Method of cleaning objects using mobile robot, electronic system and robot system

Abstract

A method of cleaning objects (34) using a mobile robot (12), the method comprising providing (S10), in an electronic system (44), a plurality of surface classes (54); providing (S14), in the electronic system (44), a plurality of surface cleaning instructions (62) for the mobile robot (12); assigning (S18), in the electronic system (44), each surface class (54) to one of the surface cleaning instructions (62); assigning (S20), in the electronic system (44), a plurality of surface representations (60) to respective surface classes (54), each surface representation (60) representing a surface (36) of an object (34); and controlling (S32), by the electronic system (44), the mobile robot (12) to clean each surface (36) using the respective surface cleaning instructions (62). An electronic system (44) and a robot system (84) are also provided.

Description

[0001] METHOD OF CLEANING OBJECTS USING MOBILE ROBOT, ELECTRONIC SYSTEM AND ROBOT SYSTEM

[0002] Technical Field

[0003] The present disclosure generally relates to robotic cleaning. In particular, a method of cleaning objects using a mobile robot, an electronic system for controlling a mobile robot to clean objects, and a robot system comprising an electronic system and a mobile robot, are provided.

[0004] Background

[0005] Cleanliness is a key concern in various industries, especially in the food and beverage industry. Any sanitary problem in a plant where foods or beverages are handled might result in severe consequences. For this reason, comprehensive cleaning measures are often taken in such plants. The cleaning is often performed manually where trained personnel apply high- pressure water and different washdown chemicals. The manual cleaning instructions are typically extremely comprehensive, resulting in long cleaning times, high costs and a high environmental impact. The personnel performing the cleaning and validation of the cleaning is often difficult to recruit due to the difficulty of the tasks and the conditions of the work environment. In addition, the cleaning is often done during night time when production is stopped.

[0006] CN 115868885 A discloses a cleaning robot control method. The method comprises a step of obtaining object attributes and a target position of an object to be cleaned, such as paper scraps, stains, fallen leaves, scrap metal, waste glass or waste plastic. The method further comprises a step of classifying the object into one or more object categories according to the object attributes. The method further comprises a step of clustering objects, according to the respective target positions, to obtain areas to be cleaned of one or more area types. The method further comprises a step of controlling the cleaning robot to go to the areas in order to clean the objects in sequence.

[0007] Summary

[0008] One object of the invention is to provide an improved method of cleaning objects using a mobile robot.

[0009] A further object of the invention is to provide an improved electronic system for controlling a mobile robot to clean objects.

[0010] A still further object of the invention is to provide an improved robot system comprising an electronic system and a mobile robot.

[0011] These objects are achieved by the method according to appended claim 1, the electronic system according to appended claim 13 and the robot system according to appended claim 14.

[0012] The invention is based on the realization that by providing a library of surface cleaning instructions for different surface classes, and by assigning a plurality of surfaces to one of the surface classes, cleaning of one or more objects including the surfaces by a mobile robot can be made more efficient and programming of the mobile robot is greatly facilitated.

[0013] According to a first aspect, there is provided a method of cleaning objects using a mobile robot, the method comprising providing, in an electronic system, a plurality of surface classes; providing, in the electronic system, a plurality of surface cleaning instructions for the mobile robot; assigning, in the electronic system, each surface class to one of the surface cleaning instructions; assigning, in the electronic system, a plurality of surface representations to respective surface classes, each surface representation representing a surface of an object; and controlling, by the electronic system, the mobile robot to clean each surface using the respective surface cleaning instructions. Due to the concept of assigning surface classes to surface cleaning instructions, a single surface cleaning instruction can be used for cleaning a plurality of surfaces of different objects but of the same surface class. The surface cleaning instructions are thus generic for surfaces of the same surface class. A plurality of different surface classes may also be assigned to a common surface cleaning instruction. Once each surface class has been assigned to one of the surface cleaning instructions in the electronic system, a cleaning program for the mobile robot can efficiently be automatically generated after assigning surface representations of surfaces in a particular plant to respective surface classes. The method thus enables an efficient programming of the mobile robot.

[0014] Moreover, due to the concept of assigning surface classes to surface cleaning instructions, a cleaning result of a plurality of surfaces of the same surface class, using the assigned surface cleaning instruction, may in many cases be the same. In case this cleaning result should be unsatisfactory, or in case an improved surface cleaning instruction is found, the cleaning program may be modified by only modifying the surface cleaning instructions to which the particular surfaces are assigned, rather than by modifying the cleaning program on a surface-by-surface basis or on an object -by-object basis. The method thus enables knowledge of how to clean a surface of a particular surface class on a first type of object to be efficiently propagated to many different types of objects containing a surface of the same particular surface class. Cleaning of a plurality of objects of different types (but including at least one surface cleaning instruction in common) can thereby be improved.

[0015] The mobile robot may comprise a base and a traction arrangement, such as one or more wheels, for moving the base on a ground surface. The mobile robot may further comprise a nozzle for spraying one or more cleaning liquids onto the one or more objects. The mobile robot may comprise a manipulator connected to the base. In these cases, the nozzle may be carried by the manipulator. The mobile robot may be supplied with cleaning liquids either from one or more tanks in the mobile robot or from one or more stationary tanks. In the latter case, one or more fluid lines may be provided between the mobile robot and the one or more stationary tanks. A first type of cleaning liquid may be constituted by water. A second type of cleaning liquid may comprise water and a chemical. A third type of cleaning liquid may be constituted by a disinfectant.

[0016] Throughout the present disclosure, each cleaning instruction for the mobile robot may comprise an instruction associated with one, several or all of a composition of the cleaning liquid, a pressure of the cleaning liquid, a direction of a jet of the cleaning liquid in relation to a surface, a temperature of the cleaning liquid, and a speed of the jet over the surface. The method according to the first aspect may be used to assist or replace professional human cleaners in a plant. The plant may be a plant where ingestible items, such as foodstuffs, liquids and / or pharmaceuticals are handled.

[0017] Each surface may be a continuous surface. Each surface may be either two- dimensional or three-dimensional. Two surfaces of a common surface class may or may not be of the same size. Examples of objects include walls, ceilings, floors, tables, conveyor belts, mixers, cutters, sorting machines and packaging machines.

[0018] The electronic system may comprise at least one data processing device and at least one memory having at least one computer program stored therein. The at least one computer program may comprise program code which, when executed by the at least one data processing device, causes the at least one data processing device to perform, or command performance of, various operations as described herein. The electronic system does not necessarily have to be constituted by a single controller. For example, some operations of the electronic system may be performed by a first controller, and some operations of the electronic system may be performed by a second controller which may be spatially separated from the first controller.

[0019] According to some examples, the electronic system comprises a database, a configuration system and a robot controller. For example, the database and the configuration system may be arranged remote from the mobile robot, and the robot controller may be arranged onboard the mobile robot. In these cases, the surface classes, the surface cleaning instructions and the assignments therebetween may be provided in the database, and retrieved from the database by the configuration system. Moreover, in these cases, the surface representations may be provided and assigned to the respective surface classes in the configuration system. The robot controller may control operations of the mobile robot, such as by using the respective cleaning instructions. Different types of hierarchies of the electronic system are however conceivable to carry out the method.

[0020] According to some further examples, the electronic system additionally comprises a master controller. The master controller may be associated with a specific plant. The master controller may receive the respective cleaning instructions, e.g., as a part of an overall program for the plant, from the configuration system and send at least a part of these to the mobile robot. The master controller may optionally control and / or receive information from, devices in the plant other than the mobile robot, such as sensors and a pump for controlling supply of cleaning liquids.

[0021] Each surface class may contain one or more surface parameters indicative of one or more among a surface material of the surface; an ingress protection level of the surface; a type of product exposed to the surface; a level of dirtiness of the surface; an occurrence of a direct contact between a product and the surface; and an orientation of the surface. In these cases, the assigning of each surface class to one of the surface cleaning instructions may be made based on the one or more surface parameters. The electronic system may be configured to perform this assigning automatically.

[0022] The method may further comprise, for at least one of the surface representations, receiving, by the electronic system, a surface parameter user input indicative of a value of at least one of the one or more surface parameters. A human user may thus provide the surface parameter user input to the electronic system, for example via a human-machine interface, HMI, device to the configuration system. The surface classes, the surface cleaning instructions and the assignments of the surface classes to the surface cleaning instructions may be provided in a database universally accessible with respect to a plurality of users. For example, two different electronic systems, such as configuration systems thereof, associated with different plants may each access the database, e.g., wirelessly.

[0023] The method may further comprise providing, in the electronic system, a plurality of object classes each comprising one or more surface classes; assigning, in the electronic system, a plurality of object representations to respective object classes, each object representation representing an object including one or more surfaces; for each object class, providing, in the electronic system, an object cleaning instruction for the mobile robot, each object cleaning instruction comprising the surface cleaning instruction assigned to each surface class of the object class; and controlling, by the electronic system, the mobile robot to clean each object using the respective object cleaning instruction. Since each object class comprises one or more surface classes, an object cleaning instruction for a new object can efficiently be provided by specifying the surface classes of that object, rather than by creating a new object cleaning instructions that is not based on any surface cleaning instructions already existing in the electronic system.

[0024] The method of this variant enables automatic generation of a complete cleaning program for the mobile robot after instantiation of the object classes, e.g., by a human user. Optionally, the human user may also select a desired sequence of cleaning of the objects.

[0025] For example, the object classes, the object representations, the assignments therebetween, and the one or more object cleaning instructions maybe provided in the configuration system. Different types of hierarchies of the electronic system are however conceivable.

[0026] The method may further comprise for at least one object, providing, in the electronic system, a value of one or more cleaning performance parameters associated with an actual performance of the cleaning of the object. Examples of cleaning performance parameters include energy consumption, water usage, chemical usage, elapsed time and cleanliness of the object. In this way, a digital twin of one or more objects can be provided in the electronic system. The one or more cleaning performance parameters and the digital twin may for example be provided in the configuration system or in the master controller.

[0027] The method may further comprise optimizing the one or more object cleaning instruction and / or the one or more surface cleaning instructions associated with the object based on the one or more cleaning performance parameters. The optimization may for example be performed by the configuration system or by the master controller.

[0028] Each object class may contain object data indicative of one or more among a geometry of the object; and a path associated with the object for a nozzle of the mobile robot. In these cases, the providing of the object cleaning instructions maybe made based on the object data. The object cleaning instructions may thereby for example contain movement instructions for a manipulator of the mobile robot carrying the nozzle, and / or for a traction arrangement of the mobile robot, in relation to the object.

[0029] The object classes may comprise human-robot interaction, HRI, information containing an instruction to a human user. In these cases, the method may further comprise commanding, by the electronic system, presentation of the HRI information associated with an object class in connection with cleaning of an object associated with the object class. The instruction to the human user may for example be an instruction to perform a manual operation associated with an object and / or with the mobile robot. The instruction to the human user may for example be an instruction to perform a particular manual cleaning of the object, an instruction to prepare the object for cleaning by the mobile robot, an instruction to restore the object after cleaning by the mobile robot, or an instruction to change a nozzle of the mobile robot. The HRI information may be audible or visual. For example, the HRI information may be presented on a display, either on the mobile robot or on an external device, such as on an HMI device or in augmented reality, AR, glasses. The presentation of the HRI information may for example be controlled by the master controller or by the robot controller.

[0030] By providing the HRI information in an object class, each instantiation of that object class will also contain the HRI information. HRI information can thereby be generated efficiently and in a manner that is less error prone in comparison with manually providing HRI information for each object representation. The HRI information may be presented before, during and / or after a cleaning operation by the mobile robot, such as a cleaning part of a cleaning process. For example, the HRI information maybe presented after the mobile robot has performed one cleaning part of the cleaning process, e.g., with respect to a plurality of surfaces of a plurality of objects, and before the mobile robot performs a later cleaning part of the cleaning process with respect to the plurality of surfaces. After presentation of the HRI information, the electronic system may await an input, such as a confirmation input, from the human user, e.g., via an HMI device, before continuing cleaning.

[0031] The method may further comprise providing, in the electronic system, a plant representation representing a plant including one or more objects; and providing, in the electronic system and based on the plant representation, a plant cleaning instruction for the mobile robot, the plant cleaning instruction comprising the object cleaning instruction assigned to each object class associated with at least one of the one or more objects; and controlling, by the electronic system, the mobile robot to clean the plant using the plant cleaning instruction. The plant representation may comprise a two- or three- dimensional map of the plant.

[0032] For example, plant representation and the one or more plant cleaning instructions may be provided in the configuration system. Different types of hierarchies of the electronic system are however conceivable. The plant cleaning instruction may define a cleaning process performed at least in part by the mobile robot. The cleaning process may include a plurality of cleaning parts. For example, a surface maybe subjected to high-pressure water, alkaline foam, high-pressure water again, disinfectant and low- pressure water in respective different cleaning parts. Surfaces of a plurality of objects may be subjected to a first cleaning part in a particular sequence defined by the plant cleaning instruction before the surfaces are subjected to a second cleaning part in a particular sequence defined by the plant cleaning instruction and so on. Thus, each object cleaning instruction and each surface cleaning instruction may comprise instructions associated with the respective cleaning parts.

[0033] The plant representation may comprise one or more plant parameters indicative of one or more among a type of product handled in the plant; a robot performance parameter associated with the mobile robot; a selection of one or more objects in the plant to be cleaned; a position in the plant of one or more objects to be cleaned; and an order of cleaning of one or more objects in the plant.

[0034] The method may further comprise receiving, by the electronic system, a plant parameter user input indicative of a value of at least one of the one or more plant parameters. A human user may thus provide the plant parameter user input to the electronic system, for example via an HMI device to the configuration system.

[0035] According to a second aspect, there is provided an electronic system for controlling a mobile robot to clean objects, the electronic system comprising at least one data processing device and at least one memory having at least one computer program stored therein, the at least one computer program comprising program code which, when executed by the at least one data processing device, causes the at least one data processing device to provide a plurality of surface classes; provide a plurality of surface cleaning instructions for the mobile robot; assign each surface class to one of the surface cleaning instructions; assign a plurality of surface representations to respective surface classes, each surface representation representing a surface of an object; and control the mobile robot to clean each surface using the respective surface cleaning instructions.

[0036] The electronic system according to the second aspect may be of any type described in connection with the first aspect.

[0037] According to a third aspect, there is provided a robot system comprising an electronic system according to claim the second aspect, and the mobile robot. The electronic system and the mobile robot may be of any type described in connection with the first and second aspects. The robot system may further comprise an HMI device for providing user inputs to the electronic system. The HMI device may for example be a teach pendant unit.

[0038] Brief Description of the Drawings

[0039] Further details, advantages and aspects of the present disclosure will become apparent from the following description taken in conjunction with the drawings, wherein:

[0040] Fig. 1: schematically represents a plant comprising a mobile robot and a plurality of objects;

[0041] Fig. 2: is a block diagram schematically representing an electronic system;

[0042] Fig. 3: is a block diagram schematically representing further functionalities of the electronic system;

[0043] Fig. 4: is a block diagram schematically representing a robot system according to one example; and

[0044] Fig. 5: is a flowchart outlining general steps of a method.

[0045] Detailed Description

[0046] In the following, a method of cleaning objects using a mobile robot, an electronic system for controlling a mobile robot to clean objects, and a robot system comprising an electronic system and a mobile robot, will be described. The same or similar reference numerals will be used to denote the same or similar structural features.

[0047] Fig. 1 schematically represents a plant io according to one example. A mobile robot 12 is located in the plant io. The mobile robot 12 of this specific and non-limiting example comprises a base 14, a traction arrangement 16, a manipulator 18, a nozzle 20 and a robot controller 22. The traction arrangement 16 is configured to move the base 14 over a floor 24. To this end, the traction arrangement 16 here comprises a plurality of wheels 26. The manipulator 18 is connected to the base 14 and is movable relative to the base 14. The manipulator 18 may for example be programmable in at least three axes, such as in six or seven axes. The nozzle 20 is carried by the manipulator 18. The nozzle 20 is arranged to spray one or more cleaning liquids 28. The cleaning liquids 28 may for example be water, chemicals and combinations thereof.

[0048] The robot controller 22 comprises a robot data processing device 30 and a robot memory 32. The robot memory 32 has a computer program stored therein. The computer program comprises program code which, when executed by the robot data processing device 30, causes the robot data processing device 30 to perform, or command performance of, various operations as described herein. The robot controller 22 is configured to control operations of the traction arrangement 16, the manipulator 18 and the nozzle 20 to spray the cleaning liquids 28 to clean the plant 10. The mobile robot 12 may contain one or more tanks (not shown) for the cleaning liquids 28 and / or may be supplied with the one or more cleaning liquids 28 from a stationary source (not shown).

[0049] The plant 10 in Fig. 1 comprises a primary object 34a, a secondary object 34b and a tertiary object 34c. One, several or all of the primary to tertiary objects 343-340 may also be referred to with reference numeral "34".

[0050] The primary object 34a is here exemplified as a machine for handling edible products, such as a machine for cutting meat. The primary object 34a comprises a first primary surface 36ai and a second primary surface 36a2. The first primary surface 36ai is here a horizontal surface. The second primary surface 36a2 is here vertical and extends from the first primary surface 36ai to the floor 24. Fig. 1 further illustrates a first product 38a on the first primary surface 36ai. The first product 38a may for example be meat residue from the meat handled at the primary object 34a.

[0051] The secondary object 34b is here exemplified as a table where edible products are handled, such as a table for manual handling of meat. The secondary object 34b comprises a first secondary surface 36bi, a second secondary surface 36b2 and a third secondary surface 36b3. The first secondary surface 36bi is here a horizontal surface. The second secondary surface 36b2 is here a vertical surface extending down from the first secondary surface 36bi. The third secondary surface 36b3 is here exemplified as a cylindrical leg. Fig. 1 further illustrates a second product 38b on the first secondary surface 36bi. The second product 38b may for example be blood from the meat. One or both of the first and second products 38a, 38b may also be referred to with reference numeral "38".

[0052] The tertiary object 34c is here exemplified as a wall. The tertiary object 34c comprises a first tertiary surface 3601 and a second tertiary surface 3602. The first and second tertiary surfaces 3601, 3602 are here constituted by different sections of the tertiary object 34c. As shown, the first tertiary surface 3601 is positioned geodetically above the second tertiary surface 3602. For the purposes of the present invention, the first and second tertiary surfaces 36CI, 3602 do not necessarily need to be visually distinguishable from each other. The first and second tertiary surfaces 3601, 3602 may however be subjected to different types of cleaning, as described in the following. One, several or all of the surfaces 36ai, 3632, 36b 1, 36b2, 36b3, 3601, 3602 may also be referred to with reference numeral "36".

[0053] When cleaning the plant 10, it is intended that all surfaces 36 are cleaned.

[0054] With reference to Fig. 1, it is for example intended that the first product 38a is removed from the first primary surface 36ai and that the second product 38b is removed from the first secondary surface 36bi.

[0055] Fig. 1 further shows a human user 40 in the plant 10. The human user 40 is illustrated as carrying a human-machine interface, HMI, device 42. The HMI device 42 can be brought in signal communication with the robot controller 22. Although only one human user 40 is shown in Fig. 1, a plurality of human users 40 having different roles may interact with the plant 10. The human user 40 may for example represent one or more of a cleaning expert, a system configurator and a cleaner.

[0056] Fig. 2 is a block diagram schematically representing an electronic system 44 according to one example. The electronic system 44 of this example comprises a database 46, a configuration system 48, a master controller 49 and the robot controller 22. The configuration system 48 comprises a configuration data processing device 50 and a configuration memory 52. The configuration memory 52 comprises a computer program which, when executed by the configuration data processing device 50, causes the configuration data processing device 50 to perform, or command performance of, various operations described herein. The configuration system 48 may for example comprise a computer. The configuration system 48 may comprise both local and cloud-based components.

[0057] The master controller 49 comprises a master data processing device 51 and a master memory 53. The master memory 53 comprises a computer program which, when executed by the master data processing device 51, causes the master data processing device 51 to perform, or command performance of, various operations described herein. The master controller 49 may be provided in the plant 10 but may be physically separated from the mobile robot 12.

[0058] The configuration system 48 is in this example in signal communication with the database 46 and the master controller 49. The master controller 49 can for example download a runtime application from the configuration system 48. The runtime application may for example include a robot program for execution by the robot controller 22. The runtime application may optionally include further programs for execution by the master data processing device 51 or by other devices in the plant 10, for example a program for controlling a pump for pumping the cleaning liquid 28 to the mobile robot 12 via a hose (not shown) and a program for controlling a communication interface, e.g., on a display device (not shown). The master controller 49 may for example also be in signal connection with one or more sensors (not shown) in the plant 10.

[0059] Once the runtime application has been downloaded by the master controller

[0060] 49, the master controller 49 does not have to be in signal communication with the configuration system 48. That is, the master controller 49 and the robot controller 22 may operate in an offline mode. Should the runtime application be updated in the configuration system 48, the master controller 49 may again connect to the configuration system 48 and download the updated runtime application including an updated robot program for execution by the robot controller 22.

[0061] In this example, the database 46 and the configuration system 48 are located outside of the mobile robot 12 and may even be located outside of the plant 10. Although some operations of the method will be described as being performed by the configuration system 48, some operations described as being performed by the configuration system 48 may alternatively be performed by the master controller 49 or the robot controller 22, or by a further system other than the configuration system 48, the master controller 49 and the robot controller 22.

[0062] Fig. 2 shows a plurality of surface classes 54a-54n, here including first to seventh surface classes 54a-54g, in the electronic system 44. Fig. 2 further shows first to third object classes 563-560 in the electronic system 44. One, several or all of the surface classes 54a-54n, and one, several or all of the object classes 563-560 may also be referred to with reference numerals "54" and "56", respectively. The surface classes 54 are here provided in the database 46 and are collected by the configuration system 48 therefrom. The object classes 56 are here provided in the configuration system 48. Each object class 56 includes one or more surface classes 54.

[0063] Fig. 2 further shows a primary object representation 58a representing the primary object 34a and being an instantiation of the first object class 56a, a secondary object representation 58b representing the secondary object 34b and being an instantiation of the second object class 56b, and a tertiary object representation 58c representing the tertiary object 34c and being an instantiation of the third object class 56c. One, several or all of the object representations 580-580 may also be referred to with reference numeral "58". Each object representation 58 is thus assigned to one object class 56.

[0064] The primary object representation 58a of this example comprises a first primary surface representation 6oai representing the first primary surface

[0065] 3601 and being an instantiation of the first surface class 54a, and a second primary surface representation 6oa2 representing the second primary surface

[0066] 3602 and being an instantiation of the second surface class 54b.

[0067] The secondary object representation 58b of this example comprises a first secondary surface representation 6obi representing the first secondary surface 36bi and being an instantiation of the first surface class 54a, a second secondary surface representation 6ob2 representing the second secondary surface 36b2 and being an instantiation of the second surface class 54b, and a third secondary surface representation 6ob3 representing the third secondary surface 36b3 and being an instantiation of the third surface class 54c.

[0068] The tertiary object representation 58c of this example comprises a first tertiary surface representation 6oci representing the first tertiary surface

[0069] 3601 and being an instantiation of the sixth surface class 54f, and a second tertiary surface representation 6oc2 representing the second tertiary surface

[0070] 3602 and being an instantiation of the second surface class 54b. One, several or all of the surface representations 6oai, 6oa2, 60b 1, 6ob2, 6ob3, 6oci, 6OC2 may also be referred to with reference numeral "6o". Each surface representation 6o is thus assigned to one of the surface classes 54.

[0071] The tertiary object 34c, here a wall, is in this specific example represented by the first and second tertiary surface representations 6oci, 6oc2. A single large object 34, such as a ceiling, a wall or a floor, may instead of being represented by a plurality of surface representations 60, be represented by a plurality of object representations 58. Such object representations 58 of a single physical object 34 may be referred to as sub-object representations. Thus, regardless of whether different sections of a physical object 34 are visually distinguishable, each such section may be represented by a unique object representation 58.

[0072] Fig. 2 further shows that the electronic system 44 comprises a plurality of surface cleaning instructions 62a-62n, including first to fourth surface cleaning instructions 62a-62d. One, several or all of the surface cleaning instructions 62a-62n may also be referred to with reference numeral "62".

[0073] The surface cleaning instructions 62 are here provided in the database 46. Each surface cleaning instruction 62 includes instructions interpretable by the robot controller 22, optionally after modification by the configuration system 48 and / or the master controller 49, to perform a cleaning operation by the mobile robot 12 with respect to a surface 36. The surface cleaning instructions 62 can be communicated from the database 46 to the configuration system 48 for handling by the configuration system 48. The surface cleaning instructions 62 can also be sent from the configuration system 48 to the master controller 49, e.g., as a runtime application, for execution by the robot controller 22.

[0074] As shown in Fig. 2, each surface class 54 is assigned to one of the surface cleaning instructions 62. Some surface classes 54 are assigned to a common surface cleaning instruction 62 in this example. The assignments are here provided in the database 46. The database 46 thus provides a library of surface classes 54, surface cleaning instructions 62 and assignments therebetween. Some of the assignments of the surface classes 54 to the surface cleaning instructions 62 may be made by a human user 40, such as by a cleaning expert.

[0075] Fig. 2 further shows a plurality of surface parameters 643-640, including first to sixth surface parameters 64a-64f. One, several or all of the surface parameters 643-640 may also be referred to with reference numeral "64". In this specific and non-limiting example, for each surface representation 60, the first surface parameter 64a is a parameter indicative of a surface material of the surface 36, the second surface parameter 64b is a parameter indicative of an ingress protection level of the surface 36, the third surface parameter 64c is a parameter indicative of a type of product 38 exposed to the surface 36, the fourth surface parameter 64d is a parameter indicative of a level of dirtiness of the surface 36, the fifth surface parameter 64c is a parameter indicative of an occurrence of a direct contact between the product 38 and the surface 36, and the sixth surface parameter 64f is a parameter indicative of an orientation of the surface 36.

[0076] Values for a set of surface parameters 64 are provided for each surface representation 60. The values of the surface parameters 64 may be specified in the electronic system 44, such as in the configuration system 48. This specification governs to which surface class 54 the respective surface representations 60 will be assigned. Thus, the electronic system 44 is here configured to assign a surface representation 60 to a surface class 54 based on values of the surface parameters 64.

[0077] Thus, any surface 36 can be automatically assigned to a surface class 54, and thereby also to a surface cleaning instruction 62, by the electronic system 44 after values of the surface parameters 64 have been specified. Values of some or all surface parameters 64 may be discrete and limited. For example, the level of dirtiness may be set with an integer from one to five, where five indicates the highest level of dirtiness. By using discrete values and limiting the possible values that the surface parameters 64 can adopt, a number of surface classes 54 will be made finite. For each surface representation 6o, values of one or more of the surface parameters 64 may be provided by a surface parameter user input 66, e.g., from the HMI device 42. For example, a human user 40, such as a system configurator, may specify values of the third to fifth surface parameters 64c- 64c (type of product 38 exposed to the surface 36, level of dirtiness of the surface 36 and occurrence of a direct contact between the product 38 and the surface 36) by the surface parameter user input 66. Alternatively, or in addition, default values of the surface parameters 64 may be set in the configuration system 48 when instantiating a surface class 54.

[0078] As mentioned above and as shown in Fig. 2, all of the second primary surface representation 6oa2, the second secondary surface representation 6ob2 and the second tertiary surface representation 6oc2 are assigned to the second surface class 54b. This means that all of the second primary surface 3632, the second secondary surface 36b2 and the second tertiary surface 3602 will be cleaned by the mobile robot 12 using the second surface cleaning instruction 62b, e.g., with a common parameterization for the control of the mobile robot 12.

[0079] Fig. 2 further shows a first object cleaning instruction 68a to be used by the mobile robot 12 when cleaning each object 34 represented by an object representation 58 of the first object class 56a, a second object cleaning instruction 68b to be used by the mobile robot 12 when cleaning each object 34 represented by an object representation 58 of the second object class 56b, and a third object cleaning instruction 68c to be used by the mobile robot 12 when cleaning each object 34 represented by an object representation 58 of the third object class 56c. One, several or all of the first to third object cleaning instructions 68a-68c may also be referred to with reference numeral "68". As shown in Fig. 2, an object cleaning instruction 68 is provided for each object class 56.

[0080] Each object cleaning instruction 68 comprises the one or more surface cleaning instructions 62 associated with the one or more surface classes 54 of the object class 56 associated with the object cleaning instruction 68. In case a plurality of objects 34 are assigned to a common object class 56, all these objects 34 will be cleaned by the mobile robot 12 using an object cleaning instruction 68 associated with the object class 56. Two object cleaning instructions 68 associated with a common object class 56 may however be different. For example, if the surface parameters 64 are different, the one or more surface cleaning instructions 62 may be different. If a surface cleaning instruction 62 is changed, each object cleaning instruction 68 containing the surface cleaning instruction 62 will also automatically be changed after recompiling.

[0081] If it is detected, either by manual or automated inspection, that one particular surface 36 of a particular surface class 54 has been insufficiently cleaned by the surface cleaning instruction 62 associated with that surface 36, the value of the surface parameter 64d (indicative of a level of dirtiness) of the surfaces 36 may be changed, e.g., by the surface parameter user input 66. This will result in that the particular surface 36 becomes assigned to a different surface class 54, and hence subjected to a different surface cleaning instruction 62 once the so modified object cleaning instruction 68 is executed by the robot controller 22.

[0082] Alternatively, or in addition, should it be detected that one particular surface 36 of a particular surface class 54 has been insufficiently cleaned by the surface cleaning instruction 62 associated with that surface 36, it can be concluded that there is a risk that also other surfaces 36 of the same surface class 54 may have been insufficiently cleaned. By modifying the surface cleaning instruction 62 based on one such detection, this risk is efficiently addressed for all surfaces 36 of the same surface class 54 in the plant 10. This is a much more efficient way to address insufficient cleaning in comparison with independent cleaning evaluations and subsequent cleaning process corrections for a plurality of surfaces 36. As a further alternative, the particular surface 36 maybe redefined as a plurality of surfaces 36, e.g., by defining one or more surface parameters 64 therefor, and to each of which a surface cleaning instruction 62 becomes assigned. In case a new type of object 34 is added to the plant 10, the human user 40 may provide, e.g., a system configurator via the HMI device 42, an object representation 58 of the new object 34. The object representation 58 may for example be provided by instantiating any of the existing object classes 56, or by instantiating a particular set of one or more surface classes 54 to define a new object class 56. Alternatively, or in addition, the human user 40 may optionally provide the surface parameter user input 66 for one or more surface representations 60 to cause the assignment of each surface representation 60 to respective surface classes 54, and thereby also to respective surface cleaning instructions 62. An object cleaning instruction 68 for the new object 34 will thereby be created.

[0083] Fig. 2 further shows that a cleaning performance parameter 70 is associated with each object representation 58. For each object representation 58, the electronic system 44, such as the configuration system 48 thereof, is configured to store values of one or more cleaning performance parameters 70 indicative of an actual performance of the cleaning of the object 34 by the mobile robot 12. Examples of such cleaning performance parameters 70 include energy consumption, water usage, chemical usage, elapsed time and cleanliness of the object 34. For some of the cleaning performance parameters 70, one or more sensors, known as such, may be used to provide respective signals indicative of their values to the electronic system 44, e.g. via the master controller 49.

[0084] For each object 34, the object representation 58, the one or more cleaning performance parameters 70 and the object cleaning instruction 68 associated with the object 34 provide a digital twin of the cleaning process of the associated object 34 by the mobile robot 12. The use of such digital twins can be used to simulate and optimize the cleaning process. For example, one object cleaning instruction 68 can be optimized by providing one or more real functions, each providing a value of one of the cleaning performance parameters 70, and by using one or more digital twins of the object 34 associated with the object cleaning instruction 68. Each real function may use the one or more surface parameters 64 as input values. Since the surface cleaning instructions 62 are parameterized in this example, the provision of digital twins of the objects 34 and of the cleaning processes of the objects 34 enables an efficient optimization of the cleaning processes.

[0085] Fig. 2 further shows that in this example, each object class 56 comprises first object data 72a and second object data 72b. One or both of the first and second object data 72a, 72b may also be referred to with reference numeral "72". In this specific and non-limiting example, the first object data 72a is data indicative of a geometry of the associated object 34, and the second object data 72b is data indicative of a path for the nozzle 20 to follow when cleaning the object 34. Thus, each instantiation of an object class 56 may comprise common object data 72 and may thus each represent an object 34 of the same size and shape. In order to make the nozzle 20 follow the path, one or both of the traction arrangement 16 and the manipulator 18 may be controlled. The object cleaning instructions 68 may not only include the respective one or more surface cleaning instructions 62, but may also include the object data 72. Each object cleaning instruction 68 may thus also contain instructions to the mobile robot 12 on how to control the traction arrangement 16 and the manipulator 18 when transitioning over and between the surfaces 36 of an object 34.

[0086] Fig. 2 further shows that in this example, each object class 56 comprises human-robot interaction, HRI, information 74. When cleaning an object 34 by the mobile robot 12, the robot controller 22 may command presentation of the HRI information 74 associated with the cleaning, e.g., by displaying the HRI information 74 on a display on the mobile robot 12 or on the HMI device 42. If HRI information 74 is provided for an object class 56, the associated object cleaning instruction 68 may also contain instructions as to how and when the HRI information 74 should be presented to a human user 40, such as a cleaner. In case two object cleaning instructions 68 associated with a common object class 56 are different, e.g., by different surface parameters 64, the object data 72 and / or the HRI information 74 may be the same for these two object cleaning instructions 68. One example of HRI information 74 comprises an instruction to a human user 40, such as a cleaner, to confirm a status of the mobile robot 12. A further example of HRI information 74 comprises an instruction to the human user 40 to cover a part of the object 34, e.g., a part that is sensitive to chemicals. A further example of HRI information 74 comprises an instruction to the human user 40 to move a part of the object 34, e.g., by opening or closing a lid of the object 34.

[0087] The mobile robot 12 may for example stop execution of an object cleaning instruction 68, issue the HRI information 74 associated with the object cleaning instruction 68, inform the human user 40 of a task to be carried out by the human user 40, and await confirmation from the human user 40 that the task has been carried out before continuing with executing the object cleaning instruction 68.

[0088] Fig. 3 is a block diagram schematically representing further functionalities of the electronic system 44. Fig. 3 shows that a plant representation 76 is provided in the electronic system 44, here in the configuration system 48. The plant representation 76 represents the plant 10. Fig. 3 further shows that an overall plant cleaning instruction 78 is provided in the configuration system 48. When the plant cleaning instruction 78 is executed by the robot controller 22, the mobile robot 12 is controlled to perform cleaning of the plant 10, such as of the entire plant 10. The electronic system 44 is configured to provide the plant cleaning instruction 78 based on the plant representation 76. The plant cleaning instruction 78 comprises the object cleaning instruction 68 associated with one, several or all of the objects 34 in the plant 10.

[0089] The plant representation 76 of this example comprises the object classes 56 and first to fifth plant parameters 8oa-8oe. One, several or all of the first to fifth plant parameters 8oa-8oe may also be referred to with reference numeral "80". In this specific and non-limiting example, the first plant parameter 80a is indicative of a type of product 38 handled in the plant 10, the second plant parameter 80b is indicative of a robot performance parameter associated with the mobile robot 12, the third plant parameter 80c is indicative of a selection of one or more objects 34 in the plant 10 to be cleaned, the fourth plant parameter 8od is indicative of position in the plant 10 of one or more objects 34 to be cleaned, and the fifth plant parameter 8oe is indicative of an order of cleaning of one or more objects 34 in the plant 10. Examples of robot performance parameters associated with the mobile robot 12 include available pressure of the cleaning liquid 28, available temperature of the cleaning liquid 28 and a type of nozzle 20 used by the mobile robot 12. Values of one or more of the plant parameters 80 may be provided by a plant parameter user input 82, e.g., from the HMI device 42.

[0090] Each surface cleaning instruction 62 may comprise one or more surface cleaning parameters specifying a cleaning process carried out by the mobile robot 12 when the surface cleaning instruction 62 is executed. Each surface cleaning parameter may for example specify one or more of a temperature of a cleaning liquid 28, a pressure of a cleaning liquid 28, a chemical composition of a cleaning liquid 28, an angle of a jet of a cleaning liquid 28 in relation to the surface 36, and a speed of cleaning the surface 36.

[0091] Moreover, each cleaning process may comprise several cleaning parts, such as cleaning with different cleaning liquids 28. For example, one cleaning process may comprise a first cleaning part where the surface 36 is initially subjected to high-pressure water, a second cleaning part where the surface 36 is subjected to basic foam, a third cleaning part where the surface 36 is subjected to high-pressure water again, a fourth cleaning part where the surface 36 is subjected to a disinfectant, a fifth cleaning part where the surface 36 is cleaned with low-pressure water. For each such cleaning part, a surface cleaning parameter of one or more of the above-mentioned types may be specified. When executing an object cleaning instruction 68 or the plant cleaning instruction 78, all surfaces 36 of all objects 34 may be subjected to cleaning by the first cleaning part of the cleaning process before the second cleaning part is initiated and so on. Fig. 4 is a block diagram schematically representing a robot system 84 according to one example. The robot system 84 of this example comprises a plurality of mobile robots I2a-i2n, including first and second mobile robots 12a, 12b. The robot system 84 of this example further comprises a plurality of configuration systems 48a-48n constituting examples of a plurality of users 86a-86n, including first and second configuration systems 48a, 48b constituting examples of first and second users 86a, 86b, respectively. The robot system 84 of this example further comprises a plurality of master controllers 493-490, including first and second master controllers 49a, 49b, and a plurality of robot controllers 22a-22n, including first and second robot controllers 22a, 22b. Fig. 4 further shows a plurality of plants toa-ion, including first and second plants 10a, 10b.

[0092] In the robot system 84 of this example, the electronic system 44 comprises the configuration systems 48a-48n, the master controllers 49a-49n and the robot controllers 22a-22n. One, several or all of the mobile robots I2a-i2n, one, several or all of the configuration systems 48a-48n, one, several or all of the users 86a-86n, one, several or all of the master controllers 493-490, one, several or all of the robot controllers 22a-22n, and one, several or all of the plants toa-ion may also be referred to with reference numerals "12, "48", "86", "49", "22" and "10", respectively.

[0093] The first user 86a, here constituted by the first configuration system 48a, provides instructions to the first mobile robot 12a operating in the first plant 10a. The second user 86b, here constituted by the second configuration system 48b, provides instructions to the second mobile robot 12b operating in the second plant 10b. Each user 86 is in signal communication with the database 46 and can thus access the surface cleaning instructions 62 and the assignments of the surface classes 54 to the surface cleaning instructions 62 therein. The database 46 is thus universally accessible with respect to a plurality of users 86. One, several or all of the users 86 may also be authorized to modify the surface cleaning instructions 62 or the assignments of the surface classes 54 to the surface cleaning instructions 62. A plurality of mobile robots 12 may be controlled by surface cleaning instructions 62 received from a common configuration system 48, e.g., operating in a common plant 10.

[0094] Fig. 5 is a flowchart outlining general steps of a method. The method comprises providing S10, in the electronic system 44, the plurality of surface classes 54. The providing S10 of this example comprises providing S12, in the electronic system 44, the plurality of object classes 56 each comprising one or more surface classes 54.

[0095] The method further comprises providing S14, in the electronic system 44, the plurality of surface cleaning instructions 62 for the mobile robot 12.

[0096] The method of this example further comprises receiving S16, by the electronic system 44, the surface parameter user input 66 indicative of the value of at least one of the one or more surface parameters 64.

[0097] The method further comprises assigning S18, in the electronic system 44, each surface class 54 to one of the surface cleaning instructions 62.

[0098] The method further comprises assigning S20, in the electronic system 44, the plurality of surface representations 60 to respective surface classes 54, each surface representation 60 representing a surface 36 of an object 34.

[0099] The method of this example further comprises assigning S22, in the electronic system 44, the plurality of object representations 58 to respective object classes 56, each object representation 58 representing the object 34 including one or more surfaces 36.

[0100] The method of this example further comprises providing S24 for each object class 56, in the electronic system 44, the object cleaning instruction 68 for the mobile robot 12, each object cleaning instruction 68 comprising the surface cleaning instruction 62 assigned to each surface class 54 of the object class 56. The method of this example further comprises providing S26, in the electronic system 44, the plant representation 76 representing the plant 10 including one or more objects 34.

[0101] The method of this example further comprises receiving S28, by the electronic system 44, the plant parameter user input 82 indicative of the value of at least one of the one or more plant parameters 80.

[0102] The method of this example further comprises providing S30, in the electronic system 44 and based on the plant representation 76, the plant cleaning instruction 78 for the mobile robot 12, the plant cleaning instruction 78 comprising the object cleaning instruction 68 assigned to each object class 56 associated with at least one of the one or more objects 34.

[0103] The method further comprises controlling S32, by the electronic system 44, the mobile robot 12 to clean each surface 36 using the respective surface cleaning instructions 62. The controlling S32 may comprise controlling S34, by the electronic system 44, the mobile robot 12 to clean each object 34 using the respective object cleaning instruction 68, and / or controlling S36, by the electronic system 44, the mobile robot 12 to clean the plant 10 using the plant cleaning instruction 78.

[0104] The method of this example further comprises commanding S38, by the electronic system 44, presentation of the HRI information 74 associated with the object class 56 in connection with cleaning of the object 34 associated with the object class 56.

[0105] The method of this example further comprises providing S40, in the electronic system 44, for at least one object 34, the value of one or more cleaning performance parameters 70 associated with the actual performance of the cleaning of the object 34.

[0106] The method of this example further comprises optimizing S42 the one or more object cleaning instruction 68 and / or the one or more surface cleaning instructions 62 associated with the object 34 based on the one or more cleaning performance parameters 70.

[0107] While the present disclosure has been described with reference to exemplary embodiments, it will be appreciated that the present invention is not limited to what has been described above. For example, it will be appreciated that the dimensions of the parts may be varied as needed. Accordingly, it is intended that the present invention may be limited only by the scope of the claims appended hereto.

Claims

CLAIMS1. A method of cleaning objects (34) using a mobile robot (12), the method comprising:- providing (S10), in an electronic system (44), a plurality of surface classes (54);- providing (S14), in the electronic system (44), a plurality of surface cleaning instructions (62) for the mobile robot (12);- assigning (S18), in the electronic system (44), each surface class (54) to one of the surface cleaning instructions (62);- assigning (S20), in the electronic system (44), a plurality of surface representations (60) to respective surface classes (54), each surface representation (60) representing a surface (36) of an object (34); and- controlling (S32), by the electronic system (44), the mobile robot (12) to clean each surface (36) using the respective surface cleaning instructions (62).

2. The method according to claim 1, wherein each surface class (54) contains one or more surface parameters (64) indicative of one or more among:- a surface material (64a) of the surface (36);- an ingress protection level (64b) of the surface (36);- a type of product (64c) exposed to the surface (36);- a level of dirtiness (64d) of the surface (36);- an occurrence of a direct contact (64c) between a product (38) and the surface (36); and- an orientation (64O of the surface (36); wherein the assigning (S18) of each surface class (54) to one of the surface cleaning instructions (62) is made based on the one or more surface parameters (64).

3. The method according to claim 2, further comprising, for at least one of the surface representations (60), receiving (S16), by the electronicsystem (44), a surface parameter user input (66) indicative of a value of at least one of the one or more surface parameters (64).

4. The method according to any of the preceding claims, wherein the surface classes (54), the surface cleaning instructions (62) and the assignments of the surface classes (54) to the surface cleaning instructions (62) are provided in a database (46) universally accessible with respect to a plurality of users (86).

5. The method according to any of the preceding claims, further comprising:- providing (S12), in the electronic system (44), a plurality of object classes (56) each comprising one or more surface classes (54);- assigning (S22), in the electronic system (44), a plurality of object representations (58) to respective object classes (56), each object representation (58) representing an object (34) including one or more surfaces (36);- for each object class (56), providing (S24), in the electronic system (44), an object cleaning instruction (68) for the mobile robot (12), each object cleaning instruction (68) comprising the surface cleaning instruction (62) assigned to each surface class (54) of the object class (56); and- controlling (S34), by the electronic system (44), the mobile robot (12) to clean each object (34) using the respective object cleaning instruction (68).

6. The method according to claim 5, further comprising:- for at least one object (34), providing (S40), in the electronic system (44), a value of one or more cleaning performance parameters (70) associated with an actual performance of the cleaning of the object (34).

7. The method according to claim 6, further comprising optimizing (S42) the one or more object cleaning instruction (68) and / or the one or moresurface cleaning instructions (62) associated with the object (34) based on the one or more cleaning performance parameters (70).

8. The method according to any of claims 5 to 7, wherein each object class (56) contains object data (72) indicative of one or more among:- a geometry (72a) of the object (34); and- a path (72b) associated with the object (34) for a nozzle (20) of the mobile robot (12); and wherein the providing (S24) of the object cleaning instructions (68) is made based on the object data (72).

9. The method according to any of claims 5 to 8, wherein the object classes (56) comprise human-robot interaction, HRI, information (74) containing an instruction to a human user (40); and wherein the method further comprises:- commanding (S38), by the electronic system (44), presentation of the HRI information (74) associated with an object class (56) in connection with cleaning of an object (34) associated with the object class (56).

10. The method according to any of claims 5 to 9, further comprising:- providing (S26), in the electronic system (44), a plant representation (76) representing a plant (10) including one or more objects (34); and- providing (S30), in the electronic system (44) and based on the plant representation (76), a plant cleaning instruction (78) for the mobile robot (12), the plant cleaning instruction (78) comprising the object cleaning instruction (68) assigned to each object class (56) associated with at least one of the one or more objects (34); and- controlling (S36), by the electronic system (44), the mobile robot (12) to clean the plant (10) using the plant cleaning instruction (78).

11. The method according to claim 10, wherein the plant representation (76) comprises one or more plant parameters (80) indicative of one or more among:- a type of product (80a) handled in the plant (10);- a robot performance parameter (8ob) associated with the mobile robot (12);- a selection (8oc) of one or more objects (34) in the plant (10) to be cleaned;- a position (8od) in the plant (10) of one or more objects (34) to be cleaned; and- an order (8oe) of cleaning of one or more objects (34) in the plant (10).

12. The method according to claim 11, further comprising receiving (S28), by the electronic system (44), a plant parameter user input (82) indicative of a value of at least one of the one or more plant parameters (80).

13. An electronic system (44) for controlling a mobile robot (12) to clean objects (34), the electronic system (44) comprising at least one data processing device (30, 50, 51) and at least one memory (32, 52, 53) having at least one computer program stored therein, the at least one computer program comprising program code which, when executed by the at least one data processing device (30, 50, 51), causes the at least one data processing device (30, 50, 51) to:- provide a plurality of surface classes (54);- provide a plurality of surface cleaning instructions (62) for the mobile robot (12);- assign each surface class (54) to one of the surface cleaning instructions (62);- assign a plurality of surface representations (60) to respective surface classes (54), each surface representation (60) representing a surface (36) of an object (34); and- control the mobile robot (12) to clean each surface (36) using the respective surface cleaning instructions (62).

14. A robot system (84) comprising an electronic system (44) according to claim 13, and the mobile robot (12).

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