Robot linen cleaning method and device, electronic equipment and medium

Abstract

The present disclosure 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: 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; in the case where 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 based on the processing result, arranging the target linen whose processing is completed. According to the embodiment, in response to the linen cleaning instruction, the target position is determined according to the linen cleaning instruction, the robot is controlled to go to the target position, and the target linen is obtained at the target position; in the case where the target linen is obtained, the robot is controlled to go from the target position to the linen processing position, and the target linen is processed, so that the linen can be automatically cleaned, and the efficiency of linen cleaning is improved.

Description

Technical Field

[0001] This disclosure relates to the field of linen cleaning technology, and in particular to a robotic linen cleaning method, apparatus, electronic device, and medium. Background Technology

[0002] The ever-increasing demand for travel makes hotel cleaning increasingly difficult, especially hotel linens. Hotel linens are a professional hotel term, broadly referring to almost everything in a modern hotel that involves fabric, including bedding in hotel rooms: such as sheets, duvet covers, pillowcases, pillow inserts, comforter inserts, and decorative fabrics. In the hotel industry, the tasks of sending and collecting sheets, duvet covers, towels, and other items for cleaning are usually done manually, which is labor-intensive and inefficient.

[0003] While robotics technology has been applied to the cleaning of hotel linens, most processes still require manual intervention and cannot be fully automated, resulting in low efficiency. Summary of the Invention

[0004] In view of this, the present disclosure provides a robotic linen cleaning method, apparatus, electronic device, and medium to solve the problems of low waste sorting efficiency and high labor costs caused by manual labeling of waste in the prior art.

[0005] A first aspect of this disclosure provides a robotic linen cleaning method, comprising: responding to a linen cleaning command, determining a target location according to the linen cleaning command, controlling a robot to move to the target location, and acquiring a target linen at the target location; if the target linen is acquired, controlling the robot to move from the target location to a linen processing location, and processing the target linen; determining the processing result; and, based on the processing result, arranging the processed target linen.

[0006] A second aspect of this disclosure provides a robotic linen cleaning device, comprising: an instruction receiving unit configured to determine a target location in response to a linen cleaning instruction; a linen acquisition unit configured to control a robot to move to the target location and acquire a target linen at the target location; a linen processing unit configured to, upon acquiring the target linen, control the robot to move from the target location to a linen processing location, process the target linen, and determine the processing result; and a linen placement module configured to place the processed target linen based on the processing result.

[0007] A third aspect of this disclosure provides an electronic device including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the computer program to implement the steps of the method described above.

[0008] A fourth aspect of this disclosure provides a computer-readable storage medium storing a computer program that, when executed by a processor, implements the steps of the above-described method.

[0009] One embodiment of the above-described embodiments of this disclosure has the following beneficial effects: First, in response to a linen cleaning command, a target location is determined according to the linen cleaning command; then, a robot is controlled to go to the target location and obtain the target linen at the target location; finally, if the target linen is obtained, the robot is controlled to go from the target location to the linen processing location and process the target linen, determine the processing result, and based on the processing result, arrange the processed target linen. This embodiment, by determining the target location according to the linen cleaning command, controlling the robot to go to the target location and obtain the target linen at the target location, and if the target linen is obtained, controlling the robot to go from the target location to the linen processing location and process the target linen, can realize automatic linen cleaning and improve the efficiency of linen cleaning. Attached Figure Description

[0010] To more clearly illustrate the technical solutions in the embodiments of this disclosure, the accompanying drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of this disclosure. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

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

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

[0013] Figure 3 These are schematic diagrams illustrating the structure of some embodiments of the robotic linen cleaning device according to this disclosure;

[0014] Figure 4 This is a schematic diagram of the structure of an electronic device suitable for implementing some embodiments of the present disclosure. Detailed Implementation

[0015] Embodiments of this disclosure will now be described in more detail with reference to the accompanying drawings. While some embodiments of this disclosure are shown in the drawings, it should be understood that this disclosure can be implemented in various forms and should not be construed as limited to the embodiments set forth herein. Rather, these embodiments are provided to provide a more thorough and complete understanding of this disclosure. It should be understood that the accompanying drawings and embodiments of this disclosure are for illustrative purposes only and are not intended to limit the scope of protection of this disclosure.

[0016] It should also be noted that, for ease of description, only the parts relevant to the invention are shown in the accompanying drawings. Unless otherwise specified, the embodiments and features described in this disclosure can be combined with each other.

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

[0018] It should be noted that the terms "a" and "a plurality of" used in this disclosure are illustrative rather than restrictive, and those skilled in the art should understand that, unless otherwise expressly indicated in the context, they should be understood as "one or more".

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

[0020] This disclosure will now be described in detail with reference to the accompanying drawings and embodiments.

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

[0022] exist Figure 1 In this application scenario, the computing device 101 can respond to the linen cleaning instruction 102 and determine the target location 103 based on the instruction. Then, the computing device 101 can control the robot to go to the target location 103 and retrieve the target linen 104. Next, after retrieving the target linen, the computing device 101 can control the robot to move from the target location 103 to the linen processing location 104, process the target linen, and determine the processing result 105. Finally, based on the processing result 105, the computing device 101 can arrange the processed target linen 106.

[0023] It should be noted that the aforementioned computing device 101 can be either 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 as a single server or a single terminal device. When the computing device 101 is software (e.g., a program or system for controlling a robot), it can be installed in the hardware devices listed above. It can be implemented as, for example, multiple software programs or software modules used to provide distributed services, or as a single software program or software module. No specific limitations are made here.

[0024] It should be understood that Figure 1 The number of computing devices shown is merely illustrative. Any number of computing devices can be used depending on implementation needs.

[0025] Figure 2 This is a flowchart of some embodiments of the robotic linen cleaning method according to the present disclosure. Figure 2 The robot linen cleaning method can be provided by Figure 1 The computing device 101 performs the operation. For example... Figure 2 As shown, the robot's linen cleaning method includes:

[0026] Step S201: In response to the linen cleaning instruction, determine the target location according to the linen cleaning instruction.

[0027] In some embodiments, the executor of the robotic linen cleaning method (such as...) Figure 1 The computing device 101 shown can issue linen cleaning commands. These commands can be triggered at preset time intervals or by staff interacting with the system. For example, in a hotel setting, linen cleaning commands can be triggered every hour to facilitate subsequent robot cleaning. It can also receive linen cleaning commands from residents.

[0028] In some embodiments, determining the target location based on the linen cleaning instruction includes: determining building and floor identifiers based on the linen cleaning instruction; and determining the target location based on the building and floor identifiers. Here, a building identifier can be understood as an identifier corresponding to a specific building, and a floor identifier can be understood as an identifier corresponding to a specific floor. For example, after cleaning a room, staff pack the soiled linens and place them in linen bins placed at designated locations on each floor. When staff need to collect soiled linens, they use a mini-program to initiate a linen collection task and determine the first floor of the first building based on the linen cleaning instruction; that is, the target location is the first floor of the first building.

[0029] Step S202: Control the robot to go to the target location and retrieve the target linen at the target location.

[0030] In some embodiments, acquiring a target linen at a target location includes: the executing entity acquiring a target image at the target location using a camera device configured on the robot; performing image recognition based on the target image to determine a target linen image; and acquiring the target linen using a robotic arm configured on the robot based on the target linen image. For example, based on a linen cleaning instruction, room A on the first floor of a first building is determined, the robot is controlled to go to room A on the first floor of the first building, acquires an image of the room in room A, determines an image of the linen by recognizing the room image, and then grabs the target linen using a robotic arm configured on the robot.

[0031] Step 203: After obtaining the target linen, control the robot to move from the target location to the linen processing location, process the target linen, and determine the processing result.

[0032] In some embodiments, upon acquiring the target linen, controlling the robot to travel from the target location to the linen processing location includes: upon acquiring the target linen, performing path planning based on the robot's current location and the target location to determine a target path; and controlling the robot to travel from the target location to the linen processing location according to the target path. The linen processing location can be a main linen processing warehouse. For example, based on a linen cleaning instruction, the first floor of the first building is determined, and the robot is controlled to travel to the first floor of the first building to acquire the target warehouse containing the linens to be cleaned. 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, the planning process of the travel path is not limited in any way, including but not limited to using pre-stored map paths and planning the path through a neural network model, which will not be elaborated on here.

[0034] In some embodiments, processing the target linens includes: upon reaching the linen processing location, controlling a robot to unload the target warehouse to the linen processing location. For example, based on a 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 and retrieve the target warehouse containing the linens to be cleaned from the linen storage area. Then, path planning is performed from the first floor of the first building to the linen processing warehouse to obtain a target path. After reaching the linen processing location according to the target path, the target warehouse is unloaded to the linen processing location. The linens to be cleaned are then removed from the target warehouse by manual labor or a machine.

[0035] Additionally, the embodiments in this specification also include: determining the status of the storage space at the linen processing location; if a processed storage space exists, controlling the robot to transport the processed storage space to the target location; if no processed storage space exists, controlling the robot to perform the linen cleaning task. For example, after arriving at the linen processing location according to the target path, the target storage space is unloaded at the linen processing location. If a processed linen storage space exists, it is transported back to the original standby floor, and then other storage spaces on other floors filled with dirty linens are retrieved; if no processed linen storage space exists, it remains empty while continuing to retrieve other storage spaces on other floors filled with dirty linens.

[0036] Step S204: Based on the processing results, arrange the processed target linens.

[0037] Furthermore, the embodiments of this specification also include: in response to a task completion command, controlling the robot at the linen processing location to acquire the target warehouse through a warehouse acquisition device configured on the robot; determining the standby location of the target warehouse; and controlling the robot to transport the target warehouse to the standby location. For example, after the warehouse staff has processed the soiled linens, they click on the warehouse to indicate that processing is complete on the mini-program, placing the warehouse in a processed state. The processed linen warehouse is then transported back to its original standby point from the warehouse by the chassis.

[0038] One embodiment of the above-described embodiments of this disclosure has the following beneficial effects: First, in response to a linen cleaning command, a target location is determined according to the linen cleaning command; then, a robot is controlled to go to the target location and obtain the target linen at the target location; finally, if the target linen is obtained, the robot is controlled to go from the target location to the linen processing location and process the target linen, determine the processing result, and based on the processing result, arrange the processed target linen. This embodiment, by determining the target location according to the linen cleaning command, controlling the robot to go to the target location and obtain the target linen at the target location, and if the target linen is obtained, controlling the robot to go from the target location to the linen processing location and process the target linen, can realize automatic linen cleaning and improve the efficiency of linen cleaning.

[0039] All of the above-mentioned optional technical solutions can be combined in any way to form the optional embodiments of this application, and will not be described in detail here.

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

[0041] Figure 3 These are schematic diagrams illustrating the structure of some embodiments of the robotic linen cleaning device according to this disclosure. Figure 3As shown, the robotic linen cleaning device includes: an instruction receiving unit 301 configured to respond to a linen cleaning instruction and determine a target location based on the linen cleaning instruction; a linen acquisition unit 302 configured to control the robot to move to the target location and acquire the target linen at the target location; a linen processing unit 303 configured to, upon acquiring the target linen, control the robot to move from the target location to a linen processing location, process the target linen, and determine the processing result; based on the processing result, arrange the processed target linen; and a linen arrangement module configured to arrange the processed target linen based on the above processing result.

[0042] In some alternative implementations of some embodiments, the instruction receiving unit 301 of the robotic linen cleaning device is further configured to: determine building identifiers and floor identifiers based on the linen cleaning instruction; and determine the target location based on the building identifiers and floor identifiers.

[0043] In some alternative implementations of some embodiments, the linen acquisition unit 302 of the robot linen cleaning device is further configured to: acquire a target warehouse at a target location using a warehouse acquisition device configured on the robot; wherein the target warehouse contains the target linen.

[0044] In some alternative implementations of some embodiments, the linen acquisition unit 302 of the robot linen cleaning device is further configured to: upon acquiring the target linen, perform path planning based on the robot's current position and the target position to determine the target path; and control the robot to move from the target position to the linen processing position according to the target path.

[0045] In some alternative implementations of some embodiments, the linen handling unit 303 of the robotic linen cleaning device is further configured to: upon reaching the linen handling location, control the robot to unload the target cargo into the linen handling location.

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

[0047] In some alternative implementations of some embodiments, the linen handling unit 303 of the robotic linen cleaning device is further configured to: in response to a task completion instruction, control the robot at the linen handling position to obtain the target warehouse through the warehouse acquisition device configured on 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 sequence number of each step in the above embodiments does not imply 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 this disclosure.

[0049] The following is for reference. Figure 4 It illustrates electronic devices suitable for implementing some embodiments of this disclosure (e.g., Figure 1 A schematic diagram of the structure of the computing device 101)400. Figure 4 The server shown is merely an example and should not be construed as limiting the functionality and scope of the embodiments of this disclosure.

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

[0051] Typically, the following devices can be connected to I / O interface 405: input devices 406 including, for example, touchscreens, touchpads, keyboards, mice, cameras, microphones, accelerometers, gyroscopes, etc.; output devices 407 including, for example, liquid crystal displays (LCDs), speakers, vibrators, etc.; storage devices 408 including, for example, magnetic tapes, hard disks, etc.; and communication devices 409. Communication device 409 allows electronic device 400 to communicate wirelessly or wiredly with other devices to exchange data. Although Figure 4 An electronic device 400 with various devices is shown; however, it should be understood that it is not required to implement or possess all of the devices shown. More or fewer devices may be implemented or possessed alternatively. Figure 4 Each box shown can represent a device or multiple devices as needed.

[0052] In particular, according to some embodiments of this disclosure, the processes described above with reference to the flowcharts can be implemented as computer software programs. For example, some embodiments of this disclosure include a computer program product comprising a computer program carried on a computer-readable medium, the computer program containing program code for performing the methods shown in the flowcharts. In such embodiments, the computer program can be downloaded and installed from a network via communication device 409, or installed from storage device 408, or installed from ROM 402. When the computer program is executed by processing device 401, it performs the functions defined above in the methods of some embodiments of this disclosure.

[0053] It should be noted that, in some embodiments of this disclosure, the computer-readable medium described above may be a computer-readable signal medium or a computer-readable storage medium, or any combination thereof. A computer-readable storage medium may be, for example,—but not limited to—an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination thereof. More specific examples of a computer-readable storage medium may include, but are not limited to: an electrical connection having one or more wires, a portable computer disk, a hard disk, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fiber, portable compact disk read-only memory (CD-ROM), optical storage device, magnetic storage device, or any suitable combination thereof. In some embodiments of this disclosure, a computer-readable storage medium may be any tangible medium containing or storing a program that can be used by or in conjunction with an instruction execution system, apparatus, or device. In some embodiments of this disclosure, a computer-readable signal medium may include a data signal propagated in baseband or as part of a carrier wave, carrying computer-readable program code. Such propagated data signals may take various forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination thereof. A computer-readable signal medium can be any computer-readable medium other than a computer-readable storage medium, which can send, propagate, or transmit a program for use by or in connection with an instruction execution system, apparatus, or device. The program code contained on the computer-readable medium can be transmitted using any suitable medium, including but not limited to: wires, optical fibers, RF (radio frequency), etc., or any suitable combination thereof.

[0054] In some implementations, clients and servers can communicate using any currently known or future-developed network protocol such as HTTP (Hypertext Transfer Protocol) and can interconnect with digital data communication (e.g., communication networks) of any form or medium. Examples of communication networks include local area networks (“LANs”), wide area networks (“WANs”), the Internet (e.g., the Internet of Things), and peer-to-peer networks (e.g., ad hoc peer-to-peer networks), as well as any currently known or future-developed networks.

[0055] The aforementioned computer-readable medium may be included in the aforementioned device; or it may exist independently and not assembled into the electronic device. The aforementioned computer-readable medium carries one or more programs that, when executed by the electronic device, cause the electronic device to: respond to a linen cleaning instruction, determine a target location based on the linen cleaning instruction, control a robot to proceed to the target location, and retrieve the target linen at the target location; upon retrieving the target linen, control the robot to proceed from the target location to a linen processing location, process the target linen, determine the processing result, and, based on the processing result, arrange the processed target linen.

[0056] Computer program code for performing operations of some embodiments of this disclosure can be written in one or more programming languages ​​or a combination thereof, including object-oriented programming languages ​​such as Java, Smalltalk, and C++, and conventional procedural programming languages ​​such as the "C" language or similar programming languages. The program code can be executed entirely on the user's computer, partially on the user's computer, as a standalone 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 remote computers, the remote computer can 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 can be connected to an external computer (e.g., via the Internet using an Internet service provider).

[0057] The flowcharts and block diagrams in the accompanying drawings illustrate the architecture, functionality, and operation of possible implementations of systems, methods, and computer program products according to various embodiments of this disclosure. In this regard, each block in a flowchart or block diagram may represent a module, segment, or portion of code containing one or more executable instructions for implementing a specified logical function. It should also be noted that in some alternative implementations, the functions indicated in the blocks may occur in a different order than those indicated in the drawings. For example, two consecutively indicated blocks may actually be executed substantially in parallel, and they may sometimes be executed in reverse order, depending on the functions involved. It should also be noted that each block in the block diagrams and / or flowcharts, and combinations of blocks in the block diagrams and / or flowcharts, can be implemented using a dedicated hardware-based system that performs the specified function or operation, or using a combination of dedicated hardware and computer instructions.

[0058] The units described in some embodiments of this disclosure can be implemented in software or hardware. The described units can also be housed in a processor; for example, a processor may be described as including an instruction receiving unit, a linen acquisition unit, a linen processing unit, and a linen placement unit. The names of these units do not necessarily limit the specific unit; for example, the instruction receiving unit may also be described as "a unit that determines a target location based on a linen cleaning instruction."

[0059] The functions described above in this document can be performed, at least in part, by one or more hardware logic components. For example, exemplary types of hardware logic components that can be used, without limitation, include: Field Programmable Gate Arrays (FPGAs), Application-Specific Integrated Circuits (ASICs), Application Standard Products (ASSPs), System-on-Chip (SoCs), Complex Programmable Logic Devices (CPLDs), and so on.

[0060] The above description is merely a selection of preferred embodiments of this disclosure and an explanation of the technical principles employed. Those skilled in the art should understand that the scope of the invention involved in the embodiments of this disclosure is not limited to technical solutions formed by specific combinations of the above-described technical features, but should also cover other technical solutions formed by arbitrary combinations of the above-described technical features or their equivalents without departing from the above-described inventive concept. For example, technical solutions formed by substituting the above-described features with (but not limited to) technical features with similar functions disclosed in the embodiments of this disclosure.

Claims

1. A method for cleaning linens using a robot, characterized in that, include: In response to a linen cleaning instruction, the target location is determined according to the linen cleaning instruction; Control the robot to move to the target location and retrieve the target linen at the target location; Upon acquiring the target linen, the robot is controlled to move from the target location to the linen processing location, process the target linen, and determine the processing result. Based on the processing results, the processed target linen is transported to the standby location corresponding to the target location; The step of obtaining the target linen at the target location includes: At the target location, an image of the target is acquired using a camera device configured on the robot; Image recognition is performed based on the target image to determine the target linen image; The target linen is acquired using the robotic arm configured on the robot based on the target linen image; Also includes: In response to a task completion command, the robot is controlled to retrieve the target warehouse at the linen processing location using a warehouse retrieval device configured on the robot. The standby location of the target warehouse is determined, and the robot is controlled to transport the target warehouse to the standby location.

2. The robot linen cleaning method according to claim 1, characterized in that, Determining the target location according to the linen cleaning instruction includes: The building and floor signs are determined according to the linen cleaning instructions; The target location is determined based on the building sign and the floor sign.

3. The robot linen cleaning method according to claim 1, characterized in that, Upon acquiring the target linen, controlling the robot to move from the target location to the linen processing location includes: Once the target linen is obtained, path planning is performed based on the robot's current position and the target position to determine the target path; The robot is controlled to move from the target location to the linen processing location according to the target path.

4. The robot linen cleaning method according to claim 1, characterized in that, The processing of the target linen includes: Upon reaching the linen processing location, the robot is controlled to unload the target cargo into the linen processing location.

5. The robot linen cleaning method according to claim 4, characterized in that, Also includes: Determine the status of the storage space at the linen processing location. If a processed storage space exists, control the robot to transport the processed storage space to the standby location corresponding to the target linen. If no processed storage space exists, control the robot to perform the linen cleaning task.

6. A robotic linen cleaning device, characterized in that, include: The instruction receiving unit is configured to determine the target location in response to a linen cleaning instruction; The linen retrieval unit is configured to control the robot to go to the target location and retrieve the target linen at the target location; The linen processing unit is configured to, upon acquiring the target linen, control the robot to move from the target location to the linen processing location, process the target linen, and determine the processing result; The linen arrangement module is configured to arrange the processed target linen based on the processing result; The step of obtaining the target linen at the target location includes: At the target location, an image of the target is acquired using a camera device configured on the robot; Image recognition is performed based on the target image to determine the target linen image; The target linen is acquired using the robotic arm configured on the robot based on the target linen image; Also includes: In response to a task completion command, the robot is controlled to retrieve the target warehouse at the linen processing location using a warehouse retrieval device configured on the robot. The standby location of the target warehouse is determined, and the robot is controlled to transport the target warehouse to the standby location.

7. 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, it implements the steps of the method as described in any one of claims 1 to 5.

8. A computer-readable storage medium storing a computer program, characterized in that, When the computer program is executed by a processor, it implements the steps of the method as described in any one of claims 1 to 5.

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