Scrubber cleaning avoidance method and system, storage medium and intelligent terminal
By installing distance sensors on the floor scrubber to scan obstacles and create avoidance paths, the collision problem caused by obstacles inside the subway is solved, improving the sweeping efficiency and service life of the floor scrubber.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- NINGBO BOTUO INTELLIGENT CONTROL TECHNOLOGY CO LTD
- Filing Date
- 2026-01-15
- Publication Date
- 2026-04-17
AI Technical Summary
Obstacles inside the subway can easily cause floor cleaning robots to collide, affecting their work efficiency and lifespan.
The system uses distance sensors to scan for obstacles ahead, forms an avoidance path, updates and cleans the path to avoid collisions, and determines whether to avoid or cross obstacles based on their type and height.
This improves the sweeping efficiency and lifespan of the floor scrubber, and ensures the accuracy and strict execution of the cleaning path.
Smart Images
Figure CN121867633A_ABST
Abstract
Description
Technical Field
[0001] This application relates to the field of floor scrubbing machine sweeping function, and in particular to a floor scrubbing machine cleaning and avoidance method, system, storage medium and smart terminal. Background Technology
[0002] Cleaning the floors inside the subway cars is a meticulous and important task, usually carried out at night after the subway stops operating, to ensure that the cars are clean and tidy when the subway starts operating the next day.
[0003] Due to the large number and length of subway cars, manual cleaning has become increasingly difficult and costly. Therefore, in recent years, with the development of artificial intelligence technology, intelligent floor cleaning robots have been introduced into subway cleaning work, cleaning most of the car floors and saving a lot of labor costs.
[0004] The existing technology has the following problems: due to the many obstacles inside the subway, and the addition of new items that may create obstacles, the floor cleaning robot is prone to collisions with these obstacles. This can range from hindering the robot's work to damaging it and affecting its lifespan. There is still room for improvement. Summary of the Invention
[0005] To address the issue of collisions between floor cleaning robots and numerous obstacles inside subway stations, this application provides a floor cleaning robot obstacle avoidance method, system, storage medium, and intelligent terminal.
[0006] Firstly, this application provides a method for floor scrubbing machines to avoid obstacles during cleaning, employing the following technical solution: A method for floor scrubbers to avoid obstacles during cleaning includes: Receive cleaning requests; Based on the cleaning requirements, the floor scrubber is controlled to clean according to the preset cleaning path and scan the outline of obstacles within the preset safe distance; Continue moving forward if the obstacle outline does not exist; When an obstacle outline exists, determine the avoidance path based on the obstacle outline; The cleaning path is updated based on the avoidance path, and the floor scrubber is controlled to continue cleaning along the updated cleaning path.
[0007] By adopting the above technical solution, a distance sensor is installed in front of the floor scrubber to scan for obstacles. When an obstacle is detected, an avoidance path is formed to update the cleaning path, thereby enabling the floor scrubber to avoid obstacles, preventing collisions, and improving the sweeping efficiency and service life of the floor scrubber.
[0008] Optionally, methods for updating the cleaning path based on the avoidance path include: Obtain the current cleaning coordinates of the floor scrubber; The obstacle's location is determined based on its outline, current cleaning coordinates, and cleaning path. Matching is performed based on the location of obstacles and the preset locations of inherent obstacles; When a match is successful, the cleaning path is updated based on the avoidance path; When a match fails, a preset first avoidance query signal is output and a first feedback signal is received; When the first feedback signal is a preset inherent obstacle signal, the corresponding obstacle position is defined as an inherent obstacle, and the cleaning path is updated based on the avoidance path; When the first feedback signal is a preset long-term temporary signal, the cleaning path is temporarily updated based on the avoidance path, and the cleaning path is restored after passing through the avoidance path. When the first feedback signal is a preset short-term temporary signal, a short-term waiting instruction is generated, but the cleaning path is not updated.
[0009] By adopting the above technical solution, the cleaning path is updated according to the type of obstacle, distinguishing between fixed obstacles and temporary obstacles, thereby determining whether to update the cleaning path and making the cleaning path more accurate.
[0010] Optionally, the method of temporarily updating the cleaning path based on the avoidance path when the feedback signal is a long-term temporary signal, and restoring the cleaning path after passing through the avoidance path, further includes: The obstacle location is defined as a long-term temporary location, and the temporarily updated cleaning path is defined as a temporary cleaning path. The missing cleaning path is determined based on the avoidance path and the temporary cleaning path. The farthest scanning point is determined based on the temporary cleaning path, the missing cleaning path, and the preset maximum scanning distance. When the floor scrubber cleans along the temporary cleaning path until it reaches the farthest scanning point, it rescans the long-term temporary location. Continue cleaning along the temporary cleaning path while the obstacle outline still exists; When the obstacle outline does not exist, return to the missing cleaning path, and restore the cleaning path after cleaning the missing cleaning path, and directly travel to the farthest scanning point to continue cleaning along the temporary cleaning path.
[0011] By adopting the above technical solution, when proceeding along the updated cleaning path, since this is a temporary obstacle that may be removed at any time, the system can rescan at the furthest point that can be scanned to see if it no longer exists. If it does not exist, the system can go back to scan, so that all areas of the entire carriage that need cleaning can be cleaned without missing this part of the cleaning due to temporary obstacles, thus improving the cleaning capacity of the floor scrubber.
[0012] Optionally, the cleaning path that is not updated via the avoidance path is defined as the initial cleaning path, and the method for cleaning path restoration is also included, which includes: The update path is determined based on the cleaning path and the initial cleaning path; When the current cleaning coordinates reach the starting point of one of the update paths, a scan is performed to obtain the current obstacle outline, and the reached update path is defined as the current update path; If the current obstacle outline does not exist, the current update path is updated based on the initial clean path to obtain the restored clean path; When the current obstacle outline exists, the corresponding historical obstacle outline is retrieved from the preset historical database based on the current update path; If the current obstacle outline matches the historical obstacle outline, the cleaning path will not be restored. When the current obstacle outline is inconsistent with the historical obstacle outline, a first feedback signal is determined based on the current obstacle outline, and the avoidance path is updated based on the first feedback signal.
[0013] By adopting the above technical solution, after the cleaning path is updated, the areas that were not previously visited will still be scanned in the subsequent second or even later cleaning processes. This is to prevent the area from being cleaned again according to the original cleaning path if the obstacle is removed in the subsequent process.
[0014] Optionally, it also includes a method for determining an avoidance path based on the obstacle outline when the obstacle outline exists, the method comprising: Determine the height of an obstacle based on its outline; When the height of an obstacle is higher than the preset crossing threshold height, an avoidance path is determined based on the obstacle's outline. When the height of the obstacle is lower than the preset crossing critical height, a second avoidance inquiry signal is output and a second feedback signal is received; When the second feedback signal is a preset crossing signal, no obstacle outline is formed, and cleaning is carried out directly according to the cleaning path; When the second feedback signal is a preset avoidance signal, the avoidance path is determined based on the obstacle outline.
[0015] By adopting the above technical solution, if the height of the obstacle is determined and the worker is allowed to cross it, then there is no need to avoid it, and cleaning can be carried out directly. This reduces the calculation procedures required for the avoidance step and ensures the strict implementation of the cleaning path.
[0016] Optionally, when the second feedback signal is a crossing signal, the method of not forming an obstacle outline and directly cleaning according to the cleaning path includes: Determine the route for the obstacle area based on the obstacle outline and the cleaning path; After passing through the obstacle cleaning path, the area corresponding to the obstacle cleaning path is repeatedly cleaned, and the number of cleaning times is accumulated. The number of cleaning times is the number of times that the obstacle cleaning path is passed in the direction of the cleaning path and the number of times that the obstacle cleaning path is passed in the opposite direction of the cleaning path is counted as 1 time. After passing through the obstacle cleaning path, the obstacle outline is rescanned, and the newly scanned obstacle outline is defined as the cleaned obstacle outline. The trend of change is determined based on the outline of the cleaned obstacle; If the number of cleaning attempts is less than the preset critical number of attempts that cannot be removed, but the outline of the obstacle to be cleaned does not exist, the cleaning path will not be updated. If the number of cleaning cycles is less than the critical number of cycles that cannot be removed, but the trend of change is a preset decreasing trend, continue to repeatedly clean the area corresponding to the obstacle cleaning path and scan the outline of the obstacle to be cleaned. When the number of cleaning attempts exceeds the critical number of times the obstacle cannot be removed, and the trend of change is a preset constant trend, a preset "no need for repeated cleaning" mark is affixed to the obstacle cleaning path. If the number of cleaning cycles exceeds the critical number of cycles that cannot be removed, but the trend of change is a preset decreasing trend, then cleaning is performed directly according to the cleaning path.
[0017] By adopting the above technical solution, if the obstacle can be crossed, it means that the obstacle is small and insignificant. In this case, the obstacle can be repeatedly cleaned to try to sweep it away. If the obstacle cannot be swept away after repeated cleaning, it means that it is fixed. In this case, a mark is affixed to prevent repeated cleaning.
[0018] Optionally, a method for removing the markers without repeated washing is also included, which includes: Receive preset obstacle clearing information in real time; Analyze obstacle removal information to obtain obstacle removal signals and obstacle removal signals; Upon receiving an obstacle removal signal or an obstacle cleaning signal, there will be no need to repeatedly clean and remove the markers; Even when no obstacle removal signal or obstacle cleaning signal is received, the marker that does not need to be cleaned repeatedly remains.
[0019] By adopting the above technical solution, when the staff goes to clean, it means that the cleaning is complete. Therefore, if the floor scrubber is still not clean, it is due to the subsequent process, so it still needs to be cleaned repeatedly. Therefore, removing the mark at this time will not affect the repeated cleaning process. Similarly, if the obstacles have been removed, it is equivalent to the area being cleaned, so the mark should still be removed.
[0020] Secondly, this application provides a floor scrubber cleaning avoidance system, which adopts the following technical solution: A floor scrubber cleaning avoidance system, comprising: The acquisition module is used to acquire cleaning requirements, obstacle outlines, first feedback signals, current cleaning coordinates, second feedback signals, and obstacle cleaning information; A memory for storing the program of the control method for any of the above-mentioned floor scrubber cleaning and avoidance methods; The processor and the program in the memory can be loaded and executed by the processor to implement the control method of any of the above-mentioned floor scrubber cleaning and avoidance methods.
[0021] By adopting the above technical solution, a distance sensor is installed in front of the floor scrubber to scan for obstacles. When an obstacle is detected, an avoidance path is formed to update the cleaning path, thereby enabling the floor scrubber to avoid obstacles, preventing collisions, and improving the sweeping efficiency and service life of the floor scrubber.
[0022] Thirdly, this application provides a smart terminal, which adopts the following technical solution: The intelligent terminal includes a memory and a processor, the memory storing a computer program that can be loaded by the processor and executed any of the above-mentioned floor scrubber cleaning avoidance methods.
[0023] By adopting the above technical solution, a distance sensor is installed in front of the floor scrubber to scan for obstacles. When an obstacle is detected, an avoidance path is formed to update the cleaning path, thereby enabling the floor scrubber to avoid obstacles, preventing collisions, and improving the sweeping efficiency and service life of the floor scrubber.
[0024] Fourthly, this application provides a computer storage medium capable of storing corresponding programs, featuring fast interaction with large amounts of memory.
[0025] Computer-readable storage media adopt the following technical solutions: A computer-readable storage medium storing a computer program that can be loaded by a processor and executed any of the above-described floor scrubber cleaning and avoidance methods.
[0026] By adopting the above technical solution, a distance sensor is installed in front of the floor scrubber to scan for obstacles. When an obstacle is detected, an avoidance path is formed to update the cleaning path, thereby enabling the floor scrubber to avoid obstacles, preventing collisions, and improving the sweeping efficiency and service life of the floor scrubber.
[0027] In summary, this application includes at least the following beneficial technical effects: By setting up distance sensors, an avoidance path is formed when obstacles are detected, enabling the floor scrubber to avoid obstacles, preventing collisions, and improving the sweeping efficiency and service life of the floor scrubber; The cleaning path is updated based on the type of obstacle, distinguishing between fixed and temporary obstacles to determine whether to update the cleaning path, thus making the cleaning path more accurate. If the obstacle is not high and staff are allowed to cross it, then there is no need to avoid it; cleaning can proceed directly, ensuring strict adherence to the cleaning path. Attached Figure Description
[0028] Figure 1 This is a flowchart of a floor scrubber cleaning and avoidance method according to an embodiment of this application.
[0029] Figure 2 This is a schematic diagram of the cleaning path of the floor scrubber in the embodiments of this application.
[0030] Figure 3 This is a flowchart of a method for updating and cleaning paths based on avoidance paths in an embodiment of this application.
[0031] Figure 4 This is a flowchart of a method in this application embodiment for temporarily updating the cleaning path based on the avoidance path when the feedback signal is a long-term temporary signal, and restoring the cleaning path after passing through the avoidance path.
[0032] Figure 5 This is a flowchart of the cleaning path restoration method in the embodiments of this application.
[0033] Figure 6 This is a flowchart illustrating a method for determining an avoidance path based on an obstacle outline when the obstacle outline exists, as described in an embodiment of this application.
[0034] Figure 7 This is a flowchart of a method in this application embodiment where, when the second feedback signal is a crossing signal, no obstacle outline is formed, and cleaning is performed directly according to the cleaning path.
[0035] Figure 8 This is a flowchart of a method for removing markers without repeated cleaning, as described in the embodiments of this application.
[0036] Figure 9 This is a system module diagram of a floor scrubber cleaning and avoidance method according to an embodiment of this application. Detailed Implementation
[0037] To make the purpose, technical solution, and advantages of this application clearer, the following description is provided in conjunction with the appendix. Figures 1-9 The present application will be further described in detail below with reference to embodiments. It should be understood that the specific embodiments described herein are for illustrative purposes only and are not intended to limit the scope of the application.
[0038] This application discloses a method for floor scrubbers to avoid obstacles during cleaning. (Refer to...) Figure 1 A method for floor scrubbers to avoid obstacles during cleaning includes: Step 100: Receive cleaning request.
[0039] The cleaning request is a signal indicating that the floor scrubber needs to begin cleaning the interior floor of the subway car. This request is indicated by a button on the control panel of the corresponding system; triggering this button signifies that the user has entered the cleaning request, which has been received by the floor scrubber.
[0040] Step 101: Based on the cleaning requirements, control the floor scrubber to clean according to the preset cleaning path and scan the outline of obstacles within the preset safe distance.
[0041] The cleaning path refers to the route used to clean the subway. For example... Figure 2 As shown, the cleaning path is path Y in the diagram. The safety distance is the distance beyond which an object will not collide with the machine. This distance is set by the operator based on the actual collision reaction sensitivity of the floor scrubber and their own experience. The obstacle outline is the outline of the obstacle, designated A. This outline can be obtained from a distance sensor installed on the floor scrubber, which can move to any position in front of it and has a cross-shaped guide rail.
[0042] Step 102: Continue moving forward if the obstacle outline does not exist.
[0043] If no obstacle outlines exist, and a collision will not occur at least within a safe distance, then you can continue moving forward.
[0044] Step 103: When the obstacle outline exists, determine the avoidance path based on the obstacle outline.
[0045] The avoidance path is the path taken to avoid obstacles whose outlines correspond to the obstacle. In this case, the path involves moving laterally a certain distance, then proceeding in the original direction until the obstacle is completely avoided, and then returning to the original path, as shown below. Figure 2 Y shown - path.
[0046] It is important to note that the avoidance path here refers to the path that only avoids obstacles, i.e., Y. - The first half of the path, namely the vertical and horizontal sections along the Y-path (excluding the final vertical section returning to the Y-path), continues until the horizontal section has cleaned a certain distance and found that it is far from the obstacle. Then it can return to the Y-path. The process of finding the obstacle is also measured by distance sensors. Distance sensors are also installed on the side of the floor scrubber. When a distance sensor detects that there is no obstacle at the corresponding location, it can either directly return to the Y-path or wait a certain amount of time before starting to return.
[0047] Step 104: Update the cleaning path based on the avoidance path and control the floor scrubber to continue cleaning along the updated cleaning path.
[0048] Updating the cleaning path based on the obstacle avoidance path enables the floor scrubber to avoid obstacles.
[0049] Reference Figure 3 Methods for updating the cleaning path based on the avoidance path include: Step 200: Obtain the current cleaning coordinates of the floor scrubber.
[0050] The current cleaning coordinates are the coordinates currently being cleaned by the floor scrubber.
[0051] Step 201: Determine the location of the obstacle based on the obstacle outline, the current cleaning coordinates, and the cleaning path.
[0052] The obstacle location refers to the position of the obstacle. This location can be the entire area of the obstacle or the closest point on the obstacle to the floor scrubber. It is determined by first identifying the current position based on the current cleaning coordinates, then determining the orientation of the floor scrubber based on the cleaning path and the current cleaning coordinates (i.e., the relative position of the obstacle outline within the current cleaning coordinates), and finally obtaining the obstacle location from the obstacle outline.
[0053] Step 202: Match the obstacle location with the preset inherent obstacle location.
[0054] The location of the inherent obstacle is the location of the obstacle that already exists. The matching method is to compare the coordinate values. If the two coordinate values are equal, the match is successful; if the coordinate values are not equal, the match is unsuccessful.
[0055] Step 203: When a match is successful, update the cleaning path based on the avoidance path.
[0056] When a match is successful, it indicates that the obstacle is a fixed obstacle, meaning it will remain in that position and its location will not change. Therefore, the cleaning path needs to be updated based on the avoidance path. The update method is Y+Y. - .
[0057] Step 204: When a match fails, output a preset first avoidance query signal and receive a first feedback signal.
[0058] The first avoidance inquiry signal is sent to the employee because the information regarding whether to avoid the floor scrubber is uncertain. This can be done by sending the signal directly to the employee's mobile phone, or by displaying it on the HMI screen if the employee is standing or sitting on the scrubber. The first feedback signal is the feedback from the employee to the system. This can be input via the employee's mobile phone or by the employee pressing the corresponding button on the HMI screen.
[0059] If a match fails, it means that the current obstacle is not the original fixed obstacle, and the situation of the obstacle is uncertain, so it is necessary to ask the employee.
[0060] Step 205: When the first feedback signal is a preset inherent obstacle signal, the corresponding obstacle position is defined as an inherent obstacle, and the cleaning path is updated based on the avoidance path.
[0061] The inherent obstacle signal is the signal for an obstacle that is inherent to the system. If the first feedback signal is an inherent obstacle signal, it means that the corresponding obstacle is inherent to the system. This may be because it was not previously stored in the database, resulting in a failed match, or it may be a newly added inherent obstacle. In this case, the obstacle is defined as an inherent obstacle and stored.
[0062] Step 206: When the first feedback signal is a preset long-term temporary signal, the cleaning path is temporarily updated based on the avoidance path, and the cleaning path is restored after passing through the avoidance path.
[0063] A long-term temporary signal indicates that although the obstacle is not a permanent obstacle, it will not move away from this location for a short period of time. Since the first feedback signal is a long-term temporary signal, the obstacle will eventually move away, so the cleaning path can remain unchanged. However, since it will not move away in the short term, waiting is not possible. Therefore, to ensure that the cleaning process is not significantly affected, avoidance is still required during this cleaning process.
[0064] Step 207: When the first feedback signal is a preset short-term temporary signal, a short-term waiting instruction is generated, but the cleaning path is not updated.
[0065] A short-term temporary signal indicates that the obstacle is not inherent and will move away in the short term. A short-term wait instruction indicates that the obstacle will move soon, and the user should wait in place. The purpose of these signals is to allow the floor scrubber to execute the commands. When the first feedback signal is a short-term temporary signal, it means the obstacle will move soon, so there is no need to update the cleaning path; the user only needs to wait for the obstacle to disappear from the current position. Therefore, the start time is when the obstacle's outline disappears.
[0066] Reference Figure 4 The method of temporarily updating the cleaning path based on the avoidance path when the feedback signal is a long-term temporary signal, and restoring the cleaning path after passing through the avoidance path, also includes: Step 300: Define the obstacle location as a long-term temporary location and define the temporarily updated cleaning path as a temporary cleaning path.
[0067] Step 301: Determine the missing cleaning path based on the avoidance path and the temporary cleaning path.
[0068] Missing cleaning paths are those paths that were not cleaned. This is the result of subtracting temporary cleaning paths from the total cleaning paths; that is, the additional paths that exist between the original and temporary cleaning paths. Figure 2 As shown, the missing cleaning path is path Y'.
[0069] Step 302: Determine the farthest scanning point based on the temporary cleaning path, the missing cleaning path, and the preset maximum scanning distance.
[0070] The maximum scanning distance is the maximum possible distance at which the corresponding contour can be accurately scanned. This distance is set manually based on practical experience and data feedback from daily cleaning processes. The farthest scanning point is the furthest point from the end of the missing cleaning path that can be scanned to capture the contour of the obstacle. The calculation method involves drawing a circle with the end of the missing cleaning path as the radius and the maximum scanning distance as the radius. The point at the intersection of this circle (excluding areas obscured by walls and other inherent obstacles) and the temporary cleaning path is the farthest scanning point.
[0071] Here, in the embodiments of this application, the starting point and the ending point are both set along the walking direction of the cleaning path. That is, the point passed first along the walking direction of the cleaning path is the starting point, and the point passed last is the ending point. The latter is the direction behind along the walking direction of the cleaning path, and the former is the direction in front along the walking direction of the cleaning path.
[0072] Step 303: When the floor scrubber is cleaning along the temporary cleaning path until the farthest scanning point, it will rescan the long-term temporary location.
[0073] The purpose of the scan is to determine whether the obstacle has been moved. Here, although the employee designated it as a long-term temporary obstacle, the exact timeframe for its removal is uncertain, hence the need for a rescan.
[0074] Step 304: Continue cleaning along the temporary cleaning path while the obstacle outline still exists.
[0075] If the obstacle outline is still detected, it means that the obstacle is still in the corresponding position. Therefore, it is not possible to return to the missing cleaning path to clean the ground. Instead, continue cleaning along the temporary cleaning path.
[0076] Step 305: When the obstacle outline does not exist, return to the missing cleaning path, and restore the cleaning path after cleaning the missing cleaning path, and drive directly to the farthest scanning point to continue cleaning along the temporary cleaning path.
[0077] If no obstacle outline is detected, it means the obstacle has already been removed. Since the distance is not far, we can return to the missing cleaning path and clean that section of the path. After cleaning, there is no need to continue using the avoidance path, and since the intermediate path has already been cleaned, we can drive directly to the furthest scan point without further cleaning.
[0078] Reference Figure 5 The method defines the cleaning path that is not updated through the avoidance path as the initial cleaning path, and also includes a method for cleaning path restoration, which includes: Step 400: Determine the update path based on the cleaning path and the initial cleaning path.
[0079] The updated path is the portion of the cleaning path that is longer than the initial cleaning path; this is the avoidance path. Figure 2 As shown, the update path is Y. - .
[0080] Step 401: When the current cleaning coordinates reach the starting point of one of the update paths, perform a scan to obtain the current obstacle outline, and define the reached update path as the current update path.
[0081] The current obstacle outline is the obstacle outline scanned when the current cleaning coordinates reach the start of one of the update paths. When the current cleaning coordinates reach the start of one of the update paths, scanning continues to check whether the obstacle still exists.
[0082] Step 402: When the current obstacle outline does not exist, update the current update path based on the initial cleaning path to obtain the restored cleaning path.
[0083] The restored cleaning path is a cleaning path that restores the updated path corresponding to the current obstacle outline. The update method is to replace Y with Y' based on the difference between the initial cleaning path and the current updated path. - The restored cleaning path is obtained from the cleaning path.
[0084] If the current obstacle outline does not exist here, it means that this local area can be restored to the initial cleaning path.
[0085] Step 403: When the current obstacle outline exists, find the corresponding historical obstacle outline from the preset historical database based on the current update path.
[0086] Historical obstacle contours are the historical contours of the obstacles corresponding to the current obstacle contour during the historical cleanup process. The database stores the mapping relationship between the current update path and historical obstacle contours. Each time, the corresponding obstacle contour is obtained by scanning at the corresponding location, and then the current update path is determined and stored. It's important to note that the current update path at the same location in the previous scan will be used as the current update path. Then, the obstacle contour is rescanned, a new current update path is generated, the old one is removed, and the new one is stored in the database. When the system receives a corresponding current update path, it automatically finds the corresponding historical obstacle contour and outputs it.
[0087] Step 404: Do not restore the cleaning path when the current obstacle outline is consistent with the historical obstacle outline.
[0088] If the current obstacle outline matches the historical obstacle outline, it means that the obstacle has not changed and still exists, so it does not need to be restored.
[0089] Step 405: When the current obstacle outline and the historical obstacle outline are inconsistent, determine the first feedback signal based on the current obstacle outline, and determine whether to update the avoidance path based on the first feedback signal.
[0090] If the current obstacle outline is inconsistent with the historical obstacle outline, it indicates that a replacement obstacle has appeared. This means that the first feedback signal for the previous obstacle can no longer be executed, and it needs to be re-determined. Therefore, the first feedback signal is determined based on the current obstacle outline, and the decision to update the avoidance path is based on the first feedback signal. The method of re-determining and determining whether to update the avoidance path is the same as in the previous steps, and will not be repeated here.
[0091] Reference Figure 6 It also includes a method for determining an avoidance path based on the obstacle outline when the obstacle outline exists, the method comprising: Step 500: Determine the obstacle height based on the obstacle profile.
[0092] The obstacle height is the maximum height that the obstacle can reach. This height can also be determined through scanning.
[0093] Step 501: When the height of the obstacle is higher than the preset crossing critical height, determine the avoidance path based on the obstacle outline.
[0094] The critical clearance height is the maximum height that the floor scrubber can overcome. This value is obtained by having employees test the floor scrubber against obstacles of varying heights. If the obstacle height exceeds the critical clearance height, the floor scrubber cannot overcome it, and an avoidance path needs to be determined. The method for determining this path has been explained in the previous steps and will not be repeated here.
[0095] Step 502: When the height of the obstacle is lower than the preset crossing critical height, output a second avoidance inquiry signal and receive a second feedback signal.
[0096] The second avoidance inquiry signal indicates that while it's possible to cross the floor scrubber without avoiding it, the decision to do so is uncertain, necessitating an inquiry signal to the employee. This signal can be sent directly to the employee's mobile phone, or displayed on the scrubber's human-machine interface screen if the employee is standing or sitting on it. The second feedback signal is the feedback from the inquiring employee back to the system. This can be input via the employee's mobile phone or by pressing the corresponding button on the scrubber's human-machine interface screen.
[0097] If the height of an obstacle is below the critical crossing height, it means that the obstacle can be crossed. However, there may be reasons why it cannot be crossed, such as: the area contains a painted board, and crossing it may bring paint with it and cause pollution. Therefore, it is still necessary to consult with employees.
[0098] Step 503: When the second feedback signal is the preset crossing signal, no obstacle outline is formed, and cleaning is carried out directly according to the cleaning path.
[0099] The crossing signal allows the floor scrubber to cross obstacles it encounters. When the second feedback signal is a crossing signal, it means that crossing is permitted, and the scrubber can cross directly without needing to outline the obstacle.
[0100] Step 504: When the second feedback signal is a preset avoidance signal, determine the avoidance path based on the obstacle outline.
[0101] The first obstacle avoidance signal indicates that the floor scrubber is not allowed to cross the currently encountered obstacle and must avoid it. The second feedback signal, also an obstacle avoidance signal, indicates that crossing is not possible at this time, so an obstacle avoidance path is required. Therefore, the obstacle avoidance path is determined based on the obstacle's outline.
[0102] Reference Figure 7 When the second feedback signal is a crossing signal, no obstacle outline is formed, and cleaning is performed directly according to the cleaning path. This includes methods such as: Step 600: Determine the obstacle area route based on the obstacle outline and the cleaning path.
[0103] The obstacle area route is the original cleaning route within the obstacle area, i.e., the missing cleaning path. It is determined by the area where the cleaning path and the obstacle outline overlap. This is as follows: Figure 2 The Y' path is shown.
[0104] Step 601: After passing through the obstacle cleaning path, repeatedly clean the area corresponding to the obstacle cleaning path and accumulate the number of cleaning times.
[0105] The cleaning count is the cumulative number of times the obstacle is cleared along the cleaning path in one direction and the obstacle is cleared in the opposite direction. The cumulative count is obtained by using a counter.
[0106] Repeat the cleaning process after passing through the obstacle cleaning path to observe whether the obstacles have been cleaned up.
[0107] Step 602: After passing through the obstacle cleaning path, rescan the obstacle outline and define the newly scanned obstacle outline as the cleaned obstacle outline.
[0108] Step 603: Determine the trend of change based on the cleaned obstacle outline and the obstacle outline.
[0109] The trend is the trend of the cleaned obstacle outline and the difference between the obstacle outlines. It is determined by comparing the areas of the two.
[0110] Step 604: If the number of cleaning attempts is less than the preset critical number of attempts that cannot be removed, but the outline of the obstacle does not exist, the cleaning path will not be updated.
[0111] The "cannot remove" threshold is a manually set number of times an obstacle cannot be removed. If the obstacle is not removed after exceeding this threshold, it is considered an obstacle that cannot be removed. When the number of cleaning attempts is less than the threshold, it means that it is not clear whether the obstacle can be removed based on the number of attempts alone. However, since the obstacle outline is no longer visible, it means that the obstacle is gone and has been cleaned up. Therefore, the cleaning path does not need to be updated at this time.
[0112] Step 605: When the number of cleaning cycles is less than the critical number of cycles that cannot be removed, but the trend of change is the preset decreasing trend, continue to repeatedly clean the area corresponding to the obstacle cleaning path and scan the outline of the obstacle to be cleaned.
[0113] The trend of shrinking is the trend of decreasing area.
[0114] If the number of cleaning cycles is less than the critical number of cycles that cannot be removed, it means that it is not clear whether the obstacle can be removed based on the number of cycles. However, if the trend is that the obstacle is getting smaller, it means that the obstacle is gradually getting smaller and is very likely to be removed. In this case, continue to clean the area corresponding to the obstacle cleaning path and scan the outline of the obstacle.
[0115] Step 606: When the number of cleaning attempts exceeds the critical number of times the obstacle cannot be removed, and the trend of change is a preset constant trend, a preset "no need for repeated cleaning" mark is affixed to the obstacle cleaning path.
[0116] A constant trend refers to a trend where the area no longer changes. Marks that do not require repeated cleaning are those that do not need to be cleaned repeatedly, i.e., the method in step 601 does not need to be performed. The labeling method is simply to apply numerical labels to the corresponding paths.
[0117] If the number of cleaning attempts exceeds the critical number of times the obstacle cannot be removed, and the trend remains unchanged, it means that no further changes can be made. This indicates that the obstacle cannot be removed at this point, and repeated attempts will be futile as the obstacle will remain unchanged. Therefore, a "no need for repeated cleaning" label should be affixed.
[0118] Step 607: If the number of cleaning cycles exceeds the critical number of cycles that cannot be removed, but the trend of change is the preset decreasing trend, clean directly according to the cleaning path.
[0119] If the number of cleaning attempts exceeds the critical number of attempts that cannot be removed, it means that the obstacle will not be cleared in terms of the number of attempts. However, since the number of attempts is decreasing, it means that the obstacle is difficult to remove. In order to remove it, it is not marked, in the expectation that it will be cleaned in subsequent processes.
[0120] Reference Figure 8 It also includes a method for removing markers without repeated washing, which includes: Step 700: Receive preset obstacle clearing information in real time.
[0121] The obstacle clearing information refers to information about the clearing of obstacles by humans. This information is received by humans inputting the corresponding button on the screen.
[0122] Step 701: Analyze obstacle cleaning information to obtain obstacle removal signal and obstacle cleaning signal.
[0123] The obstacle removal signal indicates that the obstacle has been removed manually. The obstacle cleaning signal indicates that the obstacle has been cleaned, although it has not been removed. The screen has corresponding buttons; if an employee presses a button, the system automatically reads the corresponding signal.
[0124] Step 702: When an obstacle removal signal or obstacle cleaning signal is received, the marker will not need to be repeatedly cleaned and removed.
[0125] When an obstacle removal signal is received, it means the obstacle no longer exists, and the "no need for repeated cleaning" mark can be removed so that repeated cleaning can continue if the obstacle reappears. When an obstacle cleaning signal is received, it means the obstacle has been cleaned. At this point, if there are still impurities on the obstacle that are difficult to clean, repeated cleaning can be performed, so the "no need for repeated cleaning" mark is removed.
[0126] Step 703: Maintain the "No need to repeatedly clean" marker even when no obstacle removal signal or obstacle cleaning signal is received.
[0127] If no obstacle removal signal or obstacle cleaning signal is received, it means the problem has not been resolved, so continue to apply the "no need to clean repeatedly" marker.
[0128] Based on the same inventive concept, embodiments of the present invention provide a floor scrubber cleaning avoidance system.
[0129] Reference Figure 9 A floor scrubber cleaning avoidance system, comprising: The acquisition module is used to acquire cleaning requirements, obstacle outlines, first feedback signals, current cleaning coordinates, second feedback signals, and obstacle cleaning information; A memory for storing a program for controlling a floor scrubber's cleaning and obstacle avoidance method; A processor is a control method for a floor scrubber that enables the program in memory to be loaded and executed by the processor to achieve a cleaning and obstacle avoidance method.
[0130] Those skilled in the art will clearly understand that, for the sake of convenience and brevity, the above-described division of functional modules is used as an example. In practical applications, the above functions can be assigned to different functional modules as needed, that is, the internal structure of the device can be divided into different functional modules to complete all or part of the functions described above. The specific working process of the system, device, and unit described above can be referred to the corresponding process in the foregoing method embodiments, and will not be repeated here.
[0131] This invention provides a computer-readable storage medium storing a computer program that can be loaded by a processor and executed as a floor scrubber cleaning avoidance method.
[0132] Computer storage media include, for example, USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, optical disks, and other media that can store program code.
[0133] Based on the same inventive concept, embodiments of the present invention provide a smart terminal, including a memory and a processor, wherein the memory stores a computer program that can be loaded and executed by the processor to provide a floor scrubbing machine cleaning avoidance method.
[0134] The above are all preferred embodiments of this application and are not intended to limit the scope of protection of this application. Any feature disclosed in this specification (including the abstract and drawings) may be replaced by other equivalent or similar features unless specifically stated otherwise. That is, unless specifically stated otherwise, each feature is only one example of a series of equivalent or similar features.
Claims
1. A method for floor scrubbers to avoid obstacles during cleaning, characterized in that, include: Receive cleaning requests; Based on the cleaning requirements, the floor scrubber is controlled to clean according to the preset cleaning path and scan the outline of obstacles within the preset safe distance; Continue moving forward if the obstacle outline does not exist; When an obstacle outline exists, determine the avoidance path based on the obstacle outline; The cleaning path is updated based on the avoidance path, and the floor scrubber is controlled to continue cleaning along the updated cleaning path.
2. The floor scrubber cleaning avoidance method according to claim 1, characterized in that, Methods for updating the cleaning path based on the avoidance path include: Obtain the current cleaning coordinates of the floor scrubber; The obstacle's location is determined based on its outline, current cleaning coordinates, and cleaning path. Matching is performed based on the location of obstacles and the preset locations of inherent obstacles; When a match is successful, the cleaning path is updated based on the avoidance path; When a match fails, a preset first avoidance query signal is output and a first feedback signal is received; When the first feedback signal is a preset inherent obstacle signal, the corresponding obstacle position is defined as an inherent obstacle, and the cleaning path is updated based on the avoidance path; When the first feedback signal is a preset long-term temporary signal, the cleaning path is temporarily updated based on the avoidance path, and the cleaning path is restored after passing through the avoidance path. When the first feedback signal is a preset short-term temporary signal, a short-term waiting instruction is generated, but the cleaning path is not updated.
3. The floor scrubber cleaning avoidance method according to claim 2, characterized in that, The method of temporarily updating the cleaning path based on the avoidance path when the feedback signal is a long-term temporary signal, and restoring the cleaning path after passing through the avoidance path, also includes: The obstacle location is defined as a long-term temporary location, and the temporarily updated cleaning path is defined as a temporary cleaning path. The missing cleaning path is determined based on the avoidance path and the temporary cleaning path. The farthest scanning point is determined based on the temporary cleaning path, the missing cleaning path, and the preset maximum scanning distance. When the floor scrubber cleans along the temporary cleaning path until it reaches the farthest scanning point, it rescans the long-term temporary location. Continue cleaning along the temporary cleaning path while the obstacle outline still exists; When the obstacle outline does not exist, return to the missing cleaning path, and restore the cleaning path after cleaning the missing cleaning path, and directly travel to the farthest scanning point to continue cleaning along the temporary cleaning path.
4. The floor scrubber cleaning avoidance method according to claim 3, characterized in that, The cleaning path that was not updated via the avoidance path is defined as the initial cleaning path, and the method for cleaning path restoration is also included, which includes: The update path is determined based on the cleaning path and the initial cleaning path; When the current cleaning coordinates reach the starting point of one of the update paths, a scan is performed to obtain the current obstacle outline, and the reached update path is defined as the current update path; If the current obstacle outline does not exist, the current update path is updated based on the initial clean path to obtain the restored clean path; When the current obstacle outline exists, the corresponding historical obstacle outline is retrieved from the preset historical database based on the current update path; If the current obstacle outline matches the historical obstacle outline, the cleaning path will not be restored. When the current obstacle outline is inconsistent with the historical obstacle outline, a first feedback signal is determined based on the current obstacle outline, and the avoidance path is updated based on the first feedback signal.
5. A floor scrubber cleaning avoidance method according to claim 1, characterized in that, It also includes a method for determining an avoidance path based on the obstacle outline when the obstacle outline exists, the method comprising: Determine the height of an obstacle based on its outline; When the height of an obstacle is higher than the preset crossing threshold height, an avoidance path is determined based on the obstacle's outline. When the height of the obstacle is lower than the preset crossing critical height, a second avoidance inquiry signal is output and a second feedback signal is received; When the second feedback signal is a preset crossing signal, no obstacle outline is formed, and cleaning is carried out directly according to the cleaning path; When the second feedback signal is a preset avoidance signal, the avoidance path is determined based on the obstacle outline.
6. A floor scrubber cleaning avoidance method according to claim 5, characterized in that, When the second feedback signal is a crossing signal, no obstacle outline is formed, and cleaning is performed directly according to the cleaning path. Methods include: Determine the route for the obstacle area based on the obstacle outline and the cleaning path; After passing through the obstacle cleaning path, the area corresponding to the obstacle cleaning path is repeatedly cleaned, and the number of cleaning times is accumulated. The number of cleaning times is the number of times that the obstacle cleaning path is passed in the direction of the cleaning path and the number of times that the obstacle cleaning path is passed in the opposite direction of the cleaning path is counted as 1 time. After passing through the obstacle cleaning path, the obstacle outline is rescanned, and the newly scanned obstacle outline is defined as the cleaned obstacle outline. The trend of change is determined based on the outline of the cleaned obstacle; If the number of cleaning attempts is less than the preset critical number of attempts that cannot be removed, but the outline of the obstacle to be cleaned does not exist, the cleaning path will not be updated. If the number of cleaning cycles is less than the critical number of cycles that cannot be removed, but the trend of change is a preset decreasing trend, continue to repeatedly clean the area corresponding to the obstacle cleaning path and scan the outline of the obstacle to be cleaned. When the number of cleaning attempts exceeds the critical number of times the obstacle cannot be removed, and the trend of change is a preset constant trend, a preset "no need for repeated cleaning" mark is affixed to the obstacle cleaning path. If the number of cleaning cycles exceeds the critical number of cycles that cannot be removed, but the trend of change is a preset decreasing trend, then cleaning is performed directly according to the cleaning path.
7. A floor scrubber cleaning avoidance method according to claim 6, characterized in that, It also includes a method for removing markers without repeated washing, which includes: Receive preset obstacle clearing information in real time; Analyze obstacle removal information to obtain obstacle removal signals and obstacle removal signals; Upon receiving an obstacle removal signal or an obstacle cleaning signal, there will be no need to repeatedly clean and remove the markers; Even when no obstacle removal signal or obstacle cleaning signal is received, the marker that does not need to be cleaned repeatedly remains.
8. A floor scrubber cleaning avoidance system, characterized in that, include: The acquisition module is used to acquire cleaning requirements, obstacle outlines, first feedback signals, current cleaning coordinates, second feedback signals, and obstacle cleaning information; A memory for storing a program of a control method for a floor scrubber cleaning avoidance method as described in any one of claims 1 to 7; The processor and the program in the memory can be loaded and executed by the processor to implement the control method of the floor scrubber cleaning avoidance method as described in any one of claims 1 to 7.
9. A smart terminal, characterized in that, It includes a memory and a processor, wherein the memory stores a computer program that can be loaded by the processor and executed as described in any one of claims 1 to 7, a floor scrubbing machine cleaning avoidance method.
10. A computer-readable storage medium, characterized in that, The computer program is stored and can be loaded by a processor and executed as described in any one of claims 1 to 7.