422results about "Cleaning action control" patented technology

The invention relates to the technical field of robots, in particular to a robot operation method and system combined with a scene graph. According to the method, a monitoring camera can be utilized to perform semantic segmentation on a shot image (scene graph) of a target ground to identify a stain area and a stain type, the cleaning complexity is distinguished, and the stain cleaning sequence and the cleaning parameters are determined from low to high based on the complexity, so that low-complexity stains can be processed firstly, and the cleaning efficiency is improved. The method has the advantages that high-complexity stains are processed, the sequence is reasonable, secondary pollution is avoided, different cleaning parameters are determined according to different complexities, one-step operation is avoided, cleaning is more reasonable, in addition, a scene graph acquired by the robot is acquired by monitoring, scanning by the robot is not needed, the efficiency is high, and omission is avoided.

The invention provides a cleaning head path planning method for a glass curtain wall cleaning robot, and belongs to the technical field of glass curtain wall cleaning robots. Curtain wall images are collected through a multispectral visual sensor, and stain distribution is identified and energy consumption is predicted by using a probability graph structured prediction model; cleaning sub-regions are divided according to the stain coordinates, a grid map is established, a double-layer game optimization model with minimization of chassis movement energy consumption as an upper layer target and minimization of cleaning head operation time as a lower layer target is constructed, and two layers of paths are alternately optimized by adopting a Nash equilibrium algorithm until convergence; and through a resource constraint penalty term iteration adjustment path scheme, it is ensured that resource consumption does not exceed carrying capacity, and finally a robot chassis moving path and a cleaning head operation path are output, so that the technical problem that global optimization is difficult due to mutual coupling of the robot chassis moving path and the cleaning head operation path is solved.

The invention provides cleaning equipment, a control method thereof and a cleaning system. The cleaning equipment comprises a ground brush, a first tangent line and a second tangent line are arranged on the front side rolling brush face of the rolling brush, the first tangent line is perpendicular to a to-be-cleaned face, and an angle is formed between the second tangent line and the to-be-cleaned face. An area formed by the first tangent line, the second tangent line and the to-be-cleaned surface is configured as a first area; the scraping strip assembly is used for scraping dirt on the surface to be cleaned; the control method comprises the steps that when the cleaning equipment moves away from a user, a first cleaning mode control instruction is obtained, the cleaning equipment is controlled to enter a first cleaning mode, in the first cleaning mode, the scraping strip is controlled to be away from the to-be-cleaned face, and the bottom of the scraping strip assembly is controlled to be at least higher than the upper end of the first area. According to the cleaning equipment, the control method thereof and the cleaning system provided by the embodiment of the invention, the cleaning part can be lifted to cross garbage when the cleaning part is pushed forwards and encounters an obstacle, the situation that the cleaning part pushes the garbage due to insufficient height is avoided, and the cleaning smoothness and user experience are improved.

Disclosed is a method and tidying robot system that performs it. A robot of a tidying robot system receives a starting location, a target cleaning area, and obstructions in its path navigating the target cleaning area. It determines a tidying strategy including vacuuming and obstruction handling. It executes the tidying strategy, vacuuming the target cleaning area and moving and / or avoiding obstructions, which are tidyable and / or movable objects. Where the obstruction may be picked up, the robot determines and executes a pickup strategy. Where the obstruction may be relocated but not picked up, it pushes the obstruction to a different location. Where the obstruction cannot be relocated / picked up, it alters its path to avoid the obstruction. The robot determines if the dirt collector is full, and if so, navigates to a base station configured to charge the robot and empty the dirt collector. Otherwise, it continues to execute the tidying strategy.

A system and method of software control and autonomy of a disinfection module for an autonomous or semi-autonomous cleaning device. The disinfection module control software resides on a computer with processor and memory. The disinfection module is connected to peripherals for sensing and localizing in the environment and controlling the actuators for the motion of the cleaning device. The disinfection module control software processes the sprayer's status, follows and plans paths to move the cleaning device to the spray targets, generates appropriate motion commands, and controls the disinfection module's pump, fan, LED, and electrostatic generator states.

The invention provides a cleaning method and device of a cleaning robot, the cleaning robot, equipment and a medium, and relates to the technical field of cleaning equipment. Comprising the steps that in the process that a cleaning robot cleans a to-be-cleaned area, under the condition that it is detected that a heavily-polluted area exists, the smudginess area of the heavily-polluted area is determined; if the dirty area is larger than a preset threshold value, the robot is controlled to advance in an advancing mode based on a preset path so as to clean at least part of the heavily-dirty area through a mop assembly; if the smudginess area is smaller than or equal to the preset threshold value, the robot is controlled to advance in a backward mode based on the preset path so as to clean at least part of the heavily-polluted area through the mop assembly, and the robot can push smudginess out of the heavily-polluted area and pollute the adjacent area due to backward cleaning, so that the smudginess can be pushed out of the heavily-polluted area and pollute the adjacent area for the heavily-polluted areas with different areas. The cleaning robot can make intelligent cleaning decisions, and the cleaning effect is improved.

The invention provides a control method and device of a cleaning robot and the cleaning robot, and relates to the technical field of cleaning equipment.The cleaning robot comprises a mop assembly, the mop assembly comprises a mop, and the mop is provided with a first position, a second position and a third position; the first position and the second position are two end point positions of the mop in the reciprocating motion process, the walking direction of the cleaning robot is the longitudinal direction, the first position, the second position and the third position are arranged at intervals in the transverse direction perpendicular to the longitudinal direction, and the third position is the maximum limit position extending out relative to a cleaning robot body in the transverse direction; the spacing distance between the first position and the second position is smaller than that between the first position and the third position; in the process that the cleaning robot cleans the to-be-cleaned area, the mop is controlled to vibrate back and forth between the transverse first position and the transverse second position, so that the friction cleaning effect of the heavily polluted area is enhanced, and meanwhile, the problem that stains are dragged by the mop to form secondary traces is effectively avoided.

Disinfection robot for disinfecting a space by means of ultraviolet radiation, which includes a radiation source for emitting the ultraviolet radiation, movement means for moving the radiation source

The invention provides a robot control method and device, computer equipment and a storage medium. The method comprises the following steps: acquiring an image acquired in real time; according to the image acquired in real time, determining whether a current scene meets conditions of a specific scene; and under the condition that the current scene meets the conditions of a specific scene, controlling a robot to execute a cleaning task corresponding to the specific scene. According to the method, scene recognition and cleaning task triggering functions in a specific scene are added for the robot, a user does not need to manually set and issue a cleaning instruction to the robot, the convenience of user operation can be enhanced, and the use experience of the user is improved.

A cleaning system is provided. The cleaning system includes a robot cleaner and a station. The robot cleaner includes a pad fixing part on which a cleaning pad is detachably mounted, a lifter to lift a part of the robot cleaner at which the pad fixing part is positioned, and a pad detacher to detach the cleaning pad mounted on the pad fixing part. The station includes a pad storage box in which a cleaning pad that is to be provided to the robot cleaner is stored, a pad coupling part on which a cleaning pad that is to be coupled to the robot cleaner is rested, and a pad supplier to supply the cleaning pad stored in the pad storage box to the pad coupling part.

The present application discloses a control method for a cleaning robot, a cleaning robot, a base station, a cleaning system, and a computer storage medium. The cleaning robot comprises a robot body and cleaning members movably mounted on the robot body. The cleaning members each has a preset first position and a preset second position. When in the first position, each cleaning member is farther away from the centerline of the robot body compared to when the cleaning member is in the second position. The control method comprises: each cleaning member executes a first movement from a first position toward a second position; and when the first movement ends and a current position of each cleaning member has not reached the second position, the cleaning member executes a second movement toward the second position. The control method of the present application can effectively enable each cleaning member to return from the first position to the second position. The movement of the cleaning members during retraction is smooth, which can prevent subsequent cleaning operations of the cleaning members from being affected by insufficient retraction of the cleaning members caused by factors such as mounting errors, actuation errors, or obstruction by obstacles.

A docking station including a docking unit providing a traveling path for a robotic vacuum cleaner, having a mounted mopping cloth, that enters the docking unit; a mopping cloth separator disposed on the docking unit and configured to automatically separate the mounted mopping cloth from the robotic vacuum cleaner while the robotic vacuum cleaner is at a first position along the traveling path; and a mopping cloth coupler disposed on the docking unit and configured so that, after the mounted mopping cloth is separated from the robotic vacuum cleaner, and the robotic vacuum cleaner thereafter moves to a second position along the traveling path, the mopping cloth coupler supplies a mopping cloth to be mounted to the robotic vacuum cleaner from below the traveling path while the robotic vacuum cleaner is at the second position.

A mobile cleaning robot can include a body movable within an environment and a debris bin located at least partially within the body. The robot can include a cleaning assembly connected to the body, where the cleaning assembly includes a first debris port connected to the debris bin and a second debris port connected to the debris bin.

An autonomous mobile robot includes a drive system supporting the robot above a surface, a sensor system configured to generate a signal indicative of a position of the robot on the surface, and a controller operably connected to the drive system and the sensor system. The drive system is operable to navigate the robot around the surface. The controller is configured to execute the instructions to operate, including establishing a behavioral control zone on the surface, in response to establishing the behavioral control zone on the surface, controlling the drive system to manipulate the robot to a location of the behavioral control zone on the surface, and manipulating the robot around the surface using the drive system, and initiate a behavior in response to determining that the robot approaches the behavior control region based on the signal indicative of the position of the robot.

The invention provides a carpet detection method for a sweeping robot, an electronic device and a medium, and relates to the technical field of smart home, and the method comprises the steps: obtaining side scanning current and middle scanning current of the sweeping robot; detecting the pitch angle of the gyroscope when determining that the side-sweep current is greater than a first preset current threshold value and the medium-sweep current is greater than a second preset current threshold value; when the pitch angle is determined to accord with the carpet driving pitch angle range, determining a carpet driving state; wherein the carpet driving pitch angle range is obtained based on driving detection of the sweeping robot on different types of carpets. According to the method, the condition of the ground driving state is quickly filtered through the side-scan current and the middle-scan current, so that sudden current increase caused by accidental reasons of a single motor is effectively eliminated, accurate judgment is performed in combination with the pitch angle under the condition that the two side-scan motors and the middle-scan motor are high in load at the same time, the judgment accuracy is improved, and the judgment efficiency is improved. And the stability and the reliability of the whole identification system in a complex environment are greatly enhanced.

Provided is a robot, including: a chassis; a set of wheels coupled to the chassis; a plurality of sensors; a processor; and a non-transitory, machine-readable media storing instructions that when executed by the processor effectuates operations including: establishing, with the processor, a wireless connection with at least one of a computing device, a charging station, and a second robot; capturing, with at least one sensor, spatial data of an environment of the robot; generating or updating, with the processor, a map of the environment based on at least a portion of the spatial data; dividing, with the processor, the map into two or more rooms; storing, with the processor, the map in a memory accessible to the processor during a subsequent work session; and transmitting, with the processor, the map to an application of the computing device, wherein the application is configured to display the map.

A cleaning robot includes a main body; a wheel to move the main body; a pad holder, the pad holder being rotatable and to which a wet cleaning pad is attachable; a motor to rotate the pad holder; a floor sensor; a controller connected to the wheel, the motor, and the floor sensor; and a lifting assembly to lower the pad holder toward the floor, or to raise the pad holder toward the main body, wherein the controller is to: identify a type of the floor based on a detection signal transmitted from the floor sensor, determine whether a dry cleaning is required based on the type of the floor, and control the motor to rotate the pad holder in the reverse direction such that the pad holder is raised toward the main body, by the lifting assembly, based on the dry cleaning being determined as required.

A robot includes a first camera sensor arranged at a first capturing angle to capture a driving space of the robot, a mirror arranged at a first arrangement angle at a first location of the robot; at least one processor including a processing circuit. The robot acquires, using the first camera sensor, a first image corresponding to a first area within the driving space. The robot identifies, based on the first image, a second image, corresponding to a second capturing angle, in which a second area within the driving space is reflected by the mirror. The robot identifies a third image of the second area captured at the first capturing angle based on the acquired first image, and identifies an object of a liquid type within the second area based on the second image corresponding to the second capturing angle and the third image corresponding to the first capturing angle.

A cleaning robot, comprising: a machine body (10), wherein the machine body (10) comprises an accommodating cavity (113); a cleaning system (20), wherein the cleaning system (20) is arranged on the machine body (10), and the cleaning system (20) comprises a cleaning head (21), the cleaning head (21) being located in the accommodating cavity (113); a collection system (40), wherein the collection system (40) is arranged on the machine body (10), and the collection system (40) comprises a collection portion (41) and a power portion (43), the collection portion (41) comprising an inlet (411) and an outlet (412), the accommodation cavity (113) being in communication with the collection portion (41) by means of the inlet (411), and the power portion (43) being in pneumatic communication with the collection portion (41) by means of the outlet (412); and a plugging assembly (50), wherein the plugging assembly (50) is arranged on the machine body (10), and the position of at least a part of the plugging assembly (50) is set to be adjustable, so as to close or release the inlet (411) and the outlet (412) of the collection portion (41), thereby preventing items in the collection portion (41) from being poured out from the inlet (411) or from entering the power portion (43) through the outlet (412).

The present invention provides a method for controlling a self-cleaning device, which includes receiving don't disturb time information set by a user, and specifying a cleaning operation within the don't disturb time information of the self-cleaning device based on don't disturb effective range information.

The present invention relates to a cleaning system (100) comprising at least one cleaning apparatus (102), which comprises a cleaning tool (116), a control unit (120, 136) and a communication interface (124) coupled to the control unit (120, 136), and at least one external additional device (106) for a user (108), which additional device can be brought directly or indirectly into a communication connection with the at least one cleaning apparatus (102) via the communication interface (124) in order to transfer usage information and comprises a controllable display unit (126, 132), wherein two or more mutually different states of interaction can be assumed between the at least one cleaning apparatus (102) and the additional device (106) via the communication connection, and wherein the type and / or scope of the usage information can be transmitted and / or displayed on the display unit (126, 132) depending on the state of interaction that is assumed. The present invention also relates to a method for operating a cleaning system (100).

A vacuum cleaning system comprising: - a robotic vacuum cleaner unit (30); - one or more docking stations (20) for the robotic vacuum cleaner unit; - one or more suction hoses (2) connected to a central unit (3), each suction hose being storable in a storage space (7) in or adjacent to one of the docking stations and being provided with an end fitting (10) having a first coupling part (14a) that is connectable to a second coupling part on the robotic vacuum cleaner unit. The end fitting is received in a holder (27) in the docking station when the suction hose is in a retracted end position in the storage space. The second coupling part is connectable to and disconnectable from the first coupling part (14a) when the end fitting is received in said holder and the robotic vacuum cleaner unit is positioned in a predefined docking position in the docking station.

The invention discloses a cleaning method and device, a cleaning robot and a readable storage medium, and the method comprises the steps: obtaining a single-frame image, carrying out the recognition of the single-frame image based on a preset deep learning algorithm, and obtaining an initial behavior recognition result; based on a multi-frame image fusion judgment strategy, performing fusion judgment on the initial behavior recognition result corresponding to each single-frame image to obtain a first behavior recognition result; if the first behavior recognition result is abnormal recognition, accumulating each single-frame image, performing time sequence behavior recognition on multiple frames of images obtained by accumulation according to a time sequence behavior recognition algorithm, and determining a second behavior recognition result; determining a target behavior recognition result based on the first behavior recognition result and the second behavior recognition result; the target behavior recognition result is used for determining a target cleaning strategy so as to perform cleaning processing. By adopting the method, the cleaning efficiency is improved.

The invention relates to a smudginess regulation control method and control device for surface cleaning equipment, and the method comprises the steps: obtaining a plurality of preset monitoring time windows, collecting smudginess induction values of the surface cleaning equipment in a first monitoring time window, and storing the smudginess induction values to obtain a first smudginess data set; comparing data in the first smudginess data set with the obtained initial smudginess judgment threshold value to obtain the smudginess degree of the target area; adjusting the cleaning behavior according to the smudginess degree of the target area; based on the first smudginess data set, a first smudginess judgment threshold value is calculated through a preset statistical algorithm, the first smudginess judgment threshold value is used for replacing the initial smudginess judgment threshold value and is used for comparison of a next monitoring time window, and the steps are repeated. The method can solve the problem of systematic drifting of the reference reading of the sensor, and realizes the accuracy of smudginess detection and the reliability of control in the whole equipment life cycle.

A system for removing trash items from a space includes employing an autonomous robot to detect trash within the space, to approach the trash item upon detection and to remove the trash item from the space. The autonomous robot may have two or more trash bins with each trash bin being designated to be filled with a particular category of trash. The categories of trash may be different from one another. The autonomous robot is configured to detect the trash category of the trash item that will be picked up and, after picking up the trash item, to insert it in the appropriate trash bin. This way, the autonomous robot can collect and sort trash items according to their kind. A pan with sweeper arms can be used by the robot for collecting a trash item. In another approach, a trash item can be suctioned by the robot using vacuum.

The invention discloses a dirt treatment method and a cleaning device, and relates to the technical field of smart home. The smudginess processing method comprises the following steps: acquiring a first optical image and a second infrared image of a detection area; performing first smudge detection on the first optical image based on a first detection model to obtain a first detection result; performing second smudge detection on the second infrared image based on a second detection model to obtain a second detection result; and carrying out average superposition fusion or weighted fusion on the first detection result and the second detection result according to a preset weight or area weights of different areas so as to output a planning instruction for the intelligent cleaning equipment based on the fused detection result. According to the invention, the first optical image and the second infrared image of the detection area are obtained, and the corresponding detection models are respectively utilized to carry out different smudginess detection, so that smudginess of different types can be detected, and the fusion detection result can be output, and therefore, the detection rate of ground smudginess can be significantly improved, and the cleaning effect can be improved.