Cleaning robot fuzzy area planning management system

Abstract

The invention discloses an automatic planning management system for a fuzzy area of a cleaning robot, which relates to the technical field of intelligent hotel cleaning and comprises a user module used for interacting with a user and a split cleaning robot module used for providing automatic and intelligent cleaning service. An algorithm module for processing user information is arranged between the user module and the split cleaning robot module; the split cleaning robot module comprises a chassis lifting unit, a mobile navigation unit, a dirt point visual identification unit, an automatic cleaning area planning unit, a cleaning starting unit and a cleaning ending unit which are connected in sequence, so that the task of cleaning a fuzzy area is conveniently achieved. According to the automatic planning management system for the fuzzy area of the cleaning robot, the cleaning robot can carry out detailed identification in the fuzzy area, the identification degree of the fuzzy area is improved, and meanwhile, the cleaning path can be divided for the fuzzy area according to the performance of the cleaning robot, the requirements of the cleaning task and the characteristics of the cleaning area.

Description

Technical Field

[0001] The present disclosure relates to the technical field of intelligent hotel cleaning, and in particular to an automatic planning and management system for fuzzy areas of a cleaning robot. Background Art

[0002] Cleaning robots are automated devices used to perform cleaning tasks in indoor or outdoor environments. They usually use vacuuming, sweeping, mopping and other functions to clean the floor, and can plan cleaning routes based on preset paths or autonomously sense the environment. Cleaning robots are widely used in both home and commercial environments, which can reduce the burden of manual cleaning work, improve cleaning efficiency, and ensure the cleanliness of the floor. The continuous development and innovation of cleaning robots have also made their functions more powerful and intelligent.

[0003] However, in actual use, it was found that the current cleaning robots have some defects: although the cleaning robots can autonomously plan the cleaning path and cleaning process, they may make recognition errors in some blurry areas, causing the robots to encounter difficulties during the cleaning process or incomplete cleaning; in addition, robots cleaning in blurry areas may also lose their way or be unable to accurately plan the path, which may cause the cleaning robots to move back and forth in the blurry areas, wasting time and electricity and failing to complete the cleaning task. Summary of the invention

[0004] The purpose of the present disclosure is to provide an automatic planning and management system for fuzzy areas of a cleaning robot to solve the technical problem that although the cleaning robot in the prior art can independently plan the cleaning path and cleaning process, recognition errors may occur in some fuzzy areas, causing the robot to encounter difficulties in the cleaning process or incomplete cleaning. At the same time, the robot cleaning in the fuzzy area may also lose its way or be unable to accurately plan the path, which may cause the cleaning robot to move back and forth in the fuzzy area, wasting time and electricity and failing to complete the cleaning task.

[0005] To achieve the above objectives, the present disclosure adopts the following technical solutions:

[0006] The present disclosure provides a cleaning robot fuzzy area automatic planning and management system, comprising:

[0007] A user module for interacting with the user and a split cleaning robot module for providing automated and intelligent cleaning services, wherein an algorithm module for processing user information is provided between the user module and the split cleaning robot module;

[0008] The split cleaning robot module includes a chassis lifting unit, a mobile navigation unit, a visual identification unit for identifying stolen goods points, an automatic planning cleaning area unit, a cleaning start unit and a cleaning end unit which are connected in sequence to achieve the task of cleaning fuzzy areas.

[0009] Optionally, the automatic planning cleaning area unit includes a map building subunit, a path planning subunit and an intelligent decision-making subunit, specifically:

[0010] The map building subunit is used to convert the acquired environmental information into map information that can be understood by the robot;

[0011] The path planning subunit is used to plan the robot's cleaning path based on the map and target area;

[0012] The intelligent decision-making subunit is used to make intelligent decisions based on historical data information and environmental information.

[0013] Optionally, the automatic planning cleaning area unit also includes a grid sub-unit, a mesh sub-unit, an area sub-unit and a track sub-unit, specifically:

[0014] The grid sub-unit is used to divide the fuzzy area to be cleaned into grids, and each grid is cleaned as a sub-unit;

[0015] The grid sub-unit is used to divide the fuzzy area to be cleaned into grids. Each grid is used as a sub-unit for cleaning. The grid can be a square or other shapes, which is determined according to the actual situation.

[0016] The area sub-unit is used to divide the clearing and fuzzy scanning area into several relatively independent areas. Each area is cleaned as a sub-unit. The division of the area can be determined based on factors such as the layout of the room and the location of the furniture.

[0017] The trajectory subunit is used to divide the fuzzy area to be cleaned into small sections of the robot's motion trajectory, and each section of the trajectory is cleaned as a subunit;

[0018] Carefully plan the blurred areas to be cleaned to improve cleaning accuracy.

[0019] Optionally, the user module includes a voice input unit for the user to input voice instructions and a text input unit for the user to input text instructions, so that the user can issue cleaning instructions.

[0020] Optionally, the algorithm module includes an analysis and conversion unit for processing user voice commands, a recognition and analysis text content unit for processing user text commands, and a disassembly point and time information unit for analyzing user commands. The analysis and conversion unit is respectively connected to a voice input unit and a text input unit to convert the user's voice commands into text signal commands for a cleaning robot. The recognition and analysis text content unit is respectively connected to a text input unit and a visual identification of stolen goods point unit. The visual identification of stolen goods point unit is connected to a chassis lifting unit so that the cleaning robot can receive the processed commands and perform cleaning work.

[0021] Optionally, the chassis lifting unit is used to control the lifting of the chassis of the cleaning robot to achieve different cleaning environments and task requirements.

[0022] Optionally, the mobile navigation unit is used to plan the path and control the cleaning robot to go to a specified target point.

[0023] Optionally, the visual identification of stolen goods points unit includes an image acquisition subunit, a feature extraction subunit, an object recognition subunit and a position positioning subunit, which are used for the cleaning robot to automatically identify and locate stolen goods points.

[0024] Optionally, the image acquisition subunit is used to collect images in the environment and capture image information of stolen items.

[0025] Optionally, the feature extraction subunit is used to pre-process the image to extract specific features for distinguishing stolen goods points from other objects.

[0026] Optionally, the object recognition subunit is used to clean the robot learning algorithm or deep learning model, classify and identify the extracted features, and perform cleaning operations accordingly.

[0027] Optionally, the position positioning subunit is used to determine the position of the stolen property point in the environment.

[0028] Optionally, the start cleaning unit is used to control the cleaning robot to automatically complete the cleaning task.

[0029] Optionally, the cleaning end unit is used to complete the cleaning work according to the set task, automatically identify the completion of the task, and return to the designated location.

[0030] Optionally, the text content recognition and analysis unit is provided with a judgment information subunit, and the judgment information subunit is used to judge whether the instruction issued by the user exists or is correct, and provide feedback.

[0031] Optionally, the cleaning end unit includes an automatic water adding subunit for the cleaning robot to automatically return to a designated water adding point for automatic water adding and an automatic charging subunit for the cleaning robot to automatically return to an automatic charging station for automatic charging. The automatic water adding subunit and the automatic charging subunit are both ultimately terminated after execution.

[0032] Compared with the prior art, the beneficial effect of the present invention lies in that an automatic planning and management system for fuzzy areas of a cleaning robot disclosed in the present invention, through a map establishment subunit, a path planning subunit and an intelligent decision-making subunit, can enable the cleaning robot to perform detailed identification in fuzzy areas, improve the recognition of fuzzy areas, and avoid the robot encountering difficulties or incomplete cleaning during the cleaning process.

[0033] Furthermore, the present invention discloses an automatic planning and management system for fuzzy areas of a cleaning robot, which can divide the cleaning paths in the fuzzy areas according to the performance of the cleaning robot, the requirements of the cleaning tasks and the characteristics of the cleaning areas through grid sub-units, area sub-units and trajectory sub-units, so as to prevent the robot from getting lost or being unable to accurately plan the path during cleaning, and avoid the cleaning robot starting back and forth in the fuzzy areas, wasting time and electricity and failing to complete the cleaning tasks. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] In order to more clearly illustrate the specific embodiments of the present disclosure or the technical solutions in the prior art, the drawings required for use in the specific embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are 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.

[0035] In the attached figure:

[0036] Figure 1 This is a flow chart of a method for automatically planning and managing a fuzzy area of ​​a cleaning robot disclosed in the present invention;

[0037] Figure 2 This is a structural block diagram of an automatic planning cleaning area unit in a fuzzy area automatic planning management system for a cleaning robot disclosed in the present invention;

[0038] Figure 3 This is a structural block diagram of a unit for visually identifying stolen objects in a fuzzy area automatic planning and management system for a cleaning robot disclosed herein;

[0039] Figure 4 This is a structural block diagram of a text content recognition and analysis unit in a fuzzy area automatic planning and management system for a cleaning robot disclosed in the present invention;

[0040] Figure 5This is a structural block diagram of a cleaning end unit in a fuzzy area automatic planning and management system for a cleaning robot disclosed herein.

[0041] In the figure:

[0042] 1. User module; 11. Voice input unit; 12. Text input unit; 2. Algorithm module; 21. Analysis and conversion to text unit; 22. Identification and analysis of text content unit; 221. Information judgment subunit; 23. Disassembly point and time information unit; 3. Split cleaning robot module; 31. Chassis lifting unit; 32. Mobile navigation unit; 33. Visual identification of stolen goods point unit; 331. Image acquisition subunit; 332. Feature extraction subunit; 333. Object recognition subunit; 334. Position positioning subunit; 34. Automatic planning of cleaning area unit; 341. Map establishment subunit; 342. Path planning subunit; 343. Intelligent decision-making subunit; 344. Grid subunit; 345. Grid subunit; 346. Area subunit; 347. Track subunit; 35. Start cleaning unit; 36. End cleaning unit; 361. Automatic water addition subunit; 362. Automatic charging subunit. DETAILED DESCRIPTION

[0043] The technical solution of the present disclosure will be clearly and completely described below in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present disclosure, rather than all of the embodiments.

[0044] The components of the embodiments of the present disclosure generally described and shown in the drawings herein may be arranged and designed in a variety of different configurations. Therefore, the following detailed description of the embodiments of the present disclosure provided in the drawings is not intended to limit the scope of the present disclosure claimed, but merely represents selected embodiments of the present disclosure.

[0045] Based on the embodiments in the present disclosure, all other embodiments obtained by ordinary technicians in the field without making any creative work shall fall within the scope of protection of the present disclosure.

[0046] In the description of the present disclosure, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc., indicating the orientation or positional relationship, are based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present disclosure and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation of the present disclosure. In addition, the terms "first", "second", and "third" are used for descriptive purposes only, and cannot be understood as indicating or implying relative importance.

[0047] In the description of the present disclosure, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present disclosure can be understood according to specific circumstances.

[0048] See also Figures 1 to 5 The present disclosure provides a cleaning robot fuzzy area automatic planning and management system, comprising:

[0049] A user module 1 for interacting with the user and a split cleaning robot module 3 for providing automated and intelligent cleaning services, wherein an algorithm module 2 for processing user information is provided between the user module 1 and the split cleaning robot module 3;

[0050] The split cleaning robot module 3 includes a chassis lifting unit 31, a mobile navigation unit 32, a visual identification of stolen goods point unit 33, an automatic planning cleaning area unit 34, a cleaning start unit 35 and a cleaning end unit 36 ​​which are connected in sequence to facilitate the cleaning task of the fuzzy area.

[0051] like Figure 2 As shown, the automatic planning cleaning area unit 34 includes a map building subunit 341, a path planning subunit 342 and an intelligent decision-making subunit 343, specifically:

[0052] The map building subunit 341 is used to convert the acquired environmental information into map information that can be understood by the robot;

[0053] The path planning subunit 342 is used to plan the cleaning path of the robot according to the map and the target area;

[0054] The intelligent decision subunit 343 is used to make intelligent decisions based on historical data information and environmental information.

[0055] like Figure 2 As shown, the automatic planning cleaning area unit 34 also includes a grid subunit 344, a grid subunit 345, an area subunit 346 and a track subunit 347. Specifically:

[0056] The grid sub-unit 344 is used to divide the cleaning fuzzy area into grids, and each grid is cleaned as a sub-unit;

[0057] The grid sub-unit 345 is used to divide the fuzzy area to be cleaned into grids, each grid is used as a sub-unit for cleaning, and the grid can be a square or other shapes, which is determined according to the actual situation;

[0058] The area subunit 346 is used to divide the clearing and blurring area into several relatively independent areas, each area is cleaned as a subunit, and the division of the area can be determined according to factors such as the layout of the room and the location of the furniture;

[0059] The trajectory subunit 347 is used to divide the cleaning fuzzy area into segments of small areas of the robot's motion trajectory, and each segment of the trajectory is used as a subunit for cleaning;

[0060] Carefully plan the blurred areas to be cleaned to improve cleaning accuracy.

[0061] like Figure 1 As shown, the user module 1 includes a voice input unit 11 for users to input voice commands and a text input unit 12 for users to input text commands, so that users can issue cleaning instructions. At the same time, it provides user registration and login functions. Users can use the services of the cleaning robot by registering an account and logging in; allowing users to view and modify personal information, such as name, contact information, etc.; create, edit and cancel cleaning tasks through this module, including setting cleaning areas, cleaning times, etc.; users can submit problems or complaints encountered during the use of the cleaning robot through this module, and receive corresponding feedback and processing.

[0062] like Figure 1 As shown, the algorithm module 2 includes an analysis and conversion unit 21 for processing user voice commands, a recognition and analysis text content unit 22 for processing user text commands, and a disassembly point and time information unit 23 for analyzing the user's commands. The analysis and conversion unit 21 is connected to the voice input unit 11 and the text input unit 12 respectively, and is used to convert the voice commands issued by the user into text signal commands for the cleaning robot. The recognition and analysis text content unit 22 is connected to the text input unit 12 and the visual recognition of stolen goods point unit 33 respectively, and the visual recognition of stolen goods point unit 33 is connected to the chassis lifting unit 31, so that the cleaning robot can receive the processed commands to perform cleaning work.

[0063] like Figure 1 As shown, the chassis lifting unit 31 is used to control the lifting of the chassis of the cleaning robot to achieve different cleaning environments and task requirements and avoid damage to the bottom caused by collision with obstacles.

[0064] like Figure 1 As shown, the mobile navigation unit 32 is used to plan the path and control the cleaning robot to go to the specified target point, which can ensure that the robot moves along the predetermined path and avoids collision with obstacles.

[0065] like Figure 3As shown, the visual identification unit 33 for identifying stolen goods points includes an image acquisition subunit 331, a feature extraction subunit 332, an object recognition subunit 333 and a position positioning subunit 334, which are used by the cleaning robot to automatically identify and locate stolen goods points, identify obstacles to avoid, and record the locations and types of obstacles, so as to provide reference and guidance for subsequent ground cleaning and maintenance work, thereby improving the automation level of the cleaning robot, reducing the burden of manual operation, and improving cleaning efficiency.

[0066] like Figure 3 As shown, the image acquisition subunit 331 is used to collect images in the environment and capture image information of the stolen objects.

[0067] like Figure 3 As shown, the feature extraction subunit 332 is used to pre-process the image to extract specific features for distinguishing stolen goods points from other objects.

[0068] like Figure 3 As shown, the object recognition subunit 333 is used for the cleaning robot learning algorithm or deep learning model to classify and identify the extracted features and perform cleaning operations accordingly.

[0069] like Figure 3 As shown, the position positioning subunit 334 is used to determine the location of the stolen goods point in the environment, so that the cleaning robot can go to the stolen goods point for cleaning more accurately.

[0070] like Figure 1 As shown, the start cleaning unit 35 is used to control the cleaning robot to automatically complete the cleaning task, and can use a variety of cleaning methods such as vacuuming, mopping, scrubbing, etc. to effectively remove dust, debris and stains.

[0071] like Figure 1 As shown, the cleaning end unit 36 ​​is used to complete the cleaning work according to the set task, automatically identify the completion of the task, and return to the designated location.

[0072] like Figure 4 As shown, the text content recognition and analysis unit 22 is provided with a judgment information subunit 221, which is used to judge whether the user's instruction exists or is correct, and provide feedback, and can also record the cleaning history and effect so that the user can view and analyze the cleaning situation.

[0073] like Figure 5As shown, the cleaning end unit 36 ​​includes an automatic water adding subunit 361 for the cleaning robot to automatically return to the designated water adding point for automatic water adding, so as to achieve automatic water adding and achieve a more thorough cleaning effect during cleaning, and an automatic charging subunit 362 for the cleaning robot to automatically return to the automatic charging station for automatic charging, which can ensure that the cleaning robot always maintains sufficient power and avoids the interruption of the cleaning task due to power exhaustion. The automatic water adding subunit 361 and the automatic charging subunit 362 will eventually end after execution, and the cleaning robot will return to the standby point.

[0074] Working principle: Working principle: First, the user selects voice input or text input through the user module 1 to issue instructions; when voice input is selected, the user directly recognizes the voice through the voice input unit 11, and the recognized voice is transmitted to the analysis and conversion into text unit 21 for text conversion, and then transmitted to the text input unit 12; when text input is selected, the text is directly received through the text input unit 12; after receiving the instructions issued by the user, the text instructions are transferred to the recognition and analysis text content unit 22, and the instructions issued by the user are analyzed by the recognition and analysis text content unit 22, and the issued instructions are judged by the judgment information subunit 221 to determine whether the instructions are correct or whether there is a cleaning area for the issued instructions; after meeting the cleaning conditions, the instructions are transmitted to the disassembly point and time information unit 23, and the issued instructions are disassembled by the disassembly point and time information unit 23 to obtain the points and time required to be cleaned by the user, as well as the scheduled cleaning time; after the instruction content is analyzed and sorted, the chassis of the cleaning robot is lifted and lowered by the chassis lifting unit 31, and the mobile navigation unit 32 is cooperated to go to the fuzzy area for cleaning.

[0075] When arriving at the designated blurred area, the blurred area is pre-processed and detected by the mobile navigation unit recognition and analysis text content unit 22, and the blurred area is imaged by the image acquisition subunit 331. The acquired image is used to extract information about the features of the blurred area by the feature extraction subunit 332. The extracted information is used to determine the category of the object by the object recognition subunit 333. Finally, the position of the object is located by the position positioning subunit 334 to form the overall information of the blurred area, so that the cleaning robot can obtain detailed information about the blurred area.

[0076] Afterwards, the automatic cleaning area planning unit 34 receives detailed information about the fuzzy area, and the map building subunit 341 in the automatic cleaning area planning unit 34 builds a map of the received information, so that the robot forms a detailed information drawing of the entire fuzzy area, and then plans the cleaning path through the path planning subunit 342. The specific planning method is as follows:

[0077] Method 1: Divide the blurred area into grids by the grid subunit 344, each grid is used as a small unit area, and the size of the grid can be determined according to the map established based on the information collected by the image acquisition subunit 331;

[0078] Method 2: The fuzzy area is divided into grids of different sizes using horizontal and vertical lines through the grid subunit 345, each grid is used as a small unit area, and the middle position of the area is a rectangle, and the area periphery is determined according to the actual situation of the room;

[0079] Method 3: The fuzzy area is divided into relatively independent small unit areas through the area sub-unit 346. The shape of each small unit area is different and needs to be determined according to factors such as the layout of the room and the placement of furniture.

[0080] Method 4: The fuzzy area is divided into segments of the robot's motion trajectory by the trajectory subunit 347, and each segment is used as a cleaning target. This method is suitable for cleaning those cleaning areas that follow a specific path;

[0081] It can automatically process different fuzzy cleaning areas, select the appropriate cleaning method, and complete the cleaning task more efficiently. It can better adapt to the shapes and sizes of different cleaning areas, better clean corners and hard-to-reach areas, avoid repeated cleaning of the same area, save cleaning time and battery life, improve cleaning efficiency, and achieve the best path for the cleaning route;

[0082] Subsequently, the intelligent decision-making subunit 343 makes cleaning decisions for corresponding unexpected situations during the cleaning process and ensures the completion of the cleaning task. Finally, the cleaning task is started through the start cleaning unit 35, so that the cleaning robot cleans according to the preset cleaning plan.

[0083] When the cleaning of the fuzzy area is completed, the cleaning robot can monitor its own power and stored water through the cleaning completion unit 36. When the water level in the water tank of the cleaning robot is insufficient, the automatic water adding sub-unit 361 makes the cleaning robot go to the target point for automatic water replenishment. When the cleaning robot is insufficient in power, the automatic charging sub-unit 362 makes the cleaning robot go to the target point for automatic charging, so that the cleaning robot can complete the next cleaning task.

[0084] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present disclosure, rather than to limit them. Although the present disclosure has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or replace some or all of the technical features therein by equivalents. However, these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present disclosure.

Claims

1. An automatic planning and management system for fuzzy areas of a cleaning robot, characterized in that: include: A user module (1) for interacting with a user and a split cleaning robot module (3) for providing automated and intelligent cleaning services, wherein an algorithm module (2) for processing user information is provided between the user module (1) and the split cleaning robot module (3); The split cleaning robot module (3) comprises a chassis lifting unit (31), a mobile navigation unit (32), a visual identification unit for identifying stolen goods points (33), an automatic cleaning area planning unit (34), a cleaning start unit (35) and a cleaning end unit (36) which are connected in sequence, thereby achieving a task of cleaning a fuzzy area.

2. According to claim 1, the automatic planning and management system for fuzzy areas of a cleaning robot is characterized by: The automatic planning cleaning area unit (34) includes a map building subunit (341), a path planning subunit (342) and an intelligent decision-making subunit (343), specifically: The map building subunit (341) is used to convert the acquired environmental information into map information that can be understood by the robot; The path planning subunit (342) is used to plan the cleaning path of the robot according to the map and the target area; The intelligent decision subunit (343) is used to make intelligent decisions based on historical data information and environmental information.

3. According to claim 1, the automatic planning and management system for fuzzy areas of a cleaning robot is characterized by: The automatic planning cleaning area unit (34) further includes a grid subunit (344), a grid subunit (345), an area subunit (346) and a track subunit (347), specifically: The grid sub-unit (344) is used to divide the fuzzy area to be cleaned into grids, and each grid is used as a sub-unit for cleaning; The grid sub-unit (345) is used to divide the fuzzy area to be cleaned into grids, each grid is used as a sub-unit for cleaning, and the grid can be a square or other shape, which is determined according to actual conditions; The area sub-unit (346) is used to divide the clearing and blurring area into several relatively independent areas, each area is cleaned as a sub-unit, and the division of the area can be determined according to factors such as the layout of the room and the location of furniture; The trajectory subunit (347) is used to divide the fuzzy area to be cleaned into small sections of the robot's motion trajectory, and each section of the trajectory is used as a subunit for cleaning; Carefully plan the blurred areas to be cleaned to improve cleaning accuracy.

4. The automatic planning and management system for fuzzy areas of a cleaning robot according to claim 1, characterized in that: The user module (1) comprises a voice input unit (11) for a user to input voice instructions and a text input unit (12) for a user to input text instructions, so that the user can issue cleaning instructions.

5. The automatic planning and management system for fuzzy areas of a cleaning robot according to claim 1, characterized in that: The algorithm module (2) comprises an analysis and conversion unit (21) for processing user voice commands, a recognition and analysis unit (22) for processing user text commands, and a disassembly point and time information unit (23) for analyzing user commands. The analysis and conversion unit (21) is connected to the voice input unit (11) and the text input unit (12) respectively, and is used to convert the user's voice commands into text signal commands for the cleaning robot. The recognition and analysis unit (22) is connected to the text input unit (12) and the visual identification unit (33) for identifying stolen goods points respectively. The visual identification unit (33) for identifying stolen goods points is connected to the chassis lifting unit (31) so that the cleaning robot can receive the processed commands and perform cleaning work.

6. The automatic planning and management system for fuzzy areas of a cleaning robot according to claim 1, characterized in that: The chassis lifting unit (31) is used to control the lifting of the chassis of the cleaning robot to achieve different cleaning environments and task requirements.

7. The automatic planning and management system for fuzzy areas of a cleaning robot according to claim 1, characterized in that: The mobile navigation unit (32) is used to plan a path and control the cleaning robot to move to a designated target point.

8. The automatic planning and management system for fuzzy areas of a cleaning robot according to claim 1, characterized in that: The visual identification unit (33) for identifying stolen goods points comprises an image acquisition subunit (331), a feature extraction subunit (332), an object identification subunit (333) and a position positioning subunit (334), and is used by the cleaning robot to automatically identify and position stolen goods points.

9. The automatic planning and management system for fuzzy areas of a cleaning robot according to claim 8, characterized in that: The image acquisition subunit (331) is used to collect images in the environment and capture image information of stolen objects.

10. The automatic planning and management system for fuzzy areas of a cleaning robot according to claim 8, characterized in that: The feature extraction subunit (332) is used to pre-process the image to extract specific features for distinguishing stolen goods points from other objects.

11. The automatic planning and management system for fuzzy areas of a cleaning robot according to claim 8, characterized in that: The object recognition subunit (333) is used for the cleaning robot learning algorithm or deep learning model to classify and recognize the extracted features and perform cleaning operations accordingly.

12. The automatic planning and management system for fuzzy areas of a cleaning robot according to claim 8, characterized in that: The position locating subunit (334) is used to determine the position of the stolen object in the environment.

13. The automatic planning and management system for fuzzy areas of a cleaning robot according to claim 1, characterized in that: The cleaning start unit (35) is used to control the cleaning robot to automatically complete the cleaning task.

14. The automatic planning and management system for fuzzy areas of a cleaning robot according to claim 1, characterized in that: The cleaning end unit (36) is used to complete the cleaning work according to the set task, automatically identify the completion of the task, and return to the designated location.

15. The automatic planning and management system for fuzzy areas of a cleaning robot according to claim 1, characterized in that: The text content recognition and analysis unit (22) is provided with a judgment information subunit (221), and the judgment information subunit (221) is used to judge whether the instruction issued by the user exists or is correct, and to provide feedback.

16. The automatic planning and management system for fuzzy areas of a cleaning robot according to claim 1, characterized in that: The cleaning end unit (36) comprises an automatic water adding subunit (361) for the cleaning robot to automatically return to a designated water adding point for automatic water adding, and an automatic charging subunit (362) for the cleaning robot to automatically return to an automatic charging station for automatic charging. The automatic water adding subunit (361) and the automatic charging subunit (362) are both finally terminated after execution.

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