Automatic cleaning method and device, robot and medium

Abstract

The invention discloses an automatic cleaning method and device, a robot and a medium. The method comprises the steps of determining a corresponding actual smudginess position and an actual smudginess range when ground smudginess is monitored in a delivery task execution process; creating a corresponding temporary cleaning area based on the actual smudginess position and the actual smudginess range; and reporting the temporary cleaning area to a cloud server, so that the cloud server allocates a cleaning task corresponding to the temporary cleaning area to an idle second type robot. The problems that in the prior art, manual cleaning is needed, the labor cost of cleaning service is high, and the cleaning efficiency is low are solved, intelligence and automation of the cleaning service are achieved, and the labor cost of the cleaning service is reduced; and meanwhile, the execution efficiency and quality of the cleaning task are improved, the workload of related personnel is reduced, and the service level and the customer satisfaction are improved.

Description

Technical Field

[0001] The present invention relates to the field of robot technology, and in particular to an automatic cleaning method, device, robot and medium. Background Art

[0002] At present, the demand for cleaning services in public places such as hotels and business centers continues to increase. Traditional cleaning services mainly rely on manual labor, which is inefficient and costly. Although there are already automated cleaning equipment, such as vacuum cleaner robots, these devices have relatively single functions, limited adaptability to the environment and limited intelligence, and are difficult to meet diverse and personalized cleaning needs. Summary of the invention

[0003] The present invention provides an automatic cleaning method, device, robot and medium, which solve the problems of high labor cost and low cleaning efficiency of cleaning services in the prior art.

[0004] According to one aspect of the present invention, there is provided an automatic cleaning method, applied to a first type of robot, comprising:

[0005] When dirt on the ground is detected during the delivery task, the actual dirt location and actual dirt range are determined;

[0006] Creating a corresponding temporary cleaning area based on the actual dirt position and the actual dirt range;

[0007] The temporary cleaning area is reported to a cloud server, so that the cloud server allocates the cleaning task corresponding to the temporary cleaning area to an idle second type robot.

[0008] According to another aspect of the present invention, there is provided an automatic cleaning device, applied to a first type of robot, comprising:

[0009] A determination module is used to determine the actual dirt position and actual dirt range when dirt is detected on the ground during the delivery task;

[0010] A creation module, used for creating a corresponding temporary cleaning area based on the actual dirt position and the actual dirt range;

[0011] The reporting cleaning module is used to report the temporary cleaning area to the cloud server, so that the cloud server allocates the cleaning task corresponding to the temporary cleaning area to the idle second type robot.

[0012] According to another aspect of the present invention, there is provided a robot, the robot comprising: a visual image collector, a sensor, at least one processor and a memory;

[0013] Real-time monitoring of ground dirtiness through the visual image collector and the sensor;

[0014] The memory stores a computer program executable by the at least one processor, and the computer program is executed by the at least one processor so that the at least one processor can perform the automatic cleaning method described in any embodiment of the present invention.

[0015] According to another aspect of the present invention, a computer-readable storage medium is provided, wherein the computer-readable storage medium stores computer instructions, and the computer instructions are used to enable a processor to implement the automatic cleaning method described in any embodiment of the present invention when executed.

[0016] The technical solution of the embodiment of the present invention is to monitor the dirtiness of the ground in real time by the first type of robot during the execution of the delivery task, and create a corresponding temporary cleaning area according to the actual dirt location and the actual dirt range when the ground is detected to be dirty, and report the temporary cleaning area to the cloud server, so that the cloud server can assign the cleaning task corresponding to the temporary cleaning area to the idle second type of robot, so that the second type of robot can perform the cleaning task in time, thereby solving the problems of manual cleaning required in the prior art, high labor cost of cleaning services, and low cleaning efficiency, realizing the intelligence and automation of cleaning services, and reducing the labor cost of cleaning services; at the same time, when the ground is detected to be dirty, it is reported to the cloud server in time, so that the cloud server can assign the cleaning task to the idle second type of robot in time, thereby improving the execution efficiency and quality of cleaning tasks, reducing the workload of relevant personnel, and thereby improving service levels and customer satisfaction.

[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 invention, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0019] Figure 1 is a flow chart of an automatic cleaning method provided by an embodiment of the present invention;

[0020] Figure 2 This is a flowchart of an implementation of automatic cleaning and garbage reporting provided by an embodiment of the present invention;

[0021] Figure 3 is a structural schematic diagram of an automatic cleaning device provided by an embodiment of the present invention;

[0022] Figure 4 It is a structural block diagram of a robot provided by an embodiment of the present invention. DETAILED DESCRIPTION

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

[0024] It should be noted that the terms "first", "second", etc. in the specification and claims of the present invention 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 interchanged where appropriate, so that the embodiments of the present invention described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions, for example, a process, method, system, product or device that includes a series of steps or units is not necessarily limited to those steps or units that are clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0025] In one embodiment, Figure 1 This is a flow chart of an automatic cleaning method provided by an embodiment of the present invention. This embodiment is applicable to the situation of automatically monitoring and cleaning the dirt on the ground. The method can be executed by an automatic cleaning device. The automatic cleaning device can be implemented in the form of hardware and / or software. The automatic cleaning device can be configured in a robot. This embodiment is executed by a first type of robot. Among them, the first type of robot at least has a delivery function. Figure 1 As shown, the method includes:

[0026] S110. When dirt on the ground is detected during the delivery task, the corresponding actual dirt position and actual dirt range are determined.

[0027] Among them, the delivery task refers to the task of the first type robot delivering items to the user. In the actual operation process, the delivery task is related to the current application location of the first type robot. For example, assuming that the current application location of the first type robot is a hotel, the delivery task may include but is not limited to tasks such as meal delivery tasks, toiletries delivery tasks, and clothing delivery tasks; for another example, if the current application location of the first type robot is a business center, the delivery task may include but is not limited to tasks such as information delivery tasks and meal delivery tasks.

[0028] In one embodiment, during the delivery task, the dirtiness of the ground within the visible range is monitored in real time by the onboard camera and sensor. Cameras and sensors are configured in the first type of robot to monitor the dirtiness of the ground within the visible range. Exemplarily, the sensor may be a laser sensor, an inertial measurement unit (IMU), and an ultrasonic sensor. Among them, the dirtiness of the ground can be understood as small particles of debris on the carpet, melon seed shells, paper scraps, and coffee stains on the hard ground. During the delivery task, the first type of robot monitors the dirtiness of the ground in real time within its own visible range. Among them, the visible range refers to the maximum range that can be monitored by the camera and sensor configured in the first type of robot. Of course, different types of first type robots have different corresponding visible ranges, which are related to the performance of the camera and sensor configured by the first type of robot.

[0029] In one embodiment, determining the corresponding actual dirt position and actual dirt range includes: obtaining the current position and current orientation of the first type robot; determining the corresponding actual dirt position and actual dirt range based on the current position and current orientation. The actual dirt position refers to the current position of the dirt on the ground; the actual dirt range refers to the size of the dirt on the ground, which can also be understood as the area of ​​the dirt on the ground. In actual operation, the approximate position of the dirt on the ground can be determined based on the current position of the first type robot; then, according to the current orientation of the first type robot, the camera in the first type robot is used to take a picture of the dirt on the ground, and the dirt position on the ground is accurately located from the dirt image on the ground to obtain the corresponding actual dirt position and actual dirt range.

[0030] S120: Create a corresponding temporary cleaning area based on the actual dirt position and the actual dirt range.

[0031] The temporary cleaning area refers to a cleaning area that is created temporarily, which is different from the fixed cleaning area. The fixed cleaning area refers to an area that needs to be cleaned regularly, that is, the fixed cleaning area itself has a scheduled cleaning task.

[0032] In one embodiment, the first type of robot is generally a rechargeable robot, that is, after the first type of robot is fully charged, the usage time of the first type of robot is certain. In order to ensure the usage time of the first type of robot and the cleaning effectiveness of the robot, a corresponding temporary cleaning area can be created based on the actual dirty position and the actual dirty range when the actual dirty range reaches a certain degree of dirtiness. In one embodiment, creating a corresponding temporary cleaning area based on the actual dirty position and the actual dirty range includes: determining a comparison result between the actual dirty range and a preset dirty range; when the actual dirty range reaches the preset dirty range, creating a corresponding temporary cleaning area based on the actual dirty position and the actual dirty range. In an embodiment, the preset dirty range refers to a pre-configured dirt threshold value for creating a temporary cleaning area, which can also be understood as a dirtiness threshold value. When the actual dirt range reaches the preset dirt range, a corresponding temporary cleaning area is created based on the actual dirt position and the actual dirt range, thereby avoiding the first type robot from frequently creating corresponding temporary cleaning areas based on the actual dirt position and the actual dirt range, which increases the calculation amount and workload of the first type robot, thereby shortening the use time of the first type robot.

[0033] S130: Report the temporary cleaning area to the cloud server, so that the cloud server allocates the cleaning tasks corresponding to the temporary cleaning area to the idle second type robots.

[0034] Among them, the second type robot refers to a robot that only has a cleaning function, that is, the second type robot can also be called a cleaning robot, which is a robot used to perform cleaning tasks. In an embodiment, the first type robot can report the pre-created temporary cleaning area to the cloud server, so that the cloud server can establish a corresponding cleaning task based on the temporary cleaning area and search for the second type robot that is in an idle state. If there are multiple second type robots in an idle state, the second type robot that is in an idle state and closest can be found based on the location of the cleaning task, and the cleaning task can be assigned to the second type robot that is in an idle state and closest, thereby greatly improving the execution rate of the cleaning task and the usable time of the second type robot.

[0035] The technical solution of this embodiment is to monitor the dirtiness of the ground in real time by the first type of robot during the execution of the delivery task, and create a corresponding temporary cleaning area according to the actual dirt location and the actual dirt range when the ground is detected to be dirty, and report the temporary cleaning area to the cloud server, so that the cloud server can assign the cleaning task corresponding to the temporary cleaning area to the idle second type of robot, so that the second type of robot can perform the cleaning task in time, thereby solving the problems of manual cleaning required in the prior art, high labor cost of cleaning services, and low cleaning efficiency, realizing the intelligence and automation of cleaning services, and reducing the labor cost of cleaning services; at the same time, when the ground is detected to be dirty, it is reported to the cloud server in time, so that the cloud server can assign the cleaning task to the idle second type of robot in time, thereby improving the execution efficiency and quality of cleaning tasks, reducing the workload of relevant personnel, and thereby improving service levels and customer satisfaction.

[0036] In one embodiment, the automatic cleaning method further includes: when suspicious garbage is detected during the delivery or cleaning task, obtaining the current location of the suspicious garbage; reporting the current location to the cloud server so that the cloud server sends a garbage to be cleaned notification to relevant personnel. Wherein, suspicious garbage refers to garbage items that need to be cleaned and thrown away. Generally speaking, when the first type of robot is used in a hotel, garbage items that need to be thrown away are left at the door of the room. At this time, during the delivery or cleaning task, the first type of robot can monitor in real time whether there is suspicious garbage through a pre-configured visual algorithm for identifying garbage items. If there is suspicious garbage, the current location of the suspicious garbage is located and reported to the cloud server so that the cloud server sends a garbage to be cleaned notification to relevant personnel, so that the relevant personnel can manually clean up the suspicious garbage, thereby improving the efficiency of garbage cleaning, avoiding the need for relevant personnel to manually check whether there is garbage to be cleaned, and improving the efficiency of garbage cleaning, and improving the service level and customer satisfaction of the current location of the first type of robot.

[0037] In one embodiment, the tool for receiving the notification of junk to be cleaned up includes at least one of the following: a third-party platform and an instant messaging tool. In the embodiment, the notification of junk to be cleaned up can be sent to the instant messaging tool of the relevant personnel, such as SMS and phone calls on mobile terminals; the notification of junk to be cleaned up can also be received through a third-party platform, such as a mini program or a third-party platform.

[0038] In one embodiment, within a preset time period, if the cloud server receives at least two suspicious garbage reporting instructions for the same location, the cloud server will filter out other suspicious garbage reporting instructions except the first one. In actual operation, within a preset time period, one or more first-type robots detect suspicious garbage at the same location while performing delivery or cleaning tasks. At this time, each first-type robot reports the current location of the suspicious garbage to the cloud server. In order to avoid frequently sending garbage to be cleaned notifications to relevant personnel, a preset time period can be set. That is, within the preset time period, if the cloud server receives multiple suspicious garbage reporting instructions for the same location, the cloud server directly filters out other suspicious garbage reporting instructions except the first garbage reporting instruction received. That is, within the preset time period, the cloud server only needs to report the garbage to be cleaned corresponding to the suspicious garbage at the same location to the relevant personnel once.

[0039] In one embodiment, when the first type robot is equipped with a garbage collection box and has a cleaning function, the automatic cleaning method further includes: automatically cleaning suspicious garbage and putting the suspicious garbage into the garbage collection box. In an embodiment, a garbage collection box can be configured in the first type robot, and when the first type robot has a delivery and cleaning function, if it is in the process of performing a delivery or cleaning task, the suspicious garbage is automatically cleaned and put into the garbage collection box, thereby eliminating the need for relevant personnel to manually clean the suspicious garbage, and at the same time improving the garbage cleaning efficiency, thereby improving the service level and customer satisfaction. Of course, a garbage collection box can also be configured in the second type robot. When the second type robot is performing a cleaning task, if it receives a garbage to be cleaned notification sent by the cloud server, it can directly put the suspicious garbage into the garbage collection box.

[0040] In one embodiment, the automatic cleaning method further includes: sharing the temporary cleaning area with other second-type robots within the communication range corresponding to the first-type robot, so that one of the second-type robots in an idle state performs the cleaning task corresponding to the temporary cleaning area. When the first-type robot detects dirt on the ground during the delivery task, the created temporary cleaning area can be directly shared with other second-type robots within its own communication range, so that one of the second-type robots in an idle state performs the cleaning task corresponding to the temporary cleaning area. Of course, in the case where the first-type robot also has a cleaning function, the temporary cleaning area can also be shared with other first-type robots within its own communication range, so that one of the first-type robots in an idle state performs the cleaning task corresponding to the temporary cleaning area.

[0041] In one embodiment, when the first type of robot has both a delivery function and a cleaning function, the automatic cleaning method further includes: obtaining the actual urgency of the delivery task; when the actual urgency does not reach the preset emergency threshold value, automatically executing the cleaning task corresponding to the temporary cleaning area. The actual urgency can be characterized by the estimated time for delivery. The closer the current time is to the estimated time for delivery, the higher the actual urgency of the delivery task. When the first type of robot detects dirt on the ground during the delivery task, a corresponding temporary cleaning area is created based on the actual dirt location and the actual dirt range. At this time, based on the actual urgency of the delivery task, if the actual urgency does not reach the preset emergency threshold value, the cleaning task corresponding to the temporary cleaning area can be directly executed, and after completing the cleaning task, the delivery task can be continued, thereby avoiding the process of the cloud server deploying other second type robots to perform cleaning tasks.

[0042] In one embodiment, Figure 2 This is a flowchart of an automatic cleaning and garbage reporting implementation provided by an embodiment of the present invention. This embodiment, as a preferred embodiment, describes the implementation process of automatic cleaning. In the embodiment, taking the first type of robot having a delivery function and the second type of robot having a cleaning function as an example, the process of automatically cleaning the dirt on the ground and automatically clearing garbage items is described. Among them, when the first type of robot has the delivery and cleaning functions, it can also be called a service robot; when the second type of robot only has the cleaning function, it can also be called a cleaning robot.

[0043] like Figure 2 As shown, the automatic cleaning in this embodiment includes the following steps:

[0044] S210: The service robot starts to perform the delivery task.

[0045] S220, the service robot monitors the dirtiness of the ground in real time.

[0046] S230: Is it detected that the ground is dirty? If so, execute S240; if not, execute S2100.

[0047] S240: The service robot determines the corresponding actual dirt position and actual dirt range.

[0048] S250: The service robot creates a corresponding temporary cleaning area based on the actual dirty location and actual dirty range, and reports it to the cloud server.

[0049] S260. The cloud server determines whether there is an idle cleaning robot. If so, execute S270; if not, execute S290.

[0050] S270. The cloud server assigns the cleaning tasks corresponding to the temporary cleaning area to the cleaning robot.

[0051] S280: The cleaning robot performs a cleaning task.

[0052] S290, waiting for a cleaning robot to be in an idle state.

[0053] S2100: Whether the service robot detects suspicious garbage, if so, execute S2110; if not, execute S2120.

[0054] S2110. The service robot reports the location of the suspicious garbage to the cloud server, so that the cloud server sends the location of the suspicious garbage to relevant personnel.

[0055] S2120: The service robot continues to perform the delivery task.

[0056] In an embodiment, the service robot monitors the dirtiness of the ground in real time through the onboard sensors and cameras while performing the delivery task; when dirt on the ground is detected (including small particles of debris on the carpet, melon seed shells, paper scraps, and coffee stains and water stains on the hard floor, etc.), the service robot calculates the corresponding actual dirt location and actual dirt range, and establishes a corresponding temporary cleaning area; the service robot then reports the temporary cleaning area to the cloud server, so that the cloud server assigns the cleaning task corresponding to the temporary cleaning area to an idle cleaning robot, and the cleaning robot cleans the designated area according to the task requirements of the cleaning task.

[0057] When the service robot finds something suspected to be garbage at the door during the delivery or cleaning task, it will automatically report the location of the suspected garbage to the cloud server and notify the hotel staff. To prevent duplicate reporting, the system sets a rule that garbage at the same location in the same task period (or within 1 hour) will not be reported repeatedly.

[0058] The automatic cleaning of dirty floors and the automatic reporting of garbage provided in this embodiment improve the efficiency and quality of cleaning services and reduce the workload of relevant personnel; at the same time, it realizes the intelligence and automation of cleaning tasks and reduces the labor cost of cleaning services; at the same time, it improves service levels and customer satisfaction.

[0059] In actual operation, the service robot and the cleaning robot can be integrated into one device, that is, the service robot has a cleaning function. In this way, when the service robot finds the ground dirty during the delivery task, it can clean it directly without assigning the task to the cleaning robot. However, this solution may increase the design and manufacturing cost of the service robot and may also affect the efficiency of its delivery task.

[0060] In one embodiment, Figure 3 is a schematic diagram of the structure of an automatic cleaning device provided by an embodiment of the present invention. The automatic cleaning device in this embodiment is integrated in the first type of robot. Figure 3 As shown, the device includes: a determination module 310 , a creation module 320 and a reporting and cleaning module 330 .

[0061] The determination module 310 is used to determine the actual dirt position and the actual dirt range when the dirt on the ground is detected during the delivery task;

[0062] A creation module 320, for creating a corresponding temporary cleaning area based on the actual dirt position and the actual dirt range;

[0063] The reporting cleaning module 330 is used to report the temporary cleaning area to the cloud server, so that the cloud server allocates the cleaning tasks corresponding to the temporary cleaning area to the idle second type robots.

[0064] In one embodiment, the automatic cleaning device further comprises:

[0065] A location acquisition module is used to obtain the current location of suspicious garbage when suspicious garbage is detected during the delivery or cleaning task;

[0066] The reporting and notification module is used to report the current location to the cloud server so that the cloud server can send a garbage cleanup notification to relevant personnel.

[0067] In one embodiment, if the cloud server receives at least two suspicious junk reporting instructions from the same location within a preset time period, the cloud server will filter the other suspicious junk reporting instructions except the first one.

[0068] In one embodiment, when the first type robot is equipped with a garbage storage box and has a cleaning function, the automatic cleaning device further includes:

[0069] The cleaning module is used to automatically clean up suspicious garbage and put the suspicious garbage into a garbage collection box.

[0070] In one embodiment, the tool for receiving the notification of junk to be cleaned up includes at least one of the following: a third-party platform and an instant messaging tool.

[0071] In one embodiment, the automatic cleaning device further comprises:

[0072] The sharing module is used to share the temporary cleaning area with other robots within the communication range corresponding to the first type of robot, so that one of the robots in an idle state performs the cleaning task corresponding to the temporary cleaning area.

[0073] In one embodiment, when the first type of robot has both a delivery function and a cleaning function, the automatic cleaning device further includes:

[0074] The urgency acquisition module is used to obtain the actual urgency of the delivery task;

[0075] The task execution module is used to automatically execute the cleaning task corresponding to the temporary cleaning area when the actual urgency does not reach the preset emergency threshold value.

[0076] In one embodiment, the determination module includes:

[0077] An acquisition unit, used for acquiring a current position and a current orientation of the first type of robot;

[0078] The position range determination unit is used to determine the corresponding actual dirt position and actual dirt range based on the current position and the current orientation.

[0079] In one embodiment, creating a module includes:

[0080] A result determination unit, used to determine a comparison result between an actual dirt range and a preset dirt range;

[0081] The creating unit is used to create a corresponding temporary cleaning area based on the actual dirt position and the actual dirt range when the actual dirt range reaches the preset dirt range.

[0082] In one embodiment, during the delivery task, the dirtiness of the ground within the visible range is monitored in real time through the onboard camera and sensors.

[0083] In one embodiment, a corresponding temporary cleaning area is created based on the actual dirt position and the actual dirt range, specifically for:

[0084] Based on the actual dirt location and the actual coordinate points corresponding to the pre-stored map marks;

[0085] Create a corresponding temporary cleaning area based on the actual coordinate points and the actual dirty range.

[0086] In one embodiment, the first type of robot at least has a delivery function; the second type of robot has a cleaning function.

[0087] The automatic cleaning device provided in the embodiment of the present invention can execute the automatic cleaning method provided in any embodiment of the present invention, and has the corresponding functional modules and beneficial effects of the execution method.

[0088] In one embodiment, Figure 4 is a structural block diagram of a robot provided by an embodiment of the present invention. Figure 4As shown, a schematic diagram of the structure of a robot 10 that can be used to implement an embodiment of the present invention is shown. The robot is intended to represent various forms of digital computers, such as laptop computers, desktop computers, workbenches, personal digital assistants, servers, blade servers, mainframe computers, and other suitable computers. The robot can also represent various forms of mobile devices, such as personal digital processing, cellular phones, smart phones, wearable devices (such as helmets, glasses, watches, etc.) 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 required herein. In an embodiment, the robot can be a first type robot.

[0089] like Figure 4 As shown, the robot 10 includes at least one processor 11, and a memory connected to the at least one processor 11, such as a read-only memory (ROM) 12, a random access memory (RAM) 13, etc., wherein the memory stores a computer program that can be executed by at least one processor, and the processor 11 can perform various appropriate actions and processes according to the computer program stored in the read-only memory (ROM) 12 or the computer program loaded from the storage unit 18 to the random access memory (RAM) 13. In the RAM 13, various programs and data required for the operation of the robot 10 can also be stored. The processor 11, the ROM 12, and the RAM 13 are connected to each other through a bus 14. An input / output (I / O) interface 15 is also connected to the bus 14.

[0090] A number of components in the robot 10 are connected to the I / O interface 15, including: an input unit 16, such as a keyboard, a mouse, etc.; an output unit 17, such as various types of displays, speakers, etc.; a storage unit 18, such as a disk, an optical disk, etc.; and a communication unit 19, such as a network card, a modem, a wireless communication transceiver, etc. The communication unit 19 allows the robot 10 to exchange information / data with other devices through a computer network such as the Internet and / or various telecommunication networks.

[0091] The processor 11 may be a variety of general and / or special processing components with processing and computing capabilities. Some examples of the processor 11 include, but are not limited to, a central processing unit (CPU), a graphics processing unit (GPU), various dedicated artificial intelligence (AI) computing chips, various processors running machine learning model algorithms, a digital signal processor (DSP), and any appropriate processor, controller, microcontroller, etc. The processor 11 performs the various methods and processes described above, such as an automatic cleaning method.

[0092] In some embodiments, the automatic cleaning method may be implemented as a computer program, which is tangibly contained in a computer-readable storage medium, such as a storage unit 18. In some embodiments, part or all of the computer program may be loaded and / or installed on the robot 10 via the ROM 12 and / or the communication unit 19. When the computer program is loaded into the RAM 13 and executed by the processor 11, one or more steps of the automatic cleaning method described above may be performed. Alternatively, in other embodiments, the processor 11 may be configured to perform the automatic cleaning method in any other suitable manner (e.g., by means of firmware).

[0093] In the embodiment, the robot further comprises: a visual image collector 21 and a sensor 20; and the dirtiness of the ground is monitored in real time through the visual image collector 21 and the sensor 20. The visual image collector 21 may be a camera.

[0094] Various implementations of the systems and techniques described above herein can be implemented in digital electronic circuit systems, integrated circuit systems, field programmable gate arrays (FPGAs), application specific integrated circuits (ASICs), application specific standard products (ASSPs), systems on chips (SOCs), load programmable logic devices (CPLDs), computer hardware, firmware, software, and / or combinations thereof. These various implementations can include: being implemented in one or more computer programs that can be executed and / or interpreted on a programmable system including at least one programmable processor, which can be a special purpose or general purpose programmable processor that can receive data and instructions from a storage system, at least one input device, and at least one output device, and transmit data and instructions to the storage system, the at least one input device, and the at least one output device.

[0095] Computer programs for implementing the methods of the present invention may be written in any combination of one or more programming languages. These computer programs may be provided to a processor of a general-purpose computer, a special-purpose computer, or other programmable data processing device, so that when the computer program is executed by the processor, the functions / operations specified in the flow chart and / or block diagram are implemented. The computer program may be executed entirely on the machine, partially on the machine, partially on the machine and partially on a remote machine as a stand-alone software package, or entirely on a remote machine or server.

[0096] In one embodiment, the present invention further provides a computer-readable storage medium, wherein the computer-readable storage medium stores computer instructions, wherein the computer instructions are used to cause a processor to execute an automatic cleaning method, the method comprising:

[0097] When dirt on the ground is detected during the delivery task, the actual dirt location and actual dirt range are determined;

[0098] Creating a corresponding temporary cleaning area based on the actual dirt position and the actual dirt range;

[0099] The temporary cleaning area is reported to a cloud server, so that the cloud server allocates the cleaning task corresponding to the temporary cleaning area to an idle second type robot.

[0100] In the context of the present invention, a computer-readable storage medium may be a tangible medium that may contain or store a computer program for use by or in combination with an instruction execution system, device or equipment. A computer-readable storage 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. Alternatively, a computer-readable storage medium may be a machine-readable signal medium. 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.

[0101] To provide interaction with a user, the systems and techniques described herein can be implemented on a robot 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 robot. 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).

[0102] 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.

[0103] A computing 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 client and server relationship 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 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.

[0104] 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 of the present invention can be achieved, and this document does not limit this.

[0105] 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. An automatic cleaning method, characterized in that: Applicable to the first type of robots, including: When dirt on the ground is detected during the delivery task, the actual dirt location and actual dirt range are determined; Creating a corresponding temporary cleaning area based on the actual dirt position and the actual dirt range; The temporary cleaning area is reported to a cloud server, so that the cloud server allocates the cleaning task corresponding to the temporary cleaning area to an idle second type robot.

2. The method according to claim 1, characterized in that The method further comprises: When suspicious garbage is detected during the delivery or cleaning task, the current location of the suspicious garbage is obtained; The current location is reported to the cloud server so that the cloud server sends a garbage to be cleaned notification to relevant personnel.

3. The method according to claim 2, characterized in that If the cloud server receives at least two suspicious junk reporting instructions from the same location within a preset time period, the cloud server will filter the other suspicious junk reporting instructions except the first one.

4. The method according to claim 2, characterized in that: In the case where the first type of robot is equipped with a garbage storage box and has a cleaning function, the method further includes: The suspicious garbage is automatically cleaned and placed into the garbage storage box.

5. The method according to claim 2, characterized in that: The tool for receiving the notification of garbage to be cleaned up includes at least one of the following: a third-party platform and an instant messaging tool.

6. The method according to claim 1, characterized in that The method further comprises: The temporary cleaning area is shared with other second-type robots within the communication range corresponding to the first-type robot, so that one of the second-type robots in an idle state performs a cleaning task corresponding to the temporary cleaning area.

7. The method according to claim 1, characterized in that In the case where the first type of robot has a delivery function and a cleaning function, the method further includes: Get the actual urgency of the delivery task; When the actual urgency level does not reach the preset emergency threshold value, the cleaning task corresponding to the temporary cleaning area is automatically executed.

8. The method according to any one of claims 1 to 7, characterized in that: The determining of the corresponding actual dirt position and actual dirt range includes: Get the current position and current orientation of the first type of robot; The corresponding actual dirt position and actual dirt range are determined based on the current position and the current orientation.

9. The method according to any one of claims 1 to 7, characterized in that: The creating a corresponding temporary cleaning area based on the actual dirt position and the actual dirt range includes: Determine a comparison result between the actual dirt range and the preset dirt range; When the actual dirt range reaches the preset dirt range, a corresponding temporary cleaning area is created based on the actual dirt position and the actual dirt range.

10. The method according to any one of claims 1 to 7, characterized in that: During the delivery mission, the onboard cameras and sensors monitor the dirtiness of the ground within the visible range in real time.

11. The method according to any one of claims 1 to 7, characterized in that: The creating a corresponding temporary cleaning area based on the actual dirt position and the actual dirt range includes: Based on the actual dirt location and the actual coordinate point corresponding to the pre-stored map mark; A corresponding temporary cleaning area is created based on the actual coordinate point and the actual dirt range.

12. The method according to any one of claims 1 to 7, characterized in that: The first type of robot at least has a delivery function; the second type of robot has a cleaning function.

13. An automatic cleaning device, characterized in that: Applicable to the first type of robots, including: A determination module is used to determine the actual dirt position and actual dirt range when dirt is detected on the ground during the delivery task; A creation module, used for creating a corresponding temporary cleaning area based on the actual dirt position and the actual dirt range; The reporting cleaning module is used to report the temporary cleaning area to the cloud server, so that the cloud server allocates the cleaning task corresponding to the temporary cleaning area to the idle second type robot.

14. A robot, characterized in that: The robot comprises: a visual image collector, a sensor, at least one processor and a memory; Real-time monitoring of ground dirtiness through the visual image collector and the sensor; The memory stores a computer program executable by the at least one processor, and the computer program is executed by the at least one processor so that the at least one processor can perform the automatic cleaning method according to any one of claims 1 to 12.

15. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores computer instructions, and the computer instructions are used to enable a processor to implement the automatic cleaning method according to any one of claims 1 to 12 when executed.

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