Cleaning method and device based on vision algorithm, equipment and medium

Abstract

The invention discloses a cleaning method and device based on a visual algorithm, equipment and a medium. The method comprises the steps that position information of a to-be-cleaned ground is determined according to a robot cleaning task; collecting a first image of the ground to be cleaned according to a visual system; analyzing the first image based on a visual algorithm, and determining a corresponding cleaning mode; and cleaning the ground to be cleaned according to the cleaning mode. By adopting the embodiment of the invention, the smudginess degree of the to-be-cleaned ground is analyzed through the visual algorithm, the cleaning mode is automatically adjusted, the noise pollution to the non-cleaning area is effectively reduced, the cleaning mode with higher intensity is implemented for the area with the larger smudginess degree of the to-be-cleaned ground, and the cleaning efficiency is improved. The cruising ability of the robot cleaner is greatly improved, and meanwhile the influence on the environment in the ground cleaning process of the robot is weakened.

Description

Technical Field

[0001] The present invention relates to the field of artificial intelligence technology, and in particular to a cleaning method, device, equipment and medium based on a visual algorithm. Background Art

[0002] Service robots are increasingly attracting public attention. Service robots with different functions have obvious advantages. As part of the labor force, they have greatly improved people's quality of life. Among them, hotel robots belong to service robots, such as hotel guide robots, hotel delivery robots, hotel disinfection robots and hotel cleaning robots. In short, various types of robots in hotels are designed to optimize the hotel environment and serve humans through their respective functions. For the hotel cleaning robot, although it can autonomously plan the path of the corresponding cleaning task and autonomously complete the cleaning process. However, during the cleaning process, if the robot continues to maintain the same cleaning intensity in order to complete the cleaning task, the cleaning sound of greater intensity may affect the user's rest, and may also cause the attenuation of the life of the carpet and floor, and even cause the robot's working time to be shortened, which greatly reduces the cleaning quality. It can be seen that in the process of conventional robots performing cleaning tasks, the mechanized operation method is relatively poor, and it is easy to bring a bad stay experience to users. Summary of the invention

[0003] The present invention provides a cleaning method, device, equipment and medium based on a visual algorithm, which realizes scheduling the cleaning robot to dynamically adjust the cleaning mode according to the actual situation of the ground to be cleaned, complete the cleaning task, improve the cleaning efficiency and improve the user experience.

[0004] According to a first aspect of the present invention, there is provided a cleaning method based on a visual algorithm, the method comprising:

[0005] Determine the location information of the floor to be cleaned according to the robot cleaning task;

[0006] Acquire a first image of the floor to be cleaned according to a visual system;

[0007] Analyze the first image based on a visual algorithm to determine a corresponding cleaning mode;

[0008] The floor to be cleaned is cleaned according to the cleaning mode.

[0009] According to a second aspect of the present invention, there is provided a cleaning device based on a visual algorithm, the device comprising:

[0010] A determination module, configured to determine position information of a floor to be cleaned according to a cleaning task of the robot;

[0011] A collection module, configured to collect a first image of the floor to be cleaned according to a visual system;

[0012] An analysis module, configured to analyze the first image based on a visual algorithm to determine a corresponding cleaning mode;

[0013] The cleaning module is configured to clean the floor to be cleaned according to the cleaning mode.

[0014] According to a third aspect of the present invention, there is provided an electronic device comprising: at least one processor; and a memory communicatively connected to the at least one processor; wherein 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 implements a visual algorithm-based cleaning method as described in any embodiment of the present invention.

[0015] According to a fourth aspect of the present invention, a computer-readable storage medium is provided, wherein the computer instructions are used to enable the computer to execute the cleaning method based on the visual algorithm as described in any embodiment of the present invention.

[0016] The present invention discloses a cleaning method, device, equipment and medium based on a visual algorithm. The method comprises: determining the position information of a floor to be cleaned according to a robot cleaning task; collecting a first image of the floor to be cleaned according to a visual system; analyzing the first image based on a visual algorithm to determine a corresponding cleaning mode; and cleaning the floor to be cleaned according to the cleaning mode. According to the embodiment of the present invention, the degree of dirtiness of the floor to be cleaned is analyzed by the visual algorithm, so that the cleaning mode is automatically adjusted, the noise pollution to non-cleaned areas is effectively reduced, and a higher intensity cleaning mode is implemented for areas with a greater degree of dirtiness of the floor to be cleaned, which greatly improves the endurance of the cleaning robot. At the same time, the environmental impact of the robot during the floor cleaning process is also weakened.

[0017] It should be understood that the contents described in this section are not intended to identify the key or important features of the embodiments of the present invention, nor are they intended to limit the scope of the present invention. Other features of the present invention will become easily understood through the following description. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings required for use in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0019] Figure 1is a schematic diagram of an application scenario in which a cleaning method based on a visual algorithm according to an embodiment of the present invention can be implemented;

[0020] Figure 2 is a schematic flow chart of a cleaning method based on a visual algorithm provided according to an embodiment of the present invention;

[0021] Figure 3 is a schematic structural diagram of a cleaning device based on a visual algorithm according to an embodiment of the present invention;

[0022] Figure 4 It is a block diagram of an electronic device used to implement the cleaning method based on a visual algorithm according to an embodiment of the present invention. DETAILED DESCRIPTION

[0023] In order to enable those skilled in the art to better understand the solution of the present application, the technical solution in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work should fall within the scope of protection of the present application.

[0024] It should be noted that the terms "first", "second", etc. in the specification and claims of the present application and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchangeable where appropriate, so that the embodiments of the present application described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having" and any of their variations are intended to cover non-exclusive inclusions, for example, a process, method, system, product or device comprising a series of steps or units is not necessarily limited to those steps or units clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0025] Figure 1 Schematic diagram 100 of an application scenario of a cleaning method based on a visual algorithm provided by an embodiment of the present invention. Figure 1 As shown, the application scenario includes: a computing device 110, a robot 120 and a floor to be cleaned 130. The computing device 110 can control the robot 120: determine the position information of the floor to be cleaned 130 according to the robot cleaning task; collect a first image of the floor to be cleaned 130 according to the visual system; analyze the first image based on the visual algorithm to determine the corresponding cleaning mode; clean the floor to be cleaned 130 according to the cleaning mode. The floor to be cleaned 130 includes a hard floor 131 and a soft floor 132.

[0026] It should be noted that the computing device 110 can be hardware or software. When the computing device 110 is hardware, it can be implemented as a distributed cluster consisting of multiple servers or terminal devices, or it can be implemented as a single server or a single terminal device. When the computing device 110 is embodied as software (for example, a program or system for controlling a robot), it can be installed in the hardware devices listed above. It can be implemented as multiple software or software modules for providing distributed services, or it can be implemented as a single software or software module. No specific limitation is made here. It should be understood that Figure 1 The number of computing devices in the above is only illustrative. Any number of computing devices may be provided according to implementation requirements. Figure 1 The cleaning method based on the cleaning algorithm shown is an example of an embodiment of the present invention, but not a limitation.

[0027] Embodiment 1

[0028] According to an embodiment of the present application, a cleaning method based on a visual algorithm is provided. It should be noted that the steps shown in the flowchart of the accompanying drawings can be executed in a computer system such as a set of computer executable instructions, and although a logical order is shown in the flowchart, in some cases, the steps shown or described can be executed in an order different from that shown here. Figure 2 As shown, the cleaning method based on the visual algorithm includes the following steps: S210, S220, S230 and S240.

[0029] S210: Determine the position information of the floor to be cleaned according to the robot cleaning task.

[0030] S220: Collect a first image of the floor to be cleaned according to a visual system.

[0031] S230: Analyze the first image based on a visual algorithm to determine a corresponding cleaning mode.

[0032] S240: Clean the floor to be cleaned according to the cleaning mode.

[0033] Wherein, before the first image of the floor to be cleaned is collected according to the visual system, it includes: starting the robot to put the robot in a working state; sending the position information and the cleaning task corresponding to the position information to the robot; and controlling the robot to move to the position of the floor to be cleaned.

[0034] Optionally, analyzing the first image based on a visual algorithm to determine a corresponding cleaning mode includes: acquiring the first image; and determining the type of the floor to be cleaned according to a recognition result of the first image, wherein the type of the floor to be cleaned includes a hard floor and a soft floor.

[0035] Optionally, the robot activates corresponding functions according to different cleaning modes to perform the cleaning task, the hard floor corresponds to a first cleaning mode, and the soft floor corresponds to a second cleaning mode.

[0036] Specifically, the first cleaning mode means that the robot puts down the mop, starts the water channel, and runs the fan at low power; the second cleaning mode means that the robot starts the roller brush and side brush, and the fan adaptively adjusts the power according to the dirtiness of the ground to be cleaned and the length of the carpet.

[0037] Optionally, determining the type of floor to be cleaned based on the recognition result of the first image includes: if the recognition result is a hard floor, starting the water channel function, the mop function and the fan function to run the robot at a low power level; if the recognition result is a soft floor, starting the roller brush function, the side brush function and the fan function to run the robot.

[0038] Optionally, after cleaning the floor to be cleaned according to the cleaning mode, it also includes: collecting a second image of the floor to be cleaned processed by the robot in the working state; comparing the first image with the second image to generate first cleaning effect data of the cleaning task; adjusting the cleaning mode according to the first cleaning effect data or ending the cleaning task.

[0039] As an optional implementation, the second image is an image of the ground after cleaning, and the effect of the robot performing the cleaning task is determined by comparing the second image with the first image. If the first cleaning effect data reaches a predetermined cleaning standard, the robot is controlled to end the cleaning task. If the first cleaning effect data does not reach a predetermined cleaning standard, the cleaning force of the robot is increased, and the cleaning task is continued until the effect meets the cleaning standard, and the cleaning is ended.

[0040] Furthermore, the cleaning intensity in the cleaning mode is adjusted according to the first cleaning effect data.

[0041] Optionally, the robot is controlled to process the remaining floor to be cleaned according to the adjusted cleaning mode or the adjusted cleaning intensity; a third image of the remaining floor to be cleaned is collected; second cleaning effect data of the cleaning task is generated according to the comparison result of the second image and the third image; and it is determined whether to continue adjusting the cleaning mode and the cleaning intensity according to the second cleaning effect data.

[0042] The third image is a cleaning effect image after the robot performs a second cleaning operation on the floor to be cleaned. Similarly, if the second cleaning effect data meets the cleaning standard, the cleaning is terminated. If the second effect data does not meet the cleaning standard, the cleaning operation is continued.

[0043] Optionally, the cleaning task is terminated after the second cleaning effect data reaches a preset cleaning standard.

[0044] The present invention discloses a cleaning method based on a visual algorithm. The method comprises: determining the position information of a floor to be cleaned according to a robot cleaning task; collecting a first image of the floor to be cleaned according to a visual system; analyzing the first image based on a visual algorithm to determine a corresponding cleaning mode; and cleaning the floor to be cleaned according to the cleaning mode. According to the embodiment of the present invention, the degree of dirtiness of the floor to be cleaned is analyzed by the visual algorithm, so that the cleaning mode is automatically adjusted, noise pollution to non-cleaned areas is effectively reduced, and a higher intensity cleaning mode is implemented for areas with a greater degree of dirtiness of the floor to be cleaned, which greatly improves the endurance of the cleaning robot. At the same time, the environmental impact of the robot during the floor cleaning process is also weakened.

[0045] Embodiment 2

[0046] According to an embodiment of the present invention, a schematic diagram of a cleaning device based on a visual algorithm is provided, and the device can execute the cleaning method based on a visual algorithm provided in the first embodiment. Figure 3 As shown, the device includes: a determination module 310 , a collection module 320 , an analysis module 330 and a cleaning module 340 .

[0047] in:

[0048] The determination module 310 is configured to determine the position information of the floor to be cleaned according to the robot cleaning task.

[0049] The acquisition module 320 is configured to acquire a first image of the floor to be cleaned according to a visual system.

[0050] The analysis module 330 is configured to analyze the first image based on a visual algorithm to determine a corresponding cleaning mode.

[0051] The cleaning module 340 is configured to clean the floor to be cleaned according to the cleaning mode.

[0052] Optionally, before the acquisition module, it includes:

[0053] A starting module, configured to start the robot so that the robot is in a working state;

[0054] a sending module, configured to send the position information and a cleaning task corresponding to the position information to the robot;

[0055] The moving module is configured to control the robot to move to the ground position to be cleaned.

[0056] Optionally, the analysis module 330 includes:

[0057] an acquisition unit, configured to acquire the first image;

[0058] The determination unit is configured to determine the type of the floor to be cleaned according to the recognition result of the first image, and the type of the floor to be cleaned includes a hard floor and a soft floor.

[0059] Furthermore, the robot activates corresponding functions according to different cleaning modes to perform the cleaning task, the hard floor corresponds to the first cleaning mode, and the soft floor corresponds to the second cleaning mode.

[0060] Optionally, the determination unit is specifically used to: if the recognition result is a hard ground, start the water channel function, the mop function and the fan function to run the robot at a low power gear; if the recognition result is a soft ground, start the roller brush function, the side brush function and the fan function to run the robot.

[0061] Optionally, after the cleaning module 340, it also includes: collecting a second image of the floor to be cleaned processed by the robot in the working state; comparing the first image with the second image to generate first cleaning effect data of the cleaning task; adjusting the cleaning mode or ending the cleaning task according to the first cleaning effect data.

[0062] Furthermore, the cleaning intensity in the cleaning mode is adjusted according to the first cleaning effect data.

[0063] Optionally, the robot is controlled to process the remaining floor to be cleaned according to the adjusted cleaning mode or the adjusted cleaning intensity; a third image of the remaining floor to be cleaned is collected; second cleaning effect data of the cleaning task is generated according to the comparison result of the second image and the third image; and it is determined whether to continue adjusting the cleaning mode and the cleaning intensity according to the second cleaning effect data.

[0064] Furthermore, the cleaning task is terminated after the second cleaning effect data reaches a preset cleaning standard.

[0065] The present invention discloses a cleaning device based on a visual algorithm. The device comprises: a determination module, configured to determine the position information of a floor to be cleaned according to a robot cleaning task; a collection module, configured to collect a first image of the floor to be cleaned according to a visual system; an analysis module, configured to analyze the first image based on a visual algorithm and determine a corresponding cleaning mode; and a cleaning module, configured to clean the floor to be cleaned according to the cleaning mode. According to the embodiment of the present invention, the degree of dirtiness of the floor to be cleaned is analyzed by the visual algorithm, and the cleaning mode is automatically adjusted, which effectively reduces noise pollution to non-cleaned areas, and implements a higher intensity cleaning mode for areas with a greater degree of dirtiness on the floor to be cleaned, which greatly improves the endurance of the cleaning robot. At the same time, it also weakens the environmental impact of the robot during the floor cleaning process.

[0066] Embodiment 3

[0067] Reference below Figure 4 , which shows a block diagram of an electronic device 400 suitable for implementing an embodiment of the present invention. The electronic device is intended to represent various forms of digital computers, such as laptop computers, desktop computers, workstations, personal digital assistants, servers, blade servers, mainframe computers, and other suitable computers. The electronic device may also represent various forms of mobile devices, such as personal digital processing, cellular phones, smart phones, wearable devices, and other similar computing devices. The components shown herein, their connections and relationships, and their functions are merely examples and are not intended to limit the implementation of the present invention described and / or claimed herein.

[0068] like Figure 4 As shown, the electronic device 400 may include a processing device 410, which may perform various appropriate actions and processes according to a program stored in a read-only memory (ROM) 420 or a program loaded from a storage device 480 into a random access memory (RAM) 430. The processing device 410 may be a variety of general and / or special processing components with processing and computing capabilities. Some examples of the processing device 410 include, but are not limited to, a central processing unit (CPU), a graphics processing unit (GPU), various dedicated artificial intelligence (AI) computing chips, various computing units running machine learning model algorithms, a digital signal processor (DSP), and any appropriate processor, controller, microcontroller, etc. The processing device 410 performs the various methods and processes described above.

[0069] In the RAM 430, various programs and data required for the operation of the electronic device 400 are also stored. The processing device 410, the ROM 420, and the RAM 430 are connected to each other through a bus 440. An input / output (I / O) interface 450 is also connected to the bus 440.

[0070] Typically, the following devices may be connected to the I / O interface 450: an input device 460 including, for example, a touch screen, a touch pad, a keyboard, a mouse, a camera, a microphone, an accelerometer, a gyroscope, etc.; an output device 470 including, for example, a liquid crystal display (LCD), a speaker, a vibrator, etc.; a storage device 480 including, for example, a magnetic tape, a hard disk, etc.; and a communication device 490. The communication device 490 may allow the electronic device 400 to communicate with other devices wirelessly or by wire to exchange data. Although Figure 4 The electronic device 400 is shown with various devices, but it should be understood that it is not required to implement or possess all the devices shown. More or fewer devices may be implemented or possessed instead.

[0071] In particular, according to an embodiment of the present invention, the process described above with reference to the flowchart can be implemented as a computer software program. For example, an embodiment of the present invention includes a computer program product, which includes a computer program carried on a non-transitory computer-readable medium, and the computer program contains a program code for executing the method shown in the flowchart. In such an embodiment, the computer program can be downloaded and installed from the network through a communication device 490, or installed from a storage device 480, or installed from a ROM 420. When the computer program is executed by the processing device 410, the above functions defined in the method of the embodiment of the present invention are executed. Alternatively, in other embodiments, the processing device 410 can be configured to execute the method by any other appropriate means (for example, by means of firmware): determining the position information of the ground to be cleaned according to the robot cleaning task; collecting the first image of the ground to be cleaned according to the visual system; analyzing the first image based on the visual algorithm, determining the corresponding cleaning mode; cleaning the ground to be cleaned according to the cleaning mode.

[0072] Embodiment 4

[0073] The computer-readable medium of the present invention can be a computer-readable signal medium or a computer-readable storage medium or any combination of the two. The computer-readable storage medium can be, for example, but not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, device or device, or any combination of the above. More specific examples of computer-readable storage media can include, but are not limited to: an electrical connection with one or more wires, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the above. In the present invention, a computer-readable storage medium can be any tangible medium containing or storing a program that can be used by or in combination with an instruction execution system, device or device. In the present invention, a computer-readable signal medium can include a data signal propagated in a baseband or as part of a carrier wave, which carries a computer-readable program code. This propagated data signal can take a variety of forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination of the above. The computer readable signal medium may also be any computer readable medium other than a computer readable storage medium, which may send, propagate or transmit a program for use by or in conjunction with an instruction execution system, apparatus or device. The program code contained on the computer readable medium may be transmitted using any suitable medium, including but not limited to: wires, optical cables, RF (radio frequency), etc., or any suitable combination of the above.

[0074] In some embodiments, the client and the server may communicate using any currently known or future developed network protocol such as HTTP (HyperText Transfer Protocol), and may be interconnected with any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include a local area network ("LAN"), a wide area network ("WAN"), an internet (e.g., the Internet), and a peer-to-peer network (e.g., an ad hoc peer-to-peer network), as well as any currently known or future developed network.

[0075] The computer-readable medium may be included in the electronic device, or may exist independently without being incorporated into the electronic device.

[0076] The above-mentioned computer-readable medium carries one or more programs. When the above-mentioned one or more programs are executed by the electronic device, the electronic device: determines the position information of the floor to be cleaned according to the robot cleaning task; collects a first image of the floor to be cleaned according to the visual system; analyzes the first image based on the visual algorithm to determine the corresponding cleaning mode; and cleans the floor to be cleaned according to the cleaning mode.

[0077] Computer program code for performing the operations of the present invention may be written in one or more programming languages ​​or a combination thereof, including, but not limited to, object-oriented programming languages, such as Java, Smalltalk, C++, and conventional procedural programming languages, such as "C" or similar programming languages. The program code may be executed entirely on the user's computer, partially on the user's computer, as a separate software package, partially on the user's computer and partially on a remote computer, or entirely on a remote computer or server. In cases involving a remote computer, the remote computer may be connected to the user's computer through any type of network, including a local area network (LAN) or a wide area network (WAN), or may be connected to an external computer (e.g., via the Internet using an Internet service provider).

[0078] The flow chart and block diagram in the accompanying drawings illustrate the possible architecture, function and operation of the system, method and computer program product according to various embodiments of the present invention. In this regard, each square box in the flow chart or block diagram can represent a module, a program segment or a part of a code, and the module, the program segment or a part of the code contains one or more executable instructions for realizing the specified logical function. It should also be noted that in some alternative implementations, the functions marked in the square box can also occur in a sequence different from that marked in the accompanying drawings. For example, two square boxes represented in succession can actually be executed substantially in parallel, and they can sometimes be executed in the opposite order, depending on the functions involved. It should also be noted that each square box in the block diagram and / or flow chart, and the combination of the square boxes in the block diagram and / or flow chart can be implemented with a dedicated hardware-based system that performs the specified function or operation, or can be implemented with a combination of dedicated hardware and computer instructions.

[0079] The modules involved in the embodiments of the present invention may be implemented by software or hardware, wherein the name of a module does not limit the module itself in some cases.

[0080] The functions described above herein may be performed at least in part by one or more hardware logic components. For example, without limitation, exemplary types of hardware logic components that may be used include: digital electronic circuit systems, integrated circuit systems, field programmable gate arrays (FPGAs), application specific integrated circuits (ASICs), application specific standard products (ASSPs), systems on chip systems (SOCs), complex programmable logic devices (CPLDs), computer hardware, firmware, software, and / or combinations thereof, etc.

[0081] The program code for implementing the method of the present invention can be written in any combination of one or more programming languages. These program codes can be provided to a processor or controller of a general-purpose computer, a special-purpose computer or other programmable data processing device, so that the program code, when executed by the processor or controller, enables the functions / operations specified in the flow chart and / or block diagram to be implemented. The program code can be executed entirely on the machine, partially on the machine, partially on the machine as a stand-alone software package and partially on a remote machine, or entirely on a remote machine or server.

[0082] In the context of the present invention, a machine-readable medium may be a tangible medium that may contain or store a program for use by or in conjunction with an instruction execution system, device, or equipment. A machine-readable medium may be a machine-readable signal medium or a machine-readable storage medium. A machine-readable medium may include, but is not limited to, electronic, magnetic, optical, electromagnetic, infrared, or semiconductor systems, devices, or equipment, or any suitable combination of the foregoing. A more specific example of a machine-readable storage medium may include an electrical connection based on one or more lines, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.

[0083] To provide interaction with a user, the systems and techniques described herein can be implemented on a computer having: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to the user; and a keyboard and pointing device (e.g., a mouse or trackball) through which the user can provide input to the computer. Other types of devices can also be used to provide interaction with the user; for example, the feedback provided to the user can be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user can be received in any form (including acoustic input, voice input, or tactile input).

[0084] The systems and techniques described herein may be implemented in a computing system that includes backend components (e.g., as a data server), or a computing system that includes middleware components (e.g., an application server), or a computing system that includes frontend components (e.g., a user computer with a graphical user interface or a web browser through which a user can interact with implementations of the systems and techniques described herein), or a computing system that includes any combination of such backend components, middleware components, or frontend components. The components of the system may be interconnected by any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include: a local area network (LAN), a wide area network (WAN), a blockchain network, and the Internet.

[0085] A computer system may include a client and a server. The client and the server are generally remote from each other and usually interact through a communication network. The relationship between the client and the server is generated by computer programs running on the corresponding computers and having a client-server relationship with each other. The server may be a cloud server, also known as a cloud computing server or a cloud host, which is a host product in the cloud computing service system to solve the defects of difficult management and weak business scalability in traditional physical hosts and VPS services. The server may also be a server of a distributed system, or a server combined with a blockchain.

[0086] Artificial intelligence is a discipline that studies how to use computers to simulate certain human thought processes and intelligent behaviors (such as learning, reasoning, thinking, planning, etc.). It includes both hardware-level and software-level technologies. Artificial intelligence hardware technologies generally include technologies such as sensors, dedicated artificial intelligence chips, cloud computing, distributed storage, and big data processing; artificial intelligence software technologies mainly include computer vision technology, speech recognition technology, natural language processing technology, machine learning / deep learning technology, big data processing technology, knowledge graph technology, and other major directions.

[0087] Cloud computing refers to a technology system that uses network access to elastically scalable shared physical or virtual resource pools. Resources can include servers, operating systems, networks, software, applications, and storage devices, and can be deployed and managed on demand and in a self-service manner. Cloud computing technology can provide efficient and powerful data processing capabilities for technical applications such as artificial intelligence and blockchain, as well as model training.

[0088] It should be understood that the various forms of processes shown above can be used to reorder, add or delete steps. For example, the steps described in the present invention can be executed in parallel, sequentially or in different orders, as long as the desired results of the technical solution provided by the present invention can be achieved, and this document does not limit this.

[0089] The above specific implementations do not constitute a limitation on the protection scope of the present invention. It should be understood by those skilled in the art that various modifications, combinations, sub-combinations and substitutions can be made according to design requirements and other factors. Any modification, equivalent substitution and improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. A cleaning method based on a visual algorithm, characterized in that: The method comprises: Determine the location information of the floor to be cleaned according to the robot cleaning task; Acquire a first image of the floor to be cleaned according to a visual system; Analyze the first image based on a visual algorithm to determine a corresponding cleaning mode; The floor to be cleaned is cleaned according to the cleaning mode.

2. The method according to claim 1, characterized in that Before collecting the first image of the floor to be cleaned according to the visual system, the method includes: Starting the robot so that the robot is in a working state; sending the position information and a cleaning task corresponding to the position information to the robot; The robot is controlled to move to the ground position to be cleaned.

3. The method according to claim 1, characterized in that The analyzing the first image based on a visual algorithm to determine a corresponding cleaning mode includes: acquiring the first image; The type of the floor to be cleaned is determined according to the recognition result of the first image, and the type of the floor to be cleaned includes a hard floor and a soft floor.

4. The method according to claim 3, characterized in that The robot activates corresponding functions according to different cleaning modes to perform the cleaning task, the hard floor corresponds to the first cleaning mode, and the soft floor corresponds to the second cleaning mode.

5. The method according to claim 4, characterized in that The determining the type of the floor to be cleaned according to the recognition result of the first image includes: If the recognition result is a hard ground, the water channel function, the mopping function and the fan function are activated to operate the robot at a low power level; If the recognition result is a soft floor, the roller brush function, the side brush function and the fan function are started to operate the robot.

6. The method according to claim 1, characterized in that After the floor to be cleaned is cleaned according to the cleaning mode, the method further comprises: Acquire a second image of the floor to be cleaned processed by the robot in the working state; comparing the first image and the second image to generate first cleaning effect data for the cleaning task; The cleaning mode is adjusted or the cleaning task is terminated according to the first cleaning effect data.

7. The method according to claim 6, characterized in that The method further includes: adjusting the cleaning force in the cleaning mode according to the first cleaning effect data.

8. The method according to claim 6 or 7, characterized in that: Also includes: Controlling the robot to process the remaining floor to be cleaned according to the adjusted cleaning mode or the adjusted cleaning intensity; Acquiring a third image of the remaining ground surface to be cleaned; generating second cleaning effect data of the cleaning task according to a comparison result between the second image and the third image; Determine whether to continue adjusting the cleaning mode and the cleaning strength according to the second cleaning effect data.

9. The method according to claim 8, characterized in that The cleaning task is ended after the second cleaning effect data reaches a preset cleaning standard.

10. A cleaning device based on a visual algorithm, characterized in that: The device comprises: A determination module, configured to determine position information of a floor to be cleaned according to a cleaning task of the robot; A collection module, configured to collect a first image of the floor to be cleaned according to a visual system; An analysis module, configured to analyze the first image based on a visual algorithm to determine a corresponding cleaning mode; The cleaning module is configured to clean the floor to be cleaned according to the cleaning mode.

11. The device according to claim 10, characterized in that Before the acquisition module, it includes: A starting module, configured to start the robot so that the robot is in a working state; a sending module, configured to send the position information and a cleaning task corresponding to the position information to the robot; The moving module is configured to control the robot to move to the ground position to be cleaned.

12. The device according to claim 10, characterized in that The analysis module comprises: an acquisition unit, configured to acquire the first image; The determination unit is configured to determine the type of the floor to be cleaned according to the recognition result of the first image, and the type of the floor to be cleaned includes a hard floor and a soft floor.

13. The device according to claim 12, characterized in that The robot activates corresponding functions according to different cleaning modes to perform the cleaning task, the hard floor corresponds to the first cleaning mode, and the soft floor corresponds to the second cleaning mode.

14. An electronic device comprising: at least one processor; and a memory communicatively connected to the at least one processor; wherein 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 implements the method as described in any one of claims 1-9.

15. A computer-readable storage medium, wherein: The computer instructions are used to cause the computer to execute the method according to any one of claims 1-9.

Images