CN110313872B - Intelligent building automatic cleaning method and device - Google Patents
Intelligent building automatic cleaning method and device Download PDFInfo
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- CN110313872B CN110313872B CN201910374058.5A CN201910374058A CN110313872B CN 110313872 B CN110313872 B CN 110313872B CN 201910374058 A CN201910374058 A CN 201910374058A CN 110313872 B CN110313872 B CN 110313872B
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/38—Machines, specially adapted for cleaning walls, ceilings, roofs, or the like
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
- A47L11/4011—Regulation of the cleaning machine by electric means; Control systems and remote control systems therefor
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
- A47L11/4061—Steering means; Means for avoiding obstacles; Details related to the place where the driver is accommodated
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66B—ELEVATORS; ESCALATORS OR MOVING WALKWAYS
- B66B1/00—Control systems of elevators in general
- B66B1/24—Control systems with regulation, i.e. with retroactive action, for influencing travelling speed, acceleration, or deceleration
- B66B1/28—Control systems with regulation, i.e. with retroactive action, for influencing travelling speed, acceleration, or deceleration electrical
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66B—ELEVATORS; ESCALATORS OR MOVING WALKWAYS
- B66B1/00—Control systems of elevators in general
- B66B1/34—Details, e.g. call counting devices, data transmission from car to control system, devices giving information to the control system
- B66B1/3476—Load weighing or car passenger counting devices
- B66B1/3484—Load weighing or car passenger counting devices using load cells
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- E—FIXED CONSTRUCTIONS
- E04—BUILDING
- E04G—SCAFFOLDING; FORMS; SHUTTERING; BUILDING IMPLEMENTS OR AIDS, OR THEIR USE; HANDLING BUILDING MATERIALS ON THE SITE; REPAIRING, BREAKING-UP OR OTHER WORK ON EXISTING BUILDINGS
- E04G23/00—Working measures on existing buildings
- E04G23/002—Arrangements for cleaning building facades
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- Engineering & Computer Science (AREA)
- Architecture (AREA)
- Automation & Control Theory (AREA)
- Mechanical Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Chemical Kinetics & Catalysis (AREA)
- Electrochemistry (AREA)
- Civil Engineering (AREA)
- Structural Engineering (AREA)
- Computer Networks & Wireless Communication (AREA)
- Elevator Control (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The application provides a method level device for intelligently and automatically cleaning a building, which comprises the following steps: the cleaning device is connected to an elevator control system of the building; obtaining a cleaning strategy for cleaning floors; analyzing to obtain a cleaning mode of a cleaning floor, and cleaning the cleaning floor of the building by adopting the cleaning mode according to a cleaning strategy; when the floors are cleaned, the elevator is automatically moved to an elevator entrance, the next floor to be cleaned is obtained according to a cleaning strategy, an elevator taking request is generated according to the floor to be cleaned, and the elevator taking request is sent to an elevator control system; and receiving elevator taking feedback information of an elevator control system, entering the elevator according to a preset elevator taking strategy, moving the elevator to a floor to be cleaned, and cleaning the floor to be cleaned according to a cleaning strategy. The intelligent automatic building cleaning system realizes intelligent automatic cleaning of buildings by utilizing the automatic elevator carrying cleaning equipment.
Description
Technical Field
The application relates to the technical field of building cleaning management, in particular to an intelligent building automatic cleaning method and device.
Background
Along with the rapid development of economy, high-rise buildings gradually become urban signs, and the buildings as the places for modern people to live, work and entertain have complex structures and large people flow, and have great significance for floor management in keeping the ground in the floors clean.
At present, the manual cleaning mode is adopted for office buildings, shopping malls and residential buildings of residential communities, and cleaning personnel clean floor surfaces layer by layer. If manual cleaning is used, the area to be cleaned on each floor is large, a large number of cleaning workers are required to spend a long time to complete the cleaning task, and great manpower and financial resources are consumed. In addition, the manual cleaning can not grasp the cleaning time of the floor and the floor, and the manual detection is needed each time, so that the cleaning efficiency is low. The floor cleaning machine is used for cleaning the channel on the floor, the cleaning effect is good, certain time can be saved, however, barriers such as railings are arranged on a plurality of floors, personalized decorative objects are further installed on some floors, the cleaning difficulty of the floor cleaning machine is increased, the floor cleaning machine needs to be driven manually to clean, the floor cleaning machine can be damaged due to careless operation, and the cleaning effect can be influenced.
If the floor is cleaned by adopting an automatic cleaning robot on the market, the cleaning can be carried out in one region, the current cleaning robot cannot go up and down the floor by self, and cannot identify people flow or moving objects, and the problem of barriers encountered in the cleaning process cannot be avoided in time, so that the safety problem can be caused.
Therefore, how to provide an intelligent full-automatic building automatic cleaning scheme is a technical problem to be solved in the field.
Disclosure of Invention
The application aims to provide an intelligent building automatic cleaning method and device, and the technical problem that no building automatic cleaning machine with an elevator riding function exists in the prior art is solved.
In order to achieve the above object, the present application provides an intelligent building automatic cleaning method, including:
pre-connecting cleaning equipment to an elevator control system of a building, and communicating with the elevator control system;
acquiring clean floor layout map information of a building, and comparing the clean floor layout map information with a cleaning strategy comparison table to obtain a cleaning strategy of a clean floor;
receiving current people flow information of the clean floor, analyzing a cleaning mode of the clean floor according to the corresponding relation between preset people flow information and the cleaning mode, and cleaning the clean floor of the building by adopting the cleaning mode according to the cleaning strategy;
after the floors are cleaned, automatically moving to an elevator entrance, acquiring a next floor to be cleaned according to the cleaning strategy, generating an elevator taking request according to the floor to be cleaned, and sending the elevator taking request to an elevator control system;
receiving elevator taking feedback information of the elevator control system, obtaining the current bearing capacity of the elevator according to the elevator taking feedback information when the elevator reaches the current floor, entering the elevator according to a preset elevator taking strategy when the bearing capacity does not exceed the bearing capacity threshold value of the cleaning equipment entering the elevator, moving the elevator to the floor to be cleaned, and cleaning the floor to be cleaned according to the cleaning strategy;
and when the floor cleaning of the building is completed according to the cleaning strategy, automatically moving to a preset parking area for charging according to the cleaning floor layout information of the building, and/or supplementing cleaning materials.
Optionally, wherein the method further comprises:
acquiring the current flow of people of each floor of the building, sequencing the flow of people of the floors to be cleaned which are not cleaned from small to large, and sequentially acquiring the first floor to be cleaned as the next prior cleaning floor;
adding the next priority cleaning floor to the cleaning strategy.
Optionally, wherein the method further comprises: when the bearing capacity reaches or exceeds the bearing capacity threshold value when the cleaning equipment enters the elevator, automatically waiting for the next arrival of the elevator, and sending the information of not entering the elevator to the elevator control system;
and when the time for waiting for the elevator reaches or exceeds the elevator waiting threshold, automatically returning to the cleaning equipment storage area of the floor, and sending the cleaning stopping information to the cleaning control manager.
Optionally, wherein the method further comprises:
adopting image recognition and radar to detect peripheral information, and acquiring road surface information of a current floor within a preset distance around a current position;
comparing the road information of the current floor with the road information of a pre-stored floor, and cleaning according to a preset cleaning strategy of the current road section when the road information of the current floor is consistent with the road information of the pre-stored floor; when the type and the size of the obstacle in the current garage road information are inconsistent, the type and the size of the obstacle in the current garage road information are obtained by image recognition, the corresponding relation between the type and the size of the obstacle and an obstacle cleaning strategy is compared, the obstacle cleaning strategy for the obstacle is obtained, and the area where the obstacle is located is cleaned according to the obstacle cleaning strategy;
when the obstacle is detected to be a moving object based on radar, the current speed, the acceleration and the distance from the moving object to the current cleaning position are obtained, the moving time required by the moving object to reach the current cleaning position is estimated according to a preset movement estimation strategy, and the moving object is automatically avoided according to the moving time.
Optionally, wherein the method further comprises:
storing the avoidance time points and the types of the moving objects which are automatically avoided, and analyzing according to a preset time period to obtain a moving object information table of each layer of the building;
and automatically planning an optimal cleaning strategy according to the moving object information table and the time required for cleaning the building, and updating the optimal cleaning strategy into the cleaning strategy of the building.
In another aspect, the present invention further provides an intelligent building automatic cleaning device, including: a cleaning strategy analysis processor, a cleaning mode processor, a floor cleaning controller and a homing controller; wherein the content of the first and second substances,
the cleaning strategy analysis processor is connected with the floor cleaning controller, connects the cleaning equipment to an elevator control system of a building in advance and communicates with the elevator control system; acquiring clean floor layout map information of a building, and comparing the clean floor layout map information with a cleaning strategy comparison table to obtain a cleaning strategy of a clean floor;
the cleaning mode processor is connected with the floor cleaning controller, receives the current people flow information of the cleaning floor, obtains a cleaning mode of the cleaning floor according to the corresponding relation between the preset people flow information and the cleaning mode, and cleans the cleaning floor of the building according to the cleaning strategy by adopting the cleaning mode;
the floor cleaning controller is connected with the cleaning strategy analysis processor, the cleaning mode processor and the reset controller, automatically moves to an elevator entrance after the floor cleaning is finished, acquires a next floor to be cleaned according to the cleaning strategy, generates an elevator taking request according to the floor to be cleaned, and sends the elevator taking request to an elevator control system;
receiving elevator taking feedback information of the elevator control system, obtaining the current bearing capacity of the elevator according to the elevator taking feedback information when the elevator reaches the current floor, entering the elevator according to a preset elevator taking strategy when the bearing capacity does not exceed the bearing capacity threshold value of the cleaning equipment entering the elevator, moving the elevator to the floor to be cleaned, and cleaning the floor to be cleaned according to the cleaning strategy;
and the return controller is connected with the cleaning mode processor and the floor cleaning controller, and when the floor cleaning of the building is finished according to the cleaning strategy, the return controller automatically moves to a preset parking area for charging according to the cleaning floor layout diagram information of the building and/or supplements cleaning materials.
Optionally, wherein the apparatus further comprises: the cleaning floor priority processor is connected with the cleaning mode processor, acquires the current flow of people of each floor of the building, sorts the flow of people of the floors to be cleaned which are not cleaned from small to large, and sequentially acquires the first floor to be cleaned as the next cleaning floor with priority;
adding the next priority cleaning floor to the cleaning strategy.
Optionally, wherein the apparatus further comprises: the waiting overtime processor is connected with the floor cleaning controller, automatically waits for the next arrival of the elevator when the bearing capacity reaches or exceeds the bearing capacity threshold value of the cleaning equipment entering the elevator, and sends the information of not entering the elevator to the elevator control system;
and when the time for waiting for the elevator reaches or exceeds the elevator waiting threshold, automatically returning to the cleaning equipment storage area of the floor, and sending the cleaning stopping information to the cleaning control manager.
Optionally, wherein the apparatus further comprises: the barrier processor is connected with the cleaning mode processor and the floor cleaning controller, and is used for detecting peripheral information by adopting image recognition and radar and acquiring the road surface information of the current floor within a preset distance around the current position;
comparing the road information of the current floor with the road information of a pre-stored floor, and cleaning according to a preset cleaning strategy of the current road section when the road information of the current floor is consistent with the road information of the pre-stored floor; when the type and the size of the obstacle in the current garage road information are inconsistent, the type and the size of the obstacle in the current garage road information are obtained by image recognition, the corresponding relation between the type and the size of the obstacle and an obstacle cleaning strategy is compared, the obstacle cleaning strategy for the obstacle is obtained, and the area where the obstacle is located is cleaned according to the obstacle cleaning strategy;
when the obstacle is detected to be a moving object based on radar, the current speed, the acceleration and the distance from the moving object to the current cleaning position are obtained, the moving time required by the moving object to reach the current cleaning position is estimated according to a preset movement estimation strategy, and the moving object is automatically avoided according to the moving time.
Optionally, wherein the apparatus further comprises: a cleaning strategy updating processor which is connected with the barrier processor and the cleaning strategy analysis processor, stores the avoidance time point and the type of the moving object which are automatically avoided, and obtains a moving object information table of each layer of the building according to the analysis of a preset time period;
and automatically planning an optimal cleaning strategy according to the moving object information table and the time required for cleaning the building, and updating the optimal cleaning strategy into the cleaning strategy of the building.
The intelligent building automatic cleaning method and device have the following beneficial effects:
(1) according to the intelligent building automatic cleaning method and device, the cleaning tool is automatically selected for automatic cleaning through the cleaning equipment according to the current floor information of the floor, automatic avoidance or cleaning of the barrier is achieved based on image recognition and radar detection, automatic floor ascending and descending are achieved through communication with the elevator control system, other floors are automatically selected for cleaning after cleaning of one floor in the building is completed, and the automatic cleaning function of each floor in the building is really achieved intelligently.
(2) According to the intelligent building automatic cleaning method and device, the cleaning priority of the floor to be cleaned is analyzed based on floor information such as the flow of people in the building, the floor with less flow of people or large flow of people is cleaned first, and the automatic cleaning efficiency in the building is improved.
(3) According to the intelligent building automatic cleaning method and device, the characteristics of the floors in the building are extracted by means of image recognition, network communication control and big data analysis, the cleaning strategy of the building is updated by automatically generating periodic cleaning rules, and the adaptability of automatic cleaning in the building is improved.
Drawings
In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings needed to be used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments described in the present application, and other drawings can be obtained by those skilled in the art according to the drawings.
Fig. 1 is a schematic flow chart of a method for automatically cleaning an intelligent building according to an embodiment of the present invention;
FIG. 2 is a flowchart illustrating a second method for automatically cleaning an intelligent building according to an embodiment of the present invention;
FIG. 3 is a flowchart illustrating a third method for automatically cleaning an intelligent building according to an embodiment of the present invention;
FIG. 4 is a flowchart illustrating a fourth method for automatically cleaning an intelligent building according to an embodiment of the present invention;
fig. 5 is a schematic flow chart of a fifth method for automatically cleaning an intelligent building according to an embodiment of the present invention;
FIG. 6 is a schematic structural diagram of an intelligent building automatic cleaning device according to an embodiment of the present invention;
FIG. 7 is a schematic structural diagram of a second intelligent building automatic cleaning device according to an embodiment of the present invention;
FIG. 8 is a schematic structural diagram of a third intelligent building automatic cleaning device according to an embodiment of the present invention;
FIG. 9 is a schematic structural diagram of a fourth apparatus for automatically cleaning intelligent buildings according to an embodiment of the present invention;
fig. 10 is a schematic structural diagram of a fifth apparatus for automatically cleaning an intelligent building according to an embodiment of the present invention.
Detailed Description
The technical solutions in the embodiments of the present application are clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are some, but not all, embodiments of the present application. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.
Examples
As shown in fig. 1, which is a schematic flow diagram of an intelligent building automatic cleaning method in this embodiment, the cleaning device is communicated with an elevator control system to control the cleaning device to take an elevator, so that the cleaning device can automatically clean each floor of a building, and compared with manual cleaning, the cost for cleaning a building is greatly reduced. Specifically, the method comprises the following steps:
And 102, obtaining clean floor layout map information of the building, and comparing the clean floor layout map information with a clean strategy comparison table to obtain a clean strategy of the clean floor.
The building is designed with the layout of each floor, and the cleaning route of the cleaning vehicle and the type of the cleaning tools at each different position can be planned in advance according to the layout of the floor roads and the size to form a cleaning strategy. Regular road surfaces, irregular corners and barriers in building floors can be arranged in a building floor layout, a cleaning mode is preset based on the building floor layout, and cleaning is carried out according to a cleaning strategy of the position when the cleaning vehicle reaches the current position. When the ground structure of a building floor is changed, if a new exhibition stand is added in a market, the position and the size of the new exhibition stand are sent to the automatic cleaning controller for temporary storage in the layout of the floor when the exhibition stand is added.
And 103, receiving the current people flow information of the clean floor, analyzing the corresponding relation between the preset people flow information and the clean mode to obtain the clean mode of the clean floor, and cleaning the clean floor of the building by adopting the clean mode according to a cleaning strategy.
The flow of people size has reflected the clean degree of needs on the floor to a certain extent, sets up corresponding clean mode according to every layer flow of people size in advance, chooses for use corresponding burnisher and clean dynamics, so can guarantee better that the utensil has corresponding clean mode, has promoted the clear efficiency of floor.
And step 104, after the floors are cleaned, automatically moving to an elevator entrance, acquiring the next floor to be cleaned according to a cleaning strategy, generating an elevator taking request according to the floor to be cleaned, and sending the elevator taking request to an elevator control system.
And 105, receiving elevator taking feedback information of an elevator control system, obtaining the current bearing capacity of the elevator according to the elevator taking feedback information when the elevator reaches the current floor, entering the elevator according to a preset elevator taking strategy when the bearing capacity does not exceed the bearing capacity threshold value when the cleaning equipment enters the elevator, moving the elevator to the floor to be cleaned, and cleaning the floor to be cleaned according to the cleaning strategy.
Optionally, after the elevator is started, the distance between the cleaning device and the surrounding object is detected by using a radar, so that the distance between the cleaning device and the surrounding object in the moving process is not less than a preset distance threshold value. When the cleaning equipment enters the elevator, the distance between the cleaning equipment and the elevator door is detected to be less than or equal to the preset door closing distance, and information without door closing conditions is sent to an elevator control system; the elevator control system controls the elevator to keep the door opening state and sends the fed back door opening state information to the cleaning equipment; and the cleaning equipment automatically withdraws the elevator after receiving the door opening state information. The automatic evacuation of the elevator is ensured under the condition that the elevator is crowded and when the cleaning equipment does not have the condition of taking the elevator, so that danger is avoided, and the safety of automatic cleaning of the building is improved.
And 106, when the floor cleaning of the building is finished according to the cleaning strategy, automatically moving to a preset parking area for charging according to the cleaning floor layout information of the building, and/or supplementing cleaning materials.
In some optional embodiments, as shown in fig. 2, a flowchart of a second method for automatically cleaning an intelligent building in this embodiment is shown. Different from fig. 1, the method further includes:
In some alternative embodiments, as shown in fig. 3, a flowchart of a third method for automatically cleaning an intelligent building in this embodiment is shown. Different from fig. 1, the method further includes:
and 301, when the bearing capacity reaches or exceeds the bearing capacity threshold value when the cleaning equipment enters the elevator, automatically waiting for the next arrival of the elevator, and sending the information of not entering the elevator to the elevator control system.
And step 302, when the time for waiting for the elevator reaches or exceeds the elevator waiting threshold, automatically returning to the cleaning equipment storage area of the floor, and sending the cleaning stopping information to the cleaning control manager.
In some alternative embodiments, as shown in fig. 4, a flowchart of a fourth method for automatically cleaning an intelligent building in this embodiment is shown. Different from fig. 1, the method further includes:
And 403, when the obstacle is detected to be a moving object based on the radar, acquiring the current speed, the acceleration and the distance from the moving object to the current cleaning position, estimating the moving time required by the moving object to reach the current cleaning position according to a preset movement estimation strategy, and automatically avoiding the moving object according to the moving time.
In some optional embodiments, as shown in fig. 5, a flowchart of a fifth method for automatically cleaning an intelligent building in this embodiment is shown. Unlike in fig. 4, the method further includes:
In some alternative embodiments, as shown in fig. 6, the device 600 is a schematic structural diagram of an intelligent building automatic cleaning device in this embodiment, and the device can be used to implement the above-mentioned intelligent building automatic cleaning method. Specifically, the apparatus includes: a cleaning strategy analysis processor 601, a cleaning pattern processor 602, a floor cleaning controller 603 and a homing controller 604.
The cleaning strategy analysis processor 601 is connected with the floor cleaning controller 603, connects the cleaning equipment to an elevator control system of a building in advance, and communicates with the elevator control system; and obtaining clean floor layout map information of the building, and comparing the clean floor layout map information with a clean strategy comparison table according to preset clean floor layout map information to obtain a clean strategy of the clean floor.
And the cleaning mode processor 602 is connected with the floor cleaning controller 603, receives the current people flow information of the cleaning floor, analyzes the corresponding relation between the preset people flow information and the cleaning mode to obtain the cleaning mode of the cleaning floor, and cleans the cleaning floor of the building according to the cleaning strategy by adopting the cleaning mode.
And the floor cleaning controller 603 is connected with the cleaning strategy analysis processor 601, the cleaning mode processor 602 and the reset controller 604, automatically moves to an elevator entrance after the cleaning of the floors is finished, acquires the next floor to be cleaned according to the cleaning strategy, generates an elevator taking request according to the floor to be cleaned, and sends the elevator taking request to the elevator control system.
Receiving elevator taking feedback information of an elevator control system, obtaining the current bearing capacity of the elevator according to the elevator taking feedback information when the elevator reaches the current floor, entering the elevator according to a preset elevator taking strategy when the bearing capacity does not exceed the bearing capacity threshold value when the cleaning equipment enters the elevator, moving the elevator to the floor to be cleaned, and cleaning the floor to be cleaned according to the cleaning strategy.
And a reset controller 604 connected to the cleaning mode processor 602 and the floor cleaning controller 603, for automatically moving to a predetermined parking area for charging and/or supplementing cleaning materials according to the cleaning floor layout information of the building when the floor cleaning of the building is completed according to the cleaning strategy.
In some optional embodiments, as shown in fig. 7, a schematic structural diagram of an apparatus 700 for automatically cleaning a second intelligent building in this embodiment is different from that in fig. 6, further including: and the cleaning floor priority processor 701 is connected with the cleaning mode processor 602, acquires the current flow of people of each floor of the building, sorts the flow of people of the floors to be cleaned which are not cleaned from small to large, and sequentially acquires the first floor to be cleaned as the next cleaning floor with priority. The next priority clean floor is added to the cleaning strategy.
In some alternative embodiments, as shown in fig. 8, which is a schematic structural diagram of an apparatus 800 for intelligent building automatic cleaning in this embodiment, different from fig. 6, the outbound personalized push processor 604 includes: and the waiting overtime processor 801 is connected with the floor cleaning controller 603, automatically waits for the next arrival of the elevator when the bearing capacity reaches or exceeds the bearing capacity threshold value when the cleaning equipment enters the elevator, and sends the information that the elevator does not enter the elevator to the elevator control system. And when the time for waiting for the elevator reaches or exceeds the elevator waiting threshold, automatically returning to the cleaning equipment storage area of the floor, and sending the cleaning stopping information to the cleaning control manager.
In some optional embodiments, as shown in fig. 9, a schematic structural diagram of a fourth apparatus 900 for automatically cleaning an intelligent building in this embodiment, different from that in fig. 6, further includes: and the obstacle processor 901 is connected with the cleaning mode processor 602 and the floor cleaning controller 603, and acquires the road information of the current floor within a preset distance around the current position by adopting image recognition and radar detection peripheral information.
Comparing the road information of the current floor with the road information of the pre-stored floor, and cleaning according to a preset cleaning strategy of the current road section when the road information of the current floor is consistent with the road information of the pre-stored floor; and when the type and the size of the obstacle in the current garage road information are inconsistent, the type and the size of the obstacle in the current garage road information are obtained by image recognition, the corresponding relation between the type and the size of the obstacle and the obstacle cleaning strategy is compared, the obstacle cleaning strategy for the obstacle is obtained, and the area where the obstacle is located is cleaned according to the obstacle cleaning strategy.
When the obstacle is detected to be a moving object based on the radar, the current speed, the acceleration and the distance from the moving object to the current cleaning position are obtained, the moving time required by the moving object to reach the current cleaning position is estimated according to a preset movement estimation strategy, and the moving object is automatically avoided according to the moving time.
In some optional embodiments, as shown in fig. 10, a schematic structural diagram of a fifth intelligent building automatic cleaning device 1000 in this embodiment is different from that in fig. 9, further including: and a cleaning strategy updating processor 1001 connected to the obstacle processor 901 and the cleaning strategy analyzing processor 601, for storing the avoidance time points and the types of the moving objects for automatically avoiding the moving objects, and analyzing the avoidance time points and the types of the moving objects according to a preset time period to obtain the moving object information table of each floor of the building.
And automatically planning an optimal cleaning strategy according to the moving object information table and the time required for cleaning the building, and updating the optimal cleaning strategy into the cleaning strategy of the building.
The method and the device for automatically cleaning the intelligent building in the embodiment have the following beneficial effects that:
(1) according to the intelligent building automatic cleaning method and device, the cleaning tool is automatically selected for automatic cleaning through the cleaning equipment according to the current floor information of the floor, automatic avoidance or cleaning of the barrier is achieved based on image recognition and radar detection, automatic floor ascending and descending are achieved through communication with the elevator control system, other floors are automatically selected for cleaning after cleaning of one floor in the building is completed, and the automatic cleaning function of each floor in the building is really achieved intelligently.
(2) According to the intelligent building automatic cleaning method and device, the cleaning priority of the floor to be cleaned is analyzed based on floor information such as the flow of people in the building, the floor with less flow of people or large flow of people is cleaned first, and the automatic cleaning efficiency in the building is improved.
(3) According to the intelligent building automatic cleaning method and device, the characteristics of the floors in the building are extracted by means of image recognition, network communication control and big data analysis, the cleaning strategy of the building is updated by automatically generating periodic cleaning rules, and the adaptability of automatic cleaning in the building is improved.
While the preferred embodiments of the present application have been described, additional variations and modifications in those embodiments may occur to those skilled in the art once they learn of the basic inventive concepts. Therefore, it is intended that the appended claims be interpreted as including preferred embodiments and all alterations and modifications as fall within the scope of the application. It will be apparent to those skilled in the art that various changes and modifications may be made in the present application without departing from the spirit and scope of the application. Thus, if such modifications and variations of the present application fall within the scope of the claims of the present application and their equivalents, the present application is intended to include such modifications and variations as well.
Claims (4)
1. An intelligent building automatic cleaning method is characterized by comprising the following steps:
pre-connecting cleaning equipment to an elevator control system of a building, and communicating with the elevator control system;
acquiring clean floor layout map information of a building, and comparing the clean floor layout map information with a cleaning strategy comparison table to obtain a cleaning strategy of a clean floor;
receiving current people flow information of the clean floor, analyzing a cleaning mode of the clean floor according to the corresponding relation between preset people flow information and the cleaning mode, and cleaning the clean floor of the building by adopting the cleaning mode according to the cleaning strategy;
acquiring the current flow of people of each floor of the building, sequencing the flow of people of the floors to be cleaned which are not cleaned from small to large, and sequentially acquiring the first floor to be cleaned as the next prior cleaning floor;
adding the next priority cleaning floor to the cleaning strategy;
after the floors are cleaned, automatically moving to an elevator entrance, acquiring a next floor to be cleaned according to the cleaning strategy, generating an elevator taking request according to the floor to be cleaned, and sending the elevator taking request to an elevator control system;
receiving elevator taking feedback information of the elevator control system, obtaining the current bearing capacity of the elevator according to the elevator taking feedback information when the elevator reaches the current floor, entering the elevator according to a preset elevator taking strategy when the bearing capacity does not exceed the bearing capacity threshold value of the cleaning equipment entering the elevator, moving the elevator to the floor to be cleaned, and cleaning the floor to be cleaned according to the cleaning strategy;
when the floor cleaning of the building is completed according to the cleaning strategy, automatically moving to a preset parking area for charging according to the cleaning floor layout diagram information of the building, and/or supplementing cleaning materials;
when the bearing capacity reaches or exceeds the bearing capacity threshold value when the cleaning equipment enters the elevator, automatically waiting for the next arrival of the elevator, and sending the information of not entering the elevator to the elevator control system;
when the time for waiting for the elevator reaches or exceeds the elevator waiting threshold, automatically returning to the cleaning equipment storage area of the floor, and sending the cleaning stopping information to the cleaning control manager;
further, still include:
storing the avoidance time points and the types of the moving objects which are automatically avoided, and analyzing according to a preset time period to obtain a moving object information table of each layer of the building;
and automatically planning an optimal cleaning strategy according to the moving object information table and the time required for cleaning the building, and updating the optimal cleaning strategy into the cleaning strategy of the building.
2. The intelligent building automatic cleaning method according to claim 1, further comprising:
adopting image recognition and radar to detect peripheral information, and acquiring road surface information of a current floor within a preset distance around a current position;
comparing the road information of the current floor with the road information of a pre-stored floor, and cleaning according to a preset cleaning strategy of the current road section when the road information of the current floor is consistent with the road information of the pre-stored floor; when the type and the size of the obstacle in the road surface information of the current floor are inconsistent, the type and the size of the obstacle in the road surface information of the current floor are obtained by image recognition, the type and the size of the obstacle are compared with the corresponding relation of a preset obstacle type, the size and an obstacle cleaning strategy, the obstacle cleaning strategy for the obstacle is obtained, and the area where the obstacle is located is cleaned according to the obstacle cleaning strategy;
when the obstacle is detected to be a moving object based on radar, the current speed, the acceleration and the distance from the moving object to the current cleaning position are obtained, the moving time required by the moving object to reach the current cleaning position is estimated according to a preset movement estimation strategy, and the moving object is automatically avoided according to the moving time.
3. An intelligent automatic building cleaning device is characterized by comprising a cleaning strategy analysis processor, a cleaning mode processor, a cleaning floor priority processor, a floor cleaning controller, a waiting overtime processor, a homing controller and a cleaning strategy updating processor; wherein the content of the first and second substances,
the cleaning strategy analysis processor is connected with the floor cleaning controller, connects the cleaning equipment to an elevator control system of a building in advance and communicates with the elevator control system; acquiring clean floor layout map information of a building, and comparing the clean floor layout map information with a cleaning strategy comparison table to obtain a cleaning strategy of a clean floor;
the cleaning mode processor is connected with the floor cleaning controller, receives the current people flow information of the cleaning floor, obtains a cleaning mode of the cleaning floor according to the corresponding relation between the preset people flow information and the cleaning mode, and cleans the cleaning floor of the building according to the cleaning strategy by adopting the cleaning mode;
the cleaning floor priority processor is connected with the cleaning mode processor, acquires the current flow of people of each floor of the building, sorts the flow of people of the floors to be cleaned which are not cleaned from small to large, and sequentially acquires the first floor to be cleaned as the next cleaning floor with priority;
adding the next priority cleaning floor to the cleaning strategy;
the floor cleaning controller is connected with the cleaning strategy analysis processor, the cleaning mode processor and the reset controller, automatically moves to an elevator entrance after the floor cleaning is finished, acquires a next floor to be cleaned according to the cleaning strategy, generates an elevator taking request according to the floor to be cleaned, and sends the elevator taking request to an elevator control system;
receiving elevator taking feedback information of the elevator control system, obtaining the current bearing capacity of the elevator according to the elevator taking feedback information when the elevator reaches the current floor, entering the elevator according to a preset elevator taking strategy when the bearing capacity does not exceed the bearing capacity threshold value of the cleaning equipment entering the elevator, moving the elevator to the floor to be cleaned, and cleaning the floor to be cleaned according to the cleaning strategy;
the waiting overtime processor is connected with the floor cleaning controller, automatically waits for the next arrival of the elevator when the bearing capacity reaches or exceeds the bearing capacity threshold value of the cleaning equipment entering the elevator, and sends the information of not entering the elevator to the elevator control system;
when the time for waiting for the elevator reaches or exceeds the elevator waiting threshold, automatically returning to the cleaning equipment storage area of the floor, and sending the cleaning stopping information to the cleaning control manager;
the return controller is connected with the cleaning mode processor and the floor cleaning controller, and when the floor cleaning of the building is completed according to the cleaning strategy, the return controller automatically moves to a preset parking area for charging according to the cleaning floor layout diagram information of the building and/or supplements cleaning materials;
the cleaning strategy updating processor is connected with the barrier processor and the cleaning strategy analyzing processor, stores the avoidance time points and the types of the moving objects which are automatically avoided, and obtains the moving object information table of each layer of the building according to the analysis of the preset time period;
and automatically planning an optimal cleaning strategy according to the moving object information table and the time required for cleaning the building, and updating the optimal cleaning strategy into the cleaning strategy of the building.
4. The intelligent building automatic cleaning device as claimed in claim 3, further comprising an obstacle processor connected to the cleaning mode processor and the floor cleaning controller, for acquiring road information of a current floor within a preset distance around a current position by using image recognition and radar detection of surrounding information;
comparing the road information of the current floor with the road information of a pre-stored floor, and cleaning according to a preset cleaning strategy of the current road section when the road information of the current floor is consistent with the road information of the pre-stored floor; when the type and the size of the obstacle in the road surface information of the current floor are inconsistent, the type and the size of the obstacle in the road surface information of the current floor are obtained by image recognition, the type and the size of the obstacle are compared with the corresponding relation of a preset obstacle type, the size and an obstacle cleaning strategy, the obstacle cleaning strategy for the obstacle is obtained, and the area where the obstacle is located is cleaned according to the obstacle cleaning strategy;
when the obstacle is detected to be a moving object based on radar, the current speed, the acceleration and the distance from the moving object to the current cleaning position are obtained, the moving time required by the moving object to reach the current cleaning position is estimated according to a preset movement estimation strategy, and the moving object is automatically avoided according to the moving time.
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