CN114569003A - Control method and device of removable device, removable device and storage medium - Google Patents

Abstract

The invention provides a control method and device of a movable device, the movable device and a storage medium. The control method of the movable equipment comprises the following steps: acquiring ground characteristic information of a room; and determining control information according to the ground characteristic information, and controlling the movable equipment to work according to the control information. Through the mode, the movable equipment can realize more intelligent and customized cleaning based on the floor condition of the room, and the efficiency and the accuracy of room cleaning are improved.

Description

Control method, device, removable device and storage medium for removable device

technical field

The present invention relates to the technical field of device control, and in particular, to a control method for a movable device, a control apparatus for a movable device, a movable device and a readable storage medium.

Background technique

At present, the intelligence of cleaning equipment is mainly reflected in the improvement of navigation accuracy, the identification and collision avoidance of isolated objects, and the complete cleaning of divided areas. However, for the cleaning strategy, there is no precise control method, which leads to the single and unintelligent cleaning strategy of the cleaning equipment.

SUMMARY OF THE INVENTION

The present invention aims to solve at least one of the technical problems existing in the prior art or related technologies.

To this end, one aspect of the present invention is to provide a control method for a movable device.

Another aspect of the present invention is to provide a control device for a mobile device.

Yet another aspect of the present invention is to provide a portable device.

Yet another aspect of the present invention is to propose a portable device.

Yet another aspect of the present invention is to provide a readable storage medium.

In view of this, according to one aspect of the present invention, a method for controlling a movable device is proposed, the method includes: acquiring ground feature information of a room; determining control information according to the ground feature information, and controlling the movable device to work according to the control information .

In this technical solution, the movable device can be a cleaning device such as a sweeping robot, a mopping robot, and an all-in-one sweeping and mopping machine, which can be moved in multiple rooms, so as to achieve the purpose of cleaning in different rooms.

Specifically, a camera, an infrared sensor and other devices are installed on the movable device, which can collect ground feature information in the room, and the ground feature information can indicate the ground laying situation in the room. Further, corresponding control information is determined according to the ground feature information in the room, so that the movable device can perform cleaning work according to the control information.

Through the above method, the mobile device can realize more intelligent and customized cleaning based on the ground conditions of the room, and improve the efficiency and accuracy of room cleaning.

The control method for the above-mentioned movable device according to the present invention may also have the following additional technical features:

In the above technical solution, the ground feature information includes a ground paving material, and determining the control information according to the ground feature information includes: determining first control information corresponding to the ground paving material; wherein the first control information includes at least one of the following: water output , cleaning times, fan suction, moving speed.

In this technical solution, the ground feature information may include the material on which the ground is laid, for example, the material includes wood (eg, floor), qualification, and stone (eg, floor tile).

The control information of the movable device includes first control information, and the first control information may be at least one of water output, cleaning times, fan suction, and moving speed.

Specifically, based on the material laid on the floor of the room, the water output, the suction force of the fan, and the moving speed of the movable device are correspondingly determined, and the number of times the room is cleaned by the movable device is determined.

In the above manner, the movable device can realize a more personalized and intelligent cleaning of the room based on the material laid on the floor in the room.

In any of the above technical solutions, the water output when the ground paving material is wood is smaller than the water output when the ground paving material is porcelain or stone.

In this technical solution, if it is recognized that the material of the floor in the room is wood, that is to say, the floor is laid in the room, the water output when the movable device is cleaned can be reduced, thereby reducing the damage of water stains to the floor , Protect the floor.

If it is recognized that the material of the floor in the room is porcelain or stone, that is to say, the floor tiles are laid in the room, the water output when the movable device is cleaned can be relatively increased, thereby improving the cleaning degree of the floor tiles and ensuring cleaning effect.

In any of the above technical solutions, the cleaning times when the floor material is wood is greater than the cleaning times when the floor material is porcelain or stone.

In this technical solution, if it is recognized that the material of the floor in the room is wood, that is to say, the floor is laid in the room, the water output when the movable device is cleaned can be reduced, thereby reducing the damage of water stains to the floor , Protect the floor, and increase the number of cleanings to ensure the cleaning effect.

If it is recognized that the material of the floor in the room is porcelain or stone, that is to say, the floor tiles are laid in the room, the water output when the movable device is cleaned can be relatively increased, thereby improving the cleaning degree of the floor tiles and ensuring The cleaning effect is relatively reduced, and the number of cleaning times is relatively reduced, so as to reduce the waste of electric energy of the movable equipment.

In any of the above technical solutions, the ground feature information includes a ground laying direction, and determining the control information according to the ground feature information includes: determining second control information corresponding to the ground laying direction; wherein the second control information is the cleaning of the movable equipment The direction is the same as the laying direction of the ground.

In this technical solution, the ground feature information may include the direction of ground laying, that is, the texture of the floor or floor tiles laid on the ground.

The control information of the movable device includes second control information, and the second control information may be control information of the cleaning direction of the movable device.

Specifically, based on the direction of floor laying of the room, the cleaning direction of the movable device is correspondingly determined, so that the cleaning direction of the movable device is the same as the direction of floor laying, that is, the cleaning direction of the movable device is parallel to the direction of floor laying.

In the above manner, the movable device can be cleaned parallel to the direction in which the floor is laid in the room, thereby reducing dust, water stains, etc. remaining in the gaps of the floor or floor tiles, and making the cleaning marks of the movable device on the floor or floor tiles not cluttered , to improve the cleaning effect.

In any of the above technical solutions, the ground feature information includes a ground size, and determining the control information according to the ground feature information includes: determining a room type according to the ground size; and determining third control information corresponding to the room type.

In this technical solution, the ground feature information may include the size of the ground, that is, the size of the room, and the control information of the movable device includes the third control information.

Specifically, based on the floor size of the room, the size of the room is determined, so as to determine the type of the room, and then the third control information of the movable device is correspondingly determined according to the type of the room.

In the above manner, the cleaning of the movable device can be adaptively controlled according to the type of the room, thereby improving the efficiency and accuracy of room cleaning.

In any of the above technical solutions, the room type includes at least one of the following: bedroom, living room, kitchen, and bathroom; the third control information includes at least one of the following: room cleaning sequence, cleaning dose, and disinfecting dose.

In this technical solution, the room may include a bedroom, a living room, a kitchen or a bathroom, and the cleaning methods of the movable device in different types of rooms may be different.

The third control information of the movable device may be at least one of a room cleaning sequence, a cleaning dose, and a disinfecting dose. For example, when it is determined that the room is a bedroom, the room can be cleaned first; when it is determined that the room is a living room, the living room can be cleaned after cleaning the bedroom; when it is determined that the room is a kitchen or bathroom, the mobile device can be sprayed for cleaning agents, disinfectants, etc.

Through the above methods, more intelligent and customized cleaning can be achieved.

In any of the above technical solutions, the ground feature information includes the position of the socket, and determining the control information according to the ground feature information includes: determining fourth control information corresponding to the position of the socket.

In this technical solution, the ground feature information may include the position of the socket, that is, the position of the socket installed on the ground, and the control information of the movable device includes fourth control information, and the fourth control information is used to control the movement of the movable device route.

Specifically, based on the position of the socket on the floor of the room, the moving route of the movable device is controlled, so as to avoid the risk of electric leakage in the position of the movable device cleaning the socket, and improve the safety in the cleaning process.

In any of the above technical solutions, the fourth control information is that the cleaning range of the movable device is outside the preset range of the socket position.

In this technical solution, if a socket installed on the ground in the room is identified, the movable device can keep a certain safe distance from the socket during cleaning, that is, clean outside the preset range from the socket, for example, in Clean 10cm or 20cm away from the socket.

In the above manner, the risk of electric leakage at the position of the cleaning socket of the movable device is avoided, and the safety in the cleaning process is improved.

In any of the above technical solutions, the ground feature information includes a room boundary feature of a room, and determining the control information according to the ground feature information includes: determining control information corresponding to the room boundary feature based on the height of the room boundary feature being less than or equal to a preset threshold .

In this technical solution, the ground feature information may include room boundary features of the room, such as door bars, threshold stones, sliding door tracks, and the like.

When it is recognized that the height of the room boundary feature does not exceed the preset threshold, it indicates that the height of the room boundary feature is low, and the movable device can be controlled to clean the location; when it is recognized that the height of the room boundary feature exceeds the preset threshold, it indicates that the height of the room boundary feature is low. If the height of the room boundary feature is high, the movable device can be prevented from cleaning the position, and the movable device can be prevented from being stuck at the room boundary feature.

In any of the above technical solutions, acquiring the ground feature information of the room includes: acquiring the room boundary feature of the room; and acquiring the floor feature information of the room based on the movable device entering the room through the room boundary feature.

In this technical solution, the room demarcation feature is an important basis for room division, and may include door bars, threshold stones, sliding door tracks, and the like.

When it is recognized that the movable device enters the room through the room boundary feature, the floor feature information of the room is collected, and then the movable device is controlled to clean the room according to the control information corresponding to the floor feature information.

In the above manner, according to the room boundary feature, it can be accurately determined whether the movable device enters the room, so as to collect the ground feature information after entering the room, so as to realize the timely and accurate collection of the ground feature information.

According to another aspect of the present invention, a control device for a mobile device is proposed, the device includes: an acquisition module for acquiring ground feature information of a room; a control module for determining control information according to the ground feature information, and according to The control information controls the operation of the mobile device.

In this technical solution, the movable device can be a cleaning device such as a sweeping robot, a mopping robot, and an all-in-one sweeping and mopping machine, which can be moved in multiple rooms, so as to achieve the purpose of cleaning in different rooms.

Specifically, a camera, an infrared sensor and other devices are installed on the movable device, which can collect ground feature information in the room, and the ground feature information can indicate the ground laying situation in the room. Further, corresponding control information is determined according to the ground feature information in the room, so that the movable device can perform cleaning work according to the control information.

Through the above method, the mobile device can realize more intelligent and customized cleaning based on the ground conditions of the room, and improve the efficiency and accuracy of room cleaning.

According to yet another aspect of the present invention, a removable device is proposed, comprising: a memory for storing programs or instructions; a processor, which implements control of the removable device according to any of the above technical solutions when the processor executes the programs or instructions steps of the method.

In the mobile device provided by the present invention, when the program or instruction is executed by the processor, the steps of the control method for the mobile device according to any of the above technical solutions are implemented, so the mobile device includes the control of the mobile device according to any of the above technical solutions. full benefit of the method.

According to yet another aspect of the present invention, a movable device is provided, including the control apparatus of the movable device according to the above technical solution.

The movable device provided by the present invention includes the control apparatus of the movable device according to the above technical solution, so the movable device includes all the beneficial effects of the control device of the movable device of any of the above technical solutions.

According to yet another aspect of the present invention, a readable storage medium is provided, on which programs or instructions are stored, and when the programs or instructions are executed by a processor, the steps of the control method for a removable device according to any of the foregoing technical solutions are implemented.

In the readable storage medium provided by the present invention, when the program or instructions are executed by the processor, the steps of the control method of the removable device according to any of the above technical solutions are implemented, so the readable storage medium includes the removable device of any of the above technical solutions. the full beneficial effects of the control method.

Additional aspects and advantages of the present invention will become apparent in the description section that follows, or will be learned by practice of the present invention.

Description of drawings

The above and/or additional aspects and advantages of the present invention will become apparent and readily understood from the following description of embodiments taken in conjunction with the accompanying drawings, wherein:

FIG. 1 shows one of the schematic flowcharts of the control method of the mobile device according to the embodiment of the present invention;

FIG. 2 shows the second schematic flowchart of the control method of the movable device according to the embodiment of the present invention;

FIG. 3 shows a third schematic flowchart of a method for controlling a movable device according to an embodiment of the present invention;

FIG. 4 shows a fourth schematic flowchart of a method for controlling a movable device according to an embodiment of the present invention;

FIG. 5 shows a fifth schematic flowchart of a method for controlling a movable device according to an embodiment of the present invention;

FIG. 6 shows a sixth schematic flowchart of a method for controlling a movable device according to an embodiment of the present invention;

FIG. 7 shows a seventh schematic flowchart of a method for controlling a movable device according to an embodiment of the present invention;

FIG. 8 shows one of the schematic diagrams of floor laying in a room according to an embodiment of the present invention;

FIG. 9 shows the second schematic diagram of floor laying in a room according to an embodiment of the present invention;

FIG. 10 shows a schematic block diagram of a control apparatus of a mobile device according to an embodiment of the present invention;

Fig. 11 shows a schematic block diagram of a movable device according to an embodiment of the present invention;

FIG. 12 shows a schematic block diagram of a movable device according to an embodiment of the present invention.

Detailed ways

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

It should be noted that all directional indications (such as up, down, left, right, front, back, etc.) in the embodiments of the present invention are only used to explain the relationship between various components under a certain posture (as shown in the accompanying drawings). The relative positional relationship, the movement situation, etc., if the specific posture changes, the directional indication also changes accordingly.

In addition, descriptions such as "first", "second", etc. in the present invention are only for descriptive purposes, and should not be construed as indicating or implying their relative importance or implicitly indicating the number of indicated technical features. Thus, a feature delimited with "first", "second" may expressly or implicitly include at least one of that feature. In the description of the present invention, "plurality" means at least two, such as two, three, etc., unless otherwise expressly and specifically defined.

In the present invention, unless otherwise expressly specified and limited, the terms "connected", "fixed" and the like should be understood in a broad sense, for example, "fixed" may be a fixed connection, a detachable connection, or an integrated; It can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, and it can be an internal communication between two elements or an interaction relationship between the two elements, unless otherwise explicitly defined. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific situations.

In addition, the technical solutions between the various embodiments of the present invention can be combined with each other, but must be based on the realization by those of ordinary skill in the art. When the combination of technical solutions is contradictory or cannot be realized, it should be considered that the combination of technical solutions does not exist and is not within the scope of protection claimed by the present invention.

The method for controlling a movable device, a control apparatus for a movable device, a movable device, and a readable storage medium provided by the embodiments of the present application will be described in detail below with reference to the accompanying drawings through specific embodiments and application scenarios thereof.

Example 1

An embodiment of the present invention proposes a method for controlling a movable device. FIG. 1 shows one of the schematic flowcharts of the method for controlling a movable device according to an embodiment of the present invention. Among them, the method includes:

Step 102, acquiring ground feature information of the room;

Step 104, based on the ground feature information, determine control information for the movable device;

Step 106: Control the movable device and work according to the control information.

In this technical solution, the movable device can be a cleaning device such as a sweeping robot, a mopping robot, and an all-in-one sweeping and mopping machine, which can be moved in multiple rooms, so as to achieve the purpose of cleaning in different rooms.

Specifically, a camera, an infrared sensor and other equipment are installed on the movable device, which can collect ground feature information in the room, and the ground feature information can indicate the ground laying situation in the room. Further, corresponding control information is determined according to the ground feature information in the room, so that the movable device can perform cleaning work according to the control information.

It should be noted that the floor feature information includes at least one of the floor laying material, the floor laying direction, the floor size, the position of the socket, and the room boundary feature.

Through the above method, the mobile device can realize more intelligent and customized cleaning based on the ground conditions of the room, and improve the efficiency and accuracy of room cleaning.

In addition, if the floor feature information of the room cannot be identified, the default cleaning strategy can be implemented to ensure the smooth progress of the cleaning.

Embodiment 2

In the embodiment of the present invention, in the case that the ground feature information includes the ground paving material, FIG. 2 shows the second schematic flowchart of the control method of the movable device according to the embodiment of the present invention. Among them, the method includes:

Step 202, obtaining the floor laying material of the room;

Step 204, determining the first control information for the movable device based on the ground paving material;

Step 206, controlling the movable device to work according to the first control information.

In this technical solution, the ground feature information may include the material on which the ground is laid, for example, the material includes wood (eg, floor), qualification, and stone (eg, floor tile).

The control information of the movable device includes first control information, and the first control information may be at least one of water output, cleaning times, fan suction, and moving speed.

Specifically, based on the material laid on the floor of the room, the water output, the suction force of the fan, and the moving speed of the movable device are correspondingly determined, and the number of times the room is cleaned by the movable device is determined.

Exemplarily, according to the different paving materials on the ground, the movement parameters (for example, the feedback of the motor speed of the movable device, etc.) can be adaptively adjusted in actions such as going straight, turning, getting out of trouble, and circumventing obstacles, so as to make the movement of the movable device. Smoother and smoother.

In addition, for the fan suction, different materials can correspond to different fan suction, and the fan suction of a specific material can be determined according to the user's setting parameters. For example, users can set the corresponding fan suction when the ground is made of porcelain or stone according to their needs, so that the water stains on the porcelain or stone floors can be absorbed to the greatest extent and avoid the problem of users being slipped. ;Users can also set the corresponding fan suction when the floor is made of wood according to their needs, because usually the bedroom is the floor, so that the water stains on the floor of the bedroom can be absorbed to the greatest extent, so as to avoid excessive water stains and cause the bedding to become damp. The problem.

In the above manner, the movable device can realize a more personalized and intelligent cleaning of the room based on the material laid on the floor in the room.

Embodiment 3

In the embodiment of the present invention, the water output when the ground laying material is wood is smaller than the water output when the ground laying material is porcelain or stone.

In this technical solution, if it is recognized that the material of the floor in the room is wood, that is to say, the floor is laid in the room, the water output when the movable device is cleaned can be reduced, thereby reducing the damage of water stains to the floor , Protect the floor.

If it is recognized that the material of the floor in the room is porcelain or stone, that is to say, the floor tiles are laid in the room, the water output when the movable device is cleaned can be relatively increased, thereby improving the cleaning degree of the floor tiles and ensuring cleaning effect.

In the embodiment of the present invention, the cleaning times when the floor covering material is wood is greater than the cleaning times when the floor covering material is porcelain or stone.

In this technical solution, if it is recognized that the material of the floor in the room is wood, that is to say, the floor is laid in the room, the water output when the movable device is cleaned can be reduced, thereby reducing the damage of water stains to the floor , Protect the floor, and increase the number of cleanings to ensure the cleaning effect.

If it is recognized that the material of the floor in the room is porcelain or stone, that is to say, the floor tiles are laid in the room, the water output when the movable device is cleaned can be relatively increased, thereby improving the cleaning degree of the floor tiles and ensuring The cleaning effect is relatively reduced, and the number of cleaning times is relatively reduced, so as to reduce the waste of electric energy of the movable equipment.

Embodiment 4

In the embodiment of the present invention, in the case that the ground feature information includes the ground laying direction, FIG. 3 shows the third schematic flowchart of the control method of the movable device according to the embodiment of the present invention. Among them, the method includes:

Step 302, obtaining the floor laying direction of the room;

Step 304, based on the ground laying direction, determine the second control information for the movable device;

Step 306, controlling the movable device to work according to the second control information.

The second control information is that the cleaning direction of the movable device is consistent with the ground laying direction.

In this technical solution, the ground feature information may include the direction of ground laying, that is, the texture of the floor or floor tiles laid on the ground.

The control information of the movable device includes second control information, and the second control information may be control information of the cleaning direction of the movable device.

Specifically, based on the direction of floor laying of the room, the cleaning direction of the movable device is correspondingly determined, so that the cleaning direction of the movable device is the same as the direction of floor laying, that is, the cleaning direction of the movable device is parallel to the direction of floor laying. As shown in FIG. 8 , the floor laying direction in the room is horizontal, and the cleaning direction of the movable device is controlled to be parallel to the floor laying direction.

In the above manner, the movable device can be cleaned parallel to the direction in which the floor is laid in the room, thereby reducing dust, water stains, etc. remaining in the gaps of the floor or floor tiles, and making the cleaning marks of the movable device on the floor or floor tiles not cluttered , making the cleaning marks more beautiful and improving the cleaning effect.

Embodiment 5

In the embodiment of the present invention, in the case that the ground feature information includes the size of the ground, FIG. 4 shows a fourth schematic flowchart of a method for controlling a movable device according to an embodiment of the present invention. Among them, the method includes:

Step 402, obtaining the floor size of the room;

Step 404, based on the floor size, determine the type of the room;

Step 406, according to the type of the room, determine the third control information for the movable device;

Step 408: Control the movable device to work according to the third control information.

In this technical solution, the ground feature information may include the size of the ground, that is, the size of the room, and the control information of the movable device includes the third control information.

Specifically, based on the floor size of the room, the size of the room is determined, so as to determine the type of the room, and then the third control information of the movable device is correspondingly determined according to the type of the room.

In the above manner, the cleaning of the movable device can be adaptively controlled according to the type of the room, thereby improving the efficiency and accuracy of room cleaning.

In any of the above technical solutions, the type of the room includes at least one of a bedroom, a living room, a kitchen and a bathroom.

In this technical solution, the room may include a bedroom, a living room, a kitchen or a bathroom, and the cleaning methods of the movable device in different types of rooms may be different.

In any of the above technical solutions, the third control information includes at least one of a room cleaning sequence, a cleaning dose, and a disinfecting dose.

In this technical solution, the third control information of the movable device may be at least one of a room cleaning sequence, a cleaning dose, and a disinfecting dose. For example, when it is determined that the room is a bedroom, the room can be cleaned first; when it is determined that the room is a living room, the living room can be cleaned after cleaning the bedroom; when it is determined that the room is a kitchen or bathroom, the mobile device can be sprayed for cleaning agents, disinfectants, etc.

Through the above methods, more intelligent and customized cleaning can be achieved.

It should be noted that the control of the movable device in combination with the size of the ground may be performed after the step of controlling the movable device according to the ground laying material and/or the ground laying direction.

Illustratively, since bedrooms and living rooms are usually laid with floors, kitchens and bathrooms are usually laid with floor tiles. After recognizing that the floor in the room is a floor, it can be preliminarily determined that the room is a bedroom or a living room, and the first control information and/or the second control information can be determined. Further, in combination with the size of the room, it is specifically inferred whether the room is a bedroom or a living room, so as to determine the room cleaning sequence. For example, based on the smaller room size of the current room, it is determined that the current room is a bedroom, and the cleaning priority of the bedroom is preset. If the cleaning priority is higher than the living room, the current bedroom will be cleaned first.

Alternatively, the movable device may be controlled in combination with the size of the floor, the material of the floor, and/or the direction of the floor.

Exemplarily, if it is recognized that the floor is laid in the room, and combined with the room size characteristics, it is inferred that the room is a bedroom or a living room, the room is cleaned first, and then the kitchen, bathroom and other rooms are cleaned, which meets the needs of the user. . If it is recognized that the floor tiles are laid in the room, and the room size is relatively small, it can be determined that it is a kitchen or a bathroom, and the room is cleaned finally, and cleaning agents, disinfectants, etc. can be sprayed during cleaning.

Embodiment 6

In the embodiment of the present invention, in the case that the ground feature information includes the position of the socket, FIG. 5 shows the fifth schematic flowchart of the control method of the movable device according to the embodiment of the present invention. Among them, the method includes:

Step 502, obtaining the location of the socket in the room;

Step 504, based on the position of the socket, determine fourth control information for the movable device;

Step 506, controlling the movable device to work according to the fourth control information.

In this technical solution, the ground feature information may include the position of the socket, that is, the position of the socket installed on the ground, and the control information of the movable device includes fourth control information, and the fourth control information is used to control the movement of the movable device route.

Specifically, based on the position of the socket on the floor of the room, the moving route of the movable device is controlled, so as to avoid the risk of electric leakage in the position of the movable device cleaning the socket, and improve the safety in the cleaning process.

In the above technical solution, the fourth control information is to control the cleaning range of the movable device to be outside the preset range of the socket position.

In this technical solution, as shown in FIG. 9 , if the socket 902 installed on the ground in the room is identified, the movable device can keep a certain safe distance from the socket 902 during cleaning, that is, at a distance from the socket 902 Cleaning is performed outside the preset range, for example, cleaning is performed within a distance of 10 cm or 20 cm from the socket 902 .

In the above manner, the risk of electric leakage at the position of the cleaning socket of the movable device is avoided, and the safety in the cleaning process is improved.

It should be noted that the control of the movable device in combination with the position of the socket may be performed before or after the step of controlling the movable device according to the ground laying material and/or the ground laying direction. Alternatively, the movable device may be controlled in combination with socket location, floor covering material and/or floor covering direction.

Embodiment 7

In this embodiment of the present invention, when the ground feature information includes a room boundary feature of a room, the step of determining control information for a movable device based on the ground feature information specifically includes: judging whether the height of the room boundary feature does not exceed a preset threshold , when the height of the room boundary feature does not exceed the preset threshold, determine the control information corresponding to the room boundary feature.

In this technical solution, the ground feature information may include room boundary features of the room, such as door bars, threshold stones, sliding door tracks, and the like.

When it is recognized that the height of the room boundary feature does not exceed the preset threshold, it indicates that the height of the room boundary feature is low, and the movable device can be controlled to clean the location; when it is recognized that the height of the room boundary feature exceeds the preset threshold, it indicates that the height of the room boundary feature is low. If the height of the room boundary feature is high, the movable device can be prevented from cleaning the position, and the movable device can be prevented from being stuck at the room boundary feature.

Embodiment 8

In the embodiment of the present invention, taking the movable device as a mopping robot as an example, the mopping robot usually uses a single-line laser radar or a camera as the main sensor to perceive the environment and build a map. identification and collision avoidance, and no omission cleaning of the segmented area. As the core function of the mopping robot, cleaning, it is mostly reflected in the characteristics of carpet pressurization, cleaning times, bow spacing, disinfection and sterilization.

In a region, the macro-features of different families, such as the layout, room distribution, and floor materials, are highly similar. And specific to individual families, scenes, obstacles, etc. are very different. Therefore, the deep cleaning function needs to start from the commonality of cleaning tasks and materials. Based on a large number of room floor texture image data and decoration cases, using deep learning technology, a high-accuracy ground material and laying texture recognition model can be trained, which can guide the mopping robot to more accurately segment the room map in the cleaning task, according to the room. Sequential cleaning, adjustment of cleaning direction, adjustment of mopping water output, adjustment of fan suction, etc., to achieve more intelligent and customized deep cleaning.

FIG. 6 shows a sixth schematic flowchart of a method for controlling a movable device according to an embodiment of the present invention. Among them, the method includes:

Step 602, acquiring at least one of the floor laying material of the room, the floor laying direction, the floor size, the location of the socket, and the room boundary feature;

Step 604: Determine the corresponding control information of the mopping robot based on at least one of the ground laying material, the ground laying direction, the ground size, the position of the socket, and the room boundary feature;

Step 606 , control the mopping robot to work according to the control information.

This method uses cameras, infrared sensors, etc. to collect ground feature information. After feature extraction, image recognition, big data training and learning, etc., the classification results of ground materials (usually two categories, such as floors or floor tiles), and the laying methods of ground materials are obtained. (usually two categories, such as horizontal tiling or vertical tiling), added to the map semantics to assist the mopping robot to perform a more efficient, accurate and friendly cleaning strategy and achieve intelligent deep cleaning.

Through the above methods, the mopping robot can realize more intelligent and customized cleaning based on the ground conditions of the room, and improve the efficiency and accuracy of room cleaning.

Embodiment 9

In an embodiment of the present invention, FIG. 7 shows a seventh schematic flowchart of a method for controlling a mobile device according to an embodiment of the present invention. Among them, the method includes:

Step 702, identifying the room boundary feature of the room;

Step 704, in the case that the movable device enters the room through the room boundary feature, obtain the ground feature information of the room;

Step 706, based on the ground feature information, determine control information for the movable device;

Step 708: Control the movable device and work according to the control information.

In this technical solution, the room demarcation feature is an important basis for room division, and may include door bars, threshold stones, sliding door tracks, and the like.

When it is recognized that the movable device enters the room through the room boundary feature, the floor feature information of the room is collected, and then the movable device is controlled to clean the room according to the control information corresponding to the floor feature information.

In the above manner, according to the room boundary feature, it can be accurately determined whether the movable device enters the room, so as to collect the ground feature information after entering the room, so as to realize the timely and accurate collection of the ground feature information.

In some embodiments, the deep learning model is trained on the server side for features such as the type of ground material, the direction of the laying texture, the door bar, the threshold stone, and the sliding door track, and the mobile device completes the identification and saves the results. If you identify room boundary features such as door bars, threshold stones, and sliding door tracks, mark them on the map as an important basis for room segmentation on the map, which can make the APP map more realistic and accurate, and the cleaning route of the mobile device is clearer and easier to understand. Avoid getting stuck at the sliding door track and improve cleaning efficiency.

Embodiment ten

In the embodiment of the present invention, before the step of acquiring the ground feature information of the room, the method further includes: determining a correspondence between the ground feature information and the control information.

In this technical solution, a corresponding relationship between ground feature information and control information is established.

For example, the correspondence between the material of the floor and at least one of the water output, cleaning times, fan suction, and moving speed; the correspondence between the direction of the floor and the cleaning direction of the movable device; the type of the room and at least one of the type of the room The corresponding relationship between the socket position and the cleaning range of the movable device, etc.

Through the above methods, more intelligent and customized cleaning can be achieved.

Embodiment 11

An embodiment of the present invention proposes a control apparatus for a mobile device, and FIG. 10 shows a schematic block diagram of a control apparatus 1000 for a mobile device according to an embodiment of the present invention. Wherein, the control apparatus 1000 of the mobile device includes an acquisition module 1002 and a control module 1004 .

The acquisition module 1002 can acquire the ground feature information of the room, and the control module 1004 can determine the control information for the movable device based on the ground feature information, and control the movable device to work according to the control information.

In this technical solution, the movable device can be a cleaning device such as a sweeping robot, a mopping robot, and an all-in-one sweeping and mopping machine, which can be moved in multiple rooms, so as to achieve the purpose of cleaning in different rooms.

Specifically, a camera, an infrared sensor and other devices are installed on the movable device, which can collect ground feature information in the room, and the ground feature information can indicate the ground laying situation in the room. Further, corresponding control information is determined according to the ground feature information in the room, so that the movable device can perform cleaning work according to the control information.

Through the above method, the mobile device can realize more intelligent and customized cleaning based on the ground conditions of the room, and improve the efficiency and accuracy of room cleaning.

Embodiment 12

An embodiment of the present invention proposes a movable device, and FIG. 11 shows a schematic block diagram of a movable device 1100 according to an embodiment of the present invention. The removable device 1100 includes a memory 1102 and a processor 1104 .

It includes: a memory for storing programs or instructions; a processor, when the processor executes the programs or instructions, the steps of the control method for a movable device according to any of the above technical solutions are implemented.

The memory 1102 stores programs or instructions, and when the processor 1104 executes the programs or instructions, the steps of the control method for a movable device according to any of the foregoing technical solutions are implemented. Memory 1102 and processor 1104 may be connected by a bus or otherwise. The processor 1104 may include one or more processing units, and the processor 1104 may be a central processing unit (Central Processing Unit, CPU), a digital signal processor (Digital Signal Processor, DSP), an application specific integrated circuit (Application Specific Integrated Circuit, ASIC) ), Field Programmable Gate Array (FPGA) and other chips.

In the mobile device 1100 provided by the present invention, when the program or instructions are executed by the processor 1104, the steps of the control method of the mobile device according to any of the above technical solutions are implemented, so the mobile device 1100 includes the movable device of any of the above technical solutions. The full benefit of the control method of the device.

Embodiment thirteen

An embodiment of the present invention proposes a movable device, and FIG. 12 shows a schematic block diagram of a movable device 1200 according to an embodiment of the present invention. Wherein, the movable device 1200 includes the control apparatus 1000 of the movable device according to the above technical solution.

The movable device 1200 provided by the present invention includes the control apparatus 1000 for the movable device according to the above technical solution, so the movable device 1200 includes all the beneficial effects of the control device 1000 for the movable device in any of the above technical solutions.

Embodiment 14

An embodiment of the present invention provides a readable storage medium on which programs or instructions are stored. When the program or instructions are executed by a processor, the steps of the control method for a removable device according to any of the foregoing technical solutions are implemented.

The readable storage medium includes a read-only memory (Read-Only Memory, ROM), a random access memory (Random Access Memory, RAM), a magnetic disk or an optical disk, and the like.

In the readable storage medium provided by the present invention, when the program or instructions are executed by the processor, the steps of the control method of the removable device according to any of the above technical solutions are implemented, so the readable storage medium includes the removable device of any of the above technical solutions. the full beneficial effects of the control method.

The above descriptions are only preferred embodiments of the present invention, and are not intended to limit the present invention. For those skilled in the art, the present invention may have various modifications and changes. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included within the protection scope of the present invention.

Claims (15)

1. A control method for a movable device, wherein the method comprises: Get the ground feature information of the room; Control information is determined according to the ground feature information, and the movable device is controlled to work according to the control information. 2 . The method according to claim 1 , wherein the ground feature information comprises a ground paving material, and the determining the control information according to the ground feature information comprises: 2 . determining the first control information corresponding to the ground laying material; Wherein, the first control information includes at least one of the following items: water output, cleaning times, fan suction, and moving speed. 3. The method of claim 2, wherein The water output when the floor covering material is wood is smaller than the water output when the floor covering material is porcelain or stone. 4. The method according to claim 2, characterized in that, The cleaning times when the floor covering material is wood is greater than the cleaning times when the floor covering material is porcelain or stone. 5. The method according to claim 1, wherein the ground feature information comprises a ground laying direction, and the determining the control information according to the ground feature information comprises: determining second control information corresponding to the ground laying direction; Wherein, the second control information is that the cleaning direction of the movable device is consistent with the ground laying direction. The method according to any one of claims 1 to 5, wherein the ground feature information comprises a ground size, and the determining the control information according to the ground feature information comprises: determining the type of the room according to the floor size; Third control information corresponding to the type of the room is determined. 7. The method of claim 6, wherein The type of the room includes at least one of the following: bedroom, living room, kitchen, bathroom; The third control information includes at least one of the following items: a room cleaning sequence, a cleaning dose, and a disinfecting dose. 8. The method according to any one of claims 1 to 5, wherein the ground feature information comprises a socket location, and the determining the control information according to the ground feature information comprises: Fourth control information corresponding to the socket location is determined. 9. The method of claim 8, wherein: The fourth control information is that the cleaning range of the movable device is outside the preset range of the socket position. 10. The method according to any one of claims 1 to 5, wherein the ground feature information comprises a room boundary feature of the room, and the determining control information according to the ground feature information comprises: Control information corresponding to the room boundary feature is determined based on the height of the room boundary feature being less than or equal to a preset threshold. 11. The method according to any one of claims 1 to 5, wherein the acquiring the ground feature information of the room comprises: obtain the room boundary characteristics of the room; Based on the movable device entering the room through the room boundary feature, the floor feature information of the room is acquired. 12. A control device for a mobile device, wherein the device comprises: The acquisition module is used to acquire the ground feature information of the room; The control module is configured to determine control information according to the ground feature information, and control the movable device to work according to the control information. 13. A movable device, characterized in that, comprising: memory, for storing programs or instructions; A processor, which implements the steps of the control method for a movable device according to any one of claims 1 to 11 when the processor executes the program or the instruction. 14. A removable device, comprising: The control apparatus of the movable equipment as claimed in claim 12. 15. A readable storage medium on which programs or instructions are stored, characterized in that, when the programs or instructions are executed by a processor, the control of the removable device according to any one of claims 1 to 11 is realized steps of the method.

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