CN113397435A - Automatic floor cleaning method and equipment and storage medium - Google Patents
Automatic floor cleaning method and equipment and storage medium Download PDFInfo
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- CN113397435A CN113397435A CN202110781295.0A CN202110781295A CN113397435A CN 113397435 A CN113397435 A CN 113397435A CN 202110781295 A CN202110781295 A CN 202110781295A CN 113397435 A CN113397435 A CN 113397435A
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- floor
- cleaning
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- stains
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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
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
- A47L11/4011—Regulation of the cleaning machine by electric means; Control systems and remote control systems therefor
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
- A47L11/4036—Parts or details of the surface treating tools
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/20—Analysis of motion
- G06T7/246—Analysis of motion using feature-based methods, e.g. the tracking of corners or segments
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T2207/00—Indexing scheme for image analysis or image enhancement
- G06T2207/30—Subject of image; Context of image processing
- G06T2207/30241—Trajectory
Abstract
The invention provides a floor slab automatic cleaning method, equipment and a storage medium, which relate to the technical field of building construction and comprise the steps of obtaining spot information of a floor slab; generating a stain cleaning plan of the floor slab according to the stain information; and cleaning the floor according to the stain cleaning plan. The two sets of vision systems on the floor cleaning system are used for identifying the stains on each floor and extracting the stain cleaning track, and then the automatic cleaning device is guided to clean the floor along the stain cleaning track. And under the condition that the cleaning is not clean for two times, a manual intervention cleaning mode is introduced, so that the dirt dead angle which cannot be cleaned by the automatic cleaning device can be completely removed, the problems that the traditional floor cleaning efficiency is low and the cleaning quality is easy to be considered to be greatly influenced are solved, the floor cleaning speed is increased, and the cleaning quality is ensured.
Description
Technical Field
The invention relates to the technical field of building construction, in particular to a floor slab automatic cleaning method, equipment and a storage medium.
Background
With the continuous development of the building industry, the business order quantity and the business complexity rapidly rise, the level of domestic infrastructure is higher and higher, and the requirements on environmental protection, timeliness and automation of the building industry are higher and higher.
In the related art, the cleaning of the floor slab still stays in the traditional construction worker with a protective mask, and the floor slab is cleaned from top to bottom and from inside to outside. For the medium and large building industry, the traditional manual cleaning method is low in speed and efficiency, and the cleaning quality is greatly influenced by people.
Disclosure of Invention
In order to solve the problems that the traditional manual floor cleaning method is low in efficiency and cleaning quality is greatly influenced by human factors, the application provides an automatic floor cleaning method, automatic floor cleaning equipment and a storage medium.
In a first aspect, the present application provides a floor slab automatic cleaning method, which adopts the following technical scheme, and includes the following steps:
acquiring stain information of a floor slab;
generating a stain cleaning plan of the floor slab according to the stain information;
and cleaning the floor according to the stain cleaning plan.
By adopting the technical scheme, the stains on each floor are identified and the stain cleaning track is extracted through the two sets of vision systems, and then the automatic cleaning device is guided to clean the floor along the stain cleaning track, so that the automatic cleaning efficiency is improved.
Preferably, the specific step of acquiring the stain information of the floor slab includes:
after a first floor slab is placed on a trolley pre-installed floor slab device, a first vision system is used for photographing and identifying stains on the first floor slab, the positions and areas of all stains in the first floor slab are determined, and stain information of the first floor slab is obtained according to the positions and areas of the stains;
placing N layers of floors in a placing mode that the area of a lower floor is sequentially larger than that of an upper floor, photographing and identifying stains on the Nth floor through a first vision system, determining the positions and areas of all stains in the Nth floor, and obtaining stain information of the Nth floor according to the positions and areas of the stains, wherein N is a positive integer larger than 1, and the value of N is determined according to the full load of the trolley pre-installed floor device.
By adopting the technical scheme, the stains on each floor are identified and the stain cleaning track is extracted through the visual system, and meanwhile, the floors are placed in a reasonable mode, so that the stain positions and the stain areas of the stains on the floors can be clearly obtained no matter how many floors are placed.
Preferably, the generating a stain cleaning plan for each floor according to the stain information includes:
determining the positions of all stains in each floor according to the stain information;
generating a first stain cleaning track of each floor according to the stain positions of all stains;
and generating a spot cleaning plan of each floor according to the preset water pressure water flow and the first spot cleaning track.
By adopting the technical scheme, the spot positions of all spots on each floor are determined, the first spot cleaning track of each floor is generated according to the spot positions of all spots on each floor and the preset water pressure water flow, the spots are cleaned to the greatest extent, and the purpose of saving water resources is achieved.
Preferably, the cleaning all the floor slabs according to the stain cleaning plan includes:
obtaining a first stain cleaning track and a preset water pressure flow size of each floor according to the stain cleaning plan;
and controlling an automatic cleaning device to clean all floors according to the first stain cleaning track and the preset water pressure and water flow.
By adopting the technical scheme, the spot positions of all stains on all floors are determined, all floors are cleaned according to the spot positions of all stains on all floors and the preset water pressure and water flow, repeated cleaning of floors without stains is avoided, and the purpose of saving water resources is achieved.
Preferably, after the automatic cleaning device is controlled to clean all floors according to the first stain cleaning track and the preset water pressure and water flow information, the method further includes:
photographing and detecting each floor through a second vision system arranged at the tail end of the automatic cleaning device;
taking the floor detected to have the stains as a first target floor, and determining the stain position and the stain area of the residual stains in the first target floor;
determining the corresponding spot area of the spot before cleaning according to the spot position of the residual spot;
comparing the stain area of the residual stains with the stain area before cleaning to obtain a comparison result;
generating a second stain cleaning track of the first target floor according to the stain positions of the residual stains;
and adjusting the water pressure and water flow of the automatic cleaning device according to the comparison result, and controlling the automatic cleaning device to perform secondary cleaning on the target floor according to the second stain cleaning track.
Through adopting above-mentioned technical scheme, detect every floor after wasing through second set of vision system and shoot, avoided wasing the not clean condition of floor for the first time, wash for the second time, reach the effect of dual fail-safe.
Preferably, after the second spot cleaning trajectory controls the automatic cleaning device to perform the second cleaning on the target floor, the method further includes:
photographing and detecting the result of the second cleaning through the second vision system;
taking the floor detected to have the stains as a second target floor, and determining the stain position and the stain area of the residual stains in the second target floor;
and sending early warning information according to the second target floor, and prompting workers to perform manual decontamination treatment based on the spot position and the spot area of the residual spots in the second target floor.
Through adopting above-mentioned technical scheme, when detecting out that the washing still does not totally have the condition of stubborn spot for the second time, can guarantee the abluent cleanliness of floor through manual cleaning's mode.
Preferably, the first vision system and the second vision system both adopt a CCD machine vision system, and are used for photographing and recognizing stains on the floor slab and generating stain cleaning tracks.
By adopting the technical scheme, the two sets of vision systems adopt the same machine vision system, so that the later maintenance and replacement of accessories are facilitated, and the cost performance is high.
Preferably, before the first floor is placed on the trolley pre-installed floor device, sleepers are further placed at the position of the trolley pre-installed floor for bearing the floor and avoiding collision of the floor in the moving or cleaning process.
Through adopting above-mentioned technical scheme, can effectively avoid the floor to remove or the collision of cleaning process in, lead to the damaged problem of floor.
In a second aspect, the application provides a floor self-cleaning equipment adopts following technical scheme, including self-cleaning device, self-cleaning device includes six robotic arm, belt cleaning device and controller, wherein, six robotic arm and belt cleaning device respectively with the controller electricity is connected the controller receives when first spot washs orbit or second spot washing orbit, simultaneous control six robotic arm and belt cleaning device wash the floor.
In a third aspect, the present application provides a computer-readable storage medium, which adopts the following technical solutions: a computer program is stored which can be loaded by a processor and which can perform any of the above described automatic floor cleaning methods.
To sum up, the present application brings the following beneficial effects:
according to the automatic floor cleaning method, the automatic floor cleaning equipment and the storage medium, stains on each floor are identified through the two sets of vision systems, stain cleaning tracks are extracted, and then the automatic cleaning device is guided to clean the floor along the stain cleaning tracks. Meanwhile, under the condition that the cleaning is not clean for two times, a manual intervention cleaning mode is introduced, so that the dead corners of dirt which cannot be cleaned by the automatic cleaning device are ensured, and the dirt can be cleaned completely. Through this application not only promoted the speed of clean floor greatly, still guaranteed cleaning quality, still avoided the dust and the dust of manual cleaning in-process simultaneously, great danger to health and personal safety probably cause.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and other drawings can be obtained by those skilled in the art without creative efforts.
FIG. 1 is a general flowchart of an automatic floor cleaning method according to an embodiment of the present invention;
FIG. 2 is a schematic diagram of a first spot cleaning trajectory in the embodiment of the present application;
FIG. 3 is a flowchart of an automatic floor cleaning method according to an embodiment of the present invention;
FIG. 4 is a second flowchart of an automatic floor cleaning method according to an embodiment of the present invention;
FIG. 5 is a schematic structural diagram of an automatic cleaning device according to an embodiment of the present application;
fig. 6 is a diagram of the automatic cleaning device for cleaning the floor in the embodiment of the present application.
In the figure: 200. an automatic cleaning device; 201. a six-axis robot arm; 202. a cleaning device; 203. a controller; 300. a floor slab; 400. provided is a gantry type truss.
Detailed Description
The following examples are further described in detail in connection with the accompanying drawings.
As shown in fig. 1, an embodiment of the present application discloses an automatic floor cleaning method, including the following steps:
and step S1, acquiring the soil information of the floor slab.
Specifically, firstly, N floors are placed on a pre-installed floor position of a trolley through a crane or other hoisting devices, after a first floor is placed, a first vision system arranged above the pre-installed floor position of the trolley is used for photographing and identifying stains on the first floor, stain positions and stain areas of all stains in the first floor are determined, and stain information of the first floor is obtained according to the stain positions and the stain areas. And other floors are placed at the position of a pre-installed floor of a trolley by a placing mode that the area of the lower floor is sequentially larger than that of the upper floor, blots on the nth floor are photographed and identified through a first vision system, the positions of all the blots and the areas of the blots in the nth floor are determined, the information of the blots of the nth floor is obtained according to the positions of the blots and the areas of the blots, N is a positive integer larger than 1, the value of N is determined according to the full load of the pre-installed floor device of the trolley, and all the floors are transported to a cleaning area through the trolley to be cleaned.
It should be noted that, in order to avoid collision during floor slab moving or cleaning, before the first floor slab is placed on the trolley pre-installed floor slab device, sleepers are also placed at the trolley pre-installed floor slab position for bearing the floor slab, so that the floor slab is effectively protected.
And step S2, generating a stain cleaning plan of the floor slab according to the stain information.
And step S3, cleaning the floor slab according to the stain cleaning plan.
Specifically, when all floor slabs are sequentially placed at the pre-installed floor slab position of the trolley, a first vision system is started and used for recording the area size of dirt on each floor slab and generating a first dirt cleaning track through quick photographing, wherein the route of the first dirt cleaning track is shown in fig. 2, and an automatic cleaning device is controlled to clean all the floors according to the first dirt cleaning track and the preset water pressure water flow size.
With reference to fig. 1 and 3, a first vision system is started, stains on each floor are photographed, a first stain area is obtained based on photographing data on each floor, a first stain cleaning track is generated according to the position of the first stain area and is sent to an automatic cleaning device, the automatic cleaning device cleans the floor along the first stain cleaning track, meanwhile, a second vision system arranged at the tail end of the automatic cleaning device is started, photographing detection is carried out on each floor after the floor is cleaned for the first time, if no stains are detected, a cleaning flow is ended, and the automatic cleaning device is reset. And if the stains are detected to still exist, taking the floor detected to still have the stains as a first target floor, determining the stain position and the stain area of the residual stains in the first target floor, and determining the corresponding stain area before cleaning and a second stain cleaning track of the first target floor based on the stain position of the residual stains. And meanwhile, determining the stain area of the corresponding stain before cleaning according to the stain position of the residual stain, and comparing the stain area with the stain area before cleaning to obtain a comparison result. And finally, adjusting the water pressure and water flow of the automatic cleaning device according to the comparison result, and controlling the automatic cleaning device to perform secondary cleaning on the target floor according to the second stain cleaning track.
In this embodiment, the second vision system mainly plays a role of double insurance in this application, and detects whether the automatic cleaning device is thoroughly cleaned for the first time, and if it is detected that stains on the floor cleaning surface are completely cleaned, the whole cleaning process is finished, and the automatic cleaning device returns to a safe position. If the second vision system detects that stains still remain on the floor cleaning surface, a second cleaning is required. Therefore, the second vision system can photograph and retain the stains on the cleaning surface when detecting whether the stains are cleaned for the first time, so as to generate a second stain cleaning track, obtain the stain area when cleaning for the second time, compare the obtained area of the second residual stain with the area of the first residual stain, adjust the water pressure and water flow of the automatic cleaning device, and perform second decontamination treatment on the floor along the second stain cleaning track.
Specifically, after the floor is cleaned for the first time, the stain area during the second cleaning is supposed to be reduced, and the waste of excessive cleaning resources is certainly caused according to the water pressure and the water flow during the first cleaning. Therefore introduced a plurality of spot areas of dividing in advance and the water pressure and the rivers that different spot areas correspond in this application, select different water pressure rivers to handle according to different spot area sizes, the grade of its water pressure and rivers includes one-level water pressure rivers size and second grade water pressure rivers size, wherein, one-level water pressure rivers size can both accomplish effectively to clear away for the spot on most floor for acquiescence first cleaning process, second grade water pressure rivers size then is to the stubborn spot that leaves in the first cleaning process, has the washing characteristics of high water pressure, less rivers.
Further, after the first floor cleaning is finished, stubborn stains are found to be remained and need to be cleaned for the second time, the first-stage water pressure water flow needs to be adjusted to be the second-stage water pressure water flow, and the automatic cleaning device is guided to guide the second cleaning stain track to be removed aiming at the remained stubborn stains. After the two times of automatic cleaning processes, stains on the floor still possibly exist and cannot meet the qualified cleaning requirements, the automatic cleaning device is continuously used for cleaning, the cleaning effect is still not ideal, and too much cleaning resources are wasted. The present application therefore also introduces a manual cleaning as a final assurance of floor cleaning as shown in figure 4. After the two times of cleaning are finished, the floor detected to still have the stains is used as a target floor through the second vision system, the stain position and the stain area of the residual stains in the target floor are determined, early warning information is sent out according to the target floor, and workers are prompted to carry out manual decontamination treatment based on the stain position and the stain area of the residual stains in the target floor.
It should be noted that, the first vision system and the second vision system in the present application adopt a CCD machine vision system, and are used for taking a picture of stains on the floor and grabbing to generate a stain cleaning track. The hardware part of the vision system imaging is arranged in the sealed waterproof case and is provided with an automatic opening and closing door, and the automatic opening and closing door is in a closed and sealed state in a default state, so that the pollution of environmental dust and water vapor to the vision system is effectively prevented. When the control system gives a camera photographing signal, the cabinet door is automatically opened, the camera automatically photographs, and after the photo data processing is finished, the cabinet door is closed according to the feedback signal. Meanwhile, an air curtain is arranged at the door of the machine box through a compressed air technology, so that dust can be effectively prevented from entering the machine box when the vision system is in a working state, and the machine box is damaged to a certain extent.
The embodiment of the application also discloses a floor self-cleaning equipment.
As shown in fig. 5 and 6, an automatic floor cleaning apparatus includes an automatic cleaning device 200, where the automatic cleaning device 200 includes a six-axis robot 201, a cleaning device 202, and a controller 203, where the six-axis robot 201 and the cleaning device 202 are respectively electrically connected to the controller 203, and when the controller 203 receives a first spot cleaning track or a second spot cleaning track, the six-axis robot 201 and the cleaning device 202 are simultaneously controlled to clean a floor. Meanwhile, the six-axis mechanical arm 201 also has the characteristic of flexible rotation, so that the automatic cleaning device 200 can clean the floor slab 300 along the gantry truss 400 in an all-dimensional and dead-angle-free manner.
The embodiment of the application also discloses a computer readable storage medium.
Specifically, the computer-readable storage medium stores a computer program that can be loaded by a processor and executes the above-described license plate information processing method, and includes, for example: various media capable of storing program codes, such as a usb disk, a removable hard disk, a Read-only memory (ROM), a Random Access Memory (RAM), a magnetic disk, or an optical disk.
The functions, if implemented in the form of software functional units 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 invention may be embodied in the form of a software product, which is stored in a storage medium and includes 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 invention. 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 present embodiment is only for explaining the present invention, and it is not limited to the present invention, and those skilled in the art can make modifications of the present embodiment without inventive contribution as needed after reading the present specification, but all of them are protected by patent law within the scope of the claims of the present invention.
Claims (10)
1. A floor automatic cleaning method is characterized by comprising the following steps:
acquiring stain information of a floor slab;
generating a stain cleaning plan of the floor slab according to the stain information;
and cleaning the floor according to the stain cleaning plan.
2. The automatic floor cleaning method according to claim 1, wherein the step of acquiring floor dirt information comprises:
after a first floor slab is placed on a trolley pre-installed floor slab device, a first vision system is used for photographing and identifying stains on the first floor slab, the positions and areas of all stains in the first floor slab are determined, and stain information of the first floor slab is obtained according to the positions and areas of the stains;
placing N layers of floors in a placing mode that the area of a lower floor is sequentially larger than that of an upper floor, photographing and identifying stains on the Nth floor through a first vision system, determining the positions and areas of all stains in the Nth floor, and obtaining stain information of the Nth floor according to the positions and areas of the stains, wherein N is a positive integer larger than 1, and the value of N is determined according to the full load of the trolley pre-installed floor device.
3. The automatic floor cleaning method according to claim 2, wherein the generating of the stain cleaning plan for each floor according to the stain information comprises:
determining the positions of all stains in each floor according to the stain information;
generating a first stain cleaning track of each floor according to the stain positions of all stains;
and generating a spot cleaning plan of each floor according to the preset water pressure water flow and the first spot cleaning track.
4. The automatic floor cleaning method according to claim 3, wherein the cleaning of all floors according to the stain cleaning plan comprises:
obtaining a first stain cleaning track and a preset water pressure flow size of each floor according to the stain cleaning plan;
and controlling an automatic cleaning device to clean all floors according to the first stain cleaning track and the preset water pressure and water flow.
5. The automatic floor cleaning method according to claim 4, wherein after the automatic cleaning device is controlled to clean all floors according to the first stain cleaning track and the preset water pressure and water flow information, the method further comprises the following steps:
photographing and detecting each floor through a second vision system arranged at the tail end of the automatic cleaning device;
taking the floor detected to have the stains as a first target floor, and determining the stain position and the stain area of the residual stains in the first target floor;
determining the corresponding spot area of the spot before cleaning according to the spot position of the residual spot;
comparing the stain area of the residual stains with the stain area before cleaning to obtain a comparison result;
generating a second stain cleaning track of the first target floor according to the stain positions of the residual stains;
and adjusting the water pressure and water flow of the automatic cleaning device according to the comparison result, and controlling the automatic cleaning device to perform secondary cleaning on the target floor according to the second stain cleaning track.
6. The automatic floor cleaning method according to claim 5, wherein after the second stain cleaning track controls the automatic cleaning device to perform the second cleaning on the target floor, the method further comprises:
photographing and detecting the result of the second cleaning through the second vision system;
taking the floor detected to have the stains as a second target floor, and determining the stain position and the stain area of the residual stains in the second target floor;
and sending early warning information according to the second target floor, and prompting workers to perform manual decontamination treatment based on the spot position and the spot area of the residual spot in the second target floor.
7. The automatic floor cleaning method according to claim 2 or 5, wherein the first vision system and the second vision system both adopt CCD machine vision systems for photographing and recognizing stains on the floor and generating stain cleaning tracks.
8. The method of claim 2, wherein prior to placing the first floor on the pre-installed trolley floor device, sleepers are placed at the pre-installed trolley floor locations to support the floor while avoiding collision during movement or cleaning of the floor.
9. The automatic floor cleaning equipment is characterized by comprising an automatic cleaning device (200), wherein the automatic cleaning device (200) comprises six mechanical arms (201), a cleaning device (202) and a controller (203), the six mechanical arms (201) and the cleaning device (202) are respectively electrically connected with the controller (203), and when the controller (203) receives a first stain cleaning track or a second stain cleaning track, the six mechanical arms (201) and the cleaning device (202) are controlled to clean a floor.
10. A computer-readable storage medium, in which a computer program is stored which can be loaded by a processor and which executes the method of any one of claims 1 to 8.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110781295.0A CN113397435A (en) | 2021-07-10 | 2021-07-10 | Automatic floor cleaning method and equipment and storage medium |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202110781295.0A CN113397435A (en) | 2021-07-10 | 2021-07-10 | Automatic floor cleaning method and equipment and storage medium |
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| CN113397435A true CN113397435A (en) | 2021-09-17 |
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| CN202110781295.0A Pending CN113397435A (en) | 2021-07-10 | 2021-07-10 | Automatic floor cleaning method and equipment and storage medium |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN115555361A (en) * | 2022-11-17 | 2023-01-03 | 长沙中联重科环境产业有限公司 | Intelligent cleaning mechanism for outer wall of garbage can and control method thereof |
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