2 , the cleaning robot 200 is provided with an image acquisition device 220 . When the cleaning robot 200 goes out to perform a cleaning task, the image acquisition device 220 is kept in a running state to collect shooting data around the cleaning robot 200 .
在该实施例中，清洁机器人在通过图像采集装置进行拍摄的过程中，通过语义识别的方式判断采集到的拍摄数据是否包括脏污图像，在采集到脏污图像后，基于对该脏污图像的识别，对清洁机器人对相应脏污的清洁方式进行规划。In this embodiment, during the process of shooting through the image acquisition device, the cleaning robot determines whether the captured shooting data includes a dirty image through semantic recognition. After capturing the dirty image, based on the recognition of the dirty image, the cleaning robot plans the cleaning method for the corresponding dirt.
示例性地，清洁机器人的图像采集装置通过持续录制视频，得到视频数据，通过对视频数据进行语义识别，提取包括脏污特征的视频帧作为脏污图像。Exemplarily, the image acquisition device of the cleaning robot obtains video data by continuously recording video, and extracts video frames including dirt features as dirt images by performing semantic recognition on the video data.
示例性地，清洁机器人的图像采集装置按照预设间隔采集图像数据，通过对采集到的图像数据进行语义识别，能够判断图像是否为脏污图像。在判断采集到的图像数据为非脏污图像时，则丢弃该图像数据，在判断采集到的图像数据为脏污图像时，则基于此对清洁机器人的清洁方式进行规划。Exemplarily, the image acquisition device of the cleaning robot acquires image data at preset intervals, and can determine whether the image is a dirty image by performing semantic recognition on the acquired image data. When the acquired image data is determined to be a non-dirty image, the image data is discarded, and when the acquired image data is determined to be a dirty image, the cleaning method of the cleaning robot is planned based on the image data.
需要说明的是，清洁机器人在识别到脏污图像之后，结合语义地图，能够确定脏污图像中的脏污在语义地图中的定位信息，使清洁机器人能够精准定位脏污图像中的脏污。It should be noted that after recognizing the dirty image, the cleaning robot can determine the location information of the dirt in the dirty image in the semantic map in combination with the semantic map, so that the cleaning robot can accurately locate the dirt in the dirty image.
本申请的实施例中，清洁机器人通过图像采集装置，采集清洁机器人行驶路径所在区域内的脏污图像，通过识别该脏污图像能够使清洁机器人确定脏污的类型信息，以及尺寸信息。清洁机器人能够基于识别到的类型信息，以及尺寸信息自动对脏污图像中的脏污进行清洁，无需进行人工参数设置，提高了用户使用清洁机器人的便捷性，还保证了清洁机器人在识别到脏污时，能够及时对其进行清洁，提高了清洁效率。In the embodiment of the present application, the cleaning robot collects the dirty image in the area where the cleaning robot's driving path is located through the image acquisition device, and can determine the type information and size information of the dirt by identifying the dirty image. The cleaning robot can automatically clean the dirt in the dirty image based on the identified type information and size information, without the need for manual parameter setting, which improves the convenience of the user to use the cleaning robot, and also ensures that the cleaning robot can clean it in time when the dirt is identified, thereby improving the cleaning efficiency.
如图3所示，在上述任一实施例中，清洁机器人包括多个清洁组件；根据类型信息和/或尺寸信息，控制清洁机器人运行，包括：As shown in FIG. 3 , in any of the above embodiments, the cleaning robot includes a plurality of cleaning components; and controlling the operation of the cleaning robot according to the type information and/or the size information includes:
步骤302，根据类型信息，确定多个清洁组件中的目标组件；Step 302, determining a target component among a plurality of cleaning components according to the type information;
步骤304，根据尺寸信息，规划清洁机器人的清洁路径；Step 304, planning a cleaning path of the cleaning robot according to the size information;
步骤306，控制清洁机器人沿清洁路径行驶；Step 306, controlling the cleaning robot to travel along the cleaning path;
步骤308，在清洁机器人行驶过程中，控制目标组件运行。Step 308: Control the target component to operate during the driving process of the cleaning robot.
在该实施例中提出了清洁机器人通过类型信息，以及尺寸信息对清洁方式进行规划的具体过程，提高清洁机器人对该脏污进行清洁的清洁效率。This embodiment proposes a specific process in which the cleaning robot plans the cleaning method through type information and size information, thereby improving the cleaning efficiency of the cleaning robot in cleaning the dirt.
在该实施例中，清洁机器人配备有多种不同的清洁组件，以应对不同性状的脏污。清洁机器人通过识别到的类型信息，确定脏污图像中的脏污的性状，例如：液体脏污、固体脏污。清洁机器人能够通过识别到的类型信息，选择多个清洁组件中的目标组件对脏污进行清洁，实现了清洁机器人能够对不同类型信息的脏污选择相应的清洁组件进行清洁，进一步提高了清洁效率和清洁效果。In this embodiment, the cleaning robot is equipped with a plurality of different cleaning components to deal with dirt of different properties. The cleaning robot determines the properties of the dirt in the dirt image by identifying the type information, such as liquid dirt and solid dirt. The cleaning robot can select a target component from a plurality of cleaning components to clean the dirt by identifying the type information, so that the cleaning robot can select the corresponding cleaning component to clean the dirt of different types of information, further improving the cleaning efficiency and cleaning effect.
在该实施例中，清洁机器人能够通过识别到的尺寸信息，确定脏污对地面的覆盖范围。清洁机器人能够针对不同的尺寸信息，规划相应的清洁路径，从而提高对脏污的清洁效率。In this embodiment, the cleaning robot can determine the coverage of the dirt on the ground through the identified size information. The cleaning robot can plan corresponding cleaning paths according to different size information, thereby improving the cleaning efficiency of the dirt.
本申请的实施例中，清洁机器人基于类型信息选择目标组件，以及基于尺寸信息确定清洁路径之后，控制清洁机器人按照清洁路径行驶，并在行驶时开启目标组件对脏污图像中的脏污进行清洁。使清洁机器人在清洁过程中使用的目标组件与脏污的性状相符，且清洁轨迹能够覆盖完整的脏污，保证了清洁效果的同时，还能够提高清洁机器人对脏污的清洁效率。In the embodiment of the present application, the cleaning robot selects the target component based on the type information, and after determining the cleaning path based on the size information, controls the cleaning robot to travel along the cleaning path, and turns on the target component to clean the dirt in the dirt image while traveling. The target component used by the cleaning robot during the cleaning process is consistent with the properties of the dirt, and the cleaning trajectory can cover the complete dirt, which ensures the cleaning effect and improves the cleaning efficiency of the cleaning robot for dirt.
在上述任一实施例中，多个清洁组件包括吸尘组件和拖擦组件；根据类型信息，确定多个清洁组件中的目标组件，包括：基于类型信息为液体类型，确定拖擦组件为目标组件；基于类型信息为固体类型，确定吸尘组件为目标组件。In any of the above embodiments, the multiple cleaning components include a dust collection component and a mopping component; based on the type information, a target component among the multiple cleaning components is determined, including: based on the type information being a liquid type, determining the mopping component as the target component; based on the type information being a solid type, determining the dust collection component as the target component.
在该实施例中提供了清洁机器人根据类型信息，选择吸尘组件和拖擦组件中的一个作为目标组件的过程。This embodiment provides a process in which the cleaning robot selects one of the dust collection component and the mopping component as a target component according to type information.
如图2所示，清洁机器人200的清洁组件210包括吸尘组件212和拖擦组件214，吸尘组件212和拖擦组件214位于清洁机器人的不同位置。As shown in FIG. 2 , the cleaning component 210 of the cleaning robot 200 includes a dust suction component 212 and a mopping component 214 , and the dust suction component 212 and the mopping component 214 are located at different positions of the cleaning robot.
在该实施例中，在检测到类型信息为液体类型，即判定脏污属于液体脏污，则清洁机器人将用于清洁液体脏污的拖擦组件作为目标组件。在清洁机器人运行过程中，控制抹布盘旋转，对液体脏污拖干，并保持吸尘组件停止运行，避免将液体脏污收集到清洁机器人内部。In this embodiment, when the type information is detected as liquid type, that is, the dirt is determined to be liquid dirt, the cleaning robot will The mopping component used to clean liquid dirt is used as the target component. During the operation of the cleaning robot, the rag disc is controlled to rotate to mop the liquid dirt, and the vacuum component is kept stopped to avoid collecting liquid dirt inside the cleaning robot.
示例性地，拖擦组件可以为抹布盘，抹布盘具有良好的吸水效果。清洁机器人在行驶过程中，控制抹布盘运行，通过抹布盘对液体脏污进行吸附和抹干。Exemplarily, the mopping component can be a rag plate, which has a good water absorption effect. During the driving process, the cleaning robot controls the rag plate to operate, and absorbs and wipes the liquid dirt through the rag plate.
在该实施例中，在检测到类型信息为固体类型，即判定脏污属于固体脏污，则清洁机器人将用于清洁固体脏污的吸尘组件作为目标组件。在清洁机器人运行过程中，控制吸尘组件运行，对固体脏污进行收集，并保持拖擦组件停止运行，避免拖擦组件运行时将固体脏污打散影响清洁效率。In this embodiment, when the type information is detected as a solid type, that is, the dirt is determined to be solid dirt, the cleaning robot uses the vacuum component for cleaning solid dirt as the target component. During the operation of the cleaning robot, the vacuum component is controlled to operate to collect the solid dirt, and the mopping component is kept stopped to prevent the mopping component from breaking up the solid dirt and affecting the cleaning efficiency.
示例性地，吸尘组件包括吸尘口、风机、边刷和滚刷。吸尘组件运行过程中，边刷运行将固体脏污扫动到吸尘口位置，风机运行使吸尘口位置产生吸力，能够将固体脏污通过吸尘口收集到清洁机器人内部。Exemplarily, the dust collection component includes a dust collection port, a fan, a side brush and a roller brush. During the operation of the dust collection component, the side brush sweeps solid dirt to the dust collection port, and the fan generates suction at the dust collection port, so that the solid dirt can be collected into the cleaning robot through the dust collection port.
在一些可能的实施方式中，吸尘组件包括吸尘口、风机和边刷，拖擦组件为可升降的抹布盘。在为固体脏污时，清洁机器人减速运行，抹布盘停转抬升，风机吸力加大，边刷和滚刷减速运行。在为液体脏污时，机器人减速运行，边刷和滚刷停转，风机停止保持停止吸力，增大抹布盘转速。In some possible implementations, the dust suction component includes a dust suction port, a fan and a side brush, and the mopping component is a raftable rag plate. When the dirt is solid, the cleaning robot slows down, the rag plate stops and rises, the fan suction increases, and the side brush and the roller brush slow down. When the dirt is liquid, the robot slows down, the side brush and the roller brush stop, the fan stops and keeps the suction, and the rag plate speed increases.
本申请的实施例中，清洁机器人能够根据脏污图像识别脏污为液体脏污或固体脏污，并在选用相应的目标组件对脏污进行清洁，提高了清洁效率的同时，还提高了清洁效果。In the embodiments of the present application, the cleaning robot can identify the dirt as liquid dirt or solid dirt based on the dirt image, and select the corresponding target component to clean the dirt, thereby improving the cleaning efficiency and the cleaning effect.
如图4所示，在上述任一实施例中，基于类型信息为固体类型，确定吸尘组件为目标组件之后，包括：As shown in FIG. 4 , in any of the above embodiments, after determining that the dust collection component is a target component based on the type information being a solid type, the following steps are included:
步骤402，识别固体类型的脏污的颗粒物直径；Step 402, identifying the diameter of solid-type dirty particles;
步骤404，根据颗粒物直径，确定吸尘组件的运行功率。Step 404, determining the operating power of the dust collection component according to the particle diameter.
在该实施例中提出了在识别到脏污为固体脏污时，通过语义识别继续识别该固体脏污的颗粒物直径，并基于该颗粒物直径选择吸尘组件的运行功率，进一步保证吸尘组件对固体脏污的清洁效率和清洁效果。In this embodiment, it is proposed that when the dirt is identified as solid dirt, the particle diameter of the solid dirt is further identified through semantic recognition, and the operating power of the dust collection component is selected based on the particle diameter, so as to further ensure the cleaning efficiency and cleaning effect of the dust collection component on the solid dirt.
需要说明的是，脏污的颗粒物直径越大，则对固体脏污的进行清洁时，吸尘组件所需的吸力越大。通过对脏污图像进行语义识别，能够确定固体脏污对应的颗粒物直径，并据此设置吸尘组件的运行功率，保证在对固体脏污进行清洁时，能够有足够的吸力对固体脏污进行收集。It should be noted that the larger the diameter of the dirt particles, the greater the suction force required by the dust collection component when cleaning solid dirt. By performing semantic recognition on the dirt image, the particle diameter corresponding to the solid dirt can be determined, and the operating power of the dust collection component can be set accordingly to ensure that there is sufficient suction force to collect the solid dirt when cleaning.
示例性地，吸尘组件包括风机。脏污的颗粒物直径较大，则提高风机的运行功率，使风机以较高转速运行，提高对脏污的收集的风力，保证对脏污的清洁效果。脏污的颗粒物直径较小，则降低风机的运行功率，使风机与较低的转速运行，在保证对脏污清洁效果的同时，降低能源的浪费。Exemplarily, the dust collection component includes a fan. If the diameter of the dirty particles is large, the operating power of the fan is increased, so that the fan runs at a higher speed, the wind force for collecting the dirt is increased, and the cleaning effect of the dirt is ensured. If the diameter of the dirty particles is small, the operating power of the fan is reduced, so that the fan runs at a lower speed, while ensuring the cleaning effect of the dirt, reducing energy waste.
本申请的实施例中，清洁机器人不仅能够识别脏污的类型信息，还能够在脏污为固体脏污时，识别固体脏污的颗粒物直径，并据此调整吸尘组件的运行功率，实现了在保证对脏污清洁效果的同时，降低能源的浪费。In an embodiment of the present application, the cleaning robot can not only identify the type information of dirt, but also identify the particle diameter of solid dirt when the dirt is solid dirt, and adjust the operating power of the dust collection component accordingly, thereby ensuring the cleaning effect of dirt while reducing energy waste.
在上述任一实施例中，尺寸信息包括脏污面积，清洁路径包括清洁进程路径；根据尺寸信息，规划清洁机器人的清洁路径，包括：在脏污面积大于或等于预设面积的情况下，将第一清洁轨迹确定为清洁进程路径；在脏污面积小于预设面积的情况下，将第二清洁轨迹确定为清洁进程路径。In any of the above embodiments, the size information includes the dirty area, and the cleaning path includes the cleaning process path; based on the size information, the cleaning path of the cleaning robot is planned, including: when the dirty area is greater than or equal to the preset area, the first cleaning trajectory is determined as the cleaning process path; when the dirty area is smaller than the preset area, the second cleaning trajectory is determined as the cleaning process path.
在该实施例中提出了根据脏污的脏污面积，选择不同性状的清洁轨迹作为清洁进程路径，提高对脏污清洁的清洁效果和清洁效率。In this embodiment, it is proposed to select cleaning trajectories with different characteristics as cleaning process paths according to the dirt area, so as to improve the cleaning effect and cleaning efficiency of the dirt cleaning.
示例性地，清洁路径包括用于对脏污进行清洁的清洁进程路径，还包括用于导航至脏污位置的脏污导航路径，还包括用于导航回站的回站导航路径等。Exemplarily, the cleaning path includes a cleaning process path for cleaning dirt, a dirt navigation path for navigating to a dirt location, a return station navigation path for navigating back to the station, and the like.
在该实施例中，第一清洁轨迹和第二清洁轨迹的轨迹形状不同，在对不同脏污面积的脏污进行清洁时，通过选择不同形状的清洁轨迹，能够提高对脏污的清洁效率。其中，第一清洁轨迹为适用于对脏污面积较大的脏污进行清洁，故检测到脏污面积不小于预设面积时，将第一清洁轨迹作为清洁进程路径，保证对较大面积的脏污的清洁效果。第二清洁轨迹为适用于对面积较小的脏污进行清洁，故检测到脏污面积小于预设面积时，将第二清洁轨迹作为清洁进程路径，保证对较小面积的脏污的清洁效率。In this embodiment, the first cleaning track and the second cleaning track have different track shapes. When cleaning dirt of different dirt areas, by selecting cleaning tracks of different shapes, the cleaning efficiency of dirt can be improved. Among them, the first cleaning track is suitable for cleaning dirt with a larger dirt area. Therefore, when it is detected that the dirt area is not less than the preset area, the first cleaning track is used as the cleaning process path to ensure the cleaning effect of dirt with a larger area. The second cleaning track is suitable for cleaning dirt with a smaller area. Therefore, when it is detected that the dirt area is less than the preset area, the second cleaning track is used as the cleaning process path to ensure the cleaning efficiency of dirt with a smaller area.
本申请的实施例中，清洁机器人能够通过将识别到的脏污面积与预设面积进行数值比对，并将基于比对结果选择不同形状的清洁轨迹作为清洁进程路径，实现了在保证对脏污清洁效果的同时，降低能源的浪费。In an embodiment of the present application, the cleaning robot can numerically compare the identified dirty area with the preset area, and select cleaning trajectories of different shapes as the cleaning process path based on the comparison result, thereby reducing energy waste while ensuring the cleaning effect of dirt.
在上述任一实施例中，第一清洁轨迹包括“弓”字形轨迹；和/或第二清洁轨迹包括“回”字形轨迹。In any of the above embodiments, the first cleaning trajectory includes a “bow”-shaped trajectory; and/or the second cleaning trajectory includes a “U”-shaped trajectory.
在该实施例中，“弓”字形轨迹适合对较大脏污面积的脏污进行清洁，故将第一清洁轨迹设置包括“弓”字形轨迹。“回”字形轨迹适合对较小脏污面积的脏污进行清洁，故将第二清洁轨迹设置包括“回”字形轨迹。In this embodiment, the "bow"-shaped track is suitable for cleaning dirt with a larger dirt area, so the first cleaning track is set The "回"-shaped track is suitable for cleaning dirt with a smaller dirt area, so the second cleaning track is set to include the "回"-shaped track.
如图5所示，第一清洁轨迹502包括“弓”字形轨迹，第二清洁轨迹504包括“回”字形轨迹。As shown in FIG. 5 , the first cleaning track 502 includes a “bow”-shaped track, and the second cleaning track 504 includes a “return”-shaped track.
示例性地，脏污面积大则选择“弓”字形轨迹进行清洁，先横向“弓”字形轨迹进行清洁，清洁完成后，切换为纵向“弓”字形轨迹进行清洁，共清洁2遍。脏污面积小则选择“回”字形轨迹进行清洁，先由内向外行驶，再由外向内行驶，共清洁2遍。For example, if the dirty area is large, the "bow"-shaped track is selected for cleaning. First, the horizontal "bow"-shaped track is cleaned. After cleaning, it is switched to the vertical "bow"-shaped track for cleaning, and a total of 2 cleanings are performed. If the dirty area is small, the "U"-shaped track is selected for cleaning. First, it moves from the inside to the outside, and then from the outside to the inside, and a total of 2 cleanings are performed.
本申请实施例中通过选择将“弓”字形轨迹作为第一清洁轨迹，以及将“回”字形轨迹作为第二清洁轨迹，能够保证清洁机器人根据不同脏污面积均能够选择到合适的清洁轨迹对其进行清洁。In the embodiment of the present application, by selecting the "bow"-shaped trajectory as the first cleaning trajectory and the "return"-shaped trajectory as the second cleaning trajectory, it can be ensured that the cleaning robot can select the appropriate cleaning trajectory for cleaning according to different dirty areas.
在上述任一实施例中，清洁路径包括回站导航路径；根据尺寸信息，规划清洁机器人的清洁路径，包括：基于尺寸信息确定清洁路径中的回站导航路径的数量。In any of the above embodiments, the cleaning path includes a return-to-station navigation path; and planning the cleaning path of the cleaning robot according to the size information includes: determining the number of return-to-station navigation paths in the cleaning path based on the size information.
在该实施例中提出了根据尺寸信息能够确定清洁机器人的回站次数，并据此对清洁机器人完整的清洁路径进行规划，避免清洁机器人过多次数回站导致的能源浪费，也避免清洁机器人过少次回站导致清洁机器人影响对脏污的清洁效果。In this embodiment, it is proposed that the number of times the cleaning robot returns to the station can be determined based on the size information, and the complete cleaning path of the cleaning robot can be planned accordingly, so as to avoid energy waste caused by the cleaning robot returning to the station too many times, and also avoid the cleaning robot returning to the station too few times, which will affect the cleaning effect of the dirt.
具体来说，在脏污的尺寸信息较大时，判定脏污量比较大，则需要较多次回站对清洁机器人内部的脏污进行清理，避免清洁机器人的收集脏污的装置满溢后影响清洁效果。在脏污的尺寸信息较小时，判定脏污量比较小，则需要较少次回站对清洁机器人内部的脏污进行清理，避免多次回站导致的浪费能源。Specifically, when the size information of the dirt is large, it is determined that the amount of dirt is large, and it is necessary to return to the station more often to clean the dirt inside the cleaning robot, so as to avoid the cleaning effect being affected by the overflow of the dirt collecting device of the cleaning robot. When the size information of the dirt is small, it is determined that the amount of dirt is small, and it is necessary to return to the station less often to clean the dirt inside the cleaning robot, so as to avoid wasting energy caused by multiple returns to the station.
示例性地，在脏污为液体脏污时，清洁机器人根据脏污面积的大小，确定清洁机器人回站清洗抹布的次数，其中，回站清洗抹布的次数即为清洁路径中回站导航路径的数量。Exemplarily, when the dirt is liquid dirt, the cleaning robot determines the number of times the cleaning robot returns to the station to clean the rag according to the size of the dirt area, wherein the number of times the cleaning robot returns to the station to clean the rag is the number of return navigation paths in the cleaning path.
示例性地，在脏污为固体脏污时，清洁机器人根据脏污面积的大小，确定清洁机器人回站集尘的次数，其中，回站集尘的次数即为清洁路径中回站导航路径的数量。Exemplarily, when the dirt is solid dirt, the cleaning robot determines the number of times the cleaning robot returns to the station to collect dust based on the size of the dirt area, wherein the number of times the cleaning robot returns to the station to collect dust is the number of return-to-station navigation paths in the cleaning path.
本申请实施例中，清洁机器人在清洁开始之前，能够根据尺寸信息规划清洁路径中回站导航路径的数量，使清洁机器人能够及时对收集的脏污进行清理，从而提高清洁效果，并且避免过多次数回站造成的能源浪费。In an embodiment of the present application, before cleaning begins, the cleaning robot can plan the number of return navigation paths in the cleaning path based on the size information, so that the cleaning robot can clean the collected dirt in time, thereby improving the cleaning effect and avoiding energy waste caused by too many returns to the station.
在上述任一实施例中，控制清洁机器人沿清洁路径行驶之前，包括：基于目标组件，确定清洁机器人的目标行驶姿态，其中，在清洁机器人按照目标行驶姿态行驶过程中，多个清洁组件中的目标组件优先与脏污接触。In any of the above embodiments, before controlling the cleaning robot to travel along the cleaning path, it includes: determining a target driving posture of the cleaning robot based on a target component, wherein, when the cleaning robot travels according to the target driving posture, a target component among multiple cleaning components preferentially contacts dirt.
在该实施例中，清洁机器人能够根据在多个清洁组件中选择的目标组件，确定清洁机器人在行驶过程中的目标行驶姿态。使清洁机器人行驶过程中，目标组件在清洁机器人的前方，优先与脏污进行接触，保证在清洁机器人的目标组件对脏污的清洁效果，避免其他组件优先接触到脏污后，将脏污推散。In this embodiment, the cleaning robot can determine the target driving posture of the cleaning robot during driving according to the target component selected from the multiple cleaning components. When the cleaning robot is driving, the target component is in front of the cleaning robot and contacts the dirt first, ensuring the cleaning effect of the dirt by the target component of the cleaning robot, and avoiding other components contacting the dirt first and then pushing the dirt away.
如图6所示，示例性地，多个清洁组件包括吸尘组件和拖擦组件。在脏污为固体脏污时，目标组件为吸尘组件，则清洁机器人行驶过程中，吸尘组件在前，拖擦组件在后，使吸尘组件优先与固体脏污接触。在脏污为液体脏污时，目标组件为吸尘组件，则清洁机器人行驶过程中，拖擦组件在后，吸尘组件在后，使拖擦组件优先与液体脏污接触。As shown in FIG6 , exemplarily, the plurality of cleaning components include a dust collection component and a mopping component. When the dirt is solid dirt, the target component is the dust collection component, and during the driving process of the cleaning robot, the dust collection component is in front and the mopping component is in the back, so that the dust collection component is in contact with the solid dirt first. When the dirt is liquid dirt, the target component is the dust collection component, and during the driving process of the cleaning robot, the mopping component is in the back and the dust collection component is in the back, so that the mopping component is in contact with the liquid dirt first.
本申请的实施例中，清洁机器人通过确定自身的目标行驶姿态，从而保证多个清洁组件中的目标组件优先与脏污接触，以保证清洁机器人对脏污的清洁效果和清洁效率。In the embodiment of the present application, the cleaning robot determines its own target driving posture to ensure that a target component among multiple cleaning components contacts the dirt first, so as to ensure the cleaning effect and cleaning efficiency of the cleaning robot on the dirt.
在上述任一实施例中，控制清洁机器人沿清洁路径行驶，包括：控制清洁机器人按照初始行驶姿态，行驶至目标区域，目标区域为脏污所在区域；控制清洁机器人按照目标行驶姿态，在目标区域内行驶；基于清洁机器人行驶至目标区域外，控制清洁机器人由目标行驶姿态切换至初始行驶姿态进行行驶。In any of the above embodiments, controlling the cleaning robot to travel along a cleaning path includes: controlling the cleaning robot to travel to a target area according to an initial driving posture, where the target area is a dirty area; controlling the cleaning robot to travel within the target area according to a target driving posture; and based on the cleaning robot traveling outside the target area, controlling the cleaning robot to switch from the target driving posture to the initial driving posture for travel.
在该实施例中提出了清洁机器人在未移动至脏污所在的目标区域之前，按照初始行驶姿态行驶，在清洁机器人进入到脏污所在的目标区域之后，则控制清洁机器人以目标形式姿态行驶，直至对脏污清洁完毕，在清洁机器人移动出目标区域之外，则控制清洁机器人回到初始行驶姿态进行行驶，实现了保证清洁机器人对目标区域内的脏污的清洁效率和清洁效果的同时，还能够保证清洁机器人在目标区域之外导航行驶的行驶速度。In this embodiment, it is proposed that the cleaning robot drives in an initial driving posture before it moves to the target area where the dirt is located. After the cleaning robot enters the target area where the dirt is located, the cleaning robot is controlled to drive in the target posture until the dirt is cleaned. When the cleaning robot moves out of the target area, the cleaning robot is controlled to return to the initial driving posture to drive. This ensures the cleaning efficiency and cleaning effect of the cleaning robot on the dirt in the target area while also ensuring the driving speed of the cleaning robot when navigating outside the target area.
本申请的实施例中，多个清洁组件包括吸尘组件和拖擦组件，在行驶过程中，吸尘组件和拖擦组件前后分布。In an embodiment of the present application, the plurality of cleaning components include a dust suction component and a mopping component. During driving, the dust suction component and the mopping component are distributed front and back.
示例性地，初始行驶姿态为吸尘组件在前，拖擦组件在后。Exemplarily, the initial driving posture is that the dust suction component is in front and the mopping component is in the back.
示例性地，初始行驶姿态为拖擦组件在前，吸尘组件在后。Exemplarily, the initial driving posture is that the mopping component is in front and the dust collection component is in the back.
具体来说，在确定脏污为液体污渍时，持续检测清洁机器人与液体污渍的边界之间的间隔距离，在间隔距离小于或等于预设距离的情况下，则控制清洁机器人调整姿态，使拖擦组件位于行驶的前方，保证拖擦组件优先与液体污渍接触。或者在确定脏污为液体污渍后间隔预设时长，控制清洁机器人调整姿态，使拖擦组件位于行驶的前方，保证拖擦组件优先与液体污渍接触。Specifically, when it is determined that the dirt is a liquid stain, the distance between the cleaning robot and the boundary of the liquid stain is continuously detected. When the distance is less than or equal to the preset distance, the cleaning robot is controlled to adjust its posture so that the mopping component is located at the bottom of the liquid stain. Alternatively, after determining that the dirt is a liquid stain, after a preset time interval, the cleaning robot is controlled to adjust its posture so that the mopping component is located in front of the vehicle, ensuring that the mopping component is in contact with the liquid stain first.
具体来说，在确定脏污为固体污渍时，持续检测清洁机器人与固体污渍的边界之间的间隔距离，在间隔距离小于或等于预设距离的情况下，则控制清洁机器人调整姿态，使吸尘组件位于行驶的前方，保证吸尘组件优先与固体污渍接触。或者在确定脏污为固体污渍后间隔预设时长，控制清洁机器人调整姿态，使吸尘组件位于行驶的前方，保证吸尘组件优先与固体污渍接触。Specifically, when the dirt is determined to be a solid stain, the distance between the cleaning robot and the boundary of the solid stain is continuously detected. When the distance is less than or equal to the preset distance, the cleaning robot is controlled to adjust its posture so that the dust collection component is located in front of the vehicle, ensuring that the dust collection component contacts the solid stain first. Alternatively, after determining that the dirt is a solid stain, the cleaning robot is controlled to adjust its posture after a preset time interval so that the dust collection component is located in front of the vehicle, ensuring that the dust collection component contacts the solid stain first.
本申请的实施例中，初始行驶姿态与目标行驶姿态可以相同，也可以不同。在初始行驶姿态与目标行驶姿态相同的情况下，则清洁机器人在移动至目标区域、在目标区域内移动、移动出目标区域外的三个阶段可保持相同的姿态行驶。在初始行驶姿态与目标行驶姿态不同的情况下，清洁机器人需要在进入目标区域之前，由初始行驶姿态切换至目标行驶姿态，在由目标区域内移动至目标区域外之后，由目标行驶姿态切换至初始行驶姿态，保证清洁机器人在目标区域内均以目标行驶姿态行驶，保证目标组件优先与脏污接触。In an embodiment of the present application, the initial driving posture and the target driving posture may be the same or different. When the initial driving posture is the same as the target driving posture, the cleaning robot can maintain the same driving posture in the three stages of moving to the target area, moving within the target area, and moving out of the target area. When the initial driving posture is different from the target driving posture, the cleaning robot needs to switch from the initial driving posture to the target driving posture before entering the target area, and switch from the target driving posture to the initial driving posture after moving from within the target area to outside the target area, to ensure that the cleaning robot drives in the target driving posture within the target area, and to ensure that the target component comes into contact with dirt first.
示例性地，初始行驶姿态为吸尘组件在前，拖擦组件在后，脏污类型为液体类型，则目标行驶姿态为拖擦组件在前，吸尘组件在后。清洁机器人在接触到液体类型的脏污之前，将清洁机器人由吸尘组件在前，拖擦组件在后调整至拖擦组件在前，吸尘组件在后，使拖擦组件优先与液体类型脏污接触，避免吸尘组件将液体脏污吸入。在拖擦组件对液体类型的脏污拖擦完毕后，将清洁机器人由拖擦组件在前，吸尘组件在后调整至吸尘组件在前，拖擦组件在后，保证在清洁机器人接触液体类型的脏污之前，以及对液体类型的脏污清洁之后，清洁机器人均以初始行驶姿态形式，保证清洁机器人的行驶效率。Exemplarily, the initial driving posture is that the dust collection component is in front and the mopping component is in the back, and the dirt type is liquid type, then the target driving posture is that the mopping component is in front and the dust collection component is in the back. Before the cleaning robot contacts the liquid type dirt, the cleaning robot is adjusted from the dust collection component in front and the mopping component in the back to the mopping component in front and the dust collection component in the back, so that the mopping component contacts the liquid type dirt first, and the dust collection component is prevented from being sucked into the liquid dirt by the dust collection component. After the mopping component has finished mopping the liquid type dirt, the cleaning robot is adjusted from the mopping component in front and the dust collection component in the back to the dust collection component in front and the mopping component in the back, ensuring that the cleaning robot is in the initial driving posture before contacting the liquid type dirt and after cleaning the liquid type dirt, so as to ensure the driving efficiency of the cleaning robot.
本申请的实施例中，清洁机器人行驶在目标区域之外的情况下，清洁机器人保持初始行驶姿态行驶，提高了清洁机器人在不对脏污进行清洁阶段的行驶速度。并且清洁机器人形式在目标区域之内的情况下，清洁机器人以目标行驶姿态行驶，保证了清洁机器人的目标组件能够优先与脏污接触，保证对脏污的清洁效果和清洁效率。In the embodiment of the present application, when the cleaning robot is outside the target area, the cleaning robot maintains the initial driving posture, thereby increasing the driving speed of the cleaning robot in the stage of not cleaning dirt. And when the cleaning robot is within the target area, the cleaning robot drives in the target driving posture, thereby ensuring that the target component of the cleaning robot can contact the dirt first, thereby ensuring the cleaning effect and cleaning efficiency of the dirt.
如图7所示，在上述任一实施例中，根据脏污图像，确定脏污的类型信息和/或尺寸信息，包括：As shown in FIG. 7 , in any of the above embodiments, determining the type information and/or size information of dirt according to the dirt image includes:
步骤702，通过语义识别算法，确定脏污图像中的参照物特征和类型信息；Step 702, determining the reference object features and type information in the dirty image through a semantic recognition algorithm;
步骤704，根据参照物特征，确定尺寸信息。Step 704, determining size information according to the characteristics of the reference object.
在该实施例中提出了根据语义识别算法，识别采集到的脏污图像中的参照物特征和脏污特征，通过语义模型对脏污特征进行识别，得到脏污对应的类型信息。通过将参照物特征与脏污特征通过算法进行比对，得到脏污对应的尺寸信息。In this embodiment, it is proposed to identify the reference object features and dirt features in the collected dirt image according to the semantic recognition algorithm, identify the dirt features through the semantic model, and obtain the type information corresponding to the dirt. By comparing the reference object features with the dirt features through the algorithm, the size information corresponding to the dirt is obtained.
示例性地，清洁机器人中存储有语义识别模型，通过语义识别模型能够识别脏污图像中的脏污特征，并获取相应的类型信息和/或尺寸信息。Exemplarily, a semantic recognition model is stored in the cleaning robot, and the semantic recognition model can be used to identify dirt features in a dirt image and obtain corresponding type information and/or size information.
本申请的实施例中，清洁机器人能够通过脏污图像准确识别脏污的尺寸信息，以及脏污的类型信息，便于后续对清洁机器人运行进行控制。In the embodiments of the present application, the cleaning robot can accurately identify the size information of the dirt and the type information of the dirt through the dirt image, so as to facilitate the subsequent control of the operation of the cleaning robot.
如图8所示，在上述任一实施例中，在清洁机器人行驶的过程中，通过图像采集装置采集脏污图像之后，包括：As shown in FIG8 , in any of the above embodiments, during the driving process of the cleaning robot, after the dirty image is captured by the image acquisition device, the method includes:
步骤802，根据脏污图像，确定脏污的定位信息；Step 802, determining the location information of the dirt according to the dirt image;
步骤804，根据定位信息，更新清洁机器人中的语义地图。Step 804: Update the semantic map in the cleaning robot according to the positioning information.
在该实施例中提出了清洁机器人能够基于对脏污图像的识别，确定脏污在语义地图中的定位信息，并基于该定位信息对语义地图进行更新，实现了清洁机器人在回站后，通过语义地图能够快速定位到脏污所在位置。In this embodiment, it is proposed that the cleaning robot can determine the location information of the dirt in the semantic map based on the recognition of the dirty image, and update the semantic map based on the location information, so that the cleaning robot can quickly locate the location of the dirt through the semantic map after returning to the station.
本申请的实施例中，清洁机器人在识别到脏污图像之后，结合语义地图，能够确定脏污图像中的脏污在语义地图中的定位信息，使清洁机器人能够精准定位脏污图像中的脏污，避免清洁机器人回站后重新定位脏污位置的过程，进一步提高了清洁机器人的清洁效率。In an embodiment of the present application, after identifying a dirty image, the cleaning robot can determine the location information of the dirt in the dirty image in the semantic map in combination with the semantic map, so that the cleaning robot can accurately locate the dirt in the dirty image, avoiding the process of relocating the dirt position after the cleaning robot returns to the station, thereby further improving the cleaning efficiency of the cleaning robot.
在在根据本申请的一个实施例中，如图9所示，提出一种清洁机器人的控制方法，由清洁机器人执行，清洁机器人包括湿式清洁件，湿式清洁件设于清洁机器人尾部，清洁机器人的控制方法包括：In one embodiment of the present application, as shown in FIG. 9 , a control method of a cleaning robot is proposed, which is executed by the cleaning robot. The cleaning robot includes a wet cleaning member, which is disposed at the tail of the cleaning robot. The control method of the cleaning robot includes:
步骤902，在清洁机器人沿行进方向行驶的过程中，获取地面图像，地面图像是由设置于清洁机器人头部的图像采集装置采集；Step 902, while the cleaning robot is moving in the direction of travel, a ground image is acquired, where the ground image is acquired by an image acquisition device disposed on the head of the cleaning robot;
步骤904，在沿行进方向距离清洁机器人预设距离处存在液体脏污时，控制清洁机器人调整尾部朝向，以使湿式清洁件朝向液体脏污；Step 904, when there is liquid dirt at a preset distance from the cleaning robot along the traveling direction, controlling the cleaning robot to adjust the tail direction so that the wet cleaning element faces the liquid dirt;
步骤906，控制清洁机器人继续沿行进方向行驶，并控制湿式清洁件运行以清洁液体脏污。Step 906, controlling the cleaning robot to continue to move in the traveling direction, and controlling the wet cleaning element to operate to clean liquid dirt.
本申请的实施例中提出了一种清洁机器人的控制方法，清洁机器人包括湿式清洁件和图像采集装置，该湿式清洁件设置在清洁机器人的尾部，图像采集装置设置在清洁机器人的头部。在清洁机器人沿行进方向行驶的过程中，清洁机器人的头部朝前且尾部朝后，图像采集装置能够对清洁机器人的行进方向上的地面图像进行采集。清洁机器人在采集到的地面图像中识别到液体脏污时，则通过图像识别的方式确定清洁机器人与液体脏污之间的距离是否达到预设距离。在清洁机器人与液体脏污之间的距离达到预设距离的情况下，则控制清洁机器人调整尾部朝向，使尾部朝向液体脏污，并控制清洁机器人继续沿行进方向行驶，使位于尾部的湿式清洁件先与液体脏污接触，提高清洁效果和清洁效率。In an embodiment of the present application, a control method for a cleaning robot is proposed. The cleaning robot includes a wet cleaning part and an image acquisition device. The wet cleaning part is arranged at the tail of the cleaning robot, and the image acquisition device is arranged at the head of the cleaning robot. When the cleaning robot moves along the travel direction, the head of the cleaning robot faces forward and the tail faces backward, and the image acquisition device can collect the ground image in the travel direction of the cleaning robot. When the cleaning robot recognizes liquid dirt in the collected ground image, it determines whether the distance between the cleaning robot and the liquid dirt reaches a preset distance by image recognition. When the distance between the cleaning robot and the liquid dirt reaches the preset distance, the cleaning robot is controlled to adjust the direction of the tail so that the tail faces the liquid dirt, and the cleaning robot is controlled to continue to move along the travel direction so that the wet cleaning part located at the tail contacts the liquid dirt first, thereby improving the cleaning effect and cleaning efficiency.
示例性地，清洁机器人靠近头部位置设置有干式清洁件，在调整行驶朝向后清洁机器人继续沿行进方向行驶，控制湿式清洁件运行，并控制干式清洁件停止运行，在保证湿式清洁件对液体脏污的清洁效率的同时，避免将液体脏污收集到清洁机器人内部。Exemplarily, a dry cleaning component is provided near the head position of the cleaning robot. After adjusting the driving direction, the cleaning robot continues to move in the driving direction, controls the wet cleaning component to run, and controls the dry cleaning component to stop running, thereby ensuring the cleaning efficiency of the wet cleaning component on liquid dirt while avoiding the collection of liquid dirt into the inside of the cleaning robot.
本申请实施例中，清洁机器人能够通过图像识别的方式确定脏污为液体脏污，并在距离液体脏污达到预设距离时，调整清洁机器人的行驶朝向，使湿式清洁件优先与液体脏污接触，能够使湿式清洁件优先与液体脏污接触，以提高清洁效果。In an embodiment of the present application, the cleaning robot can determine that the dirt is liquid dirt through image recognition, and when the distance from the liquid dirt reaches a preset distance, the cleaning robot can adjust the driving direction of the cleaning robot so that the wet cleaning parts come into contact with the liquid dirt first, thereby improving the cleaning effect.
在上述任一实施例中，在沿行进方向距离清洁机器人预设距离处存在液体脏污时，控制清洁机器人调整尾部朝向，包括：In any of the above embodiments, when there is liquid dirt at a preset distance from the cleaning robot along the traveling direction, controlling the cleaning robot to adjust the tail direction includes:
根据脏污图像特征确定脏污为液体脏污，以及确定清洁机器人与液体脏污之间的第一距离，脏污图像特征包括在地面图像中提取到的图像特征；Determining that the dirt is liquid dirt according to dirt image features, and determining a first distance between the cleaning robot and the liquid dirt, wherein the dirt image features include image features extracted from the ground image;
基于第一距离小于或等于预设距离，控制清洁机器人调整尾部朝向。Based on the first distance being less than or equal to the preset distance, the cleaning robot is controlled to adjust the direction of the tail.
在该实施例中，在拍摄得到地面图像时，能够提取地面图像中的脏污图像特征，并对脏污图像特征进行图像识别以确定脏污为液体脏污。在确定地面图像中的脏污图像特征为液体脏污时，通过图像识别算法确定液体脏污与清洁机器人之间的第一距离。在第一距离小于或等于预设距离时，则需要调整清洁机器人的行驶朝向，使清洁机器人的尾部朝向该液体脏污。In this embodiment, when the ground image is captured, the dirty image features in the ground image can be extracted, and the dirty image features are image recognized to determine that the dirt is liquid dirt. When the dirty image features in the ground image are determined to be liquid dirt, the first distance between the liquid dirt and the cleaning robot is determined by the image recognition algorithm. When the first distance is less than or equal to the preset distance, the driving direction of the cleaning robot needs to be adjusted so that the tail of the cleaning robot faces the liquid dirt.
示例性地，清洁机器人能够通过图像识别算法识别到地面图像中的脏污图像特征对应的脏污类型，以及脏污图像特征对应的脏污与清洁机器人之间的间距，不同类型的脏污包括但不限于：液体脏污、固体脏污等。Exemplarily, the cleaning robot can identify the type of dirt corresponding to the dirty image features in the ground image, as well as the distance between the dirt corresponding to the dirty image features and the cleaning robot through an image recognition algorithm. Different types of dirt include but are not limited to: liquid dirt, solid dirt, etc.
本申请实施例中，清洁机器人在行驶过程中通过头部的图像采集装置采集地面图像，并通过图像识别算法确定地面图像中的脏污图像特征的脏污类型，以及该脏污图像特征对应的脏污与清洁机器人之间的第一距离，提高了基于脏污类型和第一距离对清洁机器人调整行驶朝向，以及控制清洁件运行的及时性和准确性。在根据本申请的一个实施例中，如图10所示，提出一种清洁机器人的控制装置1000，应用于清洁机器人。In an embodiment of the present application, the cleaning robot collects ground images through an image acquisition device on its head during driving, and determines the type of dirt of the dirt image feature in the ground image and the first distance between the dirt corresponding to the dirt image feature and the cleaning robot through an image recognition algorithm, thereby improving the timeliness and accuracy of adjusting the driving direction of the cleaning robot based on the dirt type and the first distance, and controlling the operation of the cleaning parts. In an embodiment of the present application, as shown in FIG10 , a control device 1000 for a cleaning robot is proposed, which is applied to the cleaning robot.
清洁机器人的控制装置1000包括：The control device 1000 of the cleaning robot includes:
采集模块1002，用于在清洁机器人行驶的过程中，通过图像采集装置采集脏污图像；The acquisition module 1002 is used to acquire dirty images through an image acquisition device during the driving of the cleaning robot;
确定模块1004，用于根据脏污图像，确定脏污的类型信息和/或尺寸信息；A determination module 1004 is used to determine the type information and/or size information of dirt according to the dirt image;
控制模块1006，用于根据类型信息和/或尺寸信息，控制清洁机器人运行。The control module 1006 is used to control the operation of the cleaning robot according to the type information and/or size information.
本申请的实施例中提出了一种清洁机器人的控制装置，清洁机器人行驶在清洁路径上时，持续通过图像采集装置采集脏污图像。通过对脏污图像进行识别，能够确定所需清洁的脏污的尺寸信息，以及脏污的类型信息，并据此对清洁机器人清洁脏污的过程进行规划，无需用户手动对脏污的清洁方式进行设置，清洁机器人能够自动选择效率高的方式清洁脏污，提高了用户使用清洁机器人的便捷性。In the embodiment of the present application, a control device for a cleaning robot is proposed. When the cleaning robot is traveling on a cleaning path, it continuously collects dirt images through an image acquisition device. By identifying the dirt images, the size information of the dirt to be cleaned and the type information of the dirt can be determined, and the cleaning process of the cleaning robot can be planned accordingly. The user does not need to manually set the cleaning method for the dirt. The cleaning robot can automatically select a highly efficient method to clean the dirt, thereby improving the convenience of the user using the cleaning robot.
清洁机器人上设置有图像采集装置，在清洁机器人出站执行清洁任务时，保持该图像采集装置的运行状态，以对清洁机器人周围的拍摄数据进行采集。The cleaning robot is provided with an image acquisition device. When the cleaning robot goes out to perform a cleaning task, the image acquisition device is kept in a running state to collect shooting data around the cleaning robot.
在该实施例中，清洁机器人在通过图像采集装置进行拍摄的过程中，通过语义识别的方式判断采集到的拍摄数据是否包括脏污图像，在采集到脏污图像后，基于对该脏污图像的识别，对清洁机器人对相应脏污的清洁方式进行规划。In this embodiment, during the process of shooting through the image acquisition device, the cleaning robot determines whether the captured shooting data includes a dirty image through semantic recognition. After capturing the dirty image, based on the recognition of the dirty image, the cleaning robot plans the cleaning method for the corresponding dirt.
需要说明的是，清洁机器人在识别到脏污图像之后，结合语义地图，能够确定脏污图像中的脏污在语义地图中的定位信息，使清洁机器人能够精准定位脏污图像中的脏污。It should be noted that after recognizing the dirty image, the cleaning robot can determine the location information of the dirt in the dirty image in the semantic map in combination with the semantic map, so that the cleaning robot can accurately locate the dirt in the dirty image.
本申请的实施例中，清洁机器人通过图像采集装置，采集清洁机器人行驶路径所在区域内的脏污图像，通过识别该脏污图像能够使清洁机器人确定脏污的类型信息，以及尺寸信息。清洁机器人能够基于识别到的类型信息，以及尺寸信息自动对脏污图像中的脏污进行清洁，无需进行人工参数设置，提高了用户使用清洁机器人的便捷性，还保证了清洁机器人在识别到脏污时，能够及时对其进行清洁，提高了清洁效率。In the embodiment of the present application, the cleaning robot collects the dirty image in the area where the cleaning robot's driving path is located through the image acquisition device, and can determine the type information and size information of the dirt by identifying the dirty image. The cleaning robot can automatically clean the dirt in the dirty image based on the identified type information and size information, without the need for manual parameter setting, which improves the convenience of the user to use the cleaning robot, and also ensures that the cleaning robot can clean it in time when the dirt is identified, thereby improving the cleaning efficiency.
在上述任一实施例中，确定模块1004，用于根据类型信息，确定多个清洁组件中的目标组件；In any of the above embodiments, the determination module 1004 is used to determine a target component among the plurality of cleaning components according to the type information;
确定模块1004，用于根据尺寸信息，规划清洁机器人的清洁路径；A determination module 1004 is used to plan a cleaning path of the cleaning robot according to the size information;
控制模块1006，用于控制清洁机器人沿清洁路径行驶；The control module 1006 is used to control the cleaning robot to travel along the cleaning path;
控制模块1006，用于在清洁机器人行驶过程中，控制目标组件运行。The control module 1006 is used to control the operation of the target component during the driving process of the cleaning robot.
在该实施例中提出了清洁机器人通过类型信息，以及尺寸信息对清洁方式进行规划的具体过程，提高清洁机器人对该脏污进行清洁的清洁效率。This embodiment proposes a specific process in which the cleaning robot plans the cleaning method through type information and size information, thereby improving the cleaning efficiency of the cleaning robot in cleaning the dirt.
在该实施例中，清洁机器人配备有多种不同的清洁组件，以应对不同性状的脏污。清洁机器人通过识别到的类型信息，确定脏污图像中的脏污的性状，例如：液体脏污、固体脏污。清洁机器人能够通过识别到的类型信息，选择多个清洁组件中的目标组件对脏污进行清洁，实现了清洁机器人能够对不同类型信息的脏污选择相应的清洁组件进行清洁，进一步提高了清洁效率和清洁效果。In this embodiment, the cleaning robot is equipped with a plurality of different cleaning components to deal with dirt of different properties. The cleaning robot determines the properties of the dirt in the dirt image by identifying the type information, such as liquid dirt and solid dirt. The cleaning robot can select a target component from a plurality of cleaning components to clean the dirt by identifying the type information, so that the cleaning robot can select the corresponding cleaning component to clean the dirt of different types of information, further improving the cleaning efficiency and cleaning effect.
在该实施例中，清洁机器人能够通过识别到的尺寸信息，确定脏污对地面的覆盖范围。清洁机器人能够针对不同的尺寸信息，规划相应的清洁路径，从而提高对脏污的清洁效率。In this embodiment, the cleaning robot can determine the coverage of the dirt on the ground through the identified size information. The cleaning robot can plan corresponding cleaning paths according to different size information, thereby improving the cleaning efficiency of the dirt.
本申请的实施例中，清洁机器人基于类型信息选择目标组件，以及基于尺寸信息确定清洁路径之后，控制清洁机器人按照清洁路径行驶，并在行驶时开启目标组件对脏污图像中的脏污进行清洁。In an embodiment of the present application, the cleaning robot selects a target component based on the type information, and after determining a cleaning path based on the size information, controls the cleaning robot to travel along the cleaning path, and turns on the target component to clean the dirt in the dirty image while traveling.
使清洁机器人在清洁过程中使用的目标组件与脏污的性状相符，且清洁轨迹能够覆盖完整的脏污，保证了清洁效果的同时，还能够提高清洁机器人对脏污的清洁效率。The target component used by the cleaning robot during the cleaning process is made to match the properties of the dirt, and the cleaning trajectory can cover the entire dirt, which ensures the cleaning effect while also improving the cleaning efficiency of the cleaning robot for the dirt.
在上述任一实施例中，确定模块1004，用于基于类型信息为液体类型，确定拖擦组件为目标组件；In any of the above embodiments, the determination module 1004 is used to determine that the dragging and wiping component is the target component based on the type information being a liquid type;
确定模块1004，用于基于类型信息为固体类型，确定吸尘组件为目标组件。The determination module 1004 is used to determine that the dust collection component is a target component based on the type information being a solid type.
在该实施例中提供了清洁机器人根据类型信息，选择吸尘组件和拖擦组件中的一个作为目标组件的过程。This embodiment provides a process in which the cleaning robot selects one of the dust collection component and the mopping component as a target component according to type information.
在该实施例中，在检测到类型信息为液体类型，即判定脏污属于液体脏污，则清洁机器人将用于清洁液体脏污的拖擦组件作为目标组件。在清洁机器人运行过程中，控制抹布盘旋转，对液体脏污拖干，并保持吸尘组件停止运行，避免将液体脏污收集到清洁机器人内部。In this embodiment, when the type information is detected as a liquid type, that is, the dirt is determined to be liquid dirt, the cleaning robot uses the mopping component for cleaning liquid dirt as the target component. During the operation of the cleaning robot, the rag plate is controlled to rotate to mop the liquid dirt, and the dust collection component is kept stopped to avoid collecting liquid dirt inside the cleaning robot.
在该实施例中，在检测到类型信息为固体类型，即判定脏污属于固体脏污，则清洁机器人将用于清洁固体脏污的吸尘组件作为目标组件。在清洁机器人运行过程中，控制吸尘组件运行，对固体脏污进行收集，并保持拖擦组件停止运行，避免拖擦组件运行时将固体脏污打散影响清洁效率。In this embodiment, when the type information is detected as a solid type, that is, the dirt is determined to be solid dirt, the cleaning robot uses the vacuum component for cleaning solid dirt as the target component. During the operation of the cleaning robot, the vacuum component is controlled to operate to collect the solid dirt, and the mopping component is kept stopped to prevent the mopping component from breaking up the solid dirt and affecting the cleaning efficiency.
本申请的实施例中，清洁机器人能够根据脏污图像识别脏污为液体脏污或固体脏污，并在选用相应的目标组件对脏污进行清洁，提高了清洁效率的同时，还提高了清洁效果。In the embodiments of the present application, the cleaning robot can identify the dirt as liquid dirt or solid dirt based on the dirt image, and select the corresponding target component to clean the dirt, thereby improving the cleaning efficiency and the cleaning effect.
在上述任一实施例中，清洁机器人的控制装置1000还包括：In any of the above embodiments, the control device 1000 of the cleaning robot further includes:
识别模块，用于识别固体类型的脏污的颗粒物直径；Identification module, used to identify the particle diameter of solid type dirt;
确定模块1004，用于根据颗粒物直径，确定吸尘组件的运行功率。The determination module 1004 is used to determine the operating power of the dust collection component according to the diameter of the particles.
在该实施例中提出了在识别到脏污为固体脏污时，通过语义识别继续识别该固体脏污的颗粒物直径，并基于该颗粒物直径选择吸尘组件的运行功率，进一步保证吸尘组件对固体脏污的清洁效率和清洁效果。In this embodiment, it is proposed that when the dirt is identified as solid dirt, the particle diameter of the solid dirt is further identified through semantic recognition, and the operating power of the dust collection component is selected based on the particle diameter, so as to further ensure the cleaning efficiency and cleaning effect of the dust collection component on the solid dirt.
需要说明的是，脏污的颗粒物直径越大，则对固体脏污的进行清洁时，吸尘组件所需的吸力越大。通过对脏污图像进行语义识别，能够确定固体脏污对应的颗粒物直径，并据此设置吸尘组件的运行功率，保证在对固体脏污进行清洁时，能够有足够的吸力对固体脏污进行收集。It should be noted that the larger the diameter of the dirt particles, the greater the suction force required by the dust collection component when cleaning solid dirt. By performing semantic recognition on the dirt image, the particle diameter corresponding to the solid dirt can be determined, and the operating power of the dust collection component can be set accordingly to ensure that there is sufficient suction force to collect the solid dirt when cleaning.
本申请的实施例中，清洁机器人不仅能够识别脏污的类型信息，还能够在脏污为固体脏污时，识别固体脏污的颗粒物直径，并据此调整吸尘组件的运行功率，实现了在保证对脏污清洁效果的同时，降低能源的浪费。In an embodiment of the present application, the cleaning robot can not only identify the type information of dirt, but also identify the particle diameter of solid dirt when the dirt is solid dirt, and adjust the operating power of the dust collection component accordingly, thereby ensuring the cleaning effect of dirt while reducing energy waste.
在上述任一实施例中，确定模块1004，用于在脏污面积大于或等于预设面积的情况下，将第一清洁轨迹确定为清洁进程路径；In any of the above embodiments, the determination module 1004 is used to determine the first cleaning trajectory as the cleaning process path when the dirty area is greater than or equal to the preset area;
确定模块1004，用于在脏污面积小于预设面积的情况下，将第二清洁轨迹确定为清洁进程路径。The determination module 1004 is used to determine the second cleaning trajectory as the cleaning process path when the dirt area is smaller than a preset area.
在该实施例中提出了根据脏污的脏污面积，选择不同性状的清洁轨迹作为清洁进程路径，提高对脏污清洁的清洁效果和清洁效率。In this embodiment, it is proposed to select cleaning trajectories with different characteristics as cleaning process paths according to the dirt area, so as to improve the cleaning effect and cleaning efficiency of the dirt cleaning.
在该实施例中，第一清洁轨迹和第二清洁轨迹的轨迹形状不同，在对不同脏污面积的脏污进行清洁时，通过选择不同形状的清洁轨迹，能够提高对脏污的清洁效率。其中，第一清洁轨迹为适用于对脏污面积较大的脏污进行清洁，故检测到脏污面积不小于预设面积时，将第一清洁轨迹作为清洁进程路径，保证对较大面积的脏污的清洁效果。第二清洁轨迹为适用于对面积较小的脏污进行清洁，故检测到脏污面积小于预设面积时，将第二清洁轨迹作为清洁进程路径，保证对较小面积的脏污的清洁效率。In this embodiment, the first cleaning track and the second cleaning track have different track shapes. When cleaning dirt with different dirt areas, the cleaning efficiency of the dirt can be improved by selecting cleaning tracks of different shapes. Among them, the first cleaning track is suitable for cleaning dirt with a larger dirt area. Therefore, when it is detected that the dirt area is not less than the preset area, the first cleaning track is As the cleaning process path, the cleaning effect of larger area dirt is guaranteed. The second cleaning trajectory is suitable for cleaning smaller area dirt, so when the dirt area is detected to be smaller than the preset area, the second cleaning trajectory is used as the cleaning process path to ensure the cleaning efficiency of smaller area dirt.
本申请的实施例中，清洁机器人能够通过将识别到的脏污面积与预设面积进行数值比对，并将基于比对结果选择不同形状的清洁轨迹作为清洁进程路径，实现了在保证对脏污清洁效果的同时，降低能源的浪费。In an embodiment of the present application, the cleaning robot can numerically compare the identified dirty area with the preset area, and select cleaning trajectories of different shapes as the cleaning process path based on the comparison result, thereby reducing energy waste while ensuring the cleaning effect of dirt.
在上述任一实施例中，第一清洁轨迹包括“弓”字形轨迹；和/或第二清洁轨迹包括“回”字形轨迹。In any of the above embodiments, the first cleaning trajectory includes a “bow”-shaped trajectory; and/or the second cleaning trajectory includes a “U”-shaped trajectory.
在该实施例中，“弓”字形轨迹适合对较大脏污面积的脏污进行清洁，故将第一清洁轨迹设置包括“弓”字形轨迹。“回”字形轨迹适合对较小脏污面积的脏污进行清洁，故将第二清洁轨迹设置包括“回”字形轨迹。In this embodiment, the "bow"-shaped track is suitable for cleaning dirt with a larger dirt area, so the first cleaning track is set to include the "bow"-shaped track. The "return"-shaped track is suitable for cleaning dirt with a smaller dirt area, so the second cleaning track is set to include the "return"-shaped track.
本申请实施例中通过选择将“弓”字形轨迹作为第一清洁轨迹，以及将“回”字形轨迹作为第二清洁轨迹，能够保证清洁机器人根据不同脏污面积均能够选择到合适的清洁轨迹对其进行清洁。In the embodiment of the present application, by selecting the "bow"-shaped trajectory as the first cleaning trajectory and the "return"-shaped trajectory as the second cleaning trajectory, it can be ensured that the cleaning robot can select the appropriate cleaning trajectory for cleaning according to different dirty areas.
在上述任一实施例中，确定模块1004，用于基于尺寸信息确定清洁路径中的回站导航路径的数量。In any of the above embodiments, the determination module 1004 is used to determine the number of return navigation paths in the cleaning path based on the size information.
在该实施例中提出了根据尺寸信息能够确定清洁机器人的回站次数，并据此对清洁机器人完整的清洁路径进行规划，避免清洁机器人过多次数回站导致的能源浪费，也避免清洁机器人过少次回站导致清洁机器人影响对脏污的清洁效果。In this embodiment, it is proposed that the number of times the cleaning robot returns to the station can be determined based on the size information, and the complete cleaning path of the cleaning robot can be planned accordingly, so as to avoid energy waste caused by the cleaning robot returning to the station too many times, and also avoid the cleaning robot returning to the station too few times, which will affect the cleaning effect of the dirt.
具体来说，在脏污的尺寸信息较大时，判定脏污量比较大，则需要较多次回站对清洁机器人内部的脏污进行清理，避免清洁机器人的收集脏污的装置满溢后影响清洁效果。在脏污的尺寸信息较小时，判定脏污量比较小，则需要较少次回站对清洁机器人内部的脏污进行清理，避免多次回站导致的浪费能源。Specifically, when the size information of the dirt is large, it is determined that the amount of dirt is large, and it is necessary to return to the station more often to clean the dirt inside the cleaning robot, so as to avoid the cleaning effect being affected by the overflow of the dirt collecting device of the cleaning robot. When the size information of the dirt is small, it is determined that the amount of dirt is small, and it is necessary to return to the station less often to clean the dirt inside the cleaning robot, so as to avoid wasting energy caused by multiple returns to the station.
本申请实施例中，清洁机器人在清洁开始之前，能够根据尺寸信息规划清洁路径中回站导航路径的数量，使清洁机器人能够及时对收集的脏污进行清理，从而提高清洁效果，并且避免过多次数回站造成的能源浪费。In an embodiment of the present application, before cleaning begins, the cleaning robot can plan the number of return navigation paths in the cleaning path based on the size information, so that the cleaning robot can clean the collected dirt in time, thereby improving the cleaning effect and avoiding energy waste caused by too many returns to the station.
在上述任一实施例中，确定模块1004，用于基于目标组件，确定清洁机器人的行驶姿态，其中，在清洁机器人按照行驶姿态行驶过程中，多个清洁组件中的目标组件优先与脏污接触。In any of the above embodiments, the determination module 1004 is used to determine the driving posture of the cleaning robot based on the target component, wherein, when the cleaning robot drives according to the driving posture, the target component among the multiple cleaning components preferentially contacts the dirt.
在该实施例中，清洁机器人能够根据在多个清洁组件中选择的目标组件，确定清洁机器人在行驶过程中的行驶姿态。使清洁机器人行驶过程中，目标组件在清洁机器人的前方，优先与脏污进行接触，保证在清洁机器人的目标组件对脏污的清洁效果，避免其他组件优先接触到脏污后，将脏污推散。In this embodiment, the cleaning robot can determine the driving posture of the cleaning robot during driving according to the target component selected from the multiple cleaning components. When the cleaning robot is driving, the target component is in front of the cleaning robot and contacts the dirt first, so as to ensure the cleaning effect of the dirt by the target component of the cleaning robot and avoid other components contacting the dirt first and then pushing the dirt away.
本申请的实施例中，清洁机器人通过确定自身的行驶姿态，从而保证多个清洁组件中的目标组件优先与脏污接触，以保证清洁机器人对脏污的清洁效果和清洁效率。In the embodiment of the present application, the cleaning robot determines its own driving posture to ensure that a target component among multiple cleaning components contacts the dirt first, so as to ensure the cleaning effect and cleaning efficiency of the cleaning robot on the dirt.
在上述任一实施例中，控制模块1006，用于控制清洁机器人按照初始行驶姿态，行驶至目标区域，目标区域为脏污所在区域；In any of the above embodiments, the control module 1006 is used to control the cleaning robot to drive to the target area according to the initial driving posture, and the target area is the area where the dirt is located;
控制模块1006，用于控制清洁机器人按照目标行驶姿态，在目标区域内行驶；The control module 1006 is used to control the cleaning robot to drive in the target area according to the target driving posture;
控制模块1006，用于基于清洁机器人行驶至目标区域外，控制清洁机器人由目标行驶姿态切换至初始行驶姿态进行行驶。The control module 1006 is used to control the cleaning robot to switch from the target driving posture to the initial driving posture for driving based on the cleaning robot driving out of the target area.
本申请的实施例中，清洁机器人行驶在目标区域之外的情况下，清洁机器人保持初始行驶姿态行驶，提高了清洁机器人在不对脏污进行清洁阶段的行驶速度。并且清洁机器人形式在目标区域之内的情况下，清洁机器人以目标行驶姿态行驶，保证了清洁机器人的目标组件能够优先与脏污接触，保证对脏污的清洁效果和清洁效率。In the embodiment of the present application, when the cleaning robot is outside the target area, the cleaning robot maintains the initial driving posture, thereby increasing the driving speed of the cleaning robot in the stage of not cleaning dirt. And when the cleaning robot is within the target area, the cleaning robot drives in the target driving posture, thereby ensuring that the target component of the cleaning robot can contact the dirt first, thereby ensuring the cleaning effect and cleaning efficiency of the dirt.
在上述任一实施例中，确定模块1004，用于通过语义识别算法，确定脏污图像中的参照物特征和类型信息；In any of the above embodiments, the determination module 1004 is used to determine the reference object features and type information in the dirty image through a semantic recognition algorithm;
确定模块1004，用于根据参照物特征，确定尺寸信息。The determination module 1004 is used to determine the size information according to the characteristics of the reference object.
在该实施例中提出了根据语义识别算法，识别采集到的脏污图像中的参照物特征和脏污特征，通过语义模型对脏污特征进行识别，得到脏污对应的类型信息。通过将参照物特征与脏污特征通过算法进行比对，得到脏污对应的尺寸信息。In this embodiment, it is proposed to identify the reference object features and dirt features in the collected dirt image according to the semantic recognition algorithm, identify the dirt features through the semantic model, and obtain the type information corresponding to the dirt. By comparing the reference object features with the dirt features through the algorithm, the size information corresponding to the dirt is obtained.
本申请的实施例中，清洁机器人能够通过脏污图像准确识别脏污的尺寸信息，以及脏污的类型信息，便于后续对清洁机器人运行进行控制。In the embodiments of the present application, the cleaning robot can accurately identify the size information of the dirt and the type information of the dirt through the dirt image, so as to facilitate the subsequent control of the operation of the cleaning robot.
在上述任一实施例中，确定模块1004，用于根据脏污图像，确定脏污的定位信息；In any of the above embodiments, the determination module 1004 is used to determine the location information of the dirt according to the dirt image;
清洁机器人的控制装置1000还包括：The control device 1000 of the cleaning robot also includes:
更新模块，用于根据定位信息，更新清洁机器人中的语义地图。The updating module is used to update the semantic map in the cleaning robot according to the positioning information.
在该实施例中提出了清洁机器人能够基于对脏污图像的识别，确定脏污在语义地图中的定位信息，并基于该定位信息对语义地图进行更新，实现了清洁机器人在回站后，通过语义地图能够快速定位到脏污所在位置。In this embodiment, it is proposed that the cleaning robot can determine the location information of the dirt in the semantic map based on the recognition of the dirty image, and update the semantic map based on the location information, so that the cleaning robot can quickly locate the location of the dirt through the semantic map after returning to the station.
本申请的实施例中，清洁机器人在识别到脏污图像之后，结合语义地图，能够确定脏污图像中的脏污在语义地图中的定位信息，使清洁机器人能够精准定位脏污图像中的脏污，避免清洁机器人回站后重新定位脏污位置的过程，进一步提高了清洁机器人的清洁效率。In an embodiment of the present application, after identifying a dirty image, the cleaning robot can determine the location information of the dirt in the dirty image in the semantic map in combination with the semantic map, so that the cleaning robot can accurately locate the dirt in the dirty image, avoiding the process of relocating the dirt position after the cleaning robot returns to the station, thereby further improving the cleaning efficiency of the cleaning robot.
在根据本申请的一个实施例中，如图11所示，提出了一种清洁机器人的控制装置1100，应用于清洁机器人，清洁机器人包括湿式清洁件，湿式清洁件设于清洁机器人尾部，清洁机器人的控制装置1100包括：In one embodiment of the present application, as shown in FIG. 11 , a control device 1100 of a cleaning robot is proposed, which is applied to the cleaning robot. The cleaning robot includes a wet cleaning member, which is disposed at the tail of the cleaning robot. The control device 1100 of the cleaning robot includes:
获取模块1102，用于在清洁机器人沿行进方向行驶的过程中，获取地面图像，地面图像是由设置于清洁机器人头部的图像采集装置采集；An acquisition module 1102 is used to acquire a ground image when the cleaning robot is traveling along a moving direction. The ground image is acquired by an image acquisition device disposed on the head of the cleaning robot;
控制模块1104，用于在沿行进方向距离清洁机器人预设距离处存在液体脏污时，控制清洁机器人调整尾部朝向，以使湿式清洁件朝向液体脏污；The control module 1104 is used to control the cleaning robot to adjust the tail direction so that the wet cleaning element faces the liquid dirt when there is liquid dirt at a preset distance from the cleaning robot along the travel direction;
控制模块1104，用于控制清洁机器人继续沿行进方向行驶，并控制湿式清洁件运行以清洁液体脏污。The control module 1104 is used to control the cleaning robot to continue to move along the moving direction, and control the wet cleaning element to operate to clean liquid dirt.
本申请的实施例中提出了一种清洁机器人的控制装置，该清洁机器人的控制装置用于控制清洁机器人，清洁机器人包括湿式清洁件和图像采集装置，该湿式清洁件设置在清洁机器人的尾部，图像采集装置设置在清洁机器人的头部。在清洁机器人沿行进方向行驶的过程中，清洁机器人的头部朝前且尾部朝后，图像采集装置能够对清洁机器人的行进方向上的地面图像进行采集。清洁机器人在采集到的地面图像中识别到液体脏污时，则通过图像识别的方式确定清洁机器人与液体脏污之间的距离是否达到预设距离。在清洁机器人与液体脏污之间的距离达到预设距离的情况下，则控制清洁机器人调整尾部朝向，使尾部朝向液体脏污，并控制清洁机器人继续沿行进方向行驶，使位于尾部的湿式清洁件先与液体脏污接触，提高清洁效果和清洁效率。In an embodiment of the present application, a control device for a cleaning robot is proposed. The control device for the cleaning robot is used to control the cleaning robot. The cleaning robot includes a wet cleaning member and an image acquisition device. The wet cleaning member is arranged at the tail of the cleaning robot, and the image acquisition device is arranged at the head of the cleaning robot. When the cleaning robot moves along the travel direction, the head of the cleaning robot faces forward and the tail faces backward, and the image acquisition device can collect the ground image in the travel direction of the cleaning robot. When the cleaning robot recognizes liquid dirt in the collected ground image, it determines whether the distance between the cleaning robot and the liquid dirt reaches a preset distance by image recognition. When the distance between the cleaning robot and the liquid dirt reaches the preset distance, the cleaning robot is controlled to adjust the direction of the tail so that the tail faces the liquid dirt, and the cleaning robot is controlled to continue to move along the travel direction so that the wet cleaning member located at the tail contacts the liquid dirt first, thereby improving the cleaning effect and cleaning efficiency.
本申请实施例中，清洁机器人能够通过图像识别的方式确定脏污为液体脏污，并在距离液体脏污达到预设距离时，调整清洁机器人的行驶朝向，使湿式清洁件优先与液体脏污接触，能够使湿式清洁件优先与液体脏污接触，以提高清洁效果。In an embodiment of the present application, the cleaning robot can determine that the dirt is liquid dirt through image recognition, and when the distance from the liquid dirt reaches a preset distance, the cleaning robot can adjust the driving direction of the cleaning robot so that the wet cleaning parts come into contact with the liquid dirt first, thereby improving the cleaning effect.
在根据本申请的一个实施例中，如图12所示，提出了一种清洁机器人的控制装置1200，包括：处理器1202和存储器1204，存储器1204中存储有程序或指令；处理器1202执行存储在存储器1204中的程序或指令以实现如上述任一实施例中的清洁机器人的控制方法的步骤，因而具有上述任一实施例中的清洁机器人的控制方法的全部有益技术效果，在此不再做过多赘述。In one embodiment of the present application, as shown in Figure 12, a control device 1200 for a cleaning robot is proposed, including: a processor 1202 and a memory 1204, in which programs or instructions are stored; the processor 1202 executes the program or instructions stored in the memory 1204 to implement the steps of the control method for the cleaning robot in any of the above embodiments, and thus has all the beneficial technical effects of the control method for the cleaning robot in any of the above embodiments, which will not be elaborated herein.
在根据本申请的一个实施例中，提出了一种计算机程序产品，计算机程序产品被处理器执行时实现如上述任一实施例中的清洁机器人的控制方法的步骤，因而具有上述任一实施例中的清洁机器人的控制方法的全部有益技术效果，在此不再做过多赘述。In one embodiment of the present application, a computer program product is proposed. When the computer program product is executed by a processor, it implements the steps of the control method of the cleaning robot in any of the above embodiments, and thus has all the beneficial technical effects of the control method of the cleaning robot in any of the above embodiments, which will not be elaborated herein.
在根据本申请的一个实施例中，提出了一种可读存储介质，可读存储介质上存储有程序或指令，程序或指令被处理器执行时实现如上述任一实施例中的清洁机器人的控制方法的步骤。因而具有上述任一实施例中的清洁机器人的控制方法的全部有益技术效果，在此不再做过多赘述。In one embodiment of the present application, a readable storage medium is provided, on which a program or instruction is stored, and when the program or instruction is executed by a processor, the steps of the control method of the cleaning robot in any of the above embodiments are implemented. Therefore, all the beneficial technical effects of the control method of the cleaning robot in any of the above embodiments are achieved, and no further elaboration is made here.
在根据本申请的一个实施例中，如图13所示，提出了一种清洁机器人1300，包括：如上述任一实施例中的清洁机器人的控制装置1200，和/或上述任一实施例中的计算机程序产品1302，和/或上述任一实施例中的可读存储介质1304，因而具有上述任一实施例中的清洁机器人的控制装置1000，和/或上述任一实施例中的计算机程序产品1302，和/或上述任一实施例中的可读存储介质1304的全部有益技术效果，在此不再做过多赘述。In one embodiment according to the present application, as shown in Figure 13, a cleaning robot 1300 is proposed, including: a control device 1200 of the cleaning robot as in any of the above embodiments, and/or a computer program product 1302 in any of the above embodiments, and/or a readable storage medium 1304 in any of the above embodiments, and thus has all the beneficial technical effects of the control device 1000 of the cleaning robot in any of the above embodiments, and/or the computer program product 1302 in any of the above embodiments, and/or the readable storage medium 1304 in any of the above embodiments, and no further details will be given here.
根据本申请的一个实施例中，如图14所示，提出了一种清洁方法，由清洁机器人执行，包括：According to one embodiment of the present application, as shown in FIG14 , a cleaning method is proposed, which is performed by a cleaning robot, comprising:
步骤1402，通过图像采集装置采集脏污图像；Step 1402, collecting a dirty image by an image collection device;
步骤1404，基于脏污图像，识别目标污渍；Step 1404, identifying a target stain based on the stain image;
步骤1406，至少部分基于目标污渍的污渍信息，控制清洁机器人沿第一行驶轨迹行驶，以对目标污渍进行清洁。Step 1406: Based at least in part on the stain information of the target stain, control the cleaning robot to travel along a first driving trajectory to clean the target stain.
本申请的实施例提出了一种清洁方法，在清洁机器人行驶的过程中，持续通过图像采集装置采集脏污图像。通过对脏污图像进行识别，从而识别到脏污图像中的目标污渍。至少部分根据目标污渍的污渍信息对清洁机器人的第一行驶轨迹进行规划，能够对不同的目标污渍确定针对性的特地行驶轨迹，从而保证清洁机器人的清洁效果，避免相关技术中固定轨迹无法清洁干净现象的发生，不需要用户多次设置或手动清洁，提高用户使用清洁机器人的便捷性，提高用户的使用体验。The embodiment of the present application proposes a cleaning method, in which a dirty image is continuously collected by an image acquisition device during the driving process of the cleaning robot. The dirty image is identified, thereby identifying the target stain in the dirty image. The first driving trajectory of the cleaning robot is planned at least in part based on the stain information of the target stain, and a targeted special driving trajectory can be determined for different target stains, thereby ensuring the cleaning effect of the cleaning robot, avoiding the occurrence of the fixed trajectory in the related art that cannot be cleaned completely, and does not require the user to set up or clean manually multiple times, thereby improving the convenience of the user using the cleaning robot and improving the user's experience.
其中，在规划第一行驶轨迹的过程中，至少需要根据污渍信息进行规划，即在规划过程中，还可以根据实际需求选择根据目标污渍的定位信息等信息对第一行驶轨迹进行规划。In the process of planning the first driving trajectory, it is necessary to at least plan based on the stain information, that is, in the planning process, the first driving trajectory can also be planned based on the location information of the target stain and other information according to actual needs.
如图2所示，清洁机器人200的本体230上设置有图像采集装置220，在清洁机器人200出站执行清洁任务时，保持该图像采集装置220的运行状态，以对清洁机器人200周围的拍摄数据进行采集。As shown in FIG. 2 , an image acquisition device 220 is disposed on the body 230 of the cleaning robot 200 . When the cleaning robot 200 goes out to perform a cleaning task, the image acquisition device 220 is kept in operation to collect shooting data around the cleaning robot 200 .
示例性地，图像采集装置的数量可以为1个，也可以为多个，图像采集装置可以设置在清洁机器人的本体的顶部、侧壁等位置。具体例如：图像采集装置设置在本体的碰撞缓冲板上。Exemplarily, the number of image acquisition devices may be one or more, and the image acquisition devices may be arranged on the top, side wall, etc. of the body of the cleaning robot. For example, the image acquisition device is arranged on the collision buffer plate of the body.
在该实施例中，清洁机器人在通过图像采集装置进行拍摄的过程中，通过语义识别的方式判断采集到的拍摄数据是否包括脏污图像，在采集到脏污图像后，通过对脏污图像进行语义识别，得到目标污渍。In this embodiment, during the process of shooting through the image acquisition device, the cleaning robot determines whether the captured shooting data includes a dirty image by means of semantic recognition. After the dirty image is captured, the target stain is obtained by performing semantic recognition on the dirty image.
示例性地，清洁机器人的图像采集装置通过持续录制视频，得到视频数据，通过对视频数据进行语义识别，提取包括目标污渍的目标污渍特征的视频帧作为脏污图像。Exemplarily, the image acquisition device of the cleaning robot obtains video data by continuously recording video, and extracts video frames including target stain features of the target stain as dirty images by performing semantic recognition on the video data.
示例性地，清洁机器人的图像采集装置按照预设间隔采集图像数据，通过对采集到的图像数据进行语义识别，能够判断图像是否为脏污图像。在判断采集到的图像数据为非脏污图像时，则丢弃该图像数据，在判断采集到的图像数据为脏污图像时，识别该脏污图像中的目标污渍。Exemplarily, the image acquisition device of the cleaning robot acquires image data at preset intervals, and can determine whether the image is a dirty image by performing semantic recognition on the acquired image data. When the acquired image data is determined to be a non-dirty image, the image data is discarded, and when the acquired image data is determined to be a dirty image, the target stain in the dirty image is identified.
需要说明的是，清洁机器人在识别到脏污图像之后，结合语义地图，能够确定脏污图像中的目标污渍在语义地图中的定位信息，使清洁机器人能够精准定位脏污图像中的目标污渍。It should be noted that after identifying the dirty image, the cleaning robot can determine the location information of the target stain in the dirty image in the semantic map in combination with the semantic map, so that the cleaning robot can accurately locate the target stain in the dirty image.
本申请的实施例中，清洁机器人通过图像采集装置，采集清洁机器人行驶路径所在区域内的脏污图像，通过识别该脏污图像中的目标污渍，能够确定目标污渍的污渍信息。清洁机器人能够基于识别到的污渍信息控制清洁机器人按照第一行驶轨迹对目标污渍进行清洁，能够对不同的目标污渍针对性地规划行驶轨迹，保证对目标污渍的清洁效果，同时避免固定的清洁轨迹清洁效果不好或能耗较高现象的发生，整个过程无需进行人工参数设置，提高了用户使用清洁机器人的便捷性，不需要用户多次设置或手动清洁，提高了清洁效率。In an embodiment of the present application, the cleaning robot collects dirty images in the area where the cleaning robot's driving path is located through an image acquisition device, and can determine the stain information of the target stain by identifying the target stain in the dirty image. The cleaning robot can control the cleaning robot to clean the target stain according to the first driving trajectory based on the identified stain information, and can plan the driving trajectory for different target stains in a targeted manner to ensure the cleaning effect of the target stain, while avoiding the occurrence of fixed cleaning trajectories with poor cleaning effects or high energy consumption. The entire process does not require manual parameter settings, which improves the convenience of users using the cleaning robot, does not require users to set up multiple times or manually clean, and improves cleaning efficiency.
如图15所示，在上述任一实施例中，清洁方法，进一步包括：根据脏污图像，确定目标污渍的定位信息。As shown in FIG. 15 , in any of the above embodiments, the cleaning method further includes: determining the location information of the target stain according to the dirty image.
至少部分基于目标污渍的污渍信息，控制清洁机器人沿第一行驶轨迹行驶，包括：Controlling the cleaning robot to travel along a first travel trajectory based at least in part on the stain information of the target stain includes:
步骤1502，根据定位信息和污渍信息，规划第一行驶轨迹；Step 1502, planning a first driving trajectory according to the positioning information and the stain information;
其中，第一行驶轨迹包括以目标污渍的参考点为中心，由内向外盘绕延伸，和/或由外向内盘绕延伸；The first driving track includes a reference point of the target stain as the center, winding and extending from the inside to the outside, and/or winding and extending from the outside to the inside;
步骤1504，控制清洁机器人，按照第一行驶轨迹行驶。Step 1504: Control the cleaning robot to travel along a first driving trajectory.
在该实施例中提出了根据脏污图像，确定目标污渍的定位信息，根据定位信息和污渍信息规划完整的第一行驶轨迹，与整体的全屋清洁相比，能够通过第一行驶轨迹对目标污渍进行单独清洁，从而降低清洁机器人的能耗，减少清洁机器人提高清洁效率。In this embodiment, it is proposed to determine the positioning information of the target stain according to the dirty image, and plan a complete first driving trajectory according to the positioning information and the stain information. Compared with the overall whole-house cleaning, the target stain can be cleaned separately through the first driving trajectory, thereby reducing the energy consumption of the cleaning robot and improving the cleaning efficiency.
在该实施例中，第一行驶轨迹的形状为“回”字形，且第一行驶轨迹的行驶方向可以为由内向外，也可以为由外向内，还可以为上述两个方向往复式的移动。In this embodiment, the shape of the first driving track is a "U" shape, and the driving direction of the first driving track can be from inside to outside, from outside to inside, or can be a reciprocating movement in the above two directions.
在该实施例中，参考点是基于目标污渍的轮廓线确定的，该参考点可以为位于目标污渍范围内的坐标点。In this embodiment, the reference point is determined based on the contour of the target stain, and the reference point may be a coordinate point within the range of the target stain.
示例性地，参考点可以位于围绕(外接)目标污渍轮廓的最小矩形、圆形、椭圆形等图形轮廓的范围内。参考点可以为上述任一图形轮廓范围内的任何点，或者参考点可以为基于图形学算法计算出来的点。Exemplarily, the reference point may be located within the minimum rectangular, circular, elliptical or other graphic contour surrounding (circumscribing) the target stain contour. The reference point may be any point within the range of any of the above graphic contours, or the reference point may be a point calculated based on a graphics algorithm.
在一些实施例中，参考点为围绕(外接)目标污渍轮廓的最小矩形、圆形、椭圆形等图形轮廓的几何中心。In some embodiments, the reference point is the geometric center of the smallest rectangular, circular, elliptical, or other graphic outline that surrounds (circumscribes) the target stain outline.
在一些实施例中，参考点为围绕(外接)目标污渍轮廓的最小矩形的几何中心。In some embodiments, the reference point is the geometric center of the smallest rectangle that surrounds (circumscribes) the target stain outline.
示例性地，如图16所示，第一行驶轨迹为“回”字形轨迹1600。例如：第一行驶轨迹为由内向外的“回”字形轨迹，或由外向内的“回”字形轨迹，或由内向外后再由外向内的“回”字形轨迹，或由外向内后再由内向外的“回”字形轨迹。上述“回”字形轨迹的中心均为目标污渍的参考点。Exemplarily, as shown in FIG16 , the first running track is a U-shaped track 1600. For example, the first running track is a U-shaped track from inside to outside, or a U-shaped track from outside to inside, or a U-shaped track from inside to outside and then from outside to inside, or a U-shaped track from outside to inside and then from inside to outside. The centers of the above U-shaped tracks are all reference points of the target stains.
在该实施例中，根据脏污图像，能够确定目标污渍的定位信息，从而根据不同的定位信息和污渍信息规划相应的第一行驶轨迹，使规划得到的第一行驶轨迹途经目标污渍，且第一行驶轨迹的中心为目标污渍的参考点，保证行驶在第一行驶轨迹上能够对目标污渍进行清洁的清洁效果和清洁效率。In this embodiment, based on the dirty image, the positioning information of the target stain can be determined, so that the corresponding first driving trajectory is planned according to different positioning information and stain information, so that the planned first driving trajectory passes through the target stain, and the center of the first driving trajectory is the reference point of the target stain, ensuring the cleaning effect and cleaning efficiency of the target stain when driving on the first driving trajectory.
本申请的实施例中，根据目标污渍的定位信息，与目标污渍的污渍信息，能够合理规划第一行驶轨迹，从而避免用户手动设置参数，提高清洁机器人的智能化程度和自动化程度，仅针对目标污渍进行清洁，提高清洁效率和清洁效果，提升用户的使用体验。In an embodiment of the present application, based on the positioning information of the target stain and the stain information of the target stain, the first driving trajectory can be reasonably planned, thereby avoiding the user from manually setting parameters, improving the intelligence and automation level of the cleaning robot, and only cleaning the target stain, thereby improving cleaning efficiency and cleaning effect, and enhancing the user experience.
如图17所示，在上述任一实施例中，基于定位信息和污渍信息，规划第一行驶轨迹，包括：As shown in FIG. 17 , in any of the above embodiments, planning a first driving trajectory based on the positioning information and the stain information includes:
步骤1702，至少部分基于定位信息，确定第一行驶轨迹中的第一轨迹点和/或第二轨迹点；Step 1702, determining a first trajectory point and/or a second trajectory point in a first driving trajectory based at least in part on the positioning information;
其中，第一行驶轨迹由第一轨迹点出发，由内向外盘绕延伸，和/或第一行驶轨迹由第二轨迹点出发，由外向内盘绕延伸；The first driving trajectory starts from the first trajectory point and spirals outward, and/or the first driving trajectory starts from the second trajectory point. Coil and extend from outside to inside;
步骤1704，基于污渍信息，确定第一行驶轨迹的盘绕密度；Step 1704, determining the winding density of the first driving track based on the stain information;
步骤1706，根据第一轨迹点和/或第二轨迹点，以及盘绕密度，确定第一行驶轨迹。Step 1706, determining a first driving trajectory according to the first trajectory point and/or the second trajectory point and the winding density.
在该实施例中提出了根据第一轨迹点和/或第二轨迹点，以及盘绕密度规划相应的第一行驶轨迹的过程，保证规划得到的第一行驶轨迹的定位准确性，以及沿特定形式轨迹行驶对目标污渍进行清洁的清洁效果和清洁效率。In this embodiment, a process of planning a corresponding first driving trajectory according to the first trajectory point and/or the second trajectory point and the winding density is proposed to ensure the positioning accuracy of the planned first driving trajectory, as well as the cleaning effect and cleaning efficiency of cleaning the target stains by driving along a specific form of trajectory.
本申请实施例中，第一轨迹点和第二轨迹点均为第一行驶轨迹的起点。在将第一轨迹点作为第一行驶轨迹的起点时，则第一行驶轨迹由第一轨迹点出发，由内向外盘绕延伸。在将第二轨迹点作为第一行驶轨迹的起点时，则第一行驶轨迹由第二轨迹点出发，由外向内盘绕延伸。其中，第一行驶轨迹还可以包括多个起点，即先将第一轨迹点作为第一个起点由内向外盘绕延伸，延伸至第二轨迹点后，将第二轨迹点作为第二个起点，由外向内盘绕延伸。In the embodiment of the present application, the first trajectory point and the second trajectory point are both starting points of the first driving trajectory. When the first trajectory point is used as the starting point of the first driving trajectory, the first driving trajectory starts from the first trajectory point and coils from the inside to the outside. When the second trajectory point is used as the starting point of the first driving trajectory, the first driving trajectory starts from the second trajectory point and coils from the outside to the inside. Among them, the first driving trajectory can also include multiple starting points, that is, the first trajectory point is first used as the first starting point to coil from the inside to the outside, and after extending to the second trajectory point, the second trajectory point is used as the second starting point to coil from the outside to the inside.
具体来说，至少基于定位信息选择第一行驶轨迹的起点为第一轨迹点和/或第二轨迹点，即清洁机器人可以仅根据目标污渍的定位信息规划第一行驶轨迹的起点，还可以根据污渍信息等其他信息，规划第一行驶轨迹的起点。Specifically, the starting point of the first driving trajectory is selected as the first trajectory point and/or the second trajectory point at least based on the positioning information, that is, the cleaning robot can plan the starting point of the first driving trajectory only according to the positioning information of the target stain, and can also plan the starting point of the first driving trajectory according to other information such as the stain information.
示例性地，在基于定位信息确定第一轨迹点和第二轨迹点。在基于污渍信息确定目标污渍为固体污渍，则将第二轨迹点作为第一行驶轨迹的起点，使清洁机器人由外向内移动，避免清洁机器人打散固体污渍。在基于污渍信息确定目标污渍为液体污渍，则将第一轨迹点作为第一行驶轨迹的起点，使清洁机器人由内向外移动，提高清洁机器人的清洁效果。For example, the first track point and the second track point are determined based on the positioning information. If the target stain is determined to be a solid stain based on the stain information, the second track point is used as the starting point of the first driving track, so that the cleaning robot moves from the outside to the inside, so as to avoid the cleaning robot from breaking up the solid stain. If the target stain is determined to be a liquid stain based on the stain information, the first track point is used as the starting point of the first driving track, so that the cleaning robot moves from the inside to the outside, so as to improve the cleaning effect of the cleaning robot.
如图18所示，示例性地，在第一行驶轨迹为由内向外单向延伸，第一轨迹点1802为第一行驶轨迹的起点时，第一行驶轨迹由内向外盘绕延伸，第二轨迹点1804为第一行驶轨迹的起点时，第一行驶轨迹由外向内盘绕延伸。As shown in FIG. 18 , exemplarily, when the first driving trajectory extends unidirectionally from the inside to the outside, and the first trajectory point 1802 is the starting point of the first driving trajectory, the first driving trajectory spirals and extends from the inside to the outside, and when the second trajectory point 1804 is the starting point of the first driving trajectory, the first driving trajectory spirals and extends from the outside to the inside.
如图19所示，示例性地，在第一行驶轨迹包括将第一轨迹点1902作为起点的由内向外单向延伸的第一部分，以及将第二轨迹点1904作为起点由外向内单向延伸的第二部分，则清洁机器人按照第一行驶轨迹行驶为往复式行驶。As shown in Figure 19, exemplarily, the first driving trajectory includes a first part extending unidirectionally from the inside to the outside with the first trajectory point 1902 as the starting point, and a second part extending unidirectionally from the outside to the inside with the second trajectory point 1904 as the starting point, and the cleaning robot travels reciprocatingly along the first driving trajectory.
在该实施例中，根据目标污渍的定位信息，能够划定目标污渍的覆盖区域，再根据第一行驶轨迹的行驶方向，选择将第一轨迹点和/或第二轨迹点作为第一行驶轨迹的起点。In this embodiment, according to the positioning information of the target stain, the coverage area of the target stain can be delineated, and then according to the driving direction of the first driving trajectory, the first trajectory point and/or the second trajectory point can be selected as the starting point of the first driving trajectory.
本申请的实施例中，盘绕密度用于表征第一行驶轨迹中平行的相邻两条路径之间的间距的大小。其中，盘绕密度越大，则第一行驶轨迹中平行的相邻两条路径之间的间距越小，盘绕密度越小，则第一行驶轨迹中平行的相邻两条路径之间的间距越大。In the embodiment of the present application, the winding density is used to characterize the size of the distance between two adjacent parallel paths in the first driving trajectory. The greater the winding density, the smaller the distance between two adjacent parallel paths in the first driving trajectory, and the smaller the winding density, the larger the distance between two adjacent parallel paths in the first driving trajectory.
在该实施例中，根据目标污渍的污渍信息，规划第一行驶轨迹的盘绕密度，使目标污渍分布较密集的区域，适当的提高盘绕密度，在目标污渍分布较分散的地方，适当的降低盘绕密度，进而能够根据目标污渍的分布情况规划第一行驶轨迹的盘绕密度，确定清洁机器人的行驶轨迹，保证清洁效果。In this embodiment, the winding density of the first driving trajectory is planned according to the stain information of the target stain, so that the winding density is appropriately increased in areas where the target stains are densely distributed, and the winding density is appropriately reduced in areas where the target stains are more dispersed. Then, the winding density of the first driving trajectory can be planned according to the distribution of the target stains, and the driving trajectory of the cleaning robot can be determined to ensure the cleaning effect.
示例性地，如图20所示，两条第一行驶轨迹包括第一轨迹2002和第二轨迹2004，第一轨迹2002的轨迹之间的间距为d1，第二轨迹2004的轨迹之间的间距为d2，d1＜d2，即第二轨迹2004的盘绕密度小于第一轨迹2002的盘绕密度。Exemplarily, as shown in Figure 20, the two first driving trajectories include a first trajectory 2002 and a second trajectory 2004, the spacing between the trajectories of the first trajectory 2002 is d1, the spacing between the trajectories of the second trajectory 2004 is d2, d1＜d2, that is, the winding density of the second trajectory 2004 is less than the winding density of the first trajectory 2002.
本申请的实施例中，基于第一轨迹点和/或第二轨迹点，能够确定第一行驶轨迹中的起点，再根据目标污渍的污渍信息规划在边缘端点之间的轨迹的盘绕密度，从而准确规划得到第一行驶轨迹，保证清洁机器人按照第一行驶轨迹行驶能够对目标污渍进行有效清洁。In an embodiment of the present application, based on the first trajectory point and/or the second trajectory point, the starting point in the first driving trajectory can be determined, and then the winding density of the trajectory between the edge endpoints is planned according to the stain information of the target stain, so as to accurately plan the first driving trajectory and ensure that the cleaning robot can effectively clean the target stain when traveling along the first driving trajectory.
在上述任一实施例中，目标污渍包括固体污渍；基于污渍信息，确定第一行驶轨迹的盘绕密度，包括：基于固体污渍的分布密度，确定盘绕密度，其中，盘绕密度与分布密度呈正相关。In any of the above embodiments, the target stain includes a solid stain; and determining the winding density of the first driving trajectory based on the stain information includes: determining the winding density based on the distribution density of the solid stain, wherein the winding density is positively correlated with the distribution density.
在该实施例中提出了目标污渍包括固体污渍时，在固体污渍的分布密度较大时，则将第一行驶轨迹的盘绕密度同样设置较大，在固体物体的分布密度较小时，则将第一行驶轨迹的盘绕密度同样设置较小，保证清洁机器人对固体污渍清洁效果的同时，避免电能的浪费。In this embodiment, it is proposed that when the target stains include solid stains, when the distribution density of the solid stains is large, the winding density of the first driving trajectory is also set to be large, and when the distribution density of the solid objects is small, the winding density of the first driving trajectory is also set to be small, thereby ensuring the cleaning robot's cleaning effect on solid stains while avoiding waste of electric energy.
在该实施例中，在污渍包括固体污渍的情况下，污渍信息包括固体污渍的分布密度，即通过图像识别的方式识别到固体污渍的分布密度。In this embodiment, when the stains include solid stains, the stain information includes the distribution density of the solid stains, that is, the distribution density of the solid stains is identified by image recognition.
具体来说，在固体污渍分布比较稀疏零散的情况下，则增大第一行驶轨迹中平行且相邻的两个路径之间的距离，即增大“回”字形轨迹的递增距离，从而提高清洁效率，减少电能浪费。在固体污渍分布比较密集的情况下，则减小第一行驶轨迹中平行且相邻的两个路径之间的距离，即增大“回”字形轨迹的递增距离，从而提高清洁效果，避免按照第一行驶轨迹进行清洁对固体污渍产生遗漏。Specifically, when the solid stains are sparsely distributed, the distance between the two parallel and adjacent paths in the first driving trajectory is increased, that is, the incremental distance of the "U"-shaped trajectory is increased, thereby improving the cleaning efficiency and reducing the waste of electric energy. When the solid stains are densely distributed, the distance between the two parallel and adjacent paths in the first driving trajectory is reduced, that is, the incremental distance of the "U"-shaped trajectory is increased, thereby improving the cleaning effect and avoiding the omission of solid stains when cleaning according to the first driving trajectory.
示例性地，固体污渍包括但不限于以下至少一项：固体食物残渣、颗粒粉尘、纸屑。Exemplarily, the solid stains include, but are not limited to, at least one of the following: solid food residues, particulate dust, and paper scraps.
本申请的实施例中，在规划第一行驶轨迹的过程中，充分考虑固体污渍的分布情况，并基于分布情况设置第一行驶轨迹的盘绕密度，保证对分布较密集的固体污渍的清洁效果，以及提高对分布比较稀疏的固体污渍的清洁效率。In the embodiment of the present application, in the process of planning the first driving trajectory, the distribution of solid stains is fully considered, and the winding density of the first driving trajectory is set based on the distribution, so as to ensure the cleaning effect of densely distributed solid stains and improve the cleaning effect of sparsely distributed solid stains. Cleaning efficiency of solid stains.
在上述任一实施例中，目标污渍包括液体污渍；基于污渍信息，确定第一行驶轨迹的盘绕密度，包括：基于液体物体包括水类污渍，确定盘绕密度为第一密度；基于液体污渍包括油类污渍，确定盘绕密度为第二密度。In any of the above embodiments, the target stain includes a liquid stain; based on the stain information, the winding density of the first driving trajectory is determined, including: based on the liquid object including water stains, the winding density is determined to be a first density; based on the liquid stain including oil stains, the winding density is determined to be a second density.
在该实施例中提出了在目标污渍包括液体污渍时，根据液体污渍的液体类型，对第一行驶轨迹设置相应的盘绕密度。In this embodiment, it is proposed that when the target stain includes a liquid stain, a corresponding winding density is set for the first driving trajectory according to the liquid type of the liquid stain.
示例性地，水类污渍包括以下至少一项：饮料、酒精、清水等。Exemplarily, water stains include at least one of the following: beverages, alcohol, clean water, and the like.
示例性地，油类污渍包括以下至少一项：食品油、润滑油、菜汤等。Exemplarily, the oil stains include at least one of the following: food oil, lubricating oil, vegetable soup, etc.
在该实施例中，在污渍包括液体污渍的情况下，污渍信息包括液体污渍的污渍类别。清洁机器人中配置有图像识别模型，通过图像识别模型能够识别到图像数据中的液体污渍的污渍类别。In this embodiment, when the stain includes liquid stain, the stain information includes the stain category of the liquid stain. The cleaning robot is configured with an image recognition model, and the stain category of the liquid stain in the image data can be recognized by the image recognition model.
本申请的实施例中，在规划第一行驶轨迹的过程中，充分考虑有液体污渍的液体类别，并基于液体污渍的液体类别选择不同的盘绕密度，保证对不同类别的液体污渍的清洁效率和清洁效果。In an embodiment of the present application, in the process of planning the first driving trajectory, the types of liquids with liquid stains are fully considered, and different coiling densities are selected based on the types of liquids with liquid stains to ensure the cleaning efficiency and cleaning effect of different types of liquid stains.
在上述任一实施例中，第二密度大于第一密度。In any of the above embodiments, the second density is greater than the first density.
在该实施例中，目标污渍包括液体污渍时，在液体污渍为水类污渍时，由于水类污渍比较容易清洁，则将第一行驶轨迹的盘绕密度设置较小的第一密度，保证自移动清洁对水类污渍的清洁效率。在液体污渍为油类污渍时，由于油类污渍比较难以清洁，则将第一行驶轨迹的盘绕密度设置为较大的第二密度，保证清洁机器人对油类污渍的清洁效果。In this embodiment, when the target stain includes liquid stains, when the liquid stain is water stain, since water stain is easier to clean, the winding density of the first driving track is set to a smaller first density to ensure the cleaning efficiency of the self-moving cleaning robot on water stains. When the liquid stain is oil stain, since oil stain is more difficult to clean, the winding density of the first driving track is set to a larger second density to ensure the cleaning effect of the cleaning robot on oil stains.
本申请的实施例中，清洁机器人能够基于液体污渍的污渍类别设置第一行驶轨迹的盘绕密度，在对油类污渍进行清洁时，设置较大的第二密度对其进行清洁，保证对难以清洁的油类污渍的清洁效果，在对水类污渍进行清洁时，设置较小的第二密度对其进行清洁，提高对容易清洁的水类污渍的清洁效率。In an embodiment of the present application, the cleaning robot can set the winding density of the first driving trajectory based on the stain type of the liquid stain. When cleaning oil stains, a larger second density is set to clean them, thereby ensuring the cleaning effect on difficult-to-clean oil stains. When cleaning water stains, a smaller second density is set to clean them, thereby improving the cleaning efficiency of easy-to-clean water stains.
在上述任一实施例中，控制清洁机器人，沿第一行驶轨迹行驶，包括：在清洁机器人按照第一行驶轨迹行驶过程中，基于清洁机器人处于预设状态，控制清洁机器人旋转预设角度，并按照第二行驶轨迹行驶。In any of the above embodiments, controlling the cleaning robot to travel along a first driving trajectory includes: during the driving of the cleaning robot along the first driving trajectory, based on the cleaning robot being in a preset state, controlling the cleaning robot to rotate by a preset angle and travel along a second driving trajectory.
在该实施例中提出了在清洁机器人按照第一行驶轨迹行驶过程中，基于清洁机器人处于预设状态，控制清洁机器人旋转预设角度，再按照第二行驶轨迹行驶，能够对目标污渍进行多次清洁，避免受到碰撞或触发防跌落等异常情况的影响，保证清洁过程的顺利进行，同时保证清洁机器人的安全。In this embodiment, it is proposed that during the driving of the cleaning robot along a first driving trajectory, based on the cleaning robot being in a preset state, the cleaning robot is controlled to rotate to a preset angle, and then drives along a second driving trajectory. This allows the target stains to be cleaned multiple times, avoiding the influence of abnormal situations such as collision or triggering anti-fall protection, thereby ensuring the smooth progress of the cleaning process and the safety of the cleaning robot.
其中，第二行驶轨迹也为“回”字形轨迹，保证清洁机器人在按照第一行驶轨迹行驶过程中转向后，依然保持“回”字形轨迹行驶。Among them, the second driving trajectory is also a "U"-shaped trajectory, which ensures that the cleaning robot still maintains the "U"-shaped trajectory after turning during the driving process according to the first driving trajectory.
示例性地，第一行驶轨迹是顺时针由内向外行驶，第二行驶轨迹可以是在清洁机器人旋转180°后，逆时针进行回字形清洁。例如：第一行驶轨迹当前需行驶距离为1米，在走了0.5米后检测到障碍物，则掉头后向相反方向走0.5米+0.2米，然后转90°，走1米，再转90°，走0.5米+0.2米+0.2米，再转90°，走1米+0.2米，即掉头行驶后，继续按照“回”字形行驶。For example, the first driving trajectory is to drive clockwise from inside to outside, and the second driving trajectory can be to clean in a counterclockwise direction after the cleaning robot rotates 180 degrees. For example: the current driving distance required by the first driving trajectory is 1 meter, and an obstacle is detected after walking 0.5 meters, then turn around and walk 0.5 meters + 0.2 meters in the opposite direction, then turn 90 degrees, walk 1 meter, turn 90 degrees again, walk 0.5 meters + 0.2 meters + 0.2 meters, turn 90 degrees again, walk 1 meter + 0.2 meters, that is, after turning around, continue to drive in a "U" shape.
在该实施例中，预设状态可以通过防跌落传感器检测或通过预设时长进行控制。本申请并不对跌落传感器的具体设置形式进行严格限制。在满足清洁机器人的成本要求和空间布置要求的情况下进行适应性选择。In this embodiment, the preset state can be detected by an anti-fall sensor or controlled by a preset duration. The present application does not impose strict restrictions on the specific arrangement of the fall sensor. Adaptive selection is performed while meeting the cost requirements and space layout requirements of the cleaning robot.
示例性地，旋转预设角度的取值范围可以在150度到200度的之间。旋转预设角度可以根据用户需要进行合理设置。For example, the preset rotation angle may range from 150 degrees to 200 degrees. The preset rotation angle may be reasonably set according to user needs.
需要说明的是，由于第一行驶轨迹为“回”字形轨迹，则将预设角度的取值范围设置大于150度，能够减小转向后清洁机器人继续处于预设状态的可能性，并且将预设角度的取值范围设置小于200度，能够保证旋转预设角度后，清洁机器人能够再按照第二行驶轨迹行驶。It should be noted that since the first driving trajectory is a "U"-shaped trajectory, setting the value range of the preset angle to be greater than 150 degrees can reduce the possibility that the cleaning robot continues to be in the preset state after turning, and setting the value range of the preset angle to be less than 200 degrees can ensure that after rotating the preset angle, the cleaning robot can then travel according to the second driving trajectory.
具体来说，清洁机器人移动过程中，检测到清洁机器人处于预设状态下，则确定此时清洁机器人存在跌落风险或碰撞风险，故此时需要控制清洁机器人转向行驶，并在转向后，再按照第二行驶轨迹行驶。Specifically, during the movement of the cleaning robot, if it is detected that the cleaning robot is in a preset state, it is determined that the cleaning robot is at risk of falling or colliding at this time, so it is necessary to control the cleaning robot to turn and drive, and after turning, drive according to the second driving trajectory.
示例性地，预设角度设置为180度，即清洁机器人处于预设状态时，控制清洁机器人掉头，并在掉头之后，再按照第二行驶轨迹行驶对目标污渍进行清洁。Exemplarily, the preset angle is set to 180 degrees, that is, when the cleaning robot is in the preset state, the cleaning robot is controlled to turn around, and after turning around, it drives along the second driving trajectory to clean the target stains.
本申请的实施例中，清洁机器人按照第一行驶轨迹行驶的过程中，持续检测是否处于预设状态，从而判定是否存在跌落风险或碰撞风险等，并在判定存在跌落风险或碰撞风险等时，清洁机器人能够自动进行转向进行规避，并在转向后再按照第二行驶轨迹行驶进行清洁，保证清洁效果的同时，提高清洁机器人的稳定性。In an embodiment of the present application, while the cleaning robot is driving along a first driving trajectory, it continuously detects whether it is in a preset state, so as to determine whether there is a risk of falling or a risk of collision, etc., and when it is determined that there is a risk of falling or a risk of collision, etc., the cleaning robot can automatically turn to avoid it, and after turning, it drives along the second driving trajectory to clean, thereby ensuring the cleaning effect while improving the stability of the cleaning robot.
在上述任一实施例中，清洁机器人包括第一传感器；预设状态包括：接收到第一传感器输出的目标信号；和/或清洁机器人按照第一行驶轨迹行驶的第一时长达到预设时长。In any of the above embodiments, the cleaning robot includes a first sensor; the preset state includes: receiving a target signal output by the first sensor; and/or the first duration of the cleaning robot traveling along the first driving trajectory reaches a preset duration.
在该实施例中提出了清洁机器人通过相应的第一传感器输出的目标信号判断清洁机器人是否处于预设状态的方案，以及通过清洁机器人所行驶的第一时长判断清洁机器人是否处于预设状态的方案。This embodiment proposes a scheme in which the cleaning robot determines whether the cleaning robot is in a preset state by a target signal output by a corresponding first sensor, and a scheme in which the cleaning robot determines whether the cleaning robot is in a preset state by a first driving time.
本申请的实施例中，第一传感器为清洁机器人中用于检测异常状态的传感器，例如：防跌落传感器、防碰撞传感器等。目标信号为第一传感器在检测到异常状态下输出的信号。In the embodiment of the present application, the first sensor is a sensor in the cleaning robot for detecting abnormal conditions, such as an anti-fall sensor, an anti-collision sensor, etc. The target signal is a signal output by the first sensor when an abnormal condition is detected.
本申请实的实施例中，清洁机器人还能够对当前所行驶经过的第一时长进行记录，预设时长为清洁机器人根据行驶速度和第一行驶轨迹的长度，计算完成第一行驶轨迹所需的时长。如果检测到当前行驶的第一时长超过该预设时长仍未完成当前的特定形式轨迹，则判定行驶过程出现超时异常，即清洁机器人处于预设状态。In an embodiment of the present application, the cleaning robot can also record the first duration of the current driving, and the preset duration is the duration required for the cleaning robot to complete the first driving trajectory according to the driving speed and the length of the first driving trajectory. If it is detected that the current first duration of driving exceeds the preset duration and the current specific form trajectory is not completed, it is determined that a timeout exception occurs during the driving process, that is, the cleaning robot is in a preset state.
可以理解的是，第一传感器可以根据实际需要设置在清洁机器人的一侧。在清洁机器人设置第一传感器的一侧朝前行驶时，则基于第一传感器输出的目标信号判断清洁机器人是否处于预设状态。在清洁机器人未设置第一传感器的一侧朝前行驶时，则基于第一时长与预设时长判断清洁机器人是否处于预设状态。It is understandable that the first sensor can be set on one side of the cleaning robot according to actual needs. When the cleaning robot is moving forward on the side where the first sensor is set, it is judged whether the cleaning robot is in the preset state based on the target signal output by the first sensor. When the cleaning robot is moving forward on the side where the first sensor is not set, it is judged whether the cleaning robot is in the preset state based on the first time length and the preset time length.
可以理解的是，为了保证对清洁机器人预设状态的判断的准确性，可以基于第一时长和第一传感器输出的目标信号同时对清洁机器人是否处于预设状态进行判断。It is understandable that in order to ensure the accuracy of the judgment of the preset state of the cleaning robot, it is possible to judge whether the cleaning robot is in the preset state based on the first time length and the target signal output by the first sensor at the same time.
示例性地，在第一时长超过预设时长，且第一传感器输出目标信号的情况下，确定清洁机器人处于预设状态。Exemplarily, when the first time duration exceeds the preset time duration and the first sensor outputs a target signal, it is determined that the cleaning robot is in a preset state.
示例性地，在第一时长超过预设时长，或第一传感器输出目标信号的情况下，确定清洁机器人处于预设状态。Exemplarily, when the first time duration exceeds a preset time duration, or the first sensor outputs a target signal, it is determined that the cleaning robot is in a preset state.
本申请的实施例中，清洁机器人能够根据第一传感器输出的目标信号，以及行驶过程的第一时长中的至少一项，对清洁机器人是否处于预设状态进行准确判断，避免清洁机器人在行驶过程中频繁转向，同时能够及时规避行驶过程中的风险。In an embodiment of the present application, the cleaning robot can accurately judge whether the cleaning robot is in a preset state based on the target signal output by the first sensor and at least one of the first duration of the driving process, thereby avoiding frequent turns of the cleaning robot during driving and timely avoiding risks during driving.
在上述任一实施例中，在清洁机器人按照第一行驶轨迹行驶过程中，基于清洁机器人处于预设状态下，控制清洁机器人旋转预设角度，并继续按照第一行驶轨迹行驶之后，包括：在检测到清洁机器人运行达到预设条件的情况下，结束第一行驶轨迹和/或第二行驶轨迹。In any of the above embodiments, when the cleaning robot is driving along the first driving trajectory, based on the cleaning robot being in a preset state, the cleaning robot is controlled to rotate by a preset angle, and continues to drive along the first driving trajectory, including: when it is detected that the operation of the cleaning robot meets the preset conditions, ending the first driving trajectory and/or the second driving trajectory.
在该实施例中提出了清洁机器人能够自动检测是否满足回站的预设条件，在检测到行驶过程中满足预设条件，则则结束当前进行的第一行驶轨迹和/或第二行驶轨迹，无需用户手动操作控制清洁机器人停止行驶进程，提升用户的使用体验。In this embodiment, it is proposed that the cleaning robot can automatically detect whether the preset conditions for returning to the station are met. If it is detected that the preset conditions are met during driving, the current first driving trajectory and/or second driving trajectory will be terminated. There is no need for the user to manually control the cleaning robot to stop the driving process, thereby improving the user experience.
具体来说，清洁机器人需要回站进行充电，以及对清洁组件进行清洗等操作，通过设置相应的预设条件，使清洁机器人能够判断是否结束当前沿第一行驶轨迹和/或第二行驶轨迹行驶的清洁过程，在判定结束后，清洁机器人自动回站。Specifically, the cleaning robot needs to return to the station for charging and to clean the cleaning components. By setting corresponding preset conditions, the cleaning robot can determine whether to end the current cleaning process along the first driving trajectory and/or the second driving trajectory. After the determination is completed, the cleaning robot automatically returns to the station.
本申请的实施例中，清洁机器人能够自动对是否满足回站的预设条件进行检测判断，并据此控制清洁机器人自动回站，进一步减少用户对清洁机器人的操作步骤，简化用户的操作流程。In the embodiments of the present application, the cleaning robot can automatically detect and determine whether the preset conditions for returning to the station are met, and control the cleaning robot to automatically return to the station accordingly, further reducing the user's operating steps for the cleaning robot and simplifying the user's operating process.
在上述任一实施例中，预设条件包括以下至少一项：清洁机器人处于预设状态的次数达到预设次数；清洁机器人与目标污渍的距离大于预设距离。In any of the above embodiments, the preset condition includes at least one of the following: the number of times the cleaning robot is in a preset state reaches a preset number of times; the distance between the cleaning robot and the target stain is greater than a preset distance.
在该实施例中，通过设置不同的预设条件，能够提高清洁机器人沿第一行驶轨迹和/或第二行驶轨迹行驶的稳定性，并且提高清洁机器人回站的及时性。In this embodiment, by setting different preset conditions, the stability of the cleaning robot traveling along the first driving trajectory and/or the second driving trajectory can be improved, and the timeliness of the cleaning robot returning to the station can be improved.
本申请的实施例中，预设条件可以为清洁机器人处于预设状态的次数达到预设次数。在清洁机器人处于预设状态的次数达到预设次数，则判定清洁机器人沿第一行驶轨迹和/或第二行驶轨迹行驶，存在较大的风险，故中断当前沿第一行驶轨迹和/或第二行驶轨迹行驶的进程，直接控制清洁机器人回站，避免清洁机器人继续按照第一行驶轨迹和/或第二行驶轨迹行驶，造成的清洁机器人损坏。In an embodiment of the present application, the preset condition may be that the cleaning robot is in a preset state for a preset number of times. When the cleaning robot is in a preset state for a preset number of times, it is determined that there is a greater risk that the cleaning robot is traveling along the first driving trajectory and/or the second driving trajectory, so the current process of traveling along the first driving trajectory and/or the second driving trajectory is interrupted, and the cleaning robot is directly controlled to return to the station to avoid the cleaning robot continuing to travel along the first driving trajectory and/or the second driving trajectory, which may cause damage to the cleaning robot.
示例性地，预设次数的取值范围为5次至10次。Exemplarily, the preset number of times ranges from 5 to 10 times.
本申请的实施例中，预设条件可以为清洁机器人与目标污渍之间的距离大于预设距离。在清洁机器人沿第一行驶轨迹和/或第二行驶轨迹行驶过程中，通过图像识别的方式持续检测清洁机器人与目标污渍之间的距离，在检测到该距离大于预设距离时，则判定清洁机器人已经完成对目标污渍的清洁，故控制清洁机器人回站，减少清洁机器人的电能浪费。In an embodiment of the present application, the preset condition may be that the distance between the cleaning robot and the target stain is greater than a preset distance. When the cleaning robot is driving along the first driving track and/or the second driving track, the distance between the cleaning robot and the target stain is continuously detected by image recognition. When it is detected that the distance is greater than the preset distance, it is determined that the cleaning robot has completed cleaning the target stain, so the cleaning robot is controlled to return to the station, thereby reducing the power waste of the cleaning robot.
具体来说，随着清洁机器人沿第一行驶轨迹和/或第二行驶轨迹对目标污渍进行清洁的过程，目标污渍的面积越来越小，则清洁机器人距离目标污渍的距离越来越远，故在检测到目标污渍与清洁机器人之间的距离大于预设距离时，则控制清洁机器人回站。Specifically, as the cleaning robot cleans the target stain along the first driving trajectory and/or the second driving trajectory, the area of the target stain becomes smaller and smaller, and the distance between the cleaning robot and the target stain becomes farther and farther. Therefore, when it is detected that the distance between the target stain and the cleaning robot is greater than the preset distance, the cleaning robot is controlled to return to the station.
示例性地，预设距离的取值范围为20厘米至50厘米。Exemplarily, the preset distance ranges from 20 cm to 50 cm.
本申请的实施例中，清洁机器人能够基于行驶过程中发生的异常次数，以及行驶过程中与目标污渍之间的距离中的任一项，对清洁机器人是否回站进行准确控制。In an embodiment of the present application, the cleaning robot can accurately control whether to return to the station based on any one of the number of abnormalities that occur during driving and the distance between the cleaning robot and the target stain during driving.
如图21所示，在上述任一实施例中，清洁机器人包括多个清洁组件；控制清洁机器人沿第一行驶轨迹，包括：As shown in FIG. 21 , in any of the above embodiments, the cleaning robot includes a plurality of cleaning components; controlling the cleaning robot to move along a first driving trajectory includes:
步骤2102，根据目标污渍的污渍信息，确定多个清洁组件中的目标组件；Step 2102, determining a target component among a plurality of cleaning components according to stain information of the target stain;
步骤2104，控制清洁机器人以目标姿态，按照第一行驶轨迹，对目标污渍进行清洁。Step 2104: Control the cleaning robot to clean the target stain in a target posture and according to the first driving trajectory.
其中，在清洁机器人按照目标姿态行驶过程中，多个清洁组件中的目标组件优先与目标污渍接触。In the process of the cleaning robot driving according to the target posture, the target component among the multiple cleaning components contacts the target stain preferentially.
在该实施例中提出了根据类型信息，确定清洁组件中的目标组件，不同类型对应的清洁组件不同，从而能够保证对目标污渍的清洁效果，与相关技术中固定清洁组件固定路线清洁相比，能够针对性地对不同类型目标污渍选择合适的行驶轨迹，避免使用固体污渍对应的清洁组件清洁目标污渍导致清洁不干净现象的发生，进而提高清洁效率，避免用户多次设置或手动清洁，提高用户使用体验。In this embodiment, it is proposed to determine the target component in the cleaning component according to the type information. Different types correspond to different cleaning components, so as to ensure the cleaning effect of the target stains. Compared with the fixed route cleaning of fixed cleaning components in the related art, it is possible to select suitable driving trajectories for different types of target stains in a targeted manner, avoiding the use of cleaning components corresponding to solid stains to clean the target stains, resulting in unclean cleaning, thereby improving the cleaning efficiency, avoiding users from setting up or cleaning manually for multiple times, and improving the user experience.
在该实施例中，清洁机器人能够根据在多个清洁组件中选择目标组件，确定清洁机器人在行驶过程中的目标行驶姿态。使清洁机器人行驶过程中，目标组件在清洁机器人的前方，优先与目标污渍进行接触，保证在清洁机器人的目标组件对目标污渍的清洁效果，避免其他组件优先接触到目标污渍后，将目标污渍推散。In this embodiment, the cleaning robot can determine the target driving posture of the cleaning robot during driving by selecting a target component from multiple cleaning components. When the cleaning robot is driving, the target component is in front of the cleaning robot and contacts the target stain first, ensuring the cleaning effect of the target stain by the target component of the cleaning robot, and preventing other components from contacting the target stain first and then pushing the target stain away.
示例性地，预设轨迹形状为“回”字形，多个清洁组件包括吸尘组件和拖擦组件。在目标污渍为固体污渍时，目标组件为吸尘组件，则清洁机器人行驶过程中，吸尘组件在前，拖擦组件在后，使吸尘组件优先与固体污渍接触。在目标污渍为液体污渍时，目标组件为吸尘组件，则清洁机器人行驶过程中，拖擦组件在后，吸尘组件在后，使拖擦组件优先与液体污渍接触。本申请的实施例中，清洁机器人通过确定自身的目标行驶姿态，从而保证多个清洁组件中的目标组件优先与目标污渍接触，以保证清洁机器人对目标污渍的清洁效果和清洁效率。Exemplarily, the preset trajectory shape is a "U" shape, and the multiple cleaning components include a dust suction component and a mopping component. When the target stain is a solid stain, the target component is the dust suction component, then during the driving process of the cleaning robot, the dust suction component is in front and the mopping component is in the back, so that the dust suction component is in contact with the solid stain first. When the target stain is a liquid stain, the target component is the dust suction component, then during the driving process of the cleaning robot, the mopping component is in the back and the dust suction component is in the back, so that the mopping component is in contact with the liquid stain first. In an embodiment of the present application, the cleaning robot determines its own target driving posture to ensure that the target component among the multiple cleaning components contacts the target stain first, so as to ensure the cleaning effect and cleaning efficiency of the cleaning robot on the target stain.
示例性地，在确定目标污渍为液体污渍时，持续检测清洁机器人与液体污渍的边界之间的间隔距离，在间隔距离小于或等于预设距离的情况下，则控制清洁机器人调整姿态，使拖擦组件位于行驶的前方，保证拖擦组件优先与液体污渍接触。或者在确定目标污渍为液体污渍后间隔预设时长，控制清洁机器人调整姿态，使拖擦组件位于行驶的前方，保证拖擦组件优先与液体污渍接触。For example, when the target stain is determined to be a liquid stain, the distance between the cleaning robot and the boundary of the liquid stain is continuously detected. When the distance is less than or equal to a preset distance, the cleaning robot is controlled to adjust its posture so that the mopping component is located in front of the vehicle, ensuring that the mopping component contacts the liquid stain first. Alternatively, after determining that the target stain is a liquid stain, the cleaning robot is controlled to adjust its posture so that the mopping component is located in front of the vehicle, ensuring that the mopping component contacts the liquid stain first.
示例性地，在确定目标污渍为固体污渍时，持续检测清洁机器人与固体污渍的边界之间的间隔距离，在间隔距离小于或等于预设距离的情况下，则控制清洁机器人调整姿态，使吸尘组件位于行驶的前方，保证吸尘组件优先与固体污渍接触。或者在确定目标污渍为固体污渍后间隔预设时长，控制清洁机器人调整姿态，使吸尘组件位于行驶的前方，保证吸尘组件优先与固体污渍接触。For example, when the target stain is determined to be a solid stain, the distance between the cleaning robot and the boundary of the solid stain is continuously detected. When the distance is less than or equal to a preset distance, the cleaning robot is controlled to adjust its posture so that the dust collection component is located in front of the vehicle, ensuring that the dust collection component contacts the solid stain first. Alternatively, after determining that the target stain is a solid stain, the cleaning robot is controlled to adjust its posture after a preset time interval so that the dust collection component is located in front of the vehicle, ensuring that the dust collection component contacts the solid stain first.
在上述任一实施例中，多个清洁组件包括吸尘组件和拖擦组件；根据类型信息，确定多个清洁组件中的目标组件，包括：基于目标污渍包括液体污渍，确定拖擦组件为目标组件；基于目标污渍包括固体污渍，确定吸尘组件为目标组件。In any of the above embodiments, the multiple cleaning components include a dust collection component and a mopping component; based on the type information, a target component among the multiple cleaning components is determined, including: based on the target stains including liquid stains, determining the mopping component as the target component; based on the target stains including solid stains, determining the dust collection component as the target component.
在该实施例中提出了清洁机器人根据类型信息，选择吸尘组件和拖擦组件中的一个作为目标组件的过程。This embodiment proposes a process in which the cleaning robot selects one of the dust collection component and the mopping component as the target component according to the type information.
如图2所示，清洁机器人200的清洁组件210包括吸尘组件212和拖擦组件214，吸尘组件212和拖擦组件214位于清洁机器人的不同位置。As shown in FIG. 2 , the cleaning component 210 of the cleaning robot 200 includes a dust suction component 212 and a mopping component 214 , and the dust suction component 212 and the mopping component 214 are located at different positions of the cleaning robot.
在该实施例中，在检测到目标污渍包括液体污渍，则清洁机器人将用于清洁液体污渍的拖擦组件作为目标组件。在清洁机器人运行过程中，控制拖擦组件旋转，对液体污渍拖干，并保持吸尘组件停止运行，避免将液体污渍收集到清洁机器人内部。In this embodiment, when it is detected that the target stain includes a liquid stain, the cleaning robot uses the mopping component for cleaning the liquid stain as the target component. During the operation of the cleaning robot, the mopping component is controlled to rotate to mop the liquid stain, and the vacuum component is kept stopped to avoid collecting the liquid stain inside the cleaning robot.
示例性地，拖擦组件可以为抹布盘，抹布盘具有良好的吸水效果。清洁机器人在行驶过程中，控制抹布盘运行，通过抹布盘对液体污渍进行吸附和抹干。Exemplarily, the mopping component can be a rag plate, which has a good water absorption effect. During the driving process, the cleaning robot controls the rag plate to operate, and absorbs and wipes the liquid stains through the rag plate.
在该实施例中，在检测到目标污渍包括固体污渍，即判定目标污渍属于固体污渍，则清洁机器人将用于清洁固体污渍的吸尘组件作为目标组件。在清洁机器人运行过程中，控制吸尘组件运行，对固体污渍进行收集，并保持拖擦组件停止运行，避免拖擦组件运行时将固体污渍打散影响清洁效率。In this embodiment, when it is detected that the target stains include solid stains, that is, it is determined that the target stains are solid stains, the cleaning robot uses the vacuum component for cleaning solid stains as the target component. During the operation of the cleaning robot, the vacuum component is controlled to operate to collect the solid stains, and the mopping component is kept stopped to prevent the mopping component from breaking up the solid stains and affecting the cleaning efficiency.
示例性地，吸尘组件包括吸尘口、风机、边刷和滚刷。吸尘组件运行过程中，边刷运行将固体污渍扫动到吸尘口位置，风机运行使吸尘口位置产生吸力，能够将固体污渍通过吸尘口收集到清洁机器人内部。Exemplarily, the dust collection component includes a dust collection port, a fan, a side brush and a roller brush. During the operation of the dust collection component, the side brush sweeps solid dirt to the dust collection port, and the fan generates suction at the dust collection port, so that the solid dirt can be collected into the cleaning robot through the dust collection port.
在一些可能的实施方式中，吸尘组件包括吸尘口、风机和边刷，拖擦组件为可升降的抹布盘。在为固体污渍时，清洁机器人减速运行，抹布盘停转抬升，风机吸力加大，边刷和滚刷减速运行。在为液体污渍时，清洁机器人减速运行，边刷和滚刷停转，风机停止保持停止吸力，增大抹布盘转速。In some possible implementations, the dust suction component includes a dust suction port, a fan and a side brush, and the mopping component is a raftable rag plate. When the stain is solid, the cleaning robot slows down, the rag plate stops and rises, the fan suction increases, and the side brush and the roller brush slow down. When the stain is liquid, the cleaning robot slows down, the side brush and the roller brush stop, the fan stops and keeps the suction, and the rag plate speed increases.
本申请的实施例中，清洁机器人能够根据脏污图像识别目标污渍为液体污渍或固体污渍，并在选用相应的目标组件对目标污渍进行清洁，提高了清洁效率的同时，还提高了清洁效果。In the embodiments of the present application, the cleaning robot can identify the target stain as a liquid stain or a solid stain based on the dirty image, and select the corresponding target component to clean the target stain, thereby improving the cleaning efficiency and the cleaning effect.
在根据本申请的一个实施例中，如图22所示，提出一种清洁装置2200，适用于清洁机器人，清洁装置2200包括：In one embodiment of the present application, as shown in FIG. 22 , a cleaning device 2200 is provided, which is suitable for a cleaning robot. The cleaning device 2200 includes:
采集模块2202，用于通过图像采集装置采集脏污图像；The acquisition module 2202 is used to acquire dirty images through an image acquisition device;
识别模块2204，用于基于脏污图像，识别目标污渍；The identification module 2204 is used to identify the target stain based on the stain image;
控制模块2206，用于至少部分基于目标污渍的污渍信息，控制清洁机器人沿第一行驶轨迹行驶，以对目标污渍进行清洁。The control module 2206 is configured to control the cleaning robot to travel along a first driving trajectory based at least in part on the stain information of the target stain. Clean the target stain.
本申请的实施例提出了一种清洁装置，在清洁机器人行驶的过程中，持续通过图像采集装置采集脏污图像。通过对脏污图像进行识别，从而识别到脏污图像中的目标污渍。至少部分根据目标污渍的污渍信息对清洁机器人的第一行驶轨迹进行规划，能够对不同的目标污渍确定针对性的特地行驶轨迹，从而保证清洁机器人的清洁效果，避免相关技术中固定轨迹无法清洁干净现象的发生，不需要用户多次设置或手动清洁，提高用户使用清洁机器人的便捷性，提高用户的使用体验。The embodiment of the present application proposes a cleaning device, which continuously collects dirty images through an image acquisition device during the driving process of the cleaning robot. By identifying the dirty image, the target stain in the dirty image is identified. The first driving trajectory of the cleaning robot is planned at least in part based on the stain information of the target stain, and a targeted special driving trajectory can be determined for different target stains, thereby ensuring the cleaning effect of the cleaning robot, avoiding the occurrence of the fixed trajectory in the related art that cannot be cleaned completely, and does not require the user to set up or clean manually multiple times, thereby improving the convenience of the user using the cleaning robot and improving the user's experience.
本申请的实施例中，清洁机器人通过图像采集装置，采集清洁机器人行驶路径所在区域内的脏污图像，通过识别该脏污图像中的目标污渍，能够确定目标污渍的污渍信息。清洁机器人能够基于识别到的污渍信息控制清洁机器人按照第一行驶轨迹对目标污渍进行清洁，能够对不同的目标污渍针对性地规划行驶轨迹，保证对目标污渍的清洁效果，同时避免固定的清洁轨迹清洁效果不好或能耗较高现象的发生，整个过程无需进行人工参数设置，提高了用户使用清洁机器人的便捷性，不需要用户多次设置或手动清洁，提高了清洁效率。In an embodiment of the present application, the cleaning robot collects dirty images in the area where the cleaning robot's driving path is located through an image acquisition device, and can determine the stain information of the target stain by identifying the target stain in the dirty image. The cleaning robot can control the cleaning robot to clean the target stain according to the first driving trajectory based on the identified stain information, and can plan the driving trajectory for different target stains in a targeted manner to ensure the cleaning effect of the target stain, while avoiding the occurrence of fixed cleaning trajectories with poor cleaning effects or high energy consumption. The entire process does not require manual parameter settings, which improves the convenience of users using the cleaning robot, does not require users to set up multiple times or manually clean, and improves cleaning efficiency.
在上述任一实施例中，清洁装置2200包括：In any of the above embodiments, the cleaning device 2200 includes:
确定模块，用于根据脏污图像，确定目标污渍的定位信息；A determination module, used to determine the location information of the target stain according to the dirty image;
规划模块，用于根据定位信息和污渍信息，规划第一行驶轨迹；A planning module, used for planning a first driving trajectory according to the positioning information and the stain information;
其中，第一行驶轨迹包括以目标污渍的参考点为中心，由内向外盘绕延伸，和/或由外向内盘绕延伸；The first driving track includes a reference point of the target stain as the center, winding and extending from the inside to the outside, and/or winding and extending from the outside to the inside;
控制模块2206，用于控制清洁机器人，按照第一行驶轨迹行驶。The control module 2206 is used to control the cleaning robot to travel along the first driving trajectory.
在该实施例中提出了根据脏污图像，确定目标污渍的定位信息，根据定位信息和污渍信息规划完整的第一行驶轨迹，与整体的全屋清洁相比，能够通过第一行驶轨迹对目标污渍进行单独清洁，从而降低清洁机器人的能耗，减少清洁机器人提高清洁效率。In this embodiment, it is proposed to determine the positioning information of the target stain according to the dirty image, and plan a complete first driving trajectory according to the positioning information and the stain information. Compared with the overall whole-house cleaning, the target stain can be cleaned separately through the first driving trajectory, thereby reducing the energy consumption of the cleaning robot and improving the cleaning efficiency.
本申请的实施例中，根据目标污渍的定位信息，与目标污渍的污渍信息，能够合理规划第一行驶轨迹，从而避免用户手动设置参数，提高清洁机器人的智能化程度和自动化程度，仅针对目标污渍进行清洁，提高清洁效率和清洁效果，提升用户的使用体验。In an embodiment of the present application, based on the positioning information of the target stain and the stain information of the target stain, the first driving trajectory can be reasonably planned, thereby avoiding the user from manually setting parameters, improving the intelligence and automation level of the cleaning robot, and only cleaning the target stain, thereby improving cleaning efficiency and cleaning effect, and enhancing the user experience.
在上述任一实施例中，确定模块，用于至少部分基于定位信息，确定第一行驶轨迹中的第一轨迹点和/或第二轨迹点；In any of the above embodiments, the determining module is configured to determine the first trajectory point and/or the second trajectory point in the first driving trajectory based at least in part on the positioning information;
其中，第一行驶轨迹由第一轨迹点出发，由内向外盘绕延伸，和/或第一行驶轨迹由第二轨迹点出发，由外向内盘绕延伸；The first driving track starts from the first track point and extends from the inside to the outside in a winding manner, and/or the first driving track starts from the second track point and extends from the outside to the inside in a winding manner;
确定模块，用于基于污渍信息，确定第一行驶轨迹的盘绕密度；A determination module, configured to determine a winding density of the first driving track based on the stain information;
确定模块，用于根据第一轨迹点和/或第二轨迹点，以及盘绕密度，确定第一行驶轨迹。The determination module is used to determine the first driving trajectory according to the first trajectory point and/or the second trajectory point and the winding density.
在该实施例中提出了根据第一轨迹点和/或第二轨迹点，以及盘绕密度规划相应的第一行驶轨迹的过程，保证规划得到的第一行驶轨迹的定位准确性，以及沿特定形式轨迹行驶对目标污渍进行清洁的清洁效果和清洁效率。In this embodiment, a process of planning a corresponding first driving trajectory according to the first trajectory point and/or the second trajectory point and the winding density is proposed to ensure the positioning accuracy of the planned first driving trajectory, as well as the cleaning effect and cleaning efficiency of cleaning the target stains by driving along a specific form of trajectory.
本申请的实施例中，基于第一轨迹点和/或第二轨迹点，能够确定第一行驶轨迹的中的起点，再根据目标污渍的污渍信息规划在边缘端点之间的轨迹的盘绕密度，从而准确规划得到第一行驶轨迹，保证清洁机器人按照第一行驶轨迹行驶能够对目标污渍进行有效清洁。In an embodiment of the present application, based on the first trajectory point and/or the second trajectory point, the starting point of the first driving trajectory can be determined, and then the winding density of the trajectory between the edge endpoints is planned according to the stain information of the target stain, so as to accurately plan the first driving trajectory and ensure that the cleaning robot can effectively clean the target stain when traveling along the first driving trajectory.
在上述任一实施例中，目标污渍包括固体污渍；In any of the above embodiments, the target stain comprises a solid stain;
确定模块，用于基于固体污渍的分布密度，确定盘绕密度，其中，盘绕密度与分布密度呈正相关。The determination module is used to determine the coil density based on the distribution density of the solid stains, wherein the coil density is positively correlated with the distribution density.
在该实施例中提出了目标污渍包括固体污渍时，在固体污渍的分布密度较大时，则将第一行驶轨迹的盘绕密度同样设置较大，在固体物体的分布密度较小时，则将第一行驶轨迹的盘绕密度同样设置较小，保证清洁机器人对固体污渍清洁效果的同时，避免电能的浪费。In this embodiment, it is proposed that when the target stains include solid stains, when the distribution density of the solid stains is large, the winding density of the first driving trajectory is also set to be large, and when the distribution density of the solid objects is small, the winding density of the first driving trajectory is also set to be small, thereby ensuring the cleaning robot's cleaning effect on solid stains while avoiding waste of electric energy.
本申请的实施例中，在规划第一行驶轨迹的过程中，充分考虑固体污渍的分布情况，并基于分布情况设置第一行驶轨迹的盘绕密度，保证对分布较密集的固体污渍的清洁效果，以及提高对分布比较稀疏的固体污渍的清洁效率。In an embodiment of the present application, in the process of planning the first driving trajectory, the distribution of solid stains is fully considered, and the winding density of the first driving trajectory is set based on the distribution, so as to ensure the cleaning effect of densely distributed solid stains and improve the cleaning efficiency of sparsely distributed solid stains.
在上述任一实施例中，目标污渍包括液体污渍；In any of the above embodiments, the target stain comprises a liquid stain;
确定模块，用于基于液体物体包括水类污渍，确定盘绕密度为第一密度；A determination module, configured to determine the coil density as a first density based on the liquid object including water stains;
确定模块，用于基于液体污渍包括油类污渍，确定盘绕密度为第二密度。The determination module is used to determine the coil density as a second density based on the liquid stain including oil stain.
在该实施例中提出了在目标污渍包括液体污渍时，根据液体污渍的液体类型，对第一行驶轨迹设置相应的盘绕密度。In this embodiment, it is proposed that when the target stain includes a liquid stain, a corresponding winding density is set for the first driving trajectory according to the liquid type of the liquid stain.
本申请的实施例中，在规划第一行驶轨迹的过程中，充分考虑有液体污渍的液体类别，并基于液体污渍的液体类别选择不同的盘绕密度，保证对不同类别的液体污渍的清洁效率和清洁效果。In an embodiment of the present application, in the process of planning the first driving trajectory, the types of liquids with liquid stains are fully considered, and different coiling densities are selected based on the types of liquids with liquid stains to ensure the cleaning efficiency and cleaning effect of different types of liquid stains.
在上述任一实施例中，第二密度大于第一密度。In any of the above embodiments, the second density is greater than the first density.
在该实施例中，目标污渍包括液体污渍时，在液体污渍为水类污渍时，由于水类污渍比较容易清洁，则将第一行驶轨迹的盘绕密度设置较小的第一密度，保证自移动清洁对水类污渍的清洁效率。在液体污渍为油类污渍时，由于油类污渍比较难以清洁，则将第一行驶轨迹的盘绕密度设置为较大的第二密度，保证清洁机器人对油类污渍的清洁效果。In this embodiment, when the target stain includes a liquid stain, when the liquid stain is a water stain, since the water stain is relatively easy to clean, The winding density of the first driving track is set to a smaller first density to ensure the cleaning efficiency of the self-moving cleaning robot on water stains. When the liquid stain is an oil stain, since the oil stain is more difficult to clean, the winding density of the first driving track is set to a larger second density to ensure the cleaning effect of the cleaning robot on the oil stain.
本申请的实施例中，清洁机器人能够基于液体污渍的污渍类别设置第一行驶轨迹的盘绕密度，在对油类污渍进行清洁时，设置较大的第二密度对其进行清洁，保证对难以清洁的油类污渍的清洁效果，在对水类污渍进行清洁时，设置较小的第二密度对其进行清洁，提高对容易清洁的水类污渍的清洁效率。In an embodiment of the present application, the cleaning robot can set the winding density of the first driving trajectory based on the stain type of the liquid stain. When cleaning oil stains, a larger second density is set to clean them, thereby ensuring the cleaning effect on difficult-to-clean oil stains. When cleaning water stains, a smaller second density is set to clean them, thereby improving the cleaning efficiency of easy-to-clean water stains.
在上述任一实施例中，控制模块2206，用于在清洁机器人按照第一行驶轨迹行驶过程中，基于清洁机器人处于预设状态，控制清洁机器人旋转预设角度，并按照第二行驶轨迹行驶。In any of the above embodiments, the control module 2206 is used to control the cleaning robot to rotate to a preset angle and travel along a second driving trajectory based on the cleaning robot being in a preset state when the cleaning robot is traveling along the first driving trajectory.
在该实施例中提出了在清洁机器人按照第一行驶轨迹行驶过程中，基于清洁机器人处于预设状态，控制清洁机器人旋转预设角度，再按照第二行驶轨迹行驶，能够对目标污渍进行多次清洁，避免受到碰撞或触发防跌落等异常情况的影响，保证清洁过程的顺利进行，同时保证清洁机器人的安全。In this embodiment, it is proposed that during the driving of the cleaning robot along a first driving trajectory, based on the cleaning robot being in a preset state, the cleaning robot is controlled to rotate to a preset angle, and then drives along a second driving trajectory. This allows the target stains to be cleaned multiple times, avoiding the influence of abnormal situations such as collision or triggering anti-fall protection, thereby ensuring the smooth progress of the cleaning process and the safety of the cleaning robot.
本申请的实施例中，清洁机器人按照第一行驶轨迹行驶的过程中，持续检测是否处于预设状态，从而判定是否存在跌落风险或碰撞风险等，并在判定存在跌落风险或碰撞风险等时，清洁机器人能够自动进行转向进行规避，并在转向后及时按照第二行驶轨迹行驶进行清洁，保证清洁效果的同时，提高清洁机器人的稳定性。In an embodiment of the present application, while the cleaning robot is driving along a first driving trajectory, it continuously detects whether it is in a preset state, so as to determine whether there is a risk of falling or a risk of collision, etc., and when it is determined that there is a risk of falling or a risk of collision, etc., the cleaning robot can automatically turn to avoid it, and after turning, it can promptly drive along the second driving trajectory to clean, thereby ensuring the cleaning effect while improving the stability of the cleaning robot.
在上述任一实施例中，清洁机器人包括第一传感器；预设状态包括：接收到第一传感器输出的目标信号；和/或清洁机器人按照第一行驶轨迹行驶的第一时长达到预设时长。In any of the above embodiments, the cleaning robot includes a first sensor; the preset state includes: receiving a target signal output by the first sensor; and/or the first duration of the cleaning robot traveling along the first driving trajectory reaches a preset duration.
在该实施例中提出了清洁机器人通过相应的第一传感器输出的目标信号判断清洁机器人是否处于预设状态的方案，以及通过清洁机器人所行驶的第一时长判断清洁机器人是否处于预设状态的方案。This embodiment proposes a scheme in which the cleaning robot determines whether the cleaning robot is in a preset state by a target signal output by a corresponding first sensor, and a scheme in which the cleaning robot determines whether the cleaning robot is in a preset state by a first driving time.
本申请的实施例中，清洁机器人能够根据第一传感器输出的目标信号，以及行驶过程的第一时长中的至少一项，对清洁机器人是否处于预设状态进行准确判断，避免清洁机器人在行驶过程中频繁转向，同时能够及时规避行驶过程中的风险。In an embodiment of the present application, the cleaning robot can accurately judge whether the cleaning robot is in a preset state based on the target signal output by the first sensor and at least one of the first duration of the driving process, thereby avoiding frequent turns of the cleaning robot during driving and timely avoiding risks during driving.
在上述任一实施例中，控制模块2206，用于在检测到清洁机器人运行达到预设条件的情况下，结束第一行驶轨迹和/或第二行驶轨迹。In any of the above embodiments, the control module 2206 is used to end the first driving trajectory and/or the second driving trajectory when it is detected that the operation of the cleaning robot reaches a preset condition.
在该实施例中提出了清洁机器人能够自动检测是否满足回站的预设条件，在检测到行驶过程中满足预设条件，则则结束当前进行的第一行驶轨迹和/或第二行驶轨迹，无需用户手动操作控制清洁机器人停止行驶进程，提升用户的使用体验。In this embodiment, it is proposed that the cleaning robot can automatically detect whether the preset conditions for returning to the station are met. If it is detected that the preset conditions are met during driving, the current first driving trajectory and/or second driving trajectory will be terminated. There is no need for the user to manually control the cleaning robot to stop the driving process, thereby improving the user experience.
本申请的实施例中，清洁机器人能够自动对是否满足回站的预设条件进行检测判断，并据此控制清洁机器人自动回站，进一步减少用户对清洁机器人的操作步骤，简化用户的操作流程。In the embodiments of the present application, the cleaning robot can automatically detect and determine whether the preset conditions for returning to the station are met, and control the cleaning robot to automatically return to the station accordingly, further reducing the user's operating steps for the cleaning robot and simplifying the user's operating process.
在上述任一实施例中，预设条件包括以下至少一项：清洁机器人处于预设状态的次数达到预设次数；清洁机器人与目标污渍的距离大于预设距离。In any of the above embodiments, the preset condition includes at least one of the following: the number of times the cleaning robot is in a preset state reaches a preset number of times; the distance between the cleaning robot and the target stain is greater than a preset distance.
在该实施例中，通过设置不同的预设条件，能够提高清洁机器人沿第一行驶轨迹和/或第二行驶轨迹行驶的稳定性，并且提高清洁机器人回站的及时性。In this embodiment, by setting different preset conditions, the stability of the cleaning robot traveling along the first driving trajectory and/or the second driving trajectory can be improved, and the timeliness of the cleaning robot returning to the station can be improved.
本申请的实施例中，清洁机器人能够基于行驶过程中发生的异常次数，以及行驶过程中与目标污渍之间的距离中的任一项，对清洁机器人是否回站进行准确控制。In an embodiment of the present application, the cleaning robot can accurately control whether to return to the station based on any one of the number of abnormalities that occur during driving and the distance between the cleaning robot and the target stain during driving.
在上述任一实施例中，清洁机器人包括多个清洁组件；In any of the above embodiments, the cleaning robot includes a plurality of cleaning components;
确定模块，用于根据目标污渍的污渍信息，确定多个清洁组件中的目标组件；A determination module, used for determining a target component among a plurality of cleaning components according to stain information of the target stain;
控制模块2206，用于控制清洁机器人以目标姿态，按照第一行驶轨迹，对目标污渍进行清洁。The control module 2206 is used to control the cleaning robot to clean the target stain in a target posture and according to the first driving trajectory.
其中，在清洁机器人按照目标姿态行驶过程中，多个清洁组件中的目标组件优先与目标污渍接触。In the process of the cleaning robot driving according to the target posture, the target component among the multiple cleaning components contacts the target stain preferentially.
在该实施例中提出了根据类型信息，确定清洁组件中的目标组件，不同类型对应的清洁组件不同，从而能够保证对目标污渍的清洁效果，与相关技术中固定清洁组件固定路线清洁相比，能够针对性地对不同类型目标污渍选择合适的行驶轨迹，避免固体污渍对应的清洁组件清洁液体污渍导致清洁不干净现象的发生，进而提高清洁效率，避免用户多次设置或手动清洁，提高用户使用体验。In this embodiment, it is proposed to determine the target component in the cleaning component according to the type information. Different types correspond to different cleaning components, so as to ensure the cleaning effect of the target stains. Compared with the fixed route cleaning of fixed cleaning components in the related art, it is possible to select suitable driving trajectories for different types of target stains in a targeted manner, and avoid the occurrence of unclean cleaning caused by the cleaning components corresponding to solid stains cleaning liquid stains, thereby improving the cleaning efficiency, avoiding multiple settings or manual cleaning by users, and improving the user experience.
在上述任一实施例中，多个清洁组件包括吸尘组件和拖擦组件；In any of the above embodiments, the plurality of cleaning components include a dust collection component and a mopping component;
确定模块，用于基于目标污渍包括液体污渍，确定拖擦组件为目标组件；A determination module, configured to determine the mopping component as a target component based on the target stain including the liquid stain;
确定模块，用于基于目标污渍包括固体污渍，确定吸尘组件为目标组件。The determination module is used to determine that the dust collection component is a target component based on the fact that the target stains include solid stains.
本申请的实施例中，清洁机器人能够根据脏污图像识别目标污渍为液体污渍或固体污渍，并在选用相应的目标组件对目标污渍进行清洁，提高了清洁效率的同时，还提高了清洁效果。In the embodiments of the present application, the cleaning robot can identify the target stain as a liquid stain or a solid stain based on the dirty image, and select the corresponding target component to clean the target stain, thereby improving the cleaning efficiency and the cleaning effect.
在根据本申请的一个实施例中，如图23所示，提出了一种清洁装置2300，包括：处理器2302和存储器2304，存储器2304中存储有程序或指令；处理器2302执行存储在存储器2304中的程序或指令以实现如上述任一实施例中的清洁方法的步骤，因而具有上述任一实施例中的清洁方法的全部有益技术效果，在此不再做过多赘述。In one embodiment of the present application, as shown in Figure 23, a cleaning device 2300 is proposed, including: a processor 2302 and a memory 2304, in which programs or instructions are stored; the processor 2302 executes the program or instructions stored in the memory 2304 to implement the steps of the cleaning method in any of the above embodiments, and thus has all the beneficial technical effects of the cleaning method in any of the above embodiments, which will not be elaborated herein.
在根据本申请的一个实施例中，提出了一种可读存储介质，可读存储介质上存储有程序或指令，程序或指令被处理器执行时实现如上述任一实施例中的清洁方法的步骤。因而具有上述任一实施例中的清洁方法的全部有益技术效果，在此不再做过多赘述。In one embodiment of the present application, a readable storage medium is provided, on which a program or instruction is stored, and when the program or instruction is executed by a processor, the steps of the cleaning method in any of the above embodiments are implemented. Therefore, all the beneficial technical effects of the cleaning method in any of the above embodiments are achieved, and no further elaboration is made here.
在根据本申请的一个实施例中，如图24所示，提出了一种清洁机器人2400，包括：如上述任一实施例中的清洁装置2300，和/或上述任一实施例中的可读存储介质2402，因而具有上述任一实施例中的清洁装置2300，和/或上述任一实施例中的可读存储介质2402的全部有益技术效果，在此不再做过多赘述。In one embodiment of the present application, as shown in FIG. 24 , a cleaning robot 2400 is proposed, comprising: a cleaning device 2300 as in any of the above embodiments, and/or a readable storage medium 2402 as in any of the above embodiments, and thus having all the beneficial technical effects of the cleaning device 2300 as in any of the above embodiments, and/or the readable storage medium 2402 as in any of the above embodiments, which will not be elaborated herein.
如图2所示，在上述任一实施例中，清洁机器人200还包括：本体230和图像采集装置220，图像采集装置220设置于本体230。图像采集装置220可以设置在清洁机器人200的本体230的顶部、侧壁等位置。As shown in FIG2 , in any of the above embodiments, the cleaning robot 200 further includes: a body 230 and an image acquisition device 220, and the image acquisition device 220 is disposed on the body 230. The image acquisition device 220 can be disposed on the top, side wall, etc. of the body 230 of the cleaning robot 200.
示例性地，图像采集装置220设置在本体230的碰撞缓冲板上。Exemplarily, the image acquisition device 220 is disposed on a collision buffer plate of the body 230 .
需要明确的是，在本申请的权利要求书、说明书和说明书附图中，术语“多个”则指两个或两个以上，除非有额外的明确限定，术语“上”、“下”等指示的方位或位置关系为基于附图所示的方位或位置关系，仅是为了更方便地描述本申请和使得描述过程更加简便，而不是为了指示或暗示所指的装置或元件必须具有所描述的特定方位、以特定方位构造和操作，因此这些描述不能理解为对本申请的限制；术语“连接”、“安装”、“固定”等均应做广义理解，举例来说，“连接”可以是多个对象之间的固定连接，也可以是多个对象之间的可拆卸连接，或一体地连接；可以是多个对象之间的直接相连，也可以是多个对象之间的通过中间媒介间接相连。对于本领域的普通技术人员而言，可以根据上述数据地具体情况理解上述术语在本申请中的具体含义。It should be clarified that in the claims, specification and drawings of the present application, the term "multiple" refers to two or more than two. Unless otherwise clearly defined, the orientation or position relationship indicated by the terms "upper" and "lower" is based on the orientation or position relationship shown in the drawings, which is only for the purpose of more conveniently describing the present application and making the description process easier, rather than indicating or implying that the device or element referred to must have the specific orientation described, be constructed and operated in a specific orientation, so these descriptions cannot be understood as limitations on the present application; the terms "connect", "install", "fix" and the like should be understood in a broad sense. For example, "connection" can be a fixed connection between multiple objects, or a detachable connection between multiple objects, or an integral connection; it can be a direct connection between multiple objects, or an indirect connection between multiple objects through an intermediate medium. For ordinary technicians in this field, the specific meanings of the above terms in this application can be understood based on the specific circumstances of the above data.
在本申请的权利要求书、说明书和说明书附图中，术语“一个实施例”、“一些实施例”、“具体实施例”等的描述意指结合该实施例或示例描述的具体特征、结构、材料或特点包含于本申请的实施例或示例中。在本申请的权利要求书、说明书和说明书附图中，对上述术语的示意性表述不一定指的是相同的实施例或实例。而且，描述的具体特征、结构、材料或特点可以在任何的一个或多个实施例或示例中以合适的方式结合。In the claims, specification and drawings of the present application, the description of the terms "one embodiment", "some embodiments", "specific embodiments" and the like means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in the embodiment or example of the present application. In the claims, specification and drawings of the present application, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner.
以上仅为本申请的优选实施例而已，并不用于限制本申请，对于本领域的技术人员来说，本申请可以有各种更改和变化。凡在本申请的精神和原则之内，所作的任何修改、等同替换、改进等，均应包含在本申请的保护范围之内。The above are only preferred embodiments of the present application and are not intended to limit the present application. For those skilled in the art, the present application may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application shall be included in the protection scope of the present application.
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310566487.9ACN118986197A (en) | 2023-05-19 | 2023-05-19 | Cleaning method, apparatus, readable storage medium, and self-moving cleaning device |
| CN202310566489.8 | 2023-05-19 | ||
| CN202310566489.8ACN118986210A (en) | 2023-05-19 | 2023-05-19 | Control method and device of cleaning robot, storage medium and cleaning robot |
| CN202310566487.9 | 2023-05-19 |
| Publication Number | Publication Date |
|---|---|
| WO2024240090A1true WO2024240090A1 (en) | 2024-11-28 |
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| PCT/CN2024/094015PendingWO2024240090A1 (en) | 2023-05-19 | 2024-05-17 | Cleaning robot and control method therefor, and readable storage medium |
| Country | Link |
|---|---|
| WO (1) | WO2024240090A1 (en) |
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN119558624A (en)* | 2025-01-24 | 2025-03-04 | 中国标准化研究院 | A method for cleaning glass curtain walls of urban high-rise buildings based on drone swarms |
| CN119567276A (en)* | 2025-02-06 | 2025-03-07 | 北京邮电大学 | Control method and device for photovoltaic cleaning robot, electronic equipment, storage medium and program product |
| CN120000106A (en)* | 2025-04-16 | 2025-05-16 | 追觅创新科技(苏州)有限公司 | Dirt cleaning method, cleaning robot and readable storage medium |
| Publication number | Priority date | Publication date | Assignee | Title |
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| JP2000353014A (en)* | 1999-06-09 | 2000-12-19 | Toyota Autom Loom Works Ltd | Cleaning robot |
| CN108113595A (en)* | 2016-11-28 | 2018-06-05 | 沈阳新松机器人自动化股份有限公司 | A kind of energy-saving sweeping machine device people system, method and robot |
| CN110693397A (en)* | 2019-10-29 | 2020-01-17 | 珠海市一微半导体有限公司 | Control method of cleaning robot, cleaning robot and medium |
| CN111067428A (en)* | 2019-12-23 | 2020-04-28 | 珠海格力电器股份有限公司 | Cleaning method, storage medium and cleaning equipment |
| CN112287834A (en)* | 2020-10-29 | 2021-01-29 | 上海高仙自动化科技发展有限公司 | Inspection cleaning method and device for robot, robot and storage medium |
| CN113243832A (en)* | 2021-05-27 | 2021-08-13 | 深圳甲壳虫智能有限公司 | Cleaning robot and control method thereof |
| CN113854903A (en)* | 2021-09-28 | 2021-12-31 | 追觅创新科技(苏州)有限公司 | Control method and device of cleaning equipment |
| CN115024660A (en)* | 2022-06-29 | 2022-09-09 | 深圳市景创科技电子股份有限公司 | Cleaning robot control method and device |
| CN115486762A (en)* | 2022-08-08 | 2022-12-20 | 深圳市景创科技电子股份有限公司 | Control method of sweeping equipment based on nine-axis sensor, sweeping equipment and medium |
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2000353014A (en)* | 1999-06-09 | 2000-12-19 | Toyota Autom Loom Works Ltd | Cleaning robot |
| CN108113595A (en)* | 2016-11-28 | 2018-06-05 | 沈阳新松机器人自动化股份有限公司 | A kind of energy-saving sweeping machine device people system, method and robot |
| CN110693397A (en)* | 2019-10-29 | 2020-01-17 | 珠海市一微半导体有限公司 | Control method of cleaning robot, cleaning robot and medium |
| CN111067428A (en)* | 2019-12-23 | 2020-04-28 | 珠海格力电器股份有限公司 | Cleaning method, storage medium and cleaning equipment |
| CN112287834A (en)* | 2020-10-29 | 2021-01-29 | 上海高仙自动化科技发展有限公司 | Inspection cleaning method and device for robot, robot and storage medium |
| CN113243832A (en)* | 2021-05-27 | 2021-08-13 | 深圳甲壳虫智能有限公司 | Cleaning robot and control method thereof |
| CN113854903A (en)* | 2021-09-28 | 2021-12-31 | 追觅创新科技(苏州)有限公司 | Control method and device of cleaning equipment |
| CN115024660A (en)* | 2022-06-29 | 2022-09-09 | 深圳市景创科技电子股份有限公司 | Cleaning robot control method and device |
| CN115486762A (en)* | 2022-08-08 | 2022-12-20 | 深圳市景创科技电子股份有限公司 | Control method of sweeping equipment based on nine-axis sensor, sweeping equipment and medium |
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN119558624A (en)* | 2025-01-24 | 2025-03-04 | 中国标准化研究院 | A method for cleaning glass curtain walls of urban high-rise buildings based on drone swarms |
| CN119567276A (en)* | 2025-02-06 | 2025-03-07 | 北京邮电大学 | Control method and device for photovoltaic cleaning robot, electronic equipment, storage medium and program product |
| CN120000106A (en)* | 2025-04-16 | 2025-05-16 | 追觅创新科技(苏州)有限公司 | Dirt cleaning method, cleaning robot and readable storage medium |
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