CN111531534A - Robot and control method thereof - Google Patents

Robot and control method thereof Download PDF

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Publication number
CN111531534A
CN111531534A CN202010354865.3A CN202010354865A CN111531534A CN 111531534 A CN111531534 A CN 111531534A CN 202010354865 A CN202010354865 A CN 202010354865A CN 111531534 A CN111531534 A CN 111531534A
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China
Prior art keywords
task
cleaning
disinfection
module
robot
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Granted
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CN202010354865.3A
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Chinese (zh)
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CN111531534B (en
Inventor
王庆文
张晨光
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Beijing Elitenect Technologies Co ltd
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Beijing Elitenect Technologies Co ltd
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Priority to CN202010354865.3A priority Critical patent/CN111531534B/en
Publication of CN111531534A publication Critical patent/CN111531534A/en
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    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J11/00Manipulators not otherwise provided for
    • B25J11/008Manipulators for service tasks
    • B25J11/0085Cleaning
    • AHUMAN NECESSITIES
    • A47FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47LDOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/24Floor-sweeping machines, motor-driven
    • AHUMAN NECESSITIES
    • A47FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47LDOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/40Parts 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
    • AHUMAN NECESSITIES
    • A47FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47LDOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/40Parts 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
    • A47L11/4011Regulation of the cleaning machine by electric means; Control systems and remote control systems therefor
    • AHUMAN NECESSITIES
    • A47FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47LDOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/40Parts 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
    • A47L11/4013Contaminants collecting devices, i.e. hoppers, tanks or the like
    • A47L11/4016Contaminants collecting devices, i.e. hoppers, tanks or the like specially adapted for collecting fluids
    • AHUMAN NECESSITIES
    • A47FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47LDOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/40Parts 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
    • A47L11/408Means for supplying cleaning or surface treating agents
    • A47L11/4083Liquid supply reservoirs; Preparation of the agents, e.g. mixing devices
    • AHUMAN NECESSITIES
    • A47FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47LDOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/40Parts 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
    • A47L11/408Means for supplying cleaning or surface treating agents
    • A47L11/4088Supply pumps; Spraying devices; Supply conduits
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00Programme-controlled manipulators
    • B25J9/16Programme controls
    • B25J9/1602Programme controls characterised by the control system, structure, architecture
    • B25J9/161Hardware, e.g. neural networks, fuzzy logic, interfaces, processor
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00Programme-controlled manipulators
    • B25J9/16Programme controls
    • B25J9/1656Programme controls characterised by programming, planning systems for manipulators
    • B25J9/1661Programme controls characterised by programming, planning systems for manipulators characterised by task planning, object-oriented languages
    • AHUMAN NECESSITIES
    • A47FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47LDOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L2201/00Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
    • AHUMAN NECESSITIES
    • A47FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47LDOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L2201/00Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
    • A47L2201/06Control of the cleaning action for autonomous devices; Automatic detection of the surface condition before, during or after cleaning

Abstract

The embodiment of the application provides a robot and a method for controlling the robot, wherein the robot comprises: the system comprises an ontology and a positioning module, wherein the ontology is configured to perform navigation and positioning operations based on task request information, and the task request information comprises areas needing to perform tasks; a disinfection module configured to perform a disinfection task based on the navigation and positioning operations; a cleaning module configured to perform a cleaning task based on the navigation and positioning operations; an epidemic prevention module configured to perform an epidemic prevention task based on the navigation and location operations. The embodiment of the application provides a multifunctional robot which can meet the requirements of disinfection, epidemic prevention and cleaning tasks of occasions needing multiple functions.

Description

Robot and control method thereof
Technical Field
The application relates to the field of multifunctional robots, in particular to a robot and a control method thereof.
Background
At present, cleaning and disinfecting tasks of public places such as subway stations, railway stations, airports and the like are not only manually performed, but also performed by robots. However, the existing robots for disinfecting or cleaning public places have single functions, generally, the disinfecting robot only performs a disinfecting task, and the cleaning robot only performs a cleaning task.
If a plurality of robots with single functions are used in the same public place, the cost is a burden for an operator; secondly, more manpower is needed in the aspect of equipment maintenance; finally, in practical use, a plurality of robots work simultaneously and may affect each other.
Disclosure of Invention
The embodiment of the application aims to provide a robot and a control method thereof, and the embodiment of the application provides a multifunctional robot which can meet the requirements of disinfection, epidemic prevention, cleaning tasks and the like of multiple functions in certain occasions through one robot.
In a first aspect, an embodiment of the present application provides a robot, including: the system comprises an ontology and a positioning module, wherein the ontology is configured to perform navigation and positioning operations based on task request information, and the task request information comprises areas needing to perform tasks; a disinfection module configured to perform a disinfection task based on the navigation and positioning operations; a cleaning module configured to perform a cleaning task based on the navigation and positioning operations; an epidemic prevention module configured to perform an epidemic prevention task based on the navigation and location operations.
The embodiment of the application provides a multifunctional robot, which can meet the requirement that one robot executes multiple functions.
In some embodiments, the body comprises: an input unit configured to receive task request information; a control module configured to control at least one of the disinfection module, the cleaning module, and the epidemic prevention module to perform a task based on task request information; and the disinfection module is connected with the body through a first interface of the plurality of interfaces, the cleaning module is connected with the body through a second interface of the plurality of interfaces, and the epidemic prevention module is connected with the body through a third interface of the plurality of interfaces.
According to the embodiment of the application, the integrally designed robot can receive three types of task requests to execute three types of operations, the burden of maintaining a plurality of robot devices is reduced, and the mutual influence caused by simultaneous work of a plurality of robots is reduced.
In some embodiments, the clean-up module comprises a fresh water tank and a foul water tank; the disinfection module comprises a medicine box and a disinfection liquid box; wherein, the water purification case is used for to disinfectant case provides the water supply, the sewage case is used for receiving the exhausted antiseptic solution of inefficacy of disinfectant case, the medical kit is used for to disinfectant case provides the disinfection medicine.
The water purification case that the embodiment of this application utilized to clean the module has improved the defect that current disinfection module can not add water automatically to the hutch of the inefficacy liquid medicine that the sewage case that will clean the module produced as disinfection module has consequently effectively promoted disinfection module's working ability, has improved the disinfection effect of current disinfection function. For example, the robot body can control the cleaning module to automatically add water to the clean water tank, and the disinfection module can absorb water from the clean water tank, so that the disinfection module can be considered to have the function of automatically adding water. In a similar way, the disinfectant can be automatically discharged, and the worker only needs to add the medicine to the medicine box of the robot disinfection module.
In some embodiments, the fresh water tank and the disinfectant tank are connected by a first pipe, the foul water tank and the disinfectant tank are connected by a second pipe, and the medicine tank and the disinfectant tank are connected by a third pipe.
The embodiment of this application has promoted cleaning device's water purification case and sewage case's utilization ratio, and the water of water purification case is used for cleaning also to be used for the disinfection promptly, and the sewage case is used for discharging to clean sewage also and is used for discharging the antiseptic solution that became invalid, has not only realized cleaning the function and has still effectively promoted the disinfection effect of disinfection module.
In a second aspect, an embodiment of the present application provides a method for controlling a robot, the method including: receiving a task request; wherein the task request comprises at least one of a disinfection task request, a floor sweeping task request and an epidemic prevention task request; controlling a task execution unit to execute a task based on the task request; wherein, the execution unit comprises a disinfection module, a cleaning module and an epidemic prevention module.
According to the embodiment of the application, the execution of various tasks is realized through the integrated robot, and the functions of the robot are improved.
In some embodiments, when the task request is a disinfection task request, the controlling a task execution unit to perform a task based on the task request includes: controlling a clean water tank in the cleaning module to provide a water source for a disinfectant tank in the disinfection module; or controlling the disinfectant tank to discharge the ineffective disinfectant discharged by the disinfectant tank into a sewage tank in the cleaning module.
The water purification case that the embodiment of this application utilized to clean the module has improved the defect that current disinfection module can not add water automatically to the hutch of the inefficacy liquid medicine that the sewage case that will clean the module produced as disinfection module has consequently effectively promoted disinfection module's working ability, has improved the disinfection effect of current disinfection function.
In some embodiments, when the task request includes both a sterilization task request and a cleaning task request, the controlling the task performing unit to perform the task based on the task request includes: acquiring a disinfection area corresponding to the disinfection task and acquiring a cleaning area corresponding to the cleaning task; when the disinfection operation of the disinfection module does not completely cover the disinfection area, controlling a cleaning device which executes the cleaning task in the cleaning area to be in an intermittent working state.
According to the embodiment of the application, the relation between the coverage area of the cleaning task and the coverage area of the disinfection task is analyzed, and the working mode of the cleaning module of the execution main body of the cleaning task is controlled by fully utilizing the relation characteristics between the coverage area of the cleaning task and the coverage area of the disinfection task, so that the disinfection task and the cleaning task can be executed simultaneously, and the power consumption of the robot can be saved.
In some embodiments, before controlling the task execution unit to execute the task based on the task request, the method further comprises: receiving observation data collected in the execution process of the epidemic prevention task; and generating a task request according to the observation data, wherein the task request comprises a disinfection task or a cleaning task.
The basic data acquired in the epidemic prevention task execution process are fully utilized, the key disinfection area is identified by the data, the request for strengthening the disinfection task is generated, and the safety in the robot work environment is obviously improved. For example, epidemic prevention data can be transmitted to the robot body in real time and then summarized by the robot.
In some embodiments, the observed data is streaming density distribution data; the generating of the task request according to the observation data includes: confirming the occurrence frequency of the pedestrian in each of the plurality of area blocks according to the pedestrian flow density distribution data; screening out a reinforced disinfection area block from the plurality of area blocks according to the occurrence frequency; generating a sterilization task request for the enhanced sterilization zone block.
According to the embodiment of the application, the data acquired in the executing process of the epidemic prevention task are fully utilized, the disinfection area is identified according to the data to generate the disinfection task, and the executing effect of the disinfection task is effectively improved.
In some embodiments, the observed data is floor cleaning data; the generating of the task request according to the observation data includes: confirming a cleaning area block needing to be cleaned in the plurality of area blocks according to the ground cleaning condition data; a cleaning task request for the cleaning area block is generated.
According to the embodiment of the application, the data acquired in the executing process of the epidemic prevention task are fully utilized, the cleaning area is identified according to the data to generate the cleaning task, and the timeliness of executing the cleaning task is effectively improved.
In a third aspect, the present application provides a computer-readable storage medium, on which a computer program is stored, where the computer program, when executed by a processor, may implement the method in any possible implementation manner of the second aspect.
In a fourth aspect, an embodiment of the present application provides an information processing apparatus, including a memory, a processor, and a computer program stored on the memory and executable on the processor, where the processor executes the computer program to implement the method in any possible implementation manner of the second aspect.
In a fifth aspect, the present application provides a computer program product which, when run on a computer, causes the computer to perform the method of any possible implementation of the second aspect.
In order to make the aforementioned and other objects, features and advantages of the present invention comprehensible, preferred embodiments accompanied with figures are described in detail below.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings that are required to be used in the embodiments of the present application will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present application and therefore should not be considered as limiting the scope, and that those skilled in the art can also obtain other related drawings based on the drawings without inventive efforts.
Fig. 1 is a block diagram of a robot provided in an embodiment of the present application;
fig. 2 is a schematic diagram of software and hardware components of a robot provided in an embodiment of the present application;
FIG. 3 is a schematic view of a process in which a disinfecting module and a cleaning module share a fresh water tank and a foul water tank according to an embodiment of the present disclosure;
fig. 4 is a flowchart of a method for controlling a robot according to an embodiment of the present disclosure;
fig. 5 is a schematic diagram illustrating a working manner of a cleaning apparatus executed in a method for controlling a robot according to an embodiment of the present disclosure;
fig. 6 is a schematic diagram of a multi-area block involved in a process of generating a disinfection task request according to epidemic prevention collected data in the method for controlling a robot according to the embodiment of the present application;
fig. 7 is a schematic diagram of a multi-region block involved in a process of generating a cleaning task request according to epidemic prevention collected data in a method for controlling a robot according to an embodiment of the present application;
fig. 8 is a block diagram of an information processing apparatus according to an embodiment of the present application.
Detailed Description
The technical solutions in the embodiments of the present application will be described below with reference to the drawings in the embodiments of the present application.
It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, it need not be further defined and explained in subsequent figures. Meanwhile, in the description of the present application, the terms "first", "second", and the like are used only for distinguishing the description, and are not to be construed as indicating or implying relative importance.
The embodiment of the application provides a general scheme for solving the problem that a plurality of robots with specific functions are needed to work in public places. For example, the inspection robot and the functional modules thereof are planned, and one robot is divided into a robot body and corresponding extension modules. The robot comprises a body, a plurality of service function modules and a plurality of service function modules. Therefore, the robot body can be used as a basic platform, and all the modules share the resources provided by the robot body to complete specific services. Each of the constituent modules in the figures is described in detail below, and the connections between the modules are set forth.
The structural composition of the robot provided by the embodiment of the application is exemplarily explained by taking the inspection robot body as the body in combination with fig. 1 and fig. 2.
Referring to fig. 1, the robot provided in fig. 1 includes a body 100, a sterilization module 200, an epidemic prevention module 300, and a cleaning module 400.
The ontology 100 (e.g., an inspection robot ontology may be directly utilized) is a core component of the robot and is configured to perform navigation and positioning operations based on task request information, wherein the task request information includes areas where tasks need to be performed. The robot may exist independently of the expansion module. The body 100 may provide general functions of the inspection robot, such as: navigation, positioning, routing inspection task execution, automatic charging, remote live broadcasting and the like. For another example, the robot is added with the functions of automatically adding water into the water purifying tank and automatically discharging sewage. The robot is added with a water filling port butt joint algorithm and a sewage draining port butt joint algorithm on the basis of a navigation positioning algorithm, the functions are realized on a robot body, the robot controls whether water is required to be added or drained (namely an automatic water adding algorithm and an automatic water draining or sewage draining algorithm) according to the state of a cleaning module, and in the process, the cleaning module (or called as a cleaning module or a sweeping module) only controls the opening and closing of a water adding port and a water draining port, monitors the water level and reports the water level to the robot body. As shown in fig. 2, the body 100 of the robot of fig. 1 can be mainly divided into three layers, namely a hardware layer, a software layer and an application layer. The hardware, software, and application layers of the robot body 100 are described from top to bottom.
The hardware layer of the body 100 is formed by hardware of the body of the robot, and the hardware can comprise a robot chassis, a laser radar, an inertial navigation unit (IMU), an ultrasonic obstacle avoidance sensor, an industrial personal computer, a power management module and the like. The hardware can provide hardware basis for the movement, positioning, navigation and obstacle avoidance of the robot. For example, the hardware layers may include: the device comprises an input unit, a control unit and a hardware interface unit. Wherein the input unit is configured to receive task request information; a control unit configured to control at least one of the sterilization module, the cleaning module, and the epidemic prevention module to perform a task based on task request information; and the hardware interface unit may include a plurality of interfaces, wherein the sterilization module is connected to the body through a first interface (not shown) of the plurality of interfaces, the cleaning module is connected to the body through a second interface (not shown) of the plurality of interfaces, and the epidemic prevention module is connected to the body through a third interface (not shown) of the plurality of interfaces.
The software layer of the ontology 100 mainly includes some drivers, control programs, and processing programs, and particularly relates to programs in terms of algorithms. For example, drivers include: a robot chassis drive, a laser radar drive and an inertial navigation unit IMU drive; the algorithm program may include: the robot cleaning system comprises a navigation positioning algorithm, a vision processing algorithm related to an epidemic prevention task (in the application, the algorithms can at least identify reinforced disinfection area blocks in the following figure 6 or cleaning area blocks in the following figure 7), an algorithm for generating a disinfection task or a cleaning task according to the areas identified by the vision processing algorithm, a working state control algorithm of a cleaning device (please refer to the following intermittent working state), a working process of a clean water tank and a sewage tank shared by the cleaning device and the disinfection device, an automatic water adding algorithm, an automatic pollution discharging algorithm, an automatic charging algorithm, an obstacle avoiding algorithm, a path planning algorithm and other robot common algorithms.
The application layer of the body 100 mainly includes general functions of the robot body, such as processing and executing the polling task, generating the polling report, automatically charging, automatically adding water, automatically discharging pollution, monitoring the self state, etc., and these functions usually need a plurality of modules in the software layer and a plurality of devices in the hardware layer to cooperate together to complete, and the software and hardware executing the polling task can refer to the existing documents or equipment and are not described herein.
The sterilization module 200 is configured to perform sterilization tasks based on the navigation and positioning operations. As an example, as shown in fig. 2, the sterilization module 200 is composed of a sterilization device 203, a sterilization control unit 202, and a sterilization interface unit 201. The sterilizing device 203 may include mechanical parts such as a spray head, a sterilizing liquid tank, a medicine tank, an electric pump, and the like, and electronic parts. The disinfection control unit 202 can control the disinfection module 200 to perform specific spray disinfection operation, monitor the liquid level of the disinfectant, control the spray intensity, judge the storage state of the disinfectant, automatically absorb purified water, and the like, and specifically, the disinfection control unit records the storage time of the disinfectant, can judge whether the disinfectant is effective from time to time, and can absorb purified water from the purified water tank, but needs the robot body to send a water absorption instruction. The sterilization interface unit 201 may be an electrical bus interface, which may provide communication service for the body 100 and the sterilization control unit 202 of the robot, so that the robot may control the sterilization module 200 to operate or obtain status information of the sterilization module 200. For example, whether all disinfection areas are covered in the execution process of the disinfection task is acquired, the storage time of the disinfection solution in the disinfection solution tank is acquired, and a disinfection task request command for strengthening the disinfection area blocks generated by the control unit of the receiving body 100 according to epidemic prevention observation data is received.
The epidemic prevention module 300 is configured to perform epidemic prevention tasks based on the navigation and location operations. As an example, as shown in fig. 2, the epidemic prevention module 300 is composed of an epidemic prevention device 303 (e.g., a visible light camera, a thermal infrared camera, a cradle head, etc.) based on an optical device, an epidemic prevention control unit 302, and an epidemic prevention interface unit 301. The epidemic prevention module 300 can detect whether the pedestrian is personally protected or not, measure the body temperature of the pedestrian and the like through the observation data collected by the optical device. The epidemic prevention interface unit 301 may be an electrical bus interface, and the bus interface may provide communication service for the robot body 100 and the epidemic prevention control unit 202, so that the robot may control the epidemic prevention module 200 to work or obtain observation data or state information of the epidemic prevention module 200. For example, the robot body 100 may obtain observation data collected by the optical device during the execution of the epidemic prevention task, and the robot body 100 may control the epidemic prevention module 300 to execute a specific epidemic prevention task according to the received epidemic prevention task request. For example, when the body 100 of the robot determines that there is a block in the area that needs to be reinforced and disinfected according to the observation data in the execution process of the epidemic prevention task, the disinfection module 200 is controlled to execute the cleaning task for the block in the reinforced and disinfected area (the specific implementation process may be referred to below).
The cleaning module 400 is configured to perform cleaning tasks based on the navigation and positioning operations. As an example, as shown in fig. 2, the cleaning module 400 includes a cleaning device 403, a cleaning control unit 402, and a cleaning interface unit 401. Wherein the cleaning device 403 may include all mechanical components and electronics, including a cleaning brush, a spray pipe, a drain pipe, a clean water tank, and a foul water tank. The cleaning control unit 402 controls the cleaning operation of the cleaning device, specifically including controlling the operation of all mechanical components and electronic devices, such as the cleaning brush, the spray pipe for spraying water, and the drain pipe for draining water. The cleaning interface unit 401 provides communication services for the control unit and the body 100 of the robot, and is typically an electrical bus interface, so that the body 100 of the robot can control the cleaning module 400 or obtain status information of the cleaning module 400. For example, when the body 100 of the robot determines that there is an area block to be cleaned according to the observation data in the execution process of the epidemic prevention task, the cleaning module 400 is controlled to execute the cleaning task for the cleaning area block this time (the specific implementation process may be referred to below).
As can be seen in fig. 3, the cleaning module 400 of the embodiment of the present application includes a fresh water tank 4301 and a foul water tank 4302; the sterilization module 200 includes a medicine tank 2031 and a sterilizing liquid tank 2032; clean water tank 4031 is used to provide water to disinfectant tank 2032, waste water tank 4032 is used to receive the exhausted disinfectant (or expired disinfectant) from disinfectant tank 2032, and medicine tank 2031 is used to provide disinfectant to disinfectant tank 2032. For example, the fresh water tank 4031 is connected to the disinfectant tank 2032 via a first pipe (not shown), the foul water tank 4032 is connected to the disinfectant tank 2032 via a second pipe (not shown), and the drug tank 2031 is connected to the disinfectant tank 2032 via a third pipe (not shown).
It should be noted that clean water tank 4031 in fig. 3 also provides water required for performing a particular cleaning task, and waste water tank 4032 also serves to store waste water generated after the cleaning task is performed or completed. Therefore, it can be seen that the disinfection module 200 and the cleaning module 400 of the embodiment of the present application efficiently share the resources of the clean water tank and the sewage tank, and the mode of separating the medicine tank from the disinfectant tank improves the defect that the existing disinfection module cannot add water, the structure of the disinfection module is adaptively improved, and the mode of discharging the ineffective disinfectant in time and adding the purified water and the medicine to the disinfectant tank mixes to generate a new disinfectant, so that the working mode of the disinfection module is effectively improved.
As can be seen from fig. 1 and 2 above, the body 100 of the robot establishes physical connection with each module (specifically, the disinfection module 200, the epidemic prevention module 300, and the cleaning module 400) through the interface unit to realize communication with each extension module. On a software level, the body 100 of the robot has a driver, a control program, and a processing program for driving the respective expansion modules (i.e., the sterilization module 200, the epidemic prevention module 300, and the cleaning module 400). The driving program mainly comprises a communication protocol, a data format and the like; the control program completes the control of the modules; the processing program processes the data generated by the modules (for example, analyzing the observation data generated in the process of executing the epidemic prevention task, counting the storage time of the disinfectant in the disinfectant tank, and the like).
The following describes an exemplary method for controlling the operation of the robot according to an embodiment of the present application with reference to fig. 4, 5, 6, and 7.
As shown in fig. 4, an embodiment of the present application provides a method for controlling a robot, the method including: s101, receiving a task request; wherein the task request comprises at least one of a disinfection task request, a floor sweeping task request and an epidemic prevention task request; s102, controlling a task execution unit to execute a task based on the task request; the execution unit comprises a disinfection module, a sweeping module and an epidemic prevention module.
The task request may be made in a manner of manual input or voice input by the user, which is referred to in S101. The embodiment of the application does not limit the specific proposing mode of the task request.
In order to improve the work efficiency of sharing the fresh water tank and the foul water tank between the disinfecting module 200 and the cleaning module 400, as an example, when the task request received at S101 is a disinfecting task request, S102 may include: controlling a clean water tank in the cleaning module 400 to supply water to a disinfectant tank in the sterilizing module 200; or controlling the disinfectant tank to discharge the ineffective disinfectant discharged by the disinfectant tank into the sewage tank in the cleaning module 400. For a specific working process, reference may be made to fig. 3 and related description, which are not described herein in detail.
The cleaning robot has two tanks, a clean water tank and a dirty water tank, and has an automatic water adding function (the cleaning robot finishes automatic water adding up to a water feeding point). The embodiment of the application sets up disinfection robot's water tank into disinfectant box and medical kit (the dose of medical kit is more, dilutes when using as long-term storage, every time). When a disinfection task needs to be executed, a water source of the disinfectant tank is provided by the water purification tank of the cleaning module, the robot sucks liquid from the water purification tank and the medicine tank according to a certain proportion and mixes the liquid into the disinfectant tank, and then the disinfection task can be executed. When the disinfectant in the disinfectant tank is ineffective due to long-term non-use, the robot can suck the ineffective disinfectant into the sewage tank. Thus, the robot has an automatic disinfection function, and the existing disinfection robot has no automatic water adding function temporarily.
The inventor of the embodiment of the present application analyzes the relationship between the sterilization area and the cleaning area, and specifically, refer to fig. 5. Fig. 5 shows the robot working path (i.e. the path for cleaning and disinfection), where inside the dark grey circle shown on the working path is the cleaning area of the cleaning module 400, and outside the dark grey circle the light grey circle indicates the disinfection area of the disinfection module 200, the robot (i.e. the small black dot of fig. 5) moving on a curve.
In conjunction with fig. 5, it can be found that the sterilization task execution area is larger than the cleaning task execution area, and thus in order to save power consumption of the robot when performing the sterilization task and the cleaning task at the same time, as an example, when the task request received at S101 includes both the sterilization task request and the cleaning task request, S102 may include: acquiring a disinfection area corresponding to the disinfection task and acquiring a cleaning area corresponding to the cleaning task; when the disinfection operation of the disinfection module does not completely cover the disinfection area, controlling a cleaning device which executes the cleaning task in the cleaning area to be in an intermittent working state. For example, the cleaning area of the cleaning module 400 is monitored, and when it is confirmed that the cleaning device has completed the cleaning operation at the location (i.e., the cleaning area at the location has been completely covered by the cleaning device) and the sterilization task at the location has not been completed (i.e., the sterilization device has not completely covered the sterilization area), the cleaning module 400 may be controlled to stop working until the sterilization module 200 completes the sterilization operation at the location.
It should be noted that the range of the working area of the disinfecting and sweeping function of the robot is different, the width of a single sweeping operation is only the width of the sweeping device of the sweeping robot, and the disinfecting function can cover a wider range. Therefore, when the covering algorithm is designed, the embodiment of the application considers the problem of full covering when the disinfection and cleaning operation are carried out simultaneously, namely the covering range of the cleaning device is smaller, the covering range of the disinfection device is larger, the robot can respectively record the covering ranges of the cleaning and the disinfection when the disinfection and cleaning operation are carried out simultaneously, and the disinfection operation can be intermittently operated on the premise that the cleaning device carries out full covering as long as the full covering of the area is ensured.
In order to fully utilize the data acquired in the executing process of the epidemic prevention task, a disinfection area or a cleaning area can be identified according to the data to generate a corresponding task, and the efficiency of the robot in active operation is improved. As an example, S102 further includes a step of generating a task request according to the observation data of the epidemic prevention task. Specifically, the method further comprises: receiving observation data collected in the execution process of the epidemic prevention task; and generating a task request according to the observation data, wherein the task request comprises a disinfection task or a cleaning task. For example, when the robot executes a task, the epidemic prevention module reports the observation data to the robot body in real time, the robot body collects the observation data, and when the collected data exceeds a certain threshold, the observation data can be reported (if personnel in a certain area are too dense, and the flow of people exceeds a certain threshold (the flow of people in a certain area is 1000 times per hour), a disinfection or cleaning task request is generated and initiated.
The process of the robot actively generating a disinfection task request and a cleaning task request is described below in connection with two examples.
Example 1
When the observation data is the people flow density distribution data when the epidemic prevention task is executed, the generating the task request according to the observation data may include: confirming the occurrence frequency of the pedestrian in each of the plurality of area blocks according to the pedestrian flow density distribution data; screening out a reinforced disinfection area block from the plurality of area blocks according to the occurrence frequency; generating a sterilization task request for the enhanced sterilization zone block. That is, the epidemic prevention apparatus can record the distribution of the density of the stream of people in the field of view of the robot using the optical element, which distribution is reset once after each total disinfection. As shown in fig. 6, the robot divides the operation area into blocks (i.e. a plurality of area blocks in fig. 6) for processing, the epidemic prevention device can collect the pedestrian flow situation of each area block when executing the epidemic prevention task, the robot obtains the times of pedestrians appearing in each area block through the pedestrian flow situation observed in the executing process of the epidemic prevention task, thereby performing intensive disinfection on the area blocks with more people staying frequency, namely identifying the area blocks with the angle of the pedestrian staying frequency as the intensive disinfection area blocks, and reproducing the disinfection tasks corresponding to the intensive disinfection area blocks.
Example 2
When an epidemic prevention task is executed, the observation data are data of the ground cleaning condition, and the generating of the task request according to the observation data may include: confirming a cleaning area block needing to be cleaned in the plurality of area blocks according to the ground cleaning condition data; a cleaning task request for the cleaning area block is generated. That is to say, when the epidemic prevention device executes the epidemic prevention task, the optical element can acquire the visible light video, and then send the visible light video to the robot body, and the robot can judge the cleaning condition of the ground in the video through an artificial intelligence method, and identify the cleaning area block. Referring to fig. 7 for the cleaning area block, fig. 7 also divides the working area into different small blocks (i.e. a plurality of area blocks in fig. 7), when the ground in a certain area has dirt, the area block is identified as a reinforced cleaning area block, a cleaning task request for the area block is generated, and the cleaning device is controlled to perform reinforced cleaning on the block to achieve a better cleaning effect.
Although the sizes of the region blocks in fig. 6 and 7 are the same, the present embodiment does not limit whether the sizes of the region blocks are the same or not. That is, fig. 6 and 7 are only used to illustrate the idea of partitioning the working area of the robot according to the embodiment of the present application, and the specific number of partitions and whether the areas of the area blocks are equal are not limited in the present application, and a person skilled in the art can design the robot according to actual needs.
Embodiments of the present application provide a computer-readable storage medium, on which a computer program is stored, and the computer program can implement the method described in fig. 4 when being executed by a processor.
As shown in fig. 8, an information processing apparatus according to an embodiment of the present application includes a memory 810, a processor 820, and a computer program stored in the memory 810 and executable on the processor 820, wherein the processor can implement the method shown in fig. 4 when executing the computer program. The method shown in fig. 4 can be implemented when the processor 820 executes the program (and reads and executes the program from the memory 810 through the bus 830), and can also be used to implement the method described in the above embodiments.
Process 820 may process digital signals and may include various computing structures. Such as a complex instruction set computer architecture, a structurally reduced instruction set computer architecture, or an architecture that implements a combination of instruction sets. In some examples, processor 820 may be a microprocessor.
Memory 810 may be used to store instructions that are executed by processor 820 or data related to the execution of instructions. The instructions and/or data may include code for performing some or all of the functions of one or more of the modules described in embodiments of the application. The processor 820 of the disclosed embodiment may be used to execute instructions in the memory 810 to implement the method shown in fig. 4. Memory 810 includes dynamic random access memory, static random access memory, flash memory, optical memory, or other memory known to those skilled in the art.
In the embodiments provided in the present application, it should be understood that the disclosed apparatus and method can be implemented in other ways. The apparatus embodiments described above are merely illustrative, and for example, the flowchart and block diagrams in the figures illustrate the architecture, functionality, and operation of possible implementations of apparatus, methods and computer program products according to various embodiments of the present application. In this regard, each block in the flowchart or block diagrams may represent a module, segment, or portion of code, which comprises one or more executable instructions for implementing the specified logical function(s). It should also be noted that, in some alternative implementations, the functions noted in the block may occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality involved. It will also be noted that each block of the block diagrams and/or flowchart illustration, and combinations of blocks in the block diagrams and/or flowchart illustration, can be implemented by special purpose hardware-based systems which perform the specified functions or acts, or combinations of special purpose hardware and computer instructions.
In addition, functional modules in the embodiments of the present application may be integrated together to form an independent part, or each module may exist separately, or two or more modules may be integrated to form an independent part.
The functions, if implemented in the form of software functional modules and sold or used as a stand-alone product, may be stored in a computer readable storage medium. Based on such understanding, the technical solution of the present application or portions thereof that substantially contribute to the prior art may be embodied in the form of a software product stored in a storage medium and including instructions for causing a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the steps of the method according to the embodiments of the present application. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk, and other various media capable of storing program codes.
The above description is only an example of the present application and is not intended to limit the scope of the present application, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, improvement and the like made within the spirit and principle of the present application shall be included in the protection scope of the present application. It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, it need not be further defined and explained in subsequent figures.
The above description is only for the specific embodiments of the present application, but the scope of the present application is not limited thereto, and any person skilled in the art can easily conceive of the changes or substitutions within the technical scope of the present application, and shall be covered by the scope of the present application. Therefore, the protection scope of the present application shall be subject to the protection scope of the claims.
It is noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in a process, method, article, or apparatus that comprises the element.

Claims (12)

1. A robot, characterized in that the robot comprises:
the system comprises an ontology and a positioning module, wherein the ontology is configured to perform navigation and positioning operations based on task request information, and the task request information comprises areas needing to perform tasks;
a disinfection module configured to perform a disinfection task based on the navigation and positioning operations;
a cleaning module configured to perform a cleaning task based on the navigation and positioning operations;
an epidemic prevention module configured to perform an epidemic prevention task based on the navigation and location operations.
2. The robot of claim 1, wherein the body comprises:
an input unit configured to receive task request information;
a control module configured to control at least one of the disinfection module, the cleaning module, and the epidemic prevention module to perform a task based on task request information; and
the cleaning device comprises a body, a plurality of interfaces, a disinfection module, a cleaning module and an epidemic prevention module, wherein the disinfection module is connected with the body through a first interface of the plurality of interfaces, the cleaning module is connected with the body through a second interface of the plurality of interfaces, and the epidemic prevention module is connected with the body through a third interface of the plurality of interfaces.
3. The robot of claim 1, wherein the cleaning module includes a clean water tank and a foul water tank;
the disinfection module comprises a medicine box and a disinfection liquid box;
wherein, the water purification case is used for to disinfectant case provides the water supply, the sewage case is used for receiving the exhausted antiseptic solution of inefficacy of disinfectant case, the medical kit is used for to disinfectant case provides the disinfection medicine.
4. The robot of claim 3, wherein said clean water tank is connected to said disinfectant tank by a first pipe, said foul water tank is connected to said disinfectant tank by a second pipe, and said medicine tank is connected to said disinfectant tank by a third pipe.
5. A method of controlling a robot, the method comprising:
receiving a task request; wherein the task request comprises at least one of a disinfection task request, a floor sweeping task request and an epidemic prevention task request;
controlling a task execution unit to execute a task based on the task request; wherein, the execution unit comprises a disinfection module, a cleaning module and an epidemic prevention module.
6. The method of claim 5, wherein when the task request is a disinfection task request, the controlling a task execution unit to perform a task based on the task request comprises:
controlling a clean water tank in the cleaning module to provide a water source for a disinfectant tank in the disinfection module; or
And controlling the disinfectant tank to discharge the ineffective disinfectant discharged by the disinfectant tank into a sewage tank in the cleaning module.
7. The method of claim 5, wherein when the task request includes both a sanitization task request and a clean task request, the controlling a task execution unit to perform a task based on the task request comprises:
acquiring a disinfection area corresponding to the disinfection task and acquiring a cleaning area corresponding to the cleaning task;
when the disinfection operation of the disinfection module does not completely cover the disinfection area, controlling a cleaning device which executes the cleaning task in the cleaning area to be in an intermittent working state.
8. The method of claim 5, wherein prior to controlling a task execution unit to execute a task based on the task request, the method further comprises:
receiving observation data collected in the execution process of the epidemic prevention task;
and generating a task request according to the observation data, wherein the task request comprises a disinfection task or a cleaning task.
9. The method of claim 8,
the observation data is people stream density distribution data;
the generating of the task request according to the observation data includes: confirming the occurrence frequency of the pedestrian in each of the plurality of area blocks according to the pedestrian flow density distribution data;
screening out a reinforced disinfection area block from the plurality of area blocks according to the occurrence frequency;
generating a sterilization task request for the enhanced sterilization zone block.
10. The method of claim 8,
the observation data are ground cleaning condition data;
the generating of the task request according to the observation data includes: confirming a cleaning area block needing to be cleaned in the plurality of area blocks according to the ground cleaning condition data;
a cleaning task request for the cleaning area block is generated.
11. A computer-readable storage medium, on which a computer program is stored, which, when being executed by a processor, is adapted to carry out the method of any one of claims 5 to 10.
12. An information processing apparatus comprising a memory, a processor and a computer program stored on the memory and executable on the processor, wherein the processor when executing the program is operable to implement the method of any one of claims 5 to 10.
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