A parametric simulation model design method and system based on cleaning robot

Abstract

The present invention relates to the field of computer processing technology, and in particular to a parametric simulation model design method and system based on a cleaning robot. The method comprises the following steps: performing spatial environment layout constraint analysis on the cleaning operation process of the cleaning robot to obtain spatial environment layout constraint conditions of the robot cleaning operation; performing cleaning area quantitative analysis and water volume threshold operation switching on the cleaning operation process of the cleaning robot to generate the cleaning robot water adding operation; performing cleaning water adding demand analysis on the cleaning robot water adding operation to obtain the robot cleaning water adding demand conditions; performing water adding process parametric model design based on the robot cleaning operation spatial environment layout constraint conditions and the robot cleaning water adding demand conditions, and performing water adding process simulation evaluation analysis and model parameter optimization to generate a robot water adding parametric simulation optimization model. The present invention can realize the parameterized simulation process of the cleaning robot in the cleaning water adding process.

Description

Technical Field

[0001] The present invention relates to the field of computer processing technology, and in particular to a parameterized simulation model design method and system based on a cleaning robot. Background Art

[0002] In today's society, cleaning robots are important tools for automated home and commercial cleaning. Their design and performance optimization are crucial to improving cleaning efficiency and user experience. In recent years, with the advancement of computer simulation technology and the application of virtual reality technology, new parametric simulation model design methods based on cleaning robots have begun to attract attention. These methods use advanced numerical calculation technology, multi-physics field coupling analysis and real-time data interaction to establish highly refined simulation models. By parametrically modeling key parameters such as the robot's physical structure, sensor system and cleaning path, and combining the operation data and environmental information collected in the field, dynamic simulation evaluation of the performance and efficiency of the cleaning robot in different scenarios can be achieved. However, although the simulation models in the existing technology can help design optimization to a certain extent, they often lack accuracy and cannot fully reflect the complex dynamic changes of the robot in the actual water-adding operation scenario. Summary of the invention

[0003] Based on this, it is necessary for the present invention to provide a parametric simulation model design method and system based on a cleaning robot to solve at least one of the above technical problems.

[0004] To achieve the above purpose, a parametric simulation model design method based on a cleaning robot includes the following steps:

[0005] Step S1: performing spatial environment layout constraint analysis on the cleaning operation process of the cleaning robot to obtain spatial environment layout constraint conditions of the cleaning operation of the robot; performing cleaning area quantitative analysis on the cleaning operation process of the cleaning robot to obtain the size of the cleaning area of ​​the robot;

[0006] Step S2: switching the water volume threshold operation of the cleaning robot cleaning operation process based on the size of the robot cleaning area to generate a water adding operation for the cleaning robot; analyzing the cleaning water adding demand of the cleaning robot water adding operation to obtain the cleaning water adding demand condition of the robot;

[0007] Step S3: designing a parameterized model of the water-adding process of the cleaning robot based on the layout constraints of the robot cleaning operation space environment and the robot cleaning water-adding demand conditions, and generating a parameterized simulation model of the robot water-adding process;

[0008] Step S4: performing simulation evaluation and analysis on the water adding process of the cleaning robot according to the parameterized simulation model of the robot's water adding process to obtain a simulation evaluation result of the cleaning robot's water adding; optimizing the model parameters of the parameterized simulation model of the robot's water adding process based on the simulation evaluation result of the cleaning robot to generate a parameterized simulation optimization model of the robot's water adding.

[0009] The present invention first analyzes the spatial environment layout constraint of the cleaning robot cleaning operation process to analyze the environmental layout constraint conditions in the model, and can accurately evaluate the various environmental layout restrictions and challenges encountered by the robot in the process of performing cleaning tasks. This constraint analysis covers the physical obstacles in the spatial layout, the restrictions on the motion path, the safety distance requirements, etc., thereby providing the necessary basis for the robot to design safe and reliable operation paths and behavior rules. Through effective constraint analysis, potential operation risks can be predicted and avoided, and it is ensured that the robot can complete the task stably and efficiently under various circumstances, so as to better adapt to the dynamic changes of the spatial layout of the cleaning robot in the actual operation process. At the same time, by quantitatively analyzing the cleaning area area of ​​the cleaning robot cleaning operation process, the size and area of ​​each cleaning area can be accurately measured, which provides important data support for task allocation and resource planning. This quantitative analysis not only helps to reasonably arrange the workload of the cleaning robot, but also helps to evaluate the progress and effect of the cleaning operation. By accurately understanding the size of each area, it can provide basic data guarantee for the subsequent processing process, ensuring that the maximum cleaning coverage is completed in the shortest time, thereby improving the overall efficiency and effect of the subsequent cleaning and watering operations. Secondly, by calculating the impact of the required water threshold on the cleaning robot's cleaning operation process based on the size of the robot's cleaning area, the required water threshold during the robot's cleaning operation process was further determined, and by comparing and judging the water volume in the cleaning robot's water tank during the cleaning robot's cleaning operation process according to the required water threshold, the operation mode of the cleaning robot corresponding to the water volume in the water tank being lower than the required water threshold was switched to the water adding operation mode, ensuring that the required water volume is replenished in time for the cleaning area when necessary. By conducting a cleaning water adding demand analysis on the cleaning robot's water adding operation, this analysis includes the timing of water adding, the precise calculation of the amount of water added, and the implementation conditions of the water adding operation, in order to ensure that the cleaning robot can flexibly and efficiently respond to the actual needs of different cleaning areas during the entire operation process. Through these detailed demand analyses, the execution efficiency and accuracy of the cleaning water adding operation can be maximized. Then, a parametric model of the water-adding process of the cleaning robot's water-adding operation is designed based on the robot's cleaning operation space environment layout constraints and the robot's cleaning water-adding demand conditions. This step covers the actual execution process of the simulation model. By running the simulation to simulate the actual effects under different water-adding conditions, it can not only quantitatively evaluate the efficiency and cost-effectiveness of the cleaning robot's water-adding operation, but also provide important data support for optimizing operation processes and technologies, so as to ensure the best cleaning water-adding effect and resource utilization efficiency in practical applications.Finally, by conducting simulation evaluation and analysis of the water-adding process of the cleaning robot according to the parameterized simulation model of the robot water-adding process, we can deeply understand the effect and performance of the cleaning robot water-adding operation under different water-adding simulation parameters. This step can include quantitative analysis of water-adding efficiency, operation time, water resource utilization, etc., so as to comprehensively evaluate the response ability and optimization space of the model in practical applications, which can provide guidance for subsequent model optimization and practical application, and help decision makers better understand and use the data output of the simulation model. In addition, by optimizing the model parameters of the parameterized simulation model of the robot water-adding process based on the simulation evaluation results of the cleaning robot water-adding process, the limitations and optimization space in the evaluation results can be analyzed, and the parameterized simulation model of the robot water-adding process can be further adjusted and optimized, which involves improving the simulation algorithm, adjusting the model input parameters, optimizing the control strategy, etc., aiming to improve the accuracy and fidelity of the parameterized model, make it closer to the actual scene and have better application value, so as to fully reflect the complex dynamic changes of the cleaning robot in the actual water-adding operation scene.

[0010] Preferably, the present invention also provides a parametric simulation model design system based on a cleaning robot, which is used to execute the parametric simulation model design method based on a cleaning robot as described above, and the parametric simulation model design system based on a cleaning robot comprises:

[0011] The cleaning constraint quantitative analysis module of the cleaning robot is used to perform spatial environment layout constraint analysis on the cleaning operation process of the cleaning robot to obtain the spatial environment layout constraint conditions of the robot's cleaning operation; perform cleaning area quantitative analysis on the cleaning operation process of the cleaning robot to obtain the size of the robot's cleaning area;

[0012] The robot water adding demand condition analysis module is used to switch the water volume threshold operation of the cleaning robot cleaning operation process based on the size of the robot cleaning area to generate the cleaning robot water adding operation; the cleaning water adding demand analysis is performed on the cleaning robot water adding operation to obtain the robot cleaning water adding demand condition;

[0013] The robot parameterized simulation model design module is used to design a parameterized model of the water adding process of the cleaning robot water adding operation based on the robot cleaning operation space environment layout constraints and the robot cleaning water adding demand conditions, thereby generating a parameterized simulation model of the robot water adding process;

[0014] The cleaning robot water-adding simulation model optimization module is used to perform simulation evaluation and analysis on the water-adding process of the cleaning robot according to the parameterized simulation model of the robot water-adding process, and obtain the cleaning robot water-adding simulation evaluation results; based on the cleaning robot water-adding simulation evaluation results, the model parameters of the robot water-adding process parameterized simulation model are optimized to generate a robot water-adding parameterized simulation optimization model.

[0015] In summary, the present invention provides a parametric simulation model design system based on a cleaning robot, which is composed of a cleaning robot cleaning constraint quantification analysis module, a robot water adding requirement condition analysis module, a robot parametric simulation model design module and a cleaning robot water adding simulation model optimization module. It can realize any parametric simulation model design method based on a cleaning robot described in the present invention, and is used to combine the operations between computer programs running on each module to realize the parametric simulation model design method based on a cleaning robot. The internal structures of the system cooperate with each other, which can greatly reduce repetitive work and manpower investment, and can quickly and effectively provide a more accurate and efficient parametric simulation model design process based on a cleaning robot, thereby simplifying the operation process of the parametric simulation model design system based on a cleaning robot. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Other features, objects and advantages of the present invention will become more apparent from the detailed description of non-limiting embodiments thereof made with reference to the following drawings:

[0017] Figure 1 A schematic diagram of the steps of the parameterized simulation model design method based on the cleaning robot of the present invention;

[0018] Figure 2 for Figure 1 Detailed step flow diagram of step S1;

[0019] Figure 3 for Figure 2 Detailed step flow chart of step S13 in FIG. DETAILED DESCRIPTION

[0020] The technical method of the present invention is described clearly and completely below in conjunction with the accompanying drawings. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by technicians in this field without creative work are within the scope of protection of the present invention.

[0021] In addition, the accompanying drawings are only schematic illustrations of the present invention and are not necessarily drawn to scale. The same reference numerals in the figures represent the same or similar parts, and their repeated description will be omitted. Some of the block diagrams shown in the accompanying drawings are functional entities and do not necessarily correspond to physically or logically independent entities. The functional entities can be implemented in software form, or implemented in one or more hardware modules or integrated circuits, or implemented in different networks and / or processor methods and / or microcontroller methods.

[0022] It should be understood that, although the terms "first", "second", etc. may be used herein to describe various units, these units should not be limited by these terms. These terms are used only to distinguish one unit from another unit. For example, without departing from the scope of the exemplary embodiments, the first unit may be referred to as the second unit, and similarly the second unit may be referred to as the first unit. The term "and / or" used herein includes any and all combinations of one or more of the listed associated items.

[0023] To achieve this, please refer to Figures 1 to 3 The present invention provides a parameterized simulation model design method based on a cleaning robot, the method comprising the following steps:

[0024] Step S1: performing spatial environment layout constraint analysis on the cleaning operation process of the cleaning robot to obtain spatial environment layout constraint conditions of the cleaning operation of the robot; performing cleaning area quantitative analysis on the cleaning operation process of the cleaning robot to obtain the size of the cleaning area of ​​the robot;

[0025] Step S2: switching the water volume threshold operation of the cleaning robot cleaning operation process based on the size of the robot cleaning area to generate a water adding operation for the cleaning robot; analyzing the cleaning water adding demand of the cleaning robot water adding operation to obtain the cleaning water adding demand condition of the robot;

[0026] Step S3: designing a parameterized model of the water-adding process of the cleaning robot based on the layout constraints of the robot cleaning operation space environment and the robot cleaning water-adding demand conditions, and generating a parameterized simulation model of the robot water-adding process;

[0027] Step S4: performing simulation evaluation and analysis on the water adding process of the cleaning robot according to the parameterized simulation model of the robot's water adding process to obtain a simulation evaluation result of the cleaning robot's water adding; optimizing the model parameters of the parameterized simulation model of the robot's water adding process based on the simulation evaluation result of the cleaning robot to generate a parameterized simulation optimization model of the robot's water adding.

[0028] In the embodiment of the present invention, please refer to Figure 1FIG. 1 is a schematic diagram of the steps of the parameterized simulation model design method based on the cleaning robot of the present invention. In this example, the parameterized simulation model design method based on the cleaning robot includes the following steps:

[0029] Step S1: performing spatial environment layout constraint analysis on the cleaning operation process of the cleaning robot to obtain spatial environment layout constraint conditions of the cleaning operation of the robot; performing cleaning area quantitative analysis on the cleaning operation process of the cleaning robot to obtain the size of the cleaning area of ​​the robot;

[0030] The embodiment of the present invention divides different cleaning operation environment space areas from the cleaning operation space of the cleaning robot during the cleaning operation process, and also evaluates and analyzes the movement restrictions of the cleaning robot when moving between different areas by combining the different cleaning operation environment space areas obtained by the division, such as turning radius, maximum speed, acceleration, passable width, height and other constraints, and performs obstacle avoidance planning analysis on the obstacles in the corresponding positions during the cleaning operation of the cleaning robot by combining the spatial distribution positions of the obstacles obtained by the analysis, so as to analyze how the cleaning robot can avoid collision or obstruction with obstacles (including static and dynamic) during the cleaning operation process, and fully considers the perception ability and reaction speed of the cleaning robot and the dynamic and uncertainty of the obstacles to reasonably design the obstacle avoidance constraints, and secondly, by merging the two constraints, the various restrictions and conditions faced by the robot during the entire operation process are comprehensively considered, so as to obtain the robot cleaning operation space environment layout constraints. Then, by using machine vision and sensor technology to identify and analyze the cleaning area of ​​the cleaning robot during the cleaning operation of the cleaning robot, the specific cleaning area range in the cleaning operation space is identified and marked, and the actual area size of each cleaning area is measured and calculated, and finally the area size of the robot cleaning area is obtained.

[0031] Step S2: switching the water volume threshold operation of the cleaning robot cleaning operation process based on the size of the robot cleaning area to generate a water adding operation for the cleaning robot; analyzing the cleaning water adding demand of the cleaning robot water adding operation to obtain the cleaning water adding demand condition of the robot;

[0032] The embodiment of the present invention first analyzes the degree of pollution of the cleaning area during the cleaning operation of the cleaning robot through quantitative evaluation, and uses a cleaning water volume prediction method to predict and analyze the cleaning water demand during the cleaning operation of the cleaning robot by combining the size of the robot cleaning area and the degree of pollution obtained by analysis, so as to predict and analyze the cleaning water volume required by the robot when performing the operation, and fully considers the influencing factors such as the cleaning effect, the water pump pressure efficiency and the water evaporation rate to recalculate the corresponding estimated water demand, so as to comprehensively consider the influence of the aforementioned influencing factors on the water demand to calculate and determine the required water volume threshold required for the cleaning robot to ensure a good cleaning effect under different working conditions, and compare and judge the real-time water volume of the water tank of the cleaning robot during the cleaning operation of the cleaning robot according to the required water volume threshold. If it is greater than or equal to the required water volume threshold, no water adding operation is required. Otherwise, if it is less than the required water volume threshold, the working operation mode of the cleaning robot is switched to the water adding operation mode according to the setting, thereby generating a water adding operation for the cleaning robot. Then, by using the difference statistical analysis method, a statistical analysis is performed on the difference between the water volume in the cleaning robot's water tank and the required water volume threshold, so as to determine the corresponding water adding time, water adding amount and implementation conditions of the water adding operation by real-time statistically analyzing the difference between the water volume in the water tank and the actual required water volume threshold, and ensure that the cleaning robot can flexibly and efficiently respond to the actual needs of different cleaning areas during the entire operation process, and finally obtain the robot's cleaning water adding demand conditions.

[0033] Step S3: designing a parameterized model of the water-adding process of the cleaning robot based on the layout constraints of the robot cleaning operation space environment and the robot cleaning water-adding demand conditions, and generating a parameterized simulation model of the robot water-adding process;

[0034] The embodiment of the present invention sets the operation space constraint parameters of the corresponding cleaning robot water adding operation by combining the robot cleaning operation space environment layout constraint conditions obtained by analysis (including considering the size, shape, obstacle distribution and other space restriction parameters of the operation area), so as to set the space constraint parameters of the robot water adding operation according to the working environment layout constraint of the cleaning robot water adding operation, such as determining the area range in which the robot can operate safely, avoiding obstacles, etc., and setting the water adding constraint parameters of the corresponding cleaning robot water adding operation by combining the robot cleaning water adding demand conditions obtained by analysis (including determining the time point, frequency, water volume, water spraying method and other water adding demand conditions), so as to comprehensively consider the technical capabilities of the robot, the performance characteristics of the water adding equipment and the actual needs of the operation scene to set reasonable water adding constraint parameters, such as the water demand, water adding frequency, water adding time and other parameters of different cleaning tasks, and then, by setting the generated space constraint parameters and water adding constraint parameters, the corresponding cleaning robot water adding operation is specifically simulated and executed, so as to constrain the simulated cleaning robot's water adding operation process according to the set parameters, and run the simulation to simulate the actual effect of the water adding operation under different conditions, and finally generate a parameterized simulation model of the robot water adding process.

[0035] Step S4: performing simulation evaluation and analysis on the water adding process of the cleaning robot according to the parameterized simulation model of the robot's water adding process to obtain a simulation evaluation result of the cleaning robot's water adding; optimizing the model parameters of the parameterized simulation model of the robot's water adding process based on the simulation evaluation result of the cleaning robot to generate a parameterized simulation optimization model of the robot's water adding.

[0036] In the embodiment of the present invention, the designed parameterized simulation model of the robot water-adding process is applied to a specific cleaning robot water-adding operation scenario to perform a simulation test of the water-adding process, so as to set different water-adding simulation parameter conditions, such as water-adding frequency, water-adding amount, water-adding timing, etc., to simulate the water-adding behavior of the cleaning robot in different scenarios, and the cleaning robot water-adding simulation process corresponding to different water-adding simulation parameter conditions is evaluated and analyzed in detail by using a data evaluation algorithm, including the evaluation of the robot water-adding efficiency, water flow coverage, water-adding uniformity, and cleaning effect on the target surface during the simulation process, so as to quantify the advantages and disadvantages of the cleaning robot water-adding operation under different parameter settings, and then, the parameterized simulation model of the robot water-adding process is further optimized by combining the simulation evaluation results obtained by the evaluation analysis, so as to adjust and improve the various parameters of the simulation model according to the optimal operation parameter combination identified in the evaluation results, including but not limited to adjusting the simulation algorithm, optimizing the range and accuracy of the model input parameters, and even redesigning part of the model structure to better reflect the complexity and dynamic changes of the actual water-adding operation, and improve the accuracy and simulation results of the simulation model, and finally generate a robot water-adding parameterized simulation optimization model.

[0037] The present invention first analyzes the spatial environment layout constraint of the cleaning robot cleaning operation process to analyze the environmental layout constraint conditions in the model, and can accurately evaluate the various environmental layout restrictions and challenges encountered by the robot in the process of performing cleaning tasks. This constraint analysis covers the physical obstacles in the spatial layout, the restrictions on the motion path, the safety distance requirements, etc., thereby providing the necessary basis for the robot to design safe and reliable operation paths and behavior rules. Through effective constraint analysis, potential operation risks can be predicted and avoided, and it is ensured that the robot can complete the task stably and efficiently under various circumstances, so as to better adapt to the dynamic changes of the spatial layout of the cleaning robot in the actual operation process. At the same time, by quantitatively analyzing the cleaning area area of ​​the cleaning robot cleaning operation process, the size and area of ​​each cleaning area can be accurately measured, which provides important data support for task allocation and resource planning. This quantitative analysis not only helps to reasonably arrange the workload of the cleaning robot, but also helps to evaluate the progress and effect of the cleaning operation. By accurately understanding the size of each area, it can provide basic data guarantee for the subsequent processing process, ensuring that the maximum cleaning coverage is completed in the shortest time, thereby improving the overall efficiency and effect of the subsequent cleaning and watering operations. Secondly, by calculating the impact of the required water threshold on the cleaning robot's cleaning operation process based on the size of the robot's cleaning area, the required water threshold during the robot's cleaning operation process was further determined, and by comparing and judging the water volume in the cleaning robot's water tank during the cleaning robot's cleaning operation process according to the required water threshold, the operation mode of the cleaning robot corresponding to the water volume in the water tank being lower than the required water threshold was switched to the water adding operation mode, ensuring that the required water volume is replenished in time for the cleaning area when necessary. By conducting a cleaning water adding demand analysis on the cleaning robot's water adding operation, this analysis includes the timing of water adding, the precise calculation of the amount of water added, and the implementation conditions of the water adding operation, in order to ensure that the cleaning robot can flexibly and efficiently respond to the actual needs of different cleaning areas during the entire operation process. Through these detailed demand analyses, the execution efficiency and accuracy of the cleaning water adding operation can be maximized. Then, a parametric model of the water-adding process of the cleaning robot's water-adding operation is designed based on the robot's cleaning operation space environment layout constraints and the robot's cleaning water-adding demand conditions. This step covers the actual execution process of the simulation model. By running the simulation to simulate the actual effects under different water-adding conditions, it can not only quantitatively evaluate the efficiency and cost-effectiveness of the cleaning robot's water-adding operation, but also provide important data support for optimizing operation processes and technologies, so as to ensure the best cleaning water-adding effect and resource utilization efficiency in practical applications.Finally, by conducting simulation evaluation and analysis of the water-adding process of the cleaning robot according to the parameterized simulation model of the robot water-adding process, we can deeply understand the effect and performance of the cleaning robot water-adding operation under different water-adding simulation parameters. This step can include quantitative analysis of water-adding efficiency, operation time, water resource utilization, etc., so as to comprehensively evaluate the response ability and optimization space of the model in practical applications, which can provide guidance for subsequent model optimization and practical application, and help decision makers better understand and use the data output of the simulation model. In addition, by optimizing the model parameters of the parameterized simulation model of the robot water-adding process based on the simulation evaluation results of the cleaning robot water-adding process, the limitations and optimization space in the evaluation results can be analyzed, and the parameterized simulation model of the robot water-adding process can be further adjusted and optimized, which involves improving the simulation algorithm, adjusting the model input parameters, optimizing the control strategy, etc., aiming to improve the accuracy and fidelity of the parameterized model, make it closer to the actual scene and have better application value, so as to fully reflect the complex dynamic changes of the cleaning robot in the actual water-adding operation scene.

[0038] Preferably, step S1 comprises the following steps:

[0039] Step S11: performing a spatial environment layout topology analysis on the cleaning operation process of the cleaning robot to obtain a spatial environment layout topology structure of the cleaning operation of the cleaning robot;

[0040] Step S12: performing spatial feature analysis on the topological structure of the cleaning robot's cleaning operation space environment layout to obtain spatial feature data of the robot's cleaning operation environment layout; performing three-dimensional environmental modeling processing on the topological structure of the cleaning robot's cleaning operation space environment layout based on the spatial feature data of the robot's cleaning operation environment layout to generate a three-dimensional spatial model of the robot's cleaning operation environment;

[0041] Step S13: performing spatial environment layout constraint analysis on the cleaning operation process of the cleaning robot based on the three-dimensional spatial model of the robot cleaning operation environment to obtain spatial environment layout constraint conditions of the robot cleaning operation;

[0042] Step S14: performing cleaning area recognition analysis on the cleaning operation process of the cleaning robot to obtain the cleaning operation space area range of the robot;

[0043] Step S15: quantifying the area of ​​the robot's cleaning operation space to obtain the size of the robot's cleaning area.

[0044] As an embodiment of the present invention, refer to Figure 2 As shown, Figure 1 Detailed step flow diagram of step S1 in FIG. 1 , in this embodiment, step S1 includes the following steps:

[0045] Step S11: performing a spatial environment layout topology analysis on the cleaning operation process of the cleaning robot to obtain a spatial environment layout topology structure of the cleaning operation of the cleaning robot;

[0046] The embodiment of the present invention collects the plan layout diagram of the cleaning work space during the cleaning operation of the cleaning robot, marks all important structures and objects, such as walls, furniture, electrical appliances, etc., and performs topological analysis on it by using the spatial topological analysis method to determine all paths and connection relationships encountered by the cleaning robot in the space, including the spatial layout between open areas, passages, narrow passages or obstacles, to establish a basic topological structure diagram of the cleaning work environment, and finally obtain the topological structure of the cleaning robot's cleaning work space environment layout.

[0047] Step S12: performing spatial feature analysis on the topological structure of the cleaning robot's cleaning operation space environment layout to obtain spatial feature data of the robot's cleaning operation environment layout; performing three-dimensional environmental modeling processing on the topological structure of the cleaning robot's cleaning operation space environment layout based on the spatial feature data of the robot's cleaning operation environment layout to generate a three-dimensional spatial model of the robot's cleaning operation environment;

[0048] The embodiment of the present invention analyzes the topological structure of the cleaning robot's cleaning operation space environment layout by using a spatial feature analysis method to analyze each spatial feature in the topological structure in detail, including but not limited to the shape, size, relative position, difficulty of passage, and corresponding obstacle position of each area, thereby obtaining the spatial feature data of the robot's cleaning operation environment layout. At the same time, by combining the spatial feature data of the robot's cleaning operation environment layout obtained by analysis, a professional three-dimensional modeling software or tool is used to perform three-dimensional modeling on the corresponding topological structure of the cleaning robot's cleaning operation space environment layout, so as to convert the previously acquired spatial feature data into an accurate three-dimensional environment model, including establishing the geometric shape, size, and position of each object and structure in the space to ensure that the model is consistent with the actual environment, and also considering the occlusion relationship between objects, visibility, and detailed features in the actual scene to improve the realism and application effect of the model, and finally generate a three-dimensional spatial model of the robot's cleaning operation environment.

[0049] Step S13: performing spatial environment layout constraint analysis on the cleaning operation process of the cleaning robot based on the three-dimensional spatial model of the robot cleaning operation environment to obtain spatial environment layout constraint conditions of the robot cleaning operation;

[0050] The embodiment of the present invention analyzes the spatial distribution position of obstacles and divides different cleaning operation environment space areas according to the three-dimensional spatial model of the robot cleaning operation environment. At the same time, the motion constraint analysis method is used to perform statistical analysis on the motion restrictions of the cleaning robot during the cleaning operation of the cleaning robot by combining the different cleaning operation environment space areas obtained by the division, so as to evaluate and analyze the motion restrictions of the cleaning robot when moving between different areas, such as turning radius, maximum speed, acceleration, passable width, height and other constraints, and the obstacle avoidance planning analysis is performed on the obstacles in the corresponding positions during the cleaning operation of the cleaning robot by combining the spatial distribution position of the obstacles obtained by the analysis, so as to analyze how the cleaning robot can avoid collision or obstruction with obstacles (including static and dynamic) during the cleaning operation, and fully consider the perception ability and reaction speed of the cleaning robot and the dynamic and uncertainty of the obstacles to reasonably design the obstacle avoidance constraints. At the same time, by merging the two constraints, the various restrictions and conditions faced by the robot during the entire operation process are comprehensively considered, and finally the robot cleaning operation space environment layout constraints are obtained.

[0051] Step S14: performing cleaning area recognition analysis on the cleaning operation process of the cleaning robot to obtain the cleaning operation space area range of the robot;

[0052] The embodiment of the present invention uses machine vision and sensor technology to identify and analyze the cleaning area of ​​the cleaning robot during the cleaning operation of the cleaning robot, so as to identify and mark the specific cleaning area range in the cleaning operation space, and finally obtain the cleaning operation space area range of the robot.

[0053] Step S15: quantifying the area of ​​the robot's cleaning operation space to obtain the size of the robot's cleaning area.

[0054] The embodiment of the present invention uses a regional area measurement method to quantify the area of ​​the identified robot cleaning operation space range, so as to measure and calculate the actual area size of each cleaning area, and finally obtain the area size of the robot cleaning area.

[0055] The present invention firstly analyzes the layout structure of the working environment in a systematic way by performing a spatial environment layout topological analysis on the cleaning operation process of the cleaning robot, and can effectively depict the spatial layout topological structure diagram required for the execution of the cleaning task. This topological analysis is not just a simple spatial position positioning, but also takes into account the interconnection and dependency between various areas in a more in-depth manner. Through this step, the complexity and interaction mode of the entire working environment can be accurately understood, thereby providing the necessary basis for the subsequent three-dimensional modeling of the environmental space. Secondly, by performing a spatial feature analysis on the topological structure of the spatial environment layout of the cleaning robot's cleaning operation, in order to deeply analyze the spatial features in the topological structure, key environmental layout spatial feature data can be obtained, including but not limited to the shape, size, relative position, difficulty of passage, and corresponding obstacle position of each area. These detailed feature data can provide an important basis for the modeling and path planning of the subsequent steps, thereby helping to make more intelligent decisions and operations, and improving the execution efficiency and success rate of the cleaning task. At the same time, by performing environmental three-dimensional modeling on the topological structure of the cleaning robot's cleaning operation space layout based on the spatial feature data of the robot's cleaning operation environment layout, an accurate three-dimensional spatial model can be established, which can transform the abstract environmental layout into a visual and operable entity. This modeling process not only provides a comprehensive understanding of the working environment, but also provides a practical basis for robot path planning, obstacle avoidance and efficiency optimization. The three-dimensional spatial model can help simulate different working scenarios, predict and optimize the robot's action strategy in a complex environment, thereby maximizing the accuracy and efficiency of subsequent water addition operations. Then, by performing spatial environmental layout constraint analysis on the cleaning robot's cleaning operation process based on the three-dimensional spatial model of the robot's cleaning operation environment, the environmental layout constraints in the model are analyzed, and the various environmental layout restrictions and challenges encountered by the robot in the process of performing cleaning tasks can be accurately evaluated. This constraint analysis covers aspects such as physical obstacles in the spatial layout, restrictions on motion paths, and safety distance requirements, thereby providing the necessary basis for designing safe and reliable operation paths and behavior rules for the robot. Through effective constraint analysis, potential operational risks can be predicted and avoided, thereby ensuring that the robot can complete tasks stably and efficiently under various circumstances. Next, by analyzing the cleaning area recognition during the cleaning operation of the cleaning robot, the specific area that needs to be cleaned can be accurately identified, and the entire work space can be divided into logically related area units. This analysis is not just a simple area recognition, but also includes an understanding of the role and priority of each area in the overall cleaning task. Through this step, the cleaning path can be effectively planned, the cleaning sequence can be optimized, and each area can be ensured to be completely and efficiently covered, thereby improving the comprehensiveness and efficiency of the cleaning operation.Finally, by conducting a quantitative analysis of the area of ​​the robot's cleaning operation space, the size and area of ​​each cleaning area can be accurately measured, providing important data support for task allocation and resource planning. This quantitative analysis not only helps to reasonably arrange the workload of the cleaning robot, but also helps to evaluate the progress and effectiveness of the cleaning operation. By accurately understanding the size of each area, it can provide basic data support for subsequent processing processes, ensuring that the maximum cleaning coverage is completed in the shortest time, thereby improving the overall efficiency and effectiveness of the cleaning operation.

[0056] Preferably, step S13 comprises the following steps:

[0057] Step S131: performing obstacle layout distribution analysis on the three-dimensional space model of the robot cleaning operation environment to obtain the obstacle distribution positions of the robot cleaning operation environment;

[0058] Step S132: performing cleaning task identification and analysis on the cleaning operation process of the cleaning robot to obtain cleaning task data of the cleaning robot;

[0059] Step S133: dividing the three-dimensional space model of the robot cleaning environment into spatial regions based on the distribution positions of obstacles in the robot cleaning environment and the cleaning task data of the cleaning robot, so as to obtain different cleaning environment spatial regions for the robot cleaning tasks;

[0060] Step S134: performing inter-region motion constraint analysis on the cleaning operation process of the cleaning robot based on different cleaning operation environment space regions of the robot cleaning task, and obtaining motion constraint conditions of the robot between different cleaning operation space regions;

[0061] Step S135: performing obstacle avoidance planning constraint analysis on the cleaning operation process of the cleaning robot based on the distribution positions of obstacles in the robot's cleaning operation environment, and obtaining obstacle avoidance planning constraint conditions for the robot's cleaning operation path;

[0062] Step S136: The motion constraints of the robot between different cleaning operation space areas and the obstacle avoidance planning constraints of the robot's cleaning operation path are combined into the operation space constraints to obtain the robot's cleaning operation space environment layout constraints.

[0063] As an embodiment of the present invention, refer to Figure 3 As shown, Figure 2 FIG. 1 is a schematic diagram of a detailed step flow chart of step S13 in FIG. 1 . In this embodiment, step S13 includes the following steps:

[0064] Step S131: performing obstacle layout distribution analysis on the three-dimensional space model of the robot cleaning operation environment to obtain the obstacle distribution positions of the robot cleaning operation environment;

[0065] The embodiment of the present invention identifies and analyzes the distribution positions of obstacles in the three-dimensional spatial model of the robot's cleaning operation environment, so as to analyze in detail the distribution positions of obstacles in the three-dimensional spatial model of the robot's cleaning operation environment, and finally obtain the distribution positions of obstacles in the robot's cleaning operation environment.

[0066] Step S132: performing cleaning task identification and analysis on the cleaning operation process of the cleaning robot to obtain cleaning task data of the cleaning robot;

[0067] The embodiment of the present invention uses various sensors and visual systems carried in the cleaning robot to identify and analyze the cleaning tasks during the cleaning operation of the cleaning robot, so as to identify and analyze the type and location of the cleaning tasks, and obtain the actual task data that the cleaning robot needs to handle from the cleaning operation process of the cleaning robot, including the area to be cleaned, the type and special requirements, etc., and finally obtain the cleaning task data of the cleaning robot.

[0068] Step S133: dividing the three-dimensional space model of the robot cleaning environment into spatial regions based on the distribution positions of obstacles in the robot cleaning environment and the cleaning task data of the cleaning robot, so as to obtain different cleaning environment spatial regions for the robot cleaning tasks;

[0069] The embodiment of the present invention spatially divides the corresponding cleaning task areas within the three-dimensional space model of the robot's cleaning working environment by combining the analyzed obstacle distribution positions of the robot's cleaning working environment and the cleaning task data of the cleaning robot, so as to divide the cleaning working environment into different areas or partitions, wherein each area has a specific obstacle layout and cleaning task requirements, and ensures that the robot can efficiently complete the cleaning task of each area without being disturbed or collided with obstacles, and finally obtains different cleaning working environment spatial areas for the robot's cleaning tasks.

[0070] Step S134: performing inter-region motion constraint analysis on the cleaning operation process of the cleaning robot based on different cleaning operation environment space regions of the robot cleaning task, and obtaining motion constraint conditions of the robot between different cleaning operation space regions;

[0071] The embodiment of the present invention uses a motion constraint analysis method to perform statistical analysis on the motion limitations of a cleaning robot during a cleaning operation of the cleaning robot by combining different cleaning operation environment space areas divided into different cleaning operation tasks, so as to evaluate and analyze the motion limitations of the cleaning robot when moving between different areas, such as turning radius, maximum speed, acceleration, passable width, height, etc., and determine the specific constraints for the cleaning robot to move safely and efficiently between different areas, and finally obtain the motion constraints of the robot between different cleaning operation space areas.

[0072] Step S135: performing obstacle avoidance planning constraint analysis on the cleaning operation process of the cleaning robot based on the distribution positions of obstacles in the robot's cleaning operation environment, and obtaining obstacle avoidance planning constraint conditions for the robot's cleaning operation path;

[0073] The embodiment of the present invention performs obstacle avoidance planning analysis on obstacles in corresponding positions during the cleaning operation of the cleaning robot in combination with the analyzed obstacle distribution positions in the robot's cleaning operation environment, so as to analyze how the cleaning robot can avoid collision or obstruction with obstacles (including static and dynamic) during the cleaning operation, and fully considers the perception ability and reaction speed of the cleaning robot as well as the dynamics and uncertainty of the obstacles to reasonably design obstacle avoidance constraints, thereby ensuring that the cleaning robot can safely avoid obstacles when performing cleaning tasks, avoiding operation interruptions or equipment damage, and finally obtaining the obstacle avoidance planning constraints for the robot's cleaning operation path.

[0074] Step S136: The motion constraints of the robot between different cleaning operation space areas and the obstacle avoidance planning constraints of the robot's cleaning operation path are combined into the operation space constraints to obtain the robot's cleaning operation space environment layout constraints.

[0075] The embodiment of the present invention combines the movement constraints of the robot between different cleaning work space areas obtained from the previous constraint analysis and the obstacle avoidance planning constraints of the robot's cleaning work path, so as to comprehensively consider the various restrictions and conditions faced by the robot in the entire operation process, so that the cleaning robot can dynamically adjust the path planning and action strategy in actual operation, and finally obtain the layout constraints of the robot's cleaning work space environment.

[0076] The present invention first analyzes the obstacle layout distribution of the three-dimensional spatial model of the robot cleaning operation environment in order to analyze the location and distribution of obstacles in the environment in detail, and can accurately determine which areas will affect the movement and operation of the cleaning robot. This analysis is not limited to simple obstacle detection, but focuses on understanding how obstacles affect the robot's path planning and action arrangement. By accurately obtaining obstacle distribution data, potential action obstacles can be effectively predicted and avoided, thereby improving the safety and efficiency of subsequent robot water-adding operations. Secondly, by performing cleaning task identification analysis on the cleaning robot's cleaning operation process, it is to obtain the actual task data that the cleaning robot needs to handle from the environment. By analyzing the cleaning requirements of different areas in the environment, the specific cleaning task type and priority can be identified, including the area, type and special requirements that need to be cleaned. This detailed task data analysis can provide key inputs for subsequent steps, ensuring that the robot can perform cleaning tasks in an orderly manner according to actual needs, and improving the effectiveness and efficiency of task completion. At the same time, the three-dimensional space model of the robot cleaning working environment is divided into spatial regions based on the distribution of obstacles in the robot cleaning working environment and the cleaning task data of the cleaning robot. The key to this step is to divide the environment into logically related areas, each of which has specific cleaning requirements and obstacle layouts. Through precise regional division, the execution order and path planning of cleaning tasks can be effectively managed and optimized to ensure that the robot can efficiently respond to the cleaning needs of each area during the entire operation process. Then, by analyzing the inter-regional motion constraints of the cleaning robot's cleaning operation process based on different cleaning working environment spatial areas of the robot cleaning task, it is possible to focus on the constraints of the robot's movement between different areas, including but not limited to path length, obstacle location, movement speed and safety distance. By deeply analyzing the motion constraints between each area, the robot's movement path can be effectively planned to avoid unnecessary energy consumption and time waste, thereby improving the subsequent overall water addition operation efficiency and resource utilization. Next, an obstacle avoidance planning constraint analysis is performed on the cleaning robot's cleaning operation process based on the distribution of obstacles in the robot's cleaning operation environment to ensure that the robot can safely and effectively avoid obstacles when performing cleaning tasks. This analysis is not limited to the detection of static obstacles, but also takes into account the possible changes and movements of obstacles in a dynamic environment. This step can provide real-time obstacle avoidance guidance for the robot's path planning through precise obstacle avoidance planning constraints, thereby ensuring that it can stably and safely perform cleaning and watering operations in a complex environment.Finally, by merging the robot's motion constraints and obstacle avoidance planning constraints between different cleaning work space areas, comprehensive work space constraints can be obtained. These comprehensive constraints take into account the various restrictions and conditions faced by the robot during the entire operation process, and provide accurate and comprehensive guidance for the overall management and execution of the robot's cleaning and water-adding operations. The formulation of comprehensive constraints enables the cleaning robot to dynamically adjust path planning and action strategies in actual operations to cope with complex environmental changes and task requirements, thereby maximizing the efficiency and success rate of cleaning and water-adding operations.

[0077] Preferably, step S134 includes the following steps:

[0078] The regional distribution characteristics of different cleaning work environment space areas of the robot cleaning task are analyzed to obtain the spatial range geometric constraints, traversable range constraints and spatial inclination angle constraints between different cleaning work environment space areas;

[0079] The embodiment of the present invention uses a distribution characteristic analysis method to perform statistical analysis on the movement process between different cleaning work environment space areas of the robot cleaning task, so as to achieve a detailed analysis of the spatial range geometric characteristics, the passable range and the spatial inclination angle restrictions of each area, including determining the geometric shape restrictions of each area (such as the width of the doorway, the size and shape of the room and the layout of existing obstacles), the passable width and height restrictions (to consider the passability of the robot when moving between different areas, including the width and height restrictions of the threshold or corridor, etc.) and the inclination angle restrictions within the area (including the inclination of the ground or slope that affects the stability and ability of the robot to move between different areas). Finally, the spatial range geometric restriction conditions, the passable range restriction conditions and the spatial inclination angle restriction conditions between different cleaning work environment space areas are obtained.

[0080] Preferably, based on the spatial range geometric restriction conditions between different cleaning operation environment space areas, the motion turning radius constraint analysis of the cleaning robot cleaning operation process is performed to obtain the motion turning radius constraint conditions between different cleaning operation environment space areas;

[0081] The embodiment of the present invention analyzes the constraints of the turning radius of the cleaning robot within or between different areas during the cleaning operation of the cleaning robot by combining the spatial range geometric constraints between different cleaning operation environment space areas obtained by analysis, so as to fully consider the size and maneuverability of the robot to determine the minimum radius of the robot turning within or between different areas, and ensure that it can turn safely and continue the cleaning task within a limited space, while avoiding collision or jamming with the surrounding environment or obstacles, and finally obtain the motion turning radius constraints between different cleaning operation environment space areas.

[0082] Preferably, based on the traversable range restriction conditions between different cleaning operation environment space areas, the traversable parameter constraint analysis is performed on the cleaning operation process of the cleaning robot to obtain the traversable motion parameter constraint conditions between different cleaning operation environment space areas;

[0083] The embodiment of the present invention constrains the passability of the cleaning robot within or between different areas during the cleaning operation of the cleaning robot by combining the passable range restriction conditions between different cleaning operation environment space areas obtained by analysis, so as to determine the maximum width, height, depth and other parameters required for the robot to move between different areas, and ensure that the robot can smoothly pass through various channels and thresholds without being affected by space restrictions or causing jamming or damage, and finally obtains the passable motion parameter constraint conditions between different cleaning operation environment space areas.

[0084] Preferably, based on the spatial inclination angle constraint conditions between different cleaning operation environment space areas, the running speed constraint analysis of the cleaning robot cleaning operation process is performed to obtain the running speed constraint conditions between different cleaning operation environment space areas;

[0085] The embodiment of the present invention constrains the running speed of the cleaning robot within or between different areas during the cleaning operation of the cleaning robot by combining the spatial inclination angle constraints between different cleaning operation environment space areas obtained by analysis, so as to evaluate and determine the maximum safe operating speed of the robot on the ground or slope at different inclination angles. The inclination angle between different areas will affect the stability and traction of the robot. Therefore, by setting an appropriate running speed limit according to the actual site inclination, and ensuring that the robot can remain stable and safe during the cleaning process, the running speed constraint conditions between different cleaning operation environment space areas are finally obtained.

[0086] Preferably, the motion turning radius constraints, passable motion parameter constraints and running speed constraints between different cleaning work environment space areas are combined to obtain the motion constraints of the robot between different cleaning work space areas.

[0087] The embodiment of the present invention combines the motion turning radius constraints, passable motion parameter constraints and running speed constraints between different cleaning work environment space areas obtained by previous constraint analysis to ensure that the robot can move and operate effectively and safely according to the characteristics of different areas during the entire cleaning task, while avoiding potential collisions or motion obstructions, and finally obtain the motion constraints of the robot between different cleaning work space areas.

[0088] The present invention first analyzes the regional distribution characteristics of different cleaning working environment space areas of the robot cleaning task, and can realize a detailed analysis of the spatial range geometric characteristics, the passable range and the spatial inclination angle restrictions of each area, including determining the geometric shape restrictions, passable width and height restrictions and inclination angle restrictions of each area, so as to accurately describe the spatial layout relationship between different spatial areas, thereby providing basic data guarantee for the subsequent path planning and formulation of motion constraints. Secondly, based on the spatial range geometric constraints between different cleaning working environment space areas, the cleaning robot's cleaning process is analyzed for motion turning radius constraints. This step focuses on the minimum turning radius required for the robot to turn between different areas to ensure that the robot can safely turn and adjust the direction in a restricted space. By analyzing the turning radius constraints, the robot can avoid collisions or operation obstructions caused by too small a turning radius, thereby improving the fluency and safety of the operation process. Then, the cleaning robot's cleaning operation process is analyzed for the traversable range constraints between different cleaning operation environment space areas. This includes analyzing the robot's maximum speed, acceleration, and walking or operating parameter constraints encountered when moving between different areas. By analyzing the traversable parameter constraints in detail, it can be ensured that the robot can effectively adapt to and perform cleaning and watering tasks between different areas, while ensuring the safety and efficiency of operations during subsequent watering operations. Next, the cleaning robot's cleaning operation process is analyzed for operating speed constraints based on the spatial inclination angle constraints between different cleaning operation environment space areas. This step can focus on the robot's maximum operating speed limit between different areas. Considering the impact of the existing ground inclination or slope on the robot's movement, the robot's movement strategy can be adjusted by analyzing the operating speed constraints, thereby ensuring that the cleaning robot can still maintain a safe and stable operating state under various terrain and inclination angle conditions. Finally, by merging the motion turning radius constraints, passable motion parameter constraints and running speed constraints between different cleaning operation environment space areas into comprehensive motion constraints, such a comprehensive analysis and merging process ensures that the robot can follow consistent motion specifications and restrictions during the entire cleaning operation process. The comprehensive motion constraints not only ensure the safe movement of the robot between different areas, but also optimize its motion efficiency and operation quality in complex environments, thereby comprehensively improving the execution capability and success rate of subsequent cleaning and watering operations.

[0089] Preferably, step S135 includes the following steps:

[0090] Based on the distribution positions of the environmental obstacles in the robot's cleaning operation environment, a statistical analysis of the movement characteristics of the environmental obstacles during the cleaning operation of the cleaning robot is performed to obtain the movement characteristic degree value of the environmental obstacles during the cleaning operation;

[0091] The embodiment of the present invention uses a statistical method to perform a statistical analysis of the movement characteristics of the environmental obstacles at the corresponding distribution positions during the cleaning operation of the cleaning robot by combining the analyzed distribution positions of the environmental obstacles in the robot's cleaning operation, so as to quantitatively analyze the evaluation values ​​of the movement conditions of the obstacles at the corresponding positions during the cleaning operation, and finally obtain the movement characteristic degree values ​​of the environmental obstacles during the cleaning operation.

[0092] Preferably, the mobility characteristic degree value of the environmental obstacle during the cleaning operation is compared and judged according to a preset mobility characteristic degree threshold value. When the mobility characteristic degree value of the environmental obstacle during the cleaning operation is less than the preset mobility characteristic degree threshold value, the corresponding environmental obstacle is judged as a static obstacle; when the mobility characteristic degree value of the environmental obstacle during the cleaning operation is greater than or equal to the preset mobility characteristic degree threshold value, the corresponding environmental obstacle is judged as a dynamic obstacle.

[0093] The embodiment of the present invention uses a preset mobility characteristic degree threshold to compare and judge the mobility characteristic degree values ​​of environmental obstacles during the cleaning operation obtained by quantitative calculation one by one. If the mobility characteristic degree value of the environmental obstacle during the cleaning operation is less than the preset mobility characteristic degree threshold, it means that the position of the corresponding obstacle remains unchanged or the movement change is small during the cleaning process, and the corresponding environmental obstacle is judged as a static obstacle, such as fixed furniture or walls; if the mobility characteristic degree value of the environmental obstacle during the cleaning operation is greater than or equal to the preset mobility characteristic degree threshold, it means that the position of the corresponding obstacle changes greatly during the cleaning process or the position change will pose a real-time threat to the robot's motion path, and the corresponding environmental obstacle is judged as a dynamic obstacle, such as moving furniture or personnel.

[0094] Preferably, when it is determined that the environmental obstacle during the cleaning operation of the cleaning robot is a static obstacle, an obstacle avoidance distance constraint analysis is performed on the static obstacle to obtain a static obstacle avoidance distance constraint condition for the cleaning operation of the robot;

[0095] If the embodiment of the present invention determines that an obstacle in the environment is a static obstacle, the distance between the cleaning robot and the corresponding static obstacle is calculated and evaluated using a safe distance calculation method by considering the size, speed, sensor range of the robot and the characteristics of the obstacle, so as to determine the safe distance constraint range that the cleaning robot needs to maintain with the static obstacle when performing the cleaning task, and ensure that the cleaning robot can effectively bypass the static obstacle without causing collision or jamming, and finally obtain the static obstacle avoidance distance constraint condition of the robot cleaning operation.

[0096] Preferably, when it is determined that the environmental obstacle during the cleaning operation of the cleaning robot is a dynamic obstacle, a path obstacle avoidance planning analysis is performed on the dynamic obstacle to obtain dynamic path obstacle avoidance planning constraint conditions for the robot cleaning operation;

[0097] If the embodiment of the present invention determines that an obstacle in the environment is a dynamic obstacle, a path planning algorithm is used to plan the obstacle avoidance of the running path between the cleaning robot and the dynamic obstacle during the cleaning operation, so as to adjust the robot's path planning according to the position of the dynamic obstacle and the motion trajectory of the cleaning robot, avoid collision or obstruction with the dynamic obstacle, minimize the interruption of the cleaning operation and the pause of the robot, and finally meet the dynamic path obstacle avoidance planning constraints of the robot's cleaning operation.

[0098] Preferably, the static obstacle avoidance distance constraint condition of the robot cleaning operation and the dynamic path obstacle avoidance planning constraint condition of the robot cleaning operation are combined to obtain the path obstacle avoidance planning constraint condition of the robot cleaning operation.

[0099] The embodiment of the present invention combines the previously determined static obstacle avoidance distance constraints of the robot's cleaning operation and the dynamic path obstacle avoidance planning constraints of the robot's cleaning operation to balance the priorities and implementation order of different constraints to ensure that the robot can efficiently and safely complete cleaning tasks in complex environments, and ensure that the cleaning robot can simultaneously consider the effects of static and dynamic obstacles during cleaning operations, thereby optimizing the path planning and motion control, and ultimately obtaining the robot's cleaning operation path obstacle avoidance planning constraints.

[0100] The present invention firstly conducts a statistical analysis of the movement characteristics of environmental obstacles in the cleaning robot's cleaning process based on the distribution position of obstacles in the robot's cleaning operation environment, which is a key step to ensure the safety and efficiency of the subsequent operation process. This step can obtain the movement characteristic degree value of each obstacle in the cleaning process by conducting a detailed analysis of the position distribution of obstacles in the environment. This analysis not only focuses on the static position of obstacles, but also considers their dynamic changes in time and space, thereby providing important data support for the subsequent obstacle avoidance strategy formulation. Secondly, obstacles in the environment are distinguished based on a preset movement characteristic degree threshold to distinguish between static obstacles and dynamic obstacles. Static obstacles refer to obstacles whose positions are fixed or change little during the cleaning process, while dynamic obstacles pose a real-time threat to the robot's motion path due to movement or position changes. This classification can help the cleaning robot plan and execute obstacle avoidance strategies more accurately, thereby improving the efficiency and safety of subsequent cleaning and watering operations. Then, when it is determined that the obstacle in the environment is a static obstacle, that is, the position of the obstacle is relatively stable and does not change much, the static obstacle is subjected to static obstacle avoidance distance constraint analysis. The purpose of this step is to determine the safe distance that the robot needs to maintain from the static obstacle when performing the cleaning task to avoid collision or operation interference. Through accurate distance constraint analysis, it can ensure that the robot can efficiently bypass static obstacles and complete each stage of the cleaning and watering operation. Next, for the case that is identified as a dynamic obstacle, a dynamic path obstacle avoidance planning analysis is required, which involves tracking and predicting the position and motion trajectory of the obstacle in a real-time environment, so as to adjust the robot's path planning in time to avoid collision or obstruction with dynamic obstacles. The key to the dynamic path obstacle avoidance planning is to respond quickly to environmental changes, thereby ensuring that the robot operates safely and efficiently in a complex environment. Finally, by merging the static obstacle avoidance distance constraint and the dynamic path obstacle avoidance planning constraint to form a comprehensive robot cleaning operation path obstacle avoidance planning constraint, this comprehensive constraint not only comprehensively considers the impact of static and dynamic obstacles on the robot's motion, but also ensures that the robot can operate safely and effectively throughout the cleaning operation. Through reasonable obstacle avoidance strategies, unexpected events and operational delays during operations can be minimized, thereby improving the execution efficiency and quality of subsequent cleaning and water addition operations.

[0101] Preferably, step S2 comprises the following steps:

[0102] Step S21: quantifying the pollution degree of the cleaning area during the cleaning operation of the cleaning robot to obtain the pollution degree of the cleaning area of ​​the robot;

[0103] The embodiment of the present invention determines the boundary and scope of the cleaning area during the cleaning operation of the cleaning robot, and quantitatively evaluates the degree of contamination of the current cleaning area by considering factors such as the type, distribution and density of pollutants in the cleaning area, and finally obtains the degree of contamination of the robot cleaning area.

[0104] Step S22: performing an estimated analysis of the water demand of the cleaning operation of the cleaning robot based on the size of the robot cleaning area and the degree of contamination in the robot cleaning area, so as to obtain an estimated water demand for the robot cleaning operation;

[0105] The embodiment of the present invention uses a clean water volume prediction method to predict and analyze the clean water demand of the cleaning robot during the cleaning operation by combining the size of the robot's cleaning area and the degree of pollution in the robot's cleaning area obtained by analysis, so as to take into account the size of the cleaning area and adjust the clean water volume required for the robot to perform the operation according to the different degrees of pollution, and finally obtain the estimated water demand for the robot's cleaning operation.

[0106] Step S23: calculating the impact of water demand on the estimated water demand of the cleaning operation of the cleaning robot based on the cleaning operation process of the cleaning robot, and obtaining a threshold value of water demand for the cleaning operation of the robot;

[0107] The embodiment of the present invention recalculates the estimated water demand for the corresponding robot cleaning operation by evaluating and analyzing the cleaning effect, water pump pressure efficiency, water evaporation rate and other influencing factors during the cleaning operation of the cleaning robot, and comprehensively considers the impact of the aforementioned influencing factors on the water demand to calculate and determine the minimum amount of water required for the cleaning robot to ensure a good cleaning effect under different working conditions, and finally obtains the water demand threshold for the robot cleaning operation.

[0108] Step S24: comparing and judging the water volume of the water tank of the cleaning robot during the cleaning operation of the cleaning robot according to the water volume threshold required for the cleaning operation of the robot; if the water volume of the water tank of the cleaning robot is greater than or equal to the water volume threshold required for the cleaning operation of the robot, no water adding operation is performed; if the water volume of the water tank of the cleaning robot is less than the water volume threshold required for the cleaning operation of the robot, the working operation mode of the cleaning robot is switched to the water adding operation mode to generate the water adding operation of the cleaning robot;

[0109] The embodiment of the present invention compares and judges the real-time water level in the water tank of the cleaning robot during the cleaning operation of the cleaning robot according to the previously determined water level threshold of the robot's cleaning operation. If the water level in the water tank of the cleaning robot is greater than or equal to the water level threshold of the robot's cleaning operation, it means that the water level in the water tank is sufficient and there is no need to add water. Conversely, if the water level in the water tank of the cleaning robot is less than the water level threshold of the robot's cleaning operation, the working operation mode of the cleaning robot is switched to the water adding operation mode according to the setting, so as to ensure that the robot always has sufficient water resources support when performing cleaning tasks, and finally generate the cleaning robot water adding operation.

[0110] Step S25: analyzing the water adding demand of the cleaning robot's water adding operation based on the water volume in the cleaning robot's water tank during the cleaning operation of the cleaning robot and the threshold of the water volume required for the robot's cleaning operation to obtain the robot's cleaning water adding demand condition.

[0111] The embodiment of the present invention uses a difference statistical analysis method to perform statistical analysis on the difference between the water volume in the water tank of the cleaning robot during the cleaning operation of the cleaning robot and the water volume threshold required for the robot's cleaning operation, so as to count the difference between the water volume in the water tank and the actual required water volume threshold in real time, and perform statistical analysis of the water addition demand based on the water volume difference obtained by analysis, including determining when and how much water should be added to the robot's water tank, thereby determining the corresponding timing of water addition, water addition amount and implementation conditions of the water addition operation, and ensuring that the cleaning robot can flexibly and efficiently respond to the actual needs of different cleaning areas during the entire operation process, and finally obtain the robot's cleaning water addition demand conditions.

[0112] The present invention firstly quantifies the pollution degree of the cleaning area during the cleaning operation of the cleaning robot, and can accurately evaluate the pollution degree of the current area. This quantitative result is based on various sensor data and algorithm analysis, which not only reflects the pollution situation on the surface, but also considers factors such as the type, distribution and density of pollutants, thereby providing the necessary basic data for the subsequent water demand analysis. Secondly, the cleaning operation process of the cleaning robot is estimated and analyzed based on the size of the robot cleaning area and the pollution degree of the robot cleaning area. This step not only considers the size of the area, but also adjusts the amount of detergent sprayed and the amount of water required when the robot performs the operation according to the different pollution degrees. By estimating the water demand, the required resources can be planned and prepared in advance before the operation starts to ensure the consistency and efficiency of the cleaning effect. Then, the water demand impact calculation is performed on the estimated water demand of the robot cleaning operation based on the cleaning operation process of the cleaning robot, so as to further calculate the impact of the estimated water demand on the overall water demand and determine the water demand threshold of the robot cleaning operation. This threshold is not just a static value, but is dynamically adjusted according to the real-time operation impact to ensure that the robot can effectively respond to different cleaning needs during the operation. Next, the water volume in the water tank of the cleaning robot during the cleaning operation of the cleaning robot is compared and judged according to the water volume threshold of the robot cleaning operation. If the water volume in the current water tank meets or exceeds the water volume threshold, the normal operation mode of the cleaning robot will be maintained and no water addition operation will be performed. However, if the water volume in the water tank is lower than the water volume threshold, the operation mode of the cleaning robot will be automatically switched to the water addition operation mode to ensure that the required water volume is replenished to the cleaning area in time when necessary. Finally, the water addition demand analysis of the cleaning robot water addition operation is performed based on the water volume in the cleaning robot water tank during the cleaning operation of the cleaning robot and the water volume threshold of the robot cleaning operation. This analysis includes the timing of water addition, the precise calculation of the water addition amount, and the implementation conditions of the water addition operation, aiming to ensure that the cleaning robot can flexibly and efficiently respond to the actual needs of different cleaning areas during the entire operation process. Through these detailed demand analyses, the execution efficiency and resource utilization of the cleaning water addition operation can be maximized.

[0113] Preferably, step S23 includes the following steps:

[0114] Step S231: evaluating and analyzing the cleaning effect of the cleaning robot's cleaning operation process to obtain the cleaning effect degree of the robot's cleaning operation;

[0115] The embodiment of the present invention determines evaluation standards and indicators, including the coverage rate of the cleaning surface, the dirt removal rate, the cleaning uniformity, etc., and uses a visual inspection system or sensor to capture the key parameters of the cleaning robot's cleaning operation process, and conducts quantitative and qualitative evaluations of the cleaning effect of the cleaning robot in the actual operation process based on the collected parameters, so as to comprehensively consider factors such as the type, distribution, coverage of surface pollutants and the operating efficiency of the cleaning robot to evaluate and analyze the cleaning effect performance of the cleaning robot in the cleaning operation process, and finally obtain the degree of cleaning effect of the robot's cleaning operation.

[0116] Step S232: evaluating and analyzing the pressure efficiency of the water pump of the cleaning robot during the cleaning operation of the cleaning robot to obtain the pressure efficiency of the water pump of the cleaning operation of the robot;

[0117] The embodiment of the present invention measures the output pressure, flow rate and working efficiency of the water pump of the cleaning robot during the cleaning operation of the cleaning robot, and evaluates and analyzes the pressure output and water flow rate of the water pump of the cleaning robot during the cleaning operation by using an evaluation algorithm, so as to evaluate and analyze the performance of the water pump under different working conditions, and determine the actual output pressure efficiency of the water pump in the cleaning operation, and finally obtain the pressure application efficiency of the water pump of the robot cleaning operation.

[0118] Step S233: performing statistical analysis on the evaporation rate of environmental water during the cleaning operation of the cleaning robot to obtain the evaporation rate of environmental water during the cleaning operation of the robot;

[0119] The embodiment of the present invention uses environmental sensors to monitor factors such as air temperature, humidity, wind speed, etc. in the surrounding environment, and statistically analyzes their impact on water evaporation. At the same time, it uses evaporation rate statistical methods to quantify and determine the evaporation rate of environmental water during the operation of the cleaning robot, and finally obtains the evaporation rate of environmental water in the robot cleaning operation environment.

[0120] Step S234: Based on the cleaning effect degree of the robot cleaning operation, the pressure efficiency of the water pump of the robot cleaning operation, and the evaporation rate of water in the robot cleaning operation environment, the water addition amount impact evaluation analysis is performed on the estimated water addition demand of the robot cleaning operation, and the cleaning effect water addition amount impact factor, the water pump pressure efficiency water addition amount impact factor, and the environmental water evaporation water addition amount impact factor are obtained;

[0121] The embodiment of the present invention uses an impact assessment algorithm to evaluate and analyze the impact of the estimated water addition demand of the robot cleaning operation by combining the cleaning effect degree of the robot cleaning operation, the water pump pressure efficiency of the robot cleaning operation, and the evaporation rate of water in the robot cleaning operation environment obtained by previous analysis, so as to evaluate and analyze the actual impact of different water addition amounts on the cleaning effect in the cleaning operation, the actual impact of different water pump working conditions on the water addition amount, and the actual impact of different environmental conditions on the water addition demand, and extract the corresponding influencing factors therefrom, and finally obtain the influencing factors of the water addition amount for cleaning effect, the influencing factors of the water addition amount for water pump pressure efficiency, and the influencing factors of the water addition amount for environmental water evaporation.

[0122] Step S235: Calculate the impact of the water demand threshold on the estimated water demand for the robot cleaning operation according to the cleaning effect water demand influencing factor, the water pump pressure efficiency water demand influencing factor and the environmental moisture evaporation water demand influencing factor to obtain the robot cleaning operation water demand threshold.

[0123] The embodiment of the present invention determines the final water requirement threshold for the estimated water demand of the robot cleaning operation by combining the analyzed water-addition influencing factors of cleaning effect, water-addition influencing factors of water pump pressure efficiency and water-addition influencing factors of environmental moisture evaporation. The minimum water requirement threshold for the cleaning robot to ensure a good cleaning effect under different working conditions is calculated by comprehensively considering the impact of the aforementioned influencing factors on the water demand. Finally, the water requirement threshold for the robot cleaning operation is obtained.

[0124] The present invention firstly evaluates and analyzes the cleaning effect of the cleaning robot during the cleaning operation process, and can quantify and evaluate the actual effect of the cleaning operation. This process is not just a simple visual inspection, but uses advanced sensor technology and data processing algorithms to comprehensively consider factors such as the type, distribution, and coverage of surface pollutants and the operating efficiency of the cleaning robot. The evaluation results reflect the actual effect of the operation, thereby providing an accurate data basis for subsequent steps. Secondly, evaluating and analyzing the pressure efficiency of the cleaning robot water pump during the cleaning operation of the cleaning robot is an important link in ensuring operation efficiency and resource utilization. This step can evaluate the uniformity and intensity of detergent spraying by analyzing the pressure efficiency of the water pump, thereby ensuring balanced supply under different cleaning requirements. This process not only considers the technical parameters of the water pump, but also comprehensively considers the changes in pressure requirements under different scenarios in the cleaning operation, thereby providing basic data guarantee for subsequent processing. Then, the purpose of statistically analyzing the environmental water evaporation rate of the cleaning robot cleaning operation is to better understand and manage the water resource utilization in the cleaning operation process. Through the statistical analysis of the environmental water evaporation rate, the amount of water lost due to natural evaporation during the operation can be predicted and compensated. This analysis takes into account the impact of different seasons, climate conditions and operation time on the water evaporation rate, and provides key data support for the subsequent water demand assessment. Next, the water demand impact assessment analysis is conducted on the estimated water demand of the robot cleaning operation based on the cleaning effect of the robot cleaning operation, the water pump pressure efficiency of the robot cleaning operation, and the environmental water evaporation rate of the robot cleaning operation. Through the calculation and weighing of the water demand impact factor of the cleaning effect, the water pump pressure efficiency, and the environmental water evaporation water demand impact factor, the actual impact of different influencing factors on the water demand can be quantified. This analysis helps to dynamically adjust the water strategy to maximize the efficiency and resource utilization of the cleaning water addition operation. Finally, the water demand threshold impact on the estimated water demand for the robot cleaning operation is calculated based on the factors affecting the water demand for cleaning effect, the water pump pressure efficiency, and the environmental moisture evaporation. The influencing factors of cleaning effect, water pump efficiency, and environmental factors are comprehensively considered to determine the water demand threshold suitable for different cleaning scenarios. This threshold is not just a static setting, but is dynamically adjusted based on real-time data and feedback to ensure that the cleaning robot can always effectively meet actual needs during operation while maximizing water conservation.

[0125] Preferably, step S3 comprises the following steps:

[0126] Step S31: establishing a simulation model and initializing a simulation scene for the water-adding operation of the cleaning robot to obtain an initial simulation scene model for the water-adding operation of the cleaning robot;

[0127] The embodiment of the present invention first needs to determine the specific simulation requirements and goals of the cleaning robot's water-adding operation, which includes collecting and analyzing the actual scene data of the cleaning robot's water-adding operation, such as the physical layout of the working environment, the robot's motion capabilities, the location of the water source, etc., and using computer simulation software to establish a simulation model based on these data, and initialize the simulation scene of the established simulation model, which involves importing the collected data and parameters into the simulation model to establish an initial simulation scene model of the cleaning robot's water-adding operation, including setting the time and space scales of the simulation, determining the physical model and algorithm used in the simulation, and initializing various elements in the simulation environment, such as the cleaning robot's initial position, water-adding equipment, operating area, etc., and ensuring that the simulation model can accurately simulate the actual situation of the cleaning robot's water-adding operation, and finally obtaining a preliminary model of the cleaning robot's water-adding operation simulation scene.

[0128] Step S32: setting operating space constraint parameters for the water-adding operation of the cleaning robot based on the robot cleaning operating space environment layout constraint conditions to obtain the robot water-adding operation space constraint parameters;

[0129] The embodiment of the present invention sets the operation space constraint parameters of the corresponding cleaning robot water-adding operation by combining the robot cleaning operation space environment layout constraint conditions obtained by analysis (including considering the size, shape, obstacle distribution and other space restriction parameters of the operation area), so as to set the space constraint parameters of the robot water-adding operation according to the working environment layout constraints of the cleaning robot water-adding operation, such as determining the area range in which the robot can operate safely, path planning to avoid obstacles, etc., and finally obtain the robot water-adding operation space constraint parameters.

[0130] Step S33: setting water adding constraint parameters for the water adding operation of the cleaning robot based on the robot cleaning water adding requirement condition to obtain the robot water adding constraint parameters;

[0131] The embodiment of the present invention sets the water adding constraint parameters for the corresponding cleaning robot water adding operation by combining the robot cleaning water adding demand conditions obtained by analysis (including determining the time point, frequency, water volume, water spraying method and other water adding demand conditions for water adding), so as to set reasonable water adding constraint parameters, such as the water requirement, water adding frequency, water adding opportunity and other parameters of different cleaning tasks by comprehensively considering the technical capabilities of the robot, the performance characteristics of the water adding equipment and the actual needs of the operation scenario, so as to effectively control the variables in the water adding simulation process, and finally obtain the robot water adding constraint parameters.

[0132] Step S34: Importing the robot water-adding operation space constraint parameters and the robot water-adding constraint parameters into the preliminary model of the cleaning robot water-adding operation simulation scenario to perform parameterized simulation of the water-adding process, thereby generating a parameterized simulation model of the robot water-adding process.

[0133] The embodiment of the present invention performs specific simulation by importing the set and generated robot water-adding operation space constraint parameters and the robot water-adding constraint parameters into the initial model of the cleaning robot water-adding operation simulation scenario, so as to constrain the simulated cleaning robot's water-adding operation process according to the set parameters, and run the simulation to simulate the actual effect of the water-adding operation under different conditions, and finally generate a parameterized simulation model of the robot water-adding process.

[0134] The present invention first establishes an accurate simulation model by establishing a simulation model for the water-adding operation of the cleaning robot and initializing the simulation scene, which includes the physical characteristics of the cleaning robot, the water source management system, the operation mode of the water-adding device, etc. Through accurate modeling of the actual operation scene, the simulation model can reflect the basic working mechanism and efficiency of the water-adding operation of the cleaning robot under different conditions, and by initializing the simulation scene, it can ensure that the initial state of the model is accurate, thereby laying the foundation for the subsequent parameterized simulation execution. Secondly, setting the operating space constraint parameters for the water-adding operation of the cleaning robot based on the layout constraint conditions of the robot cleaning operation space environment is a key step to ensure that the simulation model is consistent with the actual scene. This process takes into account factors such as the size of the operating space, the layout of obstacles, and the terrain characteristics, ensuring that the cleaning robot can accurately simulate the water-adding operation scenes under different environments in the simulation, and the setting of the operating space constraint parameters is not limited to geometric dimensions, but also includes physical restrictions on the movement and operation of the robot under different spatial conditions, thereby ensuring the authenticity and fidelity of the simulation results. Then, the key to accurately reflect the actual water demand of the robot is to set the water adding constraint parameters for the water adding operation of the cleaning robot based on the robot's cleaning water adding demand conditions. This step takes into account the water demand, water adding frequency, water adding timing and other factors of different cleaning tasks, and quantifies these conditions into simulation parameters. By accurately setting the water adding constraint parameters, the simulation model can simulate how the robot can accurately perform water adding operations according to demand in actual operations, thereby optimizing the use efficiency and operation effect of water resources. Finally, by importing the robot water adding operation space constraint parameters and robot water adding constraint parameters into the preliminary model of the cleaning robot water adding operation simulation scenario, and performing parameterized simulation execution of the water adding process, this step covers the actual execution process of the simulation model. By running the simulation to simulate the actual effects under different water adding conditions, the results of the simulation execution can not only quantitatively evaluate the efficiency and cost-effectiveness of the cleaning robot water adding operation, but also provide important data support for optimizing the operation process and technology, so as to ensure the best cleaning water adding effect and resource utilization efficiency in actual applications.

[0135] Preferably, step S4 comprises the following steps:

[0136] Step S41: performing a water adding process simulation test on the water adding operation of the cleaning robot according to the parameterized simulation model of the water adding process of the robot, so as to obtain the water adding simulation process of the cleaning robot under different water adding simulation parameter conditions;

[0137] The embodiment of the present invention applies a designed parameterized simulation model of the robot's water-adding process to a specific cleaning robot water-adding operation scenario to perform a simulation test of the water-adding process, so as to set different water-adding simulation parameter conditions, such as water-adding frequency, water-adding amount, water-adding timing, etc., to simulate the water-adding behavior of the cleaning robot in different scenarios, and finally obtain the cleaning robot's water-adding simulation process under different water-adding simulation parameter conditions.

[0138] Step S42: performing simulation evaluation and analysis on the water adding simulation process of the cleaning robot under different water adding simulation parameter conditions to obtain a water adding simulation evaluation result of the cleaning robot;

[0139] The embodiment of the present invention uses a data evaluation algorithm to perform detailed evaluation and analysis on the corresponding cleaning robot water adding simulation process under different water adding simulation parameter conditions, including the evaluation of the robot's water adding efficiency, water flow coverage, water adding uniformity, and cleaning effect on the target surface during the simulation process, so as to quantify the advantages and disadvantages of the cleaning robot's water adding operation under different parameter settings, thereby identifying the optimal operating parameter combination, and finally obtaining the cleaning robot water adding simulation evaluation result.

[0140] Step S43: Optimizing the model parameters of the parameterized simulation model of the robot's water-adding process based on the evaluation result of the cleaning robot's water-adding simulation to generate a parameterized simulation optimization model of the robot's water-adding process.

[0141] The embodiment of the present invention further optimizes the parameters of the robot's water-adding process parameterized simulation model by combining the cleaning robot water-adding simulation evaluation results obtained through evaluation analysis, so as to adjust and improve the various parameters of the simulation model according to the optimal operating parameter combination identified in the evaluation results, including but not limited to adjusting the simulation algorithm, optimizing the range and accuracy of the model input parameters, and even redesigning part of the model structure to better reflect the complexity and dynamic changes of the actual water-adding operation, and improve the accuracy of the simulation model and simulation results, and finally generate a robot water-adding parameterized simulation optimization model.

[0142] The present invention firstly performs a water adding process simulation test on the water adding operation of the cleaning robot according to the parameterized simulation model of the robot water adding process, which is an important step to ensure that the model can accurately reflect the operation effect and robot behavior under different water adding conditions in practical applications. This step can simulate the water adding behavior of the cleaning robot in different scenarios by setting different simulation parameters, such as water adding frequency, water adding amount, water adding time, etc. These simulation tests not only help verify the accuracy and reliability of the model, but also provide a data basis for subsequent simulation evaluation, thereby providing a scientific basis for optimizing the cleaning operation process. Then, by performing simulation evaluation and analysis on the water adding simulation process of the cleaning robot under different water adding simulation parameters, the effect and performance of the water adding operation of the cleaning robot under different water adding simulation parameters can be deeply understood. This step can include quantitative analysis of water adding efficiency, operation time, water resource utilization, etc. through evaluation and analysis, thereby comprehensively evaluating the response ability and optimization space of the model in practical applications, which can provide guidance for subsequent model optimization and practical application, thereby helping decision makers to better understand and utilize the data output of the simulation model. Finally, by optimizing the model parameters of the parameterized simulation model of the robot's water-adding process based on the simulation evaluation results of the cleaning robot's water-adding process, in order to analyze the limitations and optimization space in the evaluation results, the parameterized simulation model of the robot's water-adding process can be further adjusted and optimized. This involves improving the simulation algorithm, adjusting the model input parameters, optimizing the control strategy, etc., aiming to improve the accuracy and realism of the parameterized model, making it closer to the actual scenario and having better application value.

[0143] Preferably, the present invention also provides a parametric simulation model design system based on a cleaning robot, which is used to execute the parametric simulation model design method based on a cleaning robot as described above, and the parametric simulation model design system based on a cleaning robot comprises:

[0144] The cleaning constraint quantitative analysis module of the cleaning robot is used to perform spatial environment layout constraint analysis on the cleaning operation process of the cleaning robot to obtain the spatial environment layout constraint conditions of the robot's cleaning operation; perform cleaning area quantitative analysis on the cleaning operation process of the cleaning robot to obtain the size of the robot's cleaning area;

[0145] The robot water adding demand condition analysis module is used to switch the water volume threshold operation of the cleaning robot cleaning operation process based on the size of the robot cleaning area to generate the cleaning robot water adding operation; the cleaning water adding demand analysis is performed on the cleaning robot water adding operation to obtain the robot cleaning water adding demand condition;

[0146] The robot parameterized simulation model design module is used to design a parameterized model of the water adding process of the cleaning robot water adding operation based on the robot cleaning operation space environment layout constraints and the robot cleaning water adding demand conditions, thereby generating a parameterized simulation model of the robot water adding process;

[0147] The cleaning robot water-adding simulation model optimization module is used to perform simulation evaluation and analysis on the water-adding process of the cleaning robot according to the parameterized simulation model of the robot water-adding process, and obtain the cleaning robot water-adding simulation evaluation results; based on the cleaning robot water-adding simulation evaluation results, the model parameters of the robot water-adding process parameterized simulation model are optimized to generate a robot water-adding parameterized simulation optimization model.

[0148] In summary, the present invention provides a parametric simulation model design system based on a cleaning robot, which is composed of a cleaning robot cleaning constraint quantification analysis module, a robot water adding requirement condition analysis module, a robot parametric simulation model design module and a cleaning robot water adding simulation model optimization module. It can realize any parametric simulation model design method based on a cleaning robot described in the present invention, and is used to combine the operations between computer programs running on each module to realize the parametric simulation model design method based on a cleaning robot. The internal structures of the system cooperate with each other, which can greatly reduce repetitive work and manpower investment, and can quickly and effectively provide a more accurate and efficient parametric simulation model design process based on a cleaning robot, thereby simplifying the operation process of the parametric simulation model design system based on a cleaning robot.

[0149] Therefore, the embodiments should be regarded as illustrative and non-restrictive from all points, and the scope of the present invention is limited by the appended claims rather than the above description, and it is therefore intended that all changes falling within the meaning and range of equivalent elements of the application documents are included in the present invention.

[0150] The above description is only a specific embodiment of the present invention, so that those skilled in the art can understand or implement the present invention. Various modifications to these embodiments will be apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the present invention. Therefore, the present invention will not be limited to the embodiments shown herein, but should conform to the widest scope consistent with the principles and novel features invented herein.

Claims

1. A parametric simulation model design method based on a cleaning robot, characterized in that: The following steps are involved: Step S1: performing spatial environment layout constraint analysis on the cleaning operation process of the cleaning robot to obtain spatial environment layout constraint conditions of the robot cleaning operation; Conduct quantitative analysis of the cleaning area during the cleaning operation of the cleaning robot to obtain the size of the robot's cleaning area; Step S2: switching the cleaning operation process of the cleaning robot according to the water volume threshold operation based on the size of the robot cleaning area to generate a water adding operation for the cleaning robot; Perform a cleaning water adding demand analysis on the cleaning robot water adding operation to obtain the robot cleaning water adding demand conditions; wherein step S2 includes the following steps: Step S21: quantifying the pollution degree of the cleaning area during the cleaning operation of the cleaning robot to obtain the pollution degree of the cleaning area of ​​the robot; Step S22: performing an estimated analysis of the water demand of the cleaning operation of the cleaning robot based on the size of the robot cleaning area and the degree of contamination in the robot cleaning area, so as to obtain an estimated water demand for the robot cleaning operation; Step S23: based on the cleaning operation process of the cleaning robot, the estimated water demand of the robot cleaning operation is calculated to obtain the threshold of the water demand of the robot cleaning operation; wherein step S23 includes the following steps: Step S231: evaluating and analyzing the cleaning effect of the cleaning robot's cleaning operation process to obtain the cleaning effect degree of the robot's cleaning operation; Step S232: evaluating and analyzing the pressure efficiency of the water pump of the cleaning robot during the cleaning operation of the cleaning robot to obtain the pressure efficiency of the water pump of the cleaning operation of the robot; Step S233: performing statistical analysis on the evaporation rate of environmental water during the cleaning operation of the cleaning robot to obtain the evaporation rate of environmental water during the cleaning operation of the robot; Step S234: Based on the cleaning effect degree of the robot cleaning operation, the pressure efficiency of the water pump of the robot cleaning operation, and the evaporation rate of water in the robot cleaning operation environment, the water addition amount impact evaluation analysis is performed on the estimated water addition demand of the robot cleaning operation, and the cleaning effect water addition amount impact factor, the water pump pressure efficiency water addition amount impact factor, and the environmental water evaporation water addition amount impact factor are obtained; Step S235: Calculate the impact of the water demand threshold on the estimated water demand for the robot cleaning operation according to the water demand influencing factor of the cleaning effect, the water demand influencing factor of the water pump pressure efficiency, and the water demand influencing factor of the environmental water evaporation, to obtain the water demand threshold for the robot cleaning operation; Step S24: comparing and judging the water volume of the water tank of the cleaning robot during the cleaning operation of the cleaning robot according to the water volume threshold required for the cleaning operation of the robot; if the water volume of the water tank of the cleaning robot is greater than or equal to the water volume threshold required for the cleaning operation of the robot, no water adding operation is performed; if the water volume of the water tank of the cleaning robot is less than the water volume threshold required for the cleaning operation of the robot, the working operation mode of the cleaning robot is switched to the water adding operation mode to generate the water adding operation of the cleaning robot; Step S25: analyzing the water demand of the cleaning robot's water filling operation based on the water volume of the cleaning robot's water tank during the cleaning operation of the cleaning robot and the threshold of the water volume required for the robot's cleaning operation, and obtaining the robot's cleaning water filling demand condition; Step S3: Design a parameterized model of the water-adding process for the water-adding operation of the cleaning robot based on the layout constraints of the robot cleaning operation space environment and the robot cleaning water-adding demand conditions, and generate a parameterized simulation model of the robot water-adding process; wherein step S3 includes the following steps: Step S31: establishing a simulation model and initializing a simulation scene for the water-adding operation of the cleaning robot to obtain an initial simulation scene model for the water-adding operation of the cleaning robot; Step S32: setting operating space constraint parameters for the water-adding operation of the cleaning robot based on the robot cleaning operating space environment layout constraint conditions to obtain the robot water-adding operation space constraint parameters; Step S33: setting water adding constraint parameters for the water adding operation of the cleaning robot based on the robot cleaning water adding requirement condition to obtain the robot water adding constraint parameters; Step S34: Importing the robot water-adding operation space constraint parameters and the robot water-adding constraint parameters into the cleaning robot water-adding operation simulation scene preliminary model to perform parameterized simulation of the water-adding process, thereby generating a parameterized simulation model of the robot water-adding process; Step S4: performing simulation evaluation and analysis on the water adding process of the cleaning robot according to the parameterized simulation model of the robot's water adding process to obtain a simulation evaluation result of the cleaning robot's water adding; optimizing the model parameters of the parameterized simulation model of the robot's water adding process based on the simulation evaluation result of the cleaning robot to generate a parameterized simulation optimization model of the robot's water adding.

2. The parametric simulation model design method based on the cleaning robot according to claim 1 is characterized in that: Step S1 includes the following steps: Step S11: performing a spatial environment layout topology analysis on the cleaning operation process of the cleaning robot to obtain a spatial environment layout topology structure of the cleaning operation of the cleaning robot; Step S12: performing spatial feature analysis on the topological structure of the cleaning robot's cleaning operation space environment layout to obtain spatial feature data of the robot's cleaning operation environment layout; performing three-dimensional environmental modeling processing on the topological structure of the cleaning robot's cleaning operation space environment layout based on the spatial feature data of the robot's cleaning operation environment layout to generate a three-dimensional spatial model of the robot's cleaning operation environment; Step S13: performing spatial environment layout constraint analysis on the cleaning operation process of the cleaning robot based on the three-dimensional spatial model of the robot cleaning operation environment to obtain spatial environment layout constraint conditions of the robot cleaning operation; Step S14: performing cleaning area recognition analysis on the cleaning operation process of the cleaning robot to obtain the cleaning operation space area range of the robot; Step S15: quantifying the area of ​​the robot's cleaning operation space to obtain the size of the robot's cleaning area.

3. The parametric simulation model design method based on the cleaning robot according to claim 2 is characterized in that: Step S13 includes the following steps: Step S131: performing obstacle layout distribution analysis on the three-dimensional space model of the robot cleaning operation environment to obtain the obstacle distribution positions of the robot cleaning operation environment; Step S132: performing cleaning task identification and analysis on the cleaning operation process of the cleaning robot to obtain cleaning task data of the cleaning robot; Step S133: dividing the three-dimensional space model of the robot cleaning environment into spatial regions based on the distribution positions of obstacles in the robot cleaning environment and the cleaning task data of the cleaning robot, so as to obtain different cleaning environment spatial regions for the robot cleaning tasks; Step S134: performing inter-region motion constraint analysis on the cleaning operation process of the cleaning robot based on different cleaning operation environment space regions of the robot cleaning task, and obtaining motion constraint conditions of the robot between different cleaning operation space regions; Step S135: performing obstacle avoidance planning constraint analysis on the cleaning operation process of the cleaning robot based on the distribution positions of obstacles in the robot's cleaning operation environment, and obtaining obstacle avoidance planning constraint conditions for the robot's cleaning operation path; Step S136: The motion constraints of the robot between different cleaning operation space areas and the obstacle avoidance planning constraints of the robot's cleaning operation path are combined into the operation space constraints to obtain the robot's cleaning operation space environment layout constraints.

4. The parametric simulation model design method based on the cleaning robot according to claim 3 is characterized in that: Step S134 includes the following steps: The regional distribution characteristics of different cleaning work environment space areas of the robot cleaning task are analyzed to obtain the spatial range geometric constraints, traversable range constraints and spatial inclination angle constraints between different cleaning work environment space areas; Based on the geometric constraints of the spatial range between different cleaning working environment spaces, the motion turning radius constraint analysis of the cleaning robot cleaning process is carried out to obtain the motion turning radius constraint conditions between different cleaning working environment spaces; Based on the traversable range restriction conditions between different cleaning operation environment space areas, the traversable parameter constraint analysis of the cleaning operation process of the cleaning robot is carried out to obtain the traversable motion parameter constraint conditions between different cleaning operation environment space areas; Based on the spatial inclination angle constraints between different cleaning operation environment space areas, the running speed constraint analysis of the cleaning robot cleaning operation process is carried out to obtain the running speed constraint conditions between different cleaning operation environment space areas; The motion constraints of the turning radius, the passable motion parameter and the running speed between different cleaning working environment space areas are combined to obtain the motion constraints of the robot between different cleaning working space areas.

5. The parametric simulation model design method based on the cleaning robot according to claim 3 is characterized in that: Step S135 includes the following steps: Based on the distribution positions of the environmental obstacles in the robot's cleaning operation environment, a statistical analysis of the movement characteristics of the environmental obstacles during the cleaning operation of the cleaning robot is performed to obtain the movement characteristic degree value of the environmental obstacles during the cleaning operation; The mobile characteristic degree value of the environmental obstacle during the cleaning operation is compared and judged according to the preset mobile characteristic degree threshold. When the mobile characteristic degree value of the environmental obstacle during the cleaning operation is less than the preset mobile characteristic degree threshold, the corresponding environmental obstacle is judged as a static obstacle; when the mobile characteristic degree value of the environmental obstacle during the cleaning operation is greater than or equal to the preset mobile characteristic degree threshold, the corresponding environmental obstacle is judged as a dynamic obstacle; When it is determined that the environmental obstacles in the cleaning robot's cleaning operation process are static obstacles, obstacle avoidance distance constraint analysis is performed on the static obstacles to obtain the static obstacle avoidance distance constraint conditions for the robot's cleaning operation; When it is determined that the environmental obstacles in the cleaning robot's cleaning operation process are dynamic obstacles, the path obstacle avoidance planning analysis is performed on the dynamic obstacles to obtain the dynamic path obstacle avoidance planning constraint conditions of the robot's cleaning operation; The static obstacle avoidance distance constraints of the robot cleaning operation and the dynamic path obstacle avoidance planning constraints of the robot cleaning operation are combined to obtain the path obstacle avoidance planning constraints of the robot cleaning operation.

6. The parametric simulation model design method based on the cleaning robot according to claim 1 is characterized in that: Step S4 includes the following steps: Step S41: performing a water adding process simulation test on the water adding operation of the cleaning robot according to the parameterized simulation model of the water adding process of the robot, so as to obtain the water adding simulation process of the cleaning robot under different water adding simulation parameter conditions; Step S42: performing simulation evaluation and analysis on the water adding simulation process of the cleaning robot under different water adding simulation parameter conditions to obtain a water adding simulation evaluation result of the cleaning robot; Step S43: Optimizing the model parameters of the parameterized simulation model of the robot's water-adding process based on the evaluation result of the cleaning robot's water-adding simulation to generate a parameterized simulation optimization model of the robot's water-adding process.

7. A parametric simulation model design system based on a cleaning robot, characterized in that: Used to execute the parametric simulation model design method based on the cleaning robot as claimed in claim 1, the parametric simulation model design system based on the cleaning robot comprises: The cleaning constraint quantitative analysis module of the cleaning robot is used to perform spatial environment layout constraint analysis on the cleaning operation process of the cleaning robot to obtain the spatial environment layout constraint conditions of the robot's cleaning operation; perform cleaning area quantitative analysis on the cleaning operation process of the cleaning robot to obtain the size of the robot's cleaning area; The robot water adding demand condition analysis module is used to quantitatively calculate the pollution degree of the cleaning area during the cleaning operation of the cleaning robot to obtain the pollution degree of the robot cleaning area; based on the size of the robot cleaning area and the pollution degree of the robot cleaning area, the cleaning operation process of the cleaning robot is estimated to analyze the water demand of the cleaning operation to obtain the estimated water adding demand of the robot cleaning operation; the cleaning effect evaluation and analysis of the cleaning robot cleaning operation process is performed to obtain the cleaning effect degree of the robot cleaning operation; the pressure efficiency evaluation and analysis of the cleaning robot water pump during the cleaning operation of the cleaning robot is performed to obtain the pressure efficiency of the robot cleaning operation water pump; the environmental water evaporation rate of the cleaning robot cleaning operation is statistically analyzed to obtain the environmental water evaporation rate of the robot cleaning operation; based on the cleaning effect degree of the robot cleaning operation, the pressure efficiency of the robot cleaning operation water pump and the environmental water evaporation rate of the robot cleaning operation, the water adding impact evaluation and analysis on the estimated water adding demand of the robot cleaning operation is performed to obtain the cleaning effect water adding water volume influencing factor, water pump pressure efficiency water volume influencing factor and environmental water evaporation water volume influencing factor; according to the cleaning effect water volume influencing factor, the water pump pressure efficiency water volume influencing factor and the environmental water evaporation water volume influencing factor, the estimated water demand for the robot cleaning operation is calculated to obtain the robot cleaning operation water volume threshold; according to the robot cleaning operation water volume threshold, the water volume of the cleaning robot water tank during the cleaning operation of the cleaning robot is compared and judged, if the water volume of the cleaning robot water tank is greater than or equal to the robot cleaning operation water volume threshold, no water adding operation is performed; if the water volume of the cleaning robot water tank is less than the robot cleaning operation water volume threshold, the working operation mode of the cleaning robot is switched to the water adding operation mode to generate the cleaning robot water adding operation; based on the cleaning robot water tank water volume during the cleaning operation of the cleaning robot and the robot cleaning operation water volume threshold, the cleaning water adding demand of the cleaning robot water adding operation is analyzed to obtain the robot cleaning water adding demand condition; The robot parameterized simulation model design module is used to establish a simulation model and initialize the simulation scene for the cleaning robot water-adding operation, so as to obtain a preliminary model of the cleaning robot water-adding operation simulation scene; based on the robot cleaning operation space environment layout constraint conditions, the cleaning robot water-adding operation operation space constraint parameters are set to obtain the robot water-adding operation space constraint parameters; based on the robot cleaning water-adding demand conditions, the cleaning robot water-adding operation operation water-adding constraint parameters are set to obtain the robot water-adding constraint parameters; by importing the robot water-adding operation space constraint parameters and the robot water-adding constraint parameters into the preliminary model of the cleaning robot water-adding operation simulation scene, the water-adding process is parametrically simulated and executed to generate a robot water-adding process parametric simulation model; The cleaning robot water-adding simulation model optimization module is used to perform simulation evaluation and analysis on the water-adding process of the cleaning robot according to the parameterized simulation model of the robot water-adding process, and obtain the cleaning robot water-adding simulation evaluation results; based on the cleaning robot water-adding simulation evaluation results, the model parameters of the robot water-adding process parameterized simulation model are optimized to generate a robot water-adding parameterized simulation optimization model.

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