A cleaning apparatus, control method, device, and storage medium

Abstract

The present disclosure discloses a cleaning device, a control method, an apparatus and a storage medium. The cleaning device comprises a first robot and at least one second robot placed inside a working cabin of the first robot, and a sliding structure is arranged on the shell of the first robot to drive the second robot to move up and down in the height direction of the first robot. Through the technical solution of the present disclosure, the problem that the current cleaning device can only clean ground stains and cannot clean stains and garbage on different planes is solved, and the ground and different planes can be cleaned by the second robot cooperating with the first robot.

Description

TECHNICAL FIELD

[0001] Embodiments of the present disclosure relate to the technical field of computer, and particularly, to a cleaning device, a control method and device, and a storage medium. BACKGROUND

[0002] The use scene of the cleaning device is often not a single height plane. For example, in a large shopping mall, there are tables, chairs, and steps, etc. that need to be cleaned, which are at different planes from the ground and have height differences.

[0003] The current cleaning device can only clean ground stains, and cannot clean stains and garbage on different planes. In the face of the scene of cleaning stains on different planes, only cleaning personnel can wipe and clean these planes, which increases the labor cost. SUMMARY

[0004] Embodiments of the present disclosure provide a cleaning device, a control method and device, and a storage medium to solve the problem that the current cleaning device can only clean ground stains and cannot clean stains and garbage on different planes. The first robot can clean the ground and the second robot can clean different planes.

[0005] In a first aspect, the embodiments of the present disclosure further provide a cleaning device, which comprises a first robot and at least one second robot placed in the working cabin of the first robot. A sliding structure is arranged on the shell of the first robot, and the sliding structure is used to drive the second robot to move up and down along the height direction of the first robot.

[0006] In a second aspect, the embodiments of the present disclosure provide a control method, which comprises:

[0007] If the height of the to-be-cleaned plane is greater than a height threshold, the sliding structure is controlled to drive the second robot to move to a position with the same height as the to-be-cleaned plane along the height direction of the first robot.

[0008] When the distance between the to-be-cleaned plane and the support plate is less than a distance threshold, the second robot is controlled to move to the to-be-cleaned plane.

[0009] A cleaning instruction is sent to the second robot to make the second robot clean the to-be-cleaned plane.

[0010] In a third aspect, the embodiments of the present disclosure further provide a control device, which comprises:

[0011] A first control module is configured to, if the height of the to-be-cleaned plane is greater than a height threshold, control the sliding structure to drive the second robot to move to a position with the same height as the to-be-cleaned plane along the height direction of the first robot.

[0012] a second control module, configured to control the second robot to move to the to-be-cleaned plane when a distance between the to-be-cleaned plane and the support plane is less than a distance threshold;

[0013] an instruction sending module, configured to send a cleaning instruction to the second robot, so that the second robot cleans the to-be-cleaned plane.

[0014] In a fourth aspect, the embodiments of the present disclosure further provide a first robot, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, and the processor implements the control method according to any of the embodiments of the present disclosure when executing the program.

[0015] In a fifth aspect, the embodiments of the present disclosure further provide a computer readable storage medium, having a computer program stored thereon, and the program is executable on a processor to implement the control method according to any of the embodiments of the present disclosure.

[0016] The embodiments of the present disclosure disclose a cleaning device, comprising a first robot and at least one second robot placed inside a working cabin of the first robot, and a sliding structure is arranged on a shell of the first robot, and the sliding structure is used to drive the second robot to move up and down along a height direction of the first robot. When a height of a to-be-cleaned plane is greater than a height threshold, the sliding structure is controlled to drive the second robot to move to a position with the same height as the to-be-cleaned plane along the height direction of the first robot; when a distance between the to-be-cleaned plane and a support plane is less than a distance threshold, the second robot is controlled to move to the to-be-cleaned plane; and a cleaning instruction is sent to the second robot, so that the second robot cleans the to-be-cleaned plane. The problem that the current cleaning device can only clean ground stains and cannot clean stains and garbage on different planes is solved, and the ground and different planes can be cleaned by the second robot cooperating with the first robot. BRIEF DESCRIPTION OF DRAWINGS

[0017] In order to more clearly illustrate the technical solutions of the embodiments of the present disclosure, the following will briefly introduce the drawings needed to be used in the embodiments. It should be understood that the following drawings only show some of the embodiments of the present disclosure, and therefore should not be considered as a limitation to the scope. For those skilled in the art, other related drawings can also be obtained without creative labor.

[0018] Figure 1 is a structural schematic diagram of a cleaning device in the first embodiment of the present disclosure;

[0019] Figure 1a is a structural schematic diagram of another cleaning device in the first embodiment of the present disclosure;

[0020] Figure 1b is a schematic view of controlling a support flat plate to move to a position with the same height as a plane to be cleaned in Embodiment One of the present disclosure;

[0021] Figure 2 is a flowchart of a control method in Embodiment Two of the present disclosure;

[0022] Figure 2a is a flowchart of another control method in Embodiment Two of the present disclosure;

[0023] Figure 3 is a structural schematic view of a control device in Embodiment Three of the present disclosure;

[0024] Figure 4 is a structural schematic view of a first robot in Embodiment Four of the present disclosure. DETAILED DESCRIPTION

[0025] The present disclosure will be further described below in conjunction with the drawings and embodiments. It can be understood that the specific embodiments described herein are only used to explain the present disclosure, but not to limit the present disclosure. In addition, it should be noted that, for the convenience of description, only the parts related to the present disclosure are shown in the drawings, but not all the structures.

[0026] Before the example embodiments are discussed in more detail, it should be mentioned that some of the example embodiments are described as processes or methods depicted as flowcharts. Although the flowcharts depict the operations (or steps) as sequential processes, many of the operations can be performed in parallel, concurrently or at the same time. In addition, the order of the operations can be rearranged. The processes can be terminated when their operations are completed, but can also have additional steps not included in the drawings. The processes can correspond to methods, functions, procedures, subroutines, subprograms, etc. In addition, the embodiments in the present disclosure and the features in the embodiments can be combined with each other without conflict.

[0027] The term "comprising" and its variants used in the present disclosure are open-ended, i.e., "including but not limited to". The term "based on" is "at least partially based on". The term "one embodiment" means "at least one embodiment".

[0028] It should be noted that the "first", "second", etc. concepts mentioned in the present disclosure are only used to distinguish the corresponding content, and are not used to limit the order or mutual dependency.

[0029] Embodiment One

[0030] Figure 1A structural schematic diagram of a cleaning device provided by an embodiment of the present disclosure. The embodiment can be applicable to the case of cleaning screens of different heights. The cleaning device can be implemented in a software and / or hardware manner. The cleaning device can be a commercial robot, such as Figure 1 As shown, the cleaning device specifically includes a first robot 110 and at least one second robot 120 placed inside a working cabin of the first robot. A sliding structure 130 is arranged on the shell of the first robot 110, and the sliding structure 130 is used to drive the second robot 120 to move up and down along the height direction of the first robot 110.

[0031] The size of the at least one second robot placed inside the working cabin of the first robot can be the same or different.

[0032] The sliding structure can include a sliding substructure and a support plate. The sliding substructure can be a linear motor, a screw nut, a gear rack, or a linear motor and a stepper motor, a screw nut and a stepper motor, or a gear rack and a stepper motor. The present disclosure does not limit this.

[0033] The sliding structure can drive the second robot to move up and down along the height direction of the first robot in the following manner: after the height of the to-be-cleaned plane is obtained, the sliding structure drives the second robot to move to a position with the same height as the to-be-cleaned plane along the height direction of the first robot according to the height of the to-be-cleaned plane.

[0034] Specifically, if at least two identical second robots are placed inside the working cabin, after the height and area of the to-be-cleaned plane are obtained, a target robot is selected from the at least two second robots according to the area of the to-be-cleaned plane, and the sliding structure drives the target robot to move to a position with the same height as the to-be-cleaned plane along the height direction of the first robot according to the height of the to-be-cleaned plane. The target robot can be one second robot or at least two second robots. For example, if the cleaning area of one second robot is A (the cleaning area of the second robot is the maximum cleaning area, that is, the cleaning area supported by the power of the second robot, for example, the second robot X needs to be charged or cleaned after cleaning the cleaning area A), and the area of the to-be-cleaned plane is 2A, two second robots are selected. Which second robot to select is related to the power state of the second robot and whether the cleaning is completed, and so on. If there are four second robots in the working cabin, the second robot X and the second robot Y are in a full-power and cleaning-completed state, and the second robot W and the second robot M are in a low-power state, the second robot X and the second robot Y are selected. The present disclosure does not limit this.

[0035] Specifically, if at least two second robots are placed in the working cabin and the cleaning areas of the second robots are different, after the height and area of the to-be-cleaned plane are obtained, a target robot is selected from the at least two second robots according to the area of the to-be-cleaned plane, and the sliding structure is controlled to drive the target robot to move to a position at the same height as the to-be-cleaned plane along the height direction of the first robot according to the height of the to-be-cleaned plane. If the target robot is one, the cleaning area of the target robot is the same as or larger than the area of the to-be-cleaned plane. If the target robot is at least two, the sum of the cleaning areas of the at least two target robots is the same as or larger than the area of the to-be-cleaned plane.

[0036] In an example, the number of second robots to be used is determined according to the size of the area of the to-be-cleaned plane. If the area of the to-be-cleaned plane is large, the sliding structure is controlled to drive multiple second robots to move to a position at the same height as the to-be-cleaned plane along the height direction of the first robot. If the area of the to-be-cleaned plane is small, the sliding structure is controlled to drive one second robot to move to a position at the same height as the to-be-cleaned plane along the height direction of the first robot. For example, the number P of second robots can be determined according to the area of the to-be-cleaned plane, and the sliding structure is controlled to drive P second robots to move to a position at the same height as the to-be-cleaned plane along the height direction of the first robot, where P is a positive integer.

[0037] Specifically, if at least two second robots are placed in the working cabin and the cleaning areas of the second robots are different (the sizes of the second robots are different). If the area of the to-be-cleaned plane is small, a second robot that can work on the to-be-cleaned plane needs to be selected. For example, if the width of the to-be-cleaned plane is A, a second robot with a width smaller than A needs to be selected for cleaning.

[0038] It should be noted that, according to the use requirements of the user, the sliding structure can also drive the second robot to move left and right along the width direction of the first robot.

[0039] In an embodiment, the sliding structure includes a support plate and a sliding substructure, and the sliding substructure is used to drive the support plate to move up and down along the height direction of the first robot.

[0040] The width of the support plate is related to the size of the second robot. For example, the width of the support plate can be the same as the width of the second robot, or the width of the support plate can be an integer multiple of the width of the second robot, or the difference between the width of the support plate and the width of the second robot can be greater than a width threshold, which is not limited in the embodiments of the present disclosure.

[0041] It should be noted that if the width of the support flat plate is the same as the width of the second robot, or greater than one time the width of the second robot and less than two times the width of the second robot, if multiple second robots are needed to clean the to-be-cleaned plane, the first second robot is first controlled to move to the support flat plate, and the first second robot is controlled to move along the support flat plate by a distance of one second robot length, and then the second second robot is controlled to move to the support flat plate, and so on. If the length of the support flat plate is not enough to place all the second robots, part of the second robots can be transported to the to-be-cleaned plane first, and then the sliding structure is controlled to drive the support flat plate to return to the working hatch position, and the remaining robots are transported to the to-be-cleaned plane.

[0042] In one embodiment, the sliding sub-structure is used to drive the support flat plate to be flat or to be folded up.

[0043] The sliding sub-structure can be a screw nut, a gear and a rack, a screw nut and a stepping motor, or a gear and a rack and a stepping motor, or a linear motor and a stepping motor. For example, if the sliding sub-structure is a screw nut and a stepping motor, the stepping motor is arranged on the screw nut, the output shaft of the stepping motor is fixedly connected to one end of the support flat plate, and the stepping motor drives the support flat plate to be flat or to be folded up.

[0044] In one embodiment, the sliding sub-structure includes a linear motor, which is used to drive the support flat plate to move up and down along the height direction of the first robot.

[0045] The linear motor is a kind of transmission device that directly converts electrical energy into linear motion mechanical energy without any intermediate conversion mechanism. The linear motor can be regarded as a radial section of a rotary motor and a flat plane.

[0046] In one embodiment, the sliding sub-structure includes a first stepping motor, the output shaft of the first stepping motor is fixedly connected to one end of the support flat plate, and the first stepping motor drives the support flat plate to be flat or to be folded up.

[0047] Specifically, the sliding structure includes a support flat plate, a linear motor, and a first stepping motor, wherein the linear motor is used to drive the support flat plate to move up and down along the height direction of the first robot, and the first stepping motor drives the support flat plate to be flat or to be folded up.

[0048] In one embodiment, the sliding sub-structure includes a screw nut, the support flat plate is fixedly connected to the screw nut and moves on the screw rod with the screw nut.

[0049] It should be noted that the sliding sub-structure can also be a gear and rack structure, and the embodiments of the present disclosure do not limit this.

[0050] Specifically, the sliding sub-structure includes a screw nut, a user rotates a screw rod to drive the screw nut to move on the screw rod, and since the support plate is fixedly connected with the screw nut, the support plate moves on the screw rod along with the screw nut.

[0051] In an embodiment, the sliding sub-structure further includes a second stepper motor, the second stepper motor is connected to one end of the screw rod, and the second stepper motor is configured to provide power for rotation of the screw rod.

[0052] Specifically, the second stepper motor is connected to one end of the screw rod, and the second stepper motor provides corresponding power for rotation of the screw rod according to the received instruction after receiving the instruction. For example, when the height of the to-be-cleaned plane is greater than a height threshold, a first instruction is sent to the second stepper motor to make the second stepper motor provide power for rotation of the screw rod, the screw rod rotates to drive the screw nut to move on the screw rod, and since the support plate is fixedly connected with the screw nut, the support plate moves on the screw rod along with the screw nut to the same height as the to-be-cleaned plane.

[0053] In an embodiment, the sliding sub-structure further includes a third stepper motor, the third stepper motor is arranged on the screw nut, an output shaft of the third stepper motor is fixedly connected to one end of the support plate, and the third stepper motor rotates to drive the support plate to be flat or to be folded up.

[0054] Specifically, the sliding structure includes a support plate, a screw nut, a second stepper motor, and a third stepper motor, the second stepper motor is connected to one end of the screw rod, the second stepper motor is configured to provide power for rotation of the screw rod to make the support plate move on the screw rod along with the screw nut, the third stepper motor is arranged on the screw nut, an output shaft of the third stepper motor is fixedly connected to one end of the support plate, and the third stepper motor rotates to drive the support plate to be flat or to be folded up.

[0055] Optionally, at least one infrared sensor is arranged at a bottom edge of the support plate away from the first robot, and the infrared sensor is configured to detect a distance between the support plate and the to-be-cleaned plane.

[0056] The infrared sensor is a sensing device, which is an infrared-based measurement system. It has a wide measurement range and a short response time. The infrared sensor has a pair of infrared signal emitting and receiving diodes. It emits a beam of infrared light, which is reflected after irradiating the object. The reflected signal is received by the sensor, and then the CCD image processing receives the time difference data of the emission and reception. After being processed by the signal processor, the distance of the object is calculated.

[0057] Optionally, the top of the first robot is provided with at least one camera, which is used to detect the distance between the support plate and the to-be-cleaned plane, and obtain the volume of the to-be-cleaned object on the to-be-cleaned plane.

[0058] As shown in Figure 1a The cleaning device provided by the embodiment of the present disclosure comprises a first robot and at least one second robot placed inside the working cabin of the first robot. The first robot comprises an MCU, a motor driver and a cleaning assembly. The cleaning device further comprises a camera arranged at the top of the first robot and an infrared sensor arranged at the bottom edge of the support plate away from the first robot. The cleaning device further comprises a support plate and a sliding substructure.

[0059] As shown in Figure 1b If the height of the to-be-cleaned plane is greater than a height threshold, the sliding structure is controlled to drive the second robot to move to a position at the same height as the to-be-cleaned plane along the height direction of the first robot. The camera is used to detect the distance between the support plate and the to-be-cleaned plane when the first robot moves to the to-be-cleaned plane. When the distance between the support plate and the to-be-cleaned plane is less than a distance threshold, the second robot is controlled to move to the to-be-cleaned plane.

[0060] The technical scheme of the embodiment discloses a cleaning device, which comprises a first robot and at least one second robot placed inside the working cabin of the first robot. A sliding structure is arranged on the shell of the first robot, and the sliding structure is used to drive the second robot to move up and down along the height direction of the first robot. When the height of the to-be-cleaned plane is greater than a height threshold, the sliding structure is controlled to drive the second robot to move to a position at the same height as the to-be-cleaned plane along the height direction of the first robot. When the distance between the to-be-cleaned plane and the support plate is less than a distance threshold, the second robot is controlled to move to the to-be-cleaned plane. A cleaning instruction is sent to the second robot to make the second robot clean the to-be-cleaned plane. The problem that the current cleaning device can only clean ground stains and cannot clean stains and garbage on different planes is solved, and the second robot can cooperate with the first robot to clean the ground and different planes.

[0061] Embodiment two

[0062] Figure 2 A flowchart of a control method provided by the second embodiment of the present disclosure is provided. The embodiment can be applied to the control of the second robot and the sliding structure. The method can be performed by the control device in the embodiment of the present disclosure, which can be realized in the form of software and / or hardware. Figure 2As shown, the control method specifically includes the following steps:

[0063] S210, if the height of the to-be-cleaned plane is greater than the height threshold, controlling the sliding structure to drive the second robot to move to a position with the same height as the to-be-cleaned plane along the height direction of the first robot.

[0064] The to-be-cleaned plane is a to-be-cleaned plane corresponding to a task received by the first robot, for example, the first robot receives a cleaning task, wherein the cleaning task includes height information of the to-be-cleaned plane.

[0065] The height threshold is related to the maximum cleaning height of the first robot, for example, the height threshold is equal to the maximum cleaning height of the first robot.

[0066] The second robot is a second robot placed in the working cabin of the first robot.

[0067] Specifically, controlling the sliding structure to drive the second robot to move to a position with the same height as the to-be-cleaned plane along the height direction of the first robot includes: selecting a target robot from at least two second robots in the working cabin according to the size of the to-be-cleaned plane, and controlling the sliding structure to drive the target robot to move to a position with the same height as the to-be-cleaned plane along the height direction of the first robot.

[0068] Specifically, the way of controlling the sliding structure to drive the second robot to move to a position with the same height as the to-be-cleaned plane along the height direction of the first robot can be: if there are multiple identical second robots in the working cabin, after obtaining the height and area of the to-be-cleaned plane, a target robot is selected from at least two second robots according to the area of the to-be-cleaned plane, and the sliding structure is controlled to drive the target robot to move to a position with the same height as the to-be-cleaned plane along the height direction of the first robot, wherein the target robot can be one second robot or at least two second robots, for example, if the cleaning area of one second robot is A (the cleaning area of the second robot is the maximum cleaning area, that is, the cleaning area supported by the power of the second robot, for example, after the second robot X cleans the cleaning area A, it needs to be charged or cleaned), and the area of the to-be-cleaned plane is 2A, then two second robots are selected, and which second robot is selected is also related to the power state and whether the cleaning is completed, if there are four second robots in the working cabin, wherein the second robot X and the second robot Y are in a full power and cleaning completed state, and the second robot W and the second robot M are in a low power state, then the second robot X and the second robot Y are selected, which is not limited in the embodiment of the present disclosure.

[0069] Specifically, the manner of controlling the sliding structure to drive the second robot to move to a position with the same height as the to-be-cleaned plane along the height direction of the first robot can be: if there are at least two second robots in the working cabin and the cleaning areas of the at least two second robots are different, after the height and the area of the to-be-cleaned plane are obtained, a target robot is selected from the at least two second robots according to the area of the to-be-cleaned plane, and the sliding structure is controlled to drive the target robot to move to a position with the same height as the to-be-cleaned plane along the height direction of the first robot. If the target robot is one, the cleaning area of the target robot is the same as or larger than the area of the to-be-cleaned plane. If the target robot is at least two, the sum of the cleaning areas of the at least two target robots is the same as or larger than the area of the to-be-cleaned plane.

[0070] In an example, the number of second robots to be used is determined according to the size of the area of the to-be-cleaned plane. If the area of the to-be-cleaned plane is large, the sliding structure is controlled to drive multiple second robots to move to a position with the same height as the to-be-cleaned plane along the height direction of the first robot. If the area of the to-be-cleaned plane is small, the sliding structure is controlled to drive one second robot to move to a position with the same height as the to-be-cleaned plane along the height direction of the first robot. For example, the number P of second robots can be determined according to the area of the to-be-cleaned plane, and the sliding structure is controlled to drive P second robots to move to a position with the same height as the to-be-cleaned plane along the height direction of the first robot, where P is a positive integer.

[0071] Specifically, the manner of controlling the sliding structure to drive the second robot to move to a position with the same height as the to-be-cleaned plane along the height direction of the first robot can be: if there are at least two second robots in the working cabin and the areas of the at least two second robots are different (the sizes of the second robots are different). If the area of the to-be-cleaned plane is small, a second robot capable of working on the to-be-cleaned plane needs to be selected. For example, if the width of the to-be-cleaned plane is A, a second robot with a width smaller than A needs to be selected for cleaning.

[0072] The cleaning device comprises: a first robot and at least one second robot placed inside the working cabin of the first robot. The first robot shell is provided with a sliding structure for driving the second robot to move up and down along the height direction of the first robot.

[0073] The sliding structure can comprise: a support plate and a sliding substructure for driving the support plate to move up and down along the height direction of the first robot, and for driving the support plate to be flat or to be folded up.

[0074] The sliding structure can include a support plate, a linear motor and a first stepper motor. The linear motor is used to drive the support plate to move up and down along the first robot height direction. The output shaft of the first stepper motor is fixedly connected to one end of the support plate. The first stepper motor is rotated to drive the support plate to be flat or to be folded up.

[0075] The sliding structure can include a support plate, a screw nut, a second stepper motor and a third stepper motor. The support plate is fixedly connected to the screw nut and moves with the screw nut on the screw rod. The second stepper motor is connected to one end of the screw rod and is used to provide power for the rotation of the screw rod. The third stepper motor is arranged on the screw nut. The output shaft of the third stepper motor is fixedly connected to one end of the support plate. The third stepper motor is rotated to drive the support plate to be flat or to be folded up.

[0076] The control method can include the following steps. If the sliding structure includes a support plate, a linear motor and a first stepper motor, an instruction is sent to the first stepper motor to make the stepper motor rotate and drive the support plate to be flat. The second robot is controlled to move to the support plate. A control instruction is generated according to the height of the to-be-cleaned plane and is sent to the linear motor to drive the support plate to move along the first robot height direction to a position with the same height as the to-be-cleaned plane. If the sliding structure includes a support plate, a screw nut, a second stepper motor and a third stepper motor, an instruction is sent to the third stepper motor to make the third stepper motor rotate and drive the support plate to be flat. The second robot is controlled to move to the support plate. A control instruction is generated according to the height of the to-be-cleaned plane and is sent to the second stepper motor. The second stepper motor is connected to one end of the screw rod and is used to provide power for the rotation of the screw rod. The support plate is fixedly connected to the screw nut and moves with the screw nut on the screw rod. The support plate is moved to a position with the same height as the to-be-cleaned plane.

[0077] Specifically, if the height of the to-be-cleaned plane is greater than the height threshold, the manner of controlling the sliding structure to drive the second robot to move to a position with the same height as the to-be-cleaned plane along the height direction of the first robot can be: the first robot receives a cleaning task, wherein the cleaning task carries the height of the to-be-cleaned plane, it is judged whether the height of the to-be-cleaned plane is greater than the height threshold, if the height of the to-be-cleaned plane is greater than the height threshold, an instruction is sent to the first stepper motor to make the stepper motor rotate to make the supporting flat plate flat, the second robot is controlled to move to the supporting flat plate, a control instruction is generated according to the height of the to-be-cleaned plane, and the control instruction is sent to the linear motor to make the linear motor drive the supporting flat plate to move to a position with the same height as the to-be-cleaned plane along the height direction of the first robot. If the height of the to-be-cleaned plane is greater than the height threshold, the manner of controlling the sliding structure to drive the second robot to move to a position with the same height as the to-be-cleaned plane along the height direction of the first robot can also be: the first robot receives a cleaning task, wherein the cleaning task carries the height of the to-be-cleaned plane, it is judged whether the height of the to-be-cleaned plane is greater than the height threshold, if the height of the to-be-cleaned plane is greater than the height threshold, an instruction is sent to the third stepper motor to make the third stepper motor rotate to make the supporting flat plate flat, the second robot is controlled to move to the supporting flat plate, a control instruction is generated according to the height of the to-be-cleaned plane, and the control instruction is sent to the second stepper motor connected to one end of the lead screw, the second stepper motor is used to provide power for the rotation of the lead screw, the supporting flat plate is fixedly connected with the nut and moves with the nut on the lead screw, until the supporting flat plate moves to a position with the same height as the to-be-cleaned plane.

[0078] S220, when the distance between the to-be-cleaned plane and the supporting flat plate is less than the distance threshold, the second robot is controlled to move to the to-be-cleaned plane.

[0079] Wherein, the distance between the to-be-cleaned plane and the supporting flat plate can be obtained by: at least one infrared sensor is arranged at the bottom edge of the supporting flat plate away from the first robot, and the distance between the supporting flat plate and the to-be-cleaned plane is detected by the infrared sensor.

[0080] Specifically, the manner of controlling the second robot to move to the to-be-cleaned plane can be: the first robot sends a moving instruction to the second robot to make the second robot move to the to-be-cleaned plane.

[0081] Specifically, if the number of the second robots is one, the second robot is directly controlled to move to the to-be-cleaned plane, and if the number of the second robots is at least two, the second robots are sequentially controlled to move to the to-be-cleaned plane. For example, if there are a second robot A and a second robot B, the second robot A is controlled to move to the to-be-cleaned plane and move forward to a position where one second robot can be placed, and the second robot B is controlled to move to the to-be-cleaned plane.

[0082] Specifically, when the distance between the to-be-cleaned plane and the support plane is less than the distance threshold, the manner of controlling the second robot to move to the to-be-cleaned plane can be: acquiring the distance between the to-be-cleaned plane and the support plane, and when the distance between the to-be-cleaned plane and the support plane is less than the distance threshold, controlling the second robot to move to the to-be-cleaned plane; if the distance between the to-be-cleaned plane and the support plane is greater than or equal to the distance threshold, controlling the first robot to move to the to-be-cleaned plane until the distance between the to-be-cleaned plane and the support plane is less than the distance threshold, and then stopping the first robot from moving, and controlling the second robot to move to the to-be-cleaned plane. In this way, the safety of the second robot can be ensured to prevent the second robot from falling from the gap due to the large distance between the to-be-cleaned plane and the support plane, thereby preventing damage to the second robot.

[0083] S230, sending a cleaning instruction to the second robot to make the second robot clean the to-be-cleaned plane.

[0084] The cleaning instruction is obtained in the following manner: after the first robot receives the cleaning task, the cleaning instruction is generated according to the cleaning task, and the cleaning instruction is sent to the second robot to make the second robot clean the to-be-cleaned plane.

[0085] Specifically, the manner of sending the cleaning instruction to the second robot to make the second robot clean the to-be-cleaned plane can be: if the number of the second robots is one, the cleaning instruction is directly sent to the second robot to make the second robot clean the to-be-cleaned plane; if the number of the second robots is at least two, the cleaning instruction of each second robot is determined according to the number of the second robots, the area of the to-be-cleaned plane, the cleaning area of each second robot and the size of each second robot, and the cleaning instruction is sent to each of the at least two second robots to make the at least two second robots clean the to-be-cleaned plane. For example, if there are a second robot A and a second robot B, the cleaning instruction Q for the second robot A and the cleaning instruction W for the second robot B are determined according to the number of the second robots being two, the area of the to-be-cleaned plane, the cleaning area of each second robot and the size of each second robot, the cleaning instruction Q is sent to the second robot A, and the cleaning instruction W is sent to the second robot B to make the second robot A and the second robot B clean the to-be-cleaned plane.

[0086] In one embodiment, the sliding structure comprises a support plate and a sliding substructure.

[0087] Correspondingly, if the height of the to-be-cleaned plane is greater than the height threshold, the sliding structure is controlled to drive the second robot to move along the height direction of the first robot to a position at the same height as the to-be-cleaned plane, comprising:

[0088] If the height of the to-be-cleaned plane is greater than the height threshold, the sliding substructure is controlled to drive the support plate to be flat, and the second robot is controlled to move to the support plate;

[0089] The sliding substructure is controlled to drive the support plate to move along the height direction of the first robot to a position at the same height as the to-be-cleaned plane according to the height of the to-be-cleaned plane.

[0090] The manner of controlling the sliding substructure to drive the support plate to be flat can be: if the sliding structure comprises a support plate, a linear motor and a first stepping motor, an instruction is sent to the first stepping motor to make the stepping motor rotate to drive the support plate to be flat; if the sliding structure comprises a support plate, a screw nut, a second stepping motor and a third stepping motor, an instruction is sent to the third stepping motor to make the third stepping motor rotate to drive the support plate to be flat.

[0091] Specifically, if the height of the to-be-cleaned plane is greater than the height threshold, the control of the sliding substructure driving the support flat plate to be flat and the control of the second robot moving to the support flat plate can be: the first robot receives a cleaning task, obtains the height of the to-be-cleaned plane carried by the cleaning task, judges whether the height of the to-be-cleaned plane is greater than the height threshold, if the height of the to-be-cleaned plane is less than or equal to the height threshold, the first robot cleans the to-be-cleaned plane, if the height of the to-be-cleaned plane is greater than the height threshold, an instruction is sent to the first stepper motor to make the stepper motor rotate to drive the support flat plate to be flat, and a moving instruction is sent to the second robot to make the second robot move from inside the working cabin of the first robot to the support flat plate. If the height of the to-be-cleaned plane is greater than the height threshold, the control of the sliding substructure driving the support flat plate to be flat and the control of the second robot moving to the support flat plate can also be: the first robot receives a cleaning task, obtains the height of the to-be-cleaned plane carried by the cleaning task, judges whether the height of the to-be-cleaned plane is greater than the height threshold, if the height of the to-be-cleaned plane is less than or equal to the height threshold, the first robot cleans the to-be-cleaned plane, if the height of the to-be-cleaned plane is greater than the height threshold, an instruction is sent to the third stepper motor to make the third stepper motor rotate to drive the support flat plate to be flat, and a moving instruction is sent to the second robot to make the second robot move from inside the working cabin of the first robot to the support flat plate.

[0092] Specifically, the control of the sliding substructure driving the support flat plate to move along the height direction of the first robot to a position with the same height as the to-be-cleaned plane according to the height of the to-be-cleaned plane can be: if the sliding structure includes a support flat plate, a linear motor and a first stepper motor, a control instruction is generated according to the height of the to-be-cleaned plane, and the control instruction is sent to the linear motor to make the linear motor drive the support flat plate to move along the height of the first robot to a position with the same height as the to-be-cleaned plane. The control of the sliding substructure driving the support flat plate to move along the height direction of the first robot to a position with the same height as the to-be-cleaned plane according to the height of the to-be-cleaned plane can be: if the sliding structure includes a support flat plate, a screw nut, a second stepper motor and a third stepper motor, a control instruction is generated according to the height of the to-be-cleaned plane, and the control instruction is sent to the second stepper motor, one end of the screw rod is connected to the second stepper motor, the second stepper motor is used to provide power for the rotation of the screw rod, the support flat plate is fixedly connected with the nut and moves with the nut on the screw rod until the support flat plate moves to a position with the same height as the to-be-cleaned plane.

[0093] In one embodiment, after sending a cleaning instruction to the second robot to make the second robot clean the to-be-cleaned plane, it further includes:

[0094] acquire the volume of the object to be cleaned on the plane to be cleaned;

[0095] if the volume of the object to be cleaned is greater than the volume threshold, control the second robot to move the object to be cleaned to the support plate;

[0096] when the support plate is located at the garbage collection entrance, control the sliding substructure to retract the support plate, so that the object to be cleaned is collected into the garbage collection entrance.

[0097] The first robot is provided with a garbage collection area, and a garbage collection entrance is arranged on the outer surface of the first robot. Alternatively, the garbage collection area of the first robot is inside the working cabin of the first robot, and the garbage collection entrance is the working cabin entrance.

[0098] The top of the first robot is provided with at least one camera, which is used to detect the distance between the support plate and the plane to be cleaned, and acquire the volume of the object to be cleaned on the plane to be cleaned.

[0099] Specifically, the way to acquire the volume of the object to be cleaned on the plane to be cleaned can be that at least one camera arranged on the top of the first robot acquires the volume of the object to be cleaned on the plane to be cleaned.

[0100] The volume threshold is related to the second robot. If the maximum volume of the object to be cleaned that can be cleaned by the second robot is R, the volume threshold is R.

[0101] Specifically, if the volume of the object to be cleaned is greater than the volume threshold, the way to control the second robot to move the object to be cleaned to the support plate can be that the volume of the object to be cleaned is acquired. If the volume of the object to be cleaned is less than or equal to the volume threshold, the second robot can directly clean the plane to be cleaned. If the volume of the object to be cleaned is greater than the volume threshold, the second robot is controlled to move the object to be cleaned to the support plate.

[0102] Specifically, when the support flat plate is located at the garbage collection entrance, the manner of controlling the sliding substructure to drive the support flat plate to be retracted so that the object to be cleaned is collected into the garbage collection entrance can be: if the sliding structure comprises a support flat plate, a linear motor and a first stepper motor, when the support flat plate is located at the garbage collection entrance, an instruction is sent to the first stepper motor to drive the stepper motor to rotate and drive the support flat plate to be retracted, so that the object to be cleaned is collected into the garbage collection entrance. When the support flat plate is located at the garbage collection entrance, the manner of controlling the sliding substructure to drive the support flat plate to be retracted so that the object to be cleaned is collected into the garbage collection entrance can be: if the sliding structure comprises a support flat plate, a screw nut, a second stepper motor and a third stepper motor, when the support flat plate is located at the garbage collection entrance, an instruction is sent to the third stepper motor to drive the third stepper motor to rotate and drive the support flat plate to be retracted, so that the object to be cleaned is collected into the garbage collection entrance.

[0103] In one embodiment, after sending the cleaning instruction to the second robot to clean the plane to be cleaned, further comprising:

[0104] determining a target task according to the task list, and executing the target task;

[0105] when receiving the return instruction sent by the second robot, controlling the sliding substructure to drive the support plate to move to a position with the same height as the plane to be cleaned;

[0106] when the distance between the plane to be cleaned and the support flat plate is less than a distance threshold, controlling the second robot to move to the support flat plate;

[0107] when the support flat plate moves to a position with the same height as the work cabin entrance, controlling the second robot to move into the work cabin.

[0108] wherein the task list is a pre-received task list, and the tasks in the task list are sorted according to the task receiving time and / or the priority of the tasks.

[0109] The target task can be determined according to the task list in the following manner: the next task of the current task in the task list is obtained, and the next task of the current task is determined as the target task. For example, the tasks in the task list can be task 1, task 2 and task 3 in turn. After the first robot receives task 1, it is determined according to the height of the to-be-cleaned plane carried by task 1 that the height of the to-be-cleaned plane is greater than the height threshold. The sliding structure is controlled to drive the second robot to move to a position at the same height as the to-be-cleaned plane along the height direction of the first robot. When the distance between the to-be-cleaned plane and the support flat plate is less than the distance threshold, the second robot is controlled to move to the to-be-cleaned plane. The first robot obtains task 2.

[0110] The target task can be determined according to the task list in the following manner: the next task of the current task in the task list is obtained, and the next task of the current task is determined as the target task. For example, the tasks in the task list can be task 1, task 2 and task 3 in turn. After the first robot receives task 1, it is determined according to the height of the to-be-cleaned plane carried by task 1 that the height of the to-be-cleaned plane is greater than the height threshold. The sliding structure is controlled to drive the second robot to move to a position at the same height as the to-be-cleaned plane along the height direction of the first robot. When the distance between the to-be-cleaned plane and the support flat plate is less than the distance threshold, the second robot is controlled to move to the to-be-cleaned plane. The first robot obtains task 2.

[0111] The return instruction sent by the second robot can be a cleaning task completion instruction. For example, after the second robot finishes cleaning, the first robot is sent a return instruction.

[0112] Specifically, when receiving the return instruction sent by the second robot, the manner of controlling the sliding substructure to drive the support plate to move to a position with the same height as the to-be-cleaned plane can be: if a return instruction sent by one second robot is received, the sliding substructure is controlled to drive the support plate to move to a position with the same height as the to-be-cleaned plane. If there are return instructions sent by at least two second robots, the position information of each second robot and the current position information of the first robot are obtained, the sequence of recovering the second robots is determined according to the position information of each second robot and the current position information of the first robot, the route of recovering the second robots can be shortened, and time and energy can be saved. For example, if the second robot X is closer to the current position of the first robot, the second robot X is recovered first, and then the second robot Y is recovered. If there are return instructions sent by at least two second robots, the power information of each second robot is obtained, and the sequence of recovering the second robots is determined according to the power information of each robot. In order to prevent the situation that the second robot cannot be recovered due to insufficient power.

[0113] In one embodiment, after sending the cleaning instruction to the second robot to make the second robot clean the to-be-cleaned plane, the method further comprises:

[0114] If the task completion information and / or the cleaning cloth cleaning information sent by the second robot is received, the sliding substructure is controlled to drive the support plate to move to a position with the same height as the to-be-cleaned plane;

[0115] If the distance between the to-be-cleaned plane and the support plate is less than a distance threshold, the second robot is controlled to move to the support plate;

[0116] When the support plate moves to a position with the same height as the entrance of the work cabin, the second robot is controlled to move into the work cabin for cleaning the cleaning cloth.

[0117] Specifically, when the second robot completes the cleaning task of the plane or the cleaning cloth needs to be cleaned when the use time is up, the second robot interacts with the first robot to inform it to make the support plate and the plane horizontal, and then the second robot moves to the support plate, the support plate is controlled to return to the height of the entrance of the work cabin, and the second robot enters the work cabin of the first robot to clean the cleaning cloth. If the cleaning task of the to-be-cleaned plane is not completed, the second robot is controlled to return to the plane to continue cleaning after the second robot completes the cleaning, and if the cleaning task is completed, the second robot does not need to exit the cabin, and the first robot can continue to perform the cleaning ground work.

[0118] In one specific example, the first robot provided by the present disclosure can only clean stains on the ground, and cannot clean stains on different planes (such as table top, chair surface, and step surface). A working cabin is designed in the first robot, and at least one second robot is placed inside the working cabin. A sliding structure is designed on the outer shell of the first robot, and the sliding structure is used to drive the second robot to move up and down along the height direction of the first robot. The sliding structure includes a support plate and a sliding substructure. An infrared sensor is placed on the bottom edge of the support plate, which is used to assist the camera in detecting the distance between the support plate and the plane to be cleaned. A garbage collection inlet is designed in the upper part of the first robot, and a depth camera is placed on the top of the whole machine to perform visual image processing. It should be emphasized that in order to reduce the power consumption of the second robot and improve the working time, the second robot does not need to be designed with a high-power laser radar to construct a graph, but a fall prevention sensor is designed on the chassis to explore the edge of the graph. Because the table top or chair surface or step cannot have stubborn stains, a high-power brush washing component is not designed, but a piece of cloth is equipped to wipe the stains on the plane. The second robot is no longer equipped with a water tank, but is soaked and wet in the working cabin to automatically clean the cloth. When a large piece of garbage is encountered on the plane (the camera on the top of the first robot identifies a large piece of garbage, and the interactive information is transmitted to the second robot), the second robot will go around the garbage, push the garbage to the support plate, and then move the support plate to the garbage collection inlet, and then the garbage will be poured into the inlet through the folding and lifting action. Figure 2aAs shown, when the first robot performs a cleaning task, it starts to clean the stains on the ground, encounters a plane with a height, and sends a command to the MCU to control the work cabin to start to soak and wet the cloth of the second robot, then to flatten and support the flat plate, and then to interact with the second robot to move the second robot to the support flat plate. At this time, the camera on the top of the first robot identifies the height of the plane, and the MCU receives the height information and controls the support flat plate to move to a position horizontally with the platform plane; the camera and the infrared sensor will monitor the distance between the support flat plate and the plane to be cleaned in real time, and send the information to the MCU to control the first robot to move close to the plane, and when the distance between the two satisfies the distance that the second robot can safely cross, the MCU will notify the second robot to move to the plane to start to perform the cleaning task. When the second robot performs the cleaning task, the camera on the top of the first robot starts to identify the garbage on the plane, and if no large garbage is identified, the first robot will leave the vicinity of the plane to perform its own cleaning task; if large garbage is identified, the second robot will be notified to push the garbage to the support flat plate, and when the support flat plate moves to the garbage collection entrance, the support flat plate is controlled to be lifted and collected, so that the garbage slides into the garbage collection entrance of the first robot, and until all the large garbage is collected into the first robot, the first robot will leave the plane to perform its own cleaning task, and the second robot will start to perform its own plane cleaning task. When the second robot finishes the cleaning task of the plane, or the cloth needs to be washed, it will interact with the commercial cleaning robot to inform it to make the support flat plate horizontal with the plane, and then the second robot moves to the support flat plate, and the support flat plate returns to the height of the work cabin entrance, and the second robot enters the work cabin to wash the cloth. If the plane cleaning task is not completed, it returns to the plane to continue cleaning, and if it is completed, it does not need to exit the cabin, and the first robot can continue to perform the ground cleaning work.

[0119] The technical scheme of the embodiment is that when the height of the plane to be cleaned is greater than a height threshold, the sliding structure is controlled to drive the second robot to move to a position with the same height as the plane to be cleaned along the height direction of the first robot; when the distance between the plane to be cleaned and the support flat plate is less than a distance threshold, the second robot is controlled to move to the plane to be cleaned; and a cleaning instruction is sent to the second robot to make the second robot clean the plane to be cleaned. The problem that the current cleaning device can only clean the stains on the ground and cannot clean the stains and garbage on different planes is solved, and the ground and different planes can be cleaned by the second robot cooperating with the first robot.

[0120] Embodiment three

[0121] Figure 3This is a schematic diagram of a control device provided in Embodiment 3 of this disclosure. This embodiment is applicable to controlling a second robot and a sliding structure. The device can be implemented using software and / or hardware, and can be integrated into the first robot, such as... Figure 3 As shown, the control device specifically includes: a first control module 310, a second control module 320, and an instruction sending module 330.

[0122] The first control module is used to control the sliding structure to move the second robot along the height direction of the first robot to a position equal to the height of the surface to be cleaned if the height of the surface to be cleaned is greater than a height threshold.

[0123] The second control module is used to control the second robot to move to the surface to be cleaned when the distance between the surface to be cleaned and the support plate is less than a distance threshold.

[0124] The instruction sending module is used to send cleaning instructions to the second robot so that the second robot cleans the surface to be cleaned.

[0125] The above-described products can perform the methods provided in any embodiment of this disclosure, and have the corresponding functional modules and beneficial effects for performing the methods.

[0126] In this embodiment, when the height of the surface to be cleaned is greater than a height threshold, the sliding structure is controlled to move the second robot along the height direction of the first robot to a position equal to the height of the surface to be cleaned. When the distance between the surface to be cleaned and the supporting plate is less than a distance threshold, the second robot is controlled to move to the surface to be cleaned. A cleaning command is sent to the second robot to clean the surface to be cleaned. This solves the problem that current cleaning equipment can only clean stains on the ground and cannot clean stains and garbage on different surfaces. The second robot, in conjunction with the first robot, can clean the ground and different surfaces.

[0127] Example 4

[0128] Figure 4 This is a schematic diagram of the structure of a terminal device provided in Embodiment 4 of this disclosure. Figure 4 As shown, the terminal device provided in Embodiment 3 of this disclosure includes: one or more processors 31 and a storage device 32; the processor 31 in the terminal device may be one or more, Figure 4 Taking a processor 31 as an example; storage device 32 is used to store one or more programs; the one or more programs are executed by the one or more processors 31, causing the one or more processors 31 to implement the control method as described in any one of the embodiments of this disclosure.

[0129] The terminal device can further include an input device 33 and an output device 34.

[0130] The processor 31, the storage device 32, the input device 33, and the output device 34 in the terminal device can be connected by a bus or other means, Figure 4 For example, the connection by the bus is taken as an example.

[0131] The storage device 32 in the terminal device can be used to store one or more programs as a computer readable storage medium, and the programs can be software programs, computer executable programs, and modules, such as program instructions / modules corresponding to the control method provided by the embodiment of the present disclosure (for example, the modules in the control device shown in the embodiment of the present disclosure, including a first control module 310, a second control module 320, and an instruction sending module 330). The processor 31 executes the software programs, instructions, and modules stored in the storage device 32, thereby performing various functional applications and data processing of the terminal device, that is, implementing the control method in the above method embodiments. Figure 3

[0132] The storage device 32 can include a program storage area and a data storage area, wherein the program storage area can store an operating system and application programs required by at least one function; the data storage area can store data created according to the use of the terminal device, and the like. In addition, the storage device 32 can include a high-speed random access memory, and can also include a non-volatile memory, such as at least one magnetic disk storage device, a flash memory device, or other non-volatile solid-state storage device. In some examples, the storage device 32 can further include a memory remotely arranged with respect to the processor 31, and these remote memories can be connected to the device through a network. Examples of the above network include but are not limited to the Internet, an intranet, a local area network, a mobile communication network, and a combination thereof.

[0133] The input device 33 can be used to receive input digital or character information, and to generate key signal inputs related to the user settings and function control of the terminal device. The output device 34 can include a display device such as a display screen.

[0134] When the one or more programs included in the terminal device are executed by the one or more processors 31, the programs perform the following operations:

[0135] If the height of the to-be-cleaned plane is greater than the height threshold, the sliding structure is controlled to drive the second robot to move to a position with the same height as the to-be-cleaned plane along the height direction of the first robot;

[0136] When the distance between the to-be-cleaned plane and the support plate is less than the distance threshold, the second robot is controlled to move to the to-be-cleaned plane;

[0137] ​sending a cleaning instruction to the second robot to make the second robot clean the to-be-cleaned plane.

[0138] Embodiment five

[0139] The embodiment five of the present disclosure provides a computer readable storage medium, which stores a computer program. The program is executed by a processor to perform a control method, and the method comprises the following steps:

[0140] If the height of the to-be-cleaned plane is greater than the height threshold, the sliding structure drives the second robot to move to a position with the same height as the to-be-cleaned plane along the height direction of the first robot;

[0141] When the distance between the to-be-cleaned plane and the support plane is less than the distance threshold, the second robot is controlled to move to the to-be-cleaned plane;

[0142] sending a cleaning instruction to the second robot to make the second robot clean the to-be-cleaned plane.

[0143] Optionally, the program is executed by the processor to further perform the control method provided by any of the embodiments of the present disclosure.

[0144] The computer storage medium of the embodiment of the present disclosure can adopt any combination of one or more computer readable media. The computer readable medium can be a computer readable signal medium or a computer readable storage medium. The computer readable storage medium may, for example, but is not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, device or component, or any combination thereof. More specific examples (non-exhaustive list) of the computer readable storage medium include: an electrical connection with one or more wires, a portable computer diskette, a hard disk, a random access memory (RAM), a read only memory (ROM), an erasable programmable read only memory (EPROM), a flash memory, an optical fiber, a portable CD-ROM, an optical storage device, a magnetic storage device, or any suitable combination of the above. The computer readable storage medium can be any tangible medium containing or storing a program that can be used by or in conjunction with an instruction execution system, device or component.

[0145] A computer readable signal medium can include a propagated data signal with computer readable program code embodied therein, for example, in baseband or as part of a carrier wave. Such a propagated signal can take any of a variety of forms, including, but not limited to, electro-magnetic, optical, or any suitable combination thereof. A computer readable signal medium can be any computer readable medium that can be involved in

[0146] The computer readable medium can include any medium that can store or transfer information for use by or in connection with an instruction execution system, apparatus, or device.

[0147] The computer program product or computer readable medium of the computing system can include transitory signals and / or non-transitory signals. The computer program product or computer readable medium of the computing system can include any medium that stores digital information in a non-transitory way. The computer program product or computer readable medium of the computing system can include memory.

[0148] Note that the above only describes the preferred embodiments of the present disclosure and the principles of the applied technology. Those skilled in the art will understand that the present disclosure is not limited to the specific embodiments described herein, and that various obvious changes, reconfigurations and substitutions can be made by those skilled in the art without departing from the scope of the present disclosure. Therefore, although the present disclosure has been described in detail through the above embodiments, the present disclosure is not limited to the above embodiments, and can include more other equivalent embodiments without departing from the concept of the present disclosure, and the scope of the present disclosure is determined by the scope of the appended claims.

Claims

1. A cleaning device, characterized in that, include: At least one second robot is placed inside the first robot's working cabin. A sliding structure is provided on the outer shell of the first robot, which drives the second robot to move up and down along the height direction of the first robot until the second robot moves to a position equal to the height of the surface to be cleaned. The sliding structure includes a support plate and a sliding substructure. The sliding substructure drives the support plate to move up and down along the height direction of the first robot. The first robot controls the second robot to move to the surface to be cleaned when the distance between the surface to be cleaned and the support plate is less than a distance threshold. The number of second robots moving to the surface to be cleaned is determined according to the area of ​​the surface to be cleaned. The first robot is also used to: obtain the volume of the object to be cleaned on the surface to be cleaned; if the volume of the object to be cleaned is greater than a volume threshold, control the second robot to move the object to be cleaned onto the support plate; when the support plate is located at the waste collection inlet, control the sliding substructure to retract the support plate so that the object to be cleaned is collected into the waste collection inlet.

2. The cleaning equipment according to claim 1, characterized in that, The sliding substructure is used to drive the support plate to flatten or retract.

3. The cleaning equipment according to claim 1, characterized in that, The sliding substructure includes a linear motor, which drives the support plate to move up and down along the height direction of the first robot.

4. The cleaning equipment according to claim 2, characterized in that, The sliding substructure includes: a first stepper motor, the output shaft of which is fixedly connected to one end of the support plate, and the rotation of the first stepper motor causes the support plate to be flattened or retracted.

5. The cleaning equipment according to claim 1 or 2, characterized in that, The sliding substructure includes: a lead screw and a nut, wherein the support plate is fixedly connected to the nut and moves on the lead screw with the nut.

6. The cleaning equipment according to claim 5, characterized in that, The sliding substructure further includes a second stepper motor, which is connected to one end of the lead screw and is used to provide power for the rotation of the lead screw.

7. The cleaning equipment according to claim 6, characterized in that, The sliding substructure further includes a third stepper motor, which is mounted on the nut. The output shaft of the third stepper motor is fixedly connected to one end of the support plate. The rotation of the third stepper motor causes the support plate to flatten or retract.

8. The cleaning equipment according to claim 1, characterized in that, At least one infrared sensor is provided on the bottom edge of the support plate away from the direction of the first robot. The infrared sensor is used to detect the distance between the support plate and the surface to be cleaned.

9. The cleaning equipment according to claim 1, characterized in that, The first robot has at least one camera on its top. The camera is used to detect the distance between the support plate and the surface to be cleaned, and to obtain the volume of the object to be cleaned on the surface to be cleaned.

10. A control method, characterized in that, Performed by the first robot according to any one of claims 1-9, the control method includes: If the height of the surface to be cleaned is greater than the height threshold, the sliding structure is controlled to move the second robot along the height direction of the first robot to a position at the same height as the surface to be cleaned. When the distance between the surface to be cleaned and the supporting plate is less than a distance threshold, the second robot is controlled to move to the surface to be cleaned, wherein the number of the second robots moving to the surface to be cleaned is determined according to the area of ​​the surface to be cleaned; Send a cleaning command to the second robot to clean the surface to be cleaned; Obtain the volume of the object to be cleaned on the surface to be cleaned; If the volume of the object to be cleaned is greater than the volume threshold, then the second robot is controlled to move the object to be cleaned onto the support plate. When the support plate is located at the waste collection inlet, the sliding substructure is controlled to retract the support plate so that the object to be cleaned is collected into the waste collection inlet.

11. The method according to claim 10, characterized in that, The sliding structure includes: a supporting plate and a sliding substructure; Correspondingly, if the height of the surface to be cleaned is greater than a height threshold, the sliding structure is controlled to move the second robot along the height direction of the first robot to a position equal to the height of the surface to be cleaned, including: If the height of the surface to be cleaned is greater than the height threshold, the sliding substructure is controlled to drive the support plate to flatten, and the second robot is controlled to move onto the support plate. Based on the height of the surface to be cleaned, the sliding substructure is controlled to move the support plate along the height direction of the first robot to a position equal to the height of the surface to be cleaned.

12. The method according to claim 10, characterized in that, After sending a cleaning command to the second robot to clean the surface to be cleaned, the process further includes: Determine the target task based on the task list, and execute the target task; When a return command is received from the second robot, the sliding substructure is controlled to move the support plate to a position at the same height as the surface to be cleaned; When the distance between the surface to be cleaned and the support plate is less than a distance threshold, the second robot is controlled to move onto the support plate. When the support plate moves to a position equal to the height of the work cabin entrance, the second robot is controlled to move into the work cabin.

13. The method according to claim 10, characterized in that, After sending a cleaning command to the second robot to clean the surface to be cleaned, the process further includes: If the task completion information and / or rag cleaning information sent by the second robot are received, the sliding substructure is controlled to move the support plate to a position at the same height as the plane to be cleaned; If the distance between the surface to be cleaned and the supporting plate is less than a distance threshold, then the second robot is controlled to move onto the supporting plate; When the support plate moves to a position equal to the height of the work cabin entrance, the second robot is controlled to move into the work cabin to perform wiping.

14. A control device, characterized in that, The control device, configured in any one of claims 1-9, comprises: The first control module is used to control the sliding structure to move the second robot along the height direction of the first robot to a position equal to the height of the surface to be cleaned if the height of the surface to be cleaned is greater than a height threshold. The second control module is used to control the second robot to move to the surface to be cleaned when the distance between the surface to be cleaned and the support plate is less than a distance threshold, wherein the number of the second robots moving to the surface to be cleaned is determined according to the area of ​​the surface to be cleaned; The instruction sending module is used to send cleaning instructions to the second robot so that the second robot cleans the surface to be cleaned; The control device is also used for: Obtain the volume of the object to be cleaned on the surface to be cleaned; If the volume of the object to be cleaned is greater than the volume threshold, then the second robot is controlled to move the object to be cleaned onto the support plate. When the support plate is located at the waste collection inlet, the sliding substructure is controlled to retract the support plate so that the object to be cleaned is collected into the waste collection inlet.

15. A first robot, characterized in that, include: One or more processors; Storage device for storing one or more programs; When the one or more programs are executed by the one or more processors, the one or more processors implement the method as described in any one of claims 10-13.

16. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the program is executed by the processor, it implements the method as described in any one of claims 10-13.

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