CN115648255A - Clean path planning management system and method for swimming pool decontamination robot - Google Patents
Clean path planning management system and method for swimming pool decontamination robot Download PDFInfo
- Publication number
- CN115648255A CN115648255A CN202211609592.8A CN202211609592A CN115648255A CN 115648255 A CN115648255 A CN 115648255A CN 202211609592 A CN202211609592 A CN 202211609592A CN 115648255 A CN115648255 A CN 115648255A
- Authority
- CN
- China
- Prior art keywords
- swimming pool
- path planning
- cleaning
- pool
- planning scheme
- 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.)
- Granted
Links
- 230000009182 swimming Effects 0.000 title claims abstract description 235
- 238000007726 management method Methods 0.000 title claims abstract description 24
- 238000000034 method Methods 0.000 title claims description 36
- 238000005202 decontamination Methods 0.000 title claims description 12
- 230000003588 decontaminative effect Effects 0.000 title claims description 12
- 238000004140 cleaning Methods 0.000 claims abstract description 165
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims description 173
- 238000009825 accumulation Methods 0.000 claims description 94
- 230000003749 cleanliness Effects 0.000 claims description 45
- 238000012216 screening Methods 0.000 claims description 21
- 238000011002 quantification Methods 0.000 claims description 10
- 230000002159 abnormal effect Effects 0.000 claims description 7
- 238000004458 analytical method Methods 0.000 claims description 6
- 238000012544 monitoring process Methods 0.000 claims description 5
- 238000013139 quantization Methods 0.000 claims description 4
- 230000008021 deposition Effects 0.000 claims description 3
- 230000007547 defect Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 238000007599 discharging Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 239000010813 municipal solid waste Substances 0.000 description 1
- 239000010802 sludge Substances 0.000 description 1
- 239000002689 soil Substances 0.000 description 1
Images
Landscapes
- Cleaning By Liquid Or Steam (AREA)
Abstract
The invention relates to the technical field of swimming pool cleaning robots, in particular to a swimming pool cleaning robot cleaning path planning management system and a swimming pool cleaning path planning management method. The optimal path planning scheme is selected, so that the cleanness in each area in the path planning scheme is ensured while cleaning dead areas (uncleaned areas) and repeated cleaning areas are avoided in the path planning scheme, and the effective management of the swimming pool cleaning robot and the effective cleaning of the swimming pool are realized.
Description
Technical Field
The invention relates to the technical field of swimming pool cleaning robots, in particular to a swimming pool cleaning robot cleaning path planning management system and a swimming pool cleaning robot cleaning path planning management method.
Background
In order to keep the swimming pool clean and sanitary, the water in the swimming pool is usually replaced periodically and cleaned manually; however, with the development of science and technology, the swimming pool decontamination robot developed by people can automatically clean the swimming pool under the condition of not discharging pool water, and the mode saves water resources, reduces the manpower cost for manually cleaning the swimming pool, and is popular among people.
In the existing cleaning path planning management system of the swimming pool cleaning robot, a cleaning path is usually controlled manually in a remote control mode, or a motion path of the swimming pool cleaning robot is planned randomly by a random path method, and the two modes have great defects, the remote control mode needs manual control, the automation degree is low, the planned path is greatly influenced by human factors, different people have different path planning modes, and the individual difference exists; the path planned by the random path method has more cleaning dead zones (uncleaned areas) and repeated cleaning areas, so that the cleaning effect is poor, and the planning and management of the cleaning path of the swimming pool cleaning robot in the prior art have great defects.
Disclosure of Invention
The present invention is directed to a system and a method for planning and managing a cleaning path of a swimming pool cleaning robot, so as to solve the problems in the background art.
In order to solve the technical problems, the invention provides the following technical scheme: a swimming pool decontamination robot cleaning path planning management method comprises the following steps:
s1, scanning a swimming pool area by adopting a three-dimensional laser scanner, constructing a swimming pool space model according to scanning data, acquiring positions of a water inlet and a water outlet in a swimming pool, and respectively marking corresponding positions of the water inlet and the water outlet in the swimming pool space model;
s2, dividing the swimming pool into n areas with equal specifications, numbering each divided area from 1, respectively obtaining the water flow speed in the area where each position of the swimming pool belongs when a water inlet and a water outlet of the swimming pool are in different working states through a water flow speed sensor, and analyzing the relation between the water flow speed and the accumulation rate of stubborn stains on the surface of the pool wall in first unit time by combining the accumulation amount of the stubborn stains on the surface of the pool wall in different water flow speeds in a database;
s3, acquiring a time point t1 and a current time point t2 when the swimming pool is cleaned for the last time, acquiring the working states of a water inlet and a water outlet of the swimming pool at each time point in a time interval [ t1, t2], and calculating the accumulation amount of stubborn stains on the surface of the pool wall in the time interval [ t1, t2] of different swimming pool areas;
s4, numbering all areas in the swimming pool, and screening the obtained combination result to obtain a first permutation and combination set, wherein the permutation and combination corresponding to each element in the first permutation and combination set corresponds to a cleaning path planning scheme of the swimming pool cleaning robot;
s5, acquiring cleanliness corresponding to the swimming pool cleaning robots when the accumulation amounts of stubborn stains on the surface of the pool wall cleaned by the swimming pool cleaning robots in the database are different, and predicting a comprehensive cleanliness quantification value corresponding to each path planning scheme;
s6, screening the optimal path planning scheme to control the swimming pool cleaning robot according to the prediction result of the comprehensive cleaning degree quantitative value corresponding to each path planning scheme, acquiring the position of the swimming pool cleaning robot in real time in the control process and presenting the corresponding position in the constructed swimming pool space model.
Further, when the water inlet and the water outlet of the swimming pool are respectively obtained by the water flow speed sensor in different working states and the water flow speed in the area of each position of the swimming pool, the working states (A and B) of the water inlet and the water outlet of the swimming pool at the same time point are respectively obtained by the water flow speed sensor in the S2,
when the working state of the water inlet of the swimming pool is working, A =1, and when the working state of the water inlet of the swimming pool is idle, A =0;
when the working state of the water outlet of the swimming pool is working, B =1, and when the working state of the water outlet of the swimming pool is idle, B =0;
when the working states (A and B) of the water inlet and the water outlet of the swimming pool in the database are kept unchanged and the water flow velocity sensor is positioned at the central point of the area, the minimum value of the monitoring data of each water flow velocity respectively corresponding to each area is obtained and is used as the water flow velocity corresponding to the corresponding area under the condition of (A and B),
let Vi be the water flow rate for the region numbered i in (A, B) （A，B） ；
The method for analyzing the relation between the water flow speed and the accumulation rate of stubborn stains on the surface of the pool wall in the S2 comprises the following steps:
s21, acquiring stubborn stain accumulation amounts respectively corresponding to the surface of the pool wall in the first unit time when the water flow speed in the historical data is different, and recording the stubborn stain accumulation amounts respectively corresponding to the surface of the pool wall in the first unit time as LV when the water flow speed is V, so as to obtain a stain accumulation amount data pair (V, LV);
s22, marking corresponding coordinate points by using the data of each dirt accumulation amount respectively corresponding to V with different values in the first plane rectangular coordinate system,
the first plane rectangular coordinate system is constructed by taking o as an origin, taking the water flow speed as an x axis and taking the stubborn stain accumulation amount as a y axis;
s23, according to a model function y = a1 a2 x+a3 + a4, fitting the mark points in the first plane rectangular coordinate system, taking a fitting curve with the minimum sum of the distances between each mark point and the fitting curve as a final fitting result, and marking a function corresponding to the final fitting result as G (x), wherein a1, a2, a3 and a4 are model function coefficients, and a2 is more than 0 and less than 1;
and S24, obtaining a relation function between the water flow speed and the deposition rate of stubborn stains on the surface of the pool wall, and recording the relation function as G1[ x ], wherein G1[ x ] = G (x)/t 0, and t0 represents the time length corresponding to the first unit time.
The invention respectively obtains the working states of the water inlet and the water outlet of the swimming pool at the same time point through the water flow speed sensor, analyzes the relation between the water flow speed and the accumulation rate of stubborn stains on the surface of the pool wall, and accurately predicts the accumulation amount of the stubborn stains on the surface of the pool wall in time intervals [ t1, t2] of different swimming pool areas in the subsequent process, thereby being convenient for screening the optimal path planning scheme.
Further, the method for calculating the accumulation amount of stubborn stains on the surface of the pool wall in the time interval [ t1, t2] of the different pool areas in the S3 comprises the following steps:
s31, acquiring [ t1, t2] in a time interval]The working states of the water inlet and outlet of the swimming pool at each time point are obtained, and the area numbered i in the database under (A, B) conditions is obtainedWater flow velocity Vi corresponding to area （A，B） ；
Within a time interval [ t1, t2]]The working states of the water inlet and the water outlet of the swimming pool AT the internal time point T are recorded as (AT, BT), and the water flow speed Vi corresponding to the area numbered as i AT the time point (AT, BT) is recorded as （AT，BT） ；
S32, obtaining a relation function G1[ x ] between the water flow speed and the accumulation rate of stubborn stains on the surface of the pool wall;
s33, obtaining the accumulation amount Di of stubborn stains on the surface of the pool wall in the time interval [ t1, t2] of the swimming pool area with the number i,
wherein, G1[ Vi （AT，BT） ]The water flow rate Vi corresponding to the region with number i in the case of representation (AT, BT) （AT，BT） The corresponding rate of accumulation of stubborn stains on the surface of the walls.
In the process of calculating the accumulation amount of stubborn stains on the surface of the pool wall in the time intervals [ t1 and t2] of different pool areas in the S3, the accumulation amount of the stubborn stains on the surface of the pool wall in the time intervals [ t1 and t2] of the different pool areas is accurately predicted according to the working states of the water inlet and the water outlet of the pool in different time points by considering that the water flow speeds of the pool areas in different time periods (namely the accumulation rates of the stubborn stains on the surface of the pool wall in the areas at different time points are different), and data reference is provided for calculating the accumulation amount of the stubborn stains corresponding to each area in each path planning scheme in the subsequent steps.
Further, the method for obtaining the first permutation and combination set in S4 includes the following steps:
s41, acquiring a combination result obtained after the serial numbers of all areas in the swimming pool are arranged and combined;
s42, screening the obtained combined results, judging whether the areas respectively corresponding to any two adjacent serial numbers in each combined result in the swimming pool space model are adjacent or not,
if the corresponding areas are not adjacent, judging that the combination result is unreasonable, if the path planning scheme corresponding to the combination result is abnormal, deleting the combination result, otherwise, judging that the combination result is reasonable, if the path planning scheme corresponding to the combination result is normal, and taking the combination result as one element in the first permutation and combination set;
s43, obtaining a first permutation and combination set.
Further, the method for predicting the comprehensive cleanliness quantification value corresponding to each path planning scheme in S5 includes the following steps:
s51, acquiring the different accumulation amounts of stubborn stains on the surface of the pool wall cleaned by the swimming pool cleaning robot in the database, respectively cleaning degrees corresponding to the swimming pool cleaning in the follow-up process,
when the accumulation amount of stubborn stains on the surface of the wall of the cleaning pool cleaned by the swimming pool cleaning robot is DL, the corresponding cleaning degree in the subsequent swimming pool cleaning is marked as QDL to obtain a stain cleaning degree data pair (DL, QDL),
the cleanliness represents the ratio of the total amount of stubborn stains remained on the surface of the pool wall in a first unit area cleaning area to the accumulation amount of stubborn stains on the surface of the pool wall in the corresponding area cleaning area when the swimming pool cleaning robot cleans the pool wall, the default cleanliness is more than or equal to 0, and the first unit area is a preset constant in the database;
s52, marking corresponding coordinate points by respectively corresponding stain cleanliness data when DL is different values in a second plane rectangular coordinate system,
the second plane rectangular coordinate system is constructed by taking o1 as an origin, taking the accumulation amount of stubborn stains on the surface of the cleaning pool wall of the swimming pool cleaning robot as an x1 axis and taking the cleaning degree as a y1 axis;
s53, according to the first model function y1= b1 tan H (b 2 x1+ b 3) + b4, fitting the mark points in the second plane rectangular coordinate system, taking a fitting curve with the minimum sum of the distances between each mark point and the fitting curve as a final fitting result, taking a function corresponding to the final fitting result as a relation function between the accumulation amount of stubborn stains on the surface of the wall of the cleaning pool of the swimming pool cleaning robot and the corresponding cleanliness of the subsequent cleaning of the swimming pool, and marking the function as H (x 1),
wherein b1, b2, b3 and b4 are all first model function coefficients;
s54, obtaining a path planning scheme corresponding to the mth element in the first permutation and combination set and recording the path planning scheme as the mth path planning scheme, and recording the area number cleared at the mth element in the mth path planning scheme as P mr Will number P mr In time intervals [ t1, t2]]Accumulation amount DP of stubborn stains on surface of inner pool wall mr ；
S55, defaulting that the cleanliness in the same area is the same, obtaining a prediction result QZm of the comprehensive cleanliness quantization value corresponding to the mth planning scheme,
wherein DP mr1 Is denoted by the reference number P mr1 In time intervals [ t1, t2]]And H (x 2) represents the corresponding cleanliness when the accumulation amount of stubborn stains on the surface of the inner pool wall of the swimming pool cleaning robot is x2 and the swimming pool is cleaned subsequently.
The invention obtains the relation function between the accumulation amount of stubborn stains on the surface of the cleaning wall of the swimming pool cleaning robot and the corresponding cleanliness of the swimming pool in subsequent cleaning, and considers that the clean stubborn stains (mainly oil sludge) can be attached to a cleaning wheel of the swimming pool cleaning robot in the process of cleaning the stubborn stains on the surface of the wall of the swimming pool cleaning robot, so that secondary pollution can be caused to the subsequent clean wall of the swimming pool, and the cleanliness of the subsequent wall of the swimming pool is further influenced (the larger the accumulation amount of the stubborn stains on the surface of the cleaning wall of the swimming pool cleaning robot is, the higher the corresponding cleanliness of the swimming pool in subsequent cleaning).
Further, when the optimal path planning scheme is screened in S6, a prediction result of the comprehensive quantized cleaning degree value corresponding to each path planning scheme is obtained, and a path planning scheme corresponding to the minimum value in the prediction results of the comprehensive quantized cleaning degree values is used as the optimal path planning scheme.
A swimming pool decontamination robot cleaning path planning management system, the system comprising the following modules:
the swimming pool space model building module scans a swimming pool area by adopting a three-dimensional laser scanner, builds a swimming pool space model according to scanning data, obtains the positions of a water inlet and a water outlet in a swimming pool, and respectively marks the corresponding positions of the water inlet and the water outlet in the swimming pool space model;
the system comprises a state analysis module, a data base and a data base, wherein the state analysis module divides a swimming pool into n areas with equal specifications, numbers each divided area from 1, respectively obtains the water flow speed in the area to which each position of the swimming pool belongs when a water inlet and a water outlet of the swimming pool are in different working states through a water flow speed sensor, and analyzes the relation between the water flow speed and the accumulation rate of stubborn stains on the surface of the pool wall in a first unit time by combining the accumulation amount of the stubborn stains on the surface of the pool wall in different water flow speeds in the data base;
the system comprises a stain accumulation amount prediction module, a stain accumulation amount prediction module and a control module, wherein the stain accumulation amount prediction module is used for acquiring a time point t1 and a current time point t2 when the swimming pool is cleaned for the last time, acquiring the working states of a water inlet and a water outlet of the swimming pool at each time point in a time interval [ t1, t2], and calculating the accumulation amount of stubborn stains on the surface of the pool wall in the time interval [ t1, t2] of different swimming pool areas;
the system comprises a path planning scheme acquisition module, a route planning scheme acquisition module and a route planning module, wherein the path planning scheme acquisition module is used for arranging and combining the numbers of all areas in the swimming pool and screening the obtained combination result to obtain a first arrangement combination set, and the arrangement combination corresponding to each element in the first arrangement combination set corresponds to a cleaning path planning scheme of the swimming pool cleaning robot;
the comprehensive cleanliness prediction module acquires cleanliness corresponding to the swimming pool cleaning robots when the accumulation amounts of stubborn stains on the surface of the pool wall cleaned by the swimming pool cleaning robots in the database are different, and predicts a comprehensive cleanliness quantification value corresponding to each path planning scheme;
and the path screening and control module screens the optimal path planning scheme to control the swimming pool cleaning robot according to the prediction result of the comprehensive cleaning degree quantitative value corresponding to each path planning scheme, acquires the position of the swimming pool cleaning robot in real time in the control process and displays the corresponding position in the built swimming pool space model.
Further, in the process that the path planning scheme acquisition module obtains the first permutation and combination set, acquiring a combination result obtained after permutation and combination are performed on numbers of all areas in the swimming pool; the path planning scheme acquisition module screens the acquired combination results, judges whether any two adjacent serial numbers in each combination result are adjacent in the areas respectively corresponding to the swimming pool space model,
and if the corresponding areas are not adjacent, judging that the combination result is unreasonable, if the path planning scheme corresponding to the combination result is abnormal, deleting the combination result, otherwise, judging that the combination result is reasonable, if the path planning scheme corresponding to the combination result is normal, and taking the combination result as one element in the first permutation and combination set to further obtain the first permutation and combination set.
Further, when the path screening and control module screens the optimal path planning scheme, the prediction result of the comprehensive cleaning degree quantization value corresponding to each path planning scheme is obtained, and the path planning scheme corresponding to the minimum value in the prediction results of the comprehensive cleaning degree quantization values is used as the optimal path planning scheme.
Compared with the prior art, the invention has the following beneficial effects: the influence of the flow velocity of water in the swimming pool on the accumulation speed of stubborn stains on the surface of the pool wall is also considered, the influence on the cleanliness during subsequent swimming pool cleaning is further considered when the accumulation amount of the stubborn stains on the surface of the pool wall cleaned by the swimming pool cleaning robot is different, the screening of the path planning scheme is further realized, the optimal path planning scheme is selected, the cleanliness in each area in the path planning scheme is ensured while cleaning dead zones (uncleaned areas) and repeated cleaning areas are avoided, and the effective management of the swimming pool cleaning robot and the effective cleaning of the swimming pool are realized.
Drawings
The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the principles of the invention and not to limit the invention. In the drawings:
FIG. 1 is a schematic view of a cleaning path planning and management system of a cleaning robot for swimming pool according to the present invention;
fig. 2 is a schematic flow chart of a cleaning path planning management method for a swimming pool cleaning robot according to the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Referring to fig. 1-2, the present invention provides a technical solution: a swimming pool decontamination robot cleaning path planning management method comprises the following steps:
s1, scanning a swimming pool area by adopting a three-dimensional laser scanner, constructing a swimming pool space model according to scanning data, acquiring positions of a water inlet and a water outlet in a swimming pool, and respectively marking corresponding positions of the water inlet and the water outlet in the swimming pool space model;
s2, dividing the swimming pool into n areas with equal specifications, numbering each divided area from 1, respectively obtaining the water flow speed in the area where each position of the swimming pool belongs when a water inlet and a water outlet of the swimming pool are in different working states through a water flow speed sensor, and analyzing the relation between the water flow speed and the accumulation rate of stubborn stains on the surface of the pool wall in first unit time by combining the accumulation amount of the stubborn stains on the surface of the pool wall in different water flow speeds in a database;
s2, when the water inlet and the water outlet of the swimming pool are in different working states and the water flow speed in the area of each position of the swimming pool is obtained through the water flow speed sensor, the working states (A and B) of the water inlet and the water outlet of the swimming pool at the same time point are obtained through the water flow speed sensor respectively,
when the working state of the water inlet of the swimming pool is working, A =1, and when the working state of the water inlet of the swimming pool is idle, A =0;
when the working state of the water outlet of the swimming pool is working, B =1, and when the working state of the water outlet of the swimming pool is idle, B =0;
in this embodiment, the working states (a, B) of the water inlet and the water outlet of the swimming pool at the same time point include four conditions, which are (0, 0), (0, 1), (1, 0) and (1, 1);
when the working states (A and B) of the water inlet and the water outlet of the swimming pool in the database are kept unchanged and the water velocity sensor is positioned at the central point of the area, the minimum value of the monitoring data of each water velocity respectively corresponding to each area is obtained and is used as the water velocity corresponding to the corresponding area under the condition of (A and B),
let Vi be the water flow rate for the region numbered i in (A, B) （A，B） ；
The method for analyzing the relation between the water flow speed and the accumulation rate of stubborn stains on the surface of the pool wall in the S2 comprises the following steps:
s21, acquiring stubborn stain accumulation amounts respectively corresponding to the surface of the pool wall in the first unit time when the water flow speed in the historical data is different, and recording the stubborn stain accumulation amounts respectively corresponding to the surface of the pool wall in the first unit time as LV when the water flow speed is V, so as to obtain a stain accumulation amount data pair (V, LV);
s22, marking corresponding coordinate points by using the data of the respective soil accumulation amounts respectively corresponding to different values of V in the first plane rectangular coordinate system,
the first plane rectangular coordinate system is constructed by taking o as an origin, taking the water flow speed as an x axis and taking the stubborn stain accumulation amount as a y axis;
s23, according to a model function y = a1 a2 x+a3 + a4 pairs of marks in the first plane rectangular coordinate systemFitting the points, taking a fitting curve with the minimum sum of the distances between each marking point and the fitting curve as a final fitting result, and marking a function corresponding to the final fitting result as G (x), wherein a1, a2, a3 and a4 are model function coefficients, and a2 is more than 0 and less than 1;
and S24, obtaining a relation function between the water flow speed and the deposition rate of stubborn stains on the surface of the pool wall, and recording the relation function as G1[ x ], wherein G1[ x ] = G (x)/t 0, and t0 represents the time length corresponding to the first unit time.
S3, acquiring a time point t1 and a current time point t2 when the swimming pool is cleaned for the last time, acquiring the working states of a water inlet and a water outlet of the swimming pool at each time point in a time interval [ t1, t2], and calculating the accumulation amount of stubborn stains on the surface of the pool wall in the time interval [ t1, t2] of different swimming pool areas;
the method for calculating the accumulation amount of stubborn stains on the surface of the pool wall in the time interval [ t1, t2] of different pool areas in the S3 comprises the following steps:
s31, acquiring [ t1, t2] in time interval]The working states of the water inlet and the water outlet of the swimming pool at each time point are obtained, and the water flow speed Vi corresponding to the area numbered i in the database under the conditions of A and B （A，B） ；
Within the time interval [ t1, t2]]The working states of the water inlet and the water outlet of the swimming pool AT the internal time point T are recorded as (AT, BT), and the water flow speed Vi corresponding to the area numbered as i AT the time point (AT, BT) is recorded as （AT，BT） ；
S32, obtaining a relation function G1[ x ] between the water flow speed and the accumulation rate of stubborn stains on the surface of the pool wall;
s33, obtaining the accumulation amount Di of stubborn stains on the surface of the wall of the swimming pool area with the number i in the time interval [ t1, t2],
wherein, G1[ Vi ] （AT，BT） ]The water flow rate Vi corresponding to the region with number i in the case of representation (AT, BT) （AT，BT） The corresponding rate of accumulation of stubborn stains on the surface of the wall.
S4, numbering all areas in the swimming pool, and screening obtained combination results to obtain a first permutation and combination set, wherein the permutation and combination corresponding to each element in the first permutation and combination set corresponds to a cleaning path planning scheme of the swimming pool cleaning robot;
the method for obtaining the first permutation and combination set in the S4 comprises the following steps:
s41, obtaining a combination result obtained after the numbers of all areas in the swimming pool are arranged and combined;
s42, screening the obtained combined results, judging whether the areas respectively corresponding to any two adjacent numbers in each combined result in the swimming pool space model are adjacent or not,
if the corresponding areas are not adjacent, judging that the combination result is unreasonable, if the path planning scheme corresponding to the combination result is abnormal, deleting the combination result, otherwise, judging that the combination result is reasonable, if the path planning scheme corresponding to the combination result is normal, and taking the combination result as an element in the first permutation and combination set;
s43, obtaining a first permutation and combination set.
In this embodiment, if there is one combination result 1, 3, 4, 2, any two adjacent numbers in the combination result are number 1 and number 3, number 3 and number 4, and number 4 and number 2, respectively;
if the area numbered 1 in the pool space model is adjacent to the area numbered 2 and the area numbered 4, respectively, the area numbered 2 in the pool space model is adjacent to the area numbered 1 and the area numbered 3, respectively, the area numbered 3 in the pool space model is adjacent to the area numbered 2 and the area numbered 4, respectively, the area numbered 4 in the pool space model is adjacent to the area numbered 1 and the area numbered 3, respectively,
since the areas with the numbers 1 and 3 in the pool space model are not adjacent, and the areas with the numbers 2 and 4 in the pool space model are not adjacent,
judging that the combination results 1, 3, 4 and 2 are unreasonable, and if the path planning scheme corresponding to the combination results is abnormal, deleting the combination results;
s5, acquiring cleanliness corresponding to the swimming pool cleaning robots when the accumulation amounts of stubborn stains on the surface of the pool wall cleaned by the swimming pool cleaning robots in the database are different, and predicting a comprehensive cleanliness quantification value corresponding to each path planning scheme;
the method for predicting the comprehensive cleanliness quantification value corresponding to each path planning scheme in the S5 comprises the following steps of:
s51, acquiring the different accumulation amounts of stubborn stains on the surface of the pool wall cleaned by the swimming pool cleaning robot in the database, respectively cleaning degrees corresponding to the swimming pool cleaning in the follow-up process,
when the accumulation amount of stubborn stains on the surface of the wall of the cleaning pool cleaned by the swimming pool cleaning robot is DL, the corresponding cleaning degree in the subsequent swimming pool cleaning is marked as QDL to obtain a stain cleaning degree data pair (DL, QDL),
the cleanliness represents the ratio of the total amount of stubborn stains left on the surface of the pool wall in a first unit area cleaning area to the accumulation amount of stubborn stains on the surface of the pool wall in the corresponding area cleaning area when the swimming pool cleaning robot cleans the pool wall, the default cleanliness is more than or equal to 0, and the first unit area is a preset constant in a database;
s52, marking corresponding coordinate points by respectively corresponding stain cleanliness data when DL is different values in a second plane rectangular coordinate system,
the second plane rectangular coordinate system is constructed by taking o1 as an origin, taking the accumulation amount of stubborn stains on the surface of the cleaning pool wall of the swimming pool cleaning robot as an x1 axis and taking the cleaning degree as a y1 axis;
s53, according to the first model function y1= b1 tan H (b 2 x1+ b 3) + b4, fitting the mark points in the second plane rectangular coordinate system, taking a fitting curve with the minimum sum of the distances between each mark point and the fitting curve as a final fitting result, taking a function corresponding to the final fitting result as a relation function between the accumulation amount of stubborn stains on the surface of the wall of the cleaning pool of the swimming pool cleaning robot and the corresponding cleanliness of the subsequent cleaning of the swimming pool, and marking the function as H (x 1),
wherein b1, b2, b3 and b4 are all first model function coefficients;
s54, obtaining a path planning scheme corresponding to the mth element in the first permutation and combination set and recording the path planning scheme as the mth path planning scheme, and recording the area number cleared at the mth element in the mth path planning scheme as P mr Will number P mr In time intervals [ t1, t2]]Accumulation amount DP of stubborn stains on surface of inner pool wall mr ；
S55, defaulting that the cleanliness in the same area is the same, obtaining a prediction result QZm of the comprehensive cleanliness quantification value corresponding to the mth planning scheme,
wherein DP mr1 Is denoted by the reference number P mr1 In time intervals [ t1, t2]]And H (x 2) represents the corresponding cleanliness when the accumulation amount of stubborn stains on the surface of the inner pool wall of the swimming pool cleaning robot is x2 and the swimming pool is cleaned subsequently.
S6, screening an optimal path planning scheme to control the swimming pool cleaning robot according to the prediction result of the comprehensive cleaning degree quantitative value corresponding to each path planning scheme, acquiring the position of the swimming pool cleaning robot in real time in the control process and presenting the corresponding position in the constructed swimming pool space model;
and when the optimal path planning scheme is screened in the S6, obtaining a prediction result of the comprehensive cleaning degree quantitative value corresponding to each path planning scheme, and taking the path planning scheme corresponding to the minimum value in the prediction results of the comprehensive cleaning degree quantitative values as the optimal path planning scheme.
A swimming pool trash removal robot cleaning path planning management system, the system comprising the following modules:
the system comprises a swimming pool space model building module, a swimming pool space model building module and a swimming pool monitoring module, wherein the swimming pool space model building module scans a swimming pool area by adopting a three-dimensional laser scanner, builds a swimming pool space model according to scanning data, obtains positions of a water inlet and a water outlet in a swimming pool, and marks corresponding positions of the water inlet and the water outlet in the swimming pool space model;
the system comprises a state analysis module, a data base and a data base, wherein the state analysis module divides a swimming pool into n areas with equal specifications, numbers each divided area from 1, respectively obtains the water flow speed in the area to which each position of the swimming pool belongs when a water inlet and a water outlet of the swimming pool are in different working states through a water flow speed sensor, and analyzes the relation between the water flow speed and the accumulation rate of stubborn stains on the surface of the pool wall in a first unit time by combining the accumulation amount of the stubborn stains on the surface of the pool wall in different water flow speeds in the data base;
the system comprises a stain accumulation amount prediction module, a stain accumulation amount prediction module and a control module, wherein the stain accumulation amount prediction module is used for acquiring a time point t1 and a current time point t2 when the swimming pool is cleaned for the last time, acquiring the working states of a water inlet and a water outlet of the swimming pool at each time point in a time interval [ t1, t2], and calculating the accumulation amount of stubborn stains on the surface of the pool wall in the time interval [ t1, t2] of different swimming pool areas;
the system comprises a path planning scheme acquisition module, a route planning scheme acquisition module and a route planning module, wherein the path planning scheme acquisition module is used for arranging and combining the numbers of all areas in the swimming pool and screening the obtained combination result to obtain a first arrangement combination set, and the arrangement combination corresponding to each element in the first arrangement combination set corresponds to a cleaning path planning scheme of the swimming pool cleaning robot;
the comprehensive cleanliness prediction module acquires cleanliness corresponding to the swimming pool cleaning robots when the accumulation amounts of stubborn stains on the surface of the pool wall cleaned by the swimming pool cleaning robots in the database are different, and predicts a comprehensive cleanliness quantification value corresponding to each path planning scheme;
the system comprises a path screening and control module, wherein the path screening and control module screens an optimal path planning scheme to control the swimming pool cleaning robot according to a prediction result of a comprehensive cleanliness quantitative value corresponding to each path planning scheme, and acquires the position of the swimming pool cleaning robot in real time in the control process and presents the corresponding position in the constructed swimming pool space model.
In the process that the path planning scheme acquisition module obtains the first permutation and combination set, acquiring a combination result obtained after permutation and combination of the numbers of all areas in the swimming pool; the path planning scheme acquisition module screens the acquired combination results, judges whether any two adjacent serial numbers in each combination result are adjacent in the areas respectively corresponding to the swimming pool space model,
and if the corresponding areas are not adjacent, judging that the combination result is unreasonable, if the path planning scheme corresponding to the combination result is abnormal, deleting the combination result, otherwise, judging that the combination result is reasonable, if the path planning scheme corresponding to the combination result is normal, and taking the combination result as one element in the first permutation and combination set to further obtain the first permutation and combination set.
And when the path screening and control module screens the optimal path planning scheme, acquiring a prediction result of the comprehensive cleaning degree quantized value corresponding to each path planning scheme, and taking the path planning scheme corresponding to the minimum value in the prediction results of the comprehensive cleaning degree quantized values as the optimal path planning scheme.
It is noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus.
Finally, it should be noted that: although the present invention has been described in detail with reference to the foregoing embodiments, it will be apparent to those skilled in the art that changes may be made in the embodiments and/or equivalents thereof without departing from the spirit and scope of the invention. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (9)
1. A cleaning path planning management method for a swimming pool cleaning robot is characterized by comprising the following steps:
s1, scanning a swimming pool area by adopting a three-dimensional laser scanner, constructing a swimming pool space model according to scanning data, acquiring positions of a water inlet and a water outlet in a swimming pool, and respectively marking corresponding positions of the water inlet and the water outlet in the swimming pool space model;
s2, dividing the swimming pool into n areas with equal specifications, numbering each divided area from 1, respectively obtaining the water flow speed in the area where each position of the swimming pool belongs when a water inlet and a water outlet of the swimming pool are in different working states through a water flow speed sensor, and analyzing the relation between the water flow speed and the accumulation rate of stubborn stains on the surface of the pool wall in first unit time by combining the accumulation amount of the stubborn stains on the surface of the pool wall in different water flow speeds in a database;
s3, acquiring a time point t1 and a current time point t2 when the swimming pool is cleaned last time, acquiring the working states of a water inlet and a water outlet of the swimming pool at each time point in a time interval [ t1, t2], and calculating the accumulation amount of stubborn stains on the surface of the pool wall in the time interval [ t1, t2] of different swimming pool areas;
s4, numbering all areas in the swimming pool, and screening obtained combination results to obtain a first permutation and combination set, wherein the permutation and combination corresponding to each element in the first permutation and combination set corresponds to a cleaning path planning scheme of the swimming pool cleaning robot;
s5, acquiring cleanliness corresponding to the swimming pool cleaning robots when the accumulation amounts of stubborn stains on the surface of the pool wall cleaned by the swimming pool cleaning robots in the database are different, and predicting a comprehensive cleanliness quantification value corresponding to each path planning scheme;
s6, screening the optimal path planning scheme to control the swimming pool cleaning robot according to the prediction result of the comprehensive cleaning degree quantitative value corresponding to each path planning scheme, acquiring the position of the swimming pool cleaning robot in real time in the control process and presenting the corresponding position in the constructed swimming pool space model.
2. The swimming pool decontamination robot cleaning path planning management method as claimed in claim 1, wherein: s2, when the water inlet and the water outlet of the swimming pool are in different working states and the water flow speed in the area of each position of the swimming pool is obtained by the water flow speed sensor, the working states (A and B) of the water inlet and the water outlet of the swimming pool at the same time point are obtained by the water flow speed sensor respectively,
when the working state of the water inlet of the swimming pool is working, A =1, and when the working state of the water inlet of the swimming pool is idle, A =0;
when the working state of the water outlet of the swimming pool is working, B =1, and when the working state of the water outlet of the swimming pool is idle, B =0;
when the working states (A and B) of the water inlet and the water outlet of the swimming pool in the database are kept unchanged and the water flow velocity sensor is positioned at the central point of the area, the minimum value of the monitoring data of each water flow velocity respectively corresponding to each area is obtained and is used as the water flow velocity corresponding to the corresponding area under the condition of (A and B),
let Vi be the water flow rate for the region numbered i in (A, B) （A，B） ；
The method for analyzing the relation between the water flow velocity and the accumulation rate of stubborn stains on the surface of the pool wall in S2 comprises the following steps of:
s21, acquiring stubborn stain accumulation quantities respectively corresponding to the surface of the wall in the first unit time when different water flow speeds in the historical data are obtained, and recording the stubborn stain accumulation quantities respectively corresponding to the surface of the wall in the first unit time as LV when the water flow speed is V, so as to obtain a stain accumulation quantity data pair (V, LV);
s22, marking corresponding coordinate points by using the data of each dirt accumulation amount respectively corresponding to V with different values in the first plane rectangular coordinate system,
the first plane rectangular coordinate system is constructed by taking o as an origin, taking the water flow speed as an x axis and taking the stubborn stain accumulation amount as a y axis;
s23, according to a model function y = a1 a2 x+a3 + a4, fitting the mark points in the first plane rectangular coordinate system, taking a fitting curve with the minimum sum of the distances between each mark point and the fitting curve as a final fitting result, and marking a function corresponding to the final fitting result as G (x), wherein a1, a2, a3 and a4 are model function coefficients, and a2 is more than 0 and less than 1;
and S24, obtaining a relation function between the water flow speed and the deposition rate of stubborn stains on the surface of the pool wall, and recording the relation function as G1[ x ], wherein G1[ x ] = G (x)/t 0, and t0 represents the time length corresponding to the first unit time.
3. The swimming pool decontamination robot cleaning path planning management method as claimed in claim 2, wherein: the method for calculating the accumulation amount of stubborn stains on the surface of the pool wall in the time interval [ t1, t2] of different pool areas in the S3 comprises the following steps:
s31, acquiring [ t1, t2] in time interval]The working states of the water inlet and the water outlet of the swimming pool at each time point are obtained, and the water flow speed Vi corresponding to the area numbered i in the database under the conditions of A and B （A，B） ；
Within the time interval [ t1, t2]]The working states of the water inlet and the water outlet of the swimming pool AT the internal time point T are recorded as (AT, BT), and the water flow speed Vi corresponding to the area numbered as i AT the time point (AT, BT) is recorded as （AT，BT） ；
S32, obtaining a relation function G1[ x ] between the water flow speed and the accumulation rate of stubborn stains on the surface of the pool wall;
s33, obtaining the accumulation amount Di of stubborn stains on the surface of the pool wall in the time interval [ t1, t2] of the swimming pool area with the number i,
wherein, G1[ Vi （AT，BT） ]The water flow rate Vi corresponding to the region numbered i when (AT, BT) is indicated （AT，BT） The corresponding rate of accumulation of stubborn stains on the surface of the wall.
4. The swimming pool decontamination robot cleaning path planning management method as claimed in claim 1, wherein: the method for obtaining the first permutation and combination set in the step S4 includes the following steps:
s41, acquiring a combination result obtained after the serial numbers of all areas in the swimming pool are arranged and combined;
s42, screening the obtained combined results, judging whether the areas respectively corresponding to any two adjacent numbers in each combined result in the swimming pool space model are adjacent or not,
if the corresponding areas are not adjacent, judging that the combination result is unreasonable, if the path planning scheme corresponding to the combination result is abnormal, deleting the combination result, otherwise, judging that the combination result is reasonable, if the path planning scheme corresponding to the combination result is normal, and taking the combination result as an element in the first permutation and combination set;
s43, obtaining a first permutation and combination set.
5. The swimming pool decontamination robot cleaning path planning management method as claimed in claim 3, wherein: the method for predicting the comprehensive cleanliness quantification value corresponding to each path planning scheme in the S5 comprises the following steps:
s51, acquiring the different accumulation amounts of stubborn stains on the surface of the pool wall cleaned by the swimming pool cleaning robot in the database, respectively cleaning degrees corresponding to the swimming pool cleaning in the follow-up process,
when the accumulation amount of stubborn stains on the surface of the wall of the cleaning pool cleaned by the swimming pool cleaning robot is DL, the corresponding cleaning degree in the subsequent swimming pool cleaning is marked as QDL to obtain a stain cleaning degree data pair (DL, QDL),
the cleanliness represents the ratio of the total amount of stubborn stains remained on the surface of the pool wall in a first unit area cleaning area to the accumulation amount of stubborn stains on the surface of the pool wall in the corresponding area cleaning area when the swimming pool cleaning robot cleans the pool wall, the default cleanliness is more than or equal to 0, and the first unit area is a preset constant in the database;
s52, marking corresponding coordinate points by respectively corresponding stain cleanliness data when DL is different values in a second plane rectangular coordinate system,
the second plane rectangular coordinate system is constructed by taking o1 as an origin, taking the accumulation amount of stubborn stains on the surface of the cleaning pool wall of the swimming pool cleaning robot as an x1 axis and taking the cleaning degree as a y1 axis;
s53, according to the first model function y1= b1 tan H (b 2 x1+ b 3) + b4, fitting the mark points in the second plane rectangular coordinate system, taking a fitting curve with the minimum sum of the distances between each mark point and the fitting curve as a final fitting result, taking a function corresponding to the final fitting result as a relation function between the accumulation amount of stubborn stains on the surface of the wall of the cleaning pool of the swimming pool cleaning robot and the corresponding cleanliness of the subsequent cleaning of the swimming pool, and marking the function as H (x 1),
wherein b1, b2, b3 and b4 are all first model function coefficients;
s54, obtaining a path planning scheme corresponding to the mth element in the first permutation and combination set and recording the path planning scheme as the mth path planning scheme, and recording the area number cleared at the mth element in the mth path planning scheme as P mr Will number P mr In time intervals [ t1, t2]]Accumulation amount DP of stubborn stains on surface of inner pool wall mr ；
S55, defaulting that the cleanliness in the same area is the same, obtaining a prediction result QZm of the comprehensive cleanliness quantization value corresponding to the mth planning scheme,
wherein DP mr1 Is denoted by the reference number P mr1 Swimming poolRegion in time interval [ t1, t2]And H (x 2) represents the corresponding cleanliness when the accumulation amount of stubborn stains on the surface of the inner wall of the swimming pool is x2 and the swimming pool is cleaned subsequently.
6. The swimming pool decontamination robot cleaning path planning management method as claimed in claim 1, wherein: and when the optimal path planning scheme is screened in the S6, obtaining a prediction result of the comprehensive cleaning degree quantized value corresponding to each path planning scheme, and taking the path planning scheme corresponding to the minimum value in the prediction results of the comprehensive cleaning degree quantized values as the optimal path planning scheme.
7. A swimming pool decontamination robot cleaning path planning management system, characterized in that the system comprises the following modules:
the system comprises a swimming pool space model building module, a swimming pool space model building module and a swimming pool monitoring module, wherein the swimming pool space model building module scans a swimming pool area by adopting a three-dimensional laser scanner, builds a swimming pool space model according to scanning data, obtains positions of a water inlet and a water outlet in a swimming pool, and marks corresponding positions of the water inlet and the water outlet in the swimming pool space model;
the system comprises a state analysis module, a data base and a data base, wherein the state analysis module divides a swimming pool into n areas with equal specifications, numbers each divided area from 1, respectively obtains the water flow speed in the area to which each position of the swimming pool belongs when a water inlet and a water outlet of the swimming pool are in different working states through a water flow speed sensor, and analyzes the relation between the water flow speed and the accumulation rate of stubborn stains on the surface of the pool wall in a first unit time by combining the accumulation amount of the stubborn stains on the surface of the pool wall in different water flow speeds in the data base;
the system comprises a stain accumulation amount prediction module, a stain accumulation amount prediction module and a control module, wherein the stain accumulation amount prediction module is used for acquiring a time point t1 and a current time point t2 when the swimming pool is cleaned for the last time, acquiring the working states of a water inlet and a water outlet of the swimming pool at each time point in a time interval [ t1, t2], and calculating the accumulation amount of stubborn stains on the surface of the pool wall in the time interval [ t1, t2] of different swimming pool areas;
the system comprises a path planning scheme acquisition module, a route planning scheme acquisition module and a route planning module, wherein the path planning scheme acquisition module is used for arranging and combining the numbers of all areas in the swimming pool and screening the obtained combination result to obtain a first arrangement combination set, and the arrangement combination corresponding to each element in the first arrangement combination set corresponds to a cleaning path planning scheme of the swimming pool cleaning robot;
the comprehensive cleanliness prediction module acquires cleanliness corresponding to the swimming pool cleaning robots when the accumulation amounts of stubborn stains on the surface of the pool wall cleaned by the swimming pool cleaning robots in the database are different, and predicts a comprehensive cleanliness quantification value corresponding to each path planning scheme;
and the path screening and control module screens the optimal path planning scheme to control the swimming pool cleaning robot according to the prediction result of the comprehensive cleaning degree quantitative value corresponding to each path planning scheme, acquires the position of the swimming pool cleaning robot in real time in the control process and displays the corresponding position in the built swimming pool space model.
8. The pool cleaning robot cleaning path planning management system of claim 7, wherein: in the process that the path planning scheme acquisition module obtains the first permutation and combination set, acquiring a combination result obtained after permutation and combination of the numbers of all areas in the swimming pool; the path planning scheme acquisition module screens the acquired combination results, judges whether any two adjacent serial numbers in each combination result are adjacent in the areas respectively corresponding to the swimming pool space model,
and if the corresponding areas are not adjacent, judging that the combination result is unreasonable, if the path planning scheme corresponding to the combination result is abnormal, deleting the combination result, otherwise, judging that the combination result is reasonable, if the path planning scheme corresponding to the combination result is normal, and taking the combination result as one element in the first permutation and combination set to further obtain the first permutation and combination set.
9. The system as claimed in claim 7, wherein the system comprises: and when the path screening and control module screens the optimal path planning scheme, acquiring a prediction result of the comprehensive cleaning degree quantized value corresponding to each path planning scheme, and taking the path planning scheme corresponding to the minimum value in the prediction results of the comprehensive cleaning degree quantized values as the optimal path planning scheme.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211609592.8A CN115648255B (en) | 2022-12-15 | 2022-12-15 | Clean path planning management system and method for swimming pool decontamination robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211609592.8A CN115648255B (en) | 2022-12-15 | 2022-12-15 | Clean path planning management system and method for swimming pool decontamination robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN115648255A true CN115648255A (en) | 2023-01-31 |
| CN115648255B CN115648255B (en) | 2023-03-14 |
Family
ID=85022613
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202211609592.8A Active CN115648255B (en) | 2022-12-15 | 2022-12-15 | Clean path planning management system and method for swimming pool decontamination robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN115648255B (en) |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| AU2019200731A1 (en) * | 2018-02-04 | 2019-08-22 | Maytronics Ltd | Pool cleaner and a method for imaging a pool |
| CN114895691A (en) * | 2022-07-13 | 2022-08-12 | 深之蓝(天津)水下智能科技有限公司 | Path planning method and device of swimming pool cleaning robot |
| CN115390570A (en) * | 2022-10-26 | 2022-11-25 | 深圳市思傲拓科技有限公司 | Swimming pool robot management and control system and method based on artificial intelligence |
| CN115421494A (en) * | 2022-09-19 | 2022-12-02 | 西安交通大学 | Cleaning robot path planning method, system, computer device and storage medium |
-
2022
- 2022-12-15 CN CN202211609592.8A patent/CN115648255B/en active Active
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| AU2019200731A1 (en) * | 2018-02-04 | 2019-08-22 | Maytronics Ltd | Pool cleaner and a method for imaging a pool |
| CN114895691A (en) * | 2022-07-13 | 2022-08-12 | 深之蓝(天津)水下智能科技有限公司 | Path planning method and device of swimming pool cleaning robot |
| CN115421494A (en) * | 2022-09-19 | 2022-12-02 | 西安交通大学 | Cleaning robot path planning method, system, computer device and storage medium |
| CN115390570A (en) * | 2022-10-26 | 2022-11-25 | 深圳市思傲拓科技有限公司 | Swimming pool robot management and control system and method based on artificial intelligence |
Also Published As
| Publication number | Publication date |
|---|---|
| CN115648255B (en) | 2023-03-14 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN102216537B (en) | Intelligent flushing system | |
| CN115660509B (en) | Factory building control method and system based on digital twin technology | |
| CN112826383A (en) | Cleaning robot cleaning control method and device, base station and storage medium | |
| CN108268028B (en) | Intelligent planning system and method for cleaning work of photovoltaic cell panel | |
| CN115648255B (en) | Clean path planning management system and method for swimming pool decontamination robot | |
| US20080062414A1 (en) | System and method for haze control in semiconductor processes | |
| CN110172941B (en) | Wisdom urban road sanitation system | |
| CN113223291A (en) | System and method for predicting number of free parking spaces in parking lot | |
| JP2005292066A (en) | Condition diagnostic device, condition diagnostic program, and condition diagnostic system | |
| WO2024061980A1 (en) | Anomaly detection in wastewater networks | |
| CN116770930A (en) | Integrated sewage discharge system for modularized building | |
| CN115801844A (en) | Data transmission management system and method applied to swimming pool robot | |
| JP2000107744A (en) | Client server system of water supply and drainage plant | |
| CN115592687A (en) | Fault alarming and removing system and method applied to swimming pool robot | |
| JP4527669B2 (en) | Window cleaning automatic system, window cleaning automation method | |
| Yin et al. | Standard closed-circuit television (CCTV) collection time extraction of sewer pipes with machine learning algorithm | |
| US20020124869A1 (en) | Water reclamation rate in semiconductor fabrication wet benches | |
| JP6799095B2 (en) | Information processing equipment, information processing methods and programs | |
| CN110241766B (en) | Intelligent urban road sanitation method | |
| CN115174640B (en) | Equipment data analysis management system and method based on Internet of things | |
| CN110482815B (en) | Rural village septic tank handles operation and maintenance cost extensive management system | |
| CN118073175B (en) | Automatic chemical proportioning regulation and control method and system in wafer cleaning process | |
| CN114399544A (en) | Device and method for automatically removing dirt of monitoring shell in crude oil storage tank | |
| JP7431391B2 (en) | Manhole pump deterioration prediction method | |
| CN107184145A (en) | A kind of intelligent power saving environment friendly dust aspirator control system |
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 |