Dirt recognizing system of cleaning robot and cleaning method

Abstract

The invention belongs to the technical field of cleaning robots, and particularly relates to a dirt recognizing system of a cleaning robot and a cleaning method. The dirt recognizing system, namely a detecting unit, comprises a dust recognizing device and an attachment recognizing device. The dust recognizing device, namely a dust sensor, comprises a light transmitting element and a light receiving element. The dirt recognizing device comprises an image acquiring unit and an image processing unit. The cleaning method includes dust suction and floor mopping, dust suction time and power are determined by dust quantity detected in real time, and floor mopping frequency is determined by the quantity of attachment on floors. The system has an ability of actively recognizing dirt, cleaning force and cleaning time can be adjusted in real time according to the dirt quantity, and accordingly the floors are cleaned efficiently on the premise of guaranteeing cleaning quality.

Description

technical field [0001] The invention belongs to the field of cleaning robots, and in particular relates to a cleaning robot dirt recognition system and a cleaning method. Background technique [0002] In the existing intelligent cleaning robot products and related technologies, most intelligent cleaning robots cannot autonomously perceive the amount of dirt in the area to be cleaned. Only traversal cleaning of ground other than obstacles can be achieved. Combined with the actual situation, the cleanliness of the ground at different locations varies greatly. Blindly using the same cleaning method without considering the actual cleanliness of the ground may cause waste of resources or unclean cleaning of special locations. [0003] In response to the above situation, there are currently technologically improved intelligent cleaning robots, which can take overall pictures of the area to be cleaned through the camera installed in front of the robot, and then process the image t...

AI Technical Summary

Problems solved by technology

This method can improve the efficiency of the cleaning robot to a certain extent, but it has the following disadvantages: 1. Because the light level of the ground in the same room is affected by the weather and indoor lighting, the light distribution at different positions at the same time is uneven, and the light at the same position at different times It will also be different, image processing is performed directly through the overall photo, without considering the impact of light on the gray scale of the image; 2. This method uses the readings of the dust sensor during the actual cleaning process for correction. In actual situations, the dirt on the ground includes not only dust Such particles, including attachments attached to the ground, are not corrected only through the reading of the dust sensor; 3. This method only determines the cleaning method based on the amount of dust, without considering the impact of attachments on the cleanliness of the ground

[0004] Because the dirt on the ground includes dust and attachments, some floors have more dust but less attachments, and some floors have less dust but more attachments, so it is not accurate enough to measure the cleanliness of the ground only by the amount of dust on the ground Comprehensive, but also consider the impact of light and ground texture on dirt recognition

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