CN113749565B - Multi-floor cleaning control method of robot - Google Patents
Multi-floor cleaning control method of robot Download PDFInfo
- Publication number
- CN113749565B CN113749565B CN202111116278.1A CN202111116278A CN113749565B CN 113749565 B CN113749565 B CN 113749565B CN 202111116278 A CN202111116278 A CN 202111116278A CN 113749565 B CN113749565 B CN 113749565B
- Authority
- CN
- China
- Prior art keywords
- floor
- cleaning
- cleaned
- robot
- area
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Classifications
-
- 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
-
- 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
-
- 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
-
- 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
-
- 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
-
- 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
-
- 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
-
- 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 application discloses a multi-floor cleaning control method of a robot, which is used for a cleaning robot to execute a cleaning task across floors through an elevator, and comprises the following steps: transferring the cleaning robot to a corresponding floor to be cleaned according to floor information of the floors to be cleaned, or the cleaning area of each floor, or the grade of the dirt degree marked in the cleaning area of each floor; wherein each floor to be cleaned is pre-assigned with at least one cleaning robot. According to the technical scheme, the cleaning work and the cleaning floor positions before and after the cleaning robots are scheduled are dynamically adjusted based on floor information of multiple dimensions of the floors to be cleaned, so that the cleaning efficiency maximization of the cross-floor is achieved, each floor can be ensured to be cleaned by the cleaning robots which are sequentially scheduled, and the continuity of the cleaning of the cross-floor robots is ensured. Liberating clean human resources.
Description
Technical Field
The application relates to the technical field of floor sweeping machine control, in particular to a multi-floor cleaning control method of a robot.
Background
At present, the Internet of things and intelligent equipment enter thousands of families, so that great convenience is brought to each family, and the sweeping robot is a typical representative; however, the current sweeping robot can only move on a plane, so that for a hotel or an office building in a mall, one sweeping robot needs to be arranged on each floor or the sweeping robot needs to be manually brought to different floors, and usually one or more cleaning aunts need to clean each building, and the sweeping 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 application 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 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 floor information of the floors to be cleaned, or the cleaning area of each floor, or the grade of the dirt degree marked in the cleaning area of each floor; wherein each floor to be cleaned is pre-assigned with at least one cleaning robot. According to the technical scheme, the cleaning work and the cleaning floor positions before and after the cleaning robots are scheduled are dynamically adjusted based on floor information of multiple dimensions of the floors to be cleaned, so that the cleaning efficiency maximization of the cross-floor is achieved, each floor can be ensured to be cleaned by the cleaning robots which are sequentially scheduled, and the continuity of the cleaning of the cross-floor robots is ensured. Liberating clean human resources.
Further, if the floor to be cleaned is detected to be higher, transferring fewer cleaning robots to the floor to be cleaned which is currently detected. In order to alleviate the burden that the railway carriage or compartment body was transported, reduce the dispatch degree of difficulty, guarantee clean efficiency.
Further, if the cleaning area of the floor to be cleaned is detected to be larger, more cleaning robots are transferred to the floor to be cleaned which is currently detected, so that the cleaning efficiency of the floor to be cleaned is improved.
Further, if the cleaning robot is detected to have a higher level of dirt degree marked in real time in the cleaning area of the floor to be cleaned, more cleaning robots are transferred to the floor to be cleaned which is currently detected, so that the cleaning efficiency and the cleaning effect of the floor are improved.
Further, if the levels of the dirt levels of all relevant position marks in the cleaning area of the current floor to be cleaned are detected to be equal to the preset cleaning level, controlling at least one cleaning robot to stay on the current floor to be cleaned; wherein the relevant position is a pre-configured boundary position. Is favorable for forming an uninterrupted cleaning state and keeps the building body in a clean state all the time.
Further, if it is detected that the dirt level of one position mark in the preset working area of the current floor to be cleaned is higher than the preset dirt level, transferring at least one cleaning robot to the current floor to be cleaned. Therefore, on the premise of ensuring the cleaning quality of each floor, the floor can be cleaned efficiently.
Further, a visual detection module is further installed at the bottom of the cleaning robot, and is configured to perform image processing on two frames of ground surface images before and after cleaning to obtain a set of pixel feature values after continuously acquiring multiple frames of ground surface images on the ground surface of the cleaning area in a moving process, and then difference values are respectively made between each pixel feature value and a preset threshold value. According to the technical scheme, the attachment quantity of the ground is detected in real time, and the influence of external light and ground textures is eliminated, so that the comprehensive dirt degree of the ground is accurately and comprehensively judged.
Further, when the difference is larger, the grade of the dirt degree marked in the corresponding position is higher, and when the grade of the dirt degree is higher than the preset dirt grade, the mobile robot stops working to wait for the cleaning robots transferred from the rest floors. The probability of the cleaning robot of the floor to be cleaned at the current time is reduced.
Further, 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 marked in the corresponding position is equal to the preset cleaning level, the mobile robot starts a camera in the current floor to be cleaned to monitor the environment. The cleaning robot is convenient to control to perform uninterrupted cleaning work on the same floor, and the floor body is kept in a clean state all the time.
Further, when it is detected that the cleaning robot takes longer to absorb a preset dust amount in a preset unit working area of a floor to be cleaned, the grade mark of the dirt degree of the corresponding area is higher; wherein, the dust sensor that the inside dust absorption passageway of cleaning robot installed is used for detecting the dust absorption volume. The floor adapted to the floor to be cleaned is a carpet embodiment.
Further, when detecting that the cleaning robot erases the preset attachment amount in the preset unit working area of one floor to be cleaned, the more the floor mopping times or the larger the floor mopping intervals are consumed, the higher the grade marks of the dirt degree of the corresponding area are, otherwise, the lower the grade marks of the dirt degree of the corresponding area are; wherein the preset amount of attachment is determined by the difference. The ground surface adapted to the floor to be cleaned is a floor or a floor tile implementation.
Drawings
Fig. 1 is a flowchart of a multi-floor cleaning control method of a robot according to an embodiment of the present application.
Detailed Description
For the purpose of making the objects, technical solutions and advantages of the embodiments of the present application more apparent, the technical solutions of the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present application, and it is apparent that the described embodiments are only some embodiments of the present application, not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the application without making any inventive effort, are intended to be within the scope of the application.
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, no further definition or explanation thereof is necessary in the following figures.
In the description of the present application, it should be understood that the directions or positional relationships indicated by the terms "upper", "lower", "inner", "outer", "left", "right", etc. are based on the directions or positional relationships shown in the drawings, or the directions or positional relationships conventionally put in place when the inventive product is used, or the directions or positional relationships conventionally understood by those skilled in the art are merely for convenience of describing the present application and simplifying the description, and do not indicate or imply that the apparatus or elements referred to must have a specific direction, be configured and operated in a specific direction, and therefore should not be construed as limiting the present application.
Furthermore, the terms "first," "second," and the like, are used merely to distinguish between descriptions and should not be construed as indicating or implying relative importance.
In the description of the present application, it should also be noted that, unless explicitly stated and limited to the terms "disposed" and "connected" and the like, the term "connected" should be interpreted broadly, and for example, the term "connected" may be a fixed connection, a removable connection, or an integral connection, a mechanical connection, an electrical connection, a direct connection, an indirect connection via an intermediate medium, or a communication between two elements. The specific meaning of the above terms in the present application can be understood by those of ordinary skill in the art according to the specific circumstances.
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 phrase "if determined" or "if detected (stated condition or event)" may be interpreted as "when determined" or "in response to determination" or "when detected (stated condition or event)" or "in response to detection (stated condition or event), depending on the context.
As an embodiment, the application discloses a multi-floor cleaning control method of a robot, which is used for a cleaning robot to execute a cross-floor cleaning task through an elevator, namely, 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 transported to a second target floor which needs cleaning through the lifting motion of the elevator under the control of an internal or external central controller (including remote wireless control) of the cleaning robot. As shown in fig. 1, the basic concept of the multi-floor cleaning control method includes: firstly, at least one cleaning robot is allocated to 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, or the cleaning area of each floor, or the grade of the dirt degree marked in the cleaning area of each floor; wherein the cleaning robot initially allocated in each floor to be cleaned serves as a source of a subsequent dispatch robot.
The cleaning robot acquires the total floor number and the regional position information of each floor in advance. Preferably, the cleaning 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 cleaning the work.
As one embodiment, the multi-floor cleaning control method includes: if the floor to be cleaned is detected to be higher, transferring fewer cleaning robots to the floor to be cleaned which is currently detected, specifically, in the process of executing a map construction task or cleaning operation, if the floor to be cleaned is detected to be higher than the floor to be cleaned by five layers, transferring the fewer cleaning robots to the floor to be cleaned by one floor, and if the floor to be cleaned is detected to be higher than the floor to be cleaned by one floor, transferring more than five floors; while fewer robots are transferred to the higher floors to be cleaned, robots of the lower floors are successively dispatched to the higher floors to support cleaning and mapping after synchronously completing the mapping task and the cleaning task of the preset work area of the floor where they are located. Further, the relative floor heights and corresponding transfer amounts involved in the comparison may be adaptively adjusted based on the floor information and the environmental information.
As an embodiment, if the cleaning area of the floor to be cleaned is detected to be larger, more cleaning robots are transferred to the floor to be cleaned which is currently detected, so that the cleaning efficiency of the floor to be cleaned is improved. The specific steps can be as follows: transferring three cleaning robots to the next floor to be cleaned if 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 each time, wherein the transfer operation involved includes, but is not limited to, dispatching cleaning robots from the current floor to be cleaned and the floors adjacent to each other up and down of the current floor to be cleaned; further, the area ratio of the relevant cleaning areas involved in the comparison and the corresponding transfer number can be adaptively adjusted according to the floor information and the environment information. Notably, the cleaning area disclosed in this embodiment does not account for the area of the working area of each room, one of the reasons is: the working area of the public place is more easily polluted and the pollution degree is deeper than the working area of the room; 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 scheduled for cleaning the rooms. 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 of the floor to be cleaned is controlled to traverse the related area, position and boundary and collect the corresponding coordinate information, 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 graphically one by utilizing a geometric formula and is accumulated and summed. When the working area of the public place of the current floor is calculated to be larger, more cleaning robots are required to be scheduled from other floors to cooperate with cleaning to improve cleaning efficiency, specifically, regional planning cleaning can be performed, each divided subarea is responsible for cleaning and performing map construction tasks by one cleaning robot until 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 level of the dirt level of the cleaning robot 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. Specifically, there may be: if each time the level of the degree of soiling of the next floor to be cleaned is detected to be higher than the level of soiling of the current floor to be cleaned by more than five levels, transferring three cleaning robots to the next floor to be cleaned, wherein the transfer operation involved includes, but is not limited to, dispatching cleaning robots from the current floor to be cleaned and the floors adjacent to each other above and below the current floor to be cleaned. The basis of the dirt degree of the cleaning robot marked in real time in the cleaning area of the floor to be cleaned is determined by the acquisition information of a sensor for detecting the ground surface, or the floor wiping frequency of the cleaning robot, or the combination of the factors. The higher the dirt level is, the more cleaning robots are required to be scheduled to repeatedly clean, so that the number of cleaning operations of the single cleaning robot is reduced, and the overall cleaning efficiency of the currently detected cleaning area of the floor to be cleaned is improved.
In summary, the number of robots corresponding to one floor is distributed according to the floor 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 grade the dirty areas when executing cleaning work, and the dirty areas are transmitted to the central controller, so that the central controller records the cleaning work state of the cleaning condition dynamic dispatching robot of each floor and the corresponding position in real time, the maximization of the cleaning efficiency of the cross-floor is achieved, and each floor can be ensured to be cleaned by the cleaning robot which is dispatched successively.
Preferably, if the level of the dirt level of all relevant position marks in the cleaning area of the current floor to be cleaned is detected to be equal to a preset cleaning level, at least one cleaning robot is controlled to stay on the current floor to be cleaned, and then the cleaning robot starts a camera to monitor the environment in the current floor to be cleaned and feeds back the real-time monitored environment information to the central controller, wherein the relevant position is preferably a preset boundary position. Is favorable for forming an uninterrupted cleaning state and keeps the building body in a clean state all the time. In some implementation scenes, the cleaning robot is controlled to maintain cleaning work in a cleaning area of a current floor to be cleaned, so that a state of uninterrupted cleaning is formed, and cleaning of the floor body by the robot is always kept.
On the other hand, if the dirt degree of one position mark in the cleaning area of the current floor to be cleaned is detected to be higher than the preset dirt grade, transferring at least one cleaning robot to the current floor to be cleaned so as to increase the cleaning efficiency, reduce the influence of dirt on the ground surface on the robot construction map, and indirectly increase the map construction speed.
It should be noted that, if the current first floor to be cleaned of the first floor-crossing task with the earliest time generated by the central controller is larger than the next floor to be cleaned, determining that the carrying direction of the first floor-crossing task with the earliest time generated is downlink; and if the current floor to be cleaned of the first floor-crossing task with the earliest generation time of the central controller is smaller than the floor to be cleaned of the next floor, determining the carrying direction of the first floor-crossing task with the earliest generation time as the uplink.
When a plurality of robots receive the cross-floor task at the same time, the transfer order of the plurality of robots to execute the cross-floor task can be set according to floor information of floors to be cleaned, cleaning area of each floor, and the level of dirt marked in the cleaning area of each floor. When one of the cleaning robots receives the cross-floor task and another cleaning robot waits for the cross-floor task to be executed, whether to enqueue the robot can be determined according to a preset traversal priority related to the position of the robot just receiving the cross-floor task, floor information of a floor to be cleaned, cleaning area of each floor and the marked dirt level in the cleaning area of each floor. That is, the priority order of executing the cross-floor task by different robots may be determined according to information such as different materials. Of course, the sorting may also be performed according to the natural time the cleaning robot receives the tasks.
The application is based on the general consideration that the types of elevators responsible for the transportation of the cleaning robot include passenger elevators, freight elevators, medical elevators, sundry elevators, sightseeing elevators, vehicle elevators, ship elevators, building construction elevators, and elevators with special purposes such as freezer elevators, explosion-proof elevators, mine elevators, power station elevators, firefighter elevators, diagonal elevators, nuclear island elevators and the like.
According to practical situations, floors of floors to be cleaned are roughly classified into floor tiles, floors and short-hair carpets (long-hair carpets are not suitable for cleaning robots). How to judge the material of ground, this patent is not described. Dirt that is common on floors includes dust particles and sticky objects that adhere to the floor. The cleaning robot cleans the floor in a manner including dust suction and mopping. Wherein, the dust collection is used for cleaning particles such as dust and the like and is equivalent to sweeping the floor by human beings, and the floor wiping is used for cleaning attachments and is equivalent to mopping the floor by human beings. The carpet is cleaned only by dust collection, and the floor tiles are cleaned by dust collection and then floor cleaning. According to the classification of the ground dirt, the ground dirt recognition includes dust recognition and attachment recognition.
The dust recognition adopts a dust recognition device, namely a dust sensor, and the working principle of the dust sensor is that the dust is sensed and recognized through infrared sensing, a pair of optical signal elements are arranged on two sides of a dust channel in the robot, one of the optical signal elements is used for emitting infrared rays, and the other optical signal element is used for sensing the infrared rays, so that a pair of dust sensors is formed. When dust enters the dust channel, the infrared induction between the two optical signal elements is weakened by interference, and the more the dust is, the weaker the infrared signal received by the induction element is, so that the robot can judge the dust amount of the cleaning area through the strength of the infrared induction signal.
For floor tiles and floors, the floor is cleaned after dust collection, and the amount of attachments is detected. In this embodiment, the cleaning robot is a sweeping robot assembled as an integrated 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 (light-emitting diode) area light source and is uniformly distributed at the bottom of the cleaning robot corresponding to a measured range, so that the ground in the measured range is ensured to obtain uniform light, and large differences are not generated due to the change of the type of ground medium of a floor, so that the characteristics of each point can be reflected into the camera; the camera adopts a wide-angle CCD camera and is arranged at the center of the bottom of the cleaning robot, and a larger visual range can be ensured under the condition that the lens is close to the ground; in the moving process of the cleaning robot, after the ground surface of the cleaning area continuously collects multi-frame ground surface images, the current collected two frames of ground surface images before and after cleaning are subjected to imaging processing to obtain a group of pixel characteristic values, and each pixel characteristic value is respectively subjected to difference value with a preset threshold value to be used for detecting the attachment quantity of the ground in real time, and the influence of external light and ground textures is eliminated, so that the comprehensive dirt degree of the ground is accurately and comprehensively judged. The camera is used for acquiring image information of the ground surface of a cleaning area of each floor to be cleaned of the mobile robot, and specifically comprises two images acquired before and after dust collection of the cleaning robot at the same position or two images acquired before and after floor cleaning of the cleaning robot at the same position, difference processing is carried out on a pair of ground surface images acquired before and after cleaning at the present time, the obtained difference images are ground surface approximate images after cleaning traversal, then the absolute value of a difference matrix is obtained, the average value is calculated and is used as a pixel characteristic value of the two ground surface images before and after cleaning, and then the pixel characteristic value is compared with a preset threshold value to obtain a matched difference value and correspondingly mark the grade of the dirt degree belonging to the position so as to determine whether the cleaning robot of other floors needs to be scheduled to the current floor to be cleaned.
On the basis of the above embodiment, when the difference is larger, the level of the degree of dirt marked in the corresponding position is higher; and controlling the cleaning robot to stop working until the level of the dirt level 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 by other floors and reduce the probability of the cleaning robot of the current floor to be cleaned to break down. And when the difference value is smaller, the grade of the dirt degree marked in the corresponding position is lower, and when the grade of the dirt degree is equal to a preset clean grade, the cleaning robot starts a camera in the corresponding position to monitor the environment and feeds back the environment information monitored in real time to a central controller of the cross-floor transfer device. The cleaning robot is convenient to control to perform uninterrupted cleaning work on the same floor, and the floor body is kept in a clean state all the time.
Therefore, the multi-floor cleaning control method controls the cleaning robot to perform uninterrupted cleaning work in the same floor to be cleaned, and the floor body is kept in a clean state all the time, so that the floor is cleaned efficiently on the premise of ensuring the cleaning quality of each floor.
It should be added that, in this embodiment, a mapping relationship between a difference value between a pixel characteristic value and a preset threshold value and a level of the dirt level are preset, and the mapping relationship is used to mark the level of the dirt level according to the difference value, where the mapping relationship adaptively adjusts and changes along with a change of a floor medium of a floor. It should be added that the preset threshold value is set smaller, which means that the vision detection module is sensitive to attachments on the ground and is easier to detect the attachments; if the preset threshold value is larger, the visual detection module is used for making a ton later on the attachment, and the attachment is not easy to detect.
In some embodiments, the dust collection time and power of the cleaning robot are determined by the dust amount detected in real time, and the floor wiping times of the cleaning robot are determined by the floor deposit amount.
Thus, when it is detected that the cleaning robot takes longer to absorb a preset dust amount in a preset unit working area of a floor to be cleaned, the grade mark of the dirt degree of the corresponding area is higher, otherwise the grade mark of the dirt degree of the corresponding area is lower; wherein, the dust sensor that the inside dust absorption passageway of cleaning robot installed is used for detecting the dust absorption volume. The floor adapted to the floor to be cleaned is a carpet embodiment. When detecting that the cleaning robot erases the preset attachment amount in the preset unit working area of one floor to be cleaned, the more the floor mopping times or the larger the floor mopping intervals are, the higher the grade marks of the dirt degree of the corresponding area are, otherwise, the lower the grade marks of the dirt degree of the corresponding area are, and otherwise, the lower the grade marks of the dirt degree of the corresponding area are. Wherein the preset amount of attachment is determined by the difference. The ground surface adapted to the floor to be cleaned is a floor or a floor tile implementation.
In the embodiments provided in the present application, it should be understood that the disclosed system, apparatus and method may be implemented in other manners. For example, the apparatus embodiments described above are merely illustrative, e.g., the division of the units is merely a logical function division, and there may be additional divisions when actually implemented, e.g., multiple units or components may be combined or integrated into another system, or some features may be omitted or not performed. Alternatively, the coupling or direct coupling or communication connection shown or discussed with each other may be an indirect coupling or communication connection via some interfaces, devices or units, which may be in electrical, mechanical or other form. The units described as separate units may or may not be physically separate, and units shown 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 may be selected according to actual needs to achieve the purpose of the solution of this embodiment.
Claims (6)
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, or the cleaning area of each floor, or the grade of the dirt degree marked in the cleaning area of each floor; wherein, each floor to be cleaned is pre-allocated with at least one cleaning robot;
if the floor to be cleaned is detected to be higher, transferring fewer cleaning robots to the floor to be cleaned which is currently detected;
if the cleaning area of the floor to be cleaned is detected to be larger, transferring more cleaning robots to the floor to be cleaned which is currently detected;
when the working area of the public place of the floor to be cleaned is larger, the number of the rooms in the floor to be cleaned is also larger, and more cleaning robots are required to be scheduled for cleaning the separated rooms;
the area proportion of the relevant cleaning areas involved in comparison and the corresponding transfer quantity are adaptively adjusted according to the floor information and the environment information;
the sources of the work area of the public place of the floor to be cleaned are: firstly controlling a cleaning robot of the floor to be cleaned to traverse related areas, positions and boundaries and collect corresponding coordinate information, dividing a working area of a public place into a plurality of regular geometric figures by utilizing the coordinate information, and then calculating areas one by utilizing a geometric formula and accumulating and summing to obtain the floor to be cleaned;
the bottom of the cleaning robot is also provided with a visual detection module which is used for carrying out image processing on two frames of ground surface images which are collected before and after cleaning at present after a plurality of frames of ground surface images are continuously collected 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 subjected to difference value with a preset threshold value; when the difference value is larger, the grade of the dirt degree marked in the corresponding position is higher, and when the grade of the dirt degree is higher than a preset dirt grade, the cleaning robot stops working to wait for the cleaning robots transferred from other floors; and when the difference value is smaller, the grade of the dirt degree marked in the corresponding position is lower, and when the grade of the dirt degree marked in the corresponding position is equal to the preset cleaning grade, the cleaning robot starts a camera in the current floor to be cleaned to monitor the environment.
2. The multi-floor cleaning control method according to claim 1, wherein if it is detected that the cleaning robot has a higher level of dirt level marked in real time in the cleaning area of the floor to be cleaned, more cleaning robots are transferred to the floor to be cleaned currently detected.
3. The multi-floor cleaning control method according to claim 2, wherein if it is detected that the levels of the degree of soiling of all relevant position marks in the cleaning area of the current one of the floors to be cleaned are equal to a preset cleaning level, at least one cleaning robot is controlled to remain on the current one of the floors to be cleaned; wherein the relevant position is a pre-configured boundary position.
4. The multi-floor cleaning control method according to claim 2, wherein at least one cleaning robot is transferred to the current one floor to be cleaned if it is detected that the degree of soiling of one of the position marks in the preset work area of the current one floor to be cleaned is higher than the preset soiling level.
5. The multi-floor cleaning control method according to claim 3 or 4, wherein when it is detected that the longer the cleaning robot spends absorbing a preset amount of dust in a preset unit work area of one floor to be cleaned, the higher the grade mark of the degree of dirt of the corresponding area is made; wherein, the dust sensor that the inside dust absorption passageway of cleaning robot installed is used for detecting the dust absorption volume.
6. The multi-floor cleaning control method according to claim 1, wherein when it is detected that the cleaning robot spends more wiping times or more wiping intervals to wipe a preset amount of attachments in a preset unit work area of one floor to be cleaned, the grade mark of the degree of soiling of the corresponding area is made higher, otherwise the grade mark of the degree of soiling of the corresponding area is made lower;
wherein the preset amount of attachment is determined by the difference.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111116278.1A CN113749565B (en) | 2021-09-23 | 2021-09-23 | Multi-floor cleaning control method of robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111116278.1A CN113749565B (en) | 2021-09-23 | 2021-09-23 | Multi-floor cleaning control method of robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN113749565A CN113749565A (en) | 2021-12-07 |
| CN113749565B true CN113749565B (en) | 2023-08-15 |
Family
ID=78797093
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202111116278.1A Active CN113749565B (en) | 2021-09-23 | 2021-09-23 | Multi-floor cleaning control method of robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN113749565B (en) |
Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114259187B (en) * | 2021-12-15 | 2023-04-07 | 华帝股份有限公司 | Cleaning equipment control method and cleaning equipment |
| CN115474878A (en) * | 2022-10-26 | 2022-12-16 | 深圳市普森斯科技有限公司 | Floor washing robot data processing method, floor washing robot and medium |
Citations (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102613944A (en) * | 2012-03-27 | 2012-08-01 | 复旦大学 | Dirt recognizing system of cleaning robot and cleaning method |
| CN105892321A (en) * | 2016-04-28 | 2016-08-24 | 京东方科技集团股份有限公司 | Dispatching method and device for cleaning robot |
| CN109560766A (en) * | 2018-11-09 | 2019-04-02 | 苏州瑞得恩光能科技有限公司 | A kind of robot dispatching method |
| CN109965781A (en) * | 2017-12-28 | 2019-07-05 | 周秦娜 | A kind of control method that sweeping robot cooperates, apparatus and system |
| CN110376934A (en) * | 2019-06-12 | 2019-10-25 | 深圳飞科机器人有限公司 | Clean robot, clean robot control method and terminal control method |
| CN110879545A (en) * | 2018-09-06 | 2020-03-13 | 艾罗伯特公司 | Scheduling system for autonomous robot |
| CN111565896A (en) * | 2018-01-03 | 2020-08-21 | 三星电子株式会社 | Mobile device for cleaning, cooperative cleaning system, and control method thereof |
| CN111596662A (en) * | 2020-05-26 | 2020-08-28 | 珠海市一微半导体有限公司 | Method for judging one circle along global working area, chip and visual robot |
| CN112353302A (en) * | 2020-10-28 | 2021-02-12 | 广东杜尼智能机器人工程技术研究中心有限公司 | Method for multi-robot collaborative scheduling of sweeping robots |
| CN112641380A (en) * | 2020-12-22 | 2021-04-13 | 珠海市一微半导体有限公司 | Cleaning robot operation method and device, cleaning robot and chip |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20200100639A1 (en) * | 2018-10-01 | 2020-04-02 | International Business Machines Corporation | Robotic vacuum cleaners |
-
2021
- 2021-09-23 CN CN202111116278.1A patent/CN113749565B/en active Active
Patent Citations (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102613944A (en) * | 2012-03-27 | 2012-08-01 | 复旦大学 | Dirt recognizing system of cleaning robot and cleaning method |
| CN105892321A (en) * | 2016-04-28 | 2016-08-24 | 京东方科技集团股份有限公司 | Dispatching method and device for cleaning robot |
| CN109965781A (en) * | 2017-12-28 | 2019-07-05 | 周秦娜 | A kind of control method that sweeping robot cooperates, apparatus and system |
| CN111565896A (en) * | 2018-01-03 | 2020-08-21 | 三星电子株式会社 | Mobile device for cleaning, cooperative cleaning system, and control method thereof |
| CN110879545A (en) * | 2018-09-06 | 2020-03-13 | 艾罗伯特公司 | Scheduling system for autonomous robot |
| CN109560766A (en) * | 2018-11-09 | 2019-04-02 | 苏州瑞得恩光能科技有限公司 | A kind of robot dispatching method |
| CN110376934A (en) * | 2019-06-12 | 2019-10-25 | 深圳飞科机器人有限公司 | Clean robot, clean robot control method and terminal control method |
| CN111596662A (en) * | 2020-05-26 | 2020-08-28 | 珠海市一微半导体有限公司 | Method for judging one circle along global working area, chip and visual robot |
| CN112353302A (en) * | 2020-10-28 | 2021-02-12 | 广东杜尼智能机器人工程技术研究中心有限公司 | Method for multi-robot collaborative scheduling of sweeping robots |
| CN112641380A (en) * | 2020-12-22 | 2021-04-13 | 珠海市一微半导体有限公司 | Cleaning robot operation method and device, cleaning robot and chip |
Also Published As
| Publication number | Publication date |
|---|---|
| CN113749565A (en) | 2021-12-07 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN113749565B (en) | Multi-floor cleaning control method of robot | |
| US9580245B2 (en) | Item-detecting overhead sensor for inventory system | |
| CN107981790B (en) | Indoor area dividing method and sweeping robot | |
| CN113917916A (en) | Cross-floor transfer device, elevator, mobile robot and robot dispatching system | |
| CN106586738B (en) | A kind of elevator with multiple compartments dispatching method of view-based access control model detection | |
| US20180068261A1 (en) | Arm-detecting overhead sensor for inventory system | |
| CN105593775A (en) | Method for operating a floor-cleaning device and floor-cleaning device | |
| CN104825101A (en) | Robot cleaner and controlling method thereof | |
| CN110313872B (en) | Intelligent building automatic cleaning method and device | |
| KR20140107632A (en) | Positioning apparatus, computer program, and appliance control system | |
| CN107055229A (en) | Traffic analysis system and method | |
| CN112043216A (en) | Intelligent mechanical cleaning environment-friendly control system and control method | |
| CN113966187B (en) | Mobile robot and control method for mobile robot | |
| CN112990617A (en) | Scheduling method and scheduling device for intelligent mobile robot | |
| CN114938927A (en) | Automatic cleaning apparatus, control method, and storage medium | |
| CN110088703A (en) | The method that navigation and self poisoning are carried out to the processing equipment independently advanced | |
| WO2021182694A1 (en) | Robot cleaner and method for controlling the same | |
| CN1048689C (en) | Method and equipment for detecting passenger number waiting for lift | |
| US20220175209A1 (en) | Autonomous travel-type cleaner, method for controlling autonomous travel-type cleaner, and program | |
| CN108792854A (en) | Elevator control system and method | |
| US20210153710A1 (en) | System with at least two automatically moving floor processing devices as well as a method for operating a system | |
| CN113050577A (en) | Scheduling method and device of intelligent mobile equipment | |
| CN210673215U (en) | Multi-light-source detection robot | |
| CN112401773B (en) | Ground washing and suction drying unmanned system, equipment and control method | |
| KR20210113901A (en) | Control method of Robot system including a plurality of moving robots |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |