CN115251761A - Cleaning robot scheduling method, cleaning robot and cleaning system - Google Patents
Cleaning robot scheduling method, cleaning robot and cleaning system Download PDFInfo
- Publication number
- CN115251761A CN115251761A CN202110474866.6A CN202110474866A CN115251761A CN 115251761 A CN115251761 A CN 115251761A CN 202110474866 A CN202110474866 A CN 202110474866A CN 115251761 A CN115251761 A CN 115251761A
- Authority
- CN
- China
- Prior art keywords
- cleaning
- information
- cleaning robot
- robot
- module
- 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.)
- Pending
Links
Images
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
-
- 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
- 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
- A47L11/4061—Steering means; Means for avoiding obstacles; Details related to the place where the driver is accommodated
-
- 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
- A47L11/4091—Storing or parking devices, arrangements therefor; Means allowing transport of the machine when it is not being used
Abstract
The invention discloses a cleaning robot scheduling method, a cleaning robot and a cleaning system, wherein the scheduling method comprises the following steps: identifying whether the cleaning robot is provided with a required cleaning module according to a preset cleaning scheme; the preset cleaning scheme comprises a cleaning flow preset by a user or a cleaning flow generated according to environmental information; and when the cleaning robot is identified to be installed with the required cleaning module, cleaning the floor according to a preset cleaning scheme. This application accessible user manual control and automatic control's mode for cleaning machines people changes different cleaning module, realizes multi-functional clean, realizes the integration cleanness under the complicated scene. In addition, a user can meet the cleaning requirement of only one cleaning robot, so that the economic cost, the learning cost and the use cost of matching a plurality of cleaning robots of different types are avoided, and the cleaning efficiency and the cleaning experience of the user are greatly improved.
Description
Technical Field
The invention relates to the field of cleaning robots, in particular to a cleaning robot scheduling method, a cleaning robot and a cleaning system.
Background
The existing commercial cleaning service robots are all single-function robots, such as robots specially used for sweeping the floor, robots specially used for washing the floor, robots specially used for cleaning oil stains, and the like. In a complex cleaning scene, a plurality of robots of different types are required to be matched to complete a cleaning task, and for a user, the robots of different types need to be configured, so that the purchase cost is high. In addition, the different types of robots are independent in function, and a user is required to control the robots one by one, so that the use cost and the learning cost of the user are high. In conclusion, the above disadvantages need to be solved urgently.
Disclosure of Invention
The invention mainly aims to provide a cleaning robot scheduling method, and aims to provide a multifunctional cleaning robot, so that a user can solve the cleaning problem in various scenes by one cleaning robot.
The invention provides a scheduling method of a cleaning robot, wherein the cleaning robot comprises at least two detachable cleaning modules, and the scheduling method comprises the following steps:
identifying whether the cleaning robot is provided with a required cleaning module according to a preset cleaning scheme; the preset cleaning scheme comprises a cleaning flow preset by a user or a cleaning flow generated according to environmental information;
and when the cleaning robot is identified to be installed with the required cleaning module, cleaning the floor according to a preset cleaning scheme.
Preferably, the step of generating the cleaning flow based on the environmental information includes:
acquiring the information of the ground dirt in the range of the cleaning robot, wherein the information of the ground dirt comprises dirt type information, dirt distribution information and/or information of the current amount of the dirt;
a cleaning plan is generated based on the floor soil information.
Preferably, the method further comprises:
when the cleaning robot is not provided with the required cleaning module, acquiring the position information of a workstation, wherein the workstation is used for providing the required cleaning module;
moving towards the workstation after obtaining the position information of the workstation;
after docking with the workstation, installing the required cleaning module on the cleaning robot;
and when the cleaning robot is identified to be provided with the required cleaning module, cleaning the ground according to a preset cleaning scheme.
Preferably, the cleaning module comprises a ground cleaning and dirt absorbing module, a ground wiping and dust pushing module and/or a maintenance and polishing module, the cleaning scheme comprises at least one cleaning mode, and the cleaning mode comprises a sweeping and dust absorbing mode, a ground cleaning and dirt absorbing mode, a ground wiping and dust pushing mode and a maintenance and polishing mode;
the step of recognizing whether the cleaning robot has installed a desired cleaning module according to a preset cleaning recipe includes:
the cleaning robot recognizes whether the cleaning robot has installed a desired cleaning module before entering a cleaning mode.
Preferably, the method further comprises:
acquiring parameter information of the cleaning robot, wherein the parameter information comprises clear water storage amount information, sewage storage amount information, cleaning agent storage amount information, garbage storage amount information and/or robot electric quantity information;
judging whether the parameter value of the parameter information is within a preset value range, if not, acquiring the position information of a workstation, wherein the workstation is used for matching the requirements of the robot, including adding clear water, draining sewage, adding a cleaning agent, dumping garbage and/or charging;
moving towards the workstation after obtaining the position information of the workstation;
executing operation corresponding to the parameter information after the workstation is docked, wherein the operation comprises adding clear water, discharging sewage, adding a cleaning agent, dumping garbage and/or charging;
and stopping the operation when the operation is performed to enable the parameter value of the parameter information to reach the preset value range.
Preferably, the step of docking the cleaning robot with the workstation comprises:
acquiring identification information of a workstation to complete primary positioning;
continuously moving towards the direction of the surface where the identification information is located, acquiring magnetic field information of the workstation, and judging whether the magnetic field information reaches a preset condition;
and if so, positioning and butting between the cleaning robot and the workstation.
Preferably, the step of identifying whether the cleaning robot has installed the required cleaning module according to the preset cleaning recipe includes, before the step of:
generating indoor map information and first obstacle position information through a laser radar;
acquiring second obstacle position information through the depth camera;
acquiring third obstacle position information through an ultrasonic radar;
through mutual verification of the first obstacle position information, the second obstacle position information and the third obstacle position information, whether the obstacle position information acquired by the cleaning robot is wrong or not is judged;
if not, planning a cleaning path according to the cleaning scheme and the indoor map information, and starting cleaning according to the cleaning path.
Preferably, the step of cleaning the floor surface according to a preset cleaning scheme after the step of recognizing that the cleaning robot has installed the desired cleaning module includes:
judging whether the cleaning robot is in a manual driving mode at present;
if so, recording a cleaning track of the cleaning robot in real time, and supplementing the cleaning track with indoor map information when the manual driving mode is ended.
The invention also provides a cleaning robot and a scheduling method of the cleaning robot.
The invention also provides a cleaning system, which comprises the cleaning robot and a workstation;
the cleaning robot interfaces with the workstation to perform cleaning preparation of the cleaning robot including installing a cleaning module, adding fresh water, draining, adding a cleaning agent, dumping waste and/or recharging.
The invention has the beneficial effects that: this application accessible user manual control and automatic control's mode for cleaning machines people changes different cleaning module, realizes multi-functional clean, realizes the integration cleanness under the complicated scene. In addition, the user only needs one cleaning robot to meet the cleaning requirement, the economic cost, the learning cost and the use cost which are consumed by matching a plurality of cleaning robots of different types are avoided, and the cleaning efficiency and the cleaning experience of the user are greatly improved.
Drawings
Fig. 1 is a schematic flowchart of a robot scheduling method according to a first embodiment of the present invention;
fig. 2 is a schematic structural diagram of a cleaning system according to a first embodiment of the present invention.
Description of reference numerals:
1. a cleaning robot; 2. a workstation.
The implementation, functional features and advantages of the objects of the present invention will be further explained with reference to the accompanying drawings.
Detailed Description
It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
Referring to fig. 1, the present invention provides a scheduling method of a cleaning robot, the cleaning robot 1 including at least two detachable cleaning modules, including:
s1: identifying whether the cleaning robot is provided with a required cleaning module according to a preset cleaning scheme; the preset cleaning scheme comprises a cleaning flow preset by a user or a cleaning flow generated according to environmental information;
s2: and when the cleaning robot is identified to be provided with the required cleaning module, cleaning the ground according to a preset cleaning scheme.
In the embodiment of the invention, the preset cleaning flow is generated in two ways. The first is that a user sets a cleaning flow in advance, and the cleaning robot performs a related cleaning action according to the preset cleaning flow. For example, the cleaning mode includes a sweeper mode, a floor scrubbing mode, and a maintenance polishing mode. The cleaning process comprises the steps of cleaning, dust absorption, floor washing, dirt absorption, maintenance and polishing in sequence. The cleaning robot 1 recognizes whether a cleaning and dust-collecting module is currently installed or not in a magnetic induction manner. Specifically, the cleaning module is provided with magnetic marking units at different positions, and the cleaning robot identifies the type of the cleaning module by identifying the positions of the magnetic marking units. When the cleaning robot 1 recognizes that the cleaning and dust-collecting module required for cleaning and dust-collecting is installed, the cleaning robot 1 starts to clean the floor according to the cleaning path set by the user, the cleaning duration in each mode, and the cleaning power in each mode. Or the cleaning robot 1 automatically generates a cleaning path, a cleaning duration in each mode and a cleaning force in each mode through the environmental information in the designated range acquired by the sensing module, and starts to clean the ground. When the cleaning robot 1 recognizes that the current cleaning module does not conform to the cleaning scheme according to the cleaning scheme, the cleaning robot 1 may replace the corresponding cleaning module, for example, the current cleaning mode is a cleaning and dust collecting mode, and at this time, the floor soil module is installed on the cleaning robot 1, so the cleaning robot 1 needs to replace the floor soil module with the cleaning and dust collecting module. The replacement manner includes manual installation by a user and installation of the cleaning module to the cleaning robot 1 through an external device.
In the embodiment of the present invention, the second is that the cleaning robot 1 automatically generates a cleaning flow. Specifically, the cleaning robot 1 acquires environmental information through the sensing module, and the environmental information includes floor dirt information, indoor map information, and obstacle information within a specified range of the cleaning robot 1. After acquiring the information of the dirt on the ground, the cleaning robot 1 analyzes the information to generate a cleaning flow, and the cleaning duration and the cleaning strength of each cleaning mode in the cleaning flow, that is, a cleaning scheme is generated. After the cleaning scheme is generated, the cleaning robot 1 recognizes whether the current cleaning module conforms to the cleaning scheme, and if the current cleaning module conforms to the cleaning scheme, the cleaning robot 1 starts cleaning the floor. When the cleaning robot 1 recognizes that the current cleaning module does not conform to the cleaning scheme, the cleaning robot 1 replaces the corresponding cleaning module in a manner including manual replacement and automatic replacement.
In other embodiments of the present invention, the user may manually control the cleaning robot 1 to switch the cleaning mode according to his or her own needs. After the cleaning mode is switched, the cleaning robot 1 judges whether the current cleaning module is consistent with the switched cleaning mode, if not, the cleaning module is replaced by the cleaning robot 1.
To sum up, this application accessible user manual control and automatic control's mode for cleaning machines people 1 changes different cleaning module, realizes multi-functional clean, realizes the integration cleanness under the complicated scene. In addition, the user only needs one cleaning robot 1 to meet the cleaning requirement, the economic cost, the learning cost and the use cost which are consumed by matching a plurality of cleaning robots of different types are avoided, and the cleaning efficiency and the cleaning experience of the user are greatly improved.
Further, the step S1 of the cleaning flow generated based on the environmental information includes:
s11: acquiring the information of the ground dirt in the range of the cleaning robot 1, wherein the information of the ground dirt comprises dirt type information, dirt distribution information and/or information of the current amount of the dirt;
s12: a cleaning plan is generated based on the floor soil information.
In the embodiment of the invention, the acquiring cleaning robot 1 acquires the information of the dirt on the ground within the range of the cleaning robot 1 according to the sensing module, wherein the information of the dirt on the ground comprises the information of the type of the dirt, the information of the distribution of the dirt and/or the information of the current amount of the dirt. For example, soil types include dust, stains, dirt, and floor roughness. The dirt distribution information refers to the distribution of various types of dirt on the ground. The soil current amount information refers to a current amount of soil. In the embodiment of the present invention, the cleaning dust collection mode of the cleaning robot 1 is used to clean dust on the floor; the floor washing and soil sucking mode is used for cleaning stains on the ground; the floor scrubbing and dust pushing mode is used for treating dirt on the ground; the maintenance polishing mode is used for performing maintenance polishing on the ground.
In an embodiment of the present invention, the cleaning robot 1 obtains the information of the soil on the floor within a specific range through a sensing module (e.g., a camera). Through the image recognition technology, the cleaning robot 1 acquires soil type information (i.e., what types of soils are), soil distribution information (i.e., distribution of various types of soils), and current amount of soil information (i.e., number of various types of soils). After comprehensively analyzing the information of the dirt on the ground, the cleaning robot 1 selects one or a combination of several cleaning modes in a cleaning dust absorption mode, a floor cleaning and dirt absorbing mode, a floor wiping and dust pushing mode and a maintenance polishing mode according to the information of the type of the dirt, and sequences the cleaning modes front and back to generate a cleaning flow. And setting a cleaning path, cleaning duration and cleaning force in each cleaning mode according to the dirt distribution information and the current dirt amount information. For example, when the floor dirt has dust, dirt and grime, and the cleaning robot 1 recognizes that the marble floor is too rough, the cleaning robot 1 sets a cleaning process according to a cleaning suction mode, a floor wiping dust pushing mode and a maintenance polishing mode. And setting corresponding cleaning paths, cleaning duration and cleaning force in a cleaning dust absorption mode, a floor cleaning and dirt absorbing mode, a floor wiping and dust pushing mode and a maintenance polishing mode according to the dust distribution information, the current amount of dust, the stain distribution information, the current amount of stain, the dirt distribution information, the current amount of dirt, the rough floor distribution information and the current amount of rough floor information, so as to finish the integrated cleaning process.
In the embodiment of the present invention, the cleaning robot 1 performs the following cleaning and dust collection processes: the cleaning robot 1 cleans and sucks dust in an automatic cruising mode, and the cleaning robot 1 starts to clean and suck dust according to a cleaning path, so that middle and small garbage on hard ground can be cleaned. Specifically, the cleaning robot 1 acquires the dust distribution information of the designated range on the floor where the cleaning robot 1 is located in an image recognition manner, where there is much dust, the dust display area is large, and otherwise, the dust display area is small. Cleaning machines people 1 generates first clean route according to dust distribution information, and wherein, the local cleaning machines people 1 that the dust is many lingers for a long time, and the dynamics is strong, and the local cleaning machines people 1 that the dust is few lingers for a short time, and the dynamics is general. The cleaning robot 1 performs cleaning and dust collection according to the first cleaning path. Through the embodiment of this application, cleaning machines people 1 can be according to ground filth information automatic setting first clean route, clean long and dynamics of dust absorption, promote user's use and experience.
In the embodiment of the present invention, the cleaning robot 1 washes the ground and sucks the dirt as follows: the cleaning robot 1 washes the floor and sucks dirt in an automatic cruising manner. The cleaning robot 1 acquires the stain distribution information of the specified range of the ground where the cleaning robot 1 is located in an image recognition mode, wherein the stain display area is large in places with more stains, and is small otherwise. Cleaning machines people 1 according to spot distribution information, generate the second clean route, wherein, the local cleaning machines people 1 that the spot is many lingers for a long time, and the dynamics is strong, and the local cleaning machines people 1 that the spot is few lingers for a short time, and the dynamics is general. The cleaning robot 1 starts to wash and suck the soil according to the cleaning path, when washing the ground, the clean water in the clean water tank flows to the brush disc at the bottom of the robot, and the cleaning robot can wash the ground while walking in coordination with the rotation of the brush disc, and simultaneously the water suction rake sucks the sewage into the sewage tank to clean and suck the ground. Through the embodiment of this application, cleaning machines people 1 is according to ground filth information, and long and the dynamics of second clean route, washing dirt suction are set up automatically, promote user's use and experience.
In the embodiment of the present invention, the process of cleaning robot 1 wiping and pushing dust is as follows: the cleaning robot 1 acquires the dirt distribution information of the specified range of the ground where the cleaning robot 1 is located in an image recognition mode, and the dirt display area is large in places with much dirt, and is small otherwise. The cleaning robot 1 obtains the dirt distribution information and generates a third cleaning path, wherein the local cleaning robot 1 with much dirt has long stay time and strong force, the local cleaning robot 1 with less dirt has short stay time and general force, and the cleaning assembly is tightly attached to the ground when wiping and pushing the dirt so as to push away the dust and the dirt on the ground. The cleaning robot 1 performs wiping and dust pushing according to the third cleaning path. Through the embodiment of this application, cleaning machines people 1 can set up the third clean route according to ground dirt information is automatic, wipe ground and push away long and intensity of dirt, promotes user's use experience.
In an embodiment of the present invention, the maintenance and polishing process of the cleaning robot 1 is as follows: the cleaning robot 1 obtains the information of the rough floor (such as marble floor) in the designated range of the floor where the cleaning robot 1 is located by means of image recognition, and the display area is large in places with much rough marble, and is small otherwise. Cleaning machines people 1 acquires the distribution information of the rough marble, generates the fourth cleaning path, wherein the stay time of the local cleaning machines people 1 with much rough marble is long, the force is strong, the stay time of the local cleaning machines people 1 with less rough marble is short, and the force is general. The cleaning robot 1 starts maintenance and polishing according to a cleaning path, when the robot automatically runs, a polishing motor on the module drives a brush disc to rotate, a thrust device presses the polishing disc to the ground at a certain pressure, and a certain proportion of a crystal face agent is continuously flowed to the ground to be brushed. Under the double actions of heavy pressure and high temperature of high-speed rotating friction of the brush disc, physicochemical reaction occurs, and the crystal face agent can be crystallized and arranged on the surface of the stone to form a clear, compact and hard protective layer, thereby playing the role of increasing the maintenance hardness and the glossiness of the stone. The cleaning robot 1 performs maintenance polishing according to the fourth cleaning path. Through the embodiment of this application, cleaning machines people 1 can be according to the information of rough ground, length and dynamics during automatic setting cleaning path and maintenance polishing promote user's use and experience.
In other embodiments of the present invention, the cleaning robot 1 may manually set the cleaning scheme, i.e., set the cleaning flow and the cleaning path, duration and force in each cleaning mode, by the user.
In conclusion, the cleaning robot 1 of the present application can automatically set a cleaning flow, a cleaning path, a cleaning duration and a cleaning force in each cleaning mode according to the information of the dirt on the ground. The integrated cleaning of the ground can be automatically finished without the worry of a user, and the use experience of the user is greatly improved.
Further, a method of scheduling a cleaning robot, the method further comprising:
s3: when the cleaning robot 1 does not install the required cleaning module, acquiring the position information of the work station 2, wherein the work station 2 is used for providing the required cleaning module;
s4: moving the workstation 2 after obtaining the position information of the workstation 2;
s5: after docking with the workstation 2, the required cleaning modules are mounted on the cleaning robot 1;
s6: and when the cleaning robot is identified to be provided with the required cleaning module, cleaning the ground according to a preset cleaning scheme.
In the embodiment of the present invention, when the cleaning robot 1 does not mount the required cleaning module, the position information of the workstation 2 is acquired, and the workstation 2 is used for providing the required cleaning module. The process of the cleaning robot 1 acquiring the position information of the work station 2 is as follows: the cleaning robot 1 acquires identification information (such as a positioning two-dimensional code) on the surface of the workstation 2 by using the camera, so as to acquire position information of the workstation 2. Then, the cleaning robot 1 moves toward the position of the work station 2. The work station 2 stores therein cleaning modules required for cleaning the robot 1. After the cleaning robot 1 is docked with the workstation 2, a required cleaning module is mounted on the cleaning robot 1 by automatic cooperation of the cleaning robot 1 and the workstation 2. When the cleaning robot 1 recognizes that a desired cleaning module is mounted, the cleaning robot 1 starts a cleaning work according to a preset cleaning scheme. When it is necessary to switch to the next cleaning mode, the cleaning robot 1 returns to the work station 2, performs the detachment of the old cleaning module and the installation of the new cleaning module, and circulates the above processes until the cleaning process is finished. Through the arrangement, the cleaning module of the cleaning robot 1 can be automatically replaced, multifunctional cleaning is efficiently completed, and labor cost is saved.
Further, the cleaning module comprises a floor cleaning and dirt absorbing module, a floor wiping and dust pushing module and/or a maintenance and polishing module, the cleaning scheme comprises at least one cleaning mode, and the cleaning mode comprises a sweeping and dust absorbing mode, a floor cleaning and dirt absorbing mode, a floor wiping and dust pushing mode and a maintenance and polishing mode;
the step S6 of recognizing whether the cleaning robot has installed the required cleaning module according to a preset cleaning scheme includes:
s61: the cleaning robot recognizes whether a cleaning module is installed before entering a cleaning mode.
In the embodiment of the present invention, the cleaning robot 1 performs self-inspection before cleaning, and determines whether a required cleaning module is installed. Through the setting, promote cleaning machines people 1's intelligent degree, make it can accomplish cleaning work high-efficiently, avoid causing the cleaning inefficiency because of not changing suitable clean module.
Further, the scheduling method of the cleaning robot further includes:
and SA: acquiring parameter information of the robot, wherein the parameter information comprises clear water storage amount information, sewage storage amount information, cleaning agent storage amount information, garbage storage amount information and/or robot electric quantity information;
SB: judging whether the parameter value of the parameter information is within a preset value range, if not, acquiring the position information of the workstation 2, wherein the workstation 2 is used for matching the requirements of the robot, including adding clear water, discharging sewage, adding a cleaning agent, dumping garbage and/or charging;
SC: move toward the workstation 2 after obtaining the position information of the workstation 2;
SD: executing operation corresponding to the parameter information after docking with the workstation 2, wherein the operation comprises adding clear water, discharging sewage, adding a cleaning agent, dumping garbage and/or charging;
and SE: and stopping the operation when the operation is performed to enable the parameter value of the parameter information to reach the preset value range.
In the embodiment of the present invention, the cleaning robot 1 is provided with a large number of sensors therein for monitoring parameter information of itself. The parameter information comprises clear water reserve information, sewage reserve information, detergent reserve information, garbage reserve information and/or robot electric quantity information. Discerning whether clear water reserves, sewage reserves, sanitizer reserves, rubbish reserves and robot electric quantity are in presetting numerical range through the sensor, if not, then cleaning machines people 1 removes towards workstation 2, carries out the operation corresponding with parameter information with workstation 2 butt joint back, the operation includes adds clear water, blowdown water, adds the sanitizer, emptys rubbish and charges. The operation is stopped when the cleaning robot 1 performs the operation such that the parameter value of its own parameter information reaches a preset numerical range. Through the arrangement, the cleaning robot 1 detects the self state, and when a certain parameter is not in accordance with the requirement, the cleaning robot can actively go to the workstation 2 for butt joint to supply resources, so that the cruising ability and the cleaning resources of the cleaning robot 1 are increased, and the reliability of the cleaning work of the cleaning robot 1 is ensured.
In other embodiments of the present invention, during soil washing and soil pick-up of the cleaning robot 1, the cleaning robot 1 may determine that the cleaning robot 1 calculates an error between the amount of the discharged fresh water and the amount of the recovered sewage during soil washing and soil pick-up. If the error between the two is too large, it is proved that much water remains on the ground, and the soil suction capability of the cleaning robot 1 is urgently required to be improved to give an alarm to the user.
Further, the step of docking the cleaning robot 1 with the workstation 2 comprises:
sa: acquiring identification information of the workstation 2 to complete primary positioning;
sb: continuously moving towards the direction of the surface of the identification information to obtain the magnetic field information of the workstation 2 and judging whether the magnetic field information reaches a preset condition;
and (C) Sc: if so, positioning and docking between the cleaning robot 1 and the workstation 2 are completed.
In the embodiment of the present invention, if the cleaning robot 1 returns to the work station 2, the position information of the work station 2 is acquired. Cleaning robot 1 uses the camera to obtain the identification information (like location two-dimensional code) on workstation 2 surface, accomplishes first location, and the effect of first location lies in cleaning robot 1 and finds the terminal surface that workstation 2 is used for the butt joint accurately. The cleaning robot 1 moves continuously towards the direction of the surface where the identification information is located, obtains the magnetic field information of the workstation 2, and judges whether the magnetic field information reaches a preset condition. Specifically, a magnet is arranged on the workstation 2, and a hall sensor is arranged on the cleaning robot 1. When the cleaning robot 1 moves towards the end face of the workstation 2 with the positioning two-dimensional code, the Hall sensor senses the magnetic field information in real time; when the magnetic field information sensed by the Hall sensor reaches a preset condition, the alignment success of the cleaning robot 1 and the workstation 2 is proved, the cleaning robot 1 can be accurately abutted to the working mechanism of the workstation 2, and the cleaning module replacement and resource supply work are carried out. And finishing accurate alignment of the cleaning robot 1 and the workstation 2 through the identification information and the magnetic field information.
Further, before the step S6 of recognizing whether the cleaning robot 1 has installed the required cleaning module according to the preset cleaning scheme, the method includes:
s6a: generating indoor map information and first obstacle position information through a laser radar;
s6b: acquiring second obstacle position information through the depth camera;
s6c: acquiring third obstacle position information through an ultrasonic radar;
s6d: through mutual verification of the first obstacle position information, the second obstacle position information and the third obstacle position information, whether the obstacle position information acquired by the cleaning robot 1 is wrong or not is judged;
s6e: if not, planning a cleaning path according to the cleaning scheme and the indoor map information, and starting cleaning according to the cleaning path.
In the embodiment of the present invention, the cleaning robot 1 generates the indoor map information and the first obstacle position information by scanning with the laser radar. The cleaning robot 1 acquires second obstacle position information through the depth camera, and acquires third obstacle position information through the ultrasonic radar. For example, in the current environment, there are only three obstacles, obstacle a, obstacle B, and obstacle C. The cleaning robot 1 acquires the first obstacle distances A1, B1, and C1 by laser ranging. The cleaning robot 1 acquires the second obstacle distances A2, B2, and C2 through the depth camera. The cleaning robot 1 acquires the third obstacle distances A3, B3, and C3 by the ultrasonic radar. The cleaning robot 1 determines whether the obstacle position information acquired by the cleaning robot 1 is wrong or not by mutual verification of the first obstacle position information, the second obstacle position information and the third obstacle position information. For example, the cleaning robot 1 determines whether the errors between A1, A2, and A3 are within a preset range, respectively. Similarly, whether the errors among B1, B2 and B3 are within a preset range or not is judged, and whether the errors of C1, C2 and C3 are within a preset range or not is judged. If the position information of the obstacle is within the preset range, the obstacle position information acquired by the cleaning robot 1 is proved to be correct, and at the moment, the cleaning robot 1 can plan a cleaning path according to a cleaning scheme and indoor map information and start cleaning according to the cleaning path. Through the arrangement, the measurement error of a single sensor in a complex application scene is avoided, the precision of the cleaning robot 1 for measuring the distance of the obstacle is effectively improved, and the cleaning robot 1 is prevented from colliding with the obstacle.
In other embodiments of the present invention, the cleaning robot 1 detects the position information of the long-distance obstacle through the laser radar, the position information of the short-distance obstacle in the detection of the depth camera, and the position information of the short-distance obstacle through the ultrasonic radar. Through the cooperation of three kinds of barrier detection methods, under the complicated scene, avoid the defect that single sensor detected, avoided cleaning machines people 1's detection blind area.
Further, after the step S2 of cleaning the floor according to the preset cleaning scheme while recognizing that the cleaning robot has installed the required cleaning module, the method includes:
S2A1: judging whether the cleaning robot 1 is in a manual driving mode at present;
S2A2: if so, the cleaning trajectory of the cleaning robot 1 is recorded in real time, and when the manual driving mode is ended, the cleaning trajectory is supplemented with the indoor map information.
In the embodiment of the present invention, the cleaning robot 1 establishes a three-dimensional coordinate axis with the initial position for acquiring the indoor map information as the origin. The cleaning robot 1 judges whether or not it is currently in the manual driving mode, and if the cleaning robot 1 is currently in the manual driving mode, records the cleaning trajectory of the cleaning robot 1 in real time, and supplements the cleaning trajectory to the indoor map information when the manual driving mode is ended. Specifically, displacement information of the cleaning robot 1 is acquired by a displacement sensor, and the displacement information is supplemented to indoor map information. Through the arrangement, dead angles of the indoor map can be effectively reduced, and the cleaning robot 1 can obtain a more accurate indoor map next time by perfecting the indoor map, so that the cleaning efficiency is improved.
Referring to fig. 2, the present invention further provides a cleaning robot 1, which is applied to the above cleaning robot scheduling method.
In the embodiment of the invention, the preset cleaning flow is generated in two ways. The first is that a user sets a cleaning flow in advance, and the cleaning robot performs a related cleaning action according to the preset cleaning flow. For example, the cleaning mode includes a sweeper mode, a floor scrubbing mode, and a maintenance polishing mode. The cleaning process comprises the steps of cleaning, dust absorption, floor washing, dirt absorption, maintenance and polishing in sequence. The cleaning robot 1 recognizes whether a cleaning and dust-collecting module is currently installed or not in a magnetic induction manner. Specifically, the cleaning module is provided with magnetic marking units at different positions, and the cleaning robot identifies the type of the cleaning module by identifying the positions of the magnetic marking units. When the cleaning robot 1 recognizes that the cleaning and dust-collecting module required for cleaning and dust-collecting is installed, the cleaning robot 1 starts to clean the floor according to the cleaning path set by the user, the cleaning duration in each mode, and the cleaning power in each mode. Or the cleaning robot 1 automatically generates a cleaning path, a cleaning duration in each mode and a cleaning force in each mode through the environmental information in the designated range acquired by the sensing module, and starts to clean the floor. When the cleaning robot 1 recognizes that the current cleaning module does not conform to the cleaning scheme according to the cleaning scheme, the cleaning robot 1 may replace the corresponding cleaning module, for example, the current cleaning mode is a cleaning and dust collecting mode, and at this time, the floor soil module is installed on the cleaning robot 1, so the cleaning robot 1 needs to replace the floor soil module with the cleaning and dust collecting module. The replacement manner includes manual installation by a user and installation of the cleaning module to the cleaning robot 1 through an external device.
In the embodiment of the present invention, the second is that the cleaning robot 1 automatically generates a cleaning flow. Specifically, the cleaning robot 1 acquires environmental information through the sensing module, and the environmental information includes floor dirt information, indoor map information, and obstacle information within a specified range of the cleaning robot 1. After acquiring the information of the dirt on the ground, the cleaning robot 1 analyzes the information to generate a cleaning flow, and the cleaning duration and the cleaning strength of each cleaning mode in the cleaning flow, that is, a cleaning scheme is generated. After the cleaning scheme is generated, the cleaning robot 1 recognizes whether the current cleaning module conforms to the cleaning scheme, and if the current cleaning module conforms to the cleaning scheme, the cleaning robot 1 starts cleaning the floor. When the cleaning robot 1 recognizes that the current cleaning module does not conform to the cleaning solution, the cleaning robot 1 replaces the corresponding cleaning module in a manner including manual replacement and automatic replacement.
In other embodiments of the present invention, the user may manually control the cleaning robot 1 to switch the cleaning mode according to his/her needs. After the cleaning robot 1 switches the cleaning mode, it is determined whether the current cleaning module is in accordance with the switched cleaning mode, and if not, the cleaning robot 1 may replace the cleaning module.
Referring to fig. 2, the present invention further provides a cleaning system including the above cleaning robot, further including a workstation 2;
the cleaning robot 1 is docked with the workstation 2 to complete a cleaning preparation of the cleaning robot 1, which includes installing the cleaning module 5, adding fresh water, draining sewage, adding a cleaning agent, dumping waste and/or charging.
In the embodiment of the invention, the cleaning robot 1 acquires the identification information (such as the positioning two-dimensional code) on the surface of the workstation 2 by using the camera, so as to acquire the position information of the workstation 2. Then, the cleaning robot 1 moves toward the position of the work station 2. The work station 2 stores therein cleaning modules required for cleaning the robot 1. After the cleaning robot 1 is docked with the workstation 2, the cleaning modules required are installed on the cleaning robot 1 by automatic cooperation of the cleaning robot 1 and the workstation 2. When the cleaning robot 1 recognizes that the desired cleaning module is mounted, the cleaning robot 1 starts a cleaning work according to a preset cleaning scheme. When it is necessary to switch to the next cleaning mode, the cleaning robot 1 returns to the work station 2, performs the detachment of the old cleaning module and the installation of the new cleaning module, and circulates the above processes until the cleaning process is finished. In the embodiment of the present invention, the cleaning robot 1 performs resource replenishment into the workstation 2. Through the arrangement, the cleaning module and the resource supply can be automatically replaced by the cleaning robot 1, so that multifunctional cleaning is efficiently completed, and the labor cost is saved.
The above description is only a preferred embodiment of the present invention, and not intended to limit the scope of the present invention, and all modifications of equivalent structures and equivalent processes, which are made by using the contents of the present specification and the accompanying drawings, or directly or indirectly applied to other related technical fields, are included in the scope of the present invention.
Claims (10)
1. A method of scheduling a cleaning robot, the cleaning robot comprising at least two detachable cleaning modules, comprising:
identifying whether the cleaning robot has installed the required cleaning module according to a preset cleaning scheme; the preset cleaning scheme comprises a cleaning flow preset by a user or a cleaning flow generated according to environmental information;
and when the cleaning module required by the cleaning robot is installed is identified, cleaning the floor according to the preset cleaning scheme.
2. The scheduling method of a cleaning robot according to claim 1, wherein the step of generating the cleaning flow according to the environment information includes:
acquiring the information of the dirt on the ground within the range of the cleaning robot, wherein the information of the dirt on the ground comprises information of the type of the dirt, information of the distribution of the dirt and/or information of the current amount of the dirt;
and generating a cleaning scheme according to the ground dirt information.
3. The method of scheduling of a cleaning robot of claim 1 or 2, characterized in that the method further comprises:
when the cleaning robot is not provided with the required cleaning module, acquiring position information of a work station, wherein the work station is used for providing the required cleaning module;
moving towards the workstation after obtaining the position information of the workstation;
installing the required cleaning module on a cleaning robot after docking with the workstation;
and when the cleaning module required by the cleaning robot is installed is identified, cleaning the floor according to the preset cleaning scheme.
4. The scheduling method of the cleaning robot as claimed in claim 1, wherein the cleaning module comprises a floor cleaning and soil suction module, a floor scrubbing and dust pushing module and/or a maintenance and polishing module, the cleaning scheme comprises at least one cleaning mode, the cleaning mode comprises a sweeping and dust collecting mode, a floor cleaning and soil suction mode, a floor scrubbing and dust pushing mode and a maintenance and polishing mode;
the step of recognizing whether the cleaning robot has installed a required cleaning module according to a preset cleaning scheme includes:
the cleaning robot recognizes whether the cleaning robot has installed the required cleaning module before entering one of the cleaning modes.
5. The scheduling method of a cleaning robot of claim 1 or 2, characterized in that the method further comprises:
acquiring parameter information of the cleaning robot, wherein the parameter information comprises clear water storage amount information, sewage storage amount information, cleaning agent storage amount information, garbage storage amount information and/or robot electric quantity information;
judging whether the parameter value of the parameter information is within a preset value range, if not, acquiring the position information of a workstation, wherein the workstation is used for matching the requirements of the robot, and the requirements comprise adding clear water, discharging sewage, adding a cleaning agent, dumping garbage and/or charging;
moving towards the workstation after obtaining the position information of the workstation;
executing operation corresponding to the parameter information after the workstation is docked, wherein the operation comprises adding clear water, draining sewage, adding a cleaning agent, dumping garbage and/or charging;
and stopping the operation when the operation is executed to enable the parameter value of the parameter information to reach a preset value range.
6. The scheduling method of a cleaning robot according to claim 3 or 5, wherein the step of docking the cleaning robot with the workstation comprises:
acquiring identification information of the workstation to complete primary positioning;
continuously moving towards the direction of the surface of the identification information to obtain the magnetic field information of the workstation and judging whether the magnetic field information reaches a preset condition;
and if so, completing the positioning and butt joint between the cleaning robot and the workstation.
7. The scheduling method of a cleaning robot according to any one of claims 1 to 5, wherein the step of identifying whether the cleaning robot has installed the required cleaning modules according to a preset cleaning profile is preceded by:
generating indoor map information and first obstacle position information through a laser radar;
acquiring second obstacle position information through the depth camera;
acquiring third obstacle position information through an ultrasonic radar;
judging whether the obstacle position information acquired by the cleaning robot is wrong or not through mutual verification of the first obstacle position information, the second obstacle position information and the third obstacle position information;
if not, planning a cleaning path according to the cleaning scheme and the indoor map information, and starting cleaning according to the cleaning path.
8. The scheduling method of a cleaning robot according to claim 1 or 2, comprising, after the step of cleaning the floor according to the preset cleaning scheme upon recognizing that the cleaning robot has installed the required cleaning module:
judging whether the cleaning robot is in a manual driving mode at present;
if so, recording a cleaning track of the cleaning robot in real time, and supplementing the cleaning track into the indoor map information when the manual driving mode is ended.
9. A cleaning robot characterized by applying the cleaning robot scheduling method of any one of claims 1 to 8.
10. A cleaning system comprising the cleaning robot of claim 9, further comprising a workstation;
the cleaning robot is docked with the workstation to complete cleaning preparation work of the cleaning robot, wherein the cleaning preparation work comprises installation of the cleaning module, addition of clear water, discharge of sewage, addition of a cleaning agent, dumping of garbage and/or charging.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110474866.6A CN115251761A (en) | 2021-04-29 | 2021-04-29 | Cleaning robot scheduling method, cleaning robot and cleaning system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110474866.6A CN115251761A (en) | 2021-04-29 | 2021-04-29 | Cleaning robot scheduling method, cleaning robot and cleaning system |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN115251761A true CN115251761A (en) | 2022-11-01 |
Family
ID=83745515
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202110474866.6A Pending CN115251761A (en) | 2021-04-29 | 2021-04-29 | Cleaning robot scheduling method, cleaning robot and cleaning system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN115251761A (en) |
Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20060060216A1 (en) * | 2004-09-23 | 2006-03-23 | Lg Electronics Inc. | System for automatically exchanging cleaning tools of robot cleaner, and method therefor |
| CN1927553A (en) * | 2005-09-05 | 2007-03-14 | 三星光州电子株式会社 | Mobile robot system having a plurality of exchangeable work modules and method of controlling the same |
| CN107744370A (en) * | 2016-07-13 | 2018-03-02 | 艾罗伯特公司 | Autonomous robot automatic docked and EMS and method |
| CN108113595A (en) * | 2016-11-28 | 2018-06-05 | 沈阳新松机器人自动化股份有限公司 | A kind of energy-saving sweeping machine device people system, method and robot |
| CN209852177U (en) * | 2019-02-23 | 2019-12-27 | 同济大学 | Environment sensing system for automatic driving sweeper |
| CN111035328A (en) * | 2018-10-12 | 2020-04-21 | 科沃斯机器人股份有限公司 | Robot cleaning method and robot |
| CN111345741A (en) * | 2018-12-21 | 2020-06-30 | 苏州宝时得电动工具有限公司 | Cleaning robot and cleaning method |
| CN112426105A (en) * | 2020-11-23 | 2021-03-02 | 珠海格力电器股份有限公司 | Charging seat, calibration method and device for position of charging seat and sweeping system |
| CN112545394A (en) * | 2020-11-20 | 2021-03-26 | 杭州匠龙机器人科技有限公司 | Control method of cleaning robot system |
-
2021
- 2021-04-29 CN CN202110474866.6A patent/CN115251761A/en active Pending
Patent Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20060060216A1 (en) * | 2004-09-23 | 2006-03-23 | Lg Electronics Inc. | System for automatically exchanging cleaning tools of robot cleaner, and method therefor |
| CN1927553A (en) * | 2005-09-05 | 2007-03-14 | 三星光州电子株式会社 | Mobile robot system having a plurality of exchangeable work modules and method of controlling the same |
| CN107744370A (en) * | 2016-07-13 | 2018-03-02 | 艾罗伯特公司 | Autonomous robot automatic docked and EMS and method |
| CN108113595A (en) * | 2016-11-28 | 2018-06-05 | 沈阳新松机器人自动化股份有限公司 | A kind of energy-saving sweeping machine device people system, method and robot |
| CN111035328A (en) * | 2018-10-12 | 2020-04-21 | 科沃斯机器人股份有限公司 | Robot cleaning method and robot |
| CN111345741A (en) * | 2018-12-21 | 2020-06-30 | 苏州宝时得电动工具有限公司 | Cleaning robot and cleaning method |
| CN209852177U (en) * | 2019-02-23 | 2019-12-27 | 同济大学 | Environment sensing system for automatic driving sweeper |
| CN112545394A (en) * | 2020-11-20 | 2021-03-26 | 杭州匠龙机器人科技有限公司 | Control method of cleaning robot system |
| CN112426105A (en) * | 2020-11-23 | 2021-03-02 | 珠海格力电器股份有限公司 | Charging seat, calibration method and device for position of charging seat and sweeping system |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN111345741B (en) | Cleaning robot and cleaning method | |
| US11432698B2 (en) | Mobile robotic cleaner | |
| KR20190087355A (en) | Method for driving cleaning robot and cleaning robot which drives using regional human activity data | |
| EP2457486B1 (en) | Robot cleaner and control method thereof | |
| EP4023131A1 (en) | Cleaning robot and control method therefor | |
| AU2014278987A1 (en) | Cleaning robot and method for controlling the same | |
| CN104300890B (en) | A kind of photovoltaic panel cleans device | |
| CN108113595A (en) | A kind of energy-saving sweeping machine device people system, method and robot | |
| CN103054519A (en) | Robot cleaner and method for controlling the same | |
| CN109662657A (en) | A kind of base station and parking scheme | |
| CN112971621A (en) | Indoor intelligent cleaning system and control method | |
| CN212489787U (en) | Mopping robot | |
| CN115251761A (en) | Cleaning robot scheduling method, cleaning robot and cleaning system | |
| JP2004194984A (en) | Self-propelled cleaner | |
| CN111616651A (en) | Sweeper with three-dimensional recognition function | |
| TW201406338A (en) | Floor cleaning apparatus and power saving method thereof | |
| CN115429161B (en) | Control method, device and system of cleaning robot and storage medium | |
| CN110941276A (en) | Sweeping robot and side detection control sweeping method using same | |
| US20220313046A1 (en) | Method of controlling a robotic floor cleaning machine | |
| CN112336250A (en) | Intelligent cleaning method and device and storage device | |
| CN116115121A (en) | Cleaning robot, control method, device and system thereof and storage medium | |
| CN114343509A (en) | Unmanned ground washing machine supply station and unmanned ground washing machine system | |
| CN113490446A (en) | Autonomous traveling type cleaning machine, control method for autonomous traveling type cleaning machine, and program | |
| CN111973095A (en) | Automatic navigation unmanned ground washing and drying machine | |
| CN110879597A (en) | Floor sweeping robot and track detection control sweeping method using same |
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 |