Robotic cleaning methods, robots, systems and media

Abstract

This invention discloses a robot cleaning method, robot, system, and medium. The method includes: a controller receiving a cleaning instruction for a target area and sending a scanned identification code corresponding to the target area to a first robot; the first robot refers to a cleaning robot that meets preset cleaning requirements; the first robot scanning the received scanned identification code to send a first acquisition request to a cloud server for obtaining a cloud-shared map corresponding to the scanned identification code; the first robot acquiring the cloud-shared map corresponding to the scanned identification code sent by the cloud server; the cloud-shared map is generated by any cleaning robot in the cleaning system performing global mapping of the target area and then uploaded to the cloud server; the first robot performing a cleaning operation on the target area according to the cloud-shared map. This invention improves the resource utilization and ease of use of cleaning robots, and enhances cleaning efficiency.

Description

Technical Field

[0001] This invention relates to the field of robotics, and more particularly to a robotic cleaning method, robot, system, and medium. Background Technology

[0002] Robotic vacuum cleaners, also known as automatic cleaning robots, intelligent vacuum cleaners, or robotic vacuum cleaners, are a type of smart home appliance that uses artificial intelligence to automatically clean floors both indoors and outdoors. In current technology, before cleaning a target area, a robotic vacuum cleaner needs to create a global map of the area to be cleaned, and then plan its cleaning operation based on the map data. In existing technology, when multiple robotic vacuum cleaners need to clean the same area, each robot must create its own global map of the target area before performing the cleaning operation. Therefore, this consumes excessive resources, is time-consuming, has low cleaning efficiency, and reduces the ease of use of robotic vacuum cleaners. Summary of the Invention

[0003] Therefore, it is necessary to provide a robotic cleaning method, robot, system, and medium to address the aforementioned technical problems, thereby resolving issues such as excessive resource consumption and reduced ease of use of cleaning robots.

[0004] A robot cleaning method based on a cloud-shared map is applied to a cleaning system, the cleaning system including a controller and multiple cleaning robots communicating with the controller; the method includes:

[0005] The controller receives a cleaning instruction for the target area and sends a scanned identification code corresponding to the target area to the first robot; the first robot refers to a cleaning robot that meets the preset cleaning requirements.

[0006] The first robot scans the received scan identifier code to send a first acquisition request to the cloud server for obtaining the cloud shared map corresponding to the scan identifier code;

[0007] The first robot obtains a cloud-shared map corresponding to the scan identifier sent by the cloud server; the cloud-shared map is generated by any cleaning robot in the cleaning system after performing global mapping of the target area and uploading it to the cloud server.

[0008] The first robot performs a cleaning operation on the target area based on the cloud-shared map.

[0009] A cleaning robot includes a control module communicatively connected to a controller, the control module being configured to perform the following steps:

[0010] The robot receives a scan identification code corresponding to the target area sent by the controller. The scan identification code is sent after the controller receives the cleaning instruction for the target area and confirms that the cleaning robot meets the preset cleaning requirements.

[0011] Scan the scan identifier code to send a first acquisition request to the cloud server for obtaining the cloud shared map corresponding to the scan identifier code;

[0012] Obtain the cloud-shared map corresponding to the scan identifier sent by the cloud server;

[0013] The target area is cleaned according to the cloud-shared map.

[0014] A cleaning system includes a controller and multiple cleaning robots that are connected to the controller in communication. The cleaning system is used to perform the above-described robot cleaning method based on a cloud-shared map.

[0015] A computer-readable storage medium storing a computer program that, when executed by a processor, implements the steps of the above-described robot cleaning method based on a cloud-shared map.

[0016] In this invention, a shared cloud map is stored on a cloud server and shared among multiple cleaning robots. After the controller receives a cleaning instruction for the target area, it identifies a first robot that meets the preset cleaning requirements and sends a scanning identifier code corresponding to the target area to the first robot. The first robot then obtains the shared cloud map from the cloud server by scanning the identifier code and performs the cleaning operation on the target area based on the shared cloud map. In this process, the first robot does not need to perform global mapping of the target area before cleaning; it can directly obtain the shared cloud map by scanning the identifier code. This avoids repeated global mapping by multiple cleaning robots in the same area, improves the resource utilization and ease of use of the cleaning robots, and enhances cleaning efficiency. Attached Figure Description

[0017] To more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings used in the description of the embodiments of the present invention will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0018] Figure 1 This is a flowchart illustrating a robot cleaning method based on a cloud-shared map in one embodiment of the present invention.

[0019] Figure 2This is a flowchart illustrating a robot cleaning method based on a cloud-shared map, according to another embodiment of the present invention.

[0020] Figure 3 This is a schematic diagram of the cleaning system in another embodiment of the present invention. Detailed Implementation

[0021] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0022] The robot cleaning method based on a cloud-shared map provided in this embodiment can be applied to applications such as... Figure 3 The cleaning system shown includes a controller 100 and multiple cleaning robots 200 that are connected to the controller 100 in communication.

[0023] like Figure 1 As shown, in one embodiment, a robot cleaning method based on a cloud-shared map is provided, including the following steps:

[0024] S100, the controller 100 receives a cleaning instruction for the target area and sends a scan identification code corresponding to the target area to the first robot; the first robot refers to a cleaning robot 200 that meets preset cleaning requirements. It is understood that the controller 100 can be installed in a terminal device, including but not limited to various personal computers, laptops, smartphones, tablets, and portable wearable devices. The controller 100 can also be installed in a robot base station. The cleaning instruction is generated and sent to the controller 100 after the user inputs the target area through the interactive interface on the terminal device or base station. The cleaning instruction instructs the controller 100 to send a scan identification code corresponding to the target area to the first robot, thereby enabling the first robot to obtain a cloud-shared map corresponding to the target area. The cloud-shared map corresponding to the target area is stored on a cloud server. The scan identification code corresponds to the cloud-shared map and is generated based on the first storage link after the controller 100 obtains the first storage link of the cloud-shared map stored on the cloud server.

[0025] Understandably, the preset cleaning requirements can be set according to needs. For example, the device type of the cleaning robot that meets the preset cleaning requirements is the same as the cleaning robot 200 that uploads the cloud-shared map to the cloud server; the preset cleaning requirements can also refer to the cleaning robot being in an idle state, etc. The first robot can be one or more, and the first robot can be randomly selected by the user from all the cleaning robots 200 that meet the preset cleaning requirements or according to preference, or it can be selected by the robot's device type, robot usage frequency, or other rules. In one embodiment, the scanning identifier sent by the controller 100 corresponding to the target area is the code of the first robot (that is, the code selected from the cleaning robots 200 that meet the preset cleaning requirements). Understandably, the scanning identifier code is sent after the controller 100 receives the cleaning instruction for the target area and confirms that the cleaning robot 200 meets the preset cleaning requirements.

[0026] like Figure 2 As shown, in one embodiment, step S100, in which the controller 100 receives a cleaning instruction for the target area and sends a scanning identification code corresponding to the target area to the first robot, includes:

[0027] S110, the controller 100 receives a cleaning instruction containing a unique identifier of the target area and determines whether a scan identifier code associated with the unique identifier is stored in a preset storage area of ​​the controller 100. Understandably, the controller has multiple storage areas, with the preset storage area storing all scan identifier codes, and each scan identifier code is associated with a unique identifier and stored in the preset storage area. Each scan identifier code is generated and stored in the preset storage area of ​​the controller 100 based on the first storage link of the cloud-shared map stored on the cloud server after the controller 100 obtains the first storage link. Therefore, in the preset storage area, the scan identifier code corresponding to the unique identifier can be retrieved based on the unique identifier, and scanning the scan identifier code allows the acquisition of the first storage link on the cloud server used to store the corresponding cloud-shared map, thereby obtaining the cloud-shared map from the cloud server based on the first storage link.

[0028] S120, after determining that a scan identifier associated with the unique identifier is stored in the preset storage area, the controller 100 retrieves the scan identifier associated with the unique identifier and the robot type; the robot type refers to the device type of the cleaning robot 200 that uploaded the cloud-shared map to the cloud server. It can be understood that if a scan identifier associated with the unique identifier is stored in the preset storage area, it indicates that the cloud-shared map is stored in the cloud server.

[0029] S130, the controller 100 identifies the cleaning robot 200, whose device type matches the robot type, as the target robot. After determining the first robot that meets the cleaning requirements based on the idle status of the target robot, it sends a scanned identification code associated with the unique identifier of the target area to all first robots that meet the cleaning requirements. It is understood that the target robot, whose device type matches the cleaning robot 200 that uploads the cloud-shared map to the cloud server, is a cleaning robot 200 compatible with the cloud-shared map. Therefore, the target robot compatible with the cloud-shared map can directly use the cloud-shared map to perform cleaning operations on the target area. Since some target robots may not be idle (target robots not idle have other tasks and cannot execute the cleaning task corresponding to the cleaning instruction), further screening is needed among all target robots based on their idle status to determine the first robot that meets the cleaning requirements.

[0030] S200, the first robot scans the received scan identifier code to send a first acquisition request to the cloud server for obtaining the cloud-shared map corresponding to the scan identifier code. Understandably, the first robot obtains a first storage link of the cloud-shared map stored on the cloud server by scanning the scan identifier code. The first acquisition request includes the first storage link, and the first robot can request the cloud-shared map from the cloud server through the first storage link obtained by scanning the scan identifier code.

[0031] S300, the first robot obtains the cloud-shared map corresponding to the scan identifier sent by the cloud server; the cloud-shared map is generated and uploaded to the cloud server after any cleaning robot 200 in the cleaning system performs global mapping of the target area. Understandably, after receiving the first acquisition request, the cloud server finds the cloud-shared map corresponding to the scan identifier based on the first storage link and sends it to the first robot, at which point the first robot obtains the cloud-shared map corresponding to the scan identifier sent by the cloud server.

[0032] S400, the first robot performs a cleaning operation on the target area according to the cloud-shared map. Understandably, after receiving the cloud-shared map, the first robot can perform a cleaning operation on the target area according to the cloud-shared map. In one embodiment, there are multiple first robots, and the target area includes multiple sub-areas; therefore, the cloud-shared map also includes multiple sub-map areas corresponding to each sub-area. Multiple first robots can perform cleaning operations in one or more sub-areas after receiving the cloud-shared map including multiple sub-map areas. The planning of the sub-areas for cleaning operations by the first robot can be planned by the controller 100 or selected by the user in the interactive interface, thereby allowing different first robots to perform cleaning operations simultaneously in multiple sub-areas. Understandably, the sub-area map corresponding to the sub-area determined for cleaning by the first robot will be marked in the cloud-shared map (in the controller and / or the cloud-shared map in the cloud server), so that the second cleaning robot that needs to perform cleaning operations subsequently can determine the areas in the cloud-shared map that have not been cleaned by the first robot based on the above markings. In this embodiment, multiple first robots simultaneously perform cleaning operations in multiple sub-areas of the same target area, saving cleaning time and improving cleaning efficiency.

[0033] In the robot cleaning method based on cloud-shared maps provided by the present invention, the first robot does not need to perform global mapping of the target area before performing cleaning operations on the target area. It can directly obtain the cloud-shared map by scanning the identification code, avoiding repeated global mapping of multiple cleaning robots 200 in the same area, improving the resource utilization and ease of use of the cleaning robots 200, and enhancing cleaning efficiency.

[0034] In one embodiment, step S130, determining the first robot that meets the cleaning requirements based on the idle state of the target robot, includes:

[0035] The first number of all target robots that are in an idle state is obtained. It is understood that there can be multiple target robots, and some of these target robots may not be in an idle state because they have other tasks and cannot perform the cleaning task corresponding to the cleaning instruction. Therefore, it is first necessary to obtain the first number of all target robots that are in an idle state to further filter among all target robots and determine the first robot that meets the cleaning requirements.

[0036] The cleaning information of the target area in the cleaning instruction is obtained, including the expected cleaning duration and the cleaning area. It is understood that the cleaning instruction includes cleaning information of the target area, which includes the expected cleaning duration and the cleaning area. The expected cleaning duration refers to the time required for the user to complete the cleaning operation on the specified area, and this duration can be set by the user as needed. The cleaning area is the area of ​​the target area, or it can be the area of ​​one or more sub-areas within the target area, and the user can set the cleaning area as needed.

[0037] The cleaning speed of the target robot is obtained according to the robot type. A second number of target robots required for cleaning is determined based on the expected cleaning time, the cleaning area, and the cleaning speed. Understandably, the cleaning speed is the cleaning area of ​​one target robot per unit time. After determining the expected cleaning area of ​​each target robot within the expected cleaning time based on the product of the expected cleaning time and the cleaning speed, the second number of target robots can be determined based on the quotient of the cleaning area and the expected cleaning area. For example, if the quotient is 3.6, the second number is considered to be 4, meaning four target robots are expected to be needed; if the quotient is 5, the second number is considered to be 5, meaning five target robots are expected to be needed.

[0038] Based on the first quantity and the second quantity, a first robot that meets the cleaning requirements is determined from all the target robots that are idle. It can be understood that the first quantity is the total number of all the target robots that are idle, i.e., the maximum number of target robots; the second quantity is the minimum number of target robots required to complete the cleaning operation on the cleaning area within the expected cleaning time (the target requirement the user wishes to achieve).

[0039] In one embodiment, determining the first robot that meets the cleaning requirements from all the idle target robots based on the first quantity and the second quantity includes:

[0040] When the first number is less than the second number, all idle target robots are identified as first robots meeting the cleaning requirements. An estimated cleaning time is generated based on the cleaning speed of the first number of first robots, and the estimated cleaning time is then displayed to the user. It is understood that if the first number is less than the second number, meaning the maximum number of target robots is less than the minimum number of target robots the user wishes to complete the target requirements, then the target robots cannot complete the cleaning operation on the area within the expected cleaning time. Therefore, all idle target robots are identified as first robots meeting the cleaning requirements. An estimated cleaning time (which will be greater than the expected cleaning time) is calculated based on the cleaning speed of the first number of first robots, and the estimated cleaning time is then displayed to the user. It is understood that in this embodiment, the estimated cleaning time is greater than the expected cleaning time.

[0041] When the first quantity equals the second quantity, all idle target robots are identified as first robots meeting the cleaning requirements, and the expected cleaning time is displayed to the user. It can be understood that if the first quantity equals the second quantity, that is, the maximum number of target robots equals the minimum number of target robots required to complete the cleaning of the user's desired area, then the target robots can complete the cleaning operation on the area within the expected cleaning time. Therefore, all idle target robots are identified as first robots meeting the cleaning requirements, and the expected cleaning time is displayed to the user.

[0042] When the first number is greater than the second number, the real-time distances between all idle target robots and the target area are sorted in ascending order. The second number of target robots with the highest real-time distance among all idle target robots are identified as the first robots meeting the cleaning requirements, and the expected cleaning time is displayed. It can be understood that if the first number is greater than the second number, that is, the maximum number of target robots is greater than the minimum number of target robots required to complete the user's desired cleaning, then the target robots can complete the cleaning operation on the area within the expected cleaning time, and there will still be surplus target robots. In this case, the second number of target robots with the highest real-time distance to the target area among all idle target robots are selected, identified as the first robots meeting the cleaning requirements, and the expected cleaning time is displayed to the user. In some embodiments, when the first number is greater than the second number, all idle target robots can also be identified as the first robots meeting the cleaning requirements, and the estimated cleaning time is generated based on the cleaning speed of the first number of first robots before being displayed. Understandably, in this embodiment, the estimated cleaning time is less than the expected cleaning time.

[0043] In one embodiment, after determining whether a scan identifier associated with the unique identifier is stored in the preset storage area of ​​the controller 100 in step S110, the method further includes:

[0044] After determining that no scan identifier associated with the unique identifier is stored in the preset storage area, the controller 100 determines the first mapping robot from all the cleaning robots 200 according to preset selection rules, and sends a mapping request for the target area to the first mapping robot. It is understood that if no scan identifier associated with the unique identifier is stored in the preset storage area, it means that the cloud-shared map is not stored in the cloud server. Therefore, it is necessary to determine the first mapping robot from all the cleaning robots 200 according to preset selection rules, and send a mapping request for the target area to the first mapping robot. The preset selection rules include random selection, selection based on user preference, selection based on the number of robots with the same device type, selection based on the robot's usage frequency, or selection based on other rules, etc.

[0045] The first mapping robot performs global mapping on the target area based on the received mapping request, generating a first global map of the target area, and sends the first global map to the cloud server, so that the cloud server can associate and store the first global map as a unique identifier of the target area with the cloud-shared map. It can be understood that if the cloud server does not store the cloud-shared map, the first mapping robot performs global mapping on the target area, generates a first global map of the target area, and sends the first global map to the cloud server, so that the cloud server can use the first global map as a cloud-shared map.

[0046] The controller 100 obtains a first storage link to the cloud-shared map stored on the cloud server, generates a scan identifier code corresponding to the cloud-shared map based on the first storage link, and stores the scan identifier code associating it with the unique identifier of the target area in a preset storage area. It can be understood that once the cloud server stores the cloud-shared map, it can generate a scan identifier code corresponding to the cloud-shared map through the first storage link of the cloud-shared map, and store the scan identifier code associating it with the unique identifier of the target area in the preset storage area.

[0047] In one embodiment, after determining that a scan identifier associated with the unique identifier is stored in a preset storage area in step S120, the method further includes:

[0048] The controller 100 obtains the generation time of the scan identification code and the time difference between the current time and the generation time. Understandably, the current time refers to the time when the controller 100 retrieves the scan identification code associated with the unique identifier and the robot type; the generation time refers to the generation time of the scan identification code, which is also the time when the cloud server stores the cloud-shared map.

[0049] If the time difference is greater than or equal to a preset time threshold, the controller 100 determines the second mapping robot from all the cleaning robots 200 according to a preset selection rule, and sends a remapping request for the target area to the second mapping robot. Understandably, the preset time threshold is pre-set based on the time at which the layout of the target area may change. If the time difference between the generation time in the cloud-shared map and the current time is long, it indicates that the layout of the target area may have changed, and the cloud-shared map corresponding to the target area needs to be updated. The preset selection rule includes random selection, selection based on user preference, selection based on the number of robots with the same device type, selection based on the robot's usage frequency, or selection based on other rules, etc.

[0050] The second mapping robot re-maps the target area globally based on the received re-mapping request, generating a second global map of the target area. This second global map is then sent to the cloud server, allowing the cloud server to update and store the cloud-shared map associated with the unique identifier of the target area based on the second global map. Understandably, if the cloud-shared map stored on the cloud server has not been updated for a long period (i.e., the time difference between the current time and the generation time is greater than or equal to a preset time threshold), the second mapping robot performs global mapping on the target area, generating a second global map of the target area. This second global map is then sent to the cloud server, allowing the cloud server to use the second global map as the cloud-shared map, thus updating and storing the cloud-shared map.

[0051] The controller 100 obtains a second storage link to the cloud-shared map updated and stored by the cloud server, updates the scan identifier code corresponding to the cloud-shared map according to the second storage link, and stores the updated scan identifier code associating it with the unique identifier of the target area in the preset storage area. It is understood that after the cloud server updates the cloud-shared map, it can generate a scan identifier code corresponding to the cloud-shared map through the second storage link of the cloud-shared map, and store the scan identifier code associating it with the unique identifier of the target area in the preset storage area.

[0052] In one embodiment, after the first robot performs a cleaning operation on the target area based on the cloud-shared map in step S400, the method further includes:

[0053] The controller 100 receives a reinforcement command to add a cleaning robot 200 to the target area and sends the scan identification code to the second robot; the second robot refers to the cleaning robot 200 that meets the reinforcement requirements. Understandably, the reinforcement command is generated and sent to the controller 100 after the user enters the target area through the interactive interface on the terminal device or base station. The reinforcement command instructs the controller 100 to send the scan identification code corresponding to the target area to the second robot, thereby enabling the second robot to obtain the cloud-shared map corresponding to the target area from the cloud server based on the scan identification code. The reinforcement requirements can be set according to needs; for example, the device type of the cleaning robot meeting the reinforcement requirements is the same as that of the cleaning robot 200 that uploads the cloud-shared map to the cloud server; the reinforcement requirements can also refer to the cleaning robot being in an idle state, etc.

[0054] The second robot scans the received scan identifier code to send a second acquisition request to the cloud server for obtaining the cloud-shared map corresponding to the scan identifier code. Understandably, the second robot obtains a first storage link of the cloud-shared map stored on the cloud server by scanning the scan identifier code. The second acquisition request includes the first storage link, and the second robot requests the cloud-shared map from the cloud server through the first storage link in the second acquisition request.

[0055] The second robot acquires the cloud-shared map corresponding to the scan identifier sent by the cloud server. Understandably, after receiving the second acquisition request, the cloud server locates the cloud-shared map corresponding to the first storage link and sends it to the second robot; that is, the second robot acquires the cloud-shared map corresponding to the scan identifier sent by the cloud server.

[0056] The second robot cleans areas in the target area that were not cleaned by the first robot, based on the cloud-shared map. Understandably, after receiving the cloud-shared map, the second robot can clean these areas based on the map. In this embodiment, a new second robot can be deployed at any time via a reinforcement command to work in conjunction with the first robot for cleaning. By having the first and second robots simultaneously clean multiple sub-areas within the same target area, cleaning time is saved and cleaning efficiency is improved.

[0057] It should be understood that the sequence number of each step in the above embodiments does not imply the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of the present invention.

[0058] In one embodiment, a cleaning robot 200 is also provided, including a control module communicatively connected to a controller. The control module corresponds one-to-one with the cloud-based shared map-based robot cleaning method described in the above embodiments. The control module is used to perform the following steps:

[0059] The robot receives a scanning identification code corresponding to the target area from the controller 100. The scanning identification code is sent after the controller 100 receives the cleaning instruction for the target area and confirms that the cleaning robot 200 meets the preset cleaning requirements.

[0060] Scan the scan identifier code to send a first acquisition request to the cloud server for obtaining the cloud shared map corresponding to the scan identifier code;

[0061] Obtain the cloud-shared map corresponding to the scan identifier sent by the cloud server;

[0062] The target area is cleaned according to the cloud-shared map.

[0063] Each submodule in the aforementioned control module can be implemented entirely or partially through software, hardware, or a combination thereof. Each submodule can be embedded in the processor of a computer device in hardware form or independent of it, or it can be stored in the memory of a computer device in software form, so that the processor can call and execute the operations corresponding to each submodule.

[0064] like Figure 3 As shown, in one embodiment, a cleaning system is also provided. The cleaning system includes a controller 100 and multiple cleaning robots 200 that establish a communication connection with the controller 100. The cleaning system is used to execute the above-described robot cleaning method based on a cloud-shared map. The cleaning system (i.e., the controller 100 and the cleaning robots 200) corresponds one-to-one with the robot cleaning method based on a cloud-shared map in the above embodiment. Specific limitations of the cleaning system can be found in the limitations of the robot cleaning method based on a cloud-shared map described above, and will not be repeated here. Each sub-module in the above-described cleaning system can be implemented entirely or partially through software, hardware, or a combination thereof. Each sub-module can be embedded in or independent of the processor in a computer device in hardware form, or stored in the memory of a computer device in software form, so that the processor can call and execute the operations corresponding to each sub-module.

[0065] In one embodiment, a computer-readable storage medium is also provided, which stores a computer program that, when executed by a processor, implements the steps of the above-described robot cleaning method based on a cloud-shared map.

[0066] Those skilled in the art will understand that all or part of the processes in the methods of the above embodiments can be implemented by instructing related hardware with computer-readable instructions. These computer-readable instructions can be stored in a non-volatile readable storage medium or a volatile readable storage medium. When executed, these computer-readable instructions can include the processes of the embodiments of the above methods. Any references to memory, storage, databases, or other media used in the embodiments provided in this application can include non-volatile and / or volatile memory. Non-volatile memory may include read-only memory (ROM), programmable ROM (PROM), electrically programmable ROM (EPROM), electrically erasable programmable ROM (EEPROM), or flash memory. Volatile memory may include random access memory (RAM) or external cache memory. By way of illustration and not limitation, RAM is available in a variety of forms, such as static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), dual data rate SDRAM (DDRSDRAM), enhanced SDRAM (ESDRAM), synchronous link DRAM (SLDRAM), RAMbus direct RAM (RDRAM), direct memory bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM).

[0067] Those skilled in the art will clearly understand that, for the sake of convenience and brevity, the above-described division of functional units and modules is used as an example. In practical applications, the above functions can be assigned to different functional units and modules as needed, that is, the internal structure of the system can be divided into different functional units or modules to complete all or part of the functions described above.

[0068] The above-described embodiments are only used to illustrate the technical solutions of the present invention, and are not intended to limit it. Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention, and should all be included within the protection scope of the present invention.

Claims

1. A robot cleaning method based on a cloud shared map, characterized by, The application is applied to a cleaning system, the cleaning system comprising a controller and a plurality of cleaning robots in communication with the controller; the method comprising: The controller receives a cleaning instruction of a target area, and sends a scanning identification code corresponding to the target area to a first robot; the first robot refers to a cleaning robot meeting a preset cleaning requirement; The first robot scans the received scanning identification code, and sends a first acquisition request for acquiring a cloud shared map corresponding to the scanning identification code to a cloud server; The first robot acquires the cloud shared map corresponding to the scanning identification code sent by the cloud server; the cloud shared map is generated after global mapping of the target area by any cleaning robot in the cleaning system, and is uploaded to the cloud server; The first robot performs a cleaning operation on the target area according to the cloud shared map. 2.The cloud-based shared map based robot cleaning method of claim 1, wherein, The controller receives a cleaning instruction of a target area, and sends a scanning identification code corresponding to the target area to a first robot, comprising: The controller receives a cleaning instruction containing a unique identification of a target area, and determines whether a scanning identification code associated with the unique identification is stored in a preset storage area of the controller; After determining that the scanning identification code associated with the unique identification is stored in the preset storage area, the controller calls the scanning identification code associated with the unique identification and a robot type; the robot type refers to a device type of a cleaning robot uploading the cloud shared map to the cloud server; The controller determines a target robot of a cleaning robot with a device type consistent with the robot type, and determines a first robot meeting a cleaning requirement according to an idle state of the target robot, and then sends the scanning identification code associated with the unique identification of the target area to all first robots meeting the cleaning requirement. 3.The cloud-based shared map based robot cleaning method of claim 2, wherein, The determination of the first robot meeting the cleaning requirement according to the idle state of the target robot comprises: Acquiring a first number of all target robots in an idle state; Acquiring cleaning information of the target area in the cleaning instruction, the cleaning information comprising an expected cleaning duration and a cleaning area; Acquiring a cleaning speed of the target robot according to the robot type, and determining a second number of the target robots needing cleaning according to the expected cleaning duration, the cleaning area and the cleaning speed; Determining the first robot meeting the cleaning requirement from all target robots in the idle state according to the first number and the second number. 4.The cloud-based shared map based robot cleaning method of claim 3, wherein, The determination of the first robot meeting the cleaning requirement from all target robots in the idle state according to the first number and the second number comprises: When the first number is less than the second number, all target robots in the idle state are determined as the first robot meeting the cleaning requirement, and an expected cleaning duration is generated according to the cleaning speed of the first robot of the first number, and then the expected cleaning duration is prompted. When the first quantity is equal to the second quantity, all the target robots in idle are determined as the first robots meeting the cleaning requirement, and the expected cleaning duration is prompted; When the first quantity is greater than the second quantity, all the target robots in idle are sorted in ascending order according to the real-time distances from the target robots to the target area, and the second quantity of the target robots in idle with the smallest real-time distance are determined as the first robots meeting the cleaning requirement, and the expected cleaning duration is prompted. 5.The cloud-based shared map based robot cleaning method of claim 2, wherein, After determining whether the preset storage area of the controller stores the scan identification code associated with the unique identification, the method further comprises: After determining that the preset storage area does not store the scan identification code associated with the unique identification, the controller determines a first mapping robot from all the cleaning robots according to a preset selection rule, and sends a mapping request of the target area to the first mapping robot; The first mapping robot performs global mapping on the target area according to the received mapping request, generates a first global map of the target area, and sends the first global map to the cloud server, so that the cloud server stores the first global map as a cloud shared map associated with the unique identification of the target area; The controller obtains a first storage link of the cloud shared map stored in the cloud server, generates a scan identification code corresponding to the cloud shared map according to the first storage link, and stores the scan identification code in the preset storage area in association with the unique identification of the target area. 6.The cloud-based shared map based robot cleaning method of claim 2, wherein, After determining that the preset storage area stores the scan identification code associated with the unique identification, the method further comprises: The controller obtains a generation time of the scan identification code, and obtains a time difference between a current time point and the generation time; If the time difference is greater than or equal to a preset time threshold, the controller determines a second mapping robot from all the cleaning robots according to a preset selection rule, and sends a re-mapping request of the target area to the second mapping robot; The second mapping robot performs global mapping on the target area according to the received re-mapping request, generates a second global map of the target area, and sends the second global map to the cloud server, so that the cloud server updates and stores the cloud shared map associated with the unique identification of the target area according to the second global map; The controller obtains a second storage link of the cloud shared map updated and stored in the cloud server, updates the scan identification code corresponding to the cloud shared map according to the second storage link, and stores the updated scan identification code in the preset storage area in association with the unique identification of the target area. 7.The cloud-based shared map based robot cleaning method of claim 1, wherein, After the first robot performs the cleaning operation on the target area according to the cloud shared map, the method further comprises: The controller receives an instruction of increasing the cleaning robot in the target area, and sends the scan identification code to the second robot, wherein the second robot refers to the cleaning robot meeting the requirement of increasing the cleaning robot; The second robot scans the received scan identification code, and sends a second acquisition request for acquiring the cloud shared map corresponding to the scan identification code to the cloud server; The second robot acquires the cloud shared map corresponding to the scan identification code sent by the cloud server; The second robot performs a cleaning operation on the area in the target area which is not cleaned by the first robot according to the cloud shared map.

8. A cleaning robot characterized by comprising: The computer program is executed by the processor to implement the steps of the robot cleaning method based on the cloud shared map according to any one of claims 1 to 7. The controller receives an instruction of increasing the cleaning robot in the target area, and sends the scan identification code to the second robot, wherein the second robot refers to the cleaning robot meeting the requirement of increasing the cleaning robot; The second robot scans the received scan identification code, and sends a second acquisition request for acquiring the cloud shared map corresponding to the scan identification code to the cloud server; The second robot acquires the cloud shared map corresponding to the scan identification code sent by the cloud server; The second robot performs a cleaning operation on the area in the target area which is not cleaned by the first robot according to the cloud shared map.

9. A cleaning system characterized by, The computer program is executed by the processor to implement the steps of the robot cleaning method based on the cloud shared map according to any one of claims 1 to 7.

10. A computer-readable storage medium storing a computer program, the computer program comprising instructions that, when executed by a computer, cause the computer to perform the method of any one of claims 1 to 9. The computer program is executed by the processor to implement the steps of the robot cleaning method based on the cloud shared map according to any one of claims 1 to 7.

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