Industrial waste robot cleaning method and apparatus

Abstract

The application provides an industrial waste robot cleaning method and device. The method records a first cleaning coverage area in a first to-be-cleaned grid area on a first cleaning path when cleaning the first to-be-cleaned grid area, and sends first cleaning coverage area information corresponding to the first cleaning coverage area to a scheduling cloud platform, so that the scheduling cloud platform determines first cleaning uncovered area information corresponding to a first cleaning uncovered area, and then the scheduling cloud platform sends the first cleaning uncovered area information to a second cleaning robot with a smaller cleaning passage size in a cleaning robot cluster, to instruct the second cleaning robot to clean the first cleaning uncovered area, so that the second cleaning robot with a smaller passage size is instructed to perform supplementary cleaning, thereby improving the overall cleaning coverage rate and cleaning efficiency, and the waste cleaning operation is suitable for various complex industrial environments.

Description

Technical Field

[0001] This application relates to data processing technology, and more particularly to a method and apparatus for cleaning industrial waste with a robot. Background Technology

[0002] With rapid industrialization, the amount of waste generated during industrial production is increasing daily. This waste not only occupies valuable production space but also potentially negatively impacts the production environment and product quality. Traditional manual cleaning methods are not only inefficient but also ill-suited for handling large-scale, high-intensity industrial waste cleanup tasks. Therefore, developing automated and intelligent industrial waste cleaning methods is of paramount importance.

[0003] While existing automated cleaning equipment, such as robotic vacuum cleaners, has improved cleaning efficiency to some extent, it still faces many challenges when dealing with complex and ever-changing industrial environments. For example, industrial areas are typically complex in layout, with numerous fixed obstacles and narrow passages, which traditional robotic vacuum cleaners often struggle to handle flexibly. At the same time, the cleaning needs of different areas vary, and a single cleaning device cannot meet the cleaning requirements of all areas. Summary of the Invention

[0004] This application provides an industrial waste robot cleaning method and apparatus to improve overall cleaning coverage and cleaning efficiency, making it suitable for waste cleaning operations in various complex industrial environments.

[0005] In a first aspect, this application provides an industrial waste cleaning robot method, applied to an industrial waste cleaning device, the industrial waste cleaning device including a cleaning robot cluster and a scheduling cloud platform, wherein each cleaning robot in the cleaning robot cluster is communicatively connected to the scheduling cloud platform; the method includes:

[0006] The first cleaning robot in the cleaning robot cluster responds to the first cleaning instruction issued by the scheduling cloud platform and cleans the first cleaning path in the industrial area to be cleaned. The industrial area to be cleaned includes an array of grid areas to be cleaned, and the first cleaning path includes at least one grid area to be cleaned in the array of grid areas to be cleaned.

[0007] When the first cleaning robot cleans the first grid area to be cleaned on the first cleaning path, it records the first cleaning coverage area that has been cleaned in the first grid area to be cleaned, and sends the first cleaning coverage area information corresponding to the first cleaning coverage area to the scheduling cloud platform.

[0008] The scheduling cloud platform determines the first uncleaned area information corresponding to the first uncleaned area based on the first clean coverage area information and the first grid area information to be cleaned, wherein the first grid area information to be cleaned is the area information corresponding to the first grid area to be cleaned.

[0009] The scheduling cloud platform sends the information of the first uncovered cleaning area to the second cleaning robot in the cleaning robot cluster, so as to instruct the second cleaning robot to clean the first uncovered cleaning area, wherein the lower limit of the cleaning passage size of the second cleaning robot is smaller than the lower limit of the cleaning passage size of the first cleaning robot.

[0010] In the above scheme, the first cleaning robot responds to the cleaning instructions issued by the cloud platform, cleans the designated cleaning path, and records and provides feedback on the cleaning coverage area information in real time. The scheduling cloud platform then uses this information to identify uncovered areas and instructs the second cleaning robot with a smaller passage size to perform supplementary cleaning, thereby improving the overall cleaning coverage and cleaning efficiency, making it suitable for garbage cleaning operations in various complex industrial environments.

[0011] Optionally, before the scheduling cloud platform determines the first uncovered area information corresponding to the first uncovered area based on the first cleaning coverage area information and the first grid area information to be cleaned, the method further includes:

[0012] The first cleaning coverage rate determined by the scheduling cloud platform based on the first cleaning coverage area information and the first grid area to be cleaned is lower than the preset cleaning coverage rate threshold.

[0013] In the above scheme, by setting a preset cleaning coverage threshold, the scheduling cloud platform can assess the cleaning coverage of the first cleaning robot. Only when the cleaning coverage falls below this threshold is a second cleaning robot assigned to supplement the cleaning, thus avoiding unnecessary duplication of work and waste of resources, and ensuring efficient cleaning. The preset cleaning coverage threshold can be adjusted according to actual cleaning needs and scenarios. For example, in situations with high cleaning requirements or tight time constraints, the threshold can be lowered to increase cleaning coverage; while in situations with low cleaning requirements or limited resources, the threshold can be appropriately increased to save resources, thus adapting to different cleaning scenarios and needs.

[0014] Furthermore, by setting thresholds, the scheduling cloud platform can ensure that each grid area to be cleaned meets certain cleaning standards. When the cleaning coverage rate falls below the threshold, it indicates that there may be cleaning blind spots or insufficient cleaning in that area. In this case, a second cleaning robot can be dispatched to supplement the cleaning, which can effectively improve the overall cleaning quality. Before the cleaning coverage rate reaches the threshold, the scheduling cloud platform can continue to dispatch the first cleaning robot to clean the remaining areas without immediately intervening and adjusting the cleaning strategy. This approach helps optimize cleaning path planning and reduces the idle time and energy consumption of the cleaning robots.

[0015] Optionally, when the first cleaning robot cleans the first grid area to be cleaned on the first cleaning path, it records the first cleaning coverage area that has been cleaned in the first grid area to be cleaned, including:

[0016] Before the first cleaning robot enters the first grid area to be cleaned, a first area topology map of the first grid area to be cleaned is obtained from the scheduling cloud platform. The first area topology map includes a set of cleaning node units and a connection path for connecting adjacent cleaning nodes in the set of cleaning node units.

[0017] The first cleaning robot configures the initial state of each cleaning node unit in the set of cleaning node units to an uncleaned state;

[0018] The first grid area to be cleaned is cleaned according to the first area topology map, and the cleaning node units that have completed cleaning in the set of cleaning node units are configured as cleaned.

[0019] After the first cleaning robot leaves the first grid area to be cleaned, the first cleaning coverage area is determined according to the set of cleaned node units, and the information of the first cleaning coverage area is sent to the scheduling cloud platform. The set of cleaned node units is a set of node units composed of cleaning node units configured in the cleaned state.

[0020] In the above scheme, by obtaining a first area topology map from the scheduling cloud platform before the cleaning robot enters the grid area to be cleaned, the cleaning work is ensured to be based on precise area division and node unit set, avoiding blind cleaning and repeated cleaning, thereby significantly improving cleaning efficiency and accuracy. The first area topology map not only includes the set of cleaning node units but also covers the connecting paths between adjacent nodes to be cleaned. This allows the cleaning robot to more flexibly adapt to grid areas of different shapes and complexities, including areas with obstacles and narrow passages, improving environmental adaptability. Then, the initial state of the cleaning node units is configured as uncleaned, and gradually updated to cleaned during the cleaning process. This dynamic update process allows the scheduling cloud platform to monitor the cleaning progress in real time, ensuring accurate recording and monitoring of the cleaned coverage area. Furthermore, after leaving the grid area to be cleaned, the first cleaned coverage area is determined based on the cleaned node unit set, and the relevant information is sent to the scheduling cloud platform, providing reliable data support for subsequent cleaning task allocation and path planning. The scheduling cloud platform can make more optimized decisions based on this information, such as dispatching more suitable cleaning robots to handle uncovered areas. This process enables automated and intelligent management of cleaning tasks, reduces the need for manual intervention, lowers labor costs, and improves the overall automation level and cleaning efficiency of the workflow.

[0021] Optionally, before sending the first clean coverage area information to the scheduling cloud platform, the following steps are included:

[0022] If the first cleaning robot completes cleaning of all areas corresponding to the first cleaning node unit in the set of cleaning node units, then the first cleaning node unit is configured as the cleaned state.

[0023] If the first cleaning robot completes cleaning of a portion of the area corresponding to the second cleaning node unit in the set of cleaning node units, then a second cleaning node master unit and a second cleaning node slave unit are generated based on the second cleaning node unit. The second cleaning node master unit is configured to the cleaned state, and the second cleaning node slave unit is configured to the uncleaned state. The second cleaning node master unit is the part of the second cleaning node unit that has been cleaned, and the second cleaning node slave unit is the part of the second cleaning node unit that has not been cleaned.

[0024] The first cleaning robot updates the set of cleaned node units based on the second cleaning node master unit and the second cleaning node slave unit, and updates the information of the first cleaning coverage area.

[0025] The above solution achieves refined management of cleaning node units, considering not only complete cleaning but also further subdividing partially cleaned nodes into master units that have completed cleaning and slave units that have not. This approach makes the recording of cleaning coverage areas more accurate, helping the scheduling cloud platform to make more detailed cleaning plans. By generating second cleaning node master and slave units, the first cleaning robot can more flexibly cope with complex and changing cleaning environments. Even within a single cleaning node unit, the division of cleaning areas can be dynamically adjusted according to the actual cleaning situation, improving the flexibility and adaptability of the cleaning strategy. Furthermore, the real-time updating of the set of cleaned node units ensures that the scheduling cloud platform can accurately grasp the cleaning status of each cleaning node, including which parts have been cleaned and which parts still need to be cleaned. This real-time monitoring and feedback mechanism helps the scheduling cloud platform adjust cleaning strategies in a timely manner and optimize resource allocation. Accurate information on the first cleaning coverage area provides the scheduling cloud platform with important decision-making basis. Based on this information, the scheduling cloud platform can more rationally allocate cleaning tasks to appropriate cleaning robots, reducing repetitive work and resource waste, and improving overall cleaning efficiency.

[0026] Optionally, after the scheduling cloud platform determines the first uncovered area information corresponding to the first uncovered area based on the first cleaning coverage area information and the first grid area information to be cleaned, it further includes:

[0027] The scheduling cloud platform determines the first region boundary set based on the first region topology map, wherein the region boundaries in the first region boundary set include the outer contour boundary of the first grid region to be cleaned and the obstacle boundary of the fixed obstacles in the first grid region to be cleaned.

[0028] The scheduling cloud platform determines, based on the first set of regional boundaries and the first uncovered clean area, that there are uncovered clean corner areas or uncovered clean narrow passage areas in the first uncovered clean area, wherein the uncovered clean corner areas or the uncovered clean narrow passage areas include uncleaned node units located between at least two adjacent regional boundaries.

[0029] In the above scheme, by combining the area boundary information (including outer contour boundaries and obstacle boundaries of fixed obstacles) in the first area topology map, the scheduling cloud platform can accurately identify cleaning blind spots in the first uncovered cleaning area, such as uncovered corner areas and uncovered narrow passage areas. This accurate identification helps to take targeted cleaning measures subsequently, improving the comprehensiveness and effectiveness of cleaning. Further subdividing the uncovered cleaning areas, such as distinguishing between corner areas and narrow passage areas, makes the allocation and scheduling of cleaning tasks more refined. The scheduling cloud platform can select appropriate cleaning robots for cleaning based on the characteristics of these areas, improving cleaning efficiency and effectiveness. This step fully considers the complexity and diversity of industrial environments, especially those difficult-to-clean corners and narrow passage areas. By accurately identifying these areas and formulating corresponding cleaning strategies, the adaptability of cleaning robots to environmental changes is enhanced. After identifying the uncovered cleaning areas, the scheduling cloud platform can replan the cleaning path based on this information, ensuring that the cleaning robots can cover these areas more efficiently in subsequent cleaning processes, reducing omissions and repeated cleaning. Furthermore, by accurately identifying and addressing uncovered areas, especially hard-to-clean corners and narrow passages, and then directing cleaning robots with smaller minimum clearance dimensions to further clean these areas, cleaning coverage can be significantly improved, ensuring a clean and hygienic industrial environment.

[0030] Optionally, before the scheduling cloud platform sends the information about the first uncovered cleaning area to the second cleaning robot in the cleaning robot cluster, the method further includes:

[0031] The scheduling cloud platform determines the corresponding cleaning passage size limit based on the uncovered corner area or the uncovered narrow passage area, wherein the cleaning passage size limit is the upper limit of the size of the cleaning robot that can clean the uncovered corner area or the uncovered narrow passage area;

[0032] The scheduling cloud platform determines the second cleaning robot from the cleaning robot cluster based on the upper limit of the cleaning passage size, wherein the lower limit of the cleaning passage size of the second cleaning robot is less than or equal to the upper limit of the cleaning passage size corresponding to the narrow passage area not covered by cleaning, or the lower limit of the cleaning passage size of the second cleaning robot is the smallest in the cleaning robot cluster.

[0033] In the above solution, by determining the upper limit of the cleaning passage size for uncovered corners or narrow passages, the scheduling cloud platform can accurately match suitable cleaning robots. This resource matching method based on area characteristics ensures that cleaning tasks are performed by the most suitable robot, avoiding resource waste or task incompleteness. Selecting a second cleaning robot with a suitable passage size ensures that the robot can smoothly enter and effectively clean narrow or complex areas. This not only improves cleaning efficiency but also guarantees cleaning results, reducing cleaning blind spots caused by unsuitable robot sizes. The scheduling cloud platform dynamically adjusts the selection of cleaning robots according to area characteristics, demonstrating the flexibility and adaptability of the system scheduling, enabling the cleaning system to maintain efficient operation in different environments and scenarios, and improving the overall system's intelligence level. In addition, dispatching cleaning robots of suitable size can reduce wear and tear and malfunctions caused by improper operation of oversized robots in narrow areas, helping to extend the robot's service life and reduce maintenance costs.

[0034] Optionally, after the scheduling cloud platform sends the information about the first uncovered cleaning area to the second cleaning robot in the cleaning robot cluster, the method further includes:

[0035] The second cleaning robot, based on the current cleaning grid... and the second grid sequence to be cleaned Determine the second grid sequence to be cleaned. The second cleaning grid sequence is the grid arranged on the second cleaning path corresponding to the second cleaning machine in the current cleaning grid. The subsequent grids to be cleaned form a sequence of grids to be cleaned;

[0036] The second cleaning robot utilizes Formula 1 and, based on the first uncovered cleaning area within the first cleaning grid area,... and the second grid sequence to be cleaned Determine the minimum scheduling distance Formula 1 is:

[0037]

[0038] in, The second grid sequence to be cleaned The Middle One grid to be cleaned Compared with the first uncleaned area Navigation distance between them For the first uncovered cleaning area With the second grid sequence to be cleaned The Middle One grid to be cleaned Navigation distance between them;

[0039] The second cleaning robot is based on the minimum scheduling distance From the second grid sequence to be cleaned The first feature cleaning grid and the second feature cleaning grid are determined, and the first uncovered cleaning area is then... Added between the first feature cleaning grid and the second feature cleaning grid to generate a new sequence of grids to be cleaned. This new sequence of grids to be cleaned is used to determine when the second cleaning robot has completed cleaning the current grid. The cleaning path after sweeping.

[0040] In the above scheme, by calculating the minimum scheduling distance and adjusting the cleaning grid sequence of the second cleaning robot accordingly, the uncovered areas of the first cleaning are rationally inserted into the cleaning path. This dynamic path planning method ensures that after completing the current cleaning task, the cleaning robot can cover the uncleaned areas in the shortest path and in the most efficient way, thereby improving the overall cleaning efficiency. In addition, by accurately calculating the minimum scheduling distance and replanning the cleaning path, this step effectively avoids repeated cleaning and omissions during the cleaning process, which not only improves the cleaning quality but also reduces unnecessary energy consumption. After receiving information about the uncovered areas of the first cleaning, the second cleaning robot can quickly calculate the optimal path based on the current cleaning grid and the grid sequence to be cleaned, and adjust the cleaning plan in real time. This high degree of flexibility and rapid response speed enables the cleaning system to quickly deal with various emergencies and ensure the smooth progress of the cleaning task. Through the above scheme, the intelligent scheduling algorithm relying on the scheduling cloud platform and the autonomous decision-making capability of the second cleaning robot can be realized. Through the close cooperation between the two, the entire cleaning system exhibits a high level of intelligence, capable of autonomously completing complex cleaning tasks and continuously optimizing cleaning paths and strategies. By optimizing cleaning path planning and reducing cleaning blind spots, this step ultimately improves the quality and effectiveness of cleaning services.

[0041] Secondly, this application provides an industrial waste robot cleaning device, including a cleaning robot cluster and a scheduling cloud platform, wherein each cleaning robot in the cleaning robot cluster is communicatively connected to the scheduling cloud platform;

[0042] The first cleaning robot in the cleaning robot cluster responds to the first cleaning instruction issued by the scheduling cloud platform and cleans the first cleaning path in the industrial area to be cleaned. The industrial area to be cleaned includes an array of grid areas to be cleaned, and the first cleaning path includes at least one grid area to be cleaned in the array of grid areas to be cleaned.

[0043] When the first cleaning robot cleans the first grid area to be cleaned on the first cleaning path, it records the first cleaning coverage area that has been cleaned in the first grid area to be cleaned, and sends the first cleaning coverage area information corresponding to the first cleaning coverage area to the scheduling cloud platform.

[0044] If the first cleaning coverage rate determined by the scheduling cloud platform based on the first cleaning coverage area information and the first grid area information to be cleaned is lower than the preset cleaning coverage rate threshold, then the scheduling cloud platform determines the first cleaning uncovered area information corresponding to the first cleaning uncovered area based on the first cleaning coverage area information and the first grid area information to be cleaned, and the first grid area information to be cleaned is the area information corresponding to the first grid area to be cleaned.

[0045] The scheduling cloud platform sends the information of the first uncovered cleaning area to the second cleaning robot in the cleaning robot cluster, so as to instruct the second cleaning robot to clean the first uncovered cleaning area, wherein the lower limit of the cleaning passage size of the second cleaning robot is smaller than the lower limit of the cleaning passage size of the first cleaning robot.

[0046] Thirdly, this application provides an electronic device, comprising:

[0047] Processor; and,

[0048] Memory for storing the executable instructions of the processor;

[0049] The processor is configured to perform any of the possible methods described in the first aspect by executing the executable instructions.

[0050] Fourthly, this application provides a computer-readable storage medium storing computer-executable instructions, which, when executed by a processor, are used to implement any of the possible methods described in the first aspect.

[0051] The industrial waste robot cleaning method and apparatus provided in this application cleans a first cleaning path within an industrial area to be cleaned in response to a first cleaning command issued by a scheduling cloud platform. While cleaning a first grid area to be cleaned on the first cleaning path, the system records the first cleaning coverage area completed within that grid area and sends the information corresponding to that first cleaning coverage area to the scheduling cloud platform. The scheduling cloud platform then determines the information of the first uncovered cleaning area based on the information of the first cleaning coverage area and the information of the first grid area to be cleaned. The scheduling cloud platform then sends the information of the first uncovered cleaning area to a second cleaning robot in the cleaning robot cluster with a smaller minimum clearance size, instructing the second cleaning robot to clean the first uncovered cleaning area. This instructs the second cleaning robot with the smaller clearance size to perform supplementary cleaning, thereby improving the overall cleaning coverage and efficiency, making it suitable for waste cleaning operations in various complex industrial environments. Attached Figure Description

[0052] The accompanying drawings, which are incorporated in and form part of this specification, illustrate embodiments consistent with this application and, together with the description, serve to explain the principles of this application.

[0053] Figure 1 This is a schematic flowchart illustrating an industrial waste robot cleaning method according to an example embodiment of this application;

[0054] Figure 2 This is a schematic flowchart illustrating an industrial waste robot cleaning method according to another exemplary embodiment of this application;

[0055] Figure 3 This is a schematic diagram of the structure of an industrial waste robot cleaning device according to an example embodiment of this application;

[0056] Figure 4 This is a schematic diagram of the structure of an electronic device according to an example embodiment of this application.

[0057] The accompanying drawings illustrate specific embodiments of this application, which will be described in more detail below. These drawings and descriptions are not intended to limit the scope of the concept in any way, but rather to illustrate the concept of this application to those skilled in the art through reference to particular embodiments. Detailed Implementation

[0058] Exemplary embodiments will now be described in detail, examples of which are illustrated in the accompanying drawings. When the following description relates to the drawings, unless otherwise indicated, the same numbers in different drawings denote the same or similar elements. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with this application. Rather, they are merely examples of apparatuses and methods consistent with some aspects of this application as detailed in the appended claims.

[0059] To address the aforementioned issues, the embodiments provided in this application stipulate that when the scheduling cloud platform receives a cleaning task, it issues cleaning instructions to the first cleaning robot in the cleaning robot cluster based on the gridded division of the area to be cleaned. While performing the task, the first robot records and reports the cleaning coverage area information in real time, and the cloud platform evaluates the cleaning coverage rate accordingly. If the coverage rate is lower than a preset threshold, the cloud platform sends the identified uncovered cleaning areas to the second cleaning robot for supplementary cleaning. This dynamic allocation mechanism ensures the efficient completion of cleaning tasks.

[0060] Furthermore, before entering the grid area to be cleaned, the cleaning robot first obtains a topological map of the area from the cloud platform, including the set of cleaning node units and their connecting paths. By progressively updating the cleaning status of the node units, the cleaning coverage area is accurately recorded, and the information is uploaded to the cloud platform. Based on this information, the cloud platform further subdivides the uncovered areas, such as corner areas and narrow passages, and selects appropriate cleaning robots for supplementary cleaning accordingly. This refined management improves the accuracy and efficiency of cleaning.

[0061] After receiving information about uncovered areas, the second cleaning robot determines the optimal path by calculating the minimum scheduling distance based on the current cleaning grid and the sequence of grids to be cleaned. By appropriately inserting uncovered areas into the cleaning path, dynamic adjustment and optimization of the cleaning task are achieved, reducing duplicate cleaning and omissions, and improving cleaning efficiency and resource utilization.

[0062] To cater to different cleaning environments and needs, this application embodiment also supports customizable cleaning coverage thresholds. By adjusting the thresholds, different cleaning scenarios and requirements can be adapted to ensure the targeted and efficient nature of the cleaning work. Furthermore, through the close collaboration between the scheduling cloud platform and the cleaning robot, real-time monitoring and dynamic adjustment of the cleaning process are achieved, enhancing the adaptability and flexibility of the cleaning system.

[0063] Figure 1 This is a schematic flowchart illustrating an industrial waste robot cleaning method according to an example embodiment of this application. Figure 1 As shown, the industrial waste cleaning robot method provided in this embodiment includes:

[0064] S101, the first cleaning robot in the cleaning robot cluster responds to the first cleaning instruction issued by the scheduling cloud platform and cleans the first cleaning path in the industrial area to be cleaned.

[0065] The industrial waste cleaning robot method provided in this embodiment can be applied to an industrial waste cleaning device, which includes a cluster of cleaning robots and a scheduling cloud platform. Each cleaning robot in the cluster communicates with the scheduling cloud platform. Specifically, each cleaning robot has autonomous navigation and cleaning capabilities and maintains a connection with the scheduling cloud platform via wireless communication technology. During the system initialization phase, all cleaning robots register with the scheduling cloud platform and upload their technical parameters, including the minimum cleaning passage size. It is worth noting that the aforementioned minimum cleaning passage size refers to the minimum space size required for a cleaning robot to pass smoothly during cleaning operations. This size limit is usually related to the robot's physical dimensions, shape, and operational flexibility. Specifically, different cleaning robots may have different physical parameters such as volume, width, and height, which together determine the minimum space size that the robot can enter. The minimum cleaning passage size is a threshold value set based on these physical parameters to determine whether a certain area or passage is suitable for a cleaning robot of a specific size to enter and perform cleaning operations. During the cleaning task allocation process, the scheduling cloud platform selects the appropriate robot for cleaning operations based on the actual conditions of the area to be cleaned (such as aisle width and obstacle layout) and the minimum cleaning passage size of the cleaning robot. For example, for narrow aisles or corner areas, a robot with a smaller minimum cleaning passage size should be dispatched to ensure that the robot can enter smoothly and complete the cleaning task. Therefore, the minimum cleaning passage size is an important indicator for measuring the suitability of cleaning robots and the rationality of cleaning task allocation. By properly setting and utilizing this indicator, the configuration and efficiency of cleaning robots can be optimized, improving overall cleaning effectiveness and operational flexibility.

[0066] In this step, the first cleaning robot in the cleaning robot cluster responds to the first cleaning command issued by the scheduling cloud platform to clean the first cleaning path in the industrial area to be cleaned. The industrial area to be cleaned includes an array of grid areas to be cleaned, and the first cleaning path includes at least one grid area to be cleaned in the array of grid areas to be cleaned.

[0067] Specifically, when an industrial area needs to be cleaned, the scheduling cloud platform generates a grid array of areas to be cleaned based on the area division and determines the first cleaning path. Subsequently, it issues the first cleaning command to the first cleaning robot in the cleaning robot cluster, specifying the grid area and path to be cleaned.

[0068] S102. Record the first cleaned coverage area that has been cleaned in the first grid area to be cleaned.

[0069] After receiving the cleaning instruction, the first cleaning robot plans its path into the grid area to be cleaned based on the area topology information provided by the scheduling cloud platform, and then begins the cleaning work.

[0070] When the first cleaning robot cleans the first grid area to be cleaned on the first cleaning path, it records the first cleaning coverage area that has been cleaned in the first grid area to be cleaned, and sends the information of the first cleaning coverage area to the scheduling cloud platform.

[0071] Specifically, the first cleaning robot records its cleaning progress in real time during the cleaning process. Before entering each grid area to be cleaned, it obtains the topology map of that area from the scheduling cloud platform and performs precise cleaning based on the map. Simultaneously, it marks the areas that have been cleaned as clean and records relevant information. Furthermore, after cleaning is completed, the first cleaning robot uploads the first cleaning coverage area information to the scheduling cloud platform. This information includes data such as the set of cleaned node units and the cleaning coverage rate.

[0072] In one possible implementation, before the first cleaning robot enters the first grid area to be cleaned, a first area topology map of the first grid area to be cleaned is obtained from the scheduling cloud platform. The first area topology map includes a set of cleaning node units and a connection path between adjacent cleaning nodes of the set of cleaning node units.

[0073] The first cleaning robot configures the initial state of each cleaning node unit in the set of cleaning node units to be uncleaned.

[0074] The first grid area to be cleaned is cleaned according to the topology map of the first region, and the cleaned node units in the set of cleaned node units that have completed cleaning are configured as cleaned.

[0075] After the first cleaning robot leaves the first grid area to be cleaned, the first cleaning coverage area is determined based on the set of cleaned node units, and the information of the first cleaning coverage area is sent to the scheduling cloud platform. The set of cleaned node units is a set of node units composed of cleaning node units configured as clean.

[0076] Specifically, when the first cleaning robot receives a cleaning instruction from the scheduling cloud platform for the first grid area to be cleaned, it first obtains a topology map of that area from the scheduling cloud platform before entering it. This map details the layout of the grid area to be cleaned, dividing it into multiple smaller node units, each representing an area that can be cleaned independently. It also indicates the paths connecting these cleaning node units, including passages between directly adjacent nodes, and the locations of any potential obstacles.

[0077] After acquiring the area topology map, the first cleaning robot initializes all cleaning node units on the map, setting each node to an uncleaned state initially. This step ensures that all areas to be cleaned are clearly marked as unprocessed before cleaning begins, facilitating subsequent tracking of cleaning progress. Next, the first cleaning robot cleans each node unit one by one according to the path planned on the area topology map. After completing the cleaning of each node, its state is updated to clean. This process is performed in real-time, ensuring the scheduling cloud platform can obtain the latest cleaning progress information at any time. When the first cleaning robot finishes cleaning the entire grid area and is ready to leave, it aggregates all node units marked as clean, forming a set of cleaned node units. Based on this set, the first cleaning robot calculates the specific area covered by this cleaning, i.e., the first cleaning coverage area.

[0078] Finally, the first cleaning robot uploads the calculated first cleaning coverage area information to the scheduling cloud platform. This information includes, but is not limited to, the identifiers and coordinates of the cleaned node units, as well as the boundaries of the cleaning coverage area they form. After receiving this information, the scheduling cloud platform will use it for subsequent cleaning coverage assessment, identification of uncovered areas, and reallocation of cleaning tasks.

[0079] S103. The scheduling cloud platform determines the first cleaning uncovered area information corresponding to the first cleaning uncovered area based on the first cleaning coverage area information and the first grid area to be cleaned information.

[0080] In this step, the scheduling cloud platform determines the first uncleaned area information corresponding to the first uncleaned area based on the first cleaning coverage area information and the first grid area information to be cleaned. The first grid area information to be cleaned is the area information corresponding to the first grid area to be cleaned.

[0081] Optionally, after receiving the first cleaning coverage area information, the scheduling cloud platform calculates the cleaning coverage rate by combining it with the first grid area to be cleaned. If the coverage rate is lower than a preset threshold, the first uncovered cleaning area is identified, and the corresponding uncovered area information is determined.

[0082] For the identified uncovered areas, the scheduling cloud platform further analyzes their characteristics, such as whether there are uncovered corners or narrow passages. Based on the characteristics of these areas, an appropriate upper limit for cleaning passage size is determined, and a second cleaning robot that meets the lower limit for cleaning passage size is selected from the cleaning robot cluster, and cleaning instructions for the uncovered areas are issued to it.

[0083] S104. The scheduling cloud platform sends the information of the first cleaning area not covered to the second cleaning robot in the cleaning robot cluster.

[0084] In this step, the scheduling cloud platform sends the information of the first uncovered cleaning area to the second cleaning robot in the cleaning robot cluster, so as to instruct the second cleaning robot to clean the first uncovered cleaning area. The lower limit of the cleaning passage size of the second cleaning robot is smaller than the lower limit of the cleaning passage size of the first cleaning robot.

[0085] Optionally, after receiving a cleaning instruction, the second cleaning robot calculates the minimum scheduling distance and determines the optimal path based on the current cleaning grid and the sequence of grids to be cleaned. Then, it appropriately inserts the uncovered areas into the cleaning path and begins cleaning. Furthermore, throughout the cleaning process, the scheduling cloud platform continuously monitors the working status of the cleaning robots and adjusts the cleaning strategy and path planning based on real-time feedback. For example, if the first cleaning robot encounters an emergency and cannot continue working, the scheduling cloud platform can promptly assign the remaining tasks to other cleaning robots to ensure the successful completion of the cleaning task.

[0086] In this embodiment, the first cleaning robot in the cleaning robot cluster responds to the first cleaning command issued by the scheduling cloud platform to clean the first cleaning path in the industrial area to be cleaned. When cleaning the first grid area to be cleaned on the first cleaning path, it records the first cleaning coverage area that has been cleaned in the first grid area to be cleaned, and sends the first cleaning coverage area information corresponding to the first cleaning coverage area to the scheduling cloud platform. The scheduling cloud platform determines the first cleaning uncovered area information corresponding to the first cleaning uncovered area based on the first cleaning coverage area information and the first grid area information to be cleaned. Then, the scheduling cloud platform sends the first cleaning uncovered area information to the second cleaning robot in the cleaning robot cluster with a smaller lower limit of cleaning passage size, so as to instruct the second cleaning robot to clean the first cleaning uncovered area, thereby instructing the second cleaning robot with a smaller passage size to perform supplementary cleaning, thereby improving the overall cleaning coverage and cleaning efficiency, so as to be suitable for garbage cleaning operations in various complex industrial environments.

[0087] Figure 2This is a schematic flowchart illustrating an industrial waste robot cleaning method according to another exemplary embodiment of this application. Figure 2 As shown, the industrial waste cleaning robot method provided in this embodiment includes:

[0088] S201, the first cleaning robot in the cleaning robot cluster responds to the first cleaning command issued by the scheduling cloud platform and cleans the first cleaning path in the industrial area to be cleaned.

[0089] In this step, the first cleaning robot in the cleaning robot cluster responds to the first cleaning command issued by the scheduling cloud platform to clean the first cleaning path in the industrial area to be cleaned. The industrial area to be cleaned includes an array of grid areas to be cleaned, and the first cleaning path includes at least one grid area to be cleaned in the array of grid areas to be cleaned.

[0090] Specifically, when an industrial area needs to be cleaned, the scheduling cloud platform generates a grid array of areas to be cleaned based on the area division and determines the first cleaning path. Subsequently, it issues the first cleaning command to the first cleaning robot in the cleaning robot cluster, specifying the grid area and path to be cleaned.

[0091] S202, Record the first cleaning coverage area that has been cleaned in the first grid area to be cleaned.

[0092] After receiving the cleaning instruction, the first cleaning robot plans its path into the grid area to be cleaned based on the area topology information provided by the scheduling cloud platform, and then begins the cleaning work.

[0093] When the first cleaning robot cleans the first grid area to be cleaned on the first cleaning path, it records the first cleaning coverage area that has been cleaned in the first grid area to be cleaned, and sends the information of the first cleaning coverage area to the scheduling cloud platform.

[0094] Specifically, the first cleaning robot records its cleaning progress in real time during the cleaning process. Before entering each grid area to be cleaned, it obtains the topology map of that area from the scheduling cloud platform and performs precise cleaning based on the map. Simultaneously, it marks the areas that have been cleaned as clean and records relevant information. Furthermore, after cleaning is completed, the first cleaning robot uploads the first cleaning coverage area information to the scheduling cloud platform. This information includes data such as the set of cleaned node units and the cleaning coverage rate.

[0095] In one possible implementation, before the first cleaning robot enters the first grid area to be cleaned, a first area topology map of the first grid area to be cleaned is obtained from the scheduling cloud platform. The first area topology map includes a set of cleaning node units and a connection path between adjacent cleaning nodes of the set of cleaning node units.

[0096] The first cleaning robot configures the initial state of each cleaning node unit in the set of cleaning node units to be uncleaned.

[0097] The first grid area to be cleaned is cleaned according to the topology map of the first region, and the cleaned node units in the set of cleaned node units that have completed cleaning are configured as cleaned.

[0098] After the first cleaning robot leaves the first grid area to be cleaned, the first cleaning coverage area is determined based on the set of cleaned node units, and the information of the first cleaning coverage area is sent to the scheduling cloud platform. The set of cleaned node units is a set of node units composed of cleaning node units configured as clean.

[0099] Specifically, when the first cleaning robot receives a cleaning instruction from the scheduling cloud platform for the first grid area to be cleaned, it first obtains a topology map of that area from the scheduling cloud platform before entering it. This map details the layout of the grid area to be cleaned, dividing it into multiple smaller node units, each representing an area that can be cleaned independently. It also indicates the paths connecting these cleaning node units, including passages between directly adjacent nodes, and the locations of any potential obstacles.

[0100] After acquiring the area topology map, the first cleaning robot initializes all cleaning node units on the map, setting each node to an uncleaned state initially. This step ensures that all areas to be cleaned are clearly marked as unprocessed before cleaning begins, facilitating subsequent tracking of cleaning progress. Next, the first cleaning robot cleans each node unit one by one according to the path planned on the area topology map. After completing the cleaning of each node, its state is updated to clean. This process is performed in real-time, ensuring the scheduling cloud platform can obtain the latest cleaning progress information at any time. When the first cleaning robot finishes cleaning the entire grid area and is ready to leave, it aggregates all node units marked as clean, forming a set of cleaned node units. Based on this set, the first cleaning robot calculates the specific area covered by this cleaning, i.e., the first cleaning coverage area.

[0101] Finally, the first cleaning robot uploads the calculated first cleaning coverage area information to the scheduling cloud platform. This information includes, but is not limited to, the identifiers and coordinates of the cleaned node units, as well as the boundaries of the cleaning coverage area they form. After receiving this information, the scheduling cloud platform will use it for subsequent cleaning coverage assessment, identification of uncovered areas, and reallocation of cleaning tasks.

[0102] S203. The first cleaning coverage rate determined by the scheduling cloud platform based on the information of the first cleaning coverage area and the information of the first grid area to be cleaned is lower than the preset cleaning coverage rate threshold.

[0103] In this step, after receiving the first cleaning coverage area information uploaded by the first cleaning robot, the scheduling cloud platform will first organize and analyze this information. This information details the cleaning work area that the first cleaning robot has completed within the specific grid area to be cleaned.

[0104] Next, the scheduling cloud platform uses the collected information on the first cleaning coverage area, combined with the total area or total number of node units in the grid area to be cleaned, to calculate the first cleaning coverage rate. The cleaning coverage rate is a key indicator that reflects the degree of completion and quality of the current cleaning work.

[0105] To ensure the adequacy and efficiency of cleaning operations, the scheduling cloud platform pre-sets a cleaning coverage threshold. This threshold can be flexibly adjusted based on specific cleaning needs and scenarios. For example, a lower threshold may be set for areas with high cleaning requirements or urgent cleaning tasks to ensure more comprehensive cleaning.

[0106] After calculating the initial cleaning coverage rate, the scheduling cloud platform compares it with a preset cleaning coverage rate threshold. If the initial cleaning coverage rate is lower than the threshold, it indicates that the current cleaning work has not yet met the predetermined standards, and further measures are needed to ensure the integrity and quality of the cleaning.

[0107] When the cleaning coverage rate falls below a preset threshold, the scheduling cloud platform will automatically identify the first uncovered areas based on the information of the first cleaning coverage area and the grid area to be cleaned. These areas may include cleaning dead corners, narrow passages, or parts that the robot cannot reach due to size limitations.

[0108] Once an uncovered area is identified, the scheduling cloud platform generates corresponding information on the first uncovered area and sends this information to other robots in the cleaning robot cluster (such as a second cleaning robot) to instruct them to perform supplementary cleaning on the uncovered area. This process ensures the comprehensiveness and efficiency of the cleaning work, avoids cleaning blind spots and omissions, and improves the overall cleaning quality.

[0109] Through the above specific implementation methods, the scheduling cloud platform effectively identifies areas that need further cleaning by evaluating the cleaning coverage rate and comparing it with preset thresholds, and adjusts the cleaning strategy and resource allocation in real time, thereby ensuring the efficient and high-quality completion of the cleaning work.

[0110] Furthermore, before sending the first cleaning coverage area information to the scheduling cloud platform, if the first cleaning robot has completed cleaning all areas corresponding to the first cleaning node unit in the cleaning node unit set, then the first cleaning node unit is configured as cleaned. If the first cleaning robot has completed cleaning a portion of the area corresponding to the second cleaning node unit in the cleaning node unit set, then a second cleaning node master unit and a second cleaning node slave unit are generated based on the second cleaning node unit. The second cleaning node master unit is configured as cleaned, and the second cleaning node slave unit is configured as uncleaned. The second cleaning node master unit represents the cleaned portion of the second cleaning node unit, and the second cleaning node slave unit represents the uncleaned portion of the second cleaning node unit. The first cleaning robot updates the cleaned node unit set based on the second cleaning node master unit and the second cleaning node slave unit, and updates the first cleaning coverage area information.

[0111] Specifically, when the first cleaning robot is performing its cleaning task, it processes each cleaning node unit one by one. For a given cleaning node unit (which we call the first cleaning node unit), if the robot has completed the cleaning work for all the areas corresponding to that node unit, it will update the configuration status of that node unit to "cleaned". This step ensures that the scheduling cloud platform can accurately record each completely cleaned node unit, providing a basis for subsequent cleaning path planning and task allocation.

[0112] However, in some situations, due to obstacles, robot size limitations, or adjustments to the cleaning strategy, the first cleaning robot may not be able to complete the full cleaning of a certain cleaning node unit (e.g., what might be called the second cleaning node unit) in one go. In such cases, the robot will adopt a more refined approach:

[0113] First, the robot subdivides the second cleaning node unit into the cleaned portion (the main unit of the second cleaning node) and the uncleaned portion (the slave unit of the second cleaning node) based on the actual cleaning situation. This subdivision not only improves the recording accuracy of the cleaning coverage area but also provides clear goals and directions for subsequent cleaning work.

[0114] Next, the robot updates the configuration status of the second cleaning node's master unit to "cleaned," while leaving the configuration status of the second cleaning node's slave unit as "not cleaned." Simultaneously, the robot updates the set of cleaned node units and the first cleaning coverage area information based on these two sub-units. This step ensures that the scheduling cloud platform can monitor the cleaning progress and status of each node unit in real time.

[0115] After completing the above status configuration and updates, the first cleaning robot will send the latest information on the first cleaning coverage area to the scheduling cloud platform. This information includes not only a list of fully cleaned node units, but also detailed records of the specific breakdown and cleaning progress of some cleaning node units. Based on this information, the scheduling cloud platform can comprehensively and accurately understand the current progress of the cleaning work, providing data support for subsequent task allocation and path planning.

[0116] Through this specific implementation method, the first cleaning robot achieves refined management of cleaning node units during the cleaning process. It not only records completely clean node units but also precisely records the specific cleaning status of certain cleaning node units through detailed processing. This refined management method improves the recording accuracy and real-time performance of the cleaning coverage area, providing strong support for the intelligent scheduling and decision-making of the scheduling cloud platform.

[0117] S204. The scheduling cloud platform determines the first cleaning uncovered area information corresponding to the first cleaning uncovered area based on the first cleaning coverage area information and the first grid area to be cleaned information.

[0118] In this step, the scheduling cloud platform determines the first uncleaned area information corresponding to the first uncleaned area based on the first cleaning coverage area information and the first grid area information to be cleaned. The first grid area information to be cleaned is the area information corresponding to the first grid area to be cleaned.

[0119] Optionally, after receiving the first cleaning coverage area information, the scheduling cloud platform calculates the cleaning coverage rate by combining it with the first grid area to be cleaned. If the coverage rate is lower than a preset threshold, the first uncovered cleaning area is identified, and the corresponding uncovered area information is determined.

[0120] For the identified uncovered areas, the scheduling cloud platform further analyzes their characteristics, such as whether there are uncovered corners or narrow passages. Based on the characteristics of these areas, an appropriate upper limit for cleaning passage size is determined, and a second cleaning robot that meets the lower limit for cleaning passage size is selected from the cleaning robot cluster, and cleaning instructions for the uncovered areas are issued to it.

[0121] S205. The scheduling cloud platform determines the boundary set of the first region based on the topology map of the first region.

[0122] In this step, the scheduling cloud platform determines the first region boundary set based on the first region topology map. The region boundaries in the first region boundary set include the outer contour boundary of the first grid region to be cleaned and the obstacle boundary of the fixed obstacles in the first grid region to be cleaned.

[0123] After the scheduling cloud platform identifies the first uncovered area, a topology map of that area can be further utilized to more accurately pinpoint its location and characteristics. First, the scheduling cloud platform determines the first area boundary set based on this map. This set includes the outer contour boundary of the first grid area to be cleaned and the obstacle boundaries of all fixed obstacles within the area. The outer contour boundary defines the overall extent of the area to be cleaned, while the obstacle boundaries indicate the boundaries of areas that are impassable or difficult to traverse within the area.

[0124] S206. The scheduling cloud platform determines, based on the first area boundary set and the first uncovered cleaning area, that there are uncovered corner areas or uncovered narrow passage areas in the first uncovered cleaning area.

[0125] The scheduling cloud platform determines, based on the first region boundary set and the first clean uncovered region, that there are clean uncovered corner regions or clean uncovered narrow passage regions in the first clean uncovered region. The clean uncovered corner regions or clean uncovered narrow passage regions include uncleaned node units located between at least two adjacent region boundaries.

[0126] Specifically, after obtaining the set of region boundaries, the scheduling cloud platform will further analyze the specific types of uncovered areas based on this boundary information and the specific locations of the first uncovered areas. By comparing the relationship between the uncovered areas and their surrounding boundaries, the scheduling cloud platform can identify two main types of uncovered areas:

[0127] Cleaning uncovered corner areas: These areas are often located at the intersection of two or more boundaries, where cleaning is difficult due to limited space or restricted robot operation.

[0128] Cleaning uncovered narrow passageways: These areas may be narrow passageways connecting two larger cleaning areas, which may also fail to be completely cleaned due to size limitations or insufficient robot turning flexibility.

[0129] During the specific identification process, the scheduling cloud platform checks whether the uncovered area is adjacent to at least two adjacent area boundaries. If this condition is met, it is marked as a clean uncovered corner area or a clean uncovered narrow passage area. In addition, the aforementioned clean uncovered corner areas and clean uncovered narrow passage areas can also be manually marked on the scheduling cloud platform. Due to their special geographical location and environmental conditions, these areas usually require special cleaning strategies and equipment to handle.

[0130] S207. The scheduling cloud platform determines the corresponding upper limit of cleaning passage size based on the corner areas or narrow passage areas that are not covered by cleaning.

[0131] In this step, the scheduling cloud platform determines the corresponding cleaning passage size limit based on the uncovered corner areas or the uncovered narrow passage areas. The cleaning passage size limit is the upper limit of the size of the cleaning robot that can clean the uncovered corner areas or the uncovered narrow passage areas.

[0132] Specifically, after the dispatch cloud platform identifies uncovered corner areas or narrow passageways, in order to ensure that these hard-to-reach areas can be effectively cleaned, it is first necessary to determine the upper limit of the cleaning passage size for these special areas. This upper limit is calculated based on the actual physical limitations of the area (such as width, height, turning radius, etc.) and represents the maximum allowable size of the cleaning robot that can enter and effectively clean the area.

[0133] For corner areas, the upper limit for cleaning passage size is usually small due to limited space; while for narrow passage areas, the robot's straight-line passage capability and turning flexibility may need to be considered. The scheduling cloud platform sets an appropriate upper limit for cleaning passage size for each uncovered area by comprehensively evaluating these factors. It is worth noting that the above-mentioned upper limit for cleaning passage size in uncovered corner areas or uncovered narrow passage areas can also be manually marked on the scheduling cloud platform.

[0134] S208. The scheduling cloud platform determines the second cleaning robot from the cleaning robot cluster based on the upper limit of the cleaning passage size.

[0135] In this step, the scheduling cloud platform determines the second cleaning robot from the cleaning robot cluster based on the upper limit of the cleaning passage size. The lower limit of the cleaning passage size of the second cleaning robot is less than or equal to the upper limit of the cleaning passage size corresponding to the cleaning of the uncovered narrow passage area, or the lower limit of the cleaning passage size of the second cleaning robot is the smallest in the cleaning robot cluster.

[0136] With the upper limit for the cleaning passage size established, the scheduling cloud platform begins searching for suitable robots within the cleaning robot cluster. Specifically, the lower limit for the cleaning passage size of the second cleaning robot must be less than or equal to the upper limit for cleaning the uncovered narrow passage area, or the robot's lower limit must be the smallest among the cleaning robot clusters. This standard ensures that the selected robot can smoothly enter and effectively clean the uncovered area.

[0137] Furthermore, during the selection process, the scheduling cloud platform can consider various performance parameters of the robot, such as size, weight, battery capacity, and cleaning efficiency, to comprehensively evaluate its suitability. Simultaneously, to ensure the continuity and efficiency of cleaning operations, the scheduling cloud platform also considers factors such as the priority of the current cleaning task, the robot's working status, and remaining battery power to make the optimal robot selection decision.

[0138] Once a suitable second cleaning robot is identified, the scheduling cloud platform will send the robot information about the uncovered area from the first cleaning operation, along with corresponding cleaning task instructions. These instructions include the specific location, shape, and size of the uncovered area, as well as suggested cleaning paths, to help the robot quickly locate and begin cleaning.

[0139] Through this specific implementation method, the scheduling cloud platform can accurately match and assign tasks to cleaning robots, ensuring that every uncovered area receives timely and effective cleaning. This not only improves the comprehensiveness and efficiency of cleaning work but also reduces the risk of resource waste and repetitive labor, providing strong support for the cleaning and maintenance of industrial environments.

[0140] In one possible implementation, the second cleaning robot... and the second grid sequence to be cleaned Determine the second grid sequence to be cleaned. The second cleaning grid sequence is the grid arranged on the second cleaning path corresponding to the second cleaning machine within the current cleaning grid. The subsequent grids to be cleaned form a sequence of grids to be cleaned;

[0141] The second cleaning robot utilizes Formula 1 and, based on the first uncovered area within the first grid area to be cleaned,... and the second grid sequence to be cleaned Determine the minimum scheduling distance Formula 1 is:

[0142]

[0143] in, The second grid sequence to be cleaned The Middle One grid to be cleaned Areas not covered by the first cleaning Navigation distance between them First, clean the uncovered areas. With the second grid sequence to be cleaned The Middle One grid to be cleaned Navigation distance between them;

[0144] The second cleaning robot is based on the minimum scheduling distance. From the second grid sequence to be cleaned The first feature cleaning grid and the second feature cleaning grid are determined, and the first uncovered cleaning area is included. Add it between the first feature cleaning grid and the second feature cleaning grid to generate a new sequence of grids to be cleaned. This new sequence of grids to be cleaned is used to determine when the second cleaning robot has completed cleaning the current grid. The cleaning path after sweeping.

[0145] In the above scheme, by calculating the minimum scheduling distance and adjusting the cleaning grid sequence of the second cleaning robot accordingly, the uncovered areas of the first cleaning are rationally inserted into the cleaning path. This dynamic path planning method ensures that after completing the current cleaning task, the cleaning robot can cover the uncleaned areas in the shortest path and in the most efficient way, thereby improving the overall cleaning efficiency. In addition, by accurately calculating the minimum scheduling distance and replanning the cleaning path, this step effectively avoids repeated cleaning and omissions during the cleaning process, which not only improves the cleaning quality but also reduces unnecessary energy consumption. After receiving information about the uncovered areas of the first cleaning, the second cleaning robot can quickly calculate the optimal path based on the current cleaning grid and the grid sequence to be cleaned, and adjust the cleaning plan in real time. This high degree of flexibility and rapid response speed enables the cleaning system to quickly deal with various emergencies and ensure the smooth progress of the cleaning task. Through the above scheme, the intelligent scheduling algorithm relying on the scheduling cloud platform and the autonomous decision-making capability of the second cleaning robot can be realized. Through the close cooperation between the two, the entire cleaning system exhibits a high level of intelligence, capable of autonomously completing complex cleaning tasks and continuously optimizing cleaning paths and strategies. By optimizing cleaning path planning and reducing cleaning blind spots, this step ultimately improves the quality and effectiveness of cleaning services.

[0146] S209. The scheduling cloud platform sends information about the first cleaning area not covered to the second cleaning robot in the cleaning robot cluster.

[0147] In this step, the scheduling cloud platform sends the information of the first uncovered cleaning area to the second cleaning robot in the cleaning robot cluster, so as to instruct the second cleaning robot to clean the first uncovered cleaning area. The lower limit of the cleaning passage size of the second cleaning robot is smaller than the lower limit of the cleaning passage size of the first cleaning robot.

[0148] Optionally, after receiving a cleaning instruction, the second cleaning robot calculates the minimum scheduling distance and determines the optimal path based on the current cleaning grid and the sequence of grids to be cleaned. Then, it appropriately inserts the uncovered areas into the cleaning path and begins cleaning. Furthermore, throughout the cleaning process, the scheduling cloud platform continuously monitors the working status of the cleaning robots and adjusts the cleaning strategy and path planning based on real-time feedback. For example, if the first cleaning robot encounters an emergency and cannot continue working, the scheduling cloud platform can promptly assign the remaining tasks to other cleaning robots to ensure the successful completion of the cleaning task.

[0149] It is worth noting that, based on the above embodiments, the scheduling cloud platform can also obtain a second cleaning instruction, which is used to instruct the cleaning of the first grid area to be cleaned. The scheduling cloud platform generates a cleaning robot cluster generation instruction and sends the cleaning robot cluster generation instruction to the first cleaning robot and the second cleaning robot, so that the first cleaning robot and the second cleaning robot form a cleaning robot cluster, wherein the first cleaning robot is the lead cleaning robot and the second cleaning robot is the follower cleaning robot. The first cleaning robot and the second cleaning robot establish a communication connection. When the first cleaning robot and the second cleaning robot jointly clean the first grid area to be cleaned, the first cleaning robot's first passage priority is higher than the second cleaning robot's second passage priority.

[0150] After the scheduling cloud platform completes the initial cleaning task allocation and receives the cleaning coverage area information from the first cleaning robot, it may trigger a secondary cleaning instruction for a specific area (such as the first grid area to be cleaned) based on certain conditions (such as the cleaning coverage rate not meeting the standard, the detection of new contaminated areas, etc.). The scheduling cloud platform receives and parses this second cleaning instruction to identify the area and target that needs to be cleaned again, or it may be that the cleaning needs to be repeated within a certain period of time.

[0151] To more effectively complete the secondary cleaning task, the scheduling cloud platform decides to form a cleaning robot cluster for collaborative operation. Based on the currently available cleaning robot resources, it generates a cleaning robot cluster creation instruction. This instruction specifies which robots will be included in the cluster and their respective roles—for example, designating the first cleaning robot as the lead cleaning robot, responsible for path planning and overall coordination; the second cleaning robot acts as a follower cleaning robot, performing cleaning tasks according to the lead robot's instructions. The scheduling cloud platform then sends this instruction to the designated first and second cleaning robots.

[0152] Upon receiving the cluster generation command, the first and second cleaning robots establish a direct communication connection. They communicate with each other via wireless communication technologies (such as Wi-Fi, Bluetooth, or dedicated wireless protocols) to share key data such as status information, cleaning progress, and path planning. With the communication connection established, the two robots form a closely cooperating cleaning robot cluster.

[0153] Before the cluster forms and begins cleaning operations, the passage priorities of the lead cleaning robot and the follower cleaning robots are clearly defined. When the first cleaning robot (lead robot) and the second cleaning robot (follower robot) jointly clean the first grid area to be cleaned, the first cleaning robot's first passage priority is set higher than the second cleaning robot's second passage priority. This means that the lead robot has decision-making power in terms of path planning, resource allocation, and conflict resolution, while the follower robots must act according to the instructions of the lead robot.

[0154] In this way, cleaning robot swarms can work together more efficiently, respond quickly to cleaning needs, and reduce efficiency losses caused by poor coordination between robots. The lead robot uses its global perspective and decision-making capabilities to plan the optimal cleaning path and task allocation scheme for the follower robots; the follower robots are responsible for executing specific cleaning tasks and flexibly adjusting cleaning strategies under the guidance of the lead robot. Through close collaboration, the entire swarm achieves deep cleaning of specific areas, ensuring the efficiency and comprehensiveness of the cleaning work.

[0155] Figure 3 This is a schematic diagram of the structure of an industrial waste robot cleaning device according to an example embodiment of this application. Figure 3 As shown, the industrial waste robot cleaning device 300 provided in this embodiment includes:

[0156] A cleaning robot cluster 310 and a scheduling cloud platform 320, wherein each cleaning robot in the cleaning robot cluster 310 is communicatively connected to the scheduling cloud platform 320;

[0157] The first cleaning robot in the cleaning robot cluster 310 responds to the first cleaning instruction issued by the scheduling cloud platform 320 and cleans the first cleaning path in the industrial area to be cleaned. The industrial area to be cleaned includes a grid area array to be cleaned, and the first cleaning path includes at least one grid area to be cleaned in the grid area array to be cleaned.

[0158] When the first cleaning robot cleans the first grid area to be cleaned on the first cleaning path, it records the first cleaning coverage area that has been cleaned in the first grid area to be cleaned, and sends the first cleaning coverage area information corresponding to the first cleaning coverage area to the scheduling cloud platform 320.

[0159] If the first cleaning coverage rate determined by the scheduling cloud platform 320 based on the first cleaning coverage area information and the first grid area information to be cleaned is lower than the preset cleaning coverage rate threshold, then the scheduling cloud platform 320 determines the first cleaning uncovered area information corresponding to the first cleaning uncovered area based on the first cleaning coverage area information and the first grid area information to be cleaned, and the first grid area information to be cleaned is the area information corresponding to the first grid area to be cleaned.

[0160] The scheduling cloud platform 320 sends the information of the first uncovered cleaning area to the second cleaning robot in the cleaning robot cluster 310, so as to instruct the second cleaning robot to clean the first uncovered cleaning area, wherein the lower limit of the cleaning passage size of the second cleaning robot is less than the lower limit of the cleaning passage size of the first cleaning robot.

[0161] Optionally, before the scheduling cloud platform 320 determines the first uncovered area information corresponding to the first uncovered area based on the first cleaning coverage area information and the first grid area information to be cleaned, the method further includes:

[0162] The scheduling cloud platform 320 determines that the first cleaning coverage rate, based on the first cleaning coverage area information and the first grid area information to be cleaned, is lower than the preset cleaning coverage rate threshold.

[0163] Optionally, when the first cleaning robot cleans the first grid area to be cleaned on the first cleaning path, it records the first cleaning coverage area that has been cleaned in the first grid area to be cleaned, including:

[0164] Before the first cleaning robot enters the first grid area to be cleaned, a first area topology map of the first grid area to be cleaned is obtained from the scheduling cloud platform 320. The first area topology map includes a set of cleaning node units and a connection path for connecting adjacent cleaning nodes in the set of cleaning node units.

[0165] The first cleaning robot configures the initial state of each cleaning node unit in the set of cleaning node units to an uncleaned state;

[0166] The first grid area to be cleaned is cleaned according to the first area topology map, and the cleaning node units that have completed cleaning in the set of cleaning node units are configured as cleaned.

[0167] After the first cleaning robot leaves the first grid area to be cleaned, the first cleaning coverage area is determined according to the set of cleaned node units, and the information of the first cleaning coverage area is sent to the scheduling cloud platform 320. The set of cleaned node units is a set of node units composed of cleaning node units configured in the cleaned state.

[0168] Optionally, before sending the first clean coverage area information to the scheduling cloud platform 320, the following steps are included:

[0169] If the first cleaning robot completes cleaning of all areas corresponding to the first cleaning node unit in the set of cleaning node units, then the first cleaning node unit is configured as the cleaned state.

[0170] If the first cleaning robot completes cleaning of a portion of the area corresponding to the second cleaning node unit in the set of cleaning node units, then a second cleaning node master unit and a second cleaning node slave unit are generated based on the second cleaning node unit. The second cleaning node master unit is configured to the cleaned state, and the second cleaning node slave unit is configured to the uncleaned state. The second cleaning node master unit is the part of the second cleaning node unit that has been cleaned, and the second cleaning node slave unit is the part of the second cleaning node unit that has not been cleaned.

[0171] The first cleaning robot updates the set of cleaned node units based on the second cleaning node master unit and the second cleaning node slave unit, and updates the information of the first cleaning coverage area.

[0172] Optionally, after the scheduling cloud platform 320 determines the first uncovered area information corresponding to the first uncovered area based on the first cleaning coverage area information and the first grid area information to be cleaned, it further includes:

[0173] The scheduling cloud platform 320 determines the first region boundary set based on the first region topology map, wherein the region boundaries in the first region boundary set include the outer contour boundary of the first grid region to be cleaned and the obstacle boundary of the fixed obstacles in the first grid region to be cleaned.

[0174] The scheduling cloud platform 320 determines, based on the first set of regional boundaries and the first uncovered clean area, that there is an uncovered clean corner area or an uncovered clean narrow passage area in the first uncovered clean area, wherein the uncovered clean corner area or the uncovered clean narrow passage area includes uncleaned node units located between at least two adjacent regional boundaries.

[0175] Optionally, before the scheduling cloud platform 320 sends the information about the first uncovered cleaning area to the second cleaning robot in the cleaning robot cluster 310, the method further includes:

[0176] The scheduling cloud platform 320 determines the corresponding cleaning passage size limit based on the uncovered corner area or the uncovered narrow passage area, wherein the cleaning passage size limit is the upper limit of the size of the cleaning robot that can clean the uncovered corner area or the uncovered narrow passage area.

[0177] The scheduling cloud platform 320 determines the second cleaning robot from the cleaning robot cluster 310 according to the upper limit of the cleaning passage size, wherein the lower limit of the cleaning passage size of the second cleaning robot is less than or equal to the upper limit of the cleaning passage size corresponding to the cleaning uncovered narrow passage area, or the lower limit of the cleaning passage size of the second cleaning robot is the smallest in the cleaning robot cluster 310.

[0178] Optionally, after the scheduling cloud platform 320 sends the information about the first uncovered cleaning area to the second cleaning robot in the cleaning robot cluster 310, the method further includes:

[0179] The second cleaning robot, based on the current cleaning grid... and the second grid sequence to be cleaned Determine the second grid sequence to be cleaned. The second cleaning grid sequence is the grid arranged on the second cleaning path corresponding to the second cleaning machine in the current cleaning grid. The subsequent grids to be cleaned form a sequence of grids to be cleaned;

[0180] The second cleaning robot utilizes Formula 1 and, based on the first uncovered cleaning area within the first cleaning grid area,... and the second grid sequence to be cleaned Determine the minimum scheduling distance Formula 1 is:

[0181]

[0182] in, The second grid sequence to be cleaned The Middle One grid to be cleaned Compared with the first uncleaned area Navigation distance between them For the first uncovered cleaning area With the second grid sequence to be cleaned The Middle One grid to be cleaned Navigation distance between them;

[0183] The second cleaning robot is based on the minimum scheduling distance From the second grid sequence to be cleaned The first feature cleaning grid and the second feature cleaning grid are determined, and the first uncovered cleaning area is then... Added between the first feature cleaning grid and the second feature cleaning grid to generate a new sequence of grids to be cleaned. This new sequence of grids to be cleaned is used to determine when the second cleaning robot has completed cleaning the current grid. The cleaning path after sweeping.

[0184] Figure 4 This is a schematic diagram of the structure of an electronic device according to an example embodiment of this application. For example... Figure 4 As shown, the electronic device 400 provided in this embodiment includes: a processor 401 and a memory 402; wherein:

[0185] Memory 402 is used to store computer programs, and the memory may also be flash memory.

[0186] Processor 401 is used to execute the execution instructions stored in the memory to implement the various steps in the above method. For details, please refer to the relevant descriptions in the preceding method embodiments.

[0187] Alternatively, the memory 402 can be either standalone or integrated with the processor 401.

[0188] When the memory 402 is a device independent of the processor 401, the electronic device 400 may further include:

[0189] Bus 403 is used to connect the memory 402 and the processor 401.

[0190] This embodiment also provides a readable storage medium storing a computer program, which, when executed by at least one processor of an electronic device, enables the electronic device to perform the methods provided in the various embodiments described above.

[0191] This embodiment also provides a program product including a computer program stored in a readable storage medium. At least one processor of an electronic device can read the computer program from the readable storage medium, and the at least one processor executes the computer program to cause the electronic device to perform the methods provided in the various embodiments described above.

[0192] Other embodiments of this application will readily occur to those skilled in the art upon consideration of the specification and practice of the invention disclosed herein. This application is intended to cover any variations, uses, or adaptations of this application that follow the general principles of this application and include common knowledge or customary techniques in the art not disclosed herein. The specification and examples are to be considered exemplary only, and the true scope and spirit of this application are indicated by the claims.

[0193] It should be understood that this application is not limited to the precise structure described above and shown in the accompanying drawings, and various modifications and changes can be made without departing from its scope. The scope of this application is limited only by the appended claims.

Claims

1. An industrial waste robot cleaning method characterized by, The application is applied to an industrial waste cleaning device, which comprises a cleaning robot cluster and a scheduling cloud platform, and each cleaning robot in the cleaning robot cluster is in communication connection with the scheduling cloud platform; the method comprises the following steps: A first cleaning robot in the cleaning robot cluster sweeps a first cleaning path in a to-be-cleaned industrial area in response to a first sweeping instruction issued by the scheduling cloud platform, the to-be-cleaned industrial area comprises an array of to-be-cleaned grid areas, and the first cleaning path comprises at least one to-be-cleaned grid area in the array of to-be-cleaned grid areas; The first cleaning robot records a first cleaned coverage area in the first to-be-cleaned grid area when cleaning the first to-be-cleaned grid area on the first cleaning path, and sends first cleaned coverage area information corresponding to the first cleaned coverage area to the scheduling cloud platform; The scheduling cloud platform determines first cleaning uncovered area information corresponding to a first cleaning uncovered area according to the first cleaned coverage area information and the first to-be-cleaned grid area information, and the first to-be-cleaned grid area information is area information corresponding to the first to-be-cleaned grid area; The scheduling cloud platform sends the first cleaning uncovered area information to a second cleaning robot in the cleaning robot cluster to instruct the second cleaning robot to clean the first cleaning uncovered area, wherein the lower limit of the cleaning passing size of the second cleaning robot is smaller than the lower limit of the cleaning passing size of the first cleaning robot. The second cleaning robot determines a second to-be-cleaned grid sequence according to the current cleaning grid and a second to-be-cleaned grid sequence The second to-be-cleaned grid sequence is determined , wherein the second to-be-cleaned grid sequence is a to-be-cleaned grid sequence arranged after the current cleaning grid on a second cleaning path corresponding to the second cleaning robot. The second cleaning robot utilizes Formula 1 and determines the second cleaning uncovered area in the first to-be-cleaned grid region according to the first cleaning uncovered area and a second to-be-cleaned grid sequence determines a minimum scheduling distance , the Formula 1 is: wherein, is a second sequence of grids to be cleaned the grid to be cleaned in the second sequence of grids to be cleaned is a navigation distance between the first cleaning uncovered area and the first grid to be cleaned in the first sequence of grids to be cleaned, is a navigation distance between the first cleaning uncovered area and the first grid to be cleaned in the second sequence of grids to be cleaned, the grid to be cleaned in the second sequence of grids to be cleaned is a navigation distance between the first cleaning uncovered area and the first grid to be cleaned in the second sequence of grids to be cleaned. The second cleaning robot is scheduled according to a minimum scheduling distance from the second sequence of cleaning grids to be cleaned corresponding first and second feature cleaning grids are determined from the second sequence of cleaning grids to be cleaned, and the first cleaning uncovered area is added between the first and second feature cleaning grids to generate a new sequence of cleaning grids to be cleaned, which is used to determine a cleaning path for the second cleaning robot after completing cleaning of the current cleaning grid .

2. The industrial waste robot cleaning method according to claim 1, characterized in that, Before the scheduling cloud platform determines the first cleaning uncovered area information corresponding to the first cleaning uncovered area according to the first cleaned coverage area information and the first to-be-cleaned grid area information, the method further comprises the following steps: The first cleaning coverage rate determined by the scheduling cloud platform according to the first cleaned coverage area information and the first to-be-cleaned grid area information is lower than a preset cleaning coverage rate threshold.

3. The industrial waste robot cleaning method of claim 1, wherein, The first cleaning robot records a first cleaned coverage area in the first to-be-cleaned grid area when cleaning the first to-be-cleaned grid area on the first cleaning path, which comprises the following steps: Before the first cleaning robot enters the first to-be-cleaned grid area, a first area topological map of the first to-be-cleaned grid area is obtained from the scheduling cloud platform, the first area topological map comprises a set of cleaning node units and a connected path between adjacent to-be-cleaned nodes for connecting the set of cleaning node units; The first cleaning robot configures the initial state of each cleaning node unit in the set of cleaning node units as an uncleaned state; According to the first area topological map, the first to-be-cleaned grid area is cleaned, and the cleaning node units in the set of cleaning node units that have completed cleaning are configured as a cleaned state; After the first cleaning robot leaves the first to-be-cleaned grid area, a first cleaning coverage area is determined according to a set of cleaned node units, and first cleaning coverage area information is sent to the scheduling cloud platform, wherein the set of cleaned node units is a set of node units configured as cleaning node units in the cleaned state.

4. The industrial waste robot cleaning method according to claim 3, characterized in that, Before the first cleaning coverage area information is sent to the scheduling cloud platform, the method comprises: If the first cleaning robot completes cleaning of all area regions corresponding to a first cleaning node unit in the set of cleaning node units, the first cleaning node unit is configured as the cleaned state; If the first cleaning robot completes cleaning of part of area regions corresponding to a second cleaning node unit in the set of cleaning node units, a second cleaning master node unit and a second cleaning slave node unit are generated according to the second cleaning node unit, the second cleaning master node unit is configured as the cleaned state, and the second cleaning slave node unit is configured as the uncleaned state, the second cleaning master node unit is part of the second cleaning node unit that has completed cleaning, and the second cleaning slave node unit is part of the second cleaning node unit that has not completed cleaning; The first cleaning robot updates the set of cleaned node units according to the second cleaning master node unit and the second cleaning slave node unit, and updates the first cleaning coverage area information.

5. The industrial waste robot cleaning method according to claim 4, characterized in that, After the scheduling cloud platform determines first cleaning uncovered area information corresponding to the first cleaning uncovered area according to the first cleaning coverage area information and the first to-be-cleaned grid area information, the method further comprises: The scheduling cloud platform determines a first set of region boundaries according to the first region topological map, wherein a region boundary in the first set of region boundaries comprises an outer contour boundary of the first to-be-cleaned grid area and an obstacle boundary of a fixed obstacle in the first to-be-cleaned grid area; The scheduling cloud platform determines that there is a cleaning uncovered corner region or a cleaning uncovered narrow passage region in the first cleaning uncovered area according to the first set of region boundaries and the first cleaning uncovered area, wherein the cleaning uncovered corner region or the cleaning uncovered narrow passage region comprises an uncleaned node unit located between at least two adjacent region boundaries.

6. The industrial waste robot cleaning method according to claim 5, characterized in that, Before the scheduling cloud platform sends the first cleaning uncovered area information to a second cleaning robot in the cluster of cleaning robots, the method further comprises: The scheduling cloud platform determines a corresponding cleaning passage size upper limit according to the cleaning uncovered corner region or the cleaning uncovered narrow passage region, wherein the cleaning passage size upper limit is an upper limit of the size of a cleaning robot that can clean the cleaning uncovered corner region or the cleaning uncovered narrow passage region; The scheduling cloud platform determines a corresponding cleaning passage size upper limit according to the cleaning uncovered corner region or the cleaning uncovered narrow passage region, wherein the cleaning passage size upper limit is an upper limit of the size of a cleaning robot that can clean the cleaning uncovered corner region or the cleaning uncovered narrow passage region; The scheduling cloud platform determines the second cleaning robot from the cleaning robot cluster according to the cleaning passage size upper limit, wherein a cleaning passage size lower limit of the second cleaning robot is less than or equal to the cleaning passage size upper limit corresponding to the cleaning uncovered narrow lane area, or the cleaning passage size lower limit of the second cleaning robot is the smallest in the cleaning robot cluster.

7. An industrial waste robot cleaning device, characterized in that, The cleaning robot cluster and the scheduling cloud platform are provided, each cleaning robot in the cleaning robot cluster is in communication connection with the scheduling cloud platform, and the scheduling cloud platform comprises: The first cleaning robot in the cleaning robot cluster performs cleaning on a first cleaning path in a to-be-cleaned industrial area in response to a first cleaning instruction issued by the scheduling cloud platform, the to-be-cleaned industrial area comprises an array of to-be-cleaned grid areas, and the first cleaning path comprises at least one to-be-cleaned grid area in the array of to-be-cleaned grid areas; The first cleaning robot records a first cleaned coverage area in the first to-be-cleaned grid area on the first cleaning path when cleaning the first to-be-cleaned grid area, and sends first cleaned coverage area information corresponding to the first cleaned coverage area to the scheduling cloud platform; If a first cleaning coverage rate determined by the scheduling cloud platform according to the first cleaned coverage area information and first to-be-cleaned grid area information is lower than a preset cleaning coverage rate threshold, the scheduling cloud platform determines first cleaning uncovered area information corresponding to a first cleaning uncovered area according to the first cleaned coverage area information and the first to-be-cleaned grid area information, and the first to-be-cleaned grid area information is area information corresponding to the first to-be-cleaned grid area; The scheduling cloud platform sends the first cleaning uncovered area information to a second cleaning robot in the cleaning robot cluster to instruct the second cleaning robot to clean the first cleaning uncovered area, wherein a cleaning passage size lower limit of the second cleaning robot is smaller than a cleaning passage size lower limit of the first cleaning robot. The second cleaning robot determines a second to-be-cleaned grid sequence according to the current cleaning grid and a second to-be-cleaned grid sequence The second to-be-cleaned grid sequence is determined , wherein the second to-be-cleaned grid sequence is a to-be-cleaned grid sequence arranged after the current cleaning grid on a second cleaning path corresponding to the second cleaning robot. The second cleaning robot utilizes Equation 1 and determines the second cleaning uncovered area in the first to-be-cleaned grid region according to the first cleaning uncovered area and a second to-be-cleaned grid sequence determines a minimum scheduling distance , the Equation 1 is: wherein, is a second sequence of grids to be cleaned the grid to be cleaned in the first sequence of grids to be cleaned is a navigation distance between the first cleaning uncovered area and the first grid to be cleaned in the first sequence of grids to be cleaned, is a navigation distance between the first cleaning uncovered area and the first grid to be cleaned in the second sequence of grids to be cleaned, the grid to be cleaned in the second sequence of grids to be cleaned is a navigation distance between the first cleaning uncovered area and the first grid to be cleaned in the second sequence of grids to be cleaned. The second cleaning robot is scheduled according to a minimum scheduling distance from the second sequence of cleaning grids to be cleaned corresponding first and second characteristic cleaning grids are determined from the second sequence of cleaning grids to be cleaned, and the first cleaning uncovered area is added between the first and second characteristic cleaning grids to generate a new sequence of cleaning grids to be cleaned, which is used to determine a cleaning path of the second cleaning robot after completing cleaning of the current cleaning grid .

8. An electronic device, comprising: The scheduling cloud platform comprises: a processor; and a memory for storing executable instructions of the processor; wherein the processor is configured to execute the method of any one of claims 1 to 6 by executing the executable instructions.

9. A computer-readable storage medium, characterized in that, The computer readable storage medium stores computer execution instructions, and the computer execution instructions are executed by the processor to implement the method of any one of claims 1 to 6.

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