Cleaning robot working method and device, cleaning robot, and storage medium

Abstract

The application discloses a cleaning robot working method and device, a cleaning robot and a storage medium, and relates to the field of intelligent control.The method comprises the following steps: sending a first working request to each candidate base station, so that each candidate base station feeds back task time consumption information based on the first working request; selecting a target base station from each candidate base station based on the task time consumption information fed back by each candidate base station; and executing a current working task based on the target base station.Because the application sends a first working request to each candidate base station, selects a target base station with shorter time consumption based on the task time consumption information fed back by each candidate base station, and executes a current working task based on the target base station, the application effectively avoids the situation of base station congestion, and improves the working efficiency of the cleaning robot and the base station.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of intelligent control, and particularly relates to a cleaning robot working method and device, a cleaning robot and a storage medium. BACKGROUND

[0002] With the development of science and technology, smart home has gradually become popular. A traditional cleaning robot and a base station have a one-to-one matching relationship. The cleaning robot departs from an original base station to work, needs to return to the original base station to charge or maintain during work, and then departs from the original base station to continue working. This way is low in cleaning efficiency.

[0003] Therefore, currently, multiple cleaning robots and multiple base stations are arranged to solve the problem that the cleaning robot needs to return to the original base station each time. However, the multiple cleaning robots and the multiple base stations cannot be effectively scheduled and managed, and the cleaning robots cannot be matched to appropriate base stations, so that the base stations are prone to congestion, which seriously affects the cleaning efficiency of the cleaning robots.

[0004] The above content is only used to assist in understanding the technical solutions of the present application and does not represent the acknowledgement of the above content as prior art. SUMMARY

[0005] The main purpose of the present application is to provide a cleaning robot working method, device, cleaning robot and storage medium, which aims to solve the technical problem that the prior art cannot effectively schedule and manage multiple cleaning robots and multiple base stations, and cannot match the cleaning robots to appropriate base stations, so that the base stations are prone to congestion, which seriously affects the cleaning efficiency of the cleaning robots.

[0006] To achieve the above purpose, the present application provides a cleaning robot working method, which comprises the following steps:

[0007] sending a first working request to each candidate base station, so that each candidate base station feeds back task time consumption information based on the first working request, wherein the first working request comprises working task information and path time consumption information between each candidate base station;

[0008] selecting a target base station from the candidate base stations based on the task time consumption information fed back by each candidate base station;

[0009] executing a current working task based on the target base station.

[0010] Optionally, the performing the current work task based on the target base station comprises: sending a second work request to the target base station, so that the target base station feeds back a work sequence state based on the second work request, the work sequence state being an idle / busy state of a work sequence currently maintained by the target base station; and performing the current work task based on the work sequence state fed back by the target base station.

[0011] Optionally, the selecting the target base station from the candidate base stations based on the task time consumption information fed back by each candidate base station comprises:

[0012] Obtaining region information of a target region corresponding to a next work task;

[0013] Determining a moving time length required for moving from each candidate base station to the target region based on the region information;

[0014] Determining target time consumption information of each candidate base station according to each moving time length and the task time consumption information;

[0015] Selecting the target base station from the candidate base stations based on the target time consumption information.

[0016] Optionally, before the sending the first work request to each candidate base station, the method further comprises:

[0017] Obtaining current position information and base station position information of each candidate base station;

[0018] Determining path time consumption information between each candidate base station based on the current position information and the base station position information;

[0019] Generating the first work request based on the path time consumption information and work task information of a current work task to be performed.

[0020] Optionally, the determining the path time consumption information between each candidate base station based on the current position information and the base station position information comprises:

[0021] Obtaining obstacle information of a region where each candidate base station is located;

[0022] Determining the path time consumption information between each candidate base station based on the obstacle information, the current position information and the base station position information.

[0023] Optionally, the determining the path time consumption information between each candidate base station based on the obstacle information, the current position information and the base station position information comprises:

[0024] Generating at least one moving path between each candidate base station based on the obstacle information, the current position information and the base station position information;

[0025] filtering a target path from the movement paths of each candidate base station according to a movement duration of each movement path;

[0026] determining path time consumption information between each candidate base station based on the movement duration of the target path.

[0027] Optionally, before the sending of the first work request to each candidate base station, the method further comprises:

[0028] broadcasting an identification message to each initial base station in the local area network;

[0029] receiving base station information fed back by each initial base station based on the identification message, and caching the base station information locally, the base station information including base station task information and base station location information;

[0030] obtaining a current work task to be executed and work task information of the current work task;

[0031] filtering a candidate base station from each initial base station based on the base station location information, the work task information and the base station task information, the candidate base station satisfying a work condition of the current work task.

[0032] Optionally, the executing of the current work task based on the work sequence state comprises: generating a task execution request based on the current work task; sending the task execution request to the target base station, so that the target base station updates a currently maintained work sequence based on the task execution request; obtaining a work sequence state based on the updated work sequence fed back by the target base station; and executing the current work task based on the work sequence state.

[0033] Optionally, the executing of the current work task based on the work sequence state comprises: judging whether the work sequence maintained by the target base station is empty based on the work sequence state; if the work sequence maintained by the target base station is empty, going to the target base station to execute the current work task; and if the work sequence maintained by the target base station is not empty, determining a queuing duration based on the work sequence, and judging whether to continue to go to the target base station to execute the current work task based on the queuing duration.

[0034] In addition, to achieve the above object, the application further provides a cleaning robot work device, which comprises:

[0035] a request sending module, configured to send a first work request to each candidate base station, so that each candidate base station feeds back task time consumption information based on the first work request, the first work request including work task information and path time consumption information between each candidate base station;

[0036] The base station screening module is configured to screen a target base station from the candidate base stations based on the task time consumption information fed back by each candidate base station.

[0037] The request sending module is further configured to send a second work request to the target base station, so that the target base station feeds back a work sequence state based on the second work request, and the work sequence state is an idle / busy state of a work sequence currently maintained by the target base station.

[0038] The work execution module is configured to execute a current work task based on the work sequence state fed back by the target base station.

[0039] In addition, to achieve the above object, the application further provides a cleaning robot, which comprises a memory, a processor, and a cleaning robot work program stored in the memory and executable on the processor, and the cleaning robot work program is configured to implement the steps of the cleaning robot work method as described above.

[0040] In addition, to achieve the above object, the application further provides a storage medium, which stores a cleaning robot work program, and the cleaning robot work program implements the steps of the cleaning robot work method as described above when executed by a processor.

[0041] The application screens a target base station from the candidate base stations based on the task time consumption information fed back by each candidate base station, and executes a current work task based on the target base station, by sending a first work request to each candidate base station, so that each candidate base station feeds back task time consumption information based on the first work request. Since the application screens a target base station with shorter time consumption based on the task time consumption information fed back by each candidate base station, and executes a current work task based on the target base station, by sending a first work request to each candidate base station, the application effectively avoids the situation of base station congestion, and improves the work efficiency of the cleaning robot and the base station. BRIEF DESCRIPTION OF DRAWINGS

[0042] Figure 1 FIG. 1 is a structural schematic diagram of a cleaning robot of a hardware running environment related to an embodiment scheme of the application;

[0043] Figure 2 FIG. 2 is a flowchart of a cleaning robot work method first embodiment of the application;

[0044] Figure 3 FIG. 3 is a cleaning robot work route schematic diagram in the cleaning robot work method first embodiment of the application;

[0045] Figure 4 FIG. 4 is a work sequence schematic diagram in the cleaning robot work method first embodiment of the application;

[0046] Figure 5The figure is a schematic diagram of the working flow of the cleaning robot in the first embodiment of the working method of the cleaning robot.

[0047] Figure 6 The figure is a schematic diagram of the working flow of the cleaning robot in the second embodiment of the working method of the cleaning robot.

[0048] Figure 7 The figure is a schematic diagram of the working flow of the cleaning robot in the third embodiment of the working method of the cleaning robot.

[0049] Figure 8 The figure is a structural block diagram of the first embodiment of the working device of the cleaning robot.

[0050] The implementation, functional features and advantages of the present application will be further described with reference to the embodiments and the accompanying drawings. DETAILED DESCRIPTION

[0051] It should be understood that the specific embodiments described herein are merely illustrative of the present application and are not intended to limit the present application.

[0052] Reference Figure 1 , Figure 1 The figure is a structural schematic diagram of the cleaning robot related to the hardware running environment of the embodiment of the present application.

[0053] As Figure 1 shown, the cleaning robot can include a processor 1001, for example, a central processing unit (CPU), a communication bus 1002, a user interface 1003, a network interface 1004, and a memory 1005. The communication bus 1002 is used to realize the connection and communication between the components. The user interface 1003 can include a display, an input unit such as a keyboard, and optionally a standard wired interface, a wireless interface. The network interface 1004 can optionally include a standard wired interface, a wireless interface (such as a wireless fidelity (Wi-Fi) interface). The memory 1005 can be a high-speed random access memory (RAM), and can also be a stable non-volatile memory (NVM), such as a disk memory. The memory 1005 can also be a storage device independent of the aforementioned processor 1001.

[0054] Those skilled in the art can understand that the structure shown in the Figure 1 above does not constitute a limitation on the cleaning robot, and can include more or fewer components than the figure, or combine certain components, or different component arrangements.

[0055] AsFigure 1 As shown, the memory 1005 as a storage medium can include an operating system, a network communication module, a user interface module, and a cleaning robot work program.

[0056] In Figure 1 In the cleaning robot shown, the network interface 1004 is mainly used for data communication with a network server; the user interface 1003 is mainly used for data interaction with a user; the processor 1001 and the memory 1005 in the cleaning robot of the present application can be arranged in the cleaning robot, and the cleaning robot calls the cleaning robot work program stored in the memory 1005 through the processor 1001, and executes the cleaning robot work method provided by the embodiment of the present application.

[0057] The embodiment of the present application provides a cleaning robot work method, which refers to Figure 2 , Figure 2 The flowchart of a first embodiment of the cleaning robot work method of the present application.

[0058] In this embodiment, the cleaning robot work method comprises the following steps:

[0059] Step S10: sending a first work request to each candidate base station, so that each candidate base station feeds back task time consumption information based on the first work request.

[0060] It should be understood that the execution subject of the method of the present embodiment can be a cleaning robot having data processing, network communication and program running functions, such as an intelligent sweeping device or a sweeping robot, or other devices or apparatuses capable of achieving the same or similar functions, which are illustrated hereinabove by taking the cleaning robot as an example.

[0061] It can be understood that the first work request includes work task information and path time consumption information between the cleaning robot and each candidate base station.

[0062] It should be noted that the first work request can be a request message carrying the work task information of the cleaning robot and the path time consumption information between the cleaning robot and each candidate base station. The work task information can be the relevant information of the work task currently required to be executed by the cleaning robot, and the work task can be charging, cleaning the mop, disinfecting the mop, automatic dust collection, etc. The work task information can include the work task type, the work task time consumption, etc. The path time consumption information can be the time consumption information of the cleaning robot moving from the current position to each candidate position, and the path time consumption information can include the time length required by the cleaning robot to move to each candidate base station on the moving path, or can be the time information of the cleaning robot expected to arrive at each base station.

[0063] It should be understood that, in order to accurately obtain the time consumption of moving to each candidate base station to perform the task, the cleaning robot sends a first work request carrying the work task information and the path time consumption information to each candidate base station, and each candidate base station calculates the task time consumption information of the cleaning robot completing the work task based on the work task information and the path time consumption information of the cleaning robot by a preset simulation algorithm when receiving the first work request sent by the cleaning robot.

[0064] It should be noted that the candidate base station can be a base station that meets the work condition of the current work task in the initial base station, and the candidate base station is a base station that the cleaning robot can move to, and the location of the candidate base station does not exceed the movable range of the cleaning robot.

[0065] In a specific implementation, the cleaning robot determines an optimal path for moving to each candidate base station based on the current position and the position of each candidate base station, determines the path time consumption based on the optimal path, generates a first work request corresponding to each candidate base station based on the path time consumption and the current work task information, sends the first work request corresponding to each candidate base station to each candidate base station, and the candidate base station estimates the time of the cleaning robot completing the task according to the simulated algorithm after receiving the first work request, and returns the calculated task time consumption information to the cleaning robot.

[0066] Step S20: screening a target base station from the candidate base stations based on the task time consumption information fed back by each candidate base station.

[0067] It should be noted that the target base station can be a base station with the least time consumption required by the cleaning robot to complete the task.

[0068] It should be understood that the cleaning robot waits for responses of all candidate base stations, and determines a base station with optimal task time consumption in the candidate base stations as the target base station based on the task time consumption information fed back by each candidate base station.

[0069] In a specific implementation, the cleaning robot waits for the calculation results of the task time consumption information returned by all candidate base stations, and selects a target base station with optimal time to perform the task. If the task time consumption fed back by all candidate base stations exceeds the time limit requirement, a request is sent to a base station farther in the local area network until a base station that can complete the current work task appears or all base stations are traversed, and a base station with optimal time is selected or a queuing algorithm is intervened when all base stations in the local area network cannot meet the time limit requirement.

[0070] Further, in order to accurately screen the target base station, the above step S20 can include:

[0071] obtaining region information of a target region corresponding to a next work task;

[0072] determine a moving time length required for moving from each candidate base station to the target area based on the area information;

[0073] determine target time consuming information of each candidate base station according to each moving time length and the task time consuming information;

[0074] select a target base station from the candidate base stations based on the target time consuming information.

[0075] It should be noted that the next work task can be a next work task to be performed by the cleaning robot after the current work task is performed. The target area can be a target area corresponding to the next work task, i.e., a next area to be arrived at by the cleaning robot. The area information can be area position, area coordinates, area size, etc. of the target area. The moving time length can be a time length required for the cleaning robot to move from an area where each candidate base station is located to the target area of the next work task. The target time consuming information can be final time consuming information calculated based on a time length for the cleaning robot to move to an area where each candidate base station is located, a time length for the cleaning robot to complete the current work task, and a time length for the cleaning robot to move to the target area.

[0076] It should be understood that the cleaning robot obtains area information of a target area corresponding to the next work task, determines a moving time length required for moving from each candidate base station to the target area based on the area information, obtains final task execution time based on task time consuming information of the cleaning robot to reach each candidate base station and complete a task fed back by each candidate base station, and adds a moving time length from each candidate base station to the target area corresponding to the next work task, and selects a target base station with optimal time consuming from the candidate base stations based on the final task execution time.

[0077] Step S30: Perform the current work task based on a work sequence state fed back by the target base station.

[0078] It should be noted that the base station can maintain a work sequence based on a work time sequence and a work task queue of a currently served cleaning robot, and the work sequence includes task information to be performed by at least one cleaning robot and time information of the cleaning robot entering and exiting an area.

[0079] It should be understood that after the cleaning robot confirms the optimal target base station, the working task information is sent to the target base station again for confirmation, and the target base station replies to the confirmation information to inform the cleaning robot of the latest calculated task expected completion time (i.e. the updated task time consumption information). Because the target base station may receive other cleaning robot or cleaning robot working requests in the information processing and decision-making process, the time consumption may be changed. If it is still the optimal choice to go to the target base station, the cleaning robot goes to the target base station to perform the task, otherwise the process is repeated to send confirmation information to the optimal other target base station.

[0080] In a specific implementation, referring to Figure 3 , Figure 3 is a schematic diagram of a cleaning robot working route. After completing the cleaning task in area 1, the cleaning robot needs to return to the base station for maintenance, sends a first working request to each candidate base station, determines base station 2 as the target base station based on the task time consumption information fed back by each candidate base station (including base station 1 and base station 2), sends a second working request to base station 2, so that the base station 2 feeds back the working sequence state based on the second working request, judges whether the working sequence of the base station 2 is in an idle state, if yes, returns to the base station 2 for maintenance, and after the maintenance is completed, sweeps area 2, and returns to the step of sending the first working request to each candidate base station.

[0081] Further, in order to accurately obtain the idle / busy state of the base station, the step S30 further comprises:

[0082] Step S40: sending a second working request to the target base station, so that the target base station feeds back the working sequence state based on the second working request, and the working sequence state is the idle / busy state of the working sequence currently maintained by the base station;

[0083] Step S50: performing the current working task based on the working sequence state fed back by the target base station.

[0084] It can be understood that the working sequence state is the idle / busy state of the working sequence currently maintained by the base station. The above working sequence can be a sequence maintained by the base station based on the working time and working queue of at least one cleaning robot currently receiving base station service in the current area. The working sequence can be a sequence constituted based on the working time sequence and working queue of the cleaning robot.

[0085] In a specific implementation, first, each base station in the local area network can initialize the working sequence when starting up or when a user issues an instruction. Each base station knows all the task types that can be currently executed by itself and the time consumption required for executing each task through the configuration file sent by the user or locally saved. The user can set the functions of the base station to be turned on and turned off according to the location where the base station is placed.

[0086] It should be understood that the base station can load global map information from a configuration file or other file, and the map also contains coordinate information of the location where the base station is located. Each base station initializes a task queue, which is initially empty. Too many cleaning robots in the room at the same time will cause congestion and difficulty in entering and exiting, affecting execution efficiency. The base station can set the maximum number of cleaning robots that each base station can accept at the same time according to the size of the room and the density of obstacles. After the base station initializes, the cleaning robot can start working.

[0087] Further, in order to improve the working efficiency of the cleaning robot, the above step S50 can include:

[0088] generating a task execution request based on the current working task;

[0089] sending the task execution request to the target base station, so that the target base station updates the currently maintained working sequence based on the task execution request;

[0090] obtaining a working sequence state based on the updated working sequence fed back by the target base station;

[0091] executing the current working task based on the working sequence state.

[0092] It should be noted that the task execution request can be a notification request sent by the cleaning robot before going to the target base station to execute the task. After receiving the task execution request, the target base station updates the currently maintained working sequence based on the task execution request, and then informs the cleaning robot of the latest working time, so as to avoid work congestion and conflict.

[0093] Further, in order to improve the working efficiency of the cleaning robot, the above executing the current working task based on the working sequence state can include:

[0094] judging whether there is an idle in the working sequence maintained by the target base station based on the working sequence state;

[0095] if there is an idle in the working sequence maintained by the target base station, going to the target base station to execute the current working task;

[0096] if there is no idle in the working sequence maintained by the target base station, determining a queuing duration based on the working sequence, and judging whether to continue to go to the target base station to execute the current working task based on the queuing duration.

[0097] It should be understood that the entering area, receiving base station service of the cleaning robot can be divided into three stages, entering area, performing task and leaving area, and the cleaning robot will be in the area where the base station is located in the three stages, and each area is set to limit the maximum number of cleaning robots that can exist at the same time, and the time for entering and leaving the area is an estimated value, which can be obtained by each base station according to the obstacle density of the surrounding area or set by the user. For example, the area where the A base station is located has more obstacles, and the size of the area is small, and the number of cleaning robots of the A base station can be set to 2.

[0098] It can be understood that the entering area stage needs to ensure that the number of cleaning robots in the area does not exceed the limit, and if the number of cleaning robots in the area has reached the number limit, the first cleaning robot that completes the task in the work sequence needs to be waited to leave. Each base station can only provide one service at the same time, so if the base station is providing service, the cleaning robot needs to queue up to wait for the base station to complete the current task.

[0099] It should be noted that after the base station confirms to perform a task, the events of the three stages of entering area, performing task and leaving area of the cleaning robot are inserted into the work queue, and then when a new task requirement comes, the number of cleaning robots in the area at that time is checked according to the arrival time of the cleaning robot, if it is full, the entering time needs to be delayed to the time when the first cleaning robot leaves the area after that time, if it is not full, it is directly released to enter the area, and then it is checked whether it needs to be queued, if there is a task at present, the execution time of the task needs to be delayed again to the time when the first cleaning robot has enough time to complete the task, and then the task execution time is added to be the final time.

[0100] In a specific implementation, refer to Figure 4 , Figure 4 for a schematic diagram of a work sequence, which includes cleaning robot 1, cleaning robot 2 and cleaning robot 3, wherein cleaning robot 1 first arrives in the area to start cleaning task, cleaning robot 2 arrives in the area to start disinfection task after cleaning robot 1 completes the cleaning task and leaves the area, and cleaning robot 3 arrives in the area to start cleaning task while cleaning robot 2 is performing disinfection task.

[0101] For example, refer to Figure 5 , Figure 5 for a schematic diagram of a cleaning robot work flow, if only two cleaning robots are allowed to enter the area, Figure 5 , cleaning robot 1 first enters the room to start cleaning task, cleaning robot 2 enters the room to start disinfection task during the cleaning task of cleaning robot 1, and cleaning robot 3 needs to wait for cleaning robot 1 to leave the room, and then wait for cleaning robot 2 to complete the disinfection task and wait for the base station to be idle before starting the cleaning task.

[0102] The embodiment sends a first work request to each candidate base station, so that each candidate base station feeds back task time consumption information based on the first work request, the first work request including work task information and path time consumption information between each candidate base station, selects a target base station from the candidate base stations based on the task time consumption information fed back by each candidate base station, sends a second work request to the target base station, so that the target base station feeds back a work sequence state based on the second work request, the work sequence state being an idle / busy state of a work sequence currently maintained by the base station, and performs a current work task based on the work sequence state fed back by the target base station. Since the embodiment sends a first work request to each candidate base station, selects a target base station with shorter time consumption based on the task time consumption information fed back by each candidate base station, and then sends a second work request to the target base station to determine the idle / busy state of the target base station, the situation of base station congestion is effectively avoided, and the work efficiency of the cleaning robot and the base station is improved.

[0103] Reference Figure 6 , Figure 6 The flowchart of a second embodiment of the cleaning robot work method of the application is shown.

[0104] Based on the first embodiment, before the step S10, the embodiment further includes:

[0105] Step S1: Obtain current position information and base station position information of each candidate base station.

[0106] It should be noted that the current position information can be the position information of the cleaning robot at present, for example, the current position information can include the current coordinates of the cleaning robot, etc. The base station position information can be the position information of each candidate base station, for example, the base station position information can include the current coordinates of the base station, etc.

[0107] Step S2: Determine the path time consumption information between each candidate base station based on the current position information and the base station position information.

[0108] It should be noted that the path time consumption information can be the time length consumed by the cleaning robot to move to the base station position of each candidate base station along the optimal path.

[0109] In a specific implementation, the cleaning robot generates a moving path between each candidate base station based on the current position information and the base station position information, the moving path corresponding to each candidate base station can be one path or multiple paths; the target path with the shortest time consumption is selected from the moving paths corresponding to each candidate base station, and the path time consumption information between each candidate base station is calculated based on the target path.

[0110] Further, in order to accurately calculate the path time information between each candidate base station, the step S2 can include:

[0111] Step S21: obtaining obstacle information of the area where each candidate base station is located;

[0112] Step S22: determining the path time information between each candidate base station based on the obstacle information, the current position information and the base station position information.

[0113] It should be noted that the obstacle information can include the density and coordinates of the obstacles in the area where the candidate base station is located.

[0114] It should be understood that the cleaning robot generates a moving path corresponding to each candidate base station based on the obstacle information, the current position information and the base station position information, the moving path corresponding to each candidate base station includes at least one path, and then filters out the path with the optimal moving time as the target path of each candidate base station from the moving path corresponding to each candidate base station, and obtains the path time information between each candidate base station based on the target path.

[0115] Further, in order to accurately determine the time required to move to each candidate base station, the step S22 can include:

[0116] Step S221: generating at least one moving path between each candidate base station based on the obstacle information, the current position information and the base station position information;

[0117] Step S222: filtering out a target path from the moving path of each candidate base station according to the moving time of each moving path;

[0118] Step S223: determining the path time information between each candidate base station based on the moving time of the target path.

[0119] It should be noted that the moving path can be the path of the cleaning robot moving from the current position to each candidate base station, and the moving path of the cleaning robot moving to each candidate base station can be one or more paths. If the moving path of the cleaning robot moving to a certain candidate base station is multiple, the target path with the optimal time is filtered out from the multiple moving paths.

[0120] It should be understood that the cleaning robot plans at least one moving path from the current position to each candidate base station based on the obstacle information, the current position information and the base station position information, traverses each moving path, obtains a moving time length required by each moving path, if there is more than one moving path for the candidate base station, a target path with the shortest time length is selected from the moving paths corresponding to the candidate base station based on the moving time length; if there is only one moving path for the candidate base station, the moving path is taken as the target path of the candidate base station.

[0121] Step S3: generating a first work request based on the path time consumption information and work task information of a current work task to be executed.

[0122] It should be noted that the first work request can be a request message carrying the path time consumption information and the work task information of the current work task to be executed.

[0123] It should be understood that the cleaning robot can send the first work request to each candidate base station through a local area network, and each candidate base station calculates a work task time consumption based on the work task information in the first work request after receiving the first work request, and calculates task time consumption information based on the work task time consumption and the path time consumption information, and feeds back the task time consumption information to the cleaning robot.

[0124] In the embodiment, the path time consumption information between each candidate base station is obtained based on the current position information and the base station position information, and the first work request is generated based on the path time consumption information and the work task information of the current work task to be executed. Since the path time consumption information between each candidate base station is obtained based on the current position information and the base station position information, and the first work request is generated based on the path time consumption information and the work task information of the current work task to be executed, the task information to be executed and the expected path time consumption are sent to each candidate base station, the total time consumption for completing the task is calculated through each candidate base station, the complex information processing is completed by the base station, the hardware cost of the cleaning robot is effectively reduced, the information processing efficiency is improved, and the working efficiency of the cleaning robot is improved.

[0125] Reference Figure 7 , Figure 7 is a flowchart of a third embodiment of a cleaning robot work method.

[0126] Based on the first embodiment, in the embodiment, before the step S10, the method further comprises:

[0127] Step S101: broadcasting an identification message to each initial base station in the local area network.

[0128] It should be noted that the local area network can be a wireless local area network (WLAN) to which the cleaning robot is connected, and the initial base station can be a base station device in the same local area network as the cleaning robot.

[0129] It should be understood that the cleaning robot broadcasts an identification message to each terminal device in the local area network when receiving a work instruction sent by a user or when reaching a preset work time at the current time, determines an initial base station among the terminal devices based on responses of the terminal devices after the broadcast, and updates a currently maintained base station list based on the initial base station, thereby effectively avoiding repeated searching for a base station each time.

[0130] Step S102: receiving base station information fed back by each initial base station based on the identification message, and caching the base station information locally, the base station information including base station task information and base station position information.

[0131] It should be understood that the cleaning robot discovers all base stations in the same local area network by broadcasting an identification message to each initial base station in the local area network, discovers content including an IP address of the base station, a service type that can be provided by the base station, and base station coordinate information, and caches the above-mentioned discovered content locally, so that re-discovery is not needed for short-term interaction again.

[0132] Step S103: obtaining a current work task to be executed and work task information of the current work task.

[0133] It should be noted that the current work task can be a work task in a work instruction issued by a user, or a work task set in advance, for example, a cleaning robot is set to execute a sweeping task at 6 o'clock in advance, and when the current time reaches 6 o'clock, the cleaning robot takes the sweeping task as the current work task to be executed.

[0134] Step S104: selecting a candidate base station that meets a work condition of the current work task from the initial base stations based on the base station position information, the work task information, and the base station task information.

[0135] It should be noted that the candidate base station can be a base station that meets the work condition of the current work task among the initial base stations, and the candidate base station is a base station that can be reached by the cleaning robot, and a position of the candidate base station does not exceed a movable range of the cleaning robot.

[0136] It should be understood that the cleaning robot obtains the base station service types provided by each initial base station, filters out all candidate base stations that can perform the current work task based on the base station service types and the work task information, estimates the shortest path travel time according to the position of the cleaning robot, the position of the candidate base station and the map obstacle information, and then sends the task information to be performed and the estimated arrival time of the cleaning robot to each base station in the vicinity.

[0137] The embodiment broadcasts an identification message to each initial base station in the local area network, receives base station information fed back by each initial base station based on the identification message, and caches the base station information locally, the base station information including base station task information and base station position information, obtains a current work task to be performed and work task information of the current work task, and filters out candidate base stations that meet the work conditions of the current work task from the initial base stations based on the base station position information, the work task information and the base station task information. Since the embodiment filters out candidate base stations that can provide base station services for the current work task to be performed by the cleaning robot by broadcasting an identification message to each initial base station in the local area network, the base station searching efficiency is improved, thereby improving the work efficiency of the cleaning robot and effectively avoiding the problem of wasting work time due to the cleaning robot failing to find a suitable base station.

[0138] In addition, the embodiment of the present application also provides a storage medium, wherein the storage medium stores a cleaning robot work program, and the cleaning robot work program is executed by a processor to realize the steps of the cleaning robot work method as described above.

[0139] Since the storage medium adopts all the technical solutions of the above-mentioned embodiments, it at least has all the beneficial effects brought by the technical solutions of the above-mentioned embodiments, which will not be repeated here.

[0140] Reference Figure 8 , Figure 8 is a structural block diagram of the first embodiment of the cleaning robot work device of the present application.

[0141] As Figure 8 shown, the cleaning robot work device provided by the embodiment of the present application comprises:

[0142] The request sending module 10 is configured to send a first work request to each candidate base station, so that each candidate base station feeds back task time consumption information based on the first work request, and the first work request comprises work task information and path time consumption information between each candidate base station;

[0143] The base station filtering module 20 is configured to filter out a target base station from each candidate base station based on the task time consumption information fed back by each candidate base station;

[0144] The work execution module 30 is configured to execute the current work task based on the work sequence state fed back by the target base station.

[0145] Further, the request sending module 10 is further configured to send a second work request to the target base station, so that the target base station feeds back a work sequence state based on the second work request, and the work sequence state is an idle / busy state of a work sequence currently maintained by the base station; and the work execution module 30 is configured to execute the current work task based on the work sequence state fed back by the target base station.

[0146] Further, the base station screening module 20 is further configured to acquire area information of a target area corresponding to a next work task; determine a moving time length required for moving from each candidate base station to the target area based on the area information; determine target time consumption information of each candidate base station according to each moving time length and the task time consumption information; and screen the target base station from the candidate base stations based on the target time consumption information.

[0147] Further, the cleaning robot work device further comprises:

[0148] The request generation module 40 is configured to acquire current position information and base station position information of each candidate base station; determine path time consumption information between each candidate base station based on the current position information and the base station position information; and generate a first work request based on the path time consumption information and work task information of a current work task to be executed.

[0149] The request generation module 40 is further configured to acquire obstacle information of an area where each candidate base station is located; and determine path time consumption information between each candidate base station based on the obstacle information, the current position information and the base station position information.

[0150] The request generation module 40 is further configured to generate at least one moving path between each candidate base station based on the obstacle information, the current position information and the base station position information; screen a target path from the moving paths of each candidate base station according to a moving time length of each moving path; and determine the path time consumption information between each candidate base station based on a moving time length of the target path.

[0151] Further, the base station screening module 20 is further configured to broadcast an identification message to each initial base station in a local area network; receive base station information fed back by each initial base station based on the identification message, and cache the base station information to a local area, wherein the base station information comprises base station task information and base station position information; acquire a current work task to be executed and work task information of the current work task; and screen candidate base stations satisfying a work condition of the current work task from the initial base stations based on the base station position information, the work task information and the base station task information.

[0152] Further, the work execution module 30 is further configured to generate a task execution request based on the current work task, and send the task execution request to the target base station, so that the target base station updates the current maintained work sequence based on the task execution request, and the work sequence state is obtained based on the updated work sequence fed back by the target base station, and the current work task is executed based on the work sequence state.

[0153] Further, the work execution module 30 is further configured to judge whether there is an idle in the work sequence maintained by the target base station based on the work sequence state fed back by the target base station, if there is an idle in the work sequence maintained by the target base station, go to the target base station to execute the current work task, and if there is no idle in the work sequence maintained by the target base station, determine the queuing time based on the work sequence, and judge whether to continue to go to the target base station to execute the current work task based on the queuing time.

[0154] In the embodiment, the first work request is sent to each candidate base station, so that each candidate base station feeds back the task time consumption information based on the first work request, the first work request includes the work task information and the path time consumption information between each candidate base station, the target base station is selected from each candidate base station based on the task time consumption information fed back by each candidate base station, the second work request is sent to the target base station, so that the target base station feeds back the work sequence state based on the second work request, the work sequence state is the idle / busy state of the work sequence currently maintained by the base station, and the current work task is executed based on the work sequence state fed back by the target base station. Since the first work request is sent to each candidate base station in the embodiment, the target base station with shorter time consumption is selected based on the task time consumption information fed back by each candidate base station, and then the second work request is sent to the target base station to determine the idle / busy state of the target base station, so that the situation of base station congestion is effectively avoided, and the work efficiency of the cleaning robot and the base station is improved.

[0155] It should be understood that the above is only an example, and does not constitute any limitation on the technical solutions of the present application. In specific applications, those skilled in the art can set it up according to the needs, and the present application does not limit it.

[0156] It should be noted that the above-described work flow is only illustrative and does not limit the scope of protection of the present application. In actual application, those skilled in the art can select part or all of them to achieve the purpose of the embodiment scheme according to actual needs, which is not limited here.

[0157] In addition, technical details not described in detail in the embodiment can be referred to the cleaning robot work method provided by any embodiment of the present application, which will not be described here.

[0158] Furthermore, it is to be understood that the term "including", "comprising", "having" and variations thereof herein are intended to be broad and encompass the terms "consisting of" and "consisting essentially of" and variations thereof. Use of the term "including" and "comprising" and variations thereof is not intended to limit the system, apparatus, method, etc. to the recited components or steps, but rather to allow for the inclusion of additional components or steps. It is also to be understood that the phraseology "means for" can serve as an antecedent to claim limitations not explicitly recited therein.

[0159] The above-mentioned embodiment numbers of the present application are only for description, and do not represent the advantages and disadvantages of the embodiments.

[0160] Those skilled in the art can clearly understand the above-mentioned embodiment methods from the description of the embodiments that the above-mentioned embodiment methods can be realized by software and necessary general hardware platform, of course, can also be realized by hardware, but in many cases, the former is a better embodiment. Based on such understanding, the technical solutions of the present application can be embodied in the form of a software product, and the computer software product is stored in a storage medium (such as a read only memory (ROM) / RAM, a magnetic disk, an optical disk), and includes a plurality of instructions for making a terminal device (which can be a mobile phone, a computer, a server, or a network device, etc.) execute the methods described in various embodiments of the present application.

[0161] The above is only the preferred embodiment of the present application, and does not limit the patent scope of the present application, and any equivalent structure or equivalent process transformation, or direct or indirect application in other related technical fields, is also included in the patent protection scope of the present application.

Claims

1. A method for operating a cleaning robot, characterized in that, The cleaning robot working method is applied to the cleaning robot, and the method includes: A first work request is sent to each candidate base station so that each candidate base station can provide feedback on task time information based on the first work request. The first work request includes work task information and path time information between the candidate base station and each candidate base station. Obtain the region information of the target area corresponding to the next task; Based on the regional information, determine the required travel time from each candidate base station to the target area; The target time information of each candidate base station is determined based on the mobility duration and the task time information. Based on the target time consumption information, the target base station with the optimal time consumption is selected from each candidate base station; Execute the current task based on the target base station; The execution of the current task based on the target base station includes: A second work request is sent to the target base station so that the target base station can provide feedback on the work sequence status based on the second work request. The work sequence status is the idle / busy state of the work sequence currently maintained by the base station. The current task is executed based on the working sequence status fed back by the target base station.

2. The cleaning robot working method as described in claim 1, characterized in that, Before sending the first working request to each candidate base station, the method further includes: Obtain the current location information, as well as the base station location information of each candidate base station; Based on the current location information and the base station location information, determine the path time information between each candidate base station; A first work request is generated based on the path time information and the work task information of the current work task to be executed.

3. The cleaning robot working method as described in claim 2, characterized in that, The step of determining the path time information between each candidate base station based on the current location information and the base station location information includes: Obtain obstacle information in the area where each candidate base station is located; Based on the obstacle information, the current location information, and the base station location information, the path time information between the candidate base stations is determined.

4. The cleaning robot working method as described in claim 3, characterized in that, The step of determining the path time information between each candidate base station based on the obstacle information, the current location information, and the base station location information includes: Based on the obstacle information, the current location information, and the base station location information, at least one movement path is generated between each candidate base station; The target path with the shortest travel time is selected from the travel paths of each candidate base station based on the travel time of each travel path. The path time information between the target path and each candidate base station is determined based on the travel time of the target path.

5. The cleaning robot working method as described in claim 1, characterized in that, Before sending the first working request to each candidate base station, the method further includes: Broadcast identification messages to each initial base station within the local area network; Receive base station information fed back by each initial base station based on the identification message, and cache the base station information locally. The base station information includes base station task information and base station location information. Obtain the current task to be executed, and the task information of the current task; Based on the base station location information, the work task information, and the base station task information, candidate base stations that meet the working conditions of the current work task are selected from each of the initial base stations.

6. The method of operating the cleaning robot as described in any one of claims 1 to 5, characterized in that, The execution of the current task based on the working sequence status fed back by the target base station includes: Generate a task execution request based on the current work task; A task execution request is sent to the target base station so that the target base station updates the currently maintained work sequence based on the task execution request. The working sequence status is obtained based on the updated working sequence fed back by the target base station; Execute the current task based on the work sequence state.

7. The cleaning robot working method as described in any one of claims 6, characterized in that, The execution of the current work task based on the work sequence state includes: Based on the working sequence status, determine whether there is an idle working sequence maintained by the target base station; If there is an idle work sequence maintained by the target base station, then proceed to the target base station to execute the current work task; If there is no idle work sequence maintained by the target base station, the queuing time is determined based on the work sequence, and the decision is made based on the queuing time whether to continue to the target base station to execute the current work task.

8. A cleaning robot working device, characterized in that, The working device of the cleaning robot includes: The request sending module is used to send a first work request to each candidate base station so that each candidate base station can provide feedback on task time information based on the first work request. The first work request includes work task information and path time information between the candidate base station and each candidate base station. The base station filtering module is used to obtain the area information of the target area corresponding to the next task; determine the movement time required to move from each candidate base station to the target area based on the area information; determine the target time information of each candidate base station according to each movement time and the task time information; and filter the target base station with the optimal time from each candidate base station based on the target time information. The request sending module is further configured to send a second work request to the target base station, so that the target base station can provide feedback on the work sequence status based on the second work request, wherein the work sequence status is the idle / busy state of the work sequence currently maintained by the base station; The task execution module is used to execute the current task based on the task sequence status fed back by the target base station.

9. A cleaning robot, characterized in that, The cleaning robot includes: a memory, a processor, and a cleaning robot operating program stored in the memory and executable on the processor, the cleaning robot operating program being configured to implement the cleaning robot operating method as described in any one of claims 1 to 7.

10. A storage medium, characterized in that, The storage medium stores a cleaning robot operating program, which, when executed by a processor, implements the cleaning robot operating method as described in any one of claims 1 to 7.

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