CN112336250A - Intelligent cleaning method and device and storage device - Google Patents
Intelligent cleaning method and device and storage device Download PDFInfo
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- CN112336250A CN112336250A CN201910735276.7A CN201910735276A CN112336250A CN 112336250 A CN112336250 A CN 112336250A CN 201910735276 A CN201910735276 A CN 201910735276A CN 112336250 A CN112336250 A CN 112336250A
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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
- A47L11/24—Floor-sweeping machines, motor-driven
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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
- A47L11/28—Floor-scrubbing machines, motor-driven
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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
Abstract
The invention relates to the field of cleaning control methods, in particular to an intelligent cleaning method, an intelligent cleaning device and a storage device, wherein the intelligent cleaning method comprises the following steps: acquiring a real-time image of a detection area; judging whether the detection area has an area to be cleaned or not according to the real-time image; if so, controlling the robot to go to the area to be cleaned, and cleaning the area to be cleaned by the robot. Utilize the camera unit to obtain real-time image, obtain in real-time image need clean or the area of waiting to clean that people's stream density is big after, go to clean before the real-time control robot, in time sweep the various foul in the area of waiting to clean, because the robot volume is less, be convenient for clean the operation smoothly, guarantee the high cleanliness in whole area, whole method intelligent degree is high.
Description
Technical Field
The invention relates to the field of cleaning control methods, in particular to an intelligent cleaning method, an intelligent cleaning device and a storage device.
Background
The existing common automation industry has an intelligent cleaning robot, and can automatically clean the ground, such as a floor sweeping robot, a floor washing robot and the like. The existing intelligent cleaning robot moves by means of a pre-stored regional map and a travel route in the regional map, and synchronously cleans in the moving process; or, the intelligent cleaning robot carries out positioning and mapping in real time in an unknown environment and then carries out full-coverage cleaning. However, the map cannot be judged by the above methods, and the map is cleaned according to the required cleaning area, so that the map is not intelligent enough and low in efficiency.
Although the intelligent cleaning robot can also complete cleaning work for some scenes with large floor space, such as supermarkets, court, etc., due to the large floor space of the scenes, it is extremely time-consuming to clean according to the area map under the scenes. If a plurality of intelligent cleaning robots are dispatched, unnecessary resource waste is caused. In the actual situation of the scene, due to the problem of the density of the people stream, some local areas with large density of the people stream are easy to be dirtied, but the current intelligent cleaning robot cannot flexibly process the actual situation occurring in the scene in real time.
Therefore, designing an intelligent cleaning method, device and storage device to rationalize the cleaning work by the sweeping robot is one of the problems of intensive research by those skilled in the art.
Disclosure of Invention
The invention provides an intelligent cleaning method, an intelligent cleaning device and a storage device, aiming at the defects in the prior art, and solving the problem that a robot cannot be reasonably arranged to perform cleaning work.
In order to solve the technical problem, the invention provides an intelligent cleaning method, which comprises the following steps: acquiring a real-time image of a detection area; judging whether the detection area has an area to be cleaned according to the real-time image; if so, controlling the robot to move to the area to be cleaned, and cleaning the area to be cleaned by the robot.
Further, the step of controlling the robot to move to the area to be cleaned specifically includes: judging the grade to be cleaned of a plurality of areas to be cleaned; generating a cleaning sequence according to the grade to be cleaned; and sequentially controlling the robot to move to the area to be cleaned according to the sequence to be cleaned, and cleaning the area to be cleaned by the robot.
Further, the step of controlling the robot to go to the area to be cleaned further comprises: and judging the type of the area to be cleaned.
Further, the step after judging the type of the area to be cleaned further comprises: when a first type to be cleaned is dust and/or solid garbage, controlling a sweeping robot to move to a first area to be cleaned corresponding to the first type to be cleaned, and sweeping the first area to be cleaned by the sweeping robot; and when the second type to be cleaned is dirt, controlling the floor cleaning robot to move to a second area to be cleaned corresponding to the second type to be cleaned, and cleaning the second area to be cleaned by the floor cleaning robot.
Further, the step after judging the type of the area to be cleaned further comprises: and when the third type to be cleaned is wastewater, controlling the floor mopping robot to move to a third area to be cleaned corresponding to the third type to be cleaned, and cleaning the third area to be cleaned by the floor mopping robot.
The invention also provides an intelligent cleaning device, which comprises: the real-time image acquisition unit is used for acquiring a real-time image of the detection area; the to-be-cleaned area judging unit is used for judging whether the detection area has an area to be cleaned according to the real-time image; and the control unit is used for controlling the robot to move to the area to be cleaned if the cleaning is finished, and the robot cleans the area to be cleaned.
Still further, the control unit includes: the to-be-cleaned grade judging unit is used for judging the to-be-cleaned grades of the to-be-cleaned areas; the to-be-cleaned sequence generating unit is used for generating a to-be-cleaned sequence according to the to-be-cleaned grade; and the robot control unit is used for sequentially controlling the robot to move to the area to be cleaned according to the sequence to be cleaned, and the robot cleans the area to be cleaned.
Still further, the intelligent cleaning device further comprises: and the type judging unit to be cleaned is used for judging the type to be cleaned of the area to be cleaned.
Still further, the intelligent cleaning device further comprises: the sweeping robot control unit is used for controlling the sweeping robot to move to a first area to be swept corresponding to a first type to be swept when the first type to be swept is dust and/or solid garbage, and the sweeping robot sweeps the first area to be swept; the mopping robot control unit is used for controlling the mopping robot to move to a third area to be cleaned corresponding to a third type to be cleaned when the third type to be cleaned is wastewater, and the mopping robot cleans the third area to be cleaned; and the floor cleaning robot control unit is used for controlling the floor cleaning robot to move to the second area to be cleaned corresponding to the second type to be cleaned when the second type to be cleaned is dirt, and the floor cleaning robot is used for cleaning the second area to be cleaned.
The invention also provides an intelligent cleaning device, which comprises a memory, a processor and a computer program stored in the memory and capable of running on the processor, wherein the processor executes the computer program to realize the steps of the intelligent cleaning method.
The present invention also provides a storage device storing a computer program executable to implement the steps of the intelligent cleaning method as described above.
The intelligent cleaning method, the intelligent cleaning device and the intelligent cleaning storage device have the advantages that the real-time image is obtained by the camera shooting unit, the robot is controlled to clean in front in real time after the area to be cleaned, which needs to be cleaned or has high people stream density, is obtained from the real-time image, various dirt in the area to be cleaned is cleaned in time, the cleaning operation is conveniently and smoothly carried out due to the small size of the robot, the high cleanliness of the whole area is ensured, and the intelligent degree of the whole method is high.
Drawings
The invention will be further described with reference to the accompanying drawings and examples, in which:
FIG. 1 is a block flow diagram of an intelligent cleaning method of the present invention;
FIG. 2 is another block flow diagram of the intelligent cleaning method of the present invention;
FIG. 3 is a block diagram of a process for controlling a robot according to a sequence to be cleaned according to the present invention;
FIG. 4 is a block diagram of a process for determining the type of cleaning to be performed according to the present invention;
FIG. 5 is a block diagram of a process for controlling a corresponding robot according to the type of cleaning to be performed according to the present invention;
FIG. 6 is a block diagram of another process for controlling a corresponding robot according to the type of cleaning object;
FIG. 7 is a block diagram of the intelligent cleaning device of the present invention;
FIG. 8 is a block diagram of the structure of a control unit of the present invention;
FIG. 9 is a block diagram of the structure of the to-be-cleaned type determining unit according to the present invention;
fig. 10 is a block diagram of the structure of a plurality of different robot control units of the present invention.
Detailed Description
The preferred embodiments of the present invention will now be described in detail with reference to the accompanying drawings.
As shown in fig. 1 to 6, the present invention provides a preferred embodiment of an intelligent sweeping method.
Specifically, referring to fig. 1 and 2, an intelligent cleaning method includes the steps of:
step 1, acquiring a real-time image of a detection area.
The camera shooting unit installed in the detection area can acquire real-time images, the detection area can be in commercial scenes such as supermarkets and factories, and can also be in private scenes such as family rooms and courtyards, the camera shooting unit is often installed in the scenes, namely the cameras, and the camera shooting unit can acquire the real-time images of the scenes in a shooting mode.
Because the coverage area of the detection area is possibly large, the camera shooting unit can gradually acquire a plurality of real-time images of the detection area through continuous lens movement so as to completely detect the whole condition of the detection area as far as possible. Alternatively, a plurality of camera units may be provided in the detection area, each camera unit acquiring a real-time image of a different area, to detect the entire condition of the detection area as completely as possible.
And 2, judging whether the detection area has an area to be cleaned according to the real-time image.
And judging whether an area to be cleaned exists in the detection area according to the acquired real-time image, wherein the judgment process can be judged manually or intelligently through software, the area to be cleaned can be selected as a dirty area, or the area to be cleaned can also be selected as an area with higher people stream density because the area with higher people stream density is more likely to cause the area to become dirty.
For example, when the real-time image is obtained, the operator can observe the situation in the real-time image by himself, and then judge whether the real-time image has the area to be cleaned, which needs to be cleaned. Or when the real-time image is acquired, the software can comprehensively and intelligently judge whether the area to be cleaned, which needs to be cleaned, exists according to the brightness condition, the local accumulation condition and other modes in the real-time image. The latter software judgment method is more intelligent, more convenient and faster. It is worth mentioning that the software can be arranged inside or outside the robot, the inside is a control module embedded in the robot, the control module is communicated with the camera unit, the camera unit sends the shot image to the control module, and the control module performs corresponding judgment according to the image. The external part is external control module promptly, and control module can be embedded each other or interconnect with the unit of making a video recording, and the unit of making a video recording sends control module with the image of shooing, and control module carries out corresponding judgement according to the image. No matter what kind of circumstances, as long as control module can play the control effect to the robot can.
And 4, if so, controlling the robot to move to the area to be cleaned, and cleaning the area to be cleaned by the robot.
At least one robot for performing a cleaning work is previously placed in the detection area. If the real-time image has the to-be-cleaned area, the robot closest to the to-be-cleaned area is selected in real time, an advancing track is designed for the robot, the robot is automatically controlled to move to the to-be-cleaned area according to the advancing track, the robot performs cleaning work on the to-be-cleaned area, the to-be-cleaned area is cleaned at the highest speed, the advancing distance of the robot is guaranteed to be as short as possible, and therefore the service life of the robot is guaranteed. And if the real-time image is not judged to have the area to be cleaned, continuously acquiring the next real-time image.
According to the intelligent cleaning method, the camera unit is used for obtaining the real-time image, after the area to be cleaned which needs to be cleaned or has large people stream density is obtained from the real-time image, the robot is controlled to clean in front of the real-time image, various dirt in the area to be cleaned is cleaned in time, and due to the fact that the robot is small in size, cleaning operation is conveniently and smoothly conducted, high cleanliness of the whole area is guaranteed, and the intelligent degree of the whole method is high.
More specifically, referring to fig. 3, the step of controlling the robot to move to the area to be cleaned specifically includes:
and step 41, judging the grades to be cleaned of the areas to be cleaned.
The images of a plurality of detection areas can be acquired simultaneously, if the detection areas are judged to have the areas to be cleaned, the areas to be cleaned can be focused in a mode of locally amplifying or locally improving definition, and the grade to be cleaned is judged according to the dirt degree of the areas to be cleaned. It should be noted that the higher the grade to be cleaned is, the dirtier the corresponding area to be cleaned is, and similarly, the lower the grade to be cleaned is, the less dirtier the corresponding area to be cleaned is. The relative degree of soiling exists for the level to be swept.
And 42, generating a cleaning sequence according to the cleaning grade.
And after the grades to be cleaned of the plurality of areas to be cleaned are obtained, automatically generating the sequence to be cleaned according to the grades to be cleaned. The higher the grade to be cleaned, the higher the rank of the zone to be cleaned, that is, the sequence of the zone to be cleaned is from high to low. The sequence of the cleaning to be carried out has relative cleaning priority level, and the dirty area to be cleaned can be cleaned preferentially.
And 43, sequentially controlling the robot to move to the area to be cleaned according to the sequence to be cleaned, and cleaning the area to be cleaned by the robot.
After the sequence to be cleaned is generated, the robot is sequentially controlled to move to the corresponding regions to be cleaned according to the sequence of the sequence to be cleaned, the first region to be cleaned is sequenced, and after the robot reaches the region to be cleaned, the robot immediately cleans the regions to be cleaned. After the cleaning work of the area to be cleaned is finished, the moving track is regenerated according to the position of the area to be cleaned which is sequenced to be first corresponding and the position of the area to be cleaned which is sequenced to be second corresponding, and the robot reaches the area to be cleaned which is sequenced to be second corresponding according to the regenerated moving track to perform the cleaning work on the area to be cleaned. And repeating the steps until all the cleaning work of the area to be cleaned is finished, and moving the robot back to the initial position.
For example, it is detected that the detection area has an area a to be cleaned, an area B to be cleaned, and an area C to be cleaned, it is determined that the level to be cleaned of the area a to be cleaned is the second level, the level to be cleaned of the area B to be cleaned is the third level, the level to be cleaned of the area C to be cleaned is the first level, and the order to be cleaned is generated as the area B to be cleaned, the area a to be cleaned, and the area C to be cleaned according to the level to be cleaned. Firstly, selecting the robot closest to the area B to be cleaned, generating a travel track from an initial position to the area B to be cleaned, moving the robot to the area B to be cleaned according to the travel track, and cleaning the area B to be cleaned. After the cleaning of the area B to be cleaned is completed, a travel track from the area B to be cleaned to the area A to be cleaned is generated, the robot moves to the area A to be cleaned according to the travel track, and the area A to be cleaned is cleaned. After the cleaning of the area A to be cleaned is completed, a travel track from the area A to be cleaned to the area C to be cleaned is generated, the robot moves to the area C to be cleaned according to the travel track, and the area C to be cleaned is cleaned. After cleaning of the area C to be cleaned is completed, a travel track of the robot from the area C to be cleaned to the initial position is generated, and the robot moves to the initial position according to the travel track.
When the detection area is large, a plurality of areas to be cleaned may exist at the same time, and there may be a case where the robot cannot meet the demand. But the robot can't be simultaneously for the regional cleaning of treating of a plurality of different positions, and for guaranteeing that the whole of detection area is clean and tidy, the regional sequencing of cleaning is treated to accessible above-mentioned method to can carry out priority cleaning to the more dirty region of treating cleaning, can bring people's clean and tidy pleasing to the eye impression as far as guarantees detection area.
Further, referring to fig. 4, the step of controlling the robot to move to the area to be cleaned further includes:
and step 31, judging the type of the area to be cleaned.
After the detection area is judged to have the area to be cleaned, the type to be cleaned of the area to be cleaned is further judged, and the corresponding robot can be controlled to perform cleaning work according to the type to be cleaned subsequently. Due to the fact that cleaning ranges of different robots are different, the robots are controlled to reach the to-be-cleaned areas corresponding to the cleaning ranges of the robots according to the to-be-cleaned types, and the to-be-cleaned areas can be completely cleaned.
Or after the sequence to be cleaned is generated, the type to be cleaned of the area to be cleaned is further judged, and then the corresponding robot can be controlled to perform cleaning according to the type to be cleaned. When a plurality of areas to be cleaned exist in the detection area, if the plurality of robots are controlled to perform cleaning work at the same time, and the situation of area congestion may occur, the robots can be controlled to arrive at the areas to be cleaned corresponding to the cleaning ranges of the robots in sequence, the situation that the plurality of robots simultaneously clean the plurality of areas to be cleaned is avoided, and the situation that the area congestion occurs in the detection area can also be avoided.
Still further, referring to fig. 5, the step after determining the type of the area to be cleaned further includes:
and step 32, when the first type to be cleaned is dust and/or solid garbage, controlling the sweeping robot to move to a first area to be cleaned corresponding to the first type to be cleaned, and sweeping the first area to be cleaned by the sweeping robot.
The sweeping robot is an intelligent household appliance capable of automatically sucking dust on the ground, and is provided with a side brush, a rolling brush, a fan and a waste box, wherein the side brush sweeps dust or solid garbage to a suction port, the rolling brush sweeps the dust or the solid garbage into the waste box, and the fan provides suction force to suck the dust or the solid garbage into the waste box, so that the function of cleaning the ground is completed. If the first type to be cleaned is judged to be dust, or solid garbage, or dust and solid garbage, the sweeping robot is controlled to move to a first area to be cleaned corresponding to the first type to be cleaned, and the robot immediately cleans the first area to be cleaned. The sweeping robot can be selected as a stone sweeping robot T6.
And step 33, when the second type to be cleaned is dirt, controlling the floor cleaning robot to move to a second area to be cleaned corresponding to the second type to be cleaned, and cleaning the second area to be cleaned by the floor cleaning robot.
The floor cleaning robot is provided with a water pump, a brush disc and a water absorption rake, wherein the water pump is controlled to seep water to wet the ground, the brush disc is controlled to clean the ground, and finally the water absorption rake is controlled to absorb waste water. And if the second type to be cleaned is judged to be the stain, controlling the floor cleaning robot to move to a second area to be cleaned corresponding to the second type to be cleaned, and immediately cleaning the second area to be cleaned by the floor cleaning robot. The floor Scrubber may be selected as the Ecobot Scrubber 75.
It should be noted that, for convenience of explanation, the first, second and third are intended to distinguish different types to be cleaned and different areas to be cleaned, and there is no precedence order.
Still further, referring to fig. 6, the step after determining the type of the area to be cleaned further includes:
and step 34, when the third type to be cleaned is wastewater, controlling the floor mopping robot to move to a third area to be cleaned corresponding to the third type to be cleaned, and cleaning the third area to be cleaned by the floor mopping robot.
The mopping robot is provided with a mop cloth and a water tank, can directly control the mop cloth to carry out dry mopping, and can also control the mop cloth to carry out wet mopping after the water tank of the mop cloth is infiltrated. And if the third type to be cleaned is judged to be wastewater, controlling the mopping robot to move to a third area to be cleaned corresponding to the third type to be cleaned, and immediately cleaning the third area to be cleaned by the mopping robot. The mopping robot may be selected as an Irobot Braava 380.
As shown in fig. 7 to 10, the present invention also provides a preferred embodiment of an intelligent cleaning device.
Specifically, referring to fig. 7, an intelligent cleaning device includes:
a real-time image acquisition unit 100 for acquiring a real-time image of the detection area.
The real-time image acquisition unit 100 is used for acquiring a real-time image by a camera unit installed in a detection area, wherein the detection area can be in commercial scenes such as supermarkets, factories and the like, and can also be in private scenes such as family rooms, courtyards and the like, the camera unit, namely a camera, is often installed in the scenes, and the camera unit can acquire the real-time image of the scene in a shooting mode.
Because the coverage area of the detection area is possibly large, the camera shooting unit can gradually acquire a plurality of real-time images of the detection area through continuous lens movement so as to completely detect the whole condition of the detection area as far as possible. Alternatively, a plurality of camera units may be provided in the detection area, each camera unit acquiring a real-time image of a different area, to detect the entire condition of the detection area as completely as possible.
And a to-be-cleaned area judging unit 200, configured to judge whether the to-be-cleaned area exists in the detection area according to the real-time image.
The to-be-cleaned area determining unit 200 determines whether an area to be cleaned exists in the detection area according to the acquired real-time image, where the area to be cleaned may be a dirty area, or the area to be cleaned may also be an area with a high traffic density because the area with the high traffic density is likely to cause the area to become dirty. For example, when a real-time image is acquired, software can comprehensively and intelligently judge whether an area to be cleaned exists according to the brightness condition, the local accumulation condition and the like in the real-time image. The latter software judgment method is more intelligent, more convenient and faster. It is worth mentioning that the software can be arranged inside or outside the robot, the inside is a control module embedded in the robot, the control module is communicated with the camera unit, the camera unit sends the shot image to the control module, and the control module performs corresponding judgment according to the image. The external part is external control module promptly, and control module can be embedded each other or interconnect with the unit of making a video recording, and the unit of making a video recording sends control module with the image of shooing, and control module carries out corresponding judgement according to the image. No matter what kind of circumstances, as long as control module can play the control effect to the robot can.
And the control unit 400 is used for controlling the robot to move to the area to be cleaned if the robot moves to the area to be cleaned, and the robot cleans the area to be cleaned.
A plurality of robots for performing cleaning work are placed in the detection area in advance. If the real-time image has the region to be cleaned, the control unit 400 is used for instantly selecting the robot closest to the region to be cleaned, designing a travel track for the robot, automatically controlling the robot to move to the region to be cleaned according to the travel track, and cleaning the region to be cleaned by the robot, so that the region to be cleaned is cleaned at the highest speed, the travel distance of the robot is short as much as possible, and the service life of the robot is prolonged. And if the real-time image is not judged to have the area to be cleaned, continuously acquiring the next real-time image.
Through intelligence cleaning device utilizes the camera unit to obtain real-time image, acquires in real-time image and needs clean or the people stream density is big treat that clean the region after, go to clean before the real-time control robot, in time sweep the various foul that treat the region of cleaning, because the robot volume is less, be convenient for clean the operation smoothly, guarantee the high cleanliness in whole region, whole device intelligent degree is high.
Still further, referring to fig. 8, the control unit 400 includes:
a to-be-cleaned level determining unit 410, configured to determine a to-be-cleaned level of the to-be-cleaned area.
The images of the plurality of detection areas can be acquired simultaneously, and after the plurality of detection areas are judged to have the to-be-cleaned areas, the to-be-cleaned areas can be focused in a manner of locally amplifying or locally improving the definition through the to-be-cleaned level judging unit 410, and the to-be-cleaned level can be judged according to the dirt degree of the to-be-cleaned areas. It should be noted that the higher the grade to be cleaned is, the dirtier the corresponding area to be cleaned is, and similarly, the lower the grade to be cleaned is, the less dirtier the corresponding area to be cleaned is. The relative degree of soiling exists for the level to be swept.
And a to-be-cleaned sequence generating unit 420, configured to generate a to-be-cleaned sequence according to the to-be-cleaned grade.
After the levels to be cleaned of the plurality of areas to be cleaned are acquired, the order to be cleaned is automatically generated according to the levels to be cleaned by the order to be cleaned generating unit 420. The higher the grade to be cleaned, the higher the rank of the zone to be cleaned, that is, the sequence of the zone to be cleaned is from high to low. The sequence of the cleaning to be carried out has relative cleaning priority level, and the dirty area to be cleaned can be cleaned preferentially.
And the robot control unit 430 is used for sequentially controlling the robot to move to the area to be cleaned according to the sequence to be cleaned, and the robot cleans the area to be cleaned.
After the sequence to be cleaned is generated, the robot is sequentially controlled to move to the corresponding region to be cleaned according to the sequence of the sequence to be cleaned through the robot control unit 430, the first region to be cleaned is sequenced, and after the region to be cleaned is reached, the robot immediately performs cleaning work on the region to be cleaned. After the cleaning work of the area to be cleaned is finished, the moving track is regenerated according to the position of the area to be cleaned which is sequenced to be first corresponding and the position of the area to be cleaned which is sequenced to be second corresponding, and the robot reaches the area to be cleaned which is sequenced to be second corresponding according to the regenerated moving track to perform the cleaning work on the area to be cleaned. And repeating the steps until all the cleaning work of the area to be cleaned is finished, and moving the robot back to the initial position.
For example, it is detected that the detection area has an area a to be cleaned, an area B to be cleaned, and an area C to be cleaned, it is determined that the level to be cleaned of the area a to be cleaned is the second level, the level to be cleaned of the area B to be cleaned is the third level, the level to be cleaned of the area C to be cleaned is the first level, and the order to be cleaned is generated as the area B to be cleaned, the area a to be cleaned, and the area C to be cleaned according to the level to be cleaned. Firstly, selecting the robot closest to the area B to be cleaned, generating a travel track from an initial position to the area B to be cleaned, moving the robot to the area B to be cleaned according to the travel track, and cleaning the area B to be cleaned. After the cleaning of the area B to be cleaned is completed, a travel track from the area B to be cleaned to the area A to be cleaned is generated, the robot moves to the area A to be cleaned according to the travel track, and the area A to be cleaned is cleaned. After the cleaning of the area A to be cleaned is completed, a travel track from the area A to be cleaned to the area C to be cleaned is generated, the robot moves to the area C to be cleaned according to the travel track, and the area C to be cleaned is cleaned. After cleaning of the area C to be cleaned is completed, a travel track of the robot from the area C to be cleaned to the initial position is generated, and the robot moves to the initial position according to the travel track.
When the detection area is large, a plurality of areas to be cleaned may exist at the same time, and there may be a case where the robot cannot meet the demand. But the robot can't be simultaneously for the region of waiting to clean of a plurality of different positions clean, and for guaranteeing that detection area's whole is clean and tidy, the region of waiting to clean of accessible above-mentioned device is ordered to can carry out priority cleaning to the region of waiting to clean more dirty, with guarantee as far as possible that detection area can bring the neat and artistic impression of people.
Further, referring to fig. 9, the intelligent sweeping device further includes:
a type-to-be-cleaned judging unit 310, configured to judge a type of the to-be-cleaned area to be cleaned.
After the detection area is judged to have the area to be cleaned, the type to be cleaned of the area to be cleaned is further judged by the type to be cleaned judging unit 310, and then the corresponding robot can be controlled to perform cleaning according to the type to be cleaned. Due to the fact that cleaning ranges of different robots are different, the robots are controlled to reach the to-be-cleaned areas corresponding to the cleaning ranges of the robots according to the to-be-cleaned types, and the to-be-cleaned areas can be completely cleaned.
Or after the sequence to be cleaned is generated, the type to be cleaned of the area to be cleaned is further judged, and then the corresponding robot can be controlled to perform cleaning according to the type to be cleaned. When a plurality of areas to be cleaned exist in the detection area, if the plurality of robots are controlled to perform cleaning work at the same time, and the situation of area congestion may occur, the robots can be controlled to arrive at the areas to be cleaned corresponding to the cleaning ranges of the robots in sequence, the situation that the plurality of robots simultaneously clean the plurality of areas to be cleaned is avoided, and the situation that the area congestion occurs in the detection area can also be avoided.
Further, referring to fig. 10, the intelligent sweeping device further includes:
the sweeping robot control unit 320 is configured to control the sweeping robot to move to a first area to be swept corresponding to a first type to be swept when the first type to be swept is dust and/or solid garbage, and the sweeping robot cleans the first area to be swept.
The sweeping robot is an intelligent household appliance capable of automatically sucking dust on the ground, and is provided with a side brush, a rolling brush, a fan and a waste box, wherein the side brush sweeps dust or solid garbage to a suction port, the rolling brush sweeps the dust or the solid garbage into the waste box, and the fan provides suction force to suck the dust or the solid garbage into the waste box, so that the function of cleaning the ground is completed. Through the sweeping robot control unit 320, if the first type to be swept is determined to be dust, or solid waste, or dust and solid waste, the sweeping robot is controlled to move to a first area to be swept corresponding to the first type to be swept, and the robot immediately sweeps the first area to be swept. The sweeping robot can be selected as a stone sweeping robot T6.
And a mopping robot control unit 330, configured to control the mopping robot to move to a third area to be cleaned corresponding to the third type to be cleaned when the third type to be cleaned is wastewater, and the mopping robot cleans the third area to be cleaned.
The mopping robot is provided with a mop cloth and a water tank, can directly control the mop cloth to carry out dry mopping, and can also control the mop cloth to carry out wet mopping after the water tank of the mop cloth is infiltrated. Through the floor mopping robot control unit 330, if the third type to be cleaned is determined to be wastewater, the floor mopping robot is controlled to go to a third area to be cleaned corresponding to the third type to be cleaned, and the floor mopping robot immediately cleans the third area to be cleaned. The mopping robot may be selected as an Irobot Braava 380.
And the floor washing robot control unit 340 is used for controlling the floor washing robot to move to a second area to be cleaned corresponding to the second type to be cleaned when the second type to be cleaned is dirt, and the floor washing robot cleans the second area to be cleaned.
The floor cleaning robot is provided with a water pump, a brush disc and a water absorption rake, wherein the water pump is controlled to seep water to wet the ground, the brush disc is controlled to clean the ground, and finally the water absorption rake is controlled to absorb waste water. Through the floor cleaning robot control unit 340, if the second type to be cleaned is judged to be the stain, the floor cleaning robot is controlled to go to the second area to be cleaned corresponding to the second type to be cleaned, and the floor cleaning robot immediately cleans the second area to be cleaned. The floor Scrubber may be selected as the Ecobot Scrubber 75.
The invention also provides an intelligent cleaning device, which comprises a memory, a processor and a computer program stored in the memory and capable of running on the processor, wherein the processor executes the computer program to realize the steps of the intelligent cleaning method.
The present invention also provides a storage device storing a computer program executable to implement the steps of the intelligent cleaning method as described above.
In summary, the above description is only a preferred embodiment of the present invention, and is not intended to limit the scope of the present invention. Any modification, equivalent replacement, improvement and the like made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (11)
1. An intelligent cleaning method is characterized by comprising the following steps:
acquiring a real-time image of a detection area;
judging whether the detection area has an area to be cleaned according to the real-time image;
if so, controlling the robot to move to the area to be cleaned, and cleaning the area to be cleaned by the robot.
2. The intelligent cleaning method according to claim 1, wherein the step of controlling the robot to move to the area to be cleaned specifically comprises:
judging the grade to be cleaned of a plurality of areas to be cleaned;
generating a cleaning sequence according to the grade to be cleaned;
and sequentially controlling the robot to move to the area to be cleaned according to the sequence to be cleaned, and cleaning the area to be cleaned by the robot.
3. The intelligent cleaning method according to claim 1 or 2, wherein the step of controlling the robot to go to the area to be cleaned further comprises:
and judging the type of the area to be cleaned.
4. The intelligent sweeping method according to claim 3, wherein the step after judging the type of the zone to be swept, further comprises:
when a first type to be cleaned is dust and/or solid garbage, controlling a sweeping robot to move to a first area to be cleaned corresponding to the first type to be cleaned, and sweeping the first area to be cleaned by the sweeping robot;
and when the second type to be cleaned is dirt, controlling the floor cleaning robot to move to a second area to be cleaned corresponding to the second type to be cleaned, and cleaning the second area to be cleaned by the floor cleaning robot.
5. The intelligent sweeping method according to claim 4, wherein the step after judging the type of the zone to be swept, further comprises:
and when the third type to be cleaned is wastewater, controlling the floor mopping robot to move to a third area to be cleaned corresponding to the third type to be cleaned, and cleaning the third area to be cleaned by the floor mopping robot.
6. The utility model provides an intelligence cleaning device which characterized in that, intelligence cleaning device includes:
the real-time image acquisition unit is used for acquiring a real-time image of the detection area;
the to-be-cleaned area judging unit is used for judging whether the detection area has an area to be cleaned according to the real-time image;
and the control unit is used for controlling the robot to move to the area to be cleaned if the cleaning is finished, and the robot cleans the area to be cleaned.
7. The intelligent sweeping device of claim 6, wherein the control unit comprises:
the to-be-cleaned grade judging unit is used for judging the to-be-cleaned grades of the to-be-cleaned areas;
the to-be-cleaned sequence generating unit is used for generating a to-be-cleaned sequence according to the to-be-cleaned grade;
and the robot control unit is used for sequentially controlling the robot to move to the area to be cleaned according to the sequence to be cleaned, and the robot cleans the area to be cleaned.
8. The intelligent cleaning device as claimed in claim 6 or 7, further comprising:
and the type judging unit to be cleaned is used for judging the type to be cleaned of the area to be cleaned.
9. The intelligent cleaning device as claimed in claim 8, further comprising:
the sweeping robot control unit is used for controlling the sweeping robot to move to a first area to be swept corresponding to a first type to be swept when the first type to be swept is dust and/or solid garbage, and the sweeping robot sweeps the first area to be swept;
the mopping robot control unit is used for controlling the mopping robot to move to a third area to be cleaned corresponding to a third type to be cleaned when the third type to be cleaned is wastewater, and the mopping robot cleans the third area to be cleaned;
and the floor cleaning robot control unit is used for controlling the floor cleaning robot to move to the second area to be cleaned corresponding to the second type to be cleaned when the second type to be cleaned is dirt, and the floor cleaning robot is used for cleaning the second area to be cleaned.
10. An intelligent cleaning device comprising a memory, a processor and a computer program stored in the memory and executable on the processor, wherein the processor when executing the computer program implements the steps of the intelligent cleaning method according to any one of claims 1-5.
11. A storage device, characterized in that the storage device stores a computer program executable to implement the steps of the intelligent cleaning method as claimed in any one of claims 1-5.
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