CN113749565A - Multi-floor cleaning control method for robot - Google Patents
Multi-floor cleaning control method for robot Download PDFInfo
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- CN113749565A CN113749565A CN202111116278.1A CN202111116278A CN113749565A CN 113749565 A CN113749565 A CN 113749565A CN 202111116278 A CN202111116278 A CN 202111116278A CN 113749565 A CN113749565 A CN 113749565A
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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
- A47L11/32—Carpet-sweepers
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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
- A47L2201/00—Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L2201/00—Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
- A47L2201/06—Control of the cleaning action for autonomous devices; Automatic detection of the surface condition before, during or after cleaning
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02B—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO BUILDINGS, e.g. HOUSING, HOUSE APPLIANCES OR RELATED END-USER APPLICATIONS
- Y02B40/00—Technologies aiming at improving the efficiency of home appliances, e.g. induction cooking or efficient technologies for refrigerators, freezers or dish washers
Abstract
The invention discloses a multi-floor cleaning control method of a robot, which is used for the cleaning robot to execute a cross-floor cleaning task through an elevator, and comprises the following steps: transferring the cleaning robot to a floor to be cleaned corresponding to one floor according to the floor information of the floor to be cleaned, or the cleaning area of each floor, or the level of the dirt degree marked in the cleaning area of each floor; wherein at least one cleaning robot is pre-assigned to each floor to be cleaned. This technical scheme is based on the floor information dynamic adjustment cleaning robot scheduling cleaning work and the clean floor position of waiting to clean the multiple dimension of floor to reach and stride the clean efficiency maximize of floor, guarantee that each floor can be by the clean robot cleanness of scheduling in succession, guarantee that the robot strides the clean continuity of floor. And the manpower resources are liberated.
Description
Technical Field
The invention relates to the technical field of control of a sweeper, in particular to a multi-floor cleaning control method of a robot.
Background
In the current stage, the Internet of things and intelligent equipment enter thousands of households, great convenience is brought to each household, and a sweeping robot is a typical representative of the Internet of things and intelligent equipment; however, the existing sweeping robot can only move on a plane, so that for a shopping mall hotel or an office building, one sweeping robot needs to be arranged on each floor or needs to be manually taken to different floors, generally, each mansion needs one or more cleaning aunts for cleaning sanitation, and the cleaning robot is limited by manpower resource limitation, low in efficiency and high in cost.
Disclosure of Invention
In order to overcome the technical defects, the invention provides a multi-floor cleaning control method of a robot, and a specific cleaning scheduling scheme is as follows:
a multi-floor cleaning control method of a robot for a cleaning robot performing a cross-floor cleaning task by an elevator, the multi-floor cleaning control method comprising: transferring the cleaning robot to a floor to be cleaned corresponding to one floor according to the floor information of the floor to be cleaned, or the cleaning area of each floor, or the level of the dirt degree marked in the cleaning area of each floor; wherein at least one cleaning robot is pre-assigned to each floor to be cleaned. This technical scheme is based on the floor information dynamic adjustment cleaning robot scheduling cleaning work and the clean floor position of waiting to clean the multiple dimension of floor to reach and stride the clean efficiency maximize of floor, guarantee that each floor can be by the clean robot cleanness of scheduling in succession, guarantee that the robot strides the clean continuity of floor. And the manpower resources are liberated.
Further, if it is detected that the floor to be cleaned is higher, fewer cleaning robots are transferred to the currently detected floor to be cleaned. The load of the transport of the carriage body is reduced, the scheduling difficulty is reduced, and the cleaning efficiency is guaranteed.
Further, if the larger the cleaning area of the floor to be cleaned is detected to be, more cleaning robots are transferred to the currently detected floor to be cleaned, so that the cleaning efficiency of the floor to be cleaned is improved.
Further, if the level of the contamination degree of the cleaning robot which is detected to be marked in real time in the cleaning area of the floor to be cleaned is higher, more cleaning robots are transferred to the currently detected floor to be cleaned, so that the cleaning efficiency and the cleaning effect of the floor are improved.
Further, if the levels of the degrees of contamination of all the relevant position marks in the cleaning area of the current floor to be cleaned are detected to be equal to the preset cleanliness levels, controlling at least one cleaning robot to stay on the current floor to be cleaned; wherein the relevant position is a preconfigured boundary position. The device is favorable for forming an uninterrupted cleaning state and keeping the building body in a clean state all the time.
Further, if the dirt degree of one position mark in the preset working area of the current floor to be cleaned is detected to be higher than the preset dirt level, transferring at least one cleaning robot to the current floor to be cleaned. Therefore, the ground is efficiently cleaned on the premise of ensuring the cleaning quality of each floor.
Furthermore, a vision detection module is further installed at the bottom of the cleaning robot and used for performing image processing on two frames of currently acquired earth surface images before and after the two frames of earth surface images are continuously acquired from the earth surface of the cleaning area in the moving process to obtain a group of pixel characteristic values, and then, difference values are respectively made between each pixel characteristic value and a preset threshold value. The technical scheme detects the amount of the attachments on the ground in real time, and eliminates the influence of external light and ground texture, so that the comprehensive pollution degree of the ground is judged more accurately and comprehensively.
Further, when the difference value is larger, the level of the degree of contamination marked in the corresponding position is higher until the level of the degree of contamination is higher than a preset contamination level, the mobile robot stops working to wait for the cleaning robot transferred from the remaining floors. The cleaning robot on the floor to be cleaned at the current floor is reduced in the probability of failure.
Further, when the difference is smaller, the level of the degree of contamination marked in the corresponding position is lower, and until the level of the degree of contamination marked in the relevant position is equal to a preset cleanliness level, the mobile robot starts a camera in the current floor to be cleaned to perform environmental monitoring. The cleaning robot can be controlled to continuously clean on the same floor, and the building body can be kept clean all the time.
Further, when it is detected that the longer the dust collection time taken for the cleaning robot to absorb the preset dust amount in the preset unit working area of one floor to be cleaned, the higher the level of the degree of contamination of the corresponding area is marked; wherein, the dust sensor arranged in the internal dust suction channel of the cleaning robot is used for detecting the dust suction amount. The floor surface adapted to the floor to be cleaned is a carpet implementation.
Further, when detecting that the cleaning robot erases more times of wiping the preset attachment in a preset unit working area of a floor to be cleaned or the wiping interval is larger, marking the level of the degree of contamination of the corresponding area to be higher, otherwise marking the level of the degree of contamination of the corresponding area to be lower; wherein the preset deposit amount is determined by the difference. Adapted to the implementation where the ground surface of the floor to be cleaned is a floor or floor tile.
Drawings
Fig. 1 is a flowchart of a multi-floor cleaning control method for a robot according to an embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
It should be noted that like reference numerals 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.
In the description of the present invention, it is to be understood that the terms "upper", "lower", "inside", "outside", "left", "right", and the like, indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, or the orientations or positional relationships that the products of the present invention are conventionally placed in use, or the orientations or positional relationships that are conventionally understood by those skilled in the art, and are used for convenience of describing the present invention and simplifying the description, but do not indicate or imply that the devices or elements referred to must have a specific orientation, be constructed in a specific orientation, and be operated, and thus, should not be construed as limiting the present invention.
Furthermore, the terms "first," "second," and the like are used merely to distinguish one description from another, and are not to be construed as indicating or implying relative importance.
In the description of the present invention, it should be further noted that, unless otherwise explicitly stated or limited, terms such as "connected" and "connected" are used broadly, and for example, "connected" may be a fixed connection, a detachable connection, an integrated connection, a mechanical connection, an electrical connection, a direct connection, an indirect connection through an intermediate medium, and a communication between two elements. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.
The words "if", as used herein, may be interpreted as "at … …" or "at … …" or "in response to a determination" or "in response to a detection", depending on the context. Similarly, the phrases "if determined" or "if detected (a stated condition or event)" may be interpreted as "when determined" or "in response to a determination" or "when detected (a stated condition or event)" or "in response to a detection (a stated condition or event)", depending on the context.
The invention discloses a multi-floor cleaning control method of a robot, which is used for a cleaning robot to perform a cross-floor cleaning task through an elevator, namely, under the control action (including remote wireless control) of an internal or external central controller of the cleaning robot, the robot which is idle at a first target floor, the robot which works at the first target floor or the robot which is idle at the elevator is transferred to a second target floor which is urgently required to be cleaned through the lifting motion of the elevator. As shown in fig. 1, the basic concept of the multi-floor sweeping control method includes: firstly, distributing at least one cleaning robot for each floor to be cleaned; then transferring the cleaning robot to a corresponding floor to be cleaned according to the height information of the floor to be cleaned, the cleaning area of each floor or the level of the dirt degree marked in the cleaning area of each floor; wherein, the cleaning robot initially distributed in each floor to be cleaned is used as the source of the subsequent dispatching robot.
It should be noted that the cleaning robot acquires information on the total number of floors and the area position of each floor in advance. Preferably, the clean area of each floor comprises a work area of a public place of the same floor; the cleaning robot performs a map construction task of a cleaning area of the same floor while performing a cleaning operation.
As an embodiment, the multi-floor cleaning control method includes: if the higher floor to be cleaned is detected, transferring fewer cleaning robots to the currently detected floor to be cleaned, specifically, in the process of executing a map construction task or cleaning operation by the cleaning robot of any floor, if the next floor to be cleaned is detected to be higher than the current floor to be cleaned by more than five layers, transferring fewer cleaning robots to the next floor to be cleaned, provided that the transfer amount is more than five; although fewer robots are transferred to the higher floor to be cleaned, the robots of the lower floor are sequentially dispatched to the higher floor to support cleaning and mapping after simultaneously completing the mapping task and the cleaning task of the preset working area of the floor where the robots are located. Furthermore, the relative floor heights involved in the comparison and the corresponding transfer quantities can be adaptively adjusted according to the floor information and the environmental information.
As an embodiment, if it is detected that the cleaning area of the floor to be cleaned is larger, more cleaning robots are transferred to the currently detected floor to be cleaned, so as to improve the cleaning efficiency of the floor to be cleaned. The method specifically comprises the following steps: transferring three cleaning robots to the next floor to be cleaned if it is detected that the area of the cleaning area of the next floor to be cleaned is more than five times the area of the cleaning area of the current floor to be cleaned, wherein the transfer operations involved include, but are not limited to, dispatching the cleaning robots from the current floor to be cleaned and floors adjacent to the current floor to be cleaned; furthermore, the area ratios of the relevant cleaning zones involved in the comparison and the corresponding transfer numbers can be adjusted adaptively according to floor information and environmental information. It is noted that the cleaning area disclosed in the present embodiment does not account for the area of the working area of each room, for the first reason: compared with the working area of a room, the working area of a public place is more easily polluted and the pollution degree is deeper; the second reason is that when the working area of the public place of the floor to be cleaned is larger, the number of rooms existing in the floor to be cleaned is also larger, and more cleaning robots need to be dispatched to clean the rooms separately. It should be noted that the sources of the working area of the public place of the floor to be cleaned are: the cleaning robot for the floor to be cleaned is controlled to traverse the relevant area, position and boundary and collect the corresponding coordinate information, then the working area of the public place is divided into a plurality of regular geometric figures by utilizing the coordinate information, and then the area is calculated by utilizing a geometric formula one by one figure and is accumulated and summed to obtain the floor cleaning robot. When the working area of the public place of the current floor is calculated to be larger, more cleaning robots are required to be dispatched from other floors to cooperate with cleaning so as to improve cleaning efficiency, specifically, the cleaning can be planned and cleaned in different areas, and each divided subarea is cleaned and subjected to map construction by one cleaning robot until the cleaning traversal and map construction of the working area of the public place of the same floor to be cleaned are completed.
As an embodiment, if it is detected that the cleaning robot has a higher level of the contamination level marked in real time within the cleaning area of the floor to be cleaned, more cleaning robots are transferred to the currently detected floor to be cleaned, so as to improve the cleaning efficiency and cleaning effect of the floor. In particular, there may be: and transferring the three cleaning robots to the next floor to be cleaned if the level of the dirt degree of the next floor to be cleaned is detected to be more than five levels higher than the level of the dirt degree of the current floor to be cleaned, wherein the related transfer operation comprises but is not limited to dispatching the cleaning robots from the current floor to be cleaned and floors adjacent to the current floor to be cleaned. The dirty degree marked by the cleaning robot in real time in the cleaning area of the floor to be cleaned is determined by the collected information of a sensor which is arranged on the ground surface and is used for detecting the ground surface, the number of times of mopping the ground by the cleaning robot or the combination of the factors. The higher the level of the degree of contamination is, the more the degree of contamination in the preset working area is, the more cleaning robots need to be scheduled to repeat cleaning, so that the number of times of cleaning operation of a single cleaning robot is reduced, and the overall cleaning efficiency of the cleaning area of the floor to be cleaned detected currently is improved.
In conclusion, the number of robots corresponding to one floor is distributed according to floors and the public area of each floor, and the cleaning working state of the robots is scheduled; the cleaning robot can record dirty areas and classify the dirty areas while executing cleaning work, and transmit the dirty areas to the central controller, so that the central controller can record the cleaning work state of the cleaning robot dynamically dispatching the sanitation condition of each floor and the corresponding position in real time, the cross-floor cleaning efficiency is maximized, and each floor can be cleaned by the cleaning robot dispatched successively.
Preferably, if it is detected that the levels of the degrees of contamination of all the relevant position marks in the cleaning area of the current floor to be cleaned are equal to the preset cleanliness level, at least one cleaning robot is controlled to remain on the current floor to be cleaned, the cleaning robot starts a camera in the current floor to be cleaned to perform environment monitoring and feeds back environment information monitored in real time to the central controller, and preferably, the relevant position is a preset boundary position. The device is favorable for forming an uninterrupted cleaning state and keeping the building body in a clean state all the time. In some implementation scenes, the cleaning robot is controlled to maintain the cleaning work in the cleaning area of the current floor to be cleaned, which is beneficial to forming an uninterrupted cleaning state and always keeping the robot to clean the building.
On the other hand, if the fact that the dirt degree of one position mark in the cleaning area of the current floor to be cleaned is higher than the preset dirt level is detected, at least one cleaning robot is transferred to the current floor to be cleaned, so that the cleaning efficiency is improved, the influence of dirt on the ground surface on the robot to construct a map is reduced, and the map building speed is increased indirectly.
It should be noted that, if the floor to be cleaned at the current floor of the first cross-floor task with the earliest generation time by the central controller is greater than the floor to be cleaned at the next floor, the conveying direction of the first cross-floor task with the earliest generation time is determined to be downward; and if the current floor to be cleaned of the first cross-floor task with the earliest generation time is smaller than the next floor to be cleaned by the central controller, determining that the conveying direction of the first cross-floor task with the earliest generation time is an upward direction.
It should be noted that, when multiple robots receive the cross-floor task at the same time, the transfer order of the multiple robots to perform the cross-floor task may be set according to the floor information of the floor to be cleaned, the cleaning area of each floor, and the level of the degree of contamination marked in the cleaning area of each floor. When one of the cleaning robots receives the cross-floor task and another cleaning robot waits to execute the cross-floor task, whether the robot is to be queued up can be determined according to a preset traversal priority related to the position of the robot which has just received the cross-floor task, floor information of a floor to be cleaned, the area of a cleaning region of each floor, and the level of the degree of contamination marked in the cleaning region of each floor. That is, the priority of the execution of the cross-floor task by the different robots may be determined based on information such as different materials. Of course, the sequence may be performed according to the natural time of the cleaning robot receiving the task.
The invention is based on the consideration of universality, and the types of elevators in charge of transporting the cleaning robot comprise passenger elevators, freight elevators, medical elevators, sundry elevators, sightseeing elevators, vehicle elevators, ship elevators, building construction elevators and elevators with special purposes, such as refrigeration house elevators, explosion-proof elevators, mine elevators, power station elevators, elevators for firemen, diagonal elevators, nuclear island elevators and the like.
According to the actual situation, the floor of the floor to be cleaned is roughly divided into floor tiles, floors and short-hair carpets (long-hair carpets are not suitable for cleaning robots). How to determine the material of the ground is not described in this patent. Dirt that is often found on the floor includes dust particles and stickies that adhere to the floor. The cleaning robot cleans the floor by means of dust absorption and mopping. The dust collection is used for cleaning particles such as dust and the like, and the mopping is used for cleaning attachments, which is equivalent to mopping of human beings. The carpet is cleaned only by dust absorption, and the floor tiles are cleaned by firstly absorbing dust and then wiping the floor. Depending on the classification of the dirt on the floor, the dirt recognition of the floor comprises dust recognition and attachment recognition.
The dust recognition adopts a dust recognition device, namely a dust sensor, the working principle of the dust sensor is that the dust is sensed and recognized through infrared sensing, and usually, a pair of optical signal elements is arranged on two sides of a dust channel inside a robot, one optical signal element is used for emitting infrared rays, and the other optical signal element is used for sensing infrared rays to form a pair of dust sensors. When dust enters the dust channel, the infrared induction between the two optical signal elements is interfered and weakened, the more the dust is, the weaker the infrared signal received by the induction element is, and therefore the robot can judge the dust amount in the cleaning area through the strength of the infrared induction signal.
For floor tiles and floors, after dust is absorbed, the floor is wiped, and the amount of attached substances needs to be detected. In the embodiment, the cleaning robot is a sweeping robot assembled to integrate dust collection and mopping; the bottom of the cleaning robot is also provided with a visual detection module, the visual detection module comprises a light source and a camera, the light source adopts an LED surface light source and is uniformly distributed at the bottom of the cleaning robot corresponding to the measured range so as to ensure that the ground in the measured range obtains uniform light, and the large difference caused by the change of the types of the ground media of floors is avoided, so that the characteristics of each point can be reflected into the camera; the camera adopts a wide-angle CCD camera, is arranged at the center of the bottom of the cleaning robot, and can still ensure a larger visual range under the condition that the lens is closer to the ground; in the moving process of the cleaning robot, after multiple frames of surface images are continuously collected on the ground surface of the cleaning area, two frames of surface images before and after cleaning are subjected to image processing to obtain a group of pixel characteristic values, and then difference values are respectively made between each pixel characteristic value and a preset threshold value to serve as the attachment amount of the ground to be detected in real time, and the influence of external light and ground texture is eliminated, so that the comprehensive pollution degree of the ground is more accurately and comprehensively judged. Specifically, the camera is used for acquiring image information of the ground surface of the cleaning area of each floor to be cleaned of the mobile robot, and specifically comprises two images acquired before and after the cleaning robot cleans the dust at the same position, or two images acquired before and after the cleaning robot cleans the ground at the same position, and then the difference processing is carried out on the two frames of ground surface images before and after the current acquisition of a pair of ground surface images before and after cleaning, so that the obtained difference image is a ground surface approximate image after cleaning traversal, then the absolute value of the difference matrix is taken, and the average value is calculated to be used as a pixel characteristic value of the earth surface images before and after the pair of cleaning, and then compared to a preset threshold to obtain a matching difference and corresponding to a rating of the degree of soiling of the mark belonging to the location, to determine whether the cleaning robots of the remaining floors need to be dispatched to the current floor to be cleaned for cleaning.
On the basis of the above embodiment, when the difference is larger, the level of the degree of contamination of the mark in the corresponding position is higher; and controlling the cleaning robot to stop working until the level of the dirt degree is higher than the preset dirt level, namely controlling the related sensor and the cleaning assembly to stop working so as to wait for the support of the cleaning robot dispatched from the rest floors, and reducing the probability of the cleaning robot of the current floor to be cleaned to have a fault. When the difference value is smaller, the level of the dirt degree marked in the corresponding position is lower, and when the level of the dirt degree is equal to the preset clean level, the cleaning robot starts a camera in the corresponding position to carry out environment monitoring and feeds back the environment information monitored in real time to the central controller of the cross-floor transfer device. The cleaning robot can be controlled to continuously clean on the same floor, and the building body can be kept clean all the time.
Therefore, the multi-floor cleaning control method controls the cleaning robot to continuously clean in the same floor to be cleaned, and keeps the floor body in a clean state all the time, so that the ground is efficiently cleaned on the premise of ensuring the cleaning quality of each floor.
It should be added that the embodiment presets a mapping relationship between the difference between the pixel characteristic value and the preset threshold value and the level of the contamination degree, respectively, for marking the level of the contamination degree according to the difference, wherein the mapping relationship adaptively adjusts and changes according to the change of the ground medium of the floor. It should be added that if the preset threshold is set to be smaller, it means that the vision detection module is sensitive to attachments on the ground, and the attachments are easier to detect; if the preset threshold value is larger, the vision detection module is used for later handling the attachment, and the attachment is not easy to detect.
In some embodiments, the dust collecting time and power of the cleaning robot are determined by the dust amount detected in real time, and the floor cleaning times of the cleaning robot are determined by the floor attachment amount.
Therefore, when it is detected that the longer the dust collection time taken for the cleaning robot to absorb the preset dust amount in the preset unit working area of one floor to be cleaned, the higher the level of the degree of contamination of the corresponding area is marked, otherwise, the lower the level of the degree of contamination of the corresponding area is marked; wherein, the dust sensor arranged in the internal dust suction channel of the cleaning robot is used for detecting the dust suction amount. The floor surface adapted to the floor to be cleaned is a carpet implementation. When the cleaning robot is detected to be more wiping times or larger wiping intervals for wiping the preset attachment amount in the preset unit working area of the floor to be cleaned, marking the level of the dirt degree of the corresponding area to be higher, otherwise marking the level of the dirt degree of the corresponding area to be lower, and otherwise marking the level of the dirt degree of the corresponding area to be lower. Wherein the preset deposit amount is determined by the difference. Adapted to the implementation where the ground surface of the floor to be cleaned is a floor or floor tile.
In the embodiments provided in the present application, it should be understood that the disclosed system, apparatus and method may be implemented in other ways. For example, the above-described apparatus embodiments are merely illustrative, and for example, the division of the units is only one logical division, and other divisions may be realized in practice, for example, a plurality of units or components may be combined or integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection through some interfaces, devices or units, and may be in an electrical, mechanical or other form. The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.
Claims (11)
1. A multi-floor cleaning control method of a robot for a cleaning robot to perform a cross-floor cleaning task by an elevator, the multi-floor cleaning control method comprising:
transferring the cleaning robot to a corresponding floor to be cleaned according to the height information of the floor to be cleaned, the cleaning area of each floor or the level of the dirt degree marked in the cleaning area of each floor; wherein at least one cleaning robot is pre-assigned to each floor to be cleaned.
2. The multi-floor cleaning control method according to claim 1, wherein if it is detected that the floor to be cleaned is higher, fewer cleaning robots are transferred to the currently detected floor to be cleaned.
3. The multi-floor cleaning control method according to claim 1, wherein if it is detected that the cleaning area of the floor to be cleaned is larger, more cleaning robots are transferred to the floor to be cleaned currently detected.
4. The multi-floor cleaning control method according to claim 1, wherein if it is detected that the cleaning robot is higher in the level of the contamination degree marked at the time within the cleaning area of the floor to be cleaned, more cleaning robots are transferred to the currently detected floor to be cleaned.
5. The multi-floor cleaning control method according to claim 4, wherein if it is detected that the levels of the degrees of contamination of all the relevant position marks in the cleaning area of the current floor to be cleaned are equal to the preset cleanliness level, controlling at least one cleaning robot to remain on the current floor to be cleaned; wherein the relevant position is a preconfigured boundary position.
6. The multi-floor cleaning control method according to claim 4, wherein if it is detected that a contamination level of one of the position marks in the preset work area of the current floor to be cleaned is higher than a preset contamination level, transferring at least one cleaning robot to the current floor to be cleaned.
7. The multi-floor cleaning control method according to claim 6, wherein a vision detection module is further installed at the bottom of the cleaning robot, and is used for performing imaging processing on two currently acquired ground surface images before and after cleaning after multiple frames of ground surface images are continuously acquired on the ground surface of the cleaning area in the moving process to obtain a group of pixel characteristic values, and then, each pixel characteristic value is respectively different from a preset threshold value.
8. The multi-floor cleaning control method according to claim 7, wherein when the difference is larger, the level of the degree of contamination marked in the corresponding position is higher until the level of the degree of contamination is higher than a preset contamination level, the mobile robot stops working to wait for the cleaning robot transferred from the remaining floors.
9. The multi-floor cleaning control method according to claim 7, wherein the level of the degree of contamination marked in the corresponding position is lower as the difference is smaller until the level of the degree of contamination marked in the relevant position is equal to a preset cleanliness level, and the mobile robot activates a camera for environmental monitoring in the current floor to be cleaned.
10. The multi-floor cleaning control method according to claim 5 or 6, wherein when it is detected that the longer the dust collection time taken for the cleaning robot to absorb the preset amount of dust in the preset unit working area of one floor to be cleaned, the higher the level of the degree of contamination of the corresponding area is marked; wherein, the dust sensor arranged in the internal dust suction channel of the cleaning robot is used for detecting the dust suction amount.
11. The multi-floor cleaning control method according to claim 7, wherein when it is detected that the cleaning robot erases the preset amount of attachments more times or the larger the wiping interval is, the higher the level of the degree of contamination of the corresponding area is marked, and otherwise, the lower the level of the degree of contamination of the corresponding area is marked;
wherein the preset deposit amount is determined by the difference.
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