Cleaning device collaborative control method, system and related cleaning device

Abstract

The present invention discloses a cleaning device collaborative control method, system and related cleaning devices, the method comprising obtaining environmental information of a target area and device information of at least one second device; determining a cleaning area based on the environmental information of the target area; determining a cleaning plan for the cleaning area based on the regional environmental information of the cleaning area and the device information of all second devices; and sending a control instruction to at least one second device according to the cleaning plan to control at least one second device to clean the cleaning area. The present application determines the cleaning area based on the environmental information of the target area, determines the cleaning plan for the cleaning area based on the regional environmental information of the cleaning area and the device information of all second devices, can automatically identify the cleaning area that needs to be cleaned, generates a suitable cleaning plan for the cleaning area, and then cleans the cleaning area according to the cleaning plan, can clean the cleaning area in a timely and thorough manner, and thus reduce hygiene problems.

Description

Technical Field

[0001] The present invention relates to the technical field of high-end equipment manufacturing, and in particular to a cleaning device collaborative control method, system and related cleaning devices. Background Art

[0002] In the field of high-end equipment manufacturing technology, with the rapid development of electronic consumer products, intelligent cleaning devices (such as intelligent cleaning robots) are also widely used in daily home life. Intelligent cleaning devices are mostly used for cleaning work in homes and indoor public places, reducing manpower consumption and lowering living and office costs. They have received widespread attention from R&D institutions and enterprises, and various new intelligent cleaning devices are constantly being developed.

[0003] At present, there are many types of intelligent cleaning devices, such as vacuum cleaner robots, sweeping robots, wet cleaning robots, and drying robots, etc. In the existing cleaning device control methods, users are often required to determine the cleaning plan by themselves, including determining whether a certain area needs to be cleaned and which one or more intelligent cleaning devices need to be activated to clean the area.

[0004] However, the cleaning plan determined by the user may not be reasonable enough, which may result in the area to be cleaned not being cleaned, thereby causing hygiene problems; it may also result in the area to be cleaned not being cleaned with the correct intelligent cleaning device, resulting in incomplete cleaning and also causing hygiene problems. Summary of the invention

[0005] In response to the deficiencies in the prior art, the present application provides a cleaning device collaborative control method, system and related cleaning device, which determines the cleaning area in the target area based on the environmental information of the target area, determines the cleaning plan for the cleaning area based on the regional environmental information of the cleaning area and the device information of all second devices, and can automatically identify the cleaning area that needs to be cleaned, and generate a suitable cleaning plan for the cleaning area, and then clean the cleaning area according to the cleaning plan, which can clean the cleaning area in a timely and thorough manner, thereby reducing hygiene problems.

[0006] To solve the above problems, the present invention provides the following technical solutions:

[0007] In a first aspect, an embodiment of the present application provides a method for collaborative control of a cleaning device, which is applied to a first device, and the method includes: obtaining environmental information of a target area and device information of at least one second device, wherein the second device is a cleaning device; determining a cleaning area in the target area based on the environmental information of the target area; determining a cleaning plan for the cleaning area based on the regional environmental information of the cleaning area and device information of all the second devices; and sending a control instruction to at least one of the second devices according to the cleaning plan to control at least one of the second devices to clean the cleaning area.

[0008] In some embodiments, the target area includes multiple grid areas, the environmental information includes image information of each of the grid areas, and determining the clean area in the target area based on the environmental information of the target area includes: acquiring area type information of the target area; identifying a dirty area in the image information of each grid area of ​​the target area based on the image information of each grid area and the area type information; when the area of ​​the dirty area is larger than a preset area, determining the grid area where the dirty area is located as the clean area.

[0009] In some embodiments, the device information includes type information and working status information of the second device, and determining the cleaning plan for the cleaning area based on the regional environment information of the cleaning area and the device information of all the second devices includes: determining a third device that can be used to clean the cleaning area among all the second devices based on the regional environment information of the cleaning area and the working status information of all the second devices; selecting multiple third devices based on the regional environment information of the cleaning area and the type information of all the third devices to obtain a cleaning device combination for the cleaning area; determining the working plan of each of the third devices in the cleaning device combination based on the regional environment information of the cleaning area, thereby obtaining a cleaning plan for the cleaning area.

[0010] In some embodiments, determining the working plan of each of the third devices in the cleaning device combination based on the regional environment information of the cleaning area, thereby obtaining a cleaning plan for the cleaning area, includes: acquiring regional cleaning mode information and regional type information of the cleaning area; determining a cleaning mode corresponding to the cleaning area based on the regional cleaning mode information and the regional type information of the cleaning area; determining a working plan of each of the third devices in the cleaning device combination based on the cleaning mode corresponding to the cleaning area, thereby obtaining a cleaning plan for the cleaning area.

[0011] In some embodiments, determining the working plan of each of the third devices in the cleaning device combination based on the regional environment information of the cleaning area, thereby obtaining a cleaning plan for the cleaning area, includes: obtaining cleaning device coordination information, the cleaning device coordination information including the coordination working relationship between each type of cleaning device and other types of cleaning devices; determining the working plan of each of the third devices based on the cleaning device coordination information, the regional environment information of the cleaning area and the type information of each of the third devices in the cleaning device combination, thereby obtaining a cleaning plan for the cleaning area, wherein the working plan of the third device includes the coordination working plan of the third device with the other third devices.

[0012] In some embodiments, there are multiple cleaning areas, and the selecting of multiple third devices based on the regional environment information of the cleaning area and the type information of all the third devices to obtain a cleaning device combination for the cleaning area includes: obtaining the priority information of each of the cleaning areas; determining a cleaning device combination for each of the cleaning areas in descending order of priority of the cleaning areas based on the regional environment information and priority information of all the cleaning areas, and the type information of all the third devices; determining a working plan of each of the third devices in the cleaning device combination based on the regional environment information of the cleaning area to obtain a cleaning plan for the cleaning area, includes: determining a working plan of each of the third devices in the cleaning device combination based on the regional environment information and priority information of each of the cleaning areas, so that the cleaning areas with high priorities start cleaning first, thereby obtaining a cleaning plan for each of the cleaning areas.

[0013] In a second aspect, an embodiment of the present application provides a cleaning device collaborative control method, which is applied to a second device, and the method includes: sending device information of the second device to a first device; and cleaning a cleaning area in response to receiving a control instruction from the first device.

[0014] In some embodiments, the method also includes: when the first device stops working, the second device broadcasts its own election information to other second devices in its own device list, and the election information includes the device ID and device information of the second device itself; when the second device receives voting information sent by other second devices based on the election information, and the proportion of voting votes is greater than a preset proportion, the second device switches to a new first device and broadcasts the switching information to other second devices; the second device sends a control instruction to at least one other second device according to the cleaning plan to control at least one second device to clean the cleaning area.

[0015] In the third aspect, an embodiment of the present application provides a cleaning device collaborative control system, comprising a first device and at least one second device, the second device being a cleaning device; the second device sends device information of the second device to the first device; the first device obtains environmental information of a target area and device information of at least one second device; the first device determines a cleaning area in the target area based on the environmental information of the target area; the first device determines a cleaning plan for the cleaning area based on the regional environmental information of the cleaning area and device information of all the second devices; the first device sends a control instruction to at least one second device according to the cleaning plan to control at least one second device to clean the cleaning area; the second device cleans the cleaning area in response to receiving the control instruction from the first device.

[0016] In a fourth aspect, an embodiment of the present application provides a cleaning device, comprising: at least one processor; and a memory communicatively connected to the at least one processor; wherein the memory stores instructions executable by the at least one processor, and the instructions are executed by the at least one processor so that the at least one processor can execute the cleaning device collaborative control method as described in the first aspect or the second aspect.

[0017] The present application provides a cleaning device collaborative control method, system and related cleaning devices. The present application determines the cleaning area in the target area based on the environmental information of the target area, determines the cleaning plan for the cleaning area based on the regional environmental information of the cleaning area and the device information of all second devices, can automatically identify the cleaning area that needs to be cleaned, and generate a suitable cleaning plan for the cleaning area, and then clean the cleaning area according to the cleaning plan, and can clean the cleaning area in a timely and thorough manner, thereby reducing hygiene problems. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 It is a structural diagram of the first implementation mode of the cleaning device collaborative control system provided in an embodiment of the present application.

[0019] Figure 2 It is a structural diagram of the second embodiment of the cleaning device collaborative control system provided in an embodiment of the present application.

[0020] Figure 3 It is a flow chart of the first cleaning device collaborative control method provided in an embodiment of the present application.

[0021] Figure 4 yes Figure 3 Detailed flowchart of step S300.

[0022] Figure 5It is a flow chart of the first implementation method of the second cleaning device collaborative control method provided in an embodiment of the present application.

[0023] Figure 6 It is a flow chart of the second implementation of the second cleaning device collaborative control method provided in an embodiment of the present application.

[0024] Figure 7 It is a structural schematic diagram of a cleaning device provided in an embodiment of the present application.

[0025] Figure 8 It is a structural block diagram of a computer-readable storage medium provided in an embodiment of the present application. DETAILED DESCRIPTION

[0026] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0027] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include one or more of the features. In the description of the present invention, the meaning of "plurality" is two or more, unless otherwise clearly and specifically defined.

[0028] The present application provides a cleaning device collaborative control method, system and related cleaning device, which can automatically identify the cleaning area that needs to be cleaned by determining the cleaning area in the target area based on the environmental information of the target area, and determine the cleaning plan of the cleaning area based on the regional environmental information of the cleaning area and the device information of all second devices, and then clean the cleaning area according to the cleaning plan, and can clean the cleaning area in a timely and thorough manner, thereby reducing hygiene problems. In addition, it can also reduce labor costs.

[0029] See also Figure 1 , Figure 1 Schematic diagram of the structure of the first embodiment of the cleaning device collaborative control system provided in the embodiment of the present application. Figure 1 As shown, in some embodiments, the cleaning device cooperative control system 100 includes a first device 110 and a second device 120 .

[0030] Optionally, the second device 120 is a cleaning device.

[0031] In some implementations, the first device 110 includes but is not limited to a computer and a server, etc.

[0032] In other embodiments, the first device 110 is a cleaning device.

[0033] In some embodiments, the first device 110 and the second device 120 are connected to each other through an intermediate device, and the intermediate device may be a server. Optionally, the server may be deployed in a public cloud, a private cloud, or a single machine.

[0034] In other implementations, the first device 110 is directly communicatively connected to the second device 120 .

[0035] Optionally, the number of the second device 120 is at least one.

[0036] like Figure 1 As shown, optionally, the number of the second device 120 is one.

[0037] Optionally, there are multiple second devices 120.

[0038] See also Figure 2 , Figure 2 Schematic diagram of the structure of the second embodiment of the cleaning device cooperative control system provided in the embodiment of the present application. Figure 2 As shown, in some embodiments, the number of the second devices 120 is at least 2.

[0039] In some implementations, the second device sends device information of the second device to the first device.

[0040] In some implementations, the device information includes device ID, type information, and working status information.

[0041] Optionally, the device ID is a unique identifier of the second device, and one second device corresponds to one device ID.

[0042] Optionally, the type information is used to indicate a device type of the second device.

[0043] Optionally, the device types of the second device include a sweeping device, a mopping device, a sweeping and mopping device, a vacuuming device, a drying device, and the like.

[0044] In some implementations, the working status information includes system status information and location information of the second device.

[0045] Optionally, the system status information is used to indicate a system status of the second device.

[0046] Optionally, the system state includes a normal state and a fault state, and the normal state includes an idle state and a busy state.

[0047] Furthermore, the working status information may also include power information of the second device.

[0048] In some implementations, the first device acquires environmental information of the target area and device information of at least one second device.

[0049] In some embodiments, the target area is an area that needs to be cleaned regularly or irregularly, for example, the target area may be a living room, bedroom, restroom, office, or factory workshop.

[0050] In some embodiments, the first device determines a cleaning area in the target area based on environmental information of the target area. The cleaning area is an area that needs to be cleaned.

[0051] Optionally, the cleaning area is a part or the entire area of ​​the target area.

[0052] In some implementations, the first device determines a cleaning scheme for the cleaning area based on area environment information of the cleaning area and device information of all second devices.

[0053] In some embodiments, the first device sends a control instruction to the at least one second device according to the cleaning plan, so as to control the at least one second device to clean the cleaning area.

[0054] Exemplarily, the cleaning scheme is: using a vacuuming device, a sweeping device, a mopping device and a drying device to vacuum, sweep, mop and dry the cleaning area.

[0055] Exemplarily, the first device sends control instructions to the vacuuming device, the sweeping device, the mopping device and the drying device according to the cleaning plan, so as to control the vacuuming device to vacuum the cleaning area, the sweeping device to sweep the floor in the vacuumed area, the mopping device to mop the floor in the swept area, and the drying device to dry the floor in the mopped area, thereby completing the cleaning plan.

[0056] In some embodiments, the second device cleans the cleaning area in response to receiving the control instruction from the first device.

[0057] The cleaning device collaborative control method provided by the present application will be described in detail below with reference to the accompanying drawings.

[0058] See also Figure 3 , Figure 3 is a flow chart of the first cleaning device cooperative control method provided in an embodiment of the present application. The first cleaning device cooperative control method is applied to the first device. Figure 3 As shown, in some embodiments, the first cleaning device collaborative control method includes: steps S100 to S400.

[0059] Step S100: Acquire environmental information of a target area and device information of at least one second device.

[0060] Wherein, the second device is a cleaning device.

[0061] In a possible implementation, a camera device is installed in the target area, for example, a monitoring system is installed in a building, and environmental information of the target area is acquired by connecting to the camera device in the target area.

[0062] In another possible implementation, at least one second device has a camera module that can obtain partial environmental information of the target area. In this case, obtaining the partial environmental information of the target area includes: obtaining the partial environmental information of the target area sent by at least one second device.

[0063] Optionally, each second device is connected to the main server, and the first device obtains device information of at least one second device and / or partial environmental information of the target area by connecting to the main server. Optionally, the first device is directly connected to the second device in communication, and the first device directly obtains device information and / or partial environmental information of the target area sent to the first device by at least one second device.

[0064] Further, when a plurality of partial environmental information are acquired through the second device, all the partial environmental information are integrated into the complete environmental information.

[0065] In some implementations, after the environmental information of the target area is acquired, a map of the target area is generated according to the environmental information of the target area for use in subsequent calculation of the motion path of the second device.

[0066] In some implementations, a map of the target area is generated once and stored according to the environmental information of the target area, and the stored map of the target area is directly used subsequently.

[0067] It is understandable that some cleaning devices are standby devices or faulty devices and may not send device information to the first device. The second device here refers to the cleaning device that sends device information to the first device.

[0068] In some implementations, the device information includes device ID, type information, and working status information.

[0069] Optionally, the device ID is a unique identifier of the second device, and one second device corresponds to one device ID.

[0070] Further, after acquiring the device information of at least one second device, the first device constructs a device list according to the device ID of each second device, and the device list stores all the device information received by the first device.

[0071] Optionally, the type information is used to indicate a device type of the second device.

[0072] Optionally, the working status information includes system status information and location information of the second device. The system status information is used to indicate the system status of the second device. Optionally, the system status includes a normal state and a fault state, and the normal state includes an idle state and a busy state.

[0073] Furthermore, the working status information may also include power information of the second device.

[0074] Step S200: determining a cleaning area in the target area based on environmental information of the target area.

[0075] In some embodiments, the target area includes a plurality of grid areas, and the environmental information includes image information of each grid area.

[0076] In some embodiments, different types of target areas have different cleaning standards. For example, the cleaning standard of housing is higher, and the cleaning standard of factory workshop is the highest. According to different cleaning standards, the determination standard of the cleaning area is also different. Therefore, it is necessary to determine the cleaning area in the target area according to the area type of the target area. At this time, step S200 includes steps (200.1) to (200.3).

[0077] (200.1) Get the region type information of the target region.

[0078] In some embodiments, the target area is an area that needs to be cleaned regularly or irregularly, for example, the target area may be a living room, bedroom, restroom, office, or factory workshop.

[0079] Optionally, the area types of the target area include a living room, a bedroom, a washroom, an office, a factory workshop, and the like.

[0080] (200.2) Identify a dirty area in each grid area according to the image information and the area type information of each grid area of ​​the target area.

[0081] In some embodiments, the image features of the dirty area are different depending on the area type of the target area. For example, when the target area is a living room, the dirty area is generally gray in the image; when the target area is a restroom, the dirty area is generally an area with accumulated water, and is generally displayed as white in the image due to reflection; when the target area is a restaurant, the dirty area is generally an area with gravy, and is displayed as brown in the image.

[0082] In some embodiments, step (200.2) includes steps (200.2.1) to step (200.2.3).

[0083] (200.2.1) Perform image segmentation on the image of each grid area to obtain multiple sub-areas to be identified.

[0084] Optionally, the image segmentation method includes a Canny edge detection method, an Otsu's threshold method, a region splitting and merging method, and the like.

[0085] (200.2.2) Determine the identification features of the dirty area based on the area type information of the target area.

[0086] In some embodiments, one region type corresponds to an identification feature of a dirty region, and the correspondence between the region type and the identification feature of the dirty region is preset.

[0087] Optionally, the identification feature of the soiled area comprises a set of colors of the soiled area.

[0088] Furthermore, the identification features of the dirty area may also include shape features of the dirty area.

[0089] (200.2.3) Multiple sub-regions to be identified are identified according to the identification features of the dirty region to obtain the dirty region.

[0090] In some embodiments, the number of pixels in each sub-region to be identified whose pixel color is a color in the color set of the dirty region is calculated, and the number is divided by the total number of all pixels in the sub-region to obtain a first pixel ratio. When the first pixel ratio is greater than a preset pixel ratio, the sub-region to be identified is identified as a dirty region.

[0091] In some embodiments, the similarity between the region contour of each sub-region to be identified and the shape features of the dirty region is calculated. When the similarity is greater than a preset similarity and the first pixel ratio of the sub-region to be identified is greater than a preset pixel ratio, the sub-region to be identified is identified as a dirty region.

[0092] In some embodiments, a semantic segmentation model is used to identify dirty areas in image information.

[0093] Optionally, the semantic segmentation model includes models such as U-Net, DeepLabV3+ and PSPNet.

[0094] By determining the cleaning area in the target area according to the area type of the target area, the cleaning area in the target area can be identified according to the characteristics of the target area, thereby improving the pertinence of cleaning.

[0095] (200.3) When the area of ​​the dirty area is larger than the preset area, the grid area where the dirty area is located is determined as the clean area.

[0096] Exemplarily, the preset area is 0.3 square meters. When the area of ​​the dirty area is larger than the preset area, the entire grid area where the dirty area is located is determined as a clean area.

[0097] In some embodiments, the environmental information includes air monitoring information of each grid area, and the air monitoring information includes multiple types of air monitoring parameters.

[0098] Optionally, the types of air monitoring parameters include PM2.5 concentration, PM10 concentration, sulfur dioxide concentration, nitrogen dioxide concentration, carbon monoxide concentration, etc.

[0099] In some embodiments, step S200 includes step (200.4).

[0100] (200.4) When any type of air monitoring parameter in the air monitoring information is greater than a corresponding preset value, the grid area corresponding to the air monitoring information is determined as a clean area.

[0101] Exemplarily, when the PM2.5 concentration value is greater than 30, the grid area corresponding to the air monitoring information is determined as a clean area.

[0102] In some embodiments, step S200 includes: when the area of ​​a dirty area in a grid area is larger than a preset area, and / or any type of air monitoring parameter in the air monitoring information of the grid area is larger than a corresponding preset value, the grid area is determined as a clean area.

[0103] In some other embodiments, step S200 includes steps (200.5) to (200.6).

[0104] (200.5) Get the region type information of the target region.

[0105] (200.6) Inputting the environmental information of the target area into the corresponding first environmental model according to the area type information to obtain a clean area.

[0106] In some implementations, a corresponding first environment model is pre-trained for each type of target area, and the environment information of the target area is input into the corresponding first environment model according to the area type information to obtain a clean area.

[0107] Optionally, the first environment model is an artificial intelligence model, which includes a deep neural network model and a Transformer model, etc.

[0108] Step S300: determining a cleaning scheme for the cleaning area based on the area environment information of the cleaning area and the device information of all second devices.

[0109] In some embodiments, some second devices may not be used to clean the cleaning area due to various reasons, so it is necessary to first determine a third device among all second devices that can be used to clean the cleaning area.

[0110] See also Figure 4 , Figure 4 yes Figure 3 Detailed flow chart of step S300 in FIG. Figure 4 As shown, step S300 includes steps S310 to S330.

[0111] Step S310: determining a third device among all the second devices that can be used to clean the cleaning area based on the regional environment information of the cleaning area and the working state information of all the second devices.

[0112] In some embodiments, the operating status information of the second device includes location information.

[0113] In some embodiments, step S310 includes steps (310.1) to (310.3).

[0114] (310.1) Determine all fourth devices that can operate normally based on the working status information of all second devices.

[0115] In some implementations, the working status information includes system status information and location information of the second device.

[0116] Optionally, the system status information is used to indicate a system status of the second device.

[0117] Optionally, the system state includes a normal state and a fault state, and the normal state includes an idle state and a busy state.

[0118] In some implementations, when the system status information of the second device indicates that the second device is in an idle state, the second device is determined to be a fourth device that can operate normally.

[0119] In some implementations, the working status information also includes power information of the second device.

[0120] Optionally, when the system status information of the second device indicates that the second device is in an idle state, and the power information of the second device indicates that the power is greater than a preset power percentage, the second device is determined as a fourth device that can operate normally.

[0121] Optionally, the preset power percentage is greater than 20%, such as 20%, 25%, 30% or 40%.

[0122] (310.2) Determine regional position information of the cleaning area based on regional environment information of the cleaning area.

[0123] In some implementations, the regional environment information of the cleaning area is regional image information of the cleaning area.

[0124] In some embodiments, step (310.2) includes step (310.2.1) to step (310.2.2).

[0125] (310.2.1) A map of the target area is determined based on the environmental information of the target area.

[0126] In some embodiments, image feature matching is performed on the environmental information of the target area to identify the same objects in each image and the position of each object in the target area, thereby determining a map of the target area.

[0127] (310.2.2) Determine the position of the cleaning area in the map of the target area based on the environmental information of the target area and the regional environmental information of the cleaning area, and obtain the regional position information of the cleaning area.

[0128] In some embodiments, the regional environmental information of the cleaning area is image-aligned with the environmental information of the target area to identify the area at which the regional environmental information shows the location of the target area, thereby determining the position of the cleaning area in the map of the target area and obtaining the regional position information of the cleaning area.

[0129] (310.3) Calculate the time for each fourth device to arrive at the cleaning area based on the location information of all fourth devices and the area location information of the cleaning area. When the time is less than a preset time value, determine the fourth device as the third device, and then determine all third devices.

[0130] Optionally, the location information is coordinates in a satellite positioning system.

[0131] Optionally, the location information is the coordinates of the fourth device in a map of the target area.

[0132] In some implementations, based on the WiFi fingerprint positioning method, the precise location of the fourth device is further determined according to the location information of the fourth device.

[0133] In some embodiments, the device information includes motion speed information.

[0134] In some embodiments, a map of the target area is generated based on environmental information of the target area, a motion path for each fourth device to reach the clean area is generated based on the map of the target area, location information of the fourth device, and area location information of the clean area, and then the time it takes for each fourth device to arrive at the clean area is calculated based on the motion speed information corresponding to each fourth device and the motion path to the clean area.

[0135] Optionally, the preset time value is less than 20 minutes, such as 20 minutes, 15 minutes or 10 minutes.

[0136] By determining the third device among all the second devices that can be used to clean the cleaning area, in the subsequent execution of the cleaning plan, it is possible to avoid the situation where the cleaning plan cannot be executed in time due to the second device being too far away from the cleaning area. It is also possible to avoid the situation where the second device cannot execute the cleaning plan due to a malfunction or insufficient power, so that the cleaning area can be cleaned in time.

[0137] Step S320: Select multiple third devices based on the regional environment information of the cleaning area and the type information of all third devices to obtain a cleaning device combination of the cleaning area.

[0138] In this way, a cleaning device combination can be generated for the cleaning area, thereby improving the targeted cleaning.

[0139] In some embodiments, the number of cleaning zones is one.

[0140] In some implementations, the degree of dirtiness of the cleaning area is determined based on the regional environment information of the cleaning area, and multiple third devices are selected according to the degree of dirtiness of the cleaning area and the type information of all third devices to obtain a cleaning device combination of the cleaning area.

[0141] Exemplarily, when the cleaning area is the living room, it is determined that the living room is relatively dirty according to the regional environment information of the cleaning area, and then a vacuuming device, a sweeping device and a mopping device are selected to obtain a cleaning device combination for the cleaning area.

[0142] In some embodiments, the environmental information of the target area is input into the corresponding first environmental model to obtain the cleaning area, and then the regional environmental information and / or regional type information of the cleaning area is input into the second environmental model to obtain at least one optional cleaning device combination.

[0143] Optionally, each optional cleaning device combination has a priority.

[0144] In some embodiments, according to the standard of descending priority of all optional cleaning device combinations corresponding to the cleaning area, multiple third devices are selected according to the type information of all third devices, so that the obtained cleaning device combination is as similar as possible to the cleaning device combination with a high priority. In this way, an optimal cleaning device combination can be determined under the constraints of the number and type conditions of the existing second devices, thereby further improving the targeted cleaning.

[0145] In some embodiments, the number of cleaning zones is plural.

[0146] In some implementations, some cleaning areas need to be cleaned first.

[0147] In some embodiments, step S320 includes step (320.1) to step (320.2).

[0148] (320.1) Obtain priority information for each cleaning area.

[0149] (320.2) Based on the area environment information and priority information of all cleaning areas and the type information of all third devices, a cleaning device combination is determined for each cleaning area in descending order of priority of the cleaning areas.

[0150] In some embodiments, the degree of dirtiness of the cleaning area is determined based on the regional environmental information of the cleaning area, and at least one third device is selected in descending order of priority of the cleaning areas according to the degree of dirtiness of each cleaning area and the type information of all third devices to obtain a cleaning device combination of the cleaning area.

[0151] In some implementations, cleaning requirements of high priority cleaning areas are preferentially met.

[0152] Exemplarily, when the priorities of the cleaning areas are bathroom, living room, and bedroom in descending order, it is determined that the bathroom needs to be dried according to the degree of dirtiness of the bathroom, the living room needs to be vacuumed according to the degree of dirtiness of the living room, and the bedroom needs to be dried and vacuumed according to the degree of dirtiness of the bedroom, but all third devices only include 1 vacuuming device, 1 drying device, and 3 sweeping and mopping devices, it is determined that the cleaning device combination of the bathroom includes 1 drying device and 1 sweeping and mopping device, the cleaning device combination of the living room includes 1 vacuuming device and 1 sweeping and mopping device, and the cleaning device combination of the bedroom includes 1 sweeping and mopping device.

[0153] By determining the combination of cleaning devices for cleaning areas in descending order of priority of the cleaning areas, the cleaning requirements of cleaning areas with high priorities can be met first, thereby meeting different cleaning requirements of users.

[0154] Step S330: Determine a working plan of each third device in the cleaning device combination based on the regional environment information of the cleaning area, thereby obtaining a cleaning plan for the cleaning area.

[0155] In some implementations, the working scheme of each third device in the cleaning device combination is determined based on the regional environment information and priority information of each cleaning area, so that cleaning areas with high priorities start cleaning first, thereby obtaining a cleaning scheme for each cleaning area.

[0156] In some embodiments, different types of cleaning areas have different cleaning standards and require different cleaning devices. For example, a living room generally only needs a sweeping and mopping device, a restroom needs a drying device, and a factory workshop needs a high-power vacuum device. Therefore, a cleaning plan needs to be determined according to the type of the cleaning area.

[0157] In some embodiments, step S330 includes steps (330.1) to (330.3).

[0158] (330.1) Obtain area cleaning mode information and area type information of the cleaning area.

[0159] In some implementations, the area cleaning mode information is used to indicate what cleaning mode is required to be adopted for cleaning each type of area.

[0160] (330.2) Determine a cleaning mode corresponding to the cleaning area based on the area cleaning mode information and the area type information of the cleaning area.

[0161] (330.3) Determine a working plan of each third device in the cleaning device combination based on the cleaning mode corresponding to the cleaning area, thereby obtaining a cleaning plan for the cleaning area.

[0162] In some embodiments, the cleaning mode includes a preset mode and a custom mode, and the preset mode includes a thorough cleaning mode, a performance balance mode, and a power saving mode. The thorough cleaning mode means that the cleaning is performed according to the highest cleaning standard, and the result is clean but consumes more power. The performance balance mode means that the cleaning is performed according to the general cleaning standard, and the result is relatively clean, and the power consumption is general. The power saving mode means that the cleaning is performed according to the lowest cleaning standard, and the result is generally clean and consumes the least power. The custom mode is specified by the user.

[0163] In some implementations, the working mode and working time of each third device are determined according to the cleaning mode corresponding to the cleaning area.

[0164] In some embodiments, the user can specify or modify the cleaning scheme of any cleaning area through the custom mode. In this way, the different cleaning needs of the user can be further met.

[0165] In some embodiments, step (330.3) includes step (330.3.1) to step (330.3.2).

[0166] (330.3.1) When the cleaning mode corresponding to the cleaning area is a custom mode, obtain the operation specification information and mode matching information in the custom mode.

[0167] Optionally, the operation designation information is used to indicate the cleaning operation that must be performed when the cleaning area is a certain type of area. The mode matching information is used to indicate a preset mode that must be used in conjunction with the cleaning operation that must be performed when the cleaning area is a certain type of area.

[0168] For example, the operation designation information may be used to indicate that when the cleaning area is a restroom, the final cleaning solution must include a drying operation. The mode matching information may be used to indicate that when the cleaning area is a restroom, a performance balance mode must be used.

[0169] (330.3.2) Determine the final working plan of each third device in the cleaning device combination based on the operation designation information and the mode coordination information, thereby obtaining a cleaning plan for the cleaning area.

[0170] In some embodiments, the initial working plan of each third device in the cleaning device combination is determined based on the mode matching information using the corresponding preset mode to obtain an initial cleaning plan, and then the initial cleaning plan is modified based on the operation specified information to obtain a final working plan.

[0171] Exemplarily, when the operation designation information indicates that when the cleaning area is a restroom, a drying operation must be performed, and the mode coordination information indicates that when the cleaning area is a restroom, a performance balance mode must be adopted, the performance balance mode is adopted to determine the initial working plan of each third device in the cleaning device combination, thereby obtaining an initial cleaning plan, and then the initial cleaning plan is modified so that the final working plan includes a drying operation.

[0172] In some embodiments, the user may specify, through a custom mode, a working mode of a cleaning device of a certain type when the cleaning area is a certain type of area and the cleaning device combination corresponding to the cleaning area includes a certain type of cleaning device.

[0173] Furthermore, step (330.3) may also include step (330.3.3) to step (330.3.4).

[0174] (330.3.3) When the cleaning mode corresponding to the cleaning area is the custom mode, obtain the device-specified working mode information in the custom mode.

[0175] Optionally, the device-specified working mode information is used to indicate the working mode of a cleaning device of a specified type when the cleaning device combination corresponding to the cleaning area includes a cleaning device of the specified type.

[0176] (330.3.4) Update the final working plan of the third device of the specified type in the cleaning device combination based on the device specified working mode information, so as to obtain an updated cleaning plan for the cleaning area.

[0177] Exemplarily, the working modes of the vacuum cleaner include a high-power continuous vacuum cleaner mode, a low-power continuous vacuum cleaner mode, and an intermittent vacuum cleaner mode, etc. When the device-specified working mode information indicates that when the cleaning area is a living room and the corresponding cleaning device combination includes a vacuum cleaner, the working mode of the vacuum cleaner should be the intermittent vacuum cleaner mode, the working mode of the third device whose device type is the vacuum cleaner is determined to be the intermittent vacuum cleaner mode based on the device-specified working mode information.

[0178] In some embodiments, step S330 includes step (330.4) to step (330.5).

[0179] (330.4) Obtain cleaning equipment coordination information.

[0180] The cleaning device coordination information includes the coordination working relationship between each type of cleaning device and other types of cleaning devices.

[0181] In some embodiments, the cleaning device coordination information includes information about whether any one type of cleaning device can or cannot coordinate with all other types of cleaning devices.

[0182] Exemplarily, a sweeping device can be used in conjunction with a mopping device, but the sweeping device cannot be used in conjunction with a drying device; a mopping device can be used in conjunction with a drying device, but the mopping device cannot be used in conjunction with a dust collecting device.

[0183] Optionally, the cleaning device coordination information is a relationship mapping table.

[0184] (330.5) Determine a working plan of each third device based on the cleaning device coordination information, the regional environment information of the cleaning area, and the type information of each third device in the cleaning device combination, thereby obtaining a cleaning plan for the cleaning area.

[0185] Among them, the working plan of the third device includes a coordinated working plan of the third device and other third devices.

[0186] As described above, the fourth device is the second device that can function normally.

[0187] In some embodiments, there are n third devices in a cleaning device combination, and an n×n cleaning device coordination relationship matrix is ​​generated based on the cleaning device coordination information, wherein the elements with a coordinated coordination relationship are 1, and the rest are 0.

[0188] In some embodiments, after inputting the environmental information of the target area into the corresponding first environmental model to obtain the cleaning area, the regional environmental information and / or regional type information of the cleaning area is input into the second environmental model to obtain at least one optional cleaning device combination.

[0189] In some implementations, a device type information matrix is ​​generated according to type information of all third devices in the cleaning device combination corresponding to the cleaning area.

[0190] In some implementations, the cleaning device coordination relationship matrix, the device type information matrix, and the regional environmental information of the cleaning area are input into the third environmental model to determine the working plan of each third device, thereby obtaining a cleaning plan for the cleaning area.

[0191] In some embodiments, the number of cleaning zones is plural.

[0192] In some embodiments, the cleaning device coordination relationship matrix, the device type information matrix corresponding to each cleaning area, and the regional environment information of each cleaning area are input into the third environment model to determine the working plan of each third device, thereby obtaining the cleaning plan of the cleaning area.

[0193] In some embodiments, a third device may be used to clean one cleaning area first and then clean another cleaning area, so a third device may perform multiple cleaning tasks.

[0194] In some implementations, the third environment model is constructed based on an Actor-Critic (AC) architecture.

[0195] In some embodiments, a task strategy network is constructed for each third device. In each task strategy network, different cleaning tasks are layered according to the area type of the cleaning area, and each task strategy network has its own reward, executor (Actor) network, evaluator (Critic) network and experience pool. In order to consider the synergy between cleaning tasks, the experience pools of each cleaning task are interrelated, and a multi-task coupling relationship matrix is ​​formed according to their coupling relationship, which is input into the evaluator network of each task strategy network for coupling training. At the same time, the cleaning device coordination relationship matrix corresponding to each cleaning area and the device type information matrix are unified to form a multi-executor coupling relationship matrix, which is input into the evaluator network of each task strategy network for coupling training to obtain a cleaning plan for each cleaning device.

[0196] Optionally, different cleaning tasks are stratified according to area types and priorities of the cleaning areas.

[0197] In some embodiments, in a task strategy network, the overall cleaning task of the third device Depend on The cleaning task consists of Depending on the area type of the cleaning area A cleaning device combination Depend on The third device is composed of .

[0198] In some embodiments, for each third device, a performer network is constructed based on the AC architecture. and the assessor network , the state space is , the action space is , the reward value is The experience pool is designed to ,in, Indicates that in the sub-cleaning task Next The next state of the third device, For the A third device cleaning task The end mark of the evaluator network The input layer is all states and all actions , the output value is the global evaluation value. Executor network The input is the state , the output is action .

[0199] In some implementations, the executor network corresponding to each third device generates a specific work plan for each third device.

[0200] Exemplarily, when the cleaning plan is: using a vacuum cleaner, a sweeping device, a mopping device and a drying device to vacuum, sweep, mop and dry the cleaning area, the vacuum cleaner first vacuums the cleaning area, the sweeping device sweeps the vacuumed area, the mopping device mops the swept area, and the drying device dries the mopped area. The working path and working time of each fourth device have been arranged, and they can cooperate with each other to complete the cleaning plan.

[0201] In some embodiments, the second environment model is constructed based on Petri nets. Petri nets are used to describe and analyze asynchronous concurrent systems and can be used to establish a model of collaborative work between cleaning devices.

[0202] Optionally, a sub-model is first constructed for several third devices that can be matched based on the device matching information, and then other sub-models are deduced based on the sub-model, and all sub-models are combined into a complete model.

[0203] Optionally, the model of the collaborative work between the cleaning devices is an STdCPN model, in which a time-delay Petri net and a color Petri net are used for modeling. The time-delay Petri net is used to predict the state of the system in time, and the color Petri net can classify different third devices in the system, that is, to achieve folding of the network system, so as to more clearly describe the coordination process under the conditions of multiple third devices and multiple cleaning schemes.

[0204] In some embodiments, step S330 includes steps (330.6) to (330.8).

[0205] (330.6) Obtaining area cleaning mode information, area type information of the cleaning area, and cleaning device coordination information.

[0206] (330.7) Determine a cleaning mode corresponding to the cleaning area based on the area cleaning mode information and the area type information of the cleaning area.

[0207] (330.8) Determine a working plan of each third device based on the cleaning mode corresponding to the cleaning area, the cleaning device coordination information, the regional environment information of the cleaning area, and the type information of each third device in the cleaning device combination, so as to obtain a cleaning plan for the cleaning area.

[0208] In some implementations, the working mode and working time of each third device are determined according to the cleaning mode corresponding to the cleaning area.

[0209] In some embodiments, a parameter set of a third environmental model corresponds to a cleaning mode, the cleaning device coordination relationship matrix, the device type information matrix, and the regional environmental information of the cleaning area are input into the third environmental model, and the parameter set of the third environmental model is set to a parameter set corresponding to the cleaning mode according to the cleaning mode corresponding to the cleaning area to determine the working plan of each third device, thereby obtaining the cleaning plan for the cleaning area.

[0210] In some embodiments, when the cleaning mode corresponding to the cleaning area is a custom mode, the specific working plan of each third device can be modified according to the custom mode corresponding to the cleaning area, thereby determining the final cleaning plan of the cleaning area.

[0211] Step S400: sending a control instruction to at least one second device according to the cleaning scheme to control the at least one second device to clean the cleaning area.

[0212] In some implementations, the first device sends a control instruction to each second device in the cleaning device combination corresponding to the cleaning area according to the cleaning scheme and the device list, so as to control at least one second device in the cleaning device combination to clean the cleaning area.

[0213] Exemplarily, the cleaning scheme is: using a vacuuming device, a sweeping device, a mopping device and a drying device to vacuum, sweep, mop and dry the cleaning area.

[0214] Exemplarily, the first device sends control instructions to the vacuuming device, the sweeping device, the mopping device and the drying device according to the cleaning plan, so as to control the vacuuming device to vacuum the cleaning area, the sweeping device to sweep the vacuumed area, the mopping device to mop the vacuumed area, and the drying device to dry the area after mopping, thereby completing the cleaning plan.

[0215] In some embodiments, step S400 further includes: issuing an auxiliary instruction to the auxiliary device according to the cleaning scheme to control the auxiliary device to cooperate with the second device to complete the cleaning scheme.

[0216] For example, when the cleaning area is located on the tenth floor, the sweeping device needs to go from the first floor to the tenth floor to clean the cleaning area, but the sweeping device cannot get on the elevator by itself. At this time, an auxiliary instruction is sent to the auxiliary robot to control the auxiliary robot to open the elevator and press the designated floor button according to the auxiliary instruction, so that the sweeping device can enter the elevator and go up to the tenth floor to complete the cleaning plan.

[0217] Exemplarily, the sweeping device waits for the auxiliary robot to open the elevator at the designated elevator according to the received first control instruction. When the sweeping device recognizes the image information of the elevator opening or receives the second control instruction of the first device, it enters the elevator and goes up to the tenth floor.

[0218] In some embodiments, the second device obtains environmental image information through a camera, and identifies specific signs such as floor numbers in the environmental image information to further determine its own location information.

[0219] See also Figure 5 , Figure 5 Schematic diagram of the first embodiment of the second cleaning device collaborative control method provided in the embodiment of the present application. Figure 5 As shown, the second cleaning device collaborative control method includes: step S500 to step S600.

[0220] Step S500: Send device information of the second device to the first device.

[0221] Step S600: In response to receiving a control instruction from the first device, cleaning the cleaning area.

[0222] In some embodiments, when the first device stops working, the second device may not be able to continue working, so it is necessary to dynamically elect the first device.

[0223] See also Figure 6 , Figure 6 : is a flow chart of a second embodiment of the second cleaning device collaborative control method provided in the embodiment of the present application. Figure 6 As shown, in some embodiments, the second cleaning device collaborative control method further includes: steps S610 to S630.

[0224] Step S610: When the first device stops working, the second device broadcasts its own election information to other second devices in its own device list.

[0225] The election information includes the device ID and device information of the second device itself.

[0226] As described above, in some implementations, after acquiring device information of at least one second device, the first device constructs a device list according to the device ID of each second device, and the device list stores all device information received by the first device.

[0227] In some implementations, each second device receives and stores the device list information broadcast by the first device.

[0228] Step S620: When the second device receives voting information sent by other second devices based on election information, and the proportion of votes meets a preset condition, the second device switches to a new first device and broadcasts the switching information to other second devices.

[0229] In some implementations, when a second device receives election information from another second device, it determines whether to send corresponding voting information based on the election information.

[0230] In some implementations, when a second device receives election information from another second device, when it is determined that device information in the election information satisfies a preset condition, voting information is sent to the second device that sent the election information.

[0231] Optionally, the preset condition is that the distance between the second device that sends the election information and the second device that receives the election information is less than a preset distance.

[0232] Optionally, the preset condition is: the power level of the second device sending the election information is greater than a preset percentage; or the type of the second device sending the election information is a preset type.

[0233] Optionally, the preset condition is: the system state of the second device based on sending the election information is an idle state.

[0234] In some embodiments, the second device calculates the total number of all second devices based on the device list. When the ratio of the received voting information divided by the number of votes in the voting information is greater than a preset ratio, the second device switches to a new first device and broadcasts the switching information to other second devices.

[0235] Optionally, the preset ratio is greater than one third.

[0236] Step S630: the second device sends a control instruction to at least one other second device according to the cleaning scheme, so as to control the at least one second device to clean the cleaning area.

[0237] By dynamically selecting the first device, when the first device stops working, a new first device can be promptly selected in the second device to continue to control at least one second device to clean the cleaning area, thereby ensuring that the cleaning plan is fully executed.

[0238] In summary, the cleaning device collaborative control method provided in the embodiment of the present application has the following advantages:

[0239] 1. By determining the cleaning area in the target area based on the environmental information of the target area, and determining the cleaning plan of the cleaning area based on the regional environmental information of the cleaning area and the device information of all second devices, the cleaning area that needs to be cleaned can be automatically identified, and a suitable cleaning plan is generated for the cleaning area, and then the cleaning area is cleaned according to the cleaning plan, so that the cleaning area can be cleaned in a timely and thorough manner, thereby reducing hygiene problems. In addition, it can also reduce labor costs.

[0240] 2. By determining the cleaning area in the target area according to the area type of the target area, the cleaning area can be identified according to the characteristics and cleaning standards of the target area, thereby improving the targeted cleaning.

[0241] 3. By determining the third device among all the second devices that can be used to clean the cleaning area, in the subsequent execution of the cleaning plan, it is possible to avoid the situation where the cleaning plan cannot be executed in time due to the second device being too far away from the cleaning area. It is also possible to avoid the situation where the second device cannot execute the cleaning plan due to a malfunction or insufficient power, so that the cleaning area can be cleaned in time.

[0242] 4. By obtaining the cleaning device combination of the cleaning area, a cleaning device combination can be generated for the cleaning area, thereby improving the pertinence of cleaning.

[0243] 5. By determining the combination of cleaning devices in the cleaning areas in descending order of priority, the cleaning requirements of the cleaning areas with high priorities can be met first, thereby meeting the different cleaning needs of users.

[0244] 6. By dynamically selecting the first device, when the first device stops working, a new first device can be promptly selected from the second devices to continue to control at least one second device to clean the cleaning area, thereby ensuring that the cleaning plan is fully executed.

[0245] See also Figure 7 , Figure 7 Schematic diagram of a cleaning device provided in an embodiment of the present application. Figure 7 As shown, the cleaning device 400 includes: one or more processors 410 and a memory 420, Figure 7 A processor 410 is taken as an example.

[0246] In some implementations, the processor 410 and the memory 420 may be connected via a bus or other means. Figure 7 The example of connecting through bus is taken in the following.

[0247] In some embodiments, the processor 410 is used to obtain environmental information of the target area and device information of at least one second device, where the second device is a cleaning device; determine a cleaning area in the target area based on the environmental information of the target area; determine a cleaning plan for the cleaning area based on the regional environmental information of the cleaning area and device information of all second devices; and send a control instruction to at least one second device according to the cleaning plan to control at least one second device to clean the cleaning area.

[0248] In some embodiments, the processor 410 is configured to send device information of the second device to the first device; and clean the cleaning area in response to receiving a control instruction from the first device.

[0249] In some embodiments, the memory 420 is a non-volatile computer-readable storage medium that can be used to store non-volatile software programs, non-volatile computer executable programs and modules, such as program instructions / modules of the cleaning device collaborative control method in the embodiment of the present application. The processor 410 executes various functional applications and data processing of the cleaning device 400 by running the non-volatile software programs, instructions and modules stored in the memory 420, that is, the cleaning device collaborative control method of the above method embodiment is implemented.

[0250] In some embodiments, the memory 420 may include a program storage area and a data storage area, wherein the program storage area may store an operating system, an application required for at least one function; the data storage area may store data created according to the use of the cleaning device 400, etc. In addition, the memory 420 may include a high-speed random access memory, and may also include a non-volatile memory, such as at least one disk storage device, a flash memory device, or other non-volatile solid-state storage device. In some embodiments, the memory 420 may optionally include a memory remotely arranged relative to the processor 410, and these remote memories may be connected to the controller via a network. Examples of the above-mentioned network include, but are not limited to, the Internet, an intranet, a local area network, a mobile communication network, and combinations thereof.

[0251] In some embodiments, one or more modules are stored in the memory 420, and when executed by one or more processors 410, the cleaning device cooperative control method in any of the above method embodiments is executed, for example, the above described Figure 3 Steps S100 to S400 of the method, or Figure 5 The method comprises steps S500 to S600.

[0252] Please refer to Figure 8 , Figure 8 5 is a block diagram of a computer-readable storage medium provided in an embodiment of the present application. The computer-readable storage medium 500 stores a program code 510, which can be called by a processor to execute the cleaning device cooperative control method described in the above method embodiment.

[0253] The computer-readable storage medium 500 may be an electronic memory such as a flash memory, an EEPROM (electrically erasable programmable read-only memory), an EPROM, a hard disk, or a ROM. Optionally, the computer-readable storage medium includes a non-transitory computer-readable storage medium. The computer-readable storage medium 500 has a storage space for program codes for executing any method steps in the above-mentioned cleaning device collaborative control method. These program codes can be read from or written to one or more computer program products. The program code can be compressed, for example, in an appropriate form.

[0254] In some embodiments, the embodiments of the present application further provide a computer program product, including a computer program, which implements the above-mentioned cleaning device collaborative control method when executed by a processor.

[0255] A person of ordinary skill in the art can understand that all or part of the processes in the above-mentioned embodiment method can be completed by instructing the relevant hardware through a computer program, and the computer program can be stored in a computer-readable storage medium 500. When the computer program is executed, it can include the processes of the embodiments of the above-mentioned methods. Among them, any reference to a memory, a database or other medium used in the embodiments provided in the present application can include at least one of a non-volatile and a volatile memory. Non-volatile memory can include a read-only memory (ROM), a magnetic tape, a floppy disk, a flash memory, an optical memory, a high-density embedded non-volatile memory, a resistive random access memory (ReRAM), a magnetoresistive random access memory (MRAM), a ferroelectric random access memory (FRAM), a phase change memory (PCM), a graphene memory, etc. Volatile memory can include a random access memory (RAM) or an external cache memory, etc. As an illustration and not limitation, RAM can be in various forms, such as static random access memory (SRAM) or dynamic random access memory (DRAM). The database involved in each embodiment provided in this application may include at least one of a relational database and a non-relational database. Non-relational databases may include distributed databases based on blockchains, etc., but are not limited to this. The processor involved in each embodiment provided in this application may be a general-purpose processor, a central processing unit, a graphics processor, a digital signal processor, a programmable logic device, a data processing logic device based on quantum computing, etc., but are not limited to this.

[0256] In summary, the present application provides a cleaning device collaborative control method, system and related cleaning device, the cleaning device collaborative control method includes: obtaining environmental information of the target area and device information of at least one second device, the second device is a cleaning device; determining the cleaning area in the target area based on the environmental information of the target area; determining the cleaning plan of the cleaning area based on the regional environmental information of the cleaning area and the device information of all second devices; sending a control instruction to at least one second device according to the cleaning plan to control at least one second device to clean the cleaning area. The present application determines the cleaning area in the target area based on the environmental information of the target area, determines the cleaning plan of the cleaning area based on the regional environmental information of the cleaning area and the device information of all second devices, can automatically identify the cleaning area that needs to be cleaned, and generates a suitable cleaning plan for the cleaning area, and then cleans the cleaning area according to the cleaning plan, and can clean the cleaning area in a timely and thorough manner, thereby reducing hygiene problems. In addition, it can also reduce labor costs.

[0257] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present application, rather than to limit it. Although the present application has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present application.

Claims

1. A cleaning device collaborative control method, characterized in that: Applied to a first device, the method comprises: Acquire environmental information of a target area and device information of at least one second device, where the second device is a cleaning device; determining a cleaning area in the target area based on environmental information of the target area; determining a cleaning scheme for the cleaning area based on the area environment information of the cleaning area and the device information of all the second devices; The device information includes type information and working status information of the second device, and determining the cleaning scheme of the cleaning area based on the regional environment information of the cleaning area and the device information of all the second devices includes: Determine a third device among all the second devices that can be used to clean the cleaning area based on the regional environment information of the cleaning area and the working state information of all the second devices; Selecting a plurality of the third devices based on the regional environment information of the cleaning area and the type information of all the third devices to obtain a cleaning device combination of the cleaning area; Determine a working scheme of each of the third devices in the cleaning device combination based on the regional environment information of the cleaning area, thereby obtaining a cleaning scheme for the cleaning area; The determining of the working scheme of each of the third devices in the cleaning device combination based on the regional environment information of the cleaning area, thereby obtaining a cleaning scheme for the cleaning area, comprises: Acquire regional cleaning mode information, regional type information of the cleaning region, and cleaning device coordination information, wherein the cleaning device coordination information includes the coordination working relationship of each type of cleaning device with other types of cleaning devices; Determining a cleaning mode corresponding to the cleaning area based on the area cleaning mode information and the area type information of the cleaning area; Based on the cleaning mode corresponding to the cleaning area, the cleaning device coordination information, the regional environment information of the cleaning area and the type information of each third device in the cleaning device combination, a working scheme of each third device is determined, so as to obtain a cleaning scheme for the cleaning area, wherein the working scheme of the third device includes a coordination working scheme of the third device and other third devices, and the coordination working scheme includes the working mode, working time, working sequence and working path of the third device, a cleaning device coordination relationship matrix, a device type information matrix and the regional environment information of the cleaning area are input into a third environment model, and a parameter set of the third environment model is set to a parameter set corresponding to the cleaning mode according to the cleaning mode corresponding to the cleaning area, so as to determine the working scheme of each third device, so as to obtain a cleaning scheme for the cleaning area, a parameter set of the third environment model corresponds to a cleaning mode, the cleaning device coordination relationship matrix is ​​generated based on the cleaning device coordination information, and the device type information matrix is ​​generated according to the type information of all third devices in the cleaning device combination corresponding to the cleaning area; A control instruction is sent to the third device according to the cleaning scheme to control the third device to clean the cleaning area.

2. The cleaning device cooperative control method according to claim 1, characterized in that: The target area includes a plurality of grid areas, the environmental information includes image information of each of the grid areas, and determining a cleaning area in the target area based on the environmental information of the target area includes: Acquire area type information of the target area; Identify a dirty area in the image information of each grid area according to the image information of each grid area of ​​the target area and the area type information; When the area of ​​the dirty region is larger than a preset area, the grid area where the dirty region is located is determined as the clean area.

3. The cleaning device cooperative control method according to claim 1, characterized in that: The number of the cleaning areas is multiple, and the multiple third devices are selected based on the regional environment information of the cleaning areas and the type information of all the third devices to obtain a cleaning device combination of the cleaning area, including: Obtaining priority information of each of the cleaning areas; Based on the regional environment information and priority information of all the cleaning areas and the type information of all the third devices, determining a cleaning device combination for each of the cleaning areas in descending order of priority of the cleaning areas; The step of determining a working scheme of each of the third devices in the cleaning device combination based on the regional environment information of the cleaning area, thereby obtaining a cleaning scheme for the cleaning area, comprises: The working scheme of each of the third devices in the cleaning device combination is determined based on the regional environment information and priority information of each of the cleaning areas, so that the cleaning areas with high priorities start cleaning first, thereby obtaining a cleaning scheme for each of the cleaning areas.

4. A cleaning device collaborative control method, applied to a second device, characterized in that: The method comprises: sending device information of the second device to the first device; In response to receiving a control instruction from the first device, the cleaning area is cleaned, wherein the first device is used to execute the cleaning device collaborative control method according to any one of claims 1 to 3.

5. The cleaning device cooperative control method according to claim 4, characterized in that: The method further comprises: When the first device stops working, the second device broadcasts its own election information to other second devices in its own device list, the election information including the device ID and device information of the second device itself; When the second device receives voting information sent by other second devices based on the election information, and the proportion of votes is greater than a preset proportion, the second device switches to a new first device and broadcasts the switching information to other second devices; The second device sends a control instruction to at least one other second device according to the cleaning scheme, so as to control the at least one second device to clean the cleaning area.

6. A cleaning device collaborative control system, characterized in that: comprising a first device and at least one second device, wherein the second device is a cleaning device; The second device sends device information of the second device to the first device; The first device acquires environmental information of a target area and device information of at least one of the second devices; The first device determines a cleaning area in the target area based on environmental information of the target area; The first device determines a cleaning scheme for the cleaning area based on regional environment information of the cleaning area and device information of all the second devices; the device information includes type information and working status information of the second device, and the determining of the cleaning scheme for the cleaning area based on the regional environment information of the cleaning area and device information of all the second devices includes: Determine a third device among all the second devices that can be used to clean the cleaning area based on the regional environment information of the cleaning area and the working state information of all the second devices; Selecting a plurality of the third devices based on the regional environment information of the cleaning area and the type information of all the third devices to obtain a cleaning device combination of the cleaning area; Determine a working scheme of each of the third devices in the cleaning device combination based on the regional environment information of the cleaning area, thereby obtaining a cleaning scheme for the cleaning area; The determining of the working scheme of each of the third devices in the cleaning device combination based on the regional environment information of the cleaning area, thereby obtaining a cleaning scheme for the cleaning area, comprises: Acquire regional cleaning mode information, regional type information of the cleaning region, and cleaning device coordination information, wherein the cleaning device coordination information includes the coordination working relationship of each type of cleaning device with other types of cleaning devices; Determining a cleaning mode corresponding to the cleaning area based on the area cleaning mode information and the area type information of the cleaning area; Based on the cleaning mode corresponding to the cleaning area, the cleaning device coordination information, the regional environment information of the cleaning area and the type information of each third device in the cleaning device combination, a working scheme of each third device is determined, so as to obtain a cleaning scheme for the cleaning area, wherein the working scheme of the third device includes a coordination working scheme of the third device and other third devices, and the coordination working scheme includes the working mode, working time, working sequence and working path of the third device, a cleaning device coordination relationship matrix, a device type information matrix and the regional environment information of the cleaning area are input into a third environment model, and a parameter set of the third environment model is set to a parameter set corresponding to the cleaning mode according to the cleaning mode corresponding to the cleaning area, so as to determine the working scheme of each third device, so as to obtain a cleaning scheme for the cleaning area, a parameter set of the third environment model corresponds to a cleaning mode, the cleaning device coordination relationship matrix is ​​generated based on the cleaning device coordination information, and the device type information matrix is ​​generated according to the type information of all third devices in the cleaning device combination corresponding to the cleaning area; The first device sends a control instruction to the third device according to the cleaning scheme to control the third device to clean the cleaning area; The third device cleans the cleaning area in response to receiving the control instruction from the first device.

7. A cleaning device, characterized in that: The cleaning device comprises: at least one processor; and, a memory communicatively connected to the at least one processor; wherein, The memory stores instructions executable by the at least one processor, and the instructions are executed by the at least one processor so that the at least one processor can execute the cleaning device cooperative control method as described in any one of claims 1 to 3 or any one of claims 4 to 5.

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