CN114365972A - Automatic replacement method and device for cleaning module, storage medium and electronic equipment - Google Patents
Automatic replacement method and device for cleaning module, storage medium and electronic equipment Download PDFInfo
- Publication number
- CN114365972A CN114365972A CN202210014126.9A CN202210014126A CN114365972A CN 114365972 A CN114365972 A CN 114365972A CN 202210014126 A CN202210014126 A CN 202210014126A CN 114365972 A CN114365972 A CN 114365972A
- Authority
- CN
- China
- Prior art keywords
- cleaning module
- cleaning
- equipment
- preset space
- preset
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 238000004140 cleaning Methods 0.000 title claims abstract description 268
- 238000000034 method Methods 0.000 title claims abstract description 65
- 230000004044 response Effects 0.000 claims abstract description 19
- 230000008569 process Effects 0.000 claims abstract description 15
- 238000004590 computer program Methods 0.000 claims description 9
- 238000010408 sweeping Methods 0.000 abstract description 8
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 26
- 239000007788 liquid Substances 0.000 description 17
- 230000006870 function Effects 0.000 description 11
- 238000009434 installation Methods 0.000 description 8
- 239000000463 material Substances 0.000 description 8
- 238000010586 diagram Methods 0.000 description 7
- 230000000694 effects Effects 0.000 description 7
- 230000003993 interaction Effects 0.000 description 5
- 238000004891 communication Methods 0.000 description 3
- 238000005406 washing Methods 0.000 description 3
- 238000007792 addition Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000003287 optical effect Effects 0.000 description 2
- 206010019233 Headaches Diseases 0.000 description 1
- 230000001133 acceleration Effects 0.000 description 1
- 230000004075 alteration Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 238000013527 convolutional neural network Methods 0.000 description 1
- 238000000354 decomposition reaction Methods 0.000 description 1
- 230000014509 gene expression Effects 0.000 description 1
- 231100000869 headache Toxicity 0.000 description 1
- 230000007246 mechanism Effects 0.000 description 1
- 230000005055 memory storage Effects 0.000 description 1
- 239000013307 optical fiber Substances 0.000 description 1
- 230000000750 progressive effect Effects 0.000 description 1
- 238000005086 pumping Methods 0.000 description 1
- 230000006798 recombination Effects 0.000 description 1
- 238000005215 recombination Methods 0.000 description 1
- 230000033764 rhythmic process Effects 0.000 description 1
- 239000004065 semiconductor Substances 0.000 description 1
- 239000010865 sewage Substances 0.000 description 1
- 238000005507 spraying Methods 0.000 description 1
- 239000008399 tap water Substances 0.000 description 1
- 235000020679 tap water Nutrition 0.000 description 1
Images
Classifications
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/24—Floor-sweeping machines, motor-driven
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/28—Floor-scrubbing machines, motor-driven
- A47L11/282—Floor-scrubbing machines, motor-driven having rotary tools
- A47L11/283—Floor-scrubbing machines, motor-driven having rotary tools the tools being disc brushes
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
- A47L11/4002—Installations of electric equipment
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
- A47L11/4011—Regulation of the cleaning machine by electric means; Control systems and remote control systems therefor
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
- A47L11/4036—Parts or details of the surface treating tools
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
- A47L11/4036—Parts or details of the surface treating tools
- A47L11/4038—Disk shaped surface treating tools
Landscapes
- Electric Vacuum Cleaner (AREA)
Abstract
The embodiment of the disclosure discloses an automatic replacement method and device of a cleaning module, a storage medium and electronic equipment, wherein the method comprises the following steps: moving the first equipment to a preset space according to a received command for cleaning the preset space; cleaning a preset space by moving a movable second device arranged in the first device in the preset space; controlling the second equipment to return to the interior of the first equipment in response to the fact that a cleaning module installed in the second equipment meets a preset replacement condition; replacing a cleaning module in the second device by a third device built in the first device; the embodiment realizes automatic replacement of the cleaning module in the cleaning process, does not need manual participation, saves manpower, and simultaneously realizes continuous completion of cleaning work such as sweeping, mopping and the like.
Description
Technical Field
The disclosure relates to the technical field of automatic cleaning, and in particular relates to an automatic cleaning module replacement method and device, a storage medium and electronic equipment.
Background
With the acceleration of the rhythm of the social life at present, housework gradually becomes the daily headache of the young, and the washing and mopping robot can be used for the life at any time; the existing washing and mopping robot in the market is provided with a sweeping triangular brush and a rotary mop, is respectively suitable for sweeping scenes and mopping scenes, and can finish the mopping function only by manually replacing a cleaning module after sweeping; the process is time-consuming and labor-consuming, hands are easy to get dirty, and when workers are not on site, the robot cannot realize continuous work of sweeping and mopping the floor.
Disclosure of Invention
The present disclosure is proposed to solve the above technical problems. The embodiment of the disclosure provides an automatic replacement method and device of a cleaning module, a storage medium and an electronic device.
According to an aspect of an embodiment of the present disclosure, there is provided an automatic replacement method of a cleaning module, including:
moving the first equipment to a preset space according to a received command for cleaning the preset space;
cleaning a preset space by moving a movable second device arranged in the first device in the preset space;
controlling the second equipment to return to the interior of the first equipment in response to the fact that a cleaning module installed in the second equipment meets a preset replacement condition;
and replacing the cleaning module in the second equipment through third equipment built in the first equipment.
Optionally, before the preset space is cleaned by moving in the preset space through a movable second device built in the first device, the method further includes:
determining first attribute information of the preset space;
determining second attribute information corresponding to a cleaning module installed in the second device;
and in response to the first attribute information not matching the second attribute information, replacing the cleaning module in the second device through a third device built in the first device.
Optionally, before the cleaning module in the second device is replaced by a third device built in the first device, the method further includes:
determining a target category of a cleaning module corresponding to the first attribute information; wherein the different attribute information corresponds to different categories of cleaning modules;
the replacing of the cleaning module in the second device by a third device built in the first device includes:
replacing, by a third device built into the first device, the cleaning module in the second device with the target category of cleaning module.
Optionally, the determining the first attribute information of the preset space includes:
acquiring image information and/or position information of the preset space;
and determining first attribute information of the preset space according to the image information and/or the position information.
Optionally, a plurality of mounting positions for loading cleaning modules are arranged in the third device;
the replacing of the cleaning module in the second device by a third device built in the first device includes:
removing the cleaning module in the second device through a vacant mounting location in the third device;
and adding a cleaning module to the second equipment through the mounting position of the third equipment with the cleaning module.
Optionally, the adding a cleaning module to the second device through the installation position of the third device with the cleaning module loaded therein includes:
determining first attribute information of the preset space;
controlling a tray provided with a plurality of mounting positions to rotate, so that the mounting position of the target cleaning module on the tray, which corresponds to the first attribute information, corresponds to the second equipment;
securing the target cleaning module to the second device.
Optionally, the preset replacement condition includes at least one of:
the cleaning time of the second equipment reaches preset time, the cleaning area of the second equipment reaches preset area, and the second equipment reaches other spaces from the preset space.
According to another aspect of the disclosed embodiments, there is provided an automatic replacement device of a cleaning module, including:
the equipment moving module is used for moving the first equipment to a preset space according to a received instruction for cleaning the preset space;
the cleaning processing module is used for moving in a preset space through a movable second device arranged in the first device and cleaning the preset space;
the condition response module is used for controlling the second equipment to return to the interior of the first equipment in response to the fact that the cleaning module installed in the second equipment meets a preset replacement condition;
and the cleaning module replacing module is used for replacing the cleaning module in the second equipment through a third equipment built in the first equipment.
Optionally, the apparatus further comprises:
the first attribute determining module is used for determining first attribute information of the preset space;
the second attribute determining module is used for determining second attribute information corresponding to a cleaning module installed in the second equipment;
the cleaning module replacing module is further configured to replace, by a third device built in the first device, a cleaning module in the second device in response to a mismatch between the first attribute information and the second attribute information.
Optionally, the apparatus further comprises:
the category determination module is used for determining a target category of the cleaning module corresponding to the first attribute information; wherein the different attribute information corresponds to different categories of cleaning modules;
the cleaning module replacing module is specifically configured to replace the cleaning module in the second device with the cleaning module of the target category by using a third device built in the first device.
Optionally, the first attribute determining module is specifically configured to obtain image information and/or position information of the preset space; and determining first attribute information of the preset space according to the image information and/or the position information.
Optionally, a plurality of mounting positions for loading cleaning modules are arranged in the third device;
the cleaning module replacement module comprising:
a module removing unit for removing the cleaning module in the second apparatus through a vacant mounting position in the third apparatus;
and the module adding unit is used for adding the cleaning module to the second equipment through the mounting position of the cleaning module loaded in the third equipment.
Optionally, the module adding unit is specifically configured to determine first attribute information of the preset space; controlling a tray provided with a plurality of mounting positions to rotate, so that the mounting position of the target cleaning module on the tray, which corresponds to the first attribute information, corresponds to the second equipment; securing the target cleaning module to the second device.
Optionally, the preset replacement condition includes at least one of:
the cleaning time of the second equipment reaches preset time, the cleaning area of the second equipment reaches preset area, and the second equipment reaches other spaces from the preset space.
According to another aspect of the embodiments of the present disclosure, there is provided a computer-readable storage medium storing a computer program for executing the automatic replacement method of the cleaning module according to any one of the embodiments.
According to another aspect of the embodiments of the present disclosure, there is provided an electronic device including:
a processor;
a memory for storing the processor-executable instructions;
the processor is used for reading the executable instructions from the memory and executing the instructions to realize the automatic replacement method of the cleaning module in any embodiment.
Based on the above embodiment of the present disclosure, a method and an apparatus for automatically replacing a cleaning module, a storage medium, and an electronic device are provided, including: moving the first equipment to a preset space according to a received command for cleaning the preset space; cleaning a preset space by moving a movable second device arranged in the first device in the preset space; controlling the second equipment to return to the interior of the first equipment in response to the fact that a cleaning module installed in the second equipment meets a preset replacement condition; replacing a cleaning module in the second device by a third device built in the first device; the embodiment realizes automatic replacement of the cleaning module in the cleaning process, does not need manual participation, saves manpower, and simultaneously realizes continuous completion of cleaning work such as sweeping, mopping and the like.
The technical solution of the present disclosure is further described in detail by the accompanying drawings and examples.
Drawings
The above and other objects, features and advantages of the present disclosure will become more apparent by describing in more detail embodiments of the present disclosure with reference to the attached drawings. The accompanying drawings are included to provide a further understanding of the embodiments of the disclosure and are incorporated in and constitute a part of this specification, illustrate embodiments of the disclosure and together with the description serve to explain the principles of the disclosure and not to limit the disclosure. In the drawings, like reference numbers generally represent like parts or steps.
Fig. 1 is a schematic flow chart of an automatic replacement method of a cleaning module according to an exemplary embodiment of the disclosure.
Fig. 2 is a schematic flow chart of an automatic replacement method of a cleaning module according to another exemplary embodiment of the disclosure.
Fig. 3 is a schematic flow chart of step 108 in the embodiment shown in fig. 1 of the present disclosure.
Fig. 4a is a schematic structural diagram of a third device in an alternative example of the present disclosure.
Fig. 4b is a schematic view of the quick-change assembly in the third apparatus shown in fig. 4 a.
Fig. 5 is a schematic structural diagram of an automatic replacement device of a cleaning module according to an exemplary embodiment of the disclosure.
Fig. 6 is a block diagram of an electronic device provided in an exemplary embodiment of the present disclosure.
Detailed Description
Hereinafter, example embodiments according to the present disclosure will be described in detail with reference to the accompanying drawings. It is to be understood that the described embodiments are merely a subset of the embodiments of the present disclosure and not all embodiments of the present disclosure, with the understanding that the present disclosure is not limited to the example embodiments described herein.
It should be noted that: the relative arrangement of the components and steps, the numerical expressions, and numerical values set forth in these embodiments do not limit the scope of the present disclosure unless specifically stated otherwise.
It will be understood by those of skill in the art that the terms "first," "second," and the like in the embodiments of the present disclosure are used merely to distinguish one element from another, and are not intended to imply any particular technical meaning, nor is the necessary logical order between them.
It is also understood that in embodiments of the present disclosure, "a plurality" may refer to two or more and "at least one" may refer to one, two or more.
It is also to be understood that any reference to any component, data, or structure in the embodiments of the disclosure, may be generally understood as one or more, unless explicitly defined otherwise or stated otherwise.
In addition, the term "and/or" in the present disclosure is only one kind of association relationship describing an associated object, and means that three kinds of relationships may exist, for example, a and/or B may mean: a exists alone, A and B exist simultaneously, and B exists alone. In addition, the character "/" in the present disclosure generally indicates that the former and latter associated objects are in an "or" relationship. The data referred to in this disclosure may include unstructured data, such as text, images, video, etc., as well as structured data.
It should also be understood that the description of the various embodiments of the present disclosure emphasizes the differences between the various embodiments, and the same or similar parts may be referred to each other, so that the descriptions thereof are omitted for brevity.
Meanwhile, it should be understood that the sizes of the respective portions shown in the drawings are not drawn in an actual proportional relationship for the convenience of description.
The following description of at least one exemplary embodiment is merely illustrative in nature and is in no way intended to limit the disclosure, its application, or uses.
Techniques, methods, and apparatus known to those of ordinary skill in the relevant art may not be discussed in detail but are intended to be part of the specification where appropriate.
It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, further discussion thereof is not required in subsequent figures.
The disclosed embodiments may be applied to electronic devices such as terminal devices, computer systems, servers, etc., which are operational with numerous other general purpose or special purpose computing system environments or configurations. Examples of well known terminal devices, computing systems, environments, and/or configurations that may be suitable for use with electronic devices, such as terminal devices, computer systems, servers, and the like, include, but are not limited to: personal computer systems, server computer systems, thin clients, thick clients, hand-held or laptop devices, microprocessor-based systems, set top boxes, programmable consumer electronics, network pcs, minicomputer systems, mainframe computer systems, distributed cloud computing environments that include any of the above systems, and the like.
Electronic devices such as terminal devices, computer systems, servers, etc. may be described in the general context of computer system-executable instructions, such as program modules, being executed by a computer system. Generally, program modules may include routines, programs, objects, components, logic, data structures, etc. that perform particular tasks or implement particular abstract data types. The computer system/server may be practiced in distributed cloud computing environments where tasks are performed by remote processing devices that are linked through a communications network. In a distributed cloud computing environment, program modules may be located in both local and remote computer system storage media including memory storage devices.
Exemplary method
Fig. 1 is a schematic flow chart of an automatic replacement method of a cleaning module according to an exemplary embodiment of the disclosure. The embodiment can be applied to an electronic device (e.g., a base station of a washing and towing robot, etc.), as shown in fig. 1, and includes the following steps:
and 102, moving the first equipment to the preset space according to the received command for cleaning the preset space.
Wherein the preset space may be a subspace in a large space or the like, for example, a room in a house or the like; in this embodiment, the first device may be a base station device of a mobile second device, and the first device may be mobile, and because the second device needs to return to the first device for cleaning and other processes for a plurality of times in the cleaning process, the embodiment reduces the round-trip time of the second device by moving the first device to the preset space, and improves the cleaning efficiency; for example, a cleaning instruction for the bedroom is received, and the first device is moved to the bedroom doorway.
And 104, moving the movable second equipment arranged in the first equipment in a preset space to clean the preset space.
In an embodiment, the second device moves in the preset space away from the first device to realize automatic cleaning treatment on the preset space, and optionally, the second device can be a mopping robot or the like.
And 106, controlling the second equipment to return to the interior of the first equipment in response to the fact that the cleaning module installed in the second equipment meets the preset replacement condition.
Optionally, in the process of cleaning the preset space, the problem that cleaning modules such as mops are polluted in the cleaning process can occur, so that the cleaning modules in the second equipment need to be replaced when the cleaning modules reach the preset replacement condition, the cleaning effect on the set space is ensured, and the problem of secondary pollution caused by the fact that the cleaning modules are not replaced in time is avoided; alternatively, the preset replacement condition may include, but is not limited to: and detecting the pollution degree of the cleaning module, the preset cleaning time, the preset cleaning area, the other spaces from the preset space by the second equipment and the like.
And step 108, replacing the cleaning module in the second equipment through the third equipment built in the first equipment.
When the second device returns to the first device, the cleaning module (e.g., rag, mop, etc.) installed in the second device needs to be replaced due to the need to clean the cleaning module installed in the second device, and this embodiment automatically replaces the cleaning module in the second device through a third device built in the first device, where the third device may be provided with at least one replaceable cleaning module, etc.
According to the automatic replacement method of the cleaning module provided by the embodiment of the disclosure, the first device is moved to the preset space according to the received instruction for cleaning the preset space; cleaning a preset space by moving a movable second device arranged in the first device in the preset space; controlling the second equipment to return to the interior of the first equipment in response to the fact that a cleaning module installed in the second equipment meets a preset replacement condition; replacing a cleaning module in the second device by a third device built in the first device; the embodiment realizes automatic replacement of the cleaning module in the cleaning process, does not need manual participation, saves manpower, and simultaneously realizes continuous completion of cleaning work such as sweeping, mopping and the like.
Fig. 2 is a schematic flow chart of an automatic replacement method of a cleaning module according to another exemplary embodiment of the disclosure. As shown in fig. 2, the method comprises the following steps:
The implementation process and implementation effect of this step may refer to step 102 in the embodiment provided in fig. 1, and are not described herein again.
Optionally, the first attribute information of the preset space may be a function of the preset space, a material of a floor in the preset space, and the like, and floors made of different materials and spaces with different functions need different cleaning modules for cleaning, for example, a wooden floor cannot be cleaned by a cleaning module with too strong cleaning power (such as a brush, and the like), otherwise, the floor is damaged; for another example, before a bedroom is cleaned, a clean cleaning module needs to be replaced to avoid secondary pollution, or when corresponding attribute information is identified for a cleaning module corresponding to equipment in advance among different functions, the cleaning module is replaced by the corresponding cleaning module; therefore, the embodiment carries out attribute identification on the preset space before cleaning the preset space, and avoids the problems of secondary pollution or damage to the ground and the like.
In step 206, second attribute information corresponding to a cleaning module installed in the second device is determined.
Optionally, each attribute information may be preset to correspond to one cleaning module, in this implementation, an attribute corresponding to a currently installed cleaning module in the second device may be identified, and second attribute information corresponding to the cleaning module is obtained, for example, the second attribute information corresponding to the current cleaning module is: wooden floors, etc.; of course, there is also a case where the cleaning module is not installed in the second device, and at this time, the second attribute information is empty, and the empty attribute information does not match any attribute information.
And step 208, responding to the mismatch between the first attribute information and the second attribute information, and replacing the cleaning module in the second device through a third device built in the first device.
In this embodiment, when the first attribute information is not matched with the second attribute information (for example, not identical, or incompatible, etc.), before the second device leaves the first device, the cleaning module in the second device needs to be replaced with the cleaning module corresponding to the first attribute information, so that the cleaning module corresponding to the first attribute information of the preset space is used to clean the preset space, and the cleaning efficiency is improved while pollution and damage are avoided.
The implementation process and implementation effect of this step can refer to step 104 in the embodiment provided in fig. 1, and are not described herein again.
And 212, controlling the second equipment to return to the interior of the first equipment in response to the cleaning module installed in the second equipment meeting the preset replacement condition.
The implementation process and implementation effect of this step can refer to step 106 in the embodiment provided in fig. 1, and are not described herein again.
And step 214, replacing the cleaning module in the second equipment through the third equipment built in the first equipment.
The implementation process and implementation effect of this step can refer to step 108 in the embodiment provided in fig. 1, and are not described herein again.
In this embodiment, through before cleaning the space of predetermineeing, carry out attribute identification to the space of predetermineeing, solved because the attribute mismatches, and the pollution and/or the problem of damage that produce have promoted cleaning speed and the effect to the space of predetermineeing.
Optionally, on the basis of the above embodiment, before performing step 208, the method may further include:
and determining the target class of the cleaning module corresponding to the first attribute information.
Wherein the different attribute information corresponds to different categories of cleaning modules.
At this time, step 208 may include:
and replacing the cleaning module in the second device with the target type cleaning module through a third device built in the first device.
In this embodiment, in order to enable the replaced cleaning module in the second device to clean the preset space, the category of the cleaning module corresponding to the first attribute information of the preset space needs to be determined as the target category, and the cleaning module corresponding to the target category is replaced in the second device, so that the cleaning module in the second device is adapted to the preset space, the preset space can be cleaned, and the replacement efficiency of the cleaning module is improved.
Optionally, on the basis of the foregoing embodiment, the performing step 204 may further include:
acquiring image information and/or position information of a preset space;
and determining first attribute information of the preset space according to the image information and/or the position information.
Optionally, in this embodiment, an image acquisition device (e.g., a camera, etc.) and/or a positioning device (e.g., a GPS, etc.) may be disposed in the first device, the image acquisition device may acquire image information of a preset space, and determine a ground material through the acquired image (e.g., determine ground texture, gloss, etc. by using a convolutional neural network, or output a category corresponding to the ground material through a ground image by using a trained classification network) and/or a function of the preset space (e.g., identify a specific object included in the image to determine the preset space, such as identify a bed included in the space, determine the space as a bedroom, etc.); however, there may be problems such as inaccurate recognition depending on image recognition alone, and the embodiment may also determine the function and the ground material of the preset space according to the location information, for example, before the set space is cleaned for the first time, the location information, the function information and the ground material information of the set space in the whole space (for example, a house, etc.) are obtained, and when the location information is recognized by the first device to be consistent with the location corresponding to the set space, the function and/or the ground material corresponding to the preset space may be determined; in this embodiment, the first attribute information may be determined by at least one of the image information and the position information, so that the accuracy of the first attribute information is improved.
As shown in fig. 3, based on the embodiment shown in fig. 1, step 108 may include the following steps:
and step 1081, taking down the cleaning module in the second equipment through the vacant mounting position in the third equipment.
Wherein, a plurality of mounting positions for loading the cleaning modules are arranged in the third equipment; when the cleaning module is not loaded in the installation position, the installation position is an empty installation position, and the cleaning module in the second equipment can be pulled to the empty installation position, so that the cleaning module can be taken down from the second equipment.
And step 1082, adding the cleaning module to the second equipment through the installation position of the cleaning module loaded in the third equipment.
In this embodiment, after the cleaning module in the second device is removed, there is a gap in the cleaning module in the second device, and at this time, the installation position corresponding to another cleaning module loaded in the third device corresponds to the position of the second device where the cleaning module is installed, so as to add the cleaning module in the second device, for example, as shown in fig. 4a, the third device is in a shape of a circular disk, and a plurality of installation positions are provided on the circular disk: A. b, C, D, E, F, G and H, wherein A and B are the current empty mounting position of the third device, 401 represents the disc-shaped main body of the third device, 402 represents the cleaning module, 403 represents the quick-change assembly, and the removal and addition of the cleaning module can be realized through the quick-change assembly 403; for example, an exemplary structure of the quick-change assembly 403 may be as shown in fig. 4B, the quick-change assembly 403 is further provided with a quick-change connector 404, the quick-change assembly 403 has an upward movement function, when the cleaning module is removed, the quick-change assembly 403 moves upward, after the soiled mops on the robot are quickly removed from the mounting positions a and B in fig. 4a through the quick-change connector 404, the quick-change assembly 403 moves downward and then rotates along with the disc-shaped body 401, clean mops such as the mounting positions E and F stored in the disc-shaped body 401 are rotated to the mop mounting position of the cleaning robot, the quick-change assembly 403 moves upward again, and the clean mops corresponding to the mounting positions E and F of the disc-shaped body 401 are pushed into the cleaning robot (the second device); the head of the quick-change connector 404 can be a mechanical buckle, a magnetic head, an air pump sucker or the like; the disc-shaped third device provided in fig. 4a is only the shape of the third device in an optional example provided in this embodiment, and is not limited to the shape of the third device, and the third device provided in the embodiments of the present disclosure may be any shape, and only the cleaning module in the second device needs to be replaced, for example, the shape of the strip (a plurality of mounting positions are provided on the strip-shaped third device, a replaceable cleaning module is installed in each mounting position, when the cleaning module is replaced for the second device, the third device or the second device is slid back and forth, and the cleaning module is removed and installed corresponding to the second device in different mounting positions), and the like.
Optionally, step 1082 may include:
determining first attribute information of a preset space;
controlling the tray provided with a plurality of mounting positions to rotate, so that the mounting position of the target cleaning module on the tray corresponding to the first attribute information corresponds to the second equipment;
the target cleaning module is secured to the second device.
In this embodiment, when the cleaning module is replaced, it is required to ensure that the cleaning module after replacement can clean the preset space, that is, the target cleaning module is required to correspond to the first attribute information, wherein the first attribute information can be understood with reference to the above embodiment, and by replacing the target cleaning module, it is ensured that the second device after replacing the cleaning module can realize cleaning treatment of the preset space, and the problems that the cleaning module after replacement generated by randomly replacing the cleaning module is not in accordance with the attribute information of the preset space, and cannot clean or pollute the floor, and the ground is damaged are avoided.
In some alternative embodiments, the preset replacement condition includes, but is not limited to, at least one of:
the cleaning time of the second equipment reaches the preset time, the cleaning area of the second equipment reaches the preset area, and the second equipment reaches other spaces from the preset space.
In this embodiment, the preset replacement condition may be set according to an actual application scenario, and the specific preset replacement condition is not limited in this embodiment, and by setting the preset replacement condition, when the cleaning module reaches the preset replacement condition (when the preset replacement condition includes a plurality of conditions, one of the conditions can be set to be satisfied, that is, the cleaning module is replaced), the cleaning module can be replaced in time, so that the problem of secondary pollution in the cleaning process due to over-dirty cleaning of the cleaning module is avoided; and, when arriving another space from a space, change cleaning module, avoided the problem of making mistakes of cleaning that produces because different space ground materials are different, promoted clean quality.
In some optional embodiments, the first apparatus in this embodiment may further include a first container and a second container, and the liquid in the first container is used to clean the replaced cleaning module, so as to achieve self-cleaning. Optionally, the first container is used for containing cleaning liquid (such as clean water, detergent-added solution and the like), and the second container is used for containing cleaning liquid (such as sewage and the like) after cleaning operation; when the second device needs cleaning treatment (the cleaning module meets preset replacement conditions), returning to the first device, performing cleaning treatment on the cleaning module replaced by the second device through the first liquid in the first container (spraying the cleaning module by using the first liquid), collecting (for example, pumping and the like) the second liquid obtained after the cleaning treatment into the second container, and after the cleaning treatment, continuously lowering the water level in the first container and correspondingly continuously raising the water level in the second container; the specific liquid interaction mode can comprise the following steps:
step a, detecting the water level height of the first container and/or the second container in the first equipment.
Alternatively, the water level may be detected by a sensor, for example, by at least one sensor built into the first and second containers.
Step b, responding to the water level in the first container being lower than a first preset water level and/or the water level in the second container being higher than a second preset water level; and controlling the first equipment to move to the set position.
In one embodiment, the first predetermined level is low and the second predetermined level is high, i.e., when the liquid in the first container is less than a set amount (e.g., when the liquid in the first container is insufficient to perform a cleaning operation on the device to be cleaned), the liquid in the first container needs to be replenished; when the liquid in the second container is too much (for example, when the remaining space in the second container cannot receive the liquid transferred into the second container after the next cleaning), the space in the second container needs to be released (the liquid in the second container is removed), and optionally, the first preset water level and the second preset water level can be set according to the actual scene and the capacities of the first container and the second container; the first device may be moved from a set position to an arbitrary position according to the control.
And c, carrying out liquid interaction with the first equipment at a set position through the second equipment.
In this embodiment, the set position may be a position having a water source (e.g., tap water, etc.) and/or a sewer (e.g., sewer, etc.), and this embodiment avoids the problem of needing to connect a long water pipe to realize water supply and drainage by moving the first device to the set position.
The method can also comprise the following steps: in response to the water level in the first container reaching a third predetermined level, and/or the water level in the second container being below a fourth predetermined level;
the second device is controlled to end the liquid interaction with the first device.
In this embodiment, whether to end the liquid interaction is determined by the third preset water level and/or the fourth preset water level, so that how to end the liquid interaction is solved, and the automatic end of the water supply and the water discharge is realized, wherein the third preset water level and the fourth preset water level may be set according to an actual scene, for example, the third preset water level is the same as the second preset water level, and the fourth preset water level is the same as the first preset water level.
Any of the automatic replacement methods for cleaning modules provided by embodiments of the present disclosure may be performed by any suitable device having data processing capabilities, including but not limited to: terminal equipment, a server and the like. Alternatively, any of the automatic replacement methods for a cleaning module provided by the embodiments of the present disclosure may be executed by a processor, for example, the processor may execute any of the automatic replacement methods for a cleaning module mentioned by the embodiments of the present disclosure by calling a corresponding instruction stored in a memory. And will not be described in detail below.
Exemplary devices
Fig. 5 is a schematic structural diagram of an automatic replacement device of a cleaning module according to an exemplary embodiment of the disclosure. As shown in fig. 5, the apparatus provided in this embodiment includes:
and a device moving module 51, configured to move the first device to the preset space according to the received instruction for cleaning the preset space.
And a cleaning module 52, configured to move in the preset space through a movable second device built in the first device, so as to perform cleaning processing on the preset space.
And the condition response module 53 is used for controlling the second equipment to return to the interior of the first equipment in response to the fact that the cleaning module installed in the second equipment meets the preset replacement condition.
And a cleaning module replacement module 54 for replacing the cleaning module in the second device by a third device built in the first device.
According to the automatic replacing device for the cleaning module provided by the embodiment of the disclosure, the first equipment is moved to the preset space according to the received instruction for cleaning the preset space; cleaning a preset space by moving a movable second device arranged in the first device in the preset space; controlling the second equipment to return to the interior of the first equipment in response to the fact that a cleaning module installed in the second equipment meets a preset replacement condition; replacing a cleaning module in the second device by a third device built in the first device; the embodiment realizes automatic replacement of the cleaning module in the cleaning process, does not need manual participation, saves manpower, and simultaneously realizes continuous completion of cleaning work such as sweeping, mopping and the like.
Optionally, the apparatus provided in this embodiment further includes:
the first attribute determining module is used for determining first attribute information of a preset space;
the second attribute determining module is used for determining second attribute information corresponding to a cleaning module installed in second equipment;
and the cleaning module replacing module 54 is further configured to replace the cleaning module in the second device by a third device built in the first device in response to the first attribute information not matching the second attribute information.
Optionally, the apparatus provided in this embodiment further includes:
the category determination module is used for determining a target category of the cleaning module corresponding to the first attribute information; wherein the different attribute information corresponds to different categories of cleaning modules;
the cleaning module replacing module 54 is specifically configured to replace the cleaning module in the second device with the target type cleaning module by a third device built in the first device.
Optionally, the first attribute determining module is specifically configured to obtain image information and/or position information of a preset space; and determining first attribute information of the preset space according to the image information and/or the position information.
Optionally, a plurality of mounting locations for loading cleaning modules are provided in the third apparatus;
a cleaning module replacement module 54 comprising:
the module taking-down unit is used for taking down the cleaning module in the second equipment through a vacant mounting position in the third equipment;
and the module adding unit is used for adding the cleaning module to the second equipment through the mounting position loaded with the cleaning module in the third equipment.
Optionally, the module adding unit is specifically configured to determine first attribute information of the preset space; controlling the tray provided with a plurality of mounting positions to rotate, so that the mounting position of the target cleaning module on the tray corresponding to the first attribute information corresponds to the second equipment; the target cleaning module is secured to the second device.
Optionally, the preset replacement condition comprises at least one of:
the cleaning time of the second equipment reaches the preset time, the cleaning area of the second equipment reaches the preset area, and the second equipment reaches other spaces from the preset space.
Exemplary electronic device
Next, an electronic apparatus according to an embodiment of the present disclosure is described with reference to fig. 6. The electronic device may be either or both of the first device 100 and the second device 200, or a stand-alone device separate from them that may communicate with the first device and the second device to receive the collected input signals therefrom.
FIG. 6 illustrates a block diagram of an electronic device in accordance with an embodiment of the disclosure.
As shown in fig. 6, the electronic device 60 includes one or more processors 61 and a memory 62.
The processor 61 may be a Central Processing Unit (CPU) or other form of processing unit having data processing capabilities and/or instruction execution capabilities, and may control other components in the electronic device 60 to perform desired functions.
In one example, the electronic device 60 may further include: an input device 63 and an output device 64, which are interconnected by a bus system and/or other form of connection mechanism (not shown).
For example, when the electronic device is the first device 100 or the second device 200, the input device 63 may be a microphone or a microphone array as described above for capturing an input signal of a sound source. When the electronic device is a stand-alone device, the input means 63 may be a communication network connector for receiving the acquired input signals from the first device 100 and the second device 200.
The input device 63 may also include, for example, a keyboard, a mouse, and the like.
The output device 64 may output various information including the determined distance information, direction information, and the like to the outside. The output devices 64 may include, for example, a display, speakers, a printer, and a communication network and its connected remote output devices, among others.
Of course, for simplicity, only some of the components of the electronic device 60 relevant to the present disclosure are shown in fig. 6, omitting components such as buses, input/output interfaces, and the like. In addition, the electronic device 60 may include any other suitable components depending on the particular application.
Exemplary computer program product and computer-readable storage Medium
In addition to the above-described methods and apparatus, embodiments of the present disclosure may also be a computer program product comprising computer program instructions that, when executed by a processor, cause the processor to perform the steps in the method for automatic replacement of a cleaning module according to various embodiments of the present disclosure described in the "exemplary methods" section of this specification above.
The computer program product may write program code for carrying out operations for embodiments of the present disclosure in any combination of one or more programming languages, including an object oriented programming language such as Java, C + + or the like and conventional procedural programming languages, such as the "C" programming language or similar programming languages. The program code may execute entirely on the user's computing device, partly on the user's device, as a stand-alone software package, partly on the user's computing device and partly on a remote computing device, or entirely on the remote computing device or server.
Furthermore, embodiments of the present disclosure may also be a computer-readable storage medium having stored thereon computer program instructions that, when executed by a processor, cause the processor to perform the steps in the method for automatic replacement of a cleaning module according to various embodiments of the present disclosure described in the "exemplary methods" section above in this specification.
The computer-readable storage medium may take any combination of one or more readable media. The readable medium may be a readable signal medium or a readable storage medium. A readable storage medium may include, for example, but not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or a combination of any of the foregoing. More specific examples (a non-exhaustive list) of the readable storage medium include: an electrical connection having one or more wires, a portable disk, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.
The foregoing describes the general principles of the present disclosure in conjunction with specific embodiments, however, it is noted that the advantages, effects, etc. mentioned in the present disclosure are merely examples and are not limiting, and they should not be considered essential to the various embodiments of the present disclosure. Furthermore, the foregoing disclosure of specific details is for the purpose of illustration and description and is not intended to be limiting, since the disclosure is not intended to be limited to the specific details so described.
In the present specification, the embodiments are described in a progressive manner, each embodiment focuses on differences from other embodiments, and the same or similar parts in the embodiments are referred to each other. For the system embodiment, since it basically corresponds to the method embodiment, the description is relatively simple, and for the relevant points, reference may be made to the partial description of the method embodiment.
The block diagrams of devices, apparatuses, systems referred to in this disclosure are only given as illustrative examples and are not intended to require or imply that the connections, arrangements, configurations, etc. must be made in the manner shown in the block diagrams. These devices, apparatuses, devices, systems may be connected, arranged, configured in any manner, as will be appreciated by those skilled in the art. Words such as "including," "comprising," "having," and the like are open-ended words that mean "including, but not limited to," and are used interchangeably therewith. The words "or" and "as used herein mean, and are used interchangeably with, the word" and/or, "unless the context clearly dictates otherwise. The word "such as" is used herein to mean, and is used interchangeably with, the phrase "such as but not limited to".
The methods and apparatus of the present disclosure may be implemented in a number of ways. For example, the methods and apparatus of the present disclosure may be implemented by software, hardware, firmware, or any combination of software, hardware, and firmware. The above-described order for the steps of the method is for illustration only, and the steps of the method of the present disclosure are not limited to the order specifically described above unless specifically stated otherwise. Further, in some embodiments, the present disclosure may also be embodied as programs recorded in a recording medium, the programs including machine-readable instructions for implementing the methods according to the present disclosure. Thus, the present disclosure also covers a recording medium storing a program for executing the method according to the present disclosure.
It is also noted that in the devices, apparatuses, and methods of the present disclosure, each component or step can be decomposed and/or recombined. These decompositions and/or recombinations are to be considered equivalents of the present disclosure.
The previous description of the disclosed aspects is provided to enable any person skilled in the art to make or use the present disclosure. Various modifications to these aspects will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other aspects without departing from the scope of the disclosure. Thus, the present disclosure is not intended to be limited to the aspects shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
The foregoing description has been presented for purposes of illustration and description. Furthermore, this description is not intended to limit embodiments of the disclosure to the form disclosed herein. While a number of example aspects and embodiments have been discussed above, those of skill in the art will recognize certain variations, modifications, alterations, additions and sub-combinations thereof.
Claims (10)
1. A method for automatic replacement of a cleaning module, comprising:
moving the first equipment to a preset space according to a received command for cleaning the preset space;
cleaning a preset space by moving a movable second device arranged in the first device in the preset space;
controlling the second equipment to return to the interior of the first equipment in response to the fact that a cleaning module installed in the second equipment meets a preset replacement condition;
and replacing the cleaning module in the second equipment through third equipment built in the first equipment.
2. The method according to claim 1, before the cleaning process is performed on the preset space by moving a movable second device built in the first device in the preset space, further comprising:
determining first attribute information of the preset space;
determining second attribute information corresponding to a cleaning module installed in the second device;
and in response to the first attribute information not matching the second attribute information, replacing the cleaning module in the second device through a third device built in the first device.
3. The method of claim 2, further comprising, prior to replacing a cleaning module in the second device with a third device built into the first device:
determining a target category of a cleaning module corresponding to the first attribute information; wherein the different attribute information corresponds to different categories of cleaning modules;
the replacing of the cleaning module in the second device by a third device built in the first device includes:
replacing, by a third device built into the first device, the cleaning module in the second device with the target category of cleaning module.
4. The method according to claim 2 or 3, wherein the determining the first attribute information of the preset space comprises:
acquiring image information and/or position information of the preset space;
and determining first attribute information of the preset space according to the image information and/or the position information.
5. A method according to any of claims 1-4, characterized in that a plurality of mounting places for loading cleaning modules are provided in the third device;
the replacing of the cleaning module in the second device by a third device built in the first device includes:
removing the cleaning module in the second device through a vacant mounting location in the third device;
and adding a cleaning module to the second equipment through the mounting position of the third equipment with the cleaning module.
6. The method of claim 5, wherein said performing a cleaning module addition on said second device with a mounting location of said third device having a cleaning module loaded therein comprises:
determining first attribute information of the preset space;
controlling a tray provided with a plurality of mounting positions to rotate, so that the mounting position of the target cleaning module on the tray, which corresponds to the first attribute information, corresponds to the second equipment;
securing the target cleaning module to the second device.
7. The method according to any one of claims 1 to 6, wherein the preset replacement condition comprises at least one of:
the cleaning time of the second equipment reaches preset time, the cleaning area of the second equipment reaches preset area, and the second equipment reaches other spaces from the preset space.
8. An automatic cleaning module changing device, comprising:
the equipment moving module is used for moving the first equipment to a preset space according to a received instruction for cleaning the preset space;
the cleaning processing module is used for moving in a preset space through a movable second device arranged in the first device and cleaning the preset space;
the condition response module is used for controlling the second equipment to return to the interior of the first equipment in response to the fact that the cleaning module installed in the second equipment meets a preset replacement condition;
and the cleaning module replacing module is used for replacing the cleaning module in the second equipment through a third equipment built in the first equipment.
9. A computer-readable storage medium, characterized in that the storage medium stores a computer program for executing the method for automatic replacement of a cleaning module according to any of the preceding claims 1-7.
10. An electronic device, characterized in that the electronic device comprises:
a processor;
a memory for storing the processor-executable instructions;
the processor is used for reading the executable instructions from the memory and executing the instructions to realize the automatic replacement method of the cleaning module of any one of the claims 1-7.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210014126.9A CN114365972A (en) | 2022-01-06 | 2022-01-06 | Automatic replacement method and device for cleaning module, storage medium and electronic equipment |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210014126.9A CN114365972A (en) | 2022-01-06 | 2022-01-06 | Automatic replacement method and device for cleaning module, storage medium and electronic equipment |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN114365972A true CN114365972A (en) | 2022-04-19 |
Family
ID=81142188
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202210014126.9A Pending CN114365972A (en) | 2022-01-06 | 2022-01-06 | Automatic replacement method and device for cleaning module, storage medium and electronic equipment |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN114365972A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114668341A (en) * | 2022-05-05 | 2022-06-28 | 上海龙旗科技股份有限公司 | Intelligent robot |
Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107550406A (en) * | 2017-08-23 | 2018-01-09 | 上海与德通讯技术有限公司 | A kind of floor-mopping robot and the method that mops floor |
| CN207755219U (en) * | 2017-06-23 | 2018-08-24 | 杭州九阳小家电有限公司 | A kind of cleaning robot system |
| CN111345741A (en) * | 2018-12-21 | 2020-06-30 | 苏州宝时得电动工具有限公司 | Cleaning robot and cleaning method |
| CN112828879A (en) * | 2019-11-25 | 2021-05-25 | 上海高仙自动化科技发展有限公司 | Task management method and device, intelligent robot and medium |
| CN112932344A (en) * | 2021-04-02 | 2021-06-11 | 深圳乐居智能电子有限公司 | Sweeping method of sweeping robot and sweeping robot |
| CN113116218A (en) * | 2020-01-15 | 2021-07-16 | 添可智能科技有限公司 | Base station, cleaning member and cleaning device and self-cleaning method |
| CN113576337A (en) * | 2021-08-26 | 2021-11-02 | 广州俊德信息科技有限公司 | Robot of sweeping floor of many clean modes |
| CN113854903A (en) * | 2021-09-28 | 2021-12-31 | 追觅创新科技(苏州)有限公司 | Control method and device of cleaning equipment |
-
2022
- 2022-01-06 CN CN202210014126.9A patent/CN114365972A/en active Pending
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN207755219U (en) * | 2017-06-23 | 2018-08-24 | 杭州九阳小家电有限公司 | A kind of cleaning robot system |
| CN107550406A (en) * | 2017-08-23 | 2018-01-09 | 上海与德通讯技术有限公司 | A kind of floor-mopping robot and the method that mops floor |
| CN111345741A (en) * | 2018-12-21 | 2020-06-30 | 苏州宝时得电动工具有限公司 | Cleaning robot and cleaning method |
| CN112828879A (en) * | 2019-11-25 | 2021-05-25 | 上海高仙自动化科技发展有限公司 | Task management method and device, intelligent robot and medium |
| CN113116218A (en) * | 2020-01-15 | 2021-07-16 | 添可智能科技有限公司 | Base station, cleaning member and cleaning device and self-cleaning method |
| CN112932344A (en) * | 2021-04-02 | 2021-06-11 | 深圳乐居智能电子有限公司 | Sweeping method of sweeping robot and sweeping robot |
| CN113576337A (en) * | 2021-08-26 | 2021-11-02 | 广州俊德信息科技有限公司 | Robot of sweeping floor of many clean modes |
| CN113854903A (en) * | 2021-09-28 | 2021-12-31 | 追觅创新科技(苏州)有限公司 | Control method and device of cleaning equipment |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114668341A (en) * | 2022-05-05 | 2022-06-28 | 上海龙旗科技股份有限公司 | Intelligent robot |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| WO2023051227A1 (en) | Control method and apparatus for cleaning device | |
| US11412906B2 (en) | Cleaning robot traveling using region-based human activity data and method of driving cleaning robot | |
| RU2624737C2 (en) | Method and device for cleaning waste | |
| US20210170605A1 (en) | System and method for task assignment management | |
| CN113854902B (en) | Self-cleaning system, self-moving device, workstation and working method thereof | |
| CN114365972A (en) | Automatic replacement method and device for cleaning module, storage medium and electronic equipment | |
| US20230056758A1 (en) | Robot control method, robot and storage medium | |
| CN111643017B (en) | Cleaning robot control method and device based on schedule information and cleaning robot | |
| US11547260B2 (en) | Leveraging spatial scanning data of autonomous robotic devices | |
| CN112254782B (en) | Method and device for identifying garbage capacity in dust box of sweeper and computer equipment | |
| CN111343696A (en) | Communication method of self-moving equipment, self-moving equipment and storage medium | |
| CN113561917B (en) | Vehicle cleaning judgment method and device, electronic equipment and storage medium | |
| CN112826391B (en) | System with at least two ground treatment devices and method for operating a system | |
| CN114947624B (en) | Method and device for cleaning wood floor | |
| US20230057027A1 (en) | Cleaning detection system | |
| CN113127724A (en) | Method, system and device for recommending functions of cleaning robot | |
| CN113009911B (en) | Cleaning path generation method and device and self-moving equipment | |
| US20240165803A1 (en) | Automatic Quality Assessment of Tasks | |
| CN114098544B (en) | Control method of working head and working equipment | |
| CN114081406B (en) | Cleaning control method, cleaning control device, cleaning robot, and storage medium | |
| CN117898640A (en) | Method and device for cleaning area, storage medium and electronic device | |
| US20230270308A1 (en) | Control method for self-moving device and self-moving device | |
| WO2023185574A1 (en) | Operation control method and apparatus for device, and storage medium and electronic apparatus | |
| CN114305241A (en) | Method and device for automatically loading and unloading equipment, storage medium and electronic equipment | |
| JP2024068240A (en) | Logistics system and processing method |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20220419 |
|
| RJ01 | Rejection of invention patent application after publication |