Robot linen cleaning method and device, electronic equipment and medium

Abstract

The invention relates to the technical field of linen cleaning, and provides a robot linen cleaning method and device, electronic equipment and a medium. The method comprises the steps of responding to a linen cleaning instruction, determining a target position according to the linen cleaning instruction, controlling a robot to go to the target position, obtaining target linen at the target position, controlling the robot to go to a linen processing position from the target position under the condition that the target linen is obtained, processing the target linen, and determining a processing result, and arranging the processed target linen based on the processing result. According to the embodiment, the method comprises the steps of determining a target position according to a linen cleaning instruction in response to the linen cleaning instruction, controlling a robot to go to the target position, obtaining target linen at the target position, controlling the robot to go to a linen processing position from the target position under the condition that the target linen is obtained, and processing the target linen. The linen can be automatically cleaned, and the linen cleaning efficiency is improved.

Description

Technical Field

[0001] The present disclosure relates to the technical field of linen cleaning, and in particular to a robot linen cleaning method, device, electronic equipment and medium. Background Art

[0002] The growing demand for travel has made hotel cleaning increasingly difficult, especially hotel linens. Hotel linens are a professional term used in hotels. It refers to almost everything related to "cloth" in modern hotels, including hotel room bedding: such as bed sheets, quilt covers, pillowcases, pillow cores, quilt cores, decorative fabrics, etc. In the hotel industry, the tasks of sending and collecting bed sheets, quilts, towels and other items usually need to be done manually, which is a large workload and inefficient.

[0003] As for the cleaning of hotel linens, although robot technology has been applied in this field, most of them still require manual intervention and operation and cannot be fully automated, resulting in low efficiency of hotel linen cleaning. Summary of the invention

[0004] In view of this, the embodiments of the present disclosure provide a robot linen cleaning method, device, electronic device and medium to solve the problem of low garbage classification efficiency and high labor cost caused by manual marking of garbage classification in the prior art.

[0005] A first aspect of an embodiment of the present disclosure provides a robot linen cleaning method, comprising: responding to a linen cleaning instruction, determining a target position according to the linen cleaning instruction, controlling the robot to go to the target position, and obtaining target linen at the target position; when the target linen is obtained, controlling the robot to go from the target position to a linen processing position, and processing the target linen, determining a processing result, and arranging the processed target linen based on the processing result.

[0006] According to a second aspect of an embodiment of the present disclosure, a robotic linen cleaning device is provided, comprising: an instruction receiving unit, configured to respond to a linen cleaning instruction and determine a target position according to the linen cleaning instruction; a linen acquiring unit, configured to control the robot to go to the target position and acquire target linen at the target position; a linen processing unit, configured to control the robot to go from the target position to a linen processing position when the target linen is acquired, and to process the target linen and determine a processing result; and a linen arranging module, configured to arrange the processed target linen based on the processing result.

[0007] According to a third aspect of an embodiment of the present disclosure, an electronic device is provided, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor implements the steps of the above method when executing the computer program.

[0008] According to a fourth aspect of the embodiments of the present disclosure, a computer-readable storage medium is provided, which stores a computer program, and when the computer program is executed by a processor, the steps of the above method are implemented.

[0009] One of the above-mentioned embodiments of the present disclosure has the following beneficial effects: first, in response to a linen cleaning instruction, a target position is determined according to the linen cleaning instruction; then, the robot is controlled to go to the target position and obtain the target linen at the target position; finally, when the target linen is obtained, the robot is controlled to go from the target position to the linen processing position, and process the target linen, determine the processing result, and arrange the processed target linen based on the processing result. This embodiment determines the target position according to the linen cleaning instruction, controls the robot to go to the target position, and obtains the target linen at the target position; when the target linen is obtained, the robot is controlled to go from the target position to the linen processing position and process the target linen, thereby automatically cleaning the linen and improving the efficiency of linen cleaning. BRIEF DESCRIPTION OF THE DRAWINGS

[0010] In order to more clearly illustrate the technical solutions in the embodiments of the present disclosure, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present disclosure. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0011] Figure 1 is a schematic diagram of an application scenario of a robot linen cleaning method according to some embodiments of the present disclosure;

[0012] Figure 2 is a flowchart of some embodiments of the robot linen cleaning method according to the present disclosure;

[0013] Figure 3 is a schematic structural diagram of some embodiments of a robot linen cleaning device according to the present disclosure;

[0014] Figure 4 It is a schematic diagram of the structure of an electronic device suitable for implementing some embodiments of the present disclosure. DETAILED DESCRIPTION

[0015] Embodiments of the present disclosure will be described in more detail below with reference to the accompanying drawings. Although certain embodiments of the present disclosure are shown in the accompanying drawings, it should be understood that the present disclosure can be implemented in various forms and should not be construed as being limited to the embodiments set forth herein. On the contrary, these embodiments are provided to provide a more thorough and complete understanding of the present disclosure. It should be understood that the drawings and embodiments of the present disclosure are only for exemplary purposes and are not intended to limit the scope of protection of the present disclosure.

[0016] It should also be noted that, for ease of description, only the parts related to the invention are shown in the drawings. In the absence of conflict, the embodiments and features in the embodiments of the present disclosure can be combined with each other.

[0017] It should be noted that the concepts such as "first" and "second" mentioned in the present disclosure are only used to distinguish different devices, modules or units, and are not used to limit the order or interdependence of the functions performed by these devices, modules or units.

[0018] It should be noted that the modifications of "one" and "plurality" mentioned in the present disclosure are illustrative rather than restrictive, and those skilled in the art should understand that unless otherwise clearly indicated in the context, it should be understood as "one or more".

[0019] The names of the messages or information exchanged between multiple devices in the embodiments of the present disclosure are only used for illustrative purposes and are not used to limit the scope of these messages or information.

[0020] The present disclosure will be described in detail below with reference to the accompanying drawings and in conjunction with embodiments.

[0021] Figure 1 It is a schematic diagram of an application scenario of a robot linen cleaning method according to some embodiments of the present disclosure.

[0022] exist Figure 1 In the application scenario of , the computing device 101 can respond to the linen cleaning instruction 102 and determine the target position 103 according to the linen cleaning instruction. Then, the computing device 101 can control the robot to go to the target position 103 and obtain the target linen 104 at the target position. Then, when the target linen is obtained, the computing device 101 can control the robot to go from the target position 103 to the linen processing position 104, and process the target linen to determine the processing result 105. Finally, the computing device 101 can arrange the processed target linen 106 based on the processing result 105.

[0023] It should be noted that the computing device 101 can be hardware or software. When the computing device 101 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 101 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.

[0024] It should be understood that Figure 1 The number of computing devices in the embodiment is only illustrative. Any number of computing devices may be provided according to implementation requirements.

[0025] Figure 2 is a flow chart of some embodiments of the robot linen cleaning method according to the present disclosure. Figure 2 The robot linen cleaning method can be Figure 1 The computing device 101 executes. Figure 2 As shown, the robot linen cleaning method includes:

[0026] Step S201, in response to a linen cleaning instruction, determining a target position according to the linen cleaning instruction.

[0027] In some embodiments, the execution body of the robot linen cleaning method (such as Figure 1 The computing device 101 shown in the figure can receive a linen cleaning instruction, which can be a linen cleaning instruction triggered by a preset time period, or can be triggered by a staff member based on an interactive operation of the system. As an example, in a hotel scenario, a linen cleaning instruction can be triggered every hour to facilitate the subsequent control of the robot to perform garbage cleaning work, and linen cleaning instructions sent by residents in the community can also be received.

[0028] In some embodiments, determining the target location according to the linen cleaning instruction includes: determining the building identification and the floor identification according to the linen cleaning instruction; determining the target location according to the building identification and the floor identification. Here, the building identification can be understood as the identification corresponding to which building, and the floor identification can be understood as the identification corresponding to the floor. For example, after the staff cleans the room, they pack the dirty linens and put them into the linen warehouse placed in the standby position on each floor; when the staff needs to collect the dirty linens, they use the applet to start the task of collecting old linens and determine the first floor of the first building according to the linen cleaning instruction, that is, the target location is the first floor of the first building.

[0029] Step S202, controlling the robot to go to a target position and obtaining target linens at the target position.

[0030] In some embodiments, obtaining the target linen at the target location includes: the execution subject can obtain the target image at the target location through the camera device configured by the robot; perform image recognition based on the target image to determine the target linen image; obtain the target linen through the robot arm configured by the robot based on the target linen image. For example, according to the linen cleaning instruction, determine Room A on the first floor of the first building, control the robot to go to Room A on the first floor of the first building, obtain the room image in Room A, determine the image of the linen by recognizing the room image, and then grab the target linen through the robot arm configured by the robot.

[0031] Step 203, when the target linen is obtained, the robot is controlled to move from the target position to the linen processing position, and processes the target linen to determine the processing result.

[0032] In some embodiments, when the target linen is obtained, the robot is controlled to go from the target position to the linen processing position, including: when the target linen is obtained, path planning is performed according to the current position of the robot and the target position to determine the target path; and the robot is controlled to go from the target position to the linen processing position according to the target path. The linen processing position may be a general warehouse for linen processing. For example, the first floor of the first building is determined according to the linen cleaning instruction, the robot is controlled to go to the first floor of the first building, and the target warehouse containing the linens to be cleaned is obtained in the linen room. Then, path planning is performed from the first floor of the first building to the linen processing warehouse to obtain the target path.

[0033] It should be noted that in this embodiment, there is no limitation on the process of planning the travel path, including but not limited to using a pre-stored map path to plan the path through a neural network model, which will not be elaborated in detail here.

[0034] In some embodiments, processing the target linens includes: when arriving at the linen processing position, controlling the robot to unload the target warehouse to the linen processing position. For example, according to the linen cleaning instruction, the first floor of the first building is determined, and the robot is controlled to go to the first floor of the first building to obtain the target warehouse containing the linens to be cleaned in the linen room. Then, a path is planned from the first floor of the first building to the linen processing warehouse to obtain the target path. After arriving at the linen processing position according to the target path, the target warehouse is unloaded to the linen processing position. The linens to be cleaned are removed from the target warehouse manually or by machine.

[0035] In addition, the embodiments of this specification also include: determining the warehouse status of the linen processing position, when there is a processed warehouse, controlling the robot to transport the processed warehouse to the target position; when there is no processed warehouse, controlling the robot to perform the linen cleaning task. For example, after reaching the linen processing position according to the target path, unload the target warehouse to the linen processing position. If there is a processed linen warehouse, transport the processed linen warehouse back to the original standby floor, and then take the warehouse full of dirty linens on other floors. If there is no processed linen warehouse, leave it empty and continue to take the warehouse full of dirty linens on other floors.

[0036] Step S204: Arrange the processed target linens based on the processing result.

[0037] Furthermore, the embodiments of this specification also include: in response to the task completion instruction, controlling the robot at the linen processing position, obtaining the target warehouse through the warehouse acquisition device configured by the robot; determining the standby position of the target warehouse, and controlling the robot to transport the target warehouse to the standby position. For example, after the staff of the main warehouse handles the dirty linens, they click on the warehouse on the mini program to complete the processing, and put the warehouse into the processed state. The processed linen warehouse is transported from the main warehouse to the original standby point by the chassis.

[0038] One of the above-mentioned embodiments of the present disclosure has the following beneficial effects: first, in response to a linen cleaning instruction, a target position is determined according to the linen cleaning instruction; then, the robot is controlled to go to the target position and obtain the target linen at the target position; finally, when the target linen is obtained, the robot is controlled to go from the target position to the linen processing position, and process the target linen, determine the processing result, and arrange the processed target linen based on the processing result. This embodiment determines the target position according to the linen cleaning instruction, controls the robot to go to the target position, and obtains the target linen at the target position; when the target linen is obtained, the robot is controlled to go from the target position to the linen processing position and process the target linen, thereby automatically cleaning the linen and improving the efficiency of linen cleaning.

[0039] All the above optional technical solutions can be arbitrarily combined to form optional embodiments of the present application, which will not be described one by one here.

[0040] The following are embodiments of the device disclosed herein, which can be used to execute the method embodiments disclosed herein. For details not disclosed in the device embodiments disclosed herein, please refer to the method embodiments disclosed herein.

[0041] Figure 3 Schematic diagram of the structure of some embodiments of the robot linen cleaning device according to the present disclosure. Figure 3As shown, the robot linen cleaning device includes: an instruction receiving unit 301, configured to respond to the linen cleaning instruction and determine the target position according to the linen cleaning instruction; a linen acquiring unit 302, configured to control the robot to go to the target position and acquire the target linen at the target position; a linen processing unit 303, configured to control the robot from the target position to the linen processing position when the target linen is acquired, and process the target linen to determine the processing result; based on the processing result, arrange the processed target linen; a linen arranging module, configured to arrange the above-mentioned target linen that has been processed based on the above-mentioned processing result.

[0042] In some optional implementations of some embodiments, the instruction receiving unit 301 of the robotic linen cleaning device is further configured to: determine a building identification and a floor identification according to the linen cleaning instruction; and determine a target location according to the building identification and the floor identification.

[0043] In some optional implementations of some embodiments, the linen acquisition unit 302 of the robotic linen cleaning device is further configured to: acquire a target warehouse at a target position through a warehouse acquisition device configured by the robot; wherein the target warehouse contains target linens.

[0044] In some optional implementations of some embodiments, the linen acquisition unit 302 of the robotic linen cleaning device is further configured to: when the target linen is acquired, perform path planning according to the current position and the target position of the robot to determine the target path; and control the robot from the target position to the linen processing position according to the target path.

[0045] In some optional implementations of some embodiments, the linen processing unit 303 of the robotic linen cleaning device is further configured to: upon reaching the linen processing position, control the robot to unload the target warehouse to the linen processing position.

[0046] In some optional implementations of some embodiments, the linen processing unit 303 of the robotic linen cleaning device is further configured to: determine the position status of the linen processing position, and when there is a processed position, control the robot to transport the processed position to the target position; when there is no processed position, control the robot to perform the linen cleaning task.

[0047] In some optional implementations of some embodiments, the linen processing unit 303 of the robotic linen cleaning device is further configured to: in response to a task completion instruction, control the robot to acquire the target warehouse at the linen processing position through a warehouse acquisition device configured for the robot; determine the standby position of the target warehouse, and control the robot to transport the target warehouse to the standby position.

[0048] It should be understood that the size of the serial numbers of the steps in the above embodiments does not mean the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of the present disclosure.

[0049] Reference below Figure 4 , which shows an electronic device (eg, Figure 1 Schematic diagram of the structure of the computing device 101)400. Figure 4 The server shown is only an example and should not bring any limitation to the functions and scope of use of the embodiments of the present disclosure.

[0050] like Figure 4 As shown, the electronic device 400 may include a processing device (e.g., a central processing unit, a graphics processing unit, etc.) 401, which can perform various appropriate actions and processes according to a program stored in a read-only memory (ROM) 402 or a program loaded from a storage device 408 into a random access memory (RAM) 403. In the RAM 403, various programs and data required for the operation of the electronic device 400 are also stored. The processing device 401, the ROM 402, and the RAM 403 are connected to each other via a bus 404. An input / output (I / O) interface 405 is also connected to the bus 404.

[0051] Typically, the following devices may be connected to the I / O interface 405: an input device 406 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 407 including, for example, a liquid crystal display (LCD), a speaker, a vibrator, etc.; a storage device 408 including, for example, a magnetic tape, a hard disk, etc.; and a communication device 409. The communication device 409 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. Figure 4 Each block shown in the figure may represent one device, or may represent multiple devices as required.

[0052] In particular, according to some embodiments of the present disclosure, the process described above with reference to the flowchart can be implemented as a computer software program. For example, some embodiments of the present disclosure include a computer program product, which includes a computer program carried on a computer-readable medium, and the computer program includes a program code for executing the method shown in the flowchart. In some such embodiments, the computer program can be downloaded and installed from the network through the communication device 409, or installed from the storage device 408, or installed from the ROM 402. When the computer program is executed by the processing device 401, the above-mentioned functions defined in the method of some embodiments of the present disclosure are executed.

[0053] It should be noted that the computer-readable medium in some embodiments of the present disclosure may be a computer-readable signal medium or a computer-readable storage medium or any combination of the two. The computer-readable storage medium may 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 may 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 some embodiments of the present disclosure, the computer-readable storage medium may 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 some embodiments of the present disclosure, the computer-readable signal medium may include a data signal propagated in a baseband or as part of a carrier wave, in which a computer-readable program code is carried. This propagated data signal may 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.

[0054] 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.

[0055] The computer-readable medium may be included in the device; or it may exist independently without being assembled into the electronic device. The computer-readable medium carries one or more programs. When the one or more programs are executed by the electronic device, the electronic device: responds to the linen cleaning instruction, determines the target position according to the linen cleaning instruction, controls the robot to go to the target position, and obtains the target linen at the target position. When the target linen is obtained, the robot controls the robot to go from the target position to the linen processing position, processes the target linen, determines the processing result, and arranges the processed target linen based on the processing result.

[0056] Computer program code for performing the operations of some embodiments of the present disclosure may be written in one or more programming languages ​​or a combination thereof, including 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 via 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).

[0057] 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 disclosure. 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 implementations as replacements, 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 a specified function or operation, or can be implemented with a combination of dedicated hardware and computer instructions.

[0058] The units described in some embodiments of the present disclosure may be implemented by software or by hardware. The described units may also be provided in a processor, for example, may be described as: a processor comprising an instruction receiving unit, a linen acquisition unit, a linen processing unit, and a linen arrangement unit. Among them, the names of these units do not constitute a limitation on the unit itself in certain circumstances, for example, the instruction receiving unit may also be described as "a unit that responds to a linen cleaning instruction and determines a target position according to the above-mentioned linen cleaning instruction".

[0059] 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: field programmable gate arrays (FPGAs), application specific integrated circuits (ASICs), application specific standard products (ASSPs), systems on chips (SOCs), complex programmable logic devices (CPLDs), and the like.

[0060] The above descriptions are only some preferred embodiments of the present disclosure and an explanation of the technical principles used. Those skilled in the art should understand that the scope of the invention involved in the embodiments of the present disclosure is not limited to the technical solutions formed by a specific combination of the above-mentioned technical features, but should also cover other technical solutions formed by any combination of the above-mentioned technical features or their equivalent features without departing from the above-mentioned inventive concept. For example, the above-mentioned features are replaced with the technical features with similar functions disclosed in the embodiments of the present disclosure (but not limited to) and the technical solutions formed.

Claims

1. A robot linen cleaning method, characterized in that: include: In response to a linen cleaning instruction, determining a target position according to the linen cleaning instruction; Controlling the robot to go to the target position and obtaining target linen at the target position; When the target linen is obtained, the robot is controlled to move from the target position to the linen processing position, and the target linen is processed to determine the processing result; Based on the processing result, the target linens that have been processed are arranged.

2. The robot linen cleaning method according to claim 1, characterized in that: Determining the target position according to the linen cleaning instruction includes: Determine the building identification and floor identification according to the linen cleaning instructions; The target location is determined according to the building identifier and the floor identifier.

3. The robot linen cleaning method according to claim 1, characterized in that: The step of obtaining target linen at the target position includes: Acquiring a target image at the target position by using a camera device configured for the robot; Performing image recognition based on the target image to determine a target linen image; Based on the target linen image, the target linen is acquired through a robotic arm configured by the robot.

4. The robot linen cleaning method according to claim 1, characterized in that: When the target linen is acquired, controlling the robot to move from the target position to the linen processing position includes: When the target linen is obtained, path planning is performed according to the current position of the robot and the target position to determine the target path; The robot is controlled to move from the target position to a linen processing position according to the target path.

5. The robot linen cleaning method according to claim 3, characterized in that: The processing of the target linen includes: When reaching the linen processing position, the robot is controlled to unload the target warehouse to the linen processing position.

6. The robot linen cleaning method according to claim 5, characterized in that: Also includes: Determine the position status of the linen processing position, and when there is a processed position, control the robot to transport the processed position to the target position; When the processed storage bin does not exist, the robot is controlled to perform a linen cleaning task.

7. The robot linen cleaning method according to claim 1, characterized in that: Also includes: In response to a task completion instruction, the robot is controlled to be at the linen processing position, and acquires a target warehouse through a warehouse acquisition device configured for the robot; Determine a standby position of the target warehouse, and control the robot to transport the target warehouse to the standby position.

8. A robot linen cleaning device, characterized in that: include: an instruction receiving unit, configured to respond to a linen cleaning instruction and determine a target position according to the linen cleaning instruction; a linen acquisition unit, configured to control the robot to go to the target position and acquire target linen at the target position; a linen processing unit, configured to control the robot to move from the target position to the linen processing position when the target linen is acquired, and to process the target linen and determine a processing result; The linen arrangement module is configured to arrange the target linen that has completed the processing based on the processing result.

9. An electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that: When the processor executes the computer program, the steps of the method according to any one of claims 1 to 7 are implemented.

10. A computer-readable storage medium storing a computer program, characterized in that: When the computer program is executed by a processor, the steps of the method according to any one of claims 1 to 7 are implemented.

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