CN-121987108-A - Carpet detection method, self-moving cleaning apparatus, and storage medium

CN121987108ACN 121987108 ACN121987108 ACN 121987108ACN-121987108-A

Abstract

The embodiment of the invention discloses a carpet detection method, self-moving cleaning equipment and a medium. In the embodiment of the invention, ultrasonic data, angle data and ground detection data detected in an automatic cleaning process are acquired, the ultrasonic data detected in a preset time period is confirmed under the condition that the angle data and the ground detection data meet preset steady state conditions, whether the carpet is currently in the carpet area is confirmed according to a historical type result, the ultrasonic data and the angle data, and the historical type result is a confirmation result of whether the carpet is in the carpet area in the previous preset time period. Based on various sensor data, the real-time state and the continuous state of each aspect of the self-moving cleaning equipment are comprehensively and carefully judged, whether the self-moving cleaning equipment moves on a carpet is accurately identified, the cleaning strategy is accurately controlled under various pose states, and the stability of the cleaning effect is ensured.

Inventors

Xu Ranyi
LUO ZHIJIA

Assignees

深圳市杉川机器人有限公司

Dates

Publication Date: 20260508
Application Date: 20241105

Claims (10)

1. Carpet inspection method for a self-moving cleaning device, comprising: acquiring ultrasonic data, angle data and ground detection data detected in an automatic cleaning process; Under the condition that the angle data and the ground detection data meet the preset steady state condition, confirming the ultrasonic data detected in the preset time period; And confirming whether the carpet is in the carpet area currently according to a historical type result, the ultrasonic data and the angle data, wherein the historical type result is a confirmation result of whether the carpet is in the carpet area in a previous preset time period.
2. The carpet inspection method of claim 1, wherein said determining whether a carpet is currently in a carpet area based on the historical type results, the ultrasonic data, and the angle data comprises: Confirming a first proportion of ultrasonic data which is characterized as a carpet in the ultrasonic data detected in a preset time period; And confirming that the carpet is currently in the carpet area under the condition that the history type result, the first proportion and the angle data simultaneously meet the corresponding carpet confirmation conditions.
3. The method of claim 2, wherein the carpet validation condition includes the first ratio reaching a preset first ratio threshold, the history type result being a non-carpet type and the angle data reaching a preset first angle threshold, and The first proportion reaches the first proportion threshold, the history type result is a carpet type, the angle data reaches a preset second angle threshold, and the first angle threshold is smaller than the second angle threshold.
4. The carpet inspection method of claim 1, further comprising: Under the condition that the self-moving cleaning equipment is in a carpet display mode and ultrasonic data of a carpet in the ultrasonic data meet preset display triggering conditions, performing first clustering on a region corresponding to the carpet according to positioning data in the automatic cleaning process to obtain a continuous carpet area; and displaying the carpet coverage area corresponding to the continuous carpet area under the condition that the continuous carpet area reaches a preset first area threshold value.
5. The carpet inspection method of claim 4, further comprising: and performing second classification on a plurality of corresponding complete carpet coverage areas of the same carpet in the multiple automatic cleaning processes to obtain a comprehensive coverage area corresponding to each carpet, wherein the complete carpet coverage area is the carpet coverage area finally confirmed in one automatic cleaning process.
6. The method of claim 5, wherein performing a second classification on a plurality of complete carpet coverage areas corresponding to the same carpet during a plurality of automatic cleaning processes to obtain a comprehensive coverage area corresponding to each carpet comprises: Under the condition that the superposition state of the latest complete carpet coverage area and the corresponding existing comprehensive coverage area of the same carpet meets the preset consistency condition, carrying out second classification on the latest complete carpet coverage area and the existing comprehensive coverage area to obtain the corresponding comprehensive coverage area of each carpet; And deleting the existing comprehensive coverage area under the condition that the superposition state of the latest complete carpet coverage area and the corresponding existing comprehensive coverage area of the same carpet does not meet the preset consistency condition, and performing second classification from the latest complete carpet coverage area.
7. The carpet inspection method according to any one of claims 1 to 6, wherein, in a case where the angle data and the ground inspection data satisfy a preset steady state condition, the confirming the ultrasonic data detected for a preset period of time includes: and under the condition that the self-moving cleaning equipment is in a carpet cleaning mode, the angle data and the ground detection data meet the preset steady state condition, and the ultrasonic data detected in the preset time period are confirmed.
8. The carpet inspection method of claim 7, wherein said determining whether the carpet is currently in the carpet area based on the historical type results, the ultrasonic data, and the angle data comprises: and controlling the cleaning component of the self-moving cleaning device to clean according to the control strategy corresponding to the carpet cleaning mode under the condition that the current carpet area is confirmed.
9. A self-moving cleaning apparatus, comprising: One or more processors; A memory for storing one or more computer programs; when executed by the one or more processors, causes the self-moving cleaning device to implement the carpet detection method as recited in any one of claims 1-7.
10. A computer readable storage medium having stored thereon a computer program, which when executed by a processor implements the carpet detection method according to any of claims 1-7.

Description

Carpet detection method, self-moving cleaning apparatus, and storage medium Technical Field The embodiment of the invention relates to the technical field of robots, in particular to a carpet detection method, self-moving cleaning equipment and a storage medium. Background Along with the continuous development of electronic technology, smart home has also been rapidly developed, and the self-mobile cleaning device is used as a smart home type capable of directly reducing the daily household labor amount of people, so that the use enthusiasm of users is increasing. To cope with cleaning needs of various types of dirt and types of surfaces to be cleaned, a self-moving cleaning apparatus is generally provided with a plurality of cleaning modules, and the cleaning force of each cleaning module can be controlled. In a specific cleaning process, the self-moving cleaning device controls the proper cleaning module to use proper cleaning force according to the detection result of the dirt type and/or the surface type to be cleaned, namely, the cleaning is realized in a targeted manner through controlling the cleaning detail. The inventor observes when the cleaning process of current self-moving cleaning device, and it is great when the pose change of self-moving cleaning device in the cleaning surface moving process, probably appears when cleaning the carpet, and self-moving cleaning device is to the control of cleaning assembly and actual cleaning demand not adapted, leads to cleaning effect unstable. Disclosure of Invention The invention provides a carpet detection method, self-moving cleaning equipment and a medium, which are used for solving the technical problem that the cleaning effect is unstable due to the fact that the control of the conventional self-moving cleaning equipment on a cleaning component is not matched with the actual cleaning requirement. In a first aspect, an embodiment of the present invention provides a carpet detection method for a self-moving cleaning device, the carpet detection method including: acquiring ultrasonic data, angle data and ground detection data detected in an automatic cleaning process; Under the condition that the angle data and the ground detection data meet the preset steady state condition, confirming the ultrasonic data detected in the preset time period; and confirming whether the carpet is in the carpet area currently according to a history type result, ultrasonic data and angle data, wherein the history type result is a confirmation result of whether the carpet is in the carpet area in a previous preset time period. Above-mentioned, through the data that self-moving cleaning equipment detected through each sensor in the self-cleaning process, carry out comprehensive careful judgement to real-time state and the continuous state of all aspects of self-moving cleaning equipment, accurately discern whether remove on the carpet to guarantee to realize the fine control with actual cleaning demand looks adaptation to the cleaning strategy under various pose states, guarantee the stability of cleaning effect. Wherein the carpet validation condition includes a first ratio reaching a preset first ratio threshold, a history type result being a non-carpet type and angle data reaching a preset first angle threshold, and The first ratio reaches a first ratio threshold, the history type result is a carpet type, and the angle data reaches a preset second angle threshold, wherein the first angle threshold is smaller than the second angle threshold. Above-mentioned, through first proportion, history type result and angle data and the judgement of corresponding preset condition, the accurate process of discerning from mobile cleaning device entering carpet to and in the motion of carpet coverage area, carry out accurate cleaning according to the corresponding cleaning mode of carpet correspondingly. The carpet detection method further comprises the following steps: under the condition that the self-moving cleaning equipment is in a carpet display mode and ultrasonic data of the carpet meet preset display triggering conditions, performing first clustering on the corresponding area of the carpet to obtain continuous carpet area; And displaying the carpet coverage area corresponding to the continuous carpet area under the condition that the continuous carpet area reaches a preset first area threshold value. Above-mentioned, the carpet position that detects in the cleaning process clusters, can present the carpet position of current detection in real time, and the user of being convenient for directly perceivedly looks over the detail information in the environment map. The carpet detection method further comprises the following steps: and performing second classification on a plurality of corresponding complete carpet coverage areas of the same carpet in the multiple automatic cleaning processes to obtain a comprehensive coverage area corresponding to each carpet, wherein the complete c