CN109008841A - A kind of metope repair robot by different level - Google Patents
A kind of metope repair robot by different level Download PDFInfo
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- CN109008841A CN109008841A CN201710434521.1A CN201710434521A CN109008841A CN 109008841 A CN109008841 A CN 109008841A CN 201710434521 A CN201710434521 A CN 201710434521A CN 109008841 A CN109008841 A CN 109008841A
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- cleaning
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- metope
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- stain
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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
- 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
- A47L2201/00—Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
- A47L2201/04—Automatic control of the travelling movement; Automatic obstacle detection
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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
- A47L2201/00—Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
- A47L2201/06—Control of the cleaning action for autonomous devices; Automatic detection of the surface condition before, during or after cleaning
Landscapes
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
- Manipulator (AREA)
Abstract
The present invention relates to a kind of metope repair robots by different level, the robot includes main unit, control unit, image acquisition unit, metope recognition unit, stain recognition unit, cleaning unit, storage unit, mobile unit, power supply unit, is communicated to connect between these units；It can automatically identify the presence of metope stain, it is capable of the cleaning of with different levels progress metope, simple stain is handled using simple cleaning mode, and for complicated stain, then it is handled using deep clean mode, can be to each family is directed to the characteristics of, automatically learn most effective cleaning mode to be handled, while ignoring ineffective cleaning mode, reduce the damage to metope, the use that user can be allowed to trust, to really liberate house worker.
Description
[technical field]
The invention belongs to smart home and computer field more particularly to a kind of intelligent domestic service robots.
[background technique]
Currently, home-services robot market just like comes into high-speed development period, entire industry has been stood uptake.But
It is that current household service robot form is also relatively simple, can really enters into the less more of family, principal mode is also only
It is sweeping robot and the toy robot with simple communication function.In addition, being pressed as the quickening of work rhythm, people live
The increase of power, the depth that people do not have time to carry out room are swept, and with the improvement of people's living standards, being badly in need of robot
Family is helped to be cleaned, this can find out from the hot of sweeping robot.Therefore, it is necessary to diversified machine person form,
Family can be really entered into, the head of a secret society people of active does housework.
To many families, especially there is the family of child, metope tended not to as ground it is dirty quickly, child is frequent
Drawing being write on metope, being reeled, therefore, the cleaning reparation for metope is also extremely urgent, for this purpose, the present invention proposes
Metope repair robot can automatically identify the presence of metope stain, energy by way of image recognition to one kind by different level
Enough with different levels cleanings for carrying out metope handle simple stain using simple cleaning mode, and for the stain of complexity,
It is then handled using deep clean mode, can be to each family is directed to the characteristics of, learns most effective cleaning mode automatically
It is handled, while ignoring ineffective cleaning mode, reduce the damage to metope.
[summary of the invention]
In order to solve the above problem in the prior art, the invention proposes a kind of metope repair robot by different level,
It is characterized in that, including main unit, control unit, image acquisition unit, metope recognition unit, stain recognition unit, cleaning list
Member, storage unit, mobile unit, power supply unit communicate to connect between these units.
Main unit plays the role of receiving and support；Main unit is for accommodating control unit, metope recognition unit, dirt
Mark recognition unit, storage unit, power supply unit；It is used to support image acquisition unit, cleaning unit and mobile unit；
Image acquisition unit, which is used to debate in the metope that position X obtains the metope direction of default size, knows image CX, and returns
The metope got, which is debated, knows image CX；Image collection { CAl } is completed in the cleaning for being also used to obtain regional ensemble { Al } in position X,
And it returns to the cleaning got and completes image collection { CAl }；
The metope that metope recognition unit is used to will acquire debates knowledge image CX and metope sample image compares, to determine that this is obtained
The metope taken, which is debated, knows whether image is metope image, if it is, return position X and associated metope, which are debated, knows image CX；
Stain recognition unit debates knowledge image for obtaining position X and associated metope, and determines that the metope debates knowledge image
In whether include stain region, if it is, by the metope debate know image be divided into U region, determine stain region therein,
Return position X and associated stain zone number set；If it is not, then returning to free from smutting message to control unit；
Cleaning unit is used for after receiving cleaning message, obtains position X and associated stain zone number set
{Al}；Each region Al associated to position X is cleaned；After cleaning, to control unit send cleaning complete message,
Position X and associated zone number set { Al }；
Control unit is used to control the image acquisition of image acquisition unit, controls to the movement of mobile unit
System, controls the cleaning of cleaning unit, controls the identification of stain recognition unit, the identification to metope recognition unit
It is controlled, the storage of storage unit is controlled.
Further, cleaning unit is used for after receiving primary cleaning message, obtains position X and associated stain area
Field Number set { Al }；Each region Al associated to position X is cleaned；For the pre- timing of each region Al cleaning first
Between T1, after cleaning, send primary cleaning to control unit and complete message, position X and associated zone number set
{Al}；Control unit is also used to after receiving primary cleaning and completing message, acquisition and associated stain zone number set
{ Al }, and position X and zone number set { Al } are sent to image acquisition unit, receive being somebody's turn to do for image acquisition unit return
Image collection { CAl } is completed in the corresponding cleaning of zone number set { Al }, calculates the pixel value mean value and metope sample of region Al
The ratio S of the pixel value mean value of this image；If S > ST4, judges that the cleaning completion of region Al is unqualified, record the region
Number Al is in new stain zone number set, otherwise, judges that qualification is completed in the cleaning of region Al, does not record region volume
Number；After the completion of all cleaning the region completed in image collection { CAl } and judging, if the member in new zone number set
Plain number is more than or equal to first threshold T1, then sends secondary cleaning message to cleaning unit, while sending position X and associated
New stain zone number set { Al }；K1, ST4 and ST3 are preset value.
Further, within first predetermined time, cleaning unit can be cleaned using the first cleaning mode；It should
The first cleaning mode can be in such a way that stemness soft cloth sweep up dust wiping.
Further, which is preset value, can be rule of thumb arranged by robot, can also be by user
Actively it is arranged.
Further, cleaning unit is also used to after receiving secondary cleaning message, obtains position X and associated new dirt
Mark zone number set { Al }；Each region Al associated to position X is cleaned；It is pre- for each region Al cleaning second
Fix time T1, after cleaning, sends secondary cleaning to control unit and completes message, position X and associated new stain area
Field Number set { Al }；Control unit is also used to after receiving secondary cleaning and completing message, acquisition and associated new dirt
Mark zone number set { Al }, and position X and new stain zone number set { Al } are sent to image acquisition unit, it connects
Image collection { CAl } is completed in the cleaning for receiving the new stain zone number set { Al } that image acquisition unit returns, and calculating should
The ratio S of the pixel value mean value of the pixel value mean value and metope sample image of region Al；If S > ST5, region Al is judged
Cleaning complete it is unqualified, record zone number Al in new stain zone number set, otherwise, judge region Al's
It is qualified that cleaning is completed, and does not record the zone number；Judge to complete when all cleaning the region in completion image collection { CAl }
Afterwards, the number of element in the new stain zone number set { Al } is calculated, if number is greater than second threshold T2, sends three
Secondary cleaning message sends position X and associated new stain zone number set { Al } to cleaning unit；Otherwise it controls
Mobile unit is moved to the next position X, to handle the corresponding metope of the next position X.
Further, within second predetermined time, cleaning unit can be cleaned using second of cleaning mode；It should
Second cleaning mode can be in such a way that half-dried soft cloth is wiped.
Further, cleaning unit can be configured the cleaning of many levels for different cleaning depth, for n-th
The cleaning of a level after the cleaning is completed, sends n times cleaning for carrying out after receiving control unit n-th cleaning message
Complete message, position X and associated new stain zone number set { Al }；Control unit is used to clean in n-th and complete
Afterwards, judge whether cleaning is up to standard, when the number in unqualified region is greater than the n-th threshold value Tn, send (n+1)th cleaning message to clear
Clean unit allows cleaning unit to enter the cleaning of next level；Wherein n+1 should be less than or equal to the maximum cleaning that cleaning unit is supported
Level.
Further, if the number in the unqualified region after the completion of n-th cleaning is completed relative to (n-1)th cleaning
The number in underproof region is not reduced afterwards, illustrate the n-th cleaning be it is invalid, then record the invalid number.
Further, when n-th cleans invalid number greater than invalid threshold k, then the n cleaning side is not used
Formula directlys adopt (n+1)th kind of cleaning mode after (n-1)th cleaning；By ignoring this cleaning type directly to reduce
Useless number of operations, while reducing the damage to metope.
Further, the setting of first predetermined time or the second predetermined time length is related to the size in region.
The beneficial effect comprise that capableing of the cleaning of with different levels progress metope, to simple stain using simple
Cleaning mode processing then handled using deep clean mode and for complicated stain, can be to being directed to each family
The characteristics of, learn most effective cleaning mode automatically and handled, while ignoring ineffective cleaning mode, reduces the damage to metope
Wound.
[Detailed description of the invention]
Described herein the drawings are intended to provide a further understanding of the invention, constitutes part of this application, but
It does not constitute improper limitations of the present invention, in the accompanying drawings:
Fig. 1 is metope repair robot general frame figure by different level.
[specific embodiment]
Come that the present invention will be described in detail below in conjunction with attached drawing and specific embodiment, illustrative examples therein and says
It is bright to be only used to explain the present invention but not as a limitation of the invention.
Referring to attached drawing 1, it illustrates the metope repair robots by different level of one kind applied by the present invention.The robot includes
Main unit, control unit, image acquisition unit, metope recognition unit, stain recognition unit, cleaning unit, storage unit, shifting
Moving cell, power supply unit communicate to connect between these units.
Main unit plays the role of receiving and support；Main structure can be in humanoid, pet shape etc..
Main unit is for accommodating control unit, metope recognition unit, stain recognition unit, storage unit, power supply unit；
It is used to support image acquisition unit, cleaning unit and mobile unit；
Image acquisition unit, which is used to debate in the metope that position X obtains the metope direction of default size, knows image CX, and returns
The metope got, which is debated, knows image CX；Image collection { CAl } is completed in the cleaning for being also used to obtain regional ensemble { Al } in position X,
And it returns to the cleaning got and completes image collection { CAl }；
The metope that metope recognition unit is used to will acquire debates knowledge image CX and metope sample image compares, to determine that this is obtained
The metope taken, which is debated, knows whether image is metope image, if it is, return position X and associated metope, which are debated, knows image CX；
Metope sample image can be obtained by user and perhaps specify and can also determine or pass through by robot learning
Robot voluntarily acquires；
The metope of acquisition debates knowledge image CX and metope sample image compares, and is debated with the metope for determining that the metope direction obtains
Know whether image is metope image, specifically: the pixel value mean value of metope recognisable image CX and metope sample image is calculated separately,
The ratio S for calculating the pixel value mean value of metope recognisable image CX and the pixel value mean value of metope sample image, as S < ST1,
Then think that the metope obtained is debated and knows image for metope image；ST1 is preset value；
Stain recognition unit debates knowledge image for obtaining position X and associated metope, and determines that the metope debates knowledge image
In whether include stain region, if it is, determining the stain region, return position X and associated stain zone number collection
It closes；If it is not, then returning to free from smutting message to control unit；
Whether determine that the metope is debated in knowledge image includes stain region, specifically: if S < ST1 and l og2S > ST2 then recognizes
To include stain region；If log2S≤ST2 then thinks not including stain region；If being directed to wall comprising stain region
Face, which is debated, knows image recognition stain region therein；Wherein ST1 > ST2, and ST1, ST2 are preset value；
It is debated for metope and knows image CX identification stain region therein specifically: the metope is debated into knowledge image and is divided into U
Region calculates separately the pixel value mean value of region Al and metope sample image for each region Al (1=< l≤U), calculates
The ratio S of the pixel value mean value of the pixel value mean value and metope sample image of region Al then judges the region as S > ST3
For stain region, the number Al in the region is recorded, otherwise judges the region for non-stain region；It is debated in entire metope and knows image CX
All U regions judge after, return to all stain zone number set { Al }；Element in stain regional ensemble
Number is less than or equal to U；
Cleaning unit is used for after receiving primary cleaning message, obtains position X and associated stain zone number collection
It closes { Al }；Each region Al associated to position X is cleaned；The first predetermined time T1 is cleaned for each region Al, clearly
After clean, primary cleaning is sent to control unit and completes message, position X and associated zone number set { Al }；At this
In first predetermined time, cleaning unit can be cleaned using the first cleaning mode；The first cleaning mode can be
In such a way that stemness soft cloth sweep up dust wiping；First predetermined time is preset value, can rule of thumb be set by robot
It sets, can also be actively arranged by user；Preferred: first predetermined time is related to the size in region；
In view of the stain of metope may be it is different types of, for some simple stains, only with simple side
Formula processing, and for complicated stain, then it can be by the way of deep clean；
It is also used to after receiving secondary cleaning message, obtains position X and associated new stain zone number set
{Al}；Each region Al associated to position X is cleaned；The second predetermined time T1, cleaning are cleaned for each region Al
After, secondary cleaning, which is sent, to control unit completes message, position X and associated new stain zone number set
{Al}；Within second predetermined time, cleaning unit can be cleaned using second of cleaning mode；Second cleaning mode
It can be in such a way that half-dried soft cloth is wiped；
For the water paint and wallpaper generallyd use at present, general stain above can be wiped with half-dried soft cloth and be carried out
Effective processing；
The cleaning of many levels can be configured for different cleaning depth, the cleaning for n-th of level is used for
Receive control unit n-th cleaning message after carry out, after the cleaning is completed, send n times cleaning complete message, position X and
Associated new stain zone number set { Al }；
Control unit is moved to position X for controlling mobile unit, and image acquisition unit is notified to carry out image in position X
It obtains；Control unit calculates all position X for needing to be moved to using navigation algorithm, carries out image acquisition based on all position X
All indoor walls can be covered；
The position X and associated metope for being also used to receive the return of metope recognition unit, which are debated, knows image CX, and is sent to dirt
Mark recognition unit；Mobile unit, which is controlled, if the free from smutting message for receiving the return of stain recognition unit is moved to the next position
X, to handle the corresponding metope of the next position X；If receiving position X and its association of stain recognition unit return
Stain zone number set, then send it to cleaning unit, and send primary cleaning message simultaneously；
It is also used to after receiving primary cleaning and completing message, acquisition and associated stain zone number set { Al },
And position X and zone number set { Al } are sent to image acquisition unit, receive the region that image acquisition unit returns
Image collection { CAl } is completed in the corresponding cleaning of number set { Al }, calculates the pixel value mean value and metope sample graph of region Al
The ratio S of the pixel value mean value of picture；If S > ST4, judges that the cleaning completion of region Al is unqualified, record the zone number
Al is in new stain zone number set, otherwise, judges that qualification is completed in the cleaning of region Al, does not record the zone number；
After the completion of all cleaning the region completed in image collection { CAl } and judging, if the element in new zone number set
Number be more than or equal to first threshold T1, then send secondary cleaning message to cleaning unit, at the same send position X and it is associated newly
Stain zone number set { Al }；K1, ST4 and ST3 are preset value；
It is also used to after receiving secondary cleaning and completing message, acquisition and associated new stain zone number set
{ Al }, and position X and new stain zone number set { Al } are sent to image acquisition unit, receive image acquisition unit
Image collection { CAl } is completed in the cleaning of the new stain zone number set { Al } returned, calculates the pixel value of region Al
The ratio S of mean value and the pixel value mean value of metope sample image；If S > ST5, judge that the cleaning completion of region Al does not conform to
Lattice record zone number Al in new stain zone number set, otherwise, judge that qualification is completed in the cleaning of region Al,
The zone number is not recorded；After the completion of all cleaning the region completed in image collection { CAl } and judging, the new dirt is calculated
The number of element in mark zone number set { Al } sends if number is greater than second threshold T2 and cleans message three times to clear
Clean unit, while sending position X and associated new stain zone number set { Al }；Otherwise control mobile unit is moved to
The next position X, to handle the corresponding metope of the next position X；Wherein, T2, ST4 and ST5 are preset value；
After the completion of n-th cleaning, if cleaning is not up to standard, that is, the number in unqualified region is greater than the n-th threshold value Tn
When, (n+1)th cleaning message is sent to cleaning unit, and cleaning unit is allowed to enter the cleaning of next level；Wherein n+1 should be less than
The maximum cleaning level supported equal to cleaning unit；
If n times cleaning after the completion of unqualified region number relative to (n-1)th time cleaning after the completion of it is underproof
The number in region is not reduced, then illustrate n-th cleaning be it is invalid, then the invalid number is recorded, when n-th cleaning is invalid
Number when being greater than invalid threshold k, then do not use the n cleaning mode, after (n-1)th cleaning, directly adopt n-th+
1 kind of cleaning mode；Since the metope speciality and stain type of every kind of family are all different, certain possible cleaning mode is to the family
The metope in front yard is not effective, then ignores this cleaning type directly to reduce useless number of operations, while reducing to metope
Damage；
Mobile unit is used to be moved to designated position under the control of the control unit, such as: position X is moved to convenient
Image acquisition unit carries out image acquisition, is moved to suitable position unit convenient for cleaning and is cleaned；
Storage unit is for storing all intermediate data；
Power supply is used to power to said modules, preferably moves Rechargeable battery group.
The above description is only a preferred embodiment of the present invention, thus it is all according to the configuration described in the scope of the patent application of the present invention,
The equivalent change or modification that feature and principle are done, is included in the scope of the patent application of the present invention.
Claims (10)
1. a kind of metope repair robot by different level, which is characterized in that this by different level metope repair robot include main unit,
Control unit, image acquisition unit, metope recognition unit, stain recognition unit, cleaning unit, storage unit, mobile unit, electricity
Source unit communicates to connect between these units.
Main unit plays the role of receiving and support；Main unit is known for accommodating control unit, metope recognition unit, stain
Other unit, storage unit, power supply unit；It is used to support image acquisition unit, cleaning unit and mobile unit；
Image acquisition unit, which is used to debate in the metope that position X obtains the metope direction of default size, knows image CX, and returns to acquisition
To metope debate know image CX；Image collection { CAl } is completed in the cleaning for being also used to obtain regional ensemble { Al } in position X, and is returned
It returns the cleaning got and completes image collection { CAl }；
The metope that metope recognition unit is used to will acquire debates knowledge image CX and metope sample image compares, to determine the acquisition
Metope, which is debated, knows whether image is metope image, if it is, return position X and associated metope, which are debated, knows image CX；
Stain recognition unit is for obtaining position X and associated metope debates knowledge image, and determining that the metope debates to know in image
No includes stain region, is divided into U region if it is, the metope is debated and knows image, determines stain region therein, returns
Position X and associated stain zone number set；If it is not, then returning to free from smutting message to control unit；
Cleaning unit is used for after receiving cleaning message, obtains position X and associated stain zone number set { Al }；It is right
X associated each region Al in the position is cleaned；After cleaning, to control unit send cleaning complete message, position X and
Associated zone number set { Al }；
Control unit is used to control the image acquisition of image acquisition unit, controls the movement of mobile unit, right
The cleaning of cleaning unit is controlled, and is controlled the identification of stain recognition unit, is carried out to the identification of metope recognition unit
Control, controls the storage of storage unit.
2. metope repair robot by different level according to claim 1, which is characterized in that cleaning unit is for receiving
After primary cleaning message, position X and associated stain zone number set { Al } are obtained；To the associated each area position X
Domain Al is cleaned；The first predetermined time T1 is cleaned for each region Al, after cleaning, is sent to control unit primary clear
Clean completion message, position X and associated zone number set { Al }；Control unit is also used to receiving primary cleaning completion
After message, acquisition and associated stain zone number set { Al }, and position X and zone number set { Al } are sent to
Image acquisition unit receives the corresponding cleaning of the zone number set { Al } that image acquisition unit returns and completes image collection
{ CAl } calculates the ratio S of the pixel value mean value of region Al and the pixel value mean value of metope sample image；If S > ST4,
Judge that the cleaning completion of region Al is unqualified, records zone number Al in new stain zone number set, otherwise, sentence
The cleaning of region Al of breaking is completed qualified, does not record the zone number；When all the region in image collection { CAl } is completed in cleaning
After the completion of judging, if the element number in new zone number set is more than or equal to first threshold T1, send secondary clear
Clean message sends position X and associated new stain zone number set { Al } to cleaning unit；K1, ST4 and ST3
It is preset value.
3. metope repair robot by different level according to claim 2, which is characterized in that within first predetermined time,
Cleaning unit can be cleaned using the first cleaning mode；The first cleaning mode can be to be carried out using stemness soft cloth
Sweep up dust the mode of wiping.
4. metope repair robot by different level according to claim 2, which is characterized in that first predetermined time is default
Value, can be rule of thumb arranged by robot, can also be actively arranged by user.
5. metope repair robot by different level according to claim 1, which is characterized in that cleaning unit is also used to receiving
To after secondary cleaning message, position X and associated new stain zone number set { Al } are obtained；It is associated to position X every
A region Al is cleaned；The second predetermined time T1 is cleaned for each region Al, after cleaning, sends two to control unit
Message, position X and associated new stain zone number set { Al } are completed in secondary cleaning；Control unit is also used to receiving
It after message is completed in secondary cleaning, obtains and associated new stain zone number set { Al }, and by position X and new dirt
Mark zone number set { Al } is sent to image acquisition unit, receives the new stain zone number that image acquisition unit returns
Image collection { CAl } is completed in the cleaning for gathering { Al }, calculates the pixel value mean value of region Al and the pixel of metope sample image
It is worth the ratio S of mean value；If S > ST5, judges that the cleaning completion of region Al is unqualified, record zone number Al new
In stain zone number set, otherwise, judges that qualification is completed in the cleaning of region Al, do not record the zone number；When all clear
After the completion of the clean region completed in image collection { CAl } judges, element in the new stain zone number set { Al } is calculated
Number, if number be greater than second threshold T2, send three times cleaning message to cleaning unit, while send position X and its
Associated new stain zone number set { Al }；Otherwise control mobile unit is moved to the next position X, to the next position
The corresponding metope of X is handled.
6. metope repair robot by different level according to claim 5, which is characterized in that within second predetermined time,
Cleaning unit can be cleaned using second of cleaning mode；Second cleaning mode can be to be wiped using half-dried soft cloth
The mode wiped.
7. metope repair robot by different level according to claim 1, which is characterized in that cleaning unit can be for difference
Cleaning depth be configured the cleanings of many levels, the cleaning for n-th of level, for receiving control unit n-th
It is carried out after secondary cleaning message, after the cleaning is completed, sends n times cleaning and complete message, position X and associated new stain region
Number set { Al }；Control unit is used for judging whether cleaning is up to standard after the completion of n-th cleaning, in unqualified region
When number is greater than the n-th threshold value Tn, (n+1)th cleaning message is sent to cleaning unit, cleaning unit is allowed to enter the cleaning of next level；
Wherein n+1 should be less than or equal to the maximum cleaning level that cleaning unit is supported.
8. metope repair robot by different level according to claim 7, which is characterized in that if after the completion of n-th cleaning
The number in unqualified region do not reduced relative to the number in underproof region after the completion of (n-1)th cleaning, illustrate this
N times cleaning be it is invalid, then record the invalid number.
9. metope repair robot by different level according to claim 8, which is characterized in that when invalid time of n-th cleaning
When number is greater than invalid threshold k, then the n cleaning mode is not used, after (n-1)th cleaning, directly adopt (n+1)th kind
Cleaning mode；By directly ignoring this cleaning type to reduce useless number of operations, while reducing the damage to metope.
10. the metope repair robot by different level according to claim 2 and 5, which is characterized in that first predetermined time or
The setting of second predetermined time length is related to the size in region.
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