Robot storage self-cleaning method, robot and storage medium

Abstract

The embodiment of the invention relates to the field of robots, in particular to a robot storage self-cleaning method, a robot and a computer readable storage medium, the robot storage self-cleaning method is applied to the robot, the trial robot comprises a storage bin and a cleaning device, and by responding to a cleaning instruction, the robot goes to a preset self-cleaning position according to the cleaning instruction; and the cleaning device is started, and the cleaning device is controlled to clean the storage bin. Self-cleaning of the robot storage bin can be achieved, the automation degree of the robot is improved, manual cleaning is not needed, the labor cost is reduced, and the cleaning efficiency is improved.

Description

Technical Field

[0001] Embodiments of the present invention relate to the field of robots, and in particular, to a robot warehouse self-cleaning method, a robot, and a computer-readable storage medium. Background Art

[0002] Nowadays, with the continuous innovation and progress of science and technology, especially the increasingly rapid and advanced development in the field of robotics, the application of unmanned delivery has led to the rapid development of the technology of unmanned delivery robots. For example, delivery robots are widely used in restaurant delivery or outdoor delivery of takeout, express delivery and other scenarios.

[0003] However, in actual use, it was found that the current intelligent delivery robots cannot automatically clean the storage bin after use, especially robots used in catering delivery and takeaway delivery scenarios. Since most of the delivered goods are meals or beverages, food residues or stains are easily left in the storage bin. Manual wipe and clean of the bin is required before delivery. Therefore, the degree of automation of the delivery robots needs to be improved. Summary of the invention

[0004] The embodiment of the present invention provides a robot warehouse self-cleaning method, which can automatically clean the storage bin of the robot, thereby improving the automation level and practicality of the robot.

[0005] In a first aspect, an embodiment of the present invention provides a robot storage self-cleaning method, which is applied to a robot, wherein the robot includes a storage bin and a cleaning device, and the method includes:

[0006] In response to a cleaning instruction, proceed to a preset self-cleaning position according to the cleaning instruction;

[0007] The cleaning device is started and controlled to clean the storage bin.

[0008] In some embodiments, responding to the cleaning instruction and moving to a preset self-cleaning position according to the cleaning instruction includes:

[0009] In response to a cleaning instruction triggered by a user through a terminal or a robot locally, or generated by the robot according to a cleaning plan, parsing the cleaning instruction to obtain the preset self-cleaning position, wherein the cleaning instruction carries the preset self-cleaning position;

[0010] Go to the preset self-cleaning position as described.

[0011] In some embodiments, starting the cleaning device and controlling the cleaning device to clean the storage bin includes:

[0012] Detecting whether there are any stranded items inside the storage bin;

[0013] If there are no stranded items in the storage bin, the storage bin is opened, the cleaning device is started, and the cleaning device is controlled to clean the storage bin.

[0014] In some embodiments, the cleaning device includes a garbage suction sweeping device and a flushing water gun;

[0015] The step of starting the cleaning device and controlling the cleaning device to clean the storage bin includes:

[0016] After the storage bin is opened, the garbage suction and sweeping device is started to remove the residual garbage and / or odor in the storage bin;

[0017] If there are stains in the storage bin, the flushing water gun is started to flush the stains.

[0018] In some embodiments, the starting of the flushing water gun to flush the stain includes:

[0019] After the storage bin is opened, the storage bin is deviated from the robot body, and the reserved hole of the storage bin is connected to the wastewater receiving pipe at the preset self-cleaning position;

[0020] The flushing water gun is started to flush the stains in the storage bin, and the waste water is introduced into the waste water receiving pipe at the preset self-cleaning position through the reserved hole.

[0021] In some embodiments, the starting of the flushing water gun to flush the stain includes:

[0022] After the storage bin is opened, the storage bin is deviated from the robot body, and the storage bin is extended into a storage container set at a preset self-cleaning position;

[0023] The flushing water gun is turned on to flush the stains in the storage bin and to guide the waste water into the storage container.

[0024] In some embodiments, the activating the garbage suction device to remove residual garbage and / or odor in the storage bin includes:

[0025] Starting the garbage suction and sweeping device, controlling the garbage suction and sweeping device to move in the storage bin, and sucking the residual garbage and / or odor into a preset collection container;

[0026] or,

[0027] Connecting the garbage outlet of the garbage suction and sweeping device to the garbage collection pipe at a preset self-cleaning position;

[0028] The garbage suction and sweeping device is controlled to move in the storage bin, and the residual garbage and / or odor are sucked into the garbage collection pipe at the preset self-cleaning position.

[0029] In some embodiments, the preset container includes a sensing module;

[0030] The method further comprises:

[0031] Detecting the garbage situation in the preset container by the sensing module;

[0032] When it is detected that the amount of garbage in the preset container reaches a preset threshold value and / or reaches a preset time interval for cleaning, a cleaning warning signal for the preset container is issued.

[0033] In a second aspect, an embodiment of the present invention provides a robot, comprising:

[0034] at least one processor, and

[0035] A memory, wherein the memory is communicatively connected to the at least one processor, the memory stores instructions executable by the at least one processor, and the instructions are executed by the at least one processor so that the at least one processor can execute the method described in the first aspect above.

[0036] In a third aspect, a computer-readable storage medium is provided in an embodiment of the present invention, characterized in that the computer-readable storage medium stores computer-executable instructions, and when the computer-executable instructions are executed by at least one processor, the at least one processor executes the method described in the first aspect above.

[0037] Beneficial effects of the embodiments of the present invention: Different from the prior art, the robot storage self-cleaning method provided by the embodiments of the present invention responds to a cleaning instruction, goes to a preset self-cleaning position according to the cleaning instruction, starts a cleaning device, and controls the cleaning device to clean the storage bin. The present invention realizes self-cleaning of the storage bin, improves the automation of the robot, eliminates the need for manual cleaning, reduces labor costs, and improves cleaning efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0038] One or more embodiments are exemplarily described by pictures in the corresponding drawings, and these exemplified descriptions do not constitute limitations on the embodiments. Elements with the same reference numerals in the drawings represent similar elements, and unless otherwise stated, the figures in the drawings do not constitute proportional limitations.

[0039] Figure 1 A schematic diagram of a robot functional module provided by an embodiment of the present invention;

[0040] Figure 2A structural block diagram of a robot provided by an embodiment of the present invention;

[0041] Figure 3 A schematic diagram of a flow chart of a robot warehouse self-cleaning method provided by an embodiment of the present invention;

[0042] Figure 4 A schematic diagram of a flow chart of a robot warehouse self-cleaning method provided by another embodiment of the present invention;

[0043] Figure 5 A schematic diagram of a flow chart of a robot warehouse self-cleaning method provided by another embodiment of the present invention;

[0044] Figure 6 A schematic diagram of a flow chart of a robot warehouse self-cleaning method provided by another embodiment of the present invention;

[0045] Figure 7 A schematic diagram of a flow chart of a robot warehouse self-cleaning method provided by another embodiment of the present invention;

[0046] Figure 8 A schematic diagram of a flow chart of a robot warehouse self-cleaning method provided by another embodiment of the present invention;

[0047] Fig. 9 A schematic diagram of a flow chart of a robot warehouse self-cleaning method provided by another embodiment of the present invention;

[0048] Fig.10 A schematic flow chart of a robot warehouse self-cleaning method provided in accordance with another embodiment of the present invention. DETAILED DESCRIPTION

[0049] The present invention is described in detail below in conjunction with specific embodiments. The following embodiments will help those skilled in the art to further understand the present invention, but are not intended to limit the present invention in any form. It should be noted that, for those of ordinary skill in the art, several variations and improvements may be made without departing from the concept of the present invention. These all belong to the protection scope of the present invention.

[0050] In order to make the purpose, technical solution and advantages of the present application more clearly understood, the present application is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and are not used to limit the present application.

[0051] It should be noted that, if there is no conflict, the various features in the embodiments of the present invention can be combined with each other, all within the scope of protection of the present application. In addition, although the functional modules are divided in the device schematic diagram 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 flow chart. In addition, the words "first", "second", "third", etc. used herein do not limit the data and execution order, but only distinguish the same items or similar items with basically the same functions and effects.

[0052] Unless otherwise defined, all technical and scientific terms used in this specification have the same meaning as those commonly understood by those skilled in the art of the present invention. The terms used in this specification and in the specification of the present invention are only for the purpose of describing specific embodiments and are not intended to limit the present invention. The term "and / or" used in this specification includes any and all combinations of one or more of the related listed items.

[0053] In addition, the technical features involved in the various embodiments of the present invention described below can be combined with each other as long as they do not conflict with each other.

[0054] Figure 1 is a schematic diagram of the robot function module provided by the embodiment of the present invention. Figure 1 The robot warehouse self-cleaning method is used for a robot 10 , and the robot 10 includes a storage bin 20 and a cleaning device 30 .

[0055] Among them, the robot 10 can be a mobile robot, such as a hotel delivery robot, a takeaway delivery robot, an express delivery robot, etc., or it can be other robots equipped with a storage warehouse.

[0056] The storage bin 20 is provided on the robot 10 for storing items for delivery by the robot, such as food, beverages, express delivery, etc. During the operation of the robot, residual garbage, odor, stains, etc. may appear inside the storage bin 20, causing a bad user experience.

[0057] The cleaning device 30 is disposed on the robot 10 and is used to clean the storage bin 20 . The cleaning device 30 can be disposed inside the storage bin 20 or outside the storage bin 20 .

[0058] In some embodiments, the cleaning device includes a garbage suction sweeping device and a flushing water gun. The garbage suction sweeping device is a device that can be used to clean and suck away garbage. For example, the garbage suction sweeping device can be a vacuum cleaner, a sweeper, etc., which sucks away garbage, dust or odor inside the storage bin through a suction nozzle to achieve a cleaning effect. The flushing water gun is a device that removes stains by flushing with running water. The flushing water gun flushes water at a designated location to remove stains or garbage, etc. For example, the flushing water gun can be a high-pressure water gun, a flushing water pump, etc., which flushes the inside of the storage bin to achieve a cleaning effect.

[0059] An embodiment of the present invention provides a robot warehouse self-cleaning method, which can automatically clean the storage bin of the robot without relying on manual labor, thereby improving the robot's automation level, reducing labor costs, and improving the cleaning efficiency of the robot's storage bin.

[0060] Before introducing the robot warehouse self-cleaning method in detail, the hardware structure of the robot provided by another embodiment of the present invention is described.

[0061] In the above Figure 1 Based on the above, another embodiment of the present invention provides a robot, such as Figure 2 As shown, the robot includes at least one processor 11 and a memory 12 ( Figure 2 A bus connection and a processor are used as an example). A person skilled in the art can understand that Figure 2 The structure shown is for illustration only and does not limit the structure of the electronic device. Figure 2 More or fewer components as shown, or with Figure 2 Different configurations shown.

[0062] The processor 11 is used to provide computing and control capabilities to control the robot 10 to perform corresponding tasks, for example, to control the robot 10 to perform any one of the robot warehouse self-cleaning methods provided in the following embodiments of the invention.

[0063] It can be understood that the processor 11 can be a general-purpose processor, including a central processing unit (CPU), a network processor (NP), etc.; it can also be a digital signal processor (DSP), an application-specific integrated circuit (ASIC), a field-programmable gate array (FPGA) or other programmable logic devices, discrete gate or transistor logic devices, and discrete hardware components.

[0064] The memory 12, as a non-transient computer-readable storage medium, can be used to store non-transient software programs, non-transient computer executable programs and modules, such as program instructions / modules corresponding to the robot warehouse self-cleaning method in the embodiment of the present invention. The processor 11 can implement the robot warehouse self-cleaning method in any of the following method embodiments by running the non-transient software programs, instructions and modules stored in the memory 12. The memory 12 may include a high-speed random access memory and may also include a non-transient memory, such as at least one disk storage device, a flash memory device, or other non-transient solid-state storage devices. In some embodiments, the memory 12 may also include a memory remotely arranged relative to the processor, and these remote memories may be connected to the processor via a network. Examples of the above-mentioned network include, but are not limited to, the Internet, an intranet, a local area network, a mobile communication network and a combination thereof.

[0065] The following is a detailed description of the robot storage self-cleaning method provided by the embodiment of the present invention. Figure 3 The robot warehouse self-cleaning method includes but is not limited to the following steps S101-S102:

[0066] S101: In response to a cleaning instruction, go to a preset self-cleaning position according to the cleaning instruction.

[0067] The cleaning instruction is used to instruct the robot to perform self-cleaning. The preset self-cleaning position is a designated position set in advance for the robot to perform self-cleaning. The preset self-cleaning position can be a factory setting of the robot or a user-defined setting. For example, the preset self-cleaning position can be the initial position of the charging pile where the robot is charged, or the robot room used to park the robot, or a cleaning point specially set for the robot to clean.

[0068] In some embodiments, please refer to Figure 4, step S101: responding to a cleaning instruction, going to a preset self-cleaning position according to the cleaning instruction, including steps S201-S202:

[0069] S201: In response to a cleaning instruction triggered by a user through a terminal or a robot locally, or a cleaning instruction generated by the robot according to a cleaning plan, the cleaning instruction is parsed to obtain a preset self-cleaning position.

[0070] Among them, the cleaning instruction is triggered by the user through the terminal or the robot locally, or the robot is triggered and generated according to the cleaning plan. For example, the user sends a cleaning instruction to the robot through a mobile phone app, or the user sends a cleaning instruction to the robot through the robot's human-computer interaction interface, or sets a cleaning plan for the robot in advance, such as performing warehouse self-cleaning after each delivery task or performing warehouse self-cleaning at 10 o'clock every night, etc. The robot generates corresponding cleaning instructions according to the cleaning plan. Among them, the cleaning instruction carries a preset self-cleaning position. It should be understood that the cleaning instruction can also include cleaning duration, cleaning start time, cleaning times and other self-cleaning related information. When the cleaning instruction is triggered, the robot parses the cleaning instruction and obtains the preset self-cleaning position.

[0071] S202: Go to the preset self-cleaning position.

[0072] After obtaining the preset self-cleaning position by parsing the cleaning instruction, go to the preset self-cleaning position to perform storage self-cleaning.

[0073] In this embodiment, the robot responds to cleaning instructions triggered by the user through the terminal or the robot locally, or generated by the cleaning plan, parses the cleaning instructions to obtain a preset self-cleaning position, and goes to the preset self-cleaning position. The robot can perform warehouse self-cleaning in a variety of ways, and can be controlled locally and remotely, which reduces restrictions on user use and improves user experience. In the absence of manual sending of cleaning instructions, the cleaning plan can also be used to achieve warehouse self-cleaning, which improves the robot's automation and convenience.

[0074] S102: Start the cleaning device and control the cleaning device to clean the storage bin.

[0075] Among them, the cleaning device is arranged on the robot and can be used to clean the storage bin.

[0076] After reaching the preset self-cleaning position, the cleaning device is started and controlled to clean the storage bin. For example, the cleaning device can clean the storage bin by sweeping, wet mopping, dry mopping, vacuuming, electrostatic adsorption, spraying cleaning substances, ultraviolet disinfection, etc., and accordingly, the cleaning device can be a sweeping device, a wet mopping device, a dry mopping device, a vacuuming device, an electrostatic adsorption device, a spraying device, a disinfection device, etc.

[0077] In this embodiment, by responding to cleaning instructions, going to the preset self-cleaning position according to the cleaning instructions, starting the cleaning device, and controlling the cleaning device to clean the storage bin, self-cleaning of the storage bin is achieved, the automation level of the robot is improved, manual cleaning is no longer required, labor costs are reduced, and cleaning efficiency is improved.

[0078] In some embodiments, please refer to Figure 5 , step S102: start the cleaning device and control the cleaning device to clean the storage bin, including steps S301-S302:

[0079] S301: Detect whether there are any stranded items inside the storage bin.

[0080] Among them, stranded items refer to items that have not been taken out in time and are stranded in the robot storage warehouse, such as take-out, beverages, express deliveries and other items.

[0081] After reaching the preset self-cleaning position, before cleaning the storage bin, it is necessary to confirm whether the interior of the storage bin is in a cleanable state, that is, to confirm whether there are stranded objects in the storage bin. For example, the interior of the storage bin can be inspected by a camera, and a real-time image of the interior of the storage bin can be obtained by the camera, and the real-time image can be inspected and analyzed to determine whether there are stranded objects.

[0082] S302: If there are no stranded items in the storage bin, open the storage bin, start a cleaning device, and control the cleaning device to clean the storage bin.

[0083] If it is determined through detection that there is no retained object inside the storage bin, that is, the inside of the storage bin is in a cleanable state, the storage bin is opened, the cleaning device is started, and the cleaning device is controlled to clean the storage bin.

[0084] In this embodiment, the interior of the storage bin is inspected before cleaning begins, and cleaning is performed only when there are no stranded items inside the storage bin. This allows timely discovery and protection of items that may be stranded in the storage bin, preventing damage to stranded items or damage to the storage bin due to direct cleaning in the presence of stranded items, thereby improving safety and practicality.

[0085] In some embodiments, if there are stranded items inside the storage bin, a stranded reminder message is sent.

[0086] For example, if stranded items are detected inside the storage bin, a stranded reminder message can be sent to the user or relevant staff through the communication device to prompt the relevant staff to deal with the stranded items. The robot will suspend the cleaning task and will not clean the storage bin, waiting for relevant processing. The stranded reminder message may include the current location, the type of stranded items, the detection time, etc.

[0087] In some embodiments, see Figure 6 , step S102: start the cleaning device, and control the cleaning device to clean the storage bin, including steps S401-S402:

[0088] S401: After opening the storage bin, start the garbage suction and sweeping device to remove the residual garbage and / or odor in the storage bin.

[0089] S402: If there are stains in the storage bin, start the flushing water gun to flush the stains.

[0090] The cleaning device includes a garbage suction sweeping device and a flushing water gun. The garbage suction sweeping device is a device that can be used to clean and suck away garbage. For example, the garbage suction sweeping device can be a device similar to a vacuum cleaner, which sucks away garbage, dust or odor inside the storage bin through a suction nozzle to achieve a cleaning effect. The flushing water gun is a device that removes stains by flushing with flowing water. The flushing water gun flushes water at a designated location to remove stains or garbage, etc. For example, the flushing water gun can be a high-pressure water gun, which achieves a cleaning effect by flushing the inside of the storage bin.

[0091] After the storage bin is opened, the garbage suction and sweeping device is started to remove the residual garbage and / or odor in the storage bin. In addition, the storage bin is inspected to determine whether there is a stain in the storage bin. If there is a stain in the storage bin, the flushing water gun is started to flush the stain.

[0092] In some embodiments, see Figure 7 , starting the flushing water gun in step S402 to flush the stains includes steps S501-S502:

[0093] S501: After the storage bin is opened, the storage bin is deviated from the robot body, and the reserved hole of the storage bin is connected to the wastewater receiving pipe at the preset self-cleaning position.

[0094] S502: Start the flushing water gun to flush the stains in the storage bin, and guide the waste water into the waste water receiving pipe at the preset self-cleaning position through the reserved hole.

[0095] Among them, the storage bin is provided with a reserved hole, and a wastewater receiving pipe is provided at the preset self-cleaning position. The wastewater receiving pipe is used to receive wastewater. For example, the wastewater can flow to the sewer or treatment pool and other places for unified treatment through the wastewater receiving pipe, and the storage bin can guide the wastewater into the wastewater receiving pipe through the reserved hole.

[0096] It should be understood that in some embodiments, the storage bin is not fixed in the robot body. After the storage bin is opened, the storage bin will deviate from the robot body. For example, the storage bin may be a drawer-type structure.

[0097] It should be understood that using a flushing water gun to clean the storage bin will produce sewage or wastewater, which may cause secondary pollution of the storage bin if not discharged in time. If wastewater remains in the storage bin, the robot will not be able to perform operations.

[0098] In this embodiment, the reserved hole of the storage bin is connected to the wastewater receiving pipe at the preset self-cleaning position in advance, and then the flushing water gun is started to flush the stains in the storage bin. During the flushing process, the generated wastewater can be introduced into the wastewater receiving pipe at the preset self-cleaning position through the reserved hole while cleaning.

[0099] In other embodiments, see Figure 8 , starting the flushing water gun in step S402 to flush the stains includes steps S503-S504:

[0100] S503: After the storage bin is opened, the storage bin is deviated from the robot body, and the storage bin is extended into a storage container set at a preset self-cleaning position;

[0101] S504: Turn on the flushing water gun to flush the stains in the storage bin and direct the waste water into the storage container.

[0102] Wherein, the storage container is arranged at a preset self-cleaning position for collecting waste water.

[0103] In this embodiment, after the storage bin is opened, the storage bin is deviated from the robot body and directly extended into the storage container. For example, the storage bin can be extended through a guide rail or other pushing device. After the storage bin reaches the interior of the storage container, the flushing water gun is turned on to flush the stains in the storage bin. At the same time, the generated waste water is introduced into the storage container at the preset self-cleaning position to achieve timely discharge and collection of waste water.

[0104] In some embodiments, step S401: starting the garbage suction device to remove the residual garbage and / or odor in the storage bin, including step S601:

[0105] S601: Start the garbage suction and sweeping device, control the garbage suction and sweeping device to move in the storage bin, and suck the residual garbage and / or odor into a preset collection container.

[0106] The preset container is provided on the robot, and the preset container is connected to the storage bin through the garbage suction device, and the preset container is used to receive garbage or odor, etc. The garbage suction device can be moved in the storage bin to achieve a better cleaning effect, and for example, the garbage suction device can be driven to move in the storage bin by a mobile motor.

[0107] In this embodiment, after the garbage suction and sweeping device is started, the garbage suction and sweeping device is controlled to move in the storage bin to suck the residual garbage and / or odor in the storage bin into a preset collection container.

[0108] In some embodiments, see Fig. 9 The preset storage container includes a sensing module, and the robot storage self-cleaning method further includes steps S701-S702:

[0109] S701: Detecting the garbage situation in the preset container through the sensing module.

[0110] S702: When it is detected that the amount of garbage in the preset container reaches a preset threshold and / or reaches a preset time interval for cleaning, a cleaning warning signal for the preset container is issued.

[0111] Among them, the sensing module is set in a preset container to detect the garbage situation. For example, the sensing module can be an infrared sensor, a camera, etc.

[0112] In this embodiment, the garbage situation in the preset collection container is detected by the sensing module. When it is detected that the amount of garbage in the preset collection container reaches the preset threshold and / or reaches the preset time interval for cleaning, a cleaning warning signal for the preset collection container is issued. The preset time interval for cleaning is the interval between the times when the preset collection container needs to be cleaned in advance. The time interval can be customized by the user. For example, the preset collection container can be set to be cleaned once a day, and the preset time interval is 24 hours. For example, the preset collection container can be set to be cleaned once every Wednesday, and the preset time interval is seven days. The cleaning warning signal of the preset collection container can be sent locally to achieve a warning effect through robot voice prompts or display on the display unit, or it can be sent to the user terminal, such as to the user's mobile phone app, to remind the user to clean the preset collection container through a message reminder.

[0113] In other embodiments, see Fig.10 , step S401: start the garbage suction and sweeping device to remove the residual garbage and / or odor in the storage bin, including steps S602-S603:

[0114] S602: Connect the garbage outlet of the garbage suction and sweeping device to the garbage collection pipe at the preset self-cleaning position.

[0115] S603: Control the garbage suction and sweeping device to move in the storage bin, and suck the residual garbage and / or odor into the garbage collection pipe at the preset self-cleaning position.

[0116] Among them, the garbage outlet is arranged on the garbage suction and sweeping device, and the garbage collection pipe is arranged at a preset self-cleaning position for collecting garbage. The garbage can be transported to other places for treatment through the garbage collection pipe. The garbage outlet of the garbage suction and sweeping device is connected with the garbage collection pipe at the preset self-cleaning position, so that the garbage in the storage compartment can enter the garbage collection pipe through the garbage outlet, and the garbage can also be transported to other locations for treatment through the garbage collection pipe, such as garbage stations, garbage treatment plants, etc.

[0117] In this embodiment, the garbage suction and sweeping device can move in the storage compartment to perform all-round cleaning of the storage compartment to obtain a better cleaning effect. For example, the garbage suction and sweeping device can be moved in the storage compartment by being driven by a moving motor. During the movement, it can suck away the residual garbage and / or odor in the storage compartment, and suck the residual garbage and / or odor into the garbage collection pipe through the garbage outlet, thereby achieving cleaning and deodorization of the storage compartment.

[0118] In summary, the robot storage self-cleaning method provided by the embodiment of the present invention responds to the cleaning instruction, goes to the preset self-cleaning position according to the cleaning instruction, starts the cleaning device, and controls the cleaning device to clean the storage bin. The present invention realizes the self-cleaning of the storage bin, improves the automation of the robot, does not need manual cleaning, reduces labor costs, and improves cleaning efficiency.

[0119] Another embodiment of the present invention further provides a non-volatile computer-readable storage medium, which stores computer-executable instructions. When the computer-executable instructions are executed by at least one processor, the at least one processor executes the robot warehouse self-cleaning method as described in any one of the above embodiments.

[0120] 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 separated, and the components displayed as units may or may not be physical units, that is, they may be located in one place, or may be distributed on multiple network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0121] Through the description of the above implementation methods, ordinary technicians in this field can clearly understand that each implementation method can be implemented by means of software plus a general hardware platform, and of course, it can also be implemented by hardware. Ordinary technicians in this field can understand that all or part of the processes in the above-mentioned embodiment method can be completed by instructing related 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-mentioned methods. Among them, the storage medium can be a disk, an optical disk, a read-only memory (ROM) or a random access memory (RAM), etc.

[0122] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit them. Under the concept of the present invention, the technical features in the above embodiments or different embodiments may also be combined, the steps may be implemented in any order, and there are many other changes in different aspects of the present invention as described above, which are not provided in detail for the sake of simplicity. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they may still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, 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 invention.

Claims

1. A robot warehouse self-cleaning method, applied to a robot, characterized in that: The robot comprises a storage bin and a cleaning device, and the method comprises: In response to a cleaning instruction, proceed to a preset self-cleaning position according to the cleaning instruction; The cleaning device is started and controlled to clean the storage bin.

2. The method according to claim 1, characterized in that The step of responding to the cleaning instruction and moving to a preset self-cleaning position according to the cleaning instruction comprises: In response to a cleaning instruction triggered by a user through a terminal or a robot locally, or generated by the robot according to a cleaning plan, parsing the cleaning instruction to obtain the preset self-cleaning position, wherein the cleaning instruction carries the preset self-cleaning position; Go to the preset self-cleaning position as described.

3. The method according to claim 1, characterized in that: The step of starting the cleaning device and controlling the cleaning device to clean the storage bin includes: Detecting whether there are any stranded items inside the storage bin; If there are no stranded items in the storage bin, the storage bin is opened, the cleaning device is started, and the cleaning device is controlled to clean the storage bin.

4. The method according to claim 1, characterized in that: The cleaning device comprises a garbage suction and sweeping device and a flushing water gun; The step of starting the cleaning device and controlling the cleaning device to clean the storage bin includes: After the storage bin is opened, the garbage suction and sweeping device is started to remove the residual garbage and / or odor in the storage bin; If there are stains in the storage bin, the flushing water gun is started to flush the stains.

5. The method according to claim 4, characterized in that The step of starting the flushing water gun to flush the stain comprises: After the storage bin is opened, the storage bin is deviated from the robot body, and the reserved hole of the storage bin is connected to the wastewater receiving pipe at the preset self-cleaning position; The flushing water gun is started to flush the stains in the storage bin, and the waste water is introduced into the waste water receiving pipe at the preset self-cleaning position through the reserved hole.

6. The method according to claim 4, characterized in that The step of starting the flushing water gun to flush the stain comprises: After the storage bin is opened, the storage bin is deviated from the robot body, and the storage bin is extended into a storage container set at a preset self-cleaning position; The flushing water gun is turned on to flush the stains in the storage bin and to guide the waste water into the storage container.

7. The method according to claim 4, characterized in that The starting of the garbage suction and sweeping device to remove the residual garbage and / or odor in the storage bin includes: Starting the garbage suction and sweeping device, controlling the garbage suction and sweeping device to move in the storage bin, and sucking the residual garbage and / or odor into a preset collection container; or, Connecting the garbage outlet of the garbage suction and sweeping device to the garbage collection pipe at a preset self-cleaning position; The garbage suction and sweeping device is controlled to move in the storage bin, and the residual garbage and / or odor are sucked into the garbage collection pipe at the preset self-cleaning position.

8. The method according to claim 7, characterized in that The preset container includes a sensing module; The method further comprises: Detecting the garbage situation in the preset container by the sensing module; When it is detected that the amount of garbage in the preset container reaches a preset threshold value and / or reaches a preset time interval for cleaning, a cleaning warning signal for the preset container is issued.

9. A robot, characterized in that: include: at least one processor, and A memory, wherein the memory is communicatively connected to the at least one processor, the memory stores instructions executable by the at least one processor, and the instructions are executed by the at least one processor so that the at least one processor can execute the method described in any one of claims 1 to 8.

10. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores computer-executable instructions, and when the computer-executable instructions are executed by at least one processor, the at least one processor is caused to execute the method according to any one of claims 1 to 8.

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