Cleaning control method, device, electronic device and storage medium

Abstract

The embodiments of the present application relate to the field of intelligent robot technology, and disclose a cleaning control method, device, electronic device and storage medium. First, a path is planned according to a task (such as transporting, guiding or cleaning tasks), and a first robot is controlled to travel along the path to perform the task, and ground sampling is performed on each area passed by the path during the driving process. Then, based on the ground sampling information of each area, the degree of dirtiness corresponding to each area is determined. Finally, the degree of dirtiness corresponding to each area is monitored. If the degree of dirtiness of the target area meets the preset cleaning conditions, the first robot is controlled or another second robot is dispatched to perform fixed-point cleaning on the target area. In this solution, the robot in the control application scenario is sampled and monitored in the process of performing the task, and the dirty areas that are detected to need to be cleaned can be cleaned in time, so that the dirty areas are dynamically cleared, that is, dynamic fixed-point cleaning can be achieved.

Description

Technical Field

[0001] The embodiments of the present application relate to the field of intelligent robot technology, and in particular to a cleaning control method, device, electronic device, and storage medium. Background Art

[0002] With the development of artificial intelligence (AI), robots are becoming increasingly intelligent. Robots can perform different tasks depending on the application scenario. In some applications, robots can perform tasks such as moving, delivering, guiding, or cleaning.

[0003] At present, most robots complete different tasks independently, such as delivery or cleaning tasks. The robots move multiple times in the same space, wasting effective labor time, having low efficiency, and failing to maintain a clean environment. Summary of the Invention

[0004] The main technical problem solved by the embodiments of the present application is to provide a cleaning control method, device, electronic device and storage medium, which can realize dynamic fixed-point cleaning, clear dirty areas and maintain a clean environment.

[0005] To solve the above technical problems, in a first aspect, an embodiment of the present application provides a cleaning control method, comprising:

[0006] Receive tasks and plan routes based on them;

[0007] Controlling the first robot to travel along the path to perform the task, and performing ground sampling on each area passed by the path during the travel process;

[0008] Determine the degree of dirtiness of each area based on ground sampling information of each area;

[0009] If the dirtiness of the target area meets the preset cleaning conditions, the first robot is controlled or the second robot is dispatched to dynamically clean the target area, wherein the target area is any one of the areas.

[0010] In some embodiments, the above-mentioned ground sampling of each area passed by the path includes:

[0011] According to the path length of the sub-path in each area, the sampling times of each area are determined respectively;

[0012] Ground sampling is performed on each area that the path passes through according to the corresponding sampling times.

[0013] In some embodiments, the above-mentioned ground sampling is performed on each area passed by the path according to the corresponding sampling times, including:

[0014] Randomly select N sampling points from the sub-path of the path within the target area, where N is equal to the number of sampling points corresponding to the target area and is a positive integer;

[0015] For each sampling point, ground sampling is performed within an area with a preset radius extending outward from the sampling point as the center.

[0016] In some embodiments, determining the dirtiness level of each area based on ground sampling information of each area includes:

[0017] Continuously accumulating samples for each of the areas, and recording a detection result of each sampling for each of the areas, wherein the detection result includes whether it is dirty or clean;

[0018] According to the number of sampling points with dirty detection results, the degree of dirtiness corresponding to each area is determined.

[0019] In some embodiments, the method further comprises:

[0020] If the dirtiness of the target area is greater than or equal to the dirtiness threshold, it is determined that the target area meets the preset cleaning conditions.

[0021] In some embodiments, the method further comprises:

[0022] Sort the areas according to their dirtiness;

[0023] If the time interval between the last cleaning of the top M areas with the highest degree of dirtiness is greater than or equal to a first preset interval, the first robot is controlled or the second robot is dispatched to go to the top M areas with the highest degree of dirtiness for fixed-point cleaning, where M is a positive integer.

[0024] In some embodiments, the first robot includes a camera;

[0025] The ground sampling includes: performing ground sampling through a camera, and using the ground image captured by the camera as ground sampling information.

[0026] To solve the above technical problems, in a second aspect, an embodiment of the present application provides a cleaning control device, comprising:

[0027] Receiving and planning module, used to receive tasks and plan paths according to the tasks;

[0028] a control sampling module, configured to control the first robot to travel along the path to perform the task, and to perform ground sampling on each area passed by the path during the travel process;

[0029] A determination module is used to determine the dirtiness level of each area based on ground sampling information of each area;

[0030] The cleaning control module is used to control the first robot or dispatch the second robot to perform fixed-point cleaning on the target area if the dirtiness of the target area meets the preset cleaning conditions, wherein the target area is any one of the areas.

[0031] To solve the above technical problems, in a third aspect, an embodiment of the present application provides an electronic device, including:

[0032] at least one processor, and

[0033] a memory communicatively coupled to at least one processor, wherein:

[0034] The memory stores instructions that can be executed by at least one processor, and the instructions are executed by the at least one processor to enable the at least one processor to perform the method of the first aspect.

[0035] To solve the above technical problems, in a fourth aspect, an embodiment of the present application provides a computer-readable storage medium, which stores computer-executable instructions, and the computer-executable instructions are used to enable a computer device to execute the method of the first aspect.

[0036] Beneficial effects of the embodiments of the present application: Different from the prior art, the cleaning control method provided by the embodiments of the present application first plans a path according to a task (such as transporting, guiding or cleaning tasks), controls the first robot to travel along the path to perform the task, and performs ground sampling on each area passed by the path during the driving process. Then, based on the ground sampling information of each area, the degree of dirtiness corresponding to each area is determined. Finally, the degree of dirtiness corresponding to each area is monitored, and for any area in each area (i.e., the target area), if its degree of dirtiness meets the preset cleaning conditions, the first robot is controlled or the other second robot is dispatched to perform fixed-point cleaning on the target area. In this solution, the robot in the control application scenario is sampled and monitored in the process of performing the task, and the dirty and messy areas that are detected to need to be cleaned can be cleaned in time, so that the dirty and messy areas are dynamically cleared, that is, dynamic fixed-point cleaning can be achieved, dirty and messy areas can be cleared, and the environment can be maintained clean. BRIEF DESCRIPTION OF THE DRAWINGS

[0037] One or more embodiments are exemplarily illustrated by pictures in the corresponding drawings. These exemplifications do not constitute limitations on the embodiments. Elements with the same reference numerals in the drawings are represented as similar elements. Unless otherwise stated, the figures in the drawings do not constitute proportional limitations.

[0038] Figure 1 This is a schematic diagram of an application scenario of a cleaning control system in some embodiments of the present application;

[0039] Figure 2This is a schematic diagram of the structure of an electronic device in some embodiments of the present application;

[0040] Figure 3 This is a schematic structural diagram of a cleaning control device in some embodiments of the present application;

[0041] Figure 4 This is a flow chart of the cleaning control method in some embodiments of the present application;

[0042] Figure 5 This is a schematic diagram of the structure of ground area division and paths in some embodiments of the present application;

[0043] Figure 6 This is a sampling diagram in some embodiments of the present application. DETAILED DESCRIPTION

[0044] The present application is described in detail below with reference to specific embodiments. The following embodiments will help those skilled in the art to further understand the present application, but are not intended to limit the present application in any form. It should be noted that those skilled in the art may make several variations and improvements without departing from the scope of the present application. These all fall within the scope of protection of the present application.

[0045] In order to make the purpose, technical solutions and advantages of this application more clear, the following further describes this application in detail with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain this application and are not intended to limit this application.

[0046] It should be noted that, if there is no conflict, the various features in the embodiments of the present application can be combined with each other and are all within the scope of protection of the present application. In addition, although the functional modules are divided in the device schematic and the logical order is shown in the flow chart, in some cases, the steps shown or described can be performed in a different order than the module division in the device or the order in the flow chart. In addition, the words "first", "second", "third", etc. used herein do not limit the data and execution order, but only distinguish between the same items or similar items with basically the same functions and effects.

[0047] Unless otherwise defined, all technical and scientific terms used in this specification have the same meanings as those commonly understood by those skilled in the art to which this application belongs. The terms used in this specification and in the specification of this application are only for the purpose of describing specific embodiments and are not intended to limit this application. The term "and / or" as used in this specification includes any and all combinations of one or more of the relevant listed items.

[0048] In addition, the technical features involved in each embodiment of the present application described below can be combined with each other as long as they do not conflict with each other.

[0049] Currently, most robots perform different tasks independently, such as delivery or cleaning. In some embodiments, one or more robots are deployed within a fixed building, with one or more robots able to move within floors 1-5. These robots perform functions such as delivering goods, guiding visitors, and cleaning floors. These tasks can then be assigned to one or more robots via a central control console. However, these robots perform these tasks independently. For example, if robot 1 is assigned a delivery task and robot 2 is assigned a cleaning task, both robots 1 and 2 move within the building, occupying the same space and causing congestion. Furthermore, the floor surface within a building varies in level of dirtiness, so applying a full-scale cleaning strategy to address localized dirtiness wastes valuable labor, is inefficient, and fails to maintain a clean environment. In an application scenario where a single robot is operating within a building, after completing a delivery task, it will perform a full-scale cleaning of the floor surface, requiring repeated movements. This is inefficient and fails to maintain a clean environment.

[0050] In response to the above problems, some embodiments of the present application provide a dynamic cleaning control method, which locates the dirty areas that need to be cleaned by sampling and monitoring the ground during driving, so that the robot can be dispatched to clean the dirty areas in a timely manner, so that the dirty areas are dynamically cleared, that is, dynamic fixed-point cleaning can be achieved, dirty areas can be cleared, and the environment can be maintained clean.

[0051] The following describes an exemplary application of an electronic device for cleaning control provided in an embodiment of the present application. The electronic device provided in some embodiments of the present application includes a device such as a chip, a processor or a control device that can execute a cleaning control method. In some embodiments, the chip, processor or control device can also be installed in a robot. In this case, the electronic device is a robot. The robot samples and monitors the ground while performing the task, and locates the dirty and messy areas that need to be cleaned, so that the robot can be dispatched to clean the dirty and messy areas in a timely manner, so that the dirty and messy areas are dynamically cleared. The electronic device provided in some embodiments of the present application can be a server, such as a server deployed in the cloud. Based on the ground sampling information provided by the robot, the dirty and messy areas are located, so that the robot can be dispatched to clean the dirty and messy areas in a timely manner, so that the dirty and messy areas are dynamically cleared. It can be understood that the electronic device can be any device with computing and processing capabilities, and no limitation is made to the specific form of the electronic device. When the electronic device is not a robot, the electronic device is connected to the robot in communication to send control signals to the robot to control the robot and achieve dynamic cleaning.

[0052] As an example, see Figure 1 , Figure 1This is a schematic diagram of an application scenario of a cleaning control system provided by an embodiment of the present application. A terminal 10 is connected to a server 20 and at least one robot 30 via a network. The network can be a wide area network (WAN), a local area network (LAN), or a combination of the two. For example, the terminal 10 and server 20 can be connected via Wi-Fi or a 4G or 5G network, and the terminal 10 and each robot 30 can be connected via Bluetooth.

[0053] At least one robot 30 is located on the ground, which may be the ground of a fixed building. For example, multiple robots 30 may move within floors 1-5 of the building, and the robots may have functions such as delivering goods, guiding visitors, and cleaning the ground. In some embodiments, the robot 30 has multiple functions such as delivery, guiding, and cleaning, and the robot 30 includes a loading platform, a monitoring component, a cleaning body, a moving component, and a sensing component (not shown). The loading platform is used to carry items that need to be transported, for example, the loading platform may be a storage bin. The monitoring component is used to collect ground information, for example, the monitoring component may be a camera. The cleaning body includes components such as a dust box and a mop for cleaning, and the moving component includes rollers and motors, etc. The motor drives the rollers to rotate to drive the robot to move. The sensing component is the robot's visual system, which generally uses ultrasonic rangefinders, infrared sensors, depth cameras, or lidars, etc., so that the robot can avoid obstacles and collect cleaning scene information. In some embodiments, for multiple robots 30 within a fixed building, some robots 30 may be sweeping robots, including a monitoring component, a cleaning body, a mobile component, and a sensing component; some robots 30 may be delivery robots, including a loading platform, a monitoring component, a mobile component, and a sensing component; and some robots 30 may be leading components, including a monitoring component, a mobile component, and a sensing component. There are no restrictions on the tasks that the multiple robots 30 can perform.

[0054] Terminal 10 can be used to receive tasks input by the user and interact with the user. For example, if the terminal is a smart tablet, which is installed at the entrance of a building, and the user needs to deliver an item to Room 301 on the 3rd floor, they enter a task reflecting the delivery destination on the smart tablet, and the smart tablet (terminal) receives the task.

[0055] In some embodiments, the terminal 10 locally executes the cleaning control method provided in the embodiments of the present application, controls the robot 30 to sample the ground during the execution of the task, and locates the dirty areas that need to be cleaned based on the ground sampling information provided by the robot 30, so that the robot can be dispatched to clean the dirty areas in a timely manner, so that the dirty areas are dynamically cleared.

[0056] In some embodiments, the terminal 10 can send the task input by the user to the server 20 through the network, and call the cleaning control function provided by the server 20. The server 20 selects the robot 30 based on the task and generates a control instruction through the cleaning control method provided in the embodiment of the present application, and returns the control instruction to the terminal 10. The terminal 10 then forwards the control instruction to the corresponding robot 30. After receiving the instruction, the robot 30 performs the task and samples the ground during the execution of the task, and sends the sampling information to the server 20 via the terminal. The server 20 locates the dirty area that needs to be cleaned based on the sampling information, and dispatches the robot 30 to clean the dirty area in time, so that the dirty area is dynamically cleared.

[0057] In some embodiments, the robot 30 locally executes the cleaning control method provided in the embodiments of the present application, performs the task after receiving the task, samples the ground during the execution of the task, locates the dirty areas that need to be cleaned based on the ground sampling information, and then cleans the dirty areas in a timely manner or dispatches other robots 30 to clean the dirty areas in a timely manner, so that the dirty areas are dynamically cleared.

[0058] The following describes the structure of the electronic device 400 in some embodiments of the present application. The electronic device may be a robot, a terminal, or a server, etc.

[0059] See also Figure 2 , Figure 2 4 is a schematic diagram of the structure of an electronic device 400 in some embodiments of the present application, and the electronic device includes at least one processor 401 and a memory 402. The processor 401 is connected to the memory 402, for example, the processor 401 can be connected to the memory 402 via a bus.

[0060] The processor 401 is configured to support the electronic device 400 in executing the corresponding functions in the cleaning control method. The processor 401 can be a central processing unit (CPU), a network processor (NP), a hardware chip, or any combination thereof. The above-mentioned hardware chip can be an application specific integrated circuit (ASIC), a programmable logic device (PLD), or a combination thereof. The above-mentioned PLD can be a complex programmable logic device (CPLD), a field programmable gate array (FPGA), a generic array logic (GAL), or any combination thereof.

[0061] Memory 402, as a non-transitory computer-readable storage medium, can be used to store non-transitory software programs, non-transitory computer-executable programs, and modules, such as the program instructions / modules corresponding to the cleaning control method in the embodiments of the present application. Processor 401 can implement the cleaning control method in any of the following method embodiments by executing the non-transitory software programs, instructions, and modules stored in memory 402.

[0062] Memory 402 may include volatile memory (VM), such as random access memory (RAM); memory 1002 may also include non-volatile memory (NVM), such as read-only memory (ROM), flash memory, hard disk drive (HDD) or solid-state drive (SSD); memory 402 may also include a combination of the above types of memory.

[0063] In some embodiments, the cleaning control device provided in the embodiments of the present application can be implemented by a combination of software and hardware. As an example, the cleaning control device provided in the embodiments of the present application can be a processor in the form of a hardware decoding processor, which is programmed to execute the cleaning control method provided in the embodiments of the present application. For example, the processor in the form of a hardware decoding processor can adopt one or more application-specific integrated circuits (ASICs), DSPs, programmable logic devices (PLDs), complex programmable logic devices (CPLDs), field-programmable gate arrays (FPGAs) or other electronic components.

[0064] In other embodiments, the cleaning control device provided in the embodiments of the present application can be implemented in a software manner. Figure 3 A cleaning control device 500 stored in the memory 402 is shown, which can be software in the form of a program and a plug-in, and includes a series of modules, including a receiving planning module 501, a control sampling module 502, a determination module 503 and a cleaning control module 504, for implementing the dynamic cleaning control function provided in the embodiment of the present application.

[0065] It can be understood from the above that the cleaning control method provided in the embodiments of the present application can be implemented by various types of electronic devices with computing and processing capabilities, such as robots, terminals, and servers.

[0066] The following describes the cleaning control method provided by the embodiment of the present application in conjunction with the exemplary application and implementation of the server provided by the embodiment of the present application. Figure 4 , Figure 4 This is a flow chart of the cleaning control method provided in an embodiment of the present application. The method S100 includes the following steps:

[0067] S10: Receive the task and plan a path according to the task.

[0068] This task reflects the task that the user requires the robot to complete. It's understood that a robot can perform one or more tasks, such as delivery, guidance, and cleaning. If a user requires the robot to deliver an item to room 301 in a building, the task reflects the task "deliver to room 301 in the building." If a user requires the robot to guide someone to room 301 in the building, the task reflects the task "guide someone to room 301 in the building." If a user requires the robot to clean room 301 in the building, the task reflects the task "clean room 301 in the building."

[0069] It is understood that a user may input tasks through a terminal, such as by voice input through a microphone, text input through a display screen, or icon selection input. In some embodiments, the terminal may be a smartphone or a smart tablet. In this embodiment, the terminal is any device capable of interacting with a user and having communication capabilities, and no limitation is imposed on the form of the terminal.

[0070] Based on the communication connection between the terminal and the server, after obtaining the task input by the user, the terminal sends the task to the server. Therefore, after receiving the task, the server selects the robot and then plans the path according to the task. It is understandable that the task reflects the destination and the execution matter. In order for the robot to travel to the destination (such as room 301) to perform matters (such as delivery), it is necessary to plan a path based on the robot's receiving position and the destination. The path is the route the robot travels. It is understandable that the receiving position is the position where the robot loads the items. In some embodiments, the receiving position can be a container on the first floor. After the robot loads the items at the container, it travels along the path planned by the server.

[0071] In some embodiments, the server plans a route based on a static navigation map. The static navigation map records the locations of objects within a scene (e.g., within a building), which can be expressed in absolute or relative coordinates. Similarly, the static navigation map records traversable areas. Thus, the server can create a route within the traversable area based on the pickup location and destination, thus completing the route planning.

[0072] In some embodiments, the robot may also plan its own path. For example, after the server sends the destination to the robot, the robot performs positioning and navigation in the building based on the existing SLAM (Simultaneous Localization and Mapping) technology.

[0073] In some embodiments, the user inputs the delivery task on the robot's touch panel, the robot plans the path according to the destination in the delivery task, and starts autonomous positioning and navigation based on SLAM technology to achieve delivery.

[0074] S20: Control the first robot to travel along the path to perform the task, and perform ground sampling on each area passed by the path during the travel process.

[0075] It is understandable that there may be multiple robots in an application scenario (such as a building). The first robot is the robot selected to perform the task.

[0076] After the path is determined, the first robot is controlled to travel along the path to perform a task, such as delivering items or leading a way, etc. During the travel process, ground sampling is performed on each area passed by the path.

[0077] It is understood that the "areas" here refer to the areas obtained by dividing the traversable ground. In some embodiments, Figure 5 As shown, taking the passable ground of a certain floor as an example, the passable ground is divided into a plurality of areas AG. Specifically, the passable area can be divided into a plurality of areas AG in the static navigation map.

[0078] As the first robot moves, ground sampling is performed on each area along the path. Figure 5 As shown in the figure, P1 is the path of the first robot, which passes through area A, area C, area D, area E and area B in sequence. When the first robot passes through area A, it samples the ground in area A. When the first robot passes through area C, it samples the ground in area C. When the first robot passes through area D, it samples the ground in area D. When the first robot passes through area E, it samples the ground in area E. When the first robot passes through area B, it samples the ground in area B.

[0079] Please refer again Figure 5 , P2 is the path planned by the robot for the second delivery task. Similarly, referring to the above situation where the first robot performs the task based on path P1, while the first robot or other robots perform the task based on path P2, they still perform ground sampling in various areas.

[0080] Here, ground sampling refers to sampling trash and stains on the ground. In some embodiments, the first robot includes a camera, which is used to perform ground sampling. The ground image captured by the camera serves as ground sampling information. It is understood that trash and stains will be reflected in the ground image, so that the ground image (ground sampling information) can clearly reflect the dirtiness of the area.

[0081] In some embodiments, the aforementioned “performing ground sampling on each area passed by the path” includes:

[0082] The number of sampling times for each area is determined based on the path length of the sub-paths in each area; ground sampling is performed on each area passed by the path according to the corresponding number of sampling times.

[0083] It is understandable that since each area is obtained by dividing the traversable ground, the traversable ground has an irregular shape, and thus the shapes and sizes of each area are not exactly the same. In addition, as the direction of the path changes, the sub-paths of the path in each area are also not exactly the same. In some implementations, such as Figure 5 As shown, the area of ​​region A is smaller than the area of ​​region C, the sub-path of the path in region A is straight-line, and the sub-path of the path in region C is L-shaped, that is, the path length of the sub-path of the path in region A is smaller than the path length of the sub-path of the path in region C.

[0084] The sampling frequency for each area is determined based on the path lengths of the sub-paths within each area. In some embodiments, path length and sampling frequency are positively correlated. That is, sub-paths with longer path lengths are assigned a relatively higher number of sampling times, while sub-paths with shorter path lengths are assigned a relatively lower number of sampling times. This ensures that the ground sampling results for each area accurately reflect the dirtiness and disorder of each area, minimizing sampling omissions.

[0085] For example, Figure 5 As shown in the figure, the sampling times of the subpath configuration in area A is 1, that is, when the first robot travels in area A, one ground sampling is performed; the sampling times of the subpath configuration in area C is 2, that is, when the first robot travels in area C, two ground samplings are performed. For area C with a large area and a long subpath, two samplings can accurately reflect its dirtiness and minimize sampling omissions.

[0086] In some embodiments, during initialization, the number of sampling times corresponding to each region is set to 1. It is understood that the specific number of sampling times can be set by those skilled in the art based on the actual size of the region, for example, it can be set to 2 or 3. In some embodiments, for larger regions, the corresponding number of sampling times is relatively high, and for smaller regions, the corresponding number of sampling times is relatively low.

[0087] After determining the sampling times for each area, the first robot is controlled to perform ground sampling for each area it passes through according to the corresponding sampling times during the process of traveling along the path. Figure 5 As shown, if the sampling number corresponding to area A with a shorter subpath is 1, the sampling number corresponding to area C with a longer subpath is 2, the sampling number corresponding to area D with a longer subpath is 2, the sampling number corresponding to area E with a longer subpath is 2, and the sampling number corresponding to area B with a shorter subpath is 1, then when the first robot travels to area A or area B, the camera is controlled to randomly shoot the ground once, and when the first robot travels to area C, D or E, the camera is controlled to randomly select 2 different places in each area for shooting.

[0088] In this embodiment, a corresponding number of sampling times is set according to the path length of the sub-path of each area, and ground sampling is performed on each area passed by the path according to the corresponding number of sampling times. This ensures that the ground sampling information corresponding to each area can accurately reflect the dirtiness of the area and effectively avoid inaccurate ground sampling information caused by factors such as long paths, large areas, or complex shapes.

[0089] In some embodiments, the aforementioned “performing ground sampling for each area passed by the path according to a corresponding number of sampling times” includes:

[0090] Randomly select N sampling points from the subpath within the target area, where N is equal to the number of sampling points corresponding to the target area. For each sampling point, perform ground sampling within an area extending outward from the sampling point to a preset radius.

[0091] In this embodiment, the target area is any one of the areas. The sub-path of the path within the target area refers to the part of the path in the target area. Figure 6 As shown, if the target area is area D and the sampling number N corresponding to area D is 2, when the first robot travels on the sub-path in area D, two sampling points are randomly selected and ground sampling is performed at these two sampling points.

[0092] It is understandable that the first robot may encounter obstacles during its travel and, when avoiding them, may inevitably deviate from the path planned based on the static navigation map. In such cases, ground sampling can be performed within an area extending outward from a preset radius centered on the sampling point. Specifically, the area extending outward from the sampling point to the preset radius is defined as the sampling area. The first robot enters the sampling area and samples the ground within the sampling area.

[0093] Specifically, take sampling point a as an example for schematic description. Figure 6 As shown, the sampling area is an area extending outward from sampling point a by a preset radius R. Since sampling point a is occupied by an obstacle, when the first robot reaches it, it will bypass the obstacle and continue along the path. Therefore, the sampling area is set up so that the first robot can perform ground sampling while approaching or leaving the obstacle during the bypass process. The ground sampling information corresponding to the sampling area is used as the ground sampling information for area D.

[0094] In this embodiment, in order to avoid obstacles, the sampling area is an area with a preset radius extending outward from the sampling point as the center. The first robot enters the sampling area and samples the ground within the sampling area, which can accurately reflect the dirtiness of the ground around the sampling point.

[0095] S30: Determine the dirtiness level of each area based on the ground sampling information of each area.

[0096] Ground sampling information (e.g., ground images) can clearly reflect the level of dirtiness in an area. Therefore, after receiving the ground sampling information for each area, the server can determine the corresponding dirtiness level of each area based on the ground sampling information. For example, using a ground image as the ground sampling information, a pre-trained garbage stain recognition algorithm model is used to identify garbage stains in the ground image. A corresponding score is then determined based on the amount or proportion of garbage stains in the ground image. Based on the score, the corresponding sampling result is determined to be dirty or clean. For example, the greater the proportion of garbage stains, the lower the score, thus determining that the sampling result is dirty.

[0097] In some embodiments, the aforementioned step S30 specifically includes: continuously accumulating samples for each area, and recording the detection results of each sampling for each area respectively, wherein the detection results include dirty or clean; and determining the degree of dirtiness corresponding to each area according to the number of sampling points with dirty detection results.

[0098] In this embodiment, sampling is accumulated for each area, and the detection results of each sampling are recorded. For example, for area C, there are two (N=2) sampling points during a delivery process of the robot, and the detection results of these two sampling points are recorded each time a sample is taken. The detection results include dirty or clean. For example, for area C, the detection result corresponding to one sampling point is dirty, and the detection result corresponding to another sampling point is clean. In the robot's subsequent execution of tasks, if it passes through area C, it will continue to sample area C and accumulate the detection results. For example, in the robot's next leading task, the robot passes through area C, and the sampling points N are 3. Then, 3 sampling points are randomly selected in area C and accumulated sampling is performed. At this time, a total of 5 random samples are obtained in area C, that is, 5 detection results are obtained. This accumulation continues until the area C is cleaned by the robot. After cleaning, area C is re-sampled, and the number of recorded detection results corresponding to area C is 0. If sampling is accumulated 10 times in area C, 20 test results will be accumulated and recorded. For example, 6 of the 20 test results are dirty and 14 are clean.

[0099] After obtaining the accumulated detection results of each area, the degree of dirtiness corresponding to each area is determined according to the number of sampling points with dirty detection results. The number of sampling points with dirty detection results is positively correlated with the degree of dirtiness, that is, the more sampling points with dirty detection results, the more serious the degree of dirtiness, and the fewer sampling points with dirty detection results, the milder the degree of dirtiness or the closer it is to cleanliness. In some embodiments, a threshold of 5 can be set. If 5 sampling points in the accumulated records corresponding to area C are dirty, it means that area C is dirty and needs to be cleaned. After cleaning, the accumulated records of area C are cleared and re-accumulated sampling is performed. During the continuous sampling process, if the accumulated multiple detection results (for example, 20 times) are all clean, then area C does not need to be cleaned.

[0100] In this embodiment, samples are continuously accumulated for each area, and the detection results of each sampling are recorded for each area. The degree of dirtiness of each area is determined based on the number of sampling points with dirty detection results, so that the degree of dirtiness of each area is more accurate and can accurately reflect the accumulation of garbage and stains in each area.

[0101] S40: If the dirtiness of the target area meets the preset cleaning conditions, the first robot is controlled or the second robot is dispatched to perform dynamic cleaning on the target area.

[0102] Here, the target area is any area in the various areas. In order to effectively reduce the workload of the robot, the target area whose dirtiness meets the preset cleaning conditions is cleaned. Here, the preset cleaning conditions can be set according to the dirtiness.

[0103] In some embodiments, the method S100 further includes: if the degree of dirtiness of the target area is greater than or equal to a degree threshold, determining that the target area meets the preset cleaning conditions. It is understandable that the degree of dirtiness here is obtained by digitizing the accumulation of garbage and stains. For example, the degree of dirtiness can be the above-mentioned score. The degree threshold can be set according to actual cleaning needs. For example, if the cleanliness requirement is high, the degree threshold is smaller, and if the cleanliness requirement is low, the degree threshold is larger. For example, the degree threshold is that 5 detection results in the cumulative sampling test results are dirty. If the degree of dirtiness of the target area is greater than or equal to the degree threshold, it means that the target area is relatively dirty and needs to be cleaned, and it is determined that the target area meets the preset cleaning conditions.

[0104] In some embodiments, the method S100 further includes: sorting the areas according to the degree of dirtiness of each area; if the time interval between the top M areas with the highest degree of dirtiness and the last time they were cleaned is greater than or equal to a first preset interval, controlling the first robot or dispatching the second robot to go to the top M areas with the highest degree of dirtiness for fixed-point cleaning, where M is a positive integer.

[0105] In this embodiment, the degree of dirtiness of each area is sorted. It can be understood that the larger the value of the degree of dirtiness, the higher the ranking and the more serious the dirtiness. Here, the areas with more serious dirtiness are cleaned first to keep the basic surface dynamically clean. Specifically, if the time interval from the last cleaning of the top M areas (M is a positive integer) with the highest degree of dirtiness is greater than or equal to the first preset interval, the first robot is controlled or the second robot is dispatched to go to the top M areas with the highest degree of dirtiness for fixed-point cleaning, where M is a positive integer.

[0106] It is worth noting that those skilled in the art can set M according to actual conditions. For example, Figure 5 For the seven areas shown, M can be set to 3. Those skilled in the art can set the first preset interval based on actual conditions. For example, the first preset interval can be 12 hours. Then, if the interval between the top three areas ranked by dirtiness and the last cleaning is greater than or equal to 12 hours, the first robot is controlled or the second robot is dispatched to perform targeted cleaning on these areas.

[0107] In this implementation, by sorting the degree of dirtiness corresponding to each area, the top M areas (M is a positive integer) with the highest degree of dirtiness are given priority for cleaning when the time interval since the last cleaning is greater than or equal to a first preset interval. In this way, large-scale garbage stains will not stay for a long time and will be effectively cleaned after the first preset interval. Therefore, the application environment can be kept dynamically clean on the basic level.

[0108] When it is found that area C has the highest dirtiness ranking and the time interval since the last cleaning is greater than or equal to the first preset interval (for example, 12 hours), the robot needs to be dispatched to area C for fixed-point cleaning.

[0109] In this embodiment, the server determines which robot to send to clean based on the tasks it detects. If the first robot is not in a hurry to complete a delivery task or is already cleaning at the destination, the server can control the first robot to quickly complete the cleaning of the target area. If the first robot is performing a leading task or is in a hurry to complete a delivery task, the server can dispatch the second robot to the target area for dynamic cleaning. It is understood that the server can communicate with each robot via a terminal to complete control and scheduling tasks. Alternatively, the server can communicate with each robot. Alternatively, the server is a data processing unit integrated into the robot.

[0110] It is worth noting that the "first" and "second" here are only used to distinguish robots and do not impose any restrictions on the order and type of robots.

[0111] In some embodiments, the method S100 further includes: sorting the regions according to the time interval between each region and the last cleaning; and performing fixed-point cleaning on the first T regions with the highest time interval sorting, in descending order of time intervals, one by one, where T is a positive integer.

[0112] In this embodiment, each area is ranked by the time interval since its last cleaning. It is understood that the longer the time interval, the longer the corresponding area remains uncleaned, and the longer the dirt and stains remain. Here, the top T areas (T is a positive integer) ranked by the time interval are cleaned one by one, in descending order of time interval.

[0113] It is worth noting that those skilled in the art can set T according to actual conditions. For example, Figure 5 For the 7 areas shown, T can be set to 4. Then, for the first 4 areas with the highest time interval ranking, the first robot is controlled one by one or the second robot is dispatched to these first 3 areas for fixed-point cleaning in descending order of ranking.

[0114] In this embodiment, by sorting the time intervals between each area and the last cleaning, the top T areas with the highest time intervals are cleaned one by one in descending order of time intervals. Thus, the residence time of garbage and stains is short, and the application environment can be kept dynamically cleaned on the basic level.

[0115] In some embodiments, the method S100 further includes: if the dirtiness of the target area is greater than or equal to a threshold, then the next time the robot passes through the target area, increasing the number of sampling times corresponding to the target area.

[0116] For example, if the sampling result at area C is determined to be dirty, increase the sampling frequency for area C. For example, if the initial sampling frequency for area C is 2, and the area is found to be dirty and needs to be cleaned, the sampling frequency can be adjusted to 3. The next time the robot passes through area C, it will need to perform three floor samplings.

[0117] In this embodiment, since the dirtiness of the target area will affect or aggravate the surrounding areas adjacent to it, the number of sampling times is increased to focus on monitoring the dirtiness trend. When the required cleaning level is reached, the robot is turned on or dispatched to locate and clean, thereby better maintaining the cleanliness of the floor.

[0118] In summary, the cleaning control method provided in the embodiment of the present application first plans a path according to a task (such as transporting, guiding or cleaning tasks), controls the first robot to travel along the path to perform the task, and performs ground sampling on each area passed by the path during the driving process. Then, based on the ground sampling information of each area, the degree of dirtiness corresponding to each area is determined. Finally, the degree of dirtiness corresponding to each area is monitored, and for any area in each area (i.e., the target area), if its degree of dirtiness meets the preset cleaning conditions, the first robot is controlled or the other second robot is dispatched to perform fixed-point cleaning on the target area. In this solution, the robot in the control application scenario is sampled and monitored in the process of performing the task, and the dirty and messy areas that are detected to need to be cleaned can be cleaned in time, so that the dirty and messy areas are dynamically cleared, that is, dynamic fixed-point cleaning can be achieved, dirty and messy areas can be cleared, and the environment can be maintained clean.

[0119] The following describes the solution of implementing fixed-point cleaning by cooperating various modules in the cleaning control device provided in the embodiment of the present application. Figure 3 The cleaning control device 500 includes a receiving planning module 501 , a control sampling module 502 , a determination module 503 and a cleaning control module 504 .

[0120] The receiving and planning module 501 is used to receive a task and plan a path based on it. The control sampling module 502 is used to control the first robot to travel along the path to execute the task, and to collect ground samples from each area along the path during travel. The determination module 503 is used to determine the corresponding dirtiness level of each area based on the ground sampling information of each area. The cleaning control module 504 is used to control the first robot or dispatch the second robot to dynamically clean the target area if the dirtiness level of the target area meets the preset cleaning conditions. The target area is any one of the areas.

[0121] In some embodiments, the control sampling module 502 is specifically configured to determine the sampling times for each area according to the path length of the sub-paths of the path in each area; and perform ground sampling on each area passed by the path according to the corresponding sampling times.

[0122] In some embodiments, the control sampling module 502 is specifically used to randomly select N sampling points from the sub-path of the path within the target area, where N is equal to the number of sampling times corresponding to the target area, and N is a positive integer; for each sampling point, ground sampling is performed within an area centered at the sampling point and extending outward with a preset radius.

[0123] In some embodiments, the determination module 503 is specifically used to continuously accumulate samples for each area, and record the detection results of each sampling for each area respectively, where the detection results include dirty or clean; according to the number of sampling points with dirty detection results, the degree of dirtiness corresponding to each area is determined respectively.

[0124] In some embodiments, the device 500 further includes a condition determination module (not shown) for determining that the target area meets a preset cleaning condition if the dirtiness of the target area is greater than or equal to a degree threshold.

[0125] In some embodiments, the device 500 also includes a sorting and scheduling module (not shown) for sorting areas according to the degree of dirtiness of each area; if the time interval between the top M areas with the highest degree of dirtiness and the last time they were cleaned is greater than or equal to a first preset interval, the first robot is controlled or the second robot is scheduled to go to the top M areas with the highest degree of dirtiness for fixed-point cleaning, where M is a positive integer.

[0126] In some embodiments, the first robot includes a camera, and ground sampling is performed through the camera, and the ground image captured by the camera is used as the ground sampling information.

[0127] In summary, the cleaning control device 500 provided in the embodiment of the present application first plans a path according to a task (such as a task such as transporting, guiding or cleaning) by receiving a planning module 501. Then, the control sampling module 502 controls the first robot to travel along the path to perform the task, and performs ground sampling on each area passed by the path during the driving process. The determination module 503 determines the degree of dirtiness corresponding to each area based on the ground sampling information of each area. Finally, the cleaning control module 504 monitors the degree of dirtiness corresponding to each area. For any area (i.e., the target area) in each area, if its degree of dirtiness meets the preset cleaning conditions, the first robot is controlled or the second robot of the other is dispatched to perform fixed-point cleaning on the target area. In the device, the robot in the control application scenario is sampled and monitored in the process of performing the task, and the dirty and messy areas that need to be cleaned can be cleaned in time, so that the dirty and messy areas are dynamically cleared, that is, dynamic fixed-point cleaning can be achieved, dirty and messy areas are removed, and the environment is kept clean.

[0128] The present application also provides a computer-readable storage medium, which stores computer-executable instructions for causing a computer device to execute the cleaning control method provided in the present application, for example, Figure 4 Cleaning control method shown.

[0129] In some embodiments, the storage medium may be a memory such as FRAM, ROM, PROM, EPROM, EE PROM, flash memory, magnetic surface memory, optical disk, or CD-ROM; or various devices including one or any combination of the above memories.

[0130] In some embodiments, executable instructions may be in the form of a program, software, software module, script, or code, written in any form of programming language (including compiled or interpreted languages, or declarative or procedural languages), and may be deployed in any form, including as a stand-alone program or as a module, component, subroutine, or other unit suitable for use in a computing environment.

[0131] As an example, executable instructions may, but need not, correspond to a file in a file system, may be stored as part of a file storing other programs or data, such as in one or more scripts in a HyperText Markup Language (HTML) document, in a single file dedicated to the program in question, or in multiple coordinated files (e.g., files storing one or more modules, subroutines, or code portions).

[0132] As an example, executable instructions may be deployed to be executed on one computing device (including devices such as smart terminals and servers), or on multiple computing devices located in one location, or on multiple computing devices distributed in multiple locations and interconnected by a communication network.

[0133] It should be noted that the device embodiments described above are merely illustrative, wherein the units described as separate components may or may not be physically separate, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed across multiple network units. Some or all of the modules may be selected based on actual needs to achieve the objectives of this embodiment.

[0134] Through the description of the above embodiments, those skilled in the art can clearly understand that each embodiment can be implemented by means of software plus a general hardware platform, or of course by hardware. Those skilled in the art can understand that all or part of the processes in the above embodiment methods can be implemented by instructing the relevant hardware through a computer program, and the program can be stored in a computer-readable storage medium. When the program is executed, it can include the processes of the embodiments of the above methods. Among them, the storage medium can be a magnetic disk, an optical disk, a read-only memory (ROM) or a random access memory (RAM), etc.

[0135] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present application, rather than to limit them. Based on the concept of the present application, the technical features in the above embodiments or different embodiments can also be combined, the steps can be implemented in any order, and there are many other variations in different aspects of the present application as described above. For the sake of simplicity, they are not provided in detail. Although the present application has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. These modifications or replacements do not deviate the essence of the corresponding technical solutions from the scope of the technical solutions of the embodiments of the present application.

Claims

1. A cleaning control method, characterized in that: include: Receive a task and plan a route according to the task, wherein the task is a delivery task or a leading task; Controlling the first robot to travel along the path to perform the task, and performing ground sampling on each area passed by the path during the travel process; Continuously accumulating samples for each of the areas, and recording a detection result of each sampling for each of the areas, wherein the detection result includes whether it is dirty or clean; Determining the degree of dirtiness corresponding to each area according to the number of sampling points detected as dirty; If the dirtiness of the target area meets the preset cleaning conditions, the second robot is dispatched to dynamically clean the target area and re-accumulate samples of the cleaned area. The number of records of the detection results is 0, wherein the second robot is a cleaning robot and the target area is any one of the areas. Sort the areas according to their degree of dirtiness; If the time interval between the last cleaning of the top M areas with the highest degree of dirtiness is greater than or equal to a first preset interval, the second robot is dispatched to the top M areas with the highest degree of dirtiness for fixed-point cleaning, where M is a positive integer.

2. The method according to claim 1, characterized in that The performing ground sampling on each area passed by the path includes: Determining the number of sampling times for each area according to the path length of the sub-path of the path within each area; Ground sampling is performed on each area passed by the path according to the corresponding sampling times.

3. The method according to claim 1, characterized in that Perform ground sampling on each area passed by the path according to the corresponding sampling times, including: Randomly select N sampling points on a sub-path of the path within the target area, where N is equal to the number of sampling times corresponding to the target area and is a positive integer; For each of the sampling points, ground sampling is performed within an area with a preset radius extending outward from the sampling point as the center.

4. The method according to claim 1, wherein The method further comprises: If the dirtiness of the target area is greater than or equal to the dirtiness threshold, it is determined that the target area meets the preset cleaning condition.

5. The method according to claim 1, wherein The first robot includes a camera; Performing ground sampling includes: performing ground sampling through the camera, and using the ground image captured by the camera as the ground sampling information.

6. A cleaning control device, characterized in that: include: A receiving and planning module is used to receive a task and plan a route according to the task, wherein the task is a delivery task or a leading task; a control sampling module, configured to control the first robot to travel along the path to perform the task, and to perform ground sampling on each area passed by the path during the travel process; a determination module, configured to continuously accumulate samples for each area, record a detection result of each sampling for each area, wherein the detection result includes whether it is dirty or clean; and determine the degree of dirtiness corresponding to each area based on the number of sampling points with a dirty detection result; a cleaning control module, configured to dispatch a second robot to perform fixed-point cleaning on the target area and re-accumulate samples of the cleaned area if the dirtiness of the target area meets a preset cleaning condition, wherein the number of records of the detection result is 0, wherein the second robot is a cleaning robot, and the target area is any one of the areas; The sorting and scheduling module is used to sort the areas according to the degree of dirtiness of each area; if the time interval between the top M areas with the highest dirtiness and the last cleaning is greater than or equal to a first preset interval, the second robot is scheduled to go to the top M areas with the highest dirtiness for fixed-point cleaning, where M is a positive integer.

7. An electronic device, characterized in that: include: at least one processor, and a memory communicatively coupled to the at least one processor, wherein: The memory stores instructions that can be executed by the at least one processor, and the instructions are executed by the at least one processor to enable the at least one processor to perform the method according to any one of claims 1 to 5.

8. A computer-readable storage medium, characterized in that The computer-readable storage medium stores computer-executable instructions, and the computer-executable instructions are used to enable a computer device to execute the method according to any one of claims 1 to 5.

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