Scrubber scheduling method, device, system and equipment and storage medium

Abstract

The embodiment of the invention provides a scrubber scheduling method, device, system and equipment and a storage medium, and relates to the technical field of robots. The method comprises the following steps: acquiring boundary points in a topological map of a to-be-cleaned area, and determining a boundary point sequence corresponding to the scrubber based on the boundary points in the topological map; controlling the scrubber to clean according to the boundary point sequence in the boundary point sequence; a target cleaning line of the scrubber moving from the current boundary point in the boundary point sequence to the next boundary point is determined by the following steps: determining the actual distance and the historical cleaning frequency of each edge in the topological map, and determining the correction distance corresponding to the edge according to the actual distance and the historical cleaning frequency of the edge; the correction distance is in positive correlation with historical cleaning times; determining a target cleaning line based on the correction distance corresponding to each edge in the topological map; the target cleaning line is the cleaning line with the shortest sum of the correction distances of all the edges in the plurality of cleaning lines of the scrubber moving from the current boundary point to the next boundary point.

Description

Technical Field

[0001] The present application relates to the field of robotics technology, and in particular to a method, device, system, equipment and storage medium for scheduling a floor scrubber. Background Art

[0002] With the rapid advancement of computer technology, the field of industrial production is undergoing unprecedented changes. One of the most significant trends is the increasing level of intelligence in industrial production. One of the core driving forces of this change is the widespread application and continuous development of robots in industrial production. The advancement of robot technology not only enables them to cope with high-intensity working environments, but also gradually demonstrates advantages over manual labor in many aspects, thus playing an increasingly important role in production and life.

[0003] In industrial intelligence scenarios, there are usually many handling robots carrying goods in the warehouse area. Debris and dust on the ground may cause the wheels of the handling robots to get stuck or move poorly, affecting the robot's handling efficiency and accuracy. Therefore, a floor scrubber is usually required to fully clean the working area of ​​the handling robot to ensure the cleanliness of the working area and to prevent the dirt in the working area of ​​the handling robot from affecting the robot's movement. Summary of the invention

[0004] The present application provides a floor scrubber scheduling method, apparatus, system, device and storage medium for cleaning an area to be cleaned according to a topological map of the area to be cleaned, ensuring comprehensive coverage of topological points and edges in the topological map.

[0005] A first aspect of an embodiment of the present application provides a method for scheduling a floor scrubber, comprising: obtaining boundary points in a topological map of an area to be cleaned, and determining a boundary point sequence corresponding to the floor scrubber based on the boundary points in the topological map; the topological map includes multiple topological points, and edges representing walkable roads connecting the topological points; the boundary points are topological points on the boundary among multiple topological points; the floor scrubber is controlled to clean in the order of the boundary points in the boundary point sequence; during the cleaning process of the floor scrubber, a target cleaning route for the floor scrubber to move from a current boundary point in the boundary point sequence to a next boundary point is determined in the following manner: determining an actual distance and a historical number of cleanings of each edge in the topological map, and determining a correction distance corresponding to the edge based on the actual distance and the historical number of cleanings of the edge; the correction distance is positively correlated with the historical number of cleanings; determining a target cleaning route based on the correction distance corresponding to each edge in the topological map; the target cleaning route is a cleaning route with the shortest sum of correction distances of all edges among multiple cleaning routes for the floor scrubber to move from a current boundary point to a next boundary point.

[0006] The floor scrubber scheduling method provided in the embodiment of the present application first obtains the boundary points in the topological map of the area to be cleaned when cleaning the area to be cleaned, and determines the boundary point sequence corresponding to the floor scrubber based on the boundary points, so that the floor scrubber moves according to the corresponding boundary point sequence during cleaning to ensure that all boundary points in the topological map are cleaned. In the process of moving from the current boundary point to the next boundary point in the boundary point sequence, the floor scrubber determines the cleaning route with the shortest total correction distance according to the correction distance corresponding to each edge. Since the correction distance is related to the actual distance and the number of historical cleaning times, and is positively correlated with the number of historical cleaning times, that is, the more historical cleaning times of the edge, the longer the corresponding correction distance. It can be seen that when the floor scrubber cleans the area to be cleaned for the first time, it will select the cleaning route with the shortest actual distance. In the subsequent cleaning process, since the correction distance of the edges that have been cleaned will increase, the floor scrubber will reselect other cleaning routes for cleaning according to the correction distance of each edge, and then in multiple cleaning processes, it can completely cover all edges in the topological map, that is, complete the comprehensive coverage of the topological map of the area to be cleaned.

[0007] In combination with the first implementation method of the first aspect, the area to be cleaned includes M floor scrubbers; M is a positive integer; the boundary point sequence corresponding to the floor scrubber is determined based on the boundary points in the topological map, including: determining the uncleaned target boundary points in the boundary points to obtain a target boundary point set; establishing a multi-traveling salesman task model based on the target boundary point set and the M floor scrubbers; solving the multi-traveling salesman task model according to the shortest path planning principle to obtain a boundary point sequence corresponding to each floor scrubber.

[0008] In combination with the second implementation method of the first aspect, the area to be cleaned includes M floor scrubbers; M is a positive integer; the method also includes: when any of the M floor scrubbers completes cleaning based on the boundary point sequence corresponding to the floor scrubber, determining uncleaned boundary points based on the boundary point sequences corresponding to other floor scrubbers, the uncleaned boundary points being boundary points that have not been reached by other floor scrubbers in the boundary point sequences corresponding to other floor scrubbers; regenerating M boundary point sequences based on the uncleaned boundary points; and controlling the M floor scrubbers to perform cleaning based on the regenerated M boundary point sequences.

[0009] In combination with the third implementation manner of the first aspect, the method also includes: when all boundary points in the topological map are cleaned, redetermining the boundary point sequence corresponding to the floor scrubber based on the boundary points in the topological map; and controlling the floor scrubber to perform cleaning based on the redetermined boundary point sequence.

[0010] In combination with the fourth implementation method of the first aspect, the brush disc of the floor scrubber is in a lowered state during the cleaning process; the method also includes: during the cleaning process of the floor scrubber, determining the number of robots behind the floor scrubber; when the number of robots exceeds a preset threshold, controlling the brush disc of the floor scrubber to lift up and increasing the moving speed.

[0011] In combination with the fifth implementation of the first aspect, after controlling the brush plate of the floor scrubber to lift up, the method further includes: when the number of robots behind the floor scrubber is lower than a preset threshold, controlling the floor scrubber to slow down its movement speed and controlling the floor scrubber to lower its brush plate.

[0012] According to a second aspect of an embodiment of the present application, there is provided a floor scrubber scheduling device, comprising: an acquisition module, for acquiring boundary points in a topological map of an area to be cleaned, and determining a boundary point sequence corresponding to the floor scrubber based on the boundary points in the topological map; the topological map comprises a plurality of topological points, and edges representing walkable roads connecting the topological points; the boundary points are topological points on the boundary among the plurality of topological points; a control module, for controlling the floor scrubber to clean in the order of the boundary points in the boundary point sequence; a determination module, for determining a target cleaning route for the floor scrubber to move from a current boundary point in the boundary point sequence to a next boundary point during the cleaning process of the floor scrubber; the determination module, specifically for determining an actual distance and a historical number of cleanings of each edge in the topological map, and determining a correction distance corresponding to the edge based on the actual distance and the historical number of cleanings of the edge; the correction distance is positively correlated with the historical number of cleanings; the target cleaning route is determined based on the correction distance corresponding to each edge in the topological map; the target cleaning route is a cleaning route with the shortest sum of the correction distances of all edges among the plurality of cleaning routes for the floor scrubber to move from the current boundary point to the next boundary point.

[0013] A third aspect of an embodiment of the present application provides a floor scrubber scheduling system, comprising: a floor scrubber scheduling device and M floor scrubbers; M is a positive integer; the floor scrubber scheduling device is used to obtain boundary points in a topological map of an area to be cleaned, and determine a boundary point sequence corresponding to each floor scrubber based on the boundary points in the topological map; the topological map includes multiple topological points, and edges representing walkable roads connecting the topological points; the boundary points are topological points on the boundaries among multiple topological points; the floor scrubber scheduling device is also used to control the floor scrubber to clean in the order of the boundary points in the boundary point sequence; the floor scrubber scheduling device is also used to, during the cleaning, During the cleaning process of the floor scrubber, a target cleaning route for the floor scrubber to move from the current boundary point in the boundary point sequence to the next boundary point is determined; the floor scrubber scheduling device is specifically used to determine the actual distance and historical cleaning times of each edge in the topological map, and determine the correction distance corresponding to the edge based on the actual distance and historical cleaning times of the edge; the correction distance is positively correlated with the historical cleaning times; the target cleaning route is determined based on the correction distance corresponding to each edge in the topological map; the target cleaning route is the cleaning route with the shortest sum of the correction distances of all edges among multiple cleaning routes for the floor scrubber to move from the current boundary point to the next boundary point.

[0014] A fourth aspect of an embodiment of the present application provides an electronic device, comprising: one or more processors; one or more memories; wherein the one or more memories are used to store computer program codes, the computer program codes include computer instructions, and when the one or more processors execute the computer instructions, the electronic device executes the floor scrubber scheduling method provided by the first aspect and its possible implementation methods.

[0015] A fifth aspect of an embodiment of the present application provides a computer-readable storage medium, which stores computer execution instructions. When the computer execution instructions are executed on a computer, the computer executes the floor scrubber scheduling method provided by the first aspect and its possible implementation methods.

[0016] A sixth aspect of an embodiment of the present application provides a computer program product, including a computer program / instruction, which, when executed by a processor, implements the steps of the floor scrubber scheduling method provided in the first aspect and its possible implementation methods.

[0017] Among them, the beneficial effects described in the second to sixth aspects can refer to the beneficial effect analysis of the first aspect, and will not be repeated here. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] The accompanying drawings are used to provide a further understanding of the technical solution of the present invention and constitute a part of the specification. Together with the embodiments of the present application, they are used to explain the technical solution of the present invention and do not constitute a limitation on the technical solution of the present invention.

[0019] Figure 1A schematic diagram of the structure of a floor scrubber scheduling system provided in an embodiment of the present application;

[0020] Figure 2 A method flow of a floor scrubber scheduling method provided in an embodiment of the present application Figure 1 ;

[0021] Figure 3 A schematic diagram of a topological map provided in an embodiment of the present application Figure 1 ;

[0022] Figure 4 A method flow of a floor scrubber scheduling method provided in an embodiment of the present application Figure 2 ;

[0023] Figure 5 A schematic diagram of a topological map provided in an embodiment of the present application Figure 2 ;

[0024] Figure 6 A method flow of a floor scrubber scheduling method provided in an embodiment of the present application Figure 3 ;

[0025] Figure 7 An overall flow chart of a floor scrubber scheduling method provided in an embodiment of the present application;

[0026] Figure 8 A method flow of a floor scrubber scheduling method provided in an embodiment of the present application Figure 4 ;

[0027] Fig. 9 A schematic diagram of the structure of a floor scrubber scheduling device provided in an embodiment of the present application;

[0028] Fig.10 A schematic diagram of the structure of an electronic device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0029] 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.

[0030] 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. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of the features. In the description of this application, unless otherwise specified, "plurality" means two or more.

[0031] In the description of this application, it should be noted that, unless otherwise clearly specified and limited, the terms "connected" and "connection" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection. For ordinary technicians in this field, the specific meanings of the above terms in this application can be understood according to specific circumstances. In addition, when describing a pipeline, the "connected" and "connection" used in this application have the meaning of conduction. The specific meaning needs to be understood in conjunction with the context.

[0032] In the embodiments of the present application, words such as "exemplary" or "for example" are used to indicate examples, illustrations or descriptions. Any embodiment or design described as "exemplary" or "for example" in the embodiments of the present application should not be interpreted as being more preferred or more advantageous than other embodiments or designs. Specifically, the use of words such as "exemplary" or "for example" is intended to present related concepts in a specific way.

[0033] With the rapid development of the logistics industry, the combination of electronic information technology and warehouse management has attracted more and more attention from the public. For example, with the development of automation industries such as industrial robots, many existing warehouses use robots or other automated equipment to cooperate with each other during warehouse management to achieve efficient cargo pickup and placement, thereby reducing the workload of staff.

[0034] When the handling robot is working, its tires, tracks or walking mechanisms will frequently come into contact with the ground. If there are impurities such as oil, debris, etc. on the ground, it will accelerate the wear of these parts and even cause failure. Therefore, it is necessary to use a floor scrubber to thoroughly clean the working area of ​​the handling robot to remove impurities in the working area of ​​the handling robot, reduce equipment wear, thereby extending the service life of the handling robot and improving the working efficiency of the handling robot.

[0035] Therefore, it is necessary to set up a floor scrubber in the working area of ​​the handling robot for cleaning. The operation logic of the robot performing the handling task is generally clear, and most of them use the pre-set topological map to move the goods to the designated topological point in the passage of the warehouse area. Therefore, the floor scrubber needs to clean the working area of ​​the handling robot in the passage of the warehouse area.

[0036] The embodiment of the present application provides a method for scheduling a floor scrubber. When cleaning an area to be cleaned, the boundary points in the topological map of the area to be cleaned are first obtained, and the boundary point sequence corresponding to the floor scrubber is determined based on the boundary points, so that the floor scrubber moves according to the corresponding boundary point sequence during cleaning to ensure that all boundary points in the topological map are cleaned. In the process of moving from the current boundary point to the next boundary point in the boundary point sequence, the floor scrubber determines the cleaning route with the shortest total correction distance according to the correction distance corresponding to each edge. Since the correction distance is related to the actual distance and the number of historical cleaning times, and is positively correlated with the number of historical cleaning times, that is, the more historical cleaning times of the edge, the longer the corresponding correction distance. It can be seen that when the floor scrubber cleans the area to be cleaned for the first time, it will select the cleaning route with the shortest actual distance. In the subsequent cleaning process, since the correction distance of the edges that have been cleaned will increase, the floor scrubber will reselect other cleaning routes for cleaning according to the correction distance of each edge, and then in multiple cleaning processes, all edges in the topological map can be completely covered, that is, the comprehensive coverage of the topological map of the area to be cleaned is completed.

[0037] The floor scrubber scheduling method provided in the embodiment of the present application can be applied to Figure 1 In the scrubber scheduling system 100 shown in FIG. Figure 1 As shown, the scrubber scheduling system 100 includes: a scrubber scheduling device 101 and a scrubber 102 .

[0038] The scrubber scheduling device 101 is used to generate a cleaning route for the scrubber 102 based on the topological map of the area to be cleaned, and control the scrubber 102 to perform cleaning based on the cleaning route, so that the scrubber 102 can completely cover the topological points and edges in the topological map.

[0039] In some embodiments, please refer to Figure 1 The floor scrubber scheduling system 100 may further include a plurality of robots 103, and the floor scrubber scheduling device 101 is further used to schedule the operation of the robots 103 so that the robots complete corresponding handling tasks.

[0040] It should be understood that the robots in the embodiments of the present application may be various types of autonomous mobile robots (AMRs), automated guided vehicles (AGVs), industrial robots, or automatic handling equipment such as drones. The embodiments of the present application do not impose any restrictions on the specific form of the robots.

[0041] As a feasible implementation method, since the floor scrubber needs to ensure that the robot's working area is fully cleaned, and the robot usually moves based on the corresponding topological map, the floor scrubber scheduling system 100 can use the robot's topological map as the floor scrubber's topological map, that is, directly use the robot's topological map to plan the floor scrubber's cleaning route to ensure that the floor scrubber fully cleans the robot's working area.

[0042] At the same time, since the topological map of the robot operation is variable, the floor scrubber needs to adapt to the map that may change during the cleaning process. In the solution of this application, the topological map of the robot is used as the topological map of the floor scrubber. When the topological map of the robot changes, the topological map of the floor scrubber will also change accordingly, and then the floor scrubber can clean directly based on the changed topological map without manual adjustment.

[0043] It should be understood that the scrubber scheduling device 101 in the embodiment of the present application can be a personal computer (PC), a laptop computer, a mobile device, a tablet computer, a laptop computer, etc. The embodiment of the present application does not limit the specific form of the electronic device. Alternatively, the scrubber scheduling device 101 can also be a single server, or a server cluster composed of multiple servers. In some implementations, the server cluster can be a distributed cluster server. The embodiment of the present application does not impose any restrictions on this.

[0044] It should be noted that Figure 1 The situation in which the scrubber scheduling system 100 includes three scrubbers 102 and four robots 103 is shown for exemplary purposes only, but this number does not constitute a limitation. In actual application, the number of scrubbers 102 and robots 103 can be adjusted according to actual needs, and this application does not impose any restrictions on this.

[0045] The robot control method provided in the embodiment of the present application can be applied to Figure 1 In the scrubber scheduling device 101 shown, please refer to Figure 2 , the method comprises the following steps:

[0046] S201: Obtain boundary points in a topological map of the area to be cleaned.

[0047] It can be understood that the area to be cleaned is an area that needs to be cleaned by a floor scrubber. The area to be cleaned may be a warehouse area, a work area, etc., and the embodiment of the present application does not limit this.

[0048] A topological map is a special type of map that focuses on the relative positions and connections between map elements rather than their precise geographic locations or distances. Topological maps usually represent the connections between elements through topological points and edges. Topological points represent important locations in the area to be cleaned, while edges represent the connections or lines between these topological points. Since topological maps ignore specific distances and directions, they can provide a more concise and easier to understand representation. In other words, a topological map includes multiple topological points and edges that connect topological points and represent walkable roads.

[0049] For example, see Figure 3 , the topological map includes multiple topological points and multiple edges. When cleaning, the floor scrubber needs to ensure full coverage of the area to be cleaned, so that all topological points and edges in the topological map can be cleaned. In order to avoid missing topological points, the embodiment of the present application first determines the boundary points among the multiple topological points before generating the cleaning route of the floor scrubber.

[0050] It can be understood that for a connected topological graph, all topological points on the map are traversed. For any topological point, if there is an edge without an opposite direction for the topological point, it indicates that the topological point is a boundary point, otherwise it is a non-boundary point.

[0051] For example, please refer to Figure 3 , point B has four edges, but the four edges are opposite edges to each other, so point B is a non-boundary point; point A has only one edge and no opposite edge, so point A is a boundary point.

[0052] It should be understood that in order to facilitate the cleaning of the working area of ​​the transport robot, the topological map in the embodiment of the present application can be a topological map when the transport robot is running. Directly using the topological map when the transport robot is running as the topological map of the floor scrubber can ensure that the floor scrubber can fully cover the working area of ​​the transport robot.

[0053] S202: Determine a boundary point sequence corresponding to the floor scrubber based on the boundary points in the topological map.

[0054] After obtaining the boundary points in the topological map, the boundary point sequence corresponding to the floor scrubber can be determined based on the boundary points, that is, the cleaning order of each boundary point when the floor scrubber is cleaning.

[0055] In some embodiments, the area to be cleaned may be small, and only one floor scrubber is required to meet the cleaning needs, that is, the floor scrubber scheduling system includes only one floor scrubber. As a feasible implementation method, multiple boundary points can be directly used as the boundary point sequence corresponding to the floor scrubber. As another feasible implementation method, the next boundary point with the shortest distance to the current boundary point where the floor scrubber is located can be determined in sequence according to the distance between boundary points (the length of the edge connecting two boundary points), and the boundary point sequence corresponding to the floor scrubber can be obtained, so that the floor scrubber can traverse all boundary points by moving the shortest distance.

[0056] In other embodiments, the area to be cleaned may be large, and one floor scrubber cannot guarantee the cleaning requirements. Multiple floor scrubbers can be set in the floor scrubber scheduling system. In this case, a boundary point sequence needs to be generated for each floor scrubber so that multiple floor scrubbers can complete the cleaning of multiple boundary points. As a feasible implementation method, the number of boundary points that each floor scrubber needs to clean can be determined based on the number of boundary points, and then the next boundary point with the shortest distance to the current boundary point where each floor scrubber is located can be determined in turn based on the distance between the boundary points, thereby obtaining the corresponding boundary point sequence.

[0057] As a feasible implementation method, in order to ensure that the moving distance of each floor scrubber is the shortest, that is, the floor scrubber can complete the traversal of all boundary points by moving the shortest distance, the boundary point sequence corresponding to each floor scrubber can be determined by modeling, and multiple boundary points are assigned to multiple floor scrubbers, so that the floor scrubber can traverse all boundary points by moving the shortest distance. It can be seen that this problem is a Multiple Traveling Salesman Problem (MTSP) problem under constraints. It only needs to solve the M boundary point sequences of the multiple traveling salesman problem, so that the M floor scrubbers can traverse in turn according to their respective boundary point sequences, that is, the traversal of the entire topological map can be completed at the global minimum cost.

[0058] It should be noted that M in the present application is a positive integer. When M is 1, the traveling salesman problem can be used to solve it. When M is greater than 1, multiple traveling salesman problems can be used to solve it. The embodiment of the present application does not limit the number of floor scrubbers.

[0059] Specifically, as a feasible implementation method, in the case where the area to be cleaned includes M floor scrubbers, please refer to Figure 4 , S202 can be specifically implemented as follows:

[0060] S2021. Determine uncleaned target boundary points among the boundary points to obtain a target boundary point set.

[0061] Since there may be cleaned boundary points among all boundary points, in order to avoid repeated cleaning resulting in low working efficiency of the floor scrubber, the target boundary points that have not been cleaned among the boundary points can be determined first to obtain a target boundary point set.

[0062] S2022. Establish a multi-traveling salesman task model based on the target boundary point set and M floor scrubbers.

[0063] It is understandable that the MTSP problem is defined as follows: given a set of n cities and m salesmen; each salesman starts from the same central city (or their respective starting cities) and visits a certain number of cities, and each city can only be visited once by a certain salesman; after visiting a certain number of cities, the salesman needs to return to the starting city (or central city); the goal is to find an allocation plan that makes the total distance of all salesmen the shortest and satisfies the above conditions.

[0064] The multi-traveling salesman task model established in this application is: there are N target boundary points and M floor scrubbers. Each floor scrubber starts from its own boundary point and visits a certain number of target boundary points. Each target boundary point can only be visited once by a floor scrubber. It is necessary to find an allocation scheme that makes the total distance of all floor scrubbers the shortest and meets the above conditions. That is, it is necessary to solve the multi-traveling salesman task model according to the shortest path planning principle.

[0065] S2023. Solve the multi-traveling salesman task model according to the shortest path planning principle to obtain a boundary point sequence corresponding to each floor scrubber.

[0066] It should be understood that the total distance of all floor scrubbers corresponding to the multiple boundary point sequences determined based on the shortest path planning principle is the shortest, so that the M floor scrubbers traverse in turn according to their respective boundary point sequences, that is, the traversal of multiple boundary points in the topological map can be completed at the global minimum cost.

[0067] It is understandable that, to solve the multi-travel salesman task model, an exact algorithm can be used to solve MTSP, such as branch and bound method, linear programming method, etc. Approximate algorithm or heuristic algorithm can also be used to solve MTSP, such as genetic algorithm, simulated annealing method, ant colony algorithm, taboo search algorithm, etc. These algorithms can find a solution close to the optimal solution within a reasonable time. The embodiment of the present application does not impose any restrictions on the solution method of MTSP.

[0068] It can be seen that the method provided in this embodiment, when there are M floor scrubbers in the area to be cleaned, adopts the method of constructing a multi-traveling salesman task model to simulate the tasks that require the collaboration of multiple floor scrubbers in the area to be cleaned, and then solves the multi-traveling salesman task model according to the shortest path planning principle to obtain the boundary point sequence corresponding to each floor scrubber, which can reduce the moving distance required by each floor scrubber, and thus cover all uncleaned target boundary points at a lower cost during cleaning.

[0069] S203, controlling the floor scrubber to perform cleaning according to the order of the boundary points in the boundary point sequence.

[0070] After obtaining the boundary point sequence corresponding to each floor scrubber, the floor scrubber can be controlled to move from the current boundary point to the next boundary point according to the boundary point sequence, and clean the area to be cleaned during the movement.

[0071] In the embodiment of the present application, during the cleaning process of the floor scrubber, the target cleaning route of the floor scrubber moving from the current boundary point in the boundary point sequence to the next boundary point is determined by the following S501-S502:

[0072] S501: Determine the actual distance and historical cleaning times of each edge in the topological map, and determine the corrected distance corresponding to the edge according to the actual distance and historical cleaning times of the edge.

[0073] Among them, the correction distance is positively correlated with the number of historical cleaning times.

[0074] After obtaining the boundary point sequence corresponding to each floor scrubber, each floor scrubber can be controlled to perform cleaning according to the corresponding boundary point sequence, that is, each floor scrubber needs to move from the current boundary point to the next boundary point in the boundary point sequence. However, moving only according to the boundary point sequence can only ensure that the boundary points are completely traversed, and cannot guarantee that all topological points and edges in the topological map are completely traversed.

[0075] For example, see Figure 5 , there are four boundary points A, B, C, and D on the topological map. In the process of taking these four points as the task target points, according to the above task scheduling logic, assuming that there is a floor scrubber, MTSP is solved. It is easy to know that A→B→C→D is a visit sequence solved. If the shortest moving distance planning principle is followed, such as Figure 5 As shown by the arrow in the middle, the floor scrubber will walk along the four boundary edges (AB, BC, CD), and the floor scrubber will not actively traverse the topological points inside the topological map, which means that it cannot be guaranteed that the floor scrubber will completely traverse the entire topological map.

[0076] Based on this, the solution provided in this application sets a parameter of the number of historical cleaning times for each edge. Each time the floor scrubber passes an edge during the cleaning process, the number of historical cleaning times corresponding to the edge can be increased by one. The number of historical cleaning times can be the total number of cleaning times of the floor scrubber on the edge, or the number of cleaning times of the floor scrubber on the edge within a preset time range, and this embodiment of the application does not limit this.

[0077] After obtaining the boundary point sequence corresponding to each floor scrubber, when the floor scrubber moves from the current boundary point to the next boundary point in the boundary point sequence, the historical cleaning times and the actual distance of each edge are first obtained, and then the correction distance corresponding to the edge is determined according to the actual distance and historical cleaning times of each edge, and the correction distance is positively correlated with the historical cleaning times. In other words, the more cleaning times an edge has, the larger its corresponding correction distance is; the fewer cleaning times an edge has, the smaller its corresponding correction distance is.

[0078] As a feasible implementation method, the corrected distance can be set to = historical cleaning times * actual distance.

[0079] In some embodiments, since the number of robot movements on each edge is different, some edges are passed by a large number of robots, and the sweeper needs to clean more frequently to ensure cleanliness. Therefore, as another feasible implementation method, a weight can be assigned to each edge, and the corrected distance = historical cleaning times * actual distance * weight corresponding to the edge.

[0080] In this way, different weights can be assigned to each edge according to its importance, and the corresponding weight is multiplied when calculating the corrected distance to meet the usage requirements in different situations.

[0081] S502: Determine a target cleaning route of the floor scrubber based on the corrected distance corresponding to each edge in the topological map.

[0082] The target cleaning route is a cleaning route in which the sum of corrected distances of all edges in the cleaning route in which the floor scrubber moves from the current boundary point in the boundary point sequence to the next boundary point is the shortest.

[0083] It is understandable that there are many cleaning routes from the current boundary point in the boundary point sequence to the next boundary point. The floor scrubber can choose any edge at any topological point to move until it finally reaches the next boundary point. At this time, it cannot be guaranteed that the floor scrubber can traverse all topological points.

[0084] Based on this, the solution provided by the present application selects the cleaning route with the shortest total corrected distance as the target cleaning route when moving from the current boundary point to the next boundary point, wherein the corrected distance is positively correlated with the number of historical cleaning times. Therefore, during multiple cleaning processes, since the corrected distance of the edges that have been cleaned will continue to increase, when determining the target cleaning route, the edges with fewer historical cleaning times will be selected as the target cleaning route first, thereby ensuring that all edges in the topological map can be used as cleaning routes during multiple cleaning processes, that is, all edges and all topological points in the topological map can be fully cleaned.

[0085] It can be seen that the scrubber scheduling method provided in the embodiment of the present application, when cleaning the area to be cleaned, first obtains the boundary points in the topological map of the area to be cleaned, and determines the boundary point sequence corresponding to the scrubber based on the boundary points, so that the scrubber moves according to the corresponding boundary point sequence during cleaning to ensure that all boundary points in the topological map are cleaned. In the process of moving from the current boundary point to the next boundary point in the boundary point sequence, the scrubber determines the cleaning route with the shortest total correction distance according to the correction distance corresponding to each edge. Since the correction distance is related to the actual distance and the number of historical cleaning times, and is positively correlated with the number of historical cleaning times, that is, the more historical cleaning times of the edge, the longer the corresponding correction distance. It can be seen that when the scrubber cleans the area to be cleaned for the first time, it will select the cleaning route with the shortest actual distance. In the subsequent cleaning process, since the correction distance of the edges that have been cleaned will increase, the scrubber will reselect other cleaning routes for cleaning according to the correction distance of each edge, and then in multiple cleaning processes, it can completely cover all edges in the topological map, that is, complete the comprehensive coverage of the topological map of the area to be cleaned.

[0086] In some embodiments, since the target cleaning route of each floor scrubber is determined based on the corrected distance, the corrected distances determined are not equal, and therefore the time for the floor scrubber to complete its corresponding boundary point sequence cannot be guaranteed. After any floor scrubber completes its corresponding boundary point sequence, other floor scrubbers have not completed their boundary point sequences. Assuming that the floor scrubber needs to wait until all floor scrubbers have completed their execution before starting the next round of operations, it is bound to cause the floor scrubber to be idle for a period of time, resulting in a waste of resources.

[0087] Based on this, as a feasible implementation method, please refer to Figure 6 The scrubber scheduling method provided in this application also includes:

[0088] S601. When any floor scrubber among the M floor scrubbers completes cleaning based on the boundary point sequence corresponding to the floor scrubber, uncleaned boundary points are determined based on the boundary point sequences corresponding to other floor scrubbers.

[0089] It can be understood that the floor scrubber completes cleaning based on the boundary point sequence corresponding to the floor scrubber, that is, the floor scrubber has completed executing its corresponding target boundary point sequence, and there is no corresponding cleaning task. At this time, in order to avoid the floor scrubber being idle, it is necessary to determine the uncleaned boundary points in the boundary point sequence corresponding to other floor scrubbers. That is, among all the boundary points in the topological map, the boundary points that have not been cleaned during this cleaning process.

[0090] As a feasible implementation method, a target boundary point set can be pre-set in the scrubber scheduling device, which is used to store the boundary points that have not been cleaned by M scrubbers. In this way, when any scrubber completes cleaning based on the boundary point sequence corresponding to the scrubber, that is, when any scrubber completes its corresponding cleaning task, the boundary points in the target boundary point set can be directly used as uncleaned boundary points.

[0091] S602: Regenerate M boundary point sequences based on uncleaned boundary points.

[0092] It can be understood that the method of regenerating the M boundary point sequences can refer to the method in the above embodiment, and the present application will not elaborate on it here.

[0093] S603: Control M floor scrubbers to perform cleaning based on the regenerated M boundary point sequences.

[0094] It is understandable that when each floor scrubber performs cleaning based on the regenerated boundary point sequence, it is necessary to re-determine the historical cleaning times corresponding to each edge and the correction distance corresponding to each edge, and determine the target cleaning route based on the correction distance corresponding to each edge. This application will not go into details here.

[0095] It can be seen that the solution provided in this embodiment re-determines the target boundary points that have not been cleaned and regenerates M boundary point sequences after any floor scrubber executes its corresponding boundary point sequence, so that the M floor scrubbers perform cleaning according to the regenerated boundary point sequences, and the M floor scrubbers can be used to the maximum extent to complete the cleaning of the area to be cleaned, avoiding waste of resources. At the same time, it can also shorten the cleaning time of the complete cleaning topology map and improve the cleaning efficiency of the floor scrubber.

[0096] In some embodiments, when the floor scrubber executes the corresponding boundary point sequence once, it only completes cleaning according to the determined target cleaning route, and cannot guarantee full coverage of the topological map. It requires multiple cleaning processes to ensure full coverage of the topological map.

[0097] As a feasible implementation method, the floor scrubber scheduling method provided in an embodiment of the present application also includes: when all boundary points in the topological map have been cleaned, redetermining the boundary point sequence corresponding to the floor scrubber based on the boundary points in the topological map; and controlling the floor scrubber to perform cleaning based on the regenerated boundary point sequence.

[0098] When all boundary points in the topological map have been cleaned, that is, all floor scrubbers have reached the last boundary point in the boundary point sequence, indicating that all boundary points in the topological map have been traversed by the floor scrubbers, but there may still be some uncleaned points and edges inside the topological map, so it is necessary to control the floor scrubbers to clean again. That is, the boundary point sequence corresponding to the floor scrubber is re-determined according to all boundary points in the topological map, so that the floor scrubbers clean according to the regenerated boundary point sequence.

[0099] It is understandable that, during this cleaning process, although the number of boundary points and floor scrubbers has not changed, the location of the floor scrubbers has changed, and the generated boundary point sequence is different from the boundary point sequence of the last cleaning. In addition, during this cleaning process, since the number of historical cleaning times of each edge has increased, the target cleaning route selected by the floor scrubber during cleaning is different from the cleaning route of the last cleaning. According to the corrected distance of each edge, the edge with fewer cleaning times will be preferentially selected as the cleaning route. In the process of multiple cleanings, it can ensure that all edges in the topological map are completely cleaned, and the floor scrubber can fully cover the topological map.

[0100] In some embodiments, see Figure 7 The floor scrubber scheduling method provided in the embodiment of the present application comprises the following steps when executed:

[0101] S701: Determine a target boundary point set.

[0102] Exemplarily, all boundary points can be set as set T, and set T1 and set T2 can be set, where T1 represents cleaned boundary points and T2 represents uncleaned boundary points. Initialize T1 to be empty and T2 to be T. At the same time, set all available floor scrubbers to set R, and the number of floor scrubbers in set R is M.

[0103] S702: construct an MTSP model based on the M floor scrubbers and the set T2 and solve it to obtain M boundary point sequences.

[0104] It can be understood that the boundary point sequence is the task sequence that each floor scrubber needs to perform next, and each floor scrubber needs to traverse the boundary points according to the order in the boundary point sequence.

[0105] S703: When the floor scrubber completes a boundary point task, the corresponding boundary point is added to T1 and the boundary point is deleted from T2.

[0106] When the floor scrubber completes a boundary point task, it indicates that the boundary point has been cleaned and needs to be added to set T1 and deleted from set T2.

[0107] S704: Determine whether the set R has changed, or whether any floor scrubber has completed the corresponding boundary point sequence.

[0108] When a floor washer fails to perform tasks due to an exception, it is necessary to remove the floor washer from the set R, or add the floor washer to the set R when it recovers from the exception and can perform tasks. When the set R changes, it indicates that the number of floor washer has changed, and the corresponding boundary point sequence needs to be regenerated according to the changed number of floor washer, that is, return to execute S702, to avoid the failure of floor washer to traverse all boundary points, or the waste of floor washer resources due to idle washing machines.

[0109] When any floor scrubber completes the corresponding boundary point sequence, in order to avoid the floor scrubber being idle for a period of time, resulting in a long time to traverse all boundary points, the corresponding boundary point sequence can be regenerated, that is, the process returns to S702 to avoid any floor scrubber being idle and causing waste of resources.

[0110] S705: The floor scrubber performs subsequent boundary point tasks according to the boundary point sequence.

[0111] If the set R does not change and the boundary point sequences of all floor scrubbers have not been completed, the floor scrubbers execute subsequent boundary point tasks according to the boundary point sequence.

[0112] S706: Determine whether the set T2 is empty.

[0113] If the set T2 is empty, it indicates that all floor scrubbers have completed the corresponding boundary point sequence. At this time, the process may return to S701 to allow the multiple floor scrubbers to restart the next round of cleaning process.

[0114] If the set T2 is not empty, it indicates that the floor scrubber has not yet completed the execution of the corresponding boundary point sequence, and the process returns to S703 to continue controlling the multiple floor scrubbers to perform cleaning according to the corresponding boundary point sequence.

[0115] In some embodiments, since the floor scrubber needs to clean the robot's moving route, that is, the area cleaned by the floor scrubber is the robot's moving route, the floor scrubber and the robot are operated according to the same topological map, and the floor scrubber and the robot will inevitably mix up. Since the floor scrubber needs to put down the brush plate during the cleaning process to complete the cleaning of the floor, the moving speed of the floor scrubber is usually slower than that of the robot. Therefore, the floor scrubber may affect the movement of the robot during cleaning, resulting in low working efficiency of the robot.

[0116] Based on this, as a feasible implementation method, please refer to Figure 8 The floor scrubber scheduling method provided in the embodiment of the present application further includes the following steps:

[0117] S801. During the cleaning process of the floor scrubber, determine the number of robots behind the floor scrubber.

[0118] Since the floor scrubber and the robot are moving based on the same topological map and are controlled by the floor scrubber scheduling device, the floor scrubber scheduling device can obtain the location of the floor scrubber and the robot in real time. Therefore, during the cleaning process of the floor scrubber, the floor scrubber scheduling device can obtain the number of robots behind the floor scrubber in real time.

[0119] S802: When the number of robots exceeds a preset threshold, the brush plate of the floor scrubber is controlled to be lifted and the moving speed is increased.

[0120] When the number of robots exceeds the preset threshold, robot congestion is likely to occur, resulting in reduced robot work efficiency. Therefore, it is necessary to increase the moving speed of the floor scrubber to avoid affecting the work of the robots.

[0121] Since the brush disc of the floor scrubber needs to be in the lowered state during the cleaning process to complete the cleaning of the floor, before increasing the moving speed of the floor scrubber, it is necessary to control the brush disc of the floor scrubber to be lifted, and then increase the moving speed of the floor scrubber to make the floor scrubber speed up and leave, so as to avoid affecting the work of subsequent robots and ensure the work efficiency of the robots.

[0122] It can be seen that the floor scrubber scheduling method provided in this embodiment determines in real time whether the number of robots behind the floor scrubber exceeds a preset threshold during the cleaning process of the floor scrubber. If it exceeds the preset threshold, it indicates that a large number of robots are blocked behind the floor scrubber. In order to avoid affecting the working efficiency of the robot, the brush plate of the floor scrubber is controlled to be lifted and the moving speed is increased, so that the robot behind the floor scrubber can move normally, thereby ensuring the working efficiency of the robot.

[0123] In some embodiments, since the floor scrubber cannot complete the cleaning work normally after lifting the brush disc, the cleanliness of the area to be cleaned cannot meet user requirements. Therefore, after the brush disc of the floor scrubber is lifted, it is necessary to determine whether the brush disc can be lifted to continue the cleaning task.

[0124] As a feasible implementation method, please continue to refer to Figure 8 After S802, the scrubber scheduling method provided in the embodiment of the present application further includes:

[0125] S803: When the number of robots behind the floor scrubber is lower than a preset threshold, the floor scrubber is controlled to slow down its movement speed and to lower its brush plate.

[0126] When the number of robots behind the floor scrubber is lower than the preset threshold, it indicates that the congestion has been alleviated. In order to ensure that the floor scrubber can clean the area to be cleaned normally, the floor scrubber needs to perform the cleaning task normally. Therefore, the floor scrubber is controlled to slow down its moving speed and put down the brush disc so that the floor scrubber can perform the cleaning task normally.

[0127] It can be seen that the floor scrubber scheduling method provided in this embodiment continuously determines the number of robots behind the floor scrubber after the floor scrubber accelerates to prevent robot congestion. When the number of robots behind the floor scrubber is lower than a preset threshold, it indicates that the congestion has been alleviated. In order to ensure that the floor scrubber can clean the area to be cleaned normally, the floor scrubber is controlled to slow down its movement speed and put down its brush disc so that the floor scrubber can perform the cleaning task normally. This can ensure that the floor scrubber can clean the area to be cleaned normally and avoid missing uncleaned areas.

[0128] The present application also provides a floor scrubber scheduling device. Fig. 9 The floor scrubber scheduling device 90 includes: an acquisition module 91 , a control module 92 and a determination module 93 .

[0129] Among them, the acquisition module 91 is used to obtain the boundary points in the topological map of the area to be cleaned, and determine the boundary point sequence corresponding to the floor scrubber based on the boundary points in the topological map; the topological map includes multiple topological points, and edges representing walkable roads connecting the topological points; the boundary points are topological points on the boundary among multiple topological points.

[0130] The control module 92 is used to control the floor scrubber to perform cleaning according to the order of the boundary points in the boundary point sequence;

[0131] The determination module 93 is used to determine a target cleaning route for the floor scrubber to move from a current boundary point in the boundary point sequence to a next boundary point during the cleaning process of the floor scrubber.

[0132] Determination module 93 is specifically used to determine the actual distance and historical cleaning times of each edge in the topological map, and determine the corrected distance corresponding to the edge based on the actual distance and historical cleaning times of the edge; the corrected distance is positively correlated with the historical cleaning times; the target cleaning route is determined based on the corrected distance corresponding to each edge in the topological map; the target cleaning route is the cleaning route with the shortest sum of corrected distances of all edges among multiple cleaning routes for the scrubber to move from the current boundary point to the next boundary point.

[0133] As a feasible implementation method, the area to be cleaned includes M floor scrubbers; M is a positive integer; the determination module 93 is specifically used to: determine the target boundary points that have not been cleaned in the boundary points to obtain a target boundary point set; establish a multi-traveling salesman task model based on the target boundary point set and the M floor scrubbers; solve the multi-traveling salesman task model to obtain a boundary point sequence corresponding to each floor scrubber.

[0134] As a feasible implementation method, the area to be cleaned includes M floor scrubbers; M is a positive integer; the determination module 93 is also used to determine uncleaned boundary points based on the boundary point sequences corresponding to other floor scrubbers when any of the M floor scrubbers completes cleaning based on the boundary point sequence corresponding to the floor scrubber, and the uncleaned boundary points are boundary points that other floor scrubbers have not reached in the boundary point sequences corresponding to other floor scrubbers; M boundary point sequences are regenerated based on the uncleaned boundary points; the control module 92 is also used to control the M floor scrubbers to perform cleaning based on the regenerated M boundary point sequences.

[0135] As a feasible implementation method, the determination module 93 is also used to, when all boundary points in the topological map have been cleaned, redetermine the boundary point sequence corresponding to the floor scrubber based on the boundary points in the topological map; the control module 92 is also used to control the floor scrubber to clean based on the redetermined boundary point sequence.

[0136] As a feasible implementation method, the brush plate of the floor scrubber is in the lowered state during the cleaning process; the determination module 93 is also used to determine the number of robots behind the floor scrubber during the cleaning process of the floor scrubber; the control module 92 is also used to control the brush plate of the floor scrubber to be lifted and increase the moving speed when the number of robots exceeds a preset threshold.

[0137] As a feasible implementation method, the control module 92 is also used to control the floor scrubber to slow down its movement speed and control the floor scrubber to lower its brush plate when the number of robots behind the floor scrubber is lower than a preset threshold.

[0138] The embodiment of the present application also provides a floor scrubber scheduling system, including: a floor scrubber scheduling device and M floor scrubbers; M is a positive integer.

[0139] Among them, the floor scrubber scheduling device is used to obtain the boundary points in the topological map of the area to be cleaned, and determine the boundary point sequence corresponding to each floor scrubber based on the boundary points in the topological map; the topological map includes multiple topological points, and edges representing walkable roads connecting the topological points; the boundary points are topological points on the boundary among multiple topological points; the floor scrubber scheduling device is also used to determine the actual distance and historical cleaning times of each edge in the topological map, and determine the correction distance corresponding to the edge based on the actual distance and historical cleaning times of the edge; the correction distance is positively correlated with the historical cleaning times; the floor scrubber scheduling device is also used to determine the target cleaning route of each floor scrubber based on the correction distance corresponding to each edge in the topological map; the target cleaning route is the cleaning route with the shortest sum of the correction distances of all edges in the cleaning route where the floor scrubber moves from the current boundary point in the boundary point sequence to the next boundary point; the floor scrubber scheduling device is also used to control each floor scrubber to clean according to the target cleaning route.

[0140] The present application also provides an electronic device. Fig.10 The electronic device 201 includes: one or more memories 111, one or more processors 112, a communication bus 113 and a communication interface 114. The processor 112 is connected to the memory 111 through the bus 113; the one or more memories 111 are used to store computer program codes, and the computer program codes include computer instructions; when the one or more processors 112 execute the computer instructions, the electronic device 201 executes the scrubber scheduling method provided in the above embodiment.

[0141] Optionally, the memory 111 may be a non-temporary computer-readable storage medium, for example, the non-temporary computer-readable storage medium may be a read-only memory (ROM), a random access memory (RAM), a CD-ROM, a tape, a floppy disk, and an optical data storage device, etc. The embodiments of the present application do not impose any restrictions on this.

[0142] The processor 112 may be a central processing unit (CPU), a general-purpose processor, a network processor (NP), a digital signal processor (DSP), a microprocessor, a microcontroller, a programmable logic device (PLD), or any combination thereof, and the embodiments of the present application do not impose any limitation on this.

[0143] The communication bus 113 may be an industry standard architecture (ISA) bus, a peripheral component interconnect (PCI) bus, or an extended industry standard architecture (EISA) bus. The communication bus 113 may be divided into an address bus, a data bus, a control bus, etc. For ease of representation, Fig.10 Just one thick line is used, but it does not mean that there is only one bus or one type of communication bus.

[0144] The communication interface 114 uses any transceiver or other device for communicating with other devices or communication networks, such as control systems, radio access networks (RAN), wireless local area networks (WLAN), etc.

[0145] The embodiments of the present application also provide a computer program product including one or more instructions, where the one or more instructions are stored in a memory of a computer device and executed by a processor to complete the various processes of the above embodiments.

[0146] The embodiment of the present application further provides a computer-readable storage medium, which includes computer-executable instructions. When the computer-executable instructions are executed on a computer, the computer executes the floor scrubber scheduling method provided in the above embodiment.

[0147] Through the description of the above implementation methods, technical personnel in the relevant field can clearly understand that for the convenience and simplicity of description, only the division of the above-mentioned functional modules is used as an example. In actual applications, the above-mentioned functions can be assigned to different functional modules as needed, that is, the internal structure of the device can be divided into different functional modules to complete all or part of the functions described above.

[0148] In the several embodiments provided in the present application, it should be understood that the disclosed devices and methods can be implemented in other ways. For example, the device embodiments described above are only schematic, for example, the division of modules or units is only a logical function division, and there may be other division methods in actual implementation, such as multiple units or components can be combined or integrated into another device, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of devices or units, which can be electrical, mechanical or other forms.

[0149] The units described as separate components may or may not be physically separated, and the components shown as units may be one physical unit or multiple physical units, that is, they may be located in one place or distributed in multiple different places. Some or all of the units may be selected according to actual needs to achieve the purpose of the present embodiment.

[0150] In addition, each functional unit in each embodiment of the present application may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit. The above-mentioned integrated unit may be implemented in the form of hardware or in the form of software functional units.

[0151] If the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a readable storage medium. Based on this understanding, the technical solution of the embodiment of the present application is essentially or the part that contributes to the prior art or all or part of the technical solution can be embodied in the form of a software product, which is stored in a storage medium and includes several instructions for a device or processor to execute all or part of the steps of each embodiment method of the present application. The aforementioned storage medium includes: various media that can store program codes, such as USB flash drives, mobile hard drives, ROM, RAM, magnetic disks or optical disks.

[0152] The above are only specific implementations of the present application, but the protection scope of the present application is not limited thereto, and any changes or substitutions within the technical scope disclosed in the present application should be included in the protection scope of the present application. Therefore, the protection scope of the present application should be based on the protection scope of the claims.

Claims

1. A method for dispatching a floor scrubber, characterized in that: include: Acquire boundary points in a topological map of the area to be cleaned, and determine a boundary point sequence corresponding to the floor scrubber based on the boundary points in the topological map; The topological map includes a plurality of topological points and edges representing traversable roads connecting the topological points; the boundary points are topological points on the boundary among the plurality of topological points; Controlling the floor scrubber to perform cleaning according to the order of boundary points in the boundary point sequence; During the cleaning process of the floor scrubber, the target cleaning route of the floor scrubber moving from the current boundary point in the boundary point sequence to the next boundary point is determined in the following manner: Determine the actual distance and the number of historical cleanings of each edge in the topological map, and determine the corrected distance corresponding to the edge according to the actual distance and the number of historical cleanings of the edge; the corrected distance is positively correlated with the number of historical cleanings; Determine the target cleaning route based on the corrected distance corresponding to each edge in the topological map; The target cleaning route is a cleaning route having the shortest sum of corrected distances of all sides among multiple cleaning routes in which the floor scrubber moves from the current boundary point to the next boundary point.

2. The method according to claim 1, characterized in that: The area to be cleaned includes M floor scrubbers; M is a positive integer; The step of determining a boundary point sequence corresponding to the floor scrubber based on the boundary points in the topological map includes: Determine uncleaned target boundary points among the boundary points to obtain a target boundary point set; Establishing a multi-traveling salesman task model according to the target boundary point set and the M floor scrubbers; The multi-traveling salesman task model is solved according to the shortest path planning principle to obtain a boundary point sequence corresponding to each of the floor scrubbers.

3. The method according to claim 1, characterized in that The area to be cleaned includes M floor scrubbers; M is a positive integer; the method further comprises: When any of the M floor scrubbers completes cleaning based on the boundary point sequence corresponding to the floor scrubber, an uncleaned boundary point is determined based on the boundary point sequence corresponding to other floor scrubbers, and the uncleaned boundary point is a boundary point in the boundary point sequence corresponding to the other floor scrubbers that the other floor scrubbers have not reached; Regenerating M boundary point sequences based on the uncleaned boundary points; The M floor scrubbers are controlled to perform cleaning based on the regenerated M boundary point sequences.

4. The method according to any one of claims 1 to 3, characterized in that: The method further comprises: When all boundary points in the topological map have been cleaned, re-determining a boundary point sequence corresponding to the floor scrubber based on the boundary points in the topological map; The floor scrubber is controlled to perform cleaning based on the re-determined boundary point sequence.

5. The method according to claim 1, characterized in that The brush plate of the floor scrubber is in a lowered state during the cleaning process; the method further comprises: During a cleaning process of the floor scrubber, determining the number of robots behind the floor scrubber; When the number of the robots exceeds a preset threshold, the brush plate of the floor scrubber is controlled to be lifted and the moving speed is increased.

6. The method according to claim 5, characterized in that After controlling the brush plate of the floor scrubber to lift, the method further includes: When the number of robots behind the floor scrubber is lower than the preset threshold, the floor scrubber is controlled to slow down the moving speed and the floor scrubber is controlled to put down the brush plate.

7. A floor scrubber dispatching device, characterized in that: include: An acquisition module, used to acquire boundary points in a topological map of the area to be cleaned, and determine a boundary point sequence corresponding to the floor scrubber based on the boundary points in the topological map; the topological map includes a plurality of topological points, and edges representing walkable roads connecting the topological points; the boundary points are topological points on the boundary among the plurality of topological points; A control module, used for controlling the floor scrubber to perform cleaning according to the order of boundary points in the boundary point sequence; A determination module, used for determining a target cleaning route for the floor scrubber to move from a current boundary point in the boundary point sequence to a next boundary point during the cleaning process of the floor scrubber; The determination module is specifically used to determine the actual distance and historical cleaning times of each edge in the topological map, and determine the corrected distance corresponding to the edge according to the actual distance and historical cleaning times of the edge; the corrected distance is positively correlated with the historical cleaning times; Determine the target cleaning route based on the corrected distance corresponding to each edge in the topological map; The target cleaning route is a cleaning route having the shortest sum of corrected distances of all sides among multiple cleaning routes in which the floor scrubber moves from the current boundary point to the next boundary point.

8. A floor scrubber dispatching system, characterized in that: include: Floor scrubber dispatching equipment and M floor scrubbers; M is a positive integer; The scrubber scheduling device is used to obtain boundary points in a topological map of the area to be cleaned, and determine a boundary point sequence corresponding to each scrubber based on the boundary points in the topological map; the topological map includes a plurality of topological points, and edges representing walkable roads connecting the topological points; the boundary points are topological points on the boundary among the plurality of topological points; The floor scrubber scheduling device is also used to control the floor scrubber to perform cleaning according to the order of boundary points in the boundary point sequence; The floor scrubber scheduling device is further used to determine, during the cleaning process of the floor scrubber, a target cleaning route for the floor scrubber to move from a current boundary point in the boundary point sequence to a next boundary point; The scrubber scheduling device is specifically used to determine the actual distance and historical cleaning times of each edge in the topological map, and determine the corrected distance corresponding to the edge according to the actual distance and historical cleaning times of the edge; the corrected distance is positively correlated with the historical cleaning times; Determine the target cleaning route based on the corrected distance corresponding to each edge in the topological map; The target cleaning route is a cleaning route having the shortest sum of corrected distances of all sides among multiple cleaning routes in which the floor scrubber moves from the current boundary point to the next boundary point.

9. An electronic device, characterized in that: include: one or more processors; one or more memories; Wherein, the one or more memories are used to store computer program codes, and the computer program codes include computer instructions. When the one or more processors execute the computer instructions, the electronic device executes the floor scrubber scheduling method as described in any one of claims 1 to 6.

10. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores computer-executable instructions, and when the computer-executable instructions are executed on a computer, the computer is enabled to execute the floor scrubber scheduling method according to any one of claims 1 to 6.

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