Multi-cleaning-robot collaborative cleaning method and storage medium

Abstract

The embodiment of the invention relates to the technical field of robots, in particular to a multi-cleaning-robot collaborative cleaning method and a storage medium, and the method comprises the following steps: obtaining at least two cleaning tasks, each cleaning task corresponding to a to-be-cleaned area, obtaining state data and cleaning data of each cleaning robot, the state data comprises a working state and a residual electric quantity, and the cleaning data comprises a cleaning assembly state, a cleaning resource type and a residual quantity of each cleaning resource, determining a target cleaning robot matched with each cleaning task according to the state data and the cleaning data of each cleaning robot, each target cleaning robot corresponds to one or more cleaning tasks, distributing each cleaning task to the corresponding target cleaning robot, and controlling each target cleaning robot to perform cleaning operation on the to-be-cleaned area corresponding to each cleaning task. According to the embodiment of the invention, the multiple cleaning robots are used for cleaning different to-be-cleaned areas in a targeted manner, so that the cleaning efficiency and the cleaning effect are improved.

Description

Technical Field

[0001] The embodiments of the present invention relate to the field of robot technology, and in particular to a collaborative cleaning method of multiple cleaning robots and a storage medium. Background Art

[0002] At present, cleaning robots on the market mainly use simple path planning and obstacle avoidance technology to complete indoor cleaning tasks. However, existing technologies have limitations in dealing with complex environments, different cleaning areas, and multi-robot collaborative work, resulting in low cleaning efficiency, low coverage, and poor cleaning effects. Summary of the invention

[0003] In view of this, an object of an embodiment of the present invention is to provide a collaborative cleaning method and a storage medium for multiple cleaning robots to solve the technical problems of low cleaning efficiency and poor cleaning effect in the prior art.

[0004] To solve the above technical problems, the embodiments of the present invention provide the following technical solutions:

[0005] In a first aspect, an embodiment of the present invention provides a method for collaborative cleaning by multiple cleaning robots, comprising:

[0006] Acquire at least two cleaning tasks, each of which corresponds to an area to be cleaned;

[0007] Acquire status data and cleaning data of each of the cleaning robots, wherein the status data includes working status and remaining power, and the cleaning data includes cleaning component status, cleaning resource types, and remaining quantities of various cleaning resources;

[0008] Determining a target cleaning robot matching each of the cleaning tasks according to the status data and cleaning data of each of the cleaning robots, each of the target cleaning robots corresponding to one or more of the cleaning tasks;

[0009] Each of the cleaning tasks is assigned to the corresponding target cleaning robot, and each of the target cleaning robots is controlled to perform cleaning operations on the to-be-cleaned area corresponding to each of the cleaning tasks.

[0010] In some embodiments, obtaining at least two cleaning tasks includes:

[0011] Divide the entire cleaning area into at least two areas to be cleaned, obtain ground garbage data of the at least two areas to be cleaned, and / or obtain air quality data of the at least two areas to be cleaned, wherein the ground garbage data includes the amount and type of garbage, and the air quality data includes the type of solid particles, the concentration of solid particles, the type of harmful gases, and the concentration of harmful gases;

[0012] Acquire the type of each of the areas to be cleaned, and determine the usage frequency level of each of the areas to be cleaned based on the type of each of the areas to be cleaned;

[0013] Generating cleaning tasks corresponding to each of the areas to be cleaned according to the ground garbage data and / or the air quality data of each of the areas to be cleaned, so as to obtain at least two cleaning tasks;

[0014] The priority of the cleaning task corresponding to each of the areas to be cleaned is determined according to the frequency of use of each of the areas to be cleaned, and a priority identifier corresponding to the priority of each of the cleaning tasks is attached to each of the cleaning tasks, wherein the priority identifier is used to characterize the urgency of the cleaning task.

[0015] In some embodiments, the cleaning robot includes a garbage monitoring sensor, and obtaining ground garbage data of the at least two areas to be cleaned includes:

[0016] Controlling the cleaning robot to travel on the ground of each of the areas to be cleaned, so as to collect and obtain ground point cloud data of at least two areas to be cleaned by using the garbage monitoring sensor;

[0017] Based on the ground point cloud data of each area to be cleaned, ground garbage data of each area to be cleaned is extracted.

[0018] In some embodiments, the cleaning robot includes an air monitoring sensor, and obtaining air quality data of the at least two areas to be cleaned includes:

[0019] The cleaning robot is controlled to travel on the ground of each of the areas to be cleaned, so as to collect and obtain air quality data of at least two areas to be cleaned by using the air monitoring sensor.

[0020] In some embodiments, determining a target cleaning robot matching each cleaning task according to the status data and cleaning data of each cleaning robot includes:

[0021] S1: Determine a first preset condition and a second preset condition according to ground garbage data and air quality data of a first cleaning task, wherein the first cleaning task is any one of the at least two cleaning tasks, the first preset condition is a condition on the state data of the cleaning robot, and the second preset condition is a condition on the cleaning data of the cleaning robot;

[0022] S2: if the state data of the first cleaning robot meets the first preset condition and the cleaning data of the first cleaning robot meets the second preset condition, determining the first cleaning robot as a target cleaning robot matching the first cleaning task, the first cleaning robot being any one of the multiple cleaning robots;

[0023] S3: Repeat the above steps S1 to S2 until a target cleaning robot matching each of the cleaning tasks is determined.

[0024] In some embodiments, determining the first preset condition according to the ground garbage data and the air quality data of the first cleaning task includes:

[0025] Determining a first cleaning duration according to the amount of garbage in the ground garbage data corresponding to the first cleaning task;

[0026] For the air quality data corresponding to the first cleaning task, if the solid particle concentration is greater than or equal to a first concentration threshold, and / or if the harmful gas concentration is greater than or equal to a second concentration threshold, a global path covering the area to be cleaned is planned, and a second cleaning time is determined based on the length of the global path and a preset driving speed of the cleaning robot;

[0027] Adding the first cleaning time and the second cleaning time to obtain a target cleaning time;

[0028] or,

[0029] If the solid particle concentration is less than the first concentration threshold, and the harmful gas concentration is less than the second concentration threshold, the first cleaning time is used as the target cleaning time;

[0030] Determining a power consumption corresponding to the target cleaning duration based on the target cleaning duration, and determining a target power consumption corresponding to the power consumption based on the power consumption;

[0031] It is determined as a first preset condition that the working state of the cleaning robot is an idle state and the remaining power of the cleaning robot is greater than the target power.

[0032] In some embodiments, determining the second preset condition according to the ground garbage data and the air quality data of the first cleaning task includes:

[0033] Determine, according to each garbage type and the garbage quantity corresponding to each garbage type in the ground garbage data corresponding to the first cleaning task, the first cleaning resource required to clean the garbage corresponding to each garbage type and the first consumption quantity of each first cleaning resource;

[0034] For the air quality data corresponding to the first cleaning task, if the solid particle concentration is greater than or equal to a first concentration threshold, determining a corresponding second cleaning resource and a second consumption quantity of the second cleaning resource based on the solid particle type and the solid particle concentration, and / or, if the harmful gas concentration is greater than or equal to a second concentration threshold, determining a corresponding third cleaning resource and a third consumption quantity of the third cleaning resource based on the harmful gas type and the harmful gas concentration;

[0035] Determining as a second preset condition that the use status of the first cleaning component corresponding to each of the garbage types, the second cleaning component corresponding to the solid particle type, and / or the third cleaning component corresponding to the harmful gas type is an available state, the remaining quantity of each of the first cleaning resources is greater than the first consumption quantity of each of the first cleaning resources, the remaining quantity of the second cleaning resource is greater than the second consumption quantity, and / or the remaining quantity of the third cleaning resource is greater than the third consumption quantity;

[0036] or,

[0037] If the solid particle concentration is less than the first concentration threshold and the harmful gas concentration is less than the second concentration threshold, the usage status of the first cleaning component corresponding to each of the garbage types is an available status and the remaining quantity of each of the first cleaning resources is greater than the first consumption quantity of each of the first cleaning resources, which is determined as a second preset condition.

[0038] In some embodiments, controlling each of the target cleaning robots to perform cleaning operations on the to-be-cleaned areas corresponding to each of the cleaning tasks includes:

[0039] Controlling the multi-task target cleaning robot to perform cleaning operations on the to-be-cleaned areas corresponding to the respective cleaning tasks in sequence according to the priority identifiers of the respective cleaning tasks that the multi-task target cleaning robot is a cleaning robot that is responsible for performing multiple cleaning tasks;

[0040] The single-task target cleaning robot is controlled to perform a cleaning operation on the to-be-cleaned area corresponding to the cleaning task that it is responsible for performing, wherein the single-task target cleaning robot is a cleaning robot responsible for performing a single cleaning task.

[0041] In some embodiments, the method further comprises:

[0042] During the cleaning process, if a pedestrian is detected stepping into the area to be cleaned, the cleaned area is displayed to the pedestrian to guide the pedestrian to walk through the cleaned area.

[0043] In a second aspect, an embodiment of the present invention provides a control device, including:

[0044] A processor and a memory communicatively connected to the processor;

[0045] The memory stores computer program instructions executable by the processor, and when the computer program instructions are executed by the processor, the control device is able to perform any one of the multi-cleaning robot collaborative cleaning methods proposed in the first aspect.

[0046] In a third aspect, an embodiment of the present invention provides a computer-readable storage medium, on which computer program instructions executable by a processor are stored. When the computer program instructions are executed by the processor, the computer can execute any one of the multi-cleaning robot collaborative cleaning methods proposed in the first aspect.

[0047] The embodiments of the present invention have the following beneficial effects: Different from the prior art, the multi-cleaning robot collaborative cleaning method provided by the embodiments of the present invention includes: obtaining at least two cleaning tasks, each cleaning task corresponds to an area to be cleaned, obtaining status data and cleaning data of each cleaning robot, the status data includes working status and remaining power, the cleaning data includes cleaning component status, cleaning resource type and remaining quantity of each type of cleaning resource, determining a target cleaning robot matching each cleaning task based on the status data and cleaning data of each cleaning robot, each target cleaning robot corresponds to one or more cleaning tasks, assigning each cleaning task to a corresponding target cleaning robot, and controlling each target cleaning robot to perform cleaning operations on the area to be cleaned corresponding to each cleaning task.

[0048] The embodiment of the present invention assigns multiple cleaning tasks to corresponding cleaning robots according to the status data and cleaning data of each cleaning robot, so that each cleaning robot cleans the corresponding cleaning area, thereby performing targeted cleaning on different areas to be cleaned, improving cleaning efficiency and cleaning effect, and increasing cleaning coverage. BRIEF DESCRIPTION OF THE DRAWINGS

[0049] In order to more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the following is a brief introduction to the drawings required for the description of the prior art or the embodiments. Obviously, the drawings described below only illustrate certain embodiments of the present invention and should not be regarded as limiting the scope of protection. For those of ordinary skill in the art, other related drawings can also be obtained based on these drawings without creative work.

[0050] Figure 1 is a schematic diagram of an application scenario of a multi-cleaning robot collaborative cleaning method provided by some embodiments of the present invention;

[0051] Figure 2is a schematic diagram of the structure of a control device provided by some embodiments of the present invention;

[0052] Figure 3 is a schematic flow chart of a collaborative cleaning method for multiple cleaning robots provided in some embodiments of the present invention;

[0053] Figure 4 It is a schematic diagram of each cleaning robot performing a cleaning operation on an area to be cleaned corresponding to each cleaning task in some embodiments of the present invention. DETAILED DESCRIPTION

[0054] In order to make the purpose and advantages of the embodiments of the present invention easier to understand, the technical solutions of the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. The detailed description of the embodiments of the present invention in the drawings below does not limit the scope of protection claimed by the present invention, but only represents the selected embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present invention.

[0055] It should be noted that, if no conflict is constituted, the various technical features involved in the embodiments of the present invention described below can be combined with each other, and are all within the scope of protection of the present invention. In addition, although the functional modules are divided in the device or structural schematic diagram, and the logical order is shown in the flow chart, in some cases, the steps shown or described can be performed in a different order than the module division in the device, or in a different order than in the flow chart. In addition, the "first", "second", "third" and other similar expressions used herein do not limit the data and execution order, but are only for the purpose of convenience of explanation and to distinguish between the same or similar items with basically the same functions and effects, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of technical features.

[0056] Unless otherwise defined, the technical terms and scientific terms used in this specification have the same meanings as those generally understood by those of ordinary skill in the art of the present invention. The terms used in this specification are only for the purpose of describing specific embodiments and are not intended to limit the present invention. It should be understood that the term "and / or" used in this specification includes any and all combinations of one or more of the related listed items.

[0057] See also Figure 1 , Figure 1 The following is a schematic diagram showing an application scenario of the multi-cleaning robot collaborative cleaning method provided in some embodiments of the present invention.

[0058] like Figure 1As shown, an embodiment of the present invention provides a multi-cleaning robot collaborative cleaning system, and the multi-cleaning robot collaborative cleaning system 1000 includes a control device 100 and a cleaning robot module 200, and the control device 100 and the cleaning robot module 200 are connected through network communication. The cleaning robot module 200 includes multiple cleaning robots, such as Figure 1 The cleaning robots 201, 202 and 203 are shown, and the control device 100 is connected to each cleaning robot through network communication. It should be understood that the cleaning robots include but are not limited to disinfection robots, sweeping robots, vacuuming robots, mopping robots and floor washing robots. It is understood that examples of the above communication networks include but are not limited to the Internet, corporate intranets, local area networks, mobile communication networks and combinations thereof.

[0059] In some embodiments, the control device 100 receives a cleaning task set 300, and the cleaning task set 300 includes multiple cleaning tasks (e.g., cleaning task 1 and cleaning task 2). The control device 100 obtains at least two cleaning tasks from the cleaning task set 300, each cleaning task corresponds to an area to be cleaned, that is, there are at least two areas to be cleaned, and the control device 100 dispatches at least two cleaning robots to clean the at least two areas to be cleaned according to the at least two cleaning tasks, the status data and cleaning data of each cleaning robot in the cleaning robot module 200.

[0060] Specifically, the control device 100 analyzes each cleaning task (for example, Figure 1 Cleaning task 1 and cleaning task 2 are shown in the figure), task data of each cleaning task (including garbage ground data, air quality data and priority identification, etc.) are obtained, and status data and cleaning data of each cleaning robot in the cleaning robot module 200 are obtained, and target cleaning robots matching each cleaning task are determined according to the task data of each cleaning task, status data and cleaning data of each cleaning robot, each cleaning task is assigned to a corresponding target cleaning robot, and each target cleaning robot is controlled to perform cleaning operations on the area to be cleaned corresponding to each cleaning task, respectively.

[0061] For example, the target cleaning robot that matches cleaning task 1 is cleaning robot 202, and the target cleaning robot that matches cleaning task 2 is cleaning robot 203. Cleaning task 1 and cleaning task 2 are assigned to cleaning robot 202 and cleaning robot 203 respectively, and cleaning robot 202 and cleaning robot 203 are controlled to perform cleaning operations on the areas to be cleaned corresponding to cleaning task 1 and cleaning task 2 respectively.

[0062] It should be understood that Figure 1The figure only schematically shows a situation in which the control device 100 schedules the cleaning robot to clean the area to be cleaned according to the cleaning task, the state data of the cleaning robot and the cleaning data. Figure 1 In the application scenario shown, the control device 100 is a laptop computer, but it does not impose any restrictions on the structure, type, quantity, etc. of the control device in other application scenarios or embodiments. For example, in some other application scenarios or embodiments, the control device can also be a server, a cloud server, a desktop computer, a tablet computer, a single-chip microcomputer, a microcontroller, or any other suitable type of device or apparatus. In addition, the control device in some other application scenarios or embodiments can also be more Figure 1 The laptops shown may include more or fewer components or may have the same Figure 1 Laptops shown in different configurations.

[0063] To facilitate understanding of the multi-cleaning robot collaborative cleaning method provided by an embodiment of the present invention, the control device provided by an embodiment of the present invention is first introduced in detail.

[0064] See also Figure 2 , Figure 2 The structural diagram of the control device 100 provided in some embodiments of the present invention is schematically shown.

[0065] like Figure 2 As shown, the control device 100 includes at least one processor 110 and a memory 120 that are communicatively connected. Figure 2 In the example, the bus system 130 is connected to a processor. The various components in the control device 100 are coupled together through the bus system 130, and the bus system 130 is used to realize the connection and communication between the various components. It is easy to understand that the bus system 130 includes not only a data bus, but also a power bus, a control bus, and a status signal bus. However, for the sake of clarity and brevity, Figure 2 In the figure, various buses are labeled as bus system 130. It can be understood that Figure 2 The structure shown in the embodiment is only for illustration and does not impose any limitation on the structure of the control device. Figure 2 The structures shown may have more or fewer components, or may have the same Figure 2 Different configurations of the structure shown.

[0066] Specifically, the processor 110 is used to provide computing and control capabilities to control the control device 100 to perform corresponding tasks, such as controlling the above-mentioned control device 100 to perform any of the multi-cleaning robot collaborative cleaning methods provided in the embodiments of the present invention, or to perform any of the steps in any possible implementation of any of the multi-cleaning robot collaborative cleaning methods provided in the embodiments of the present invention. Those skilled in the art will understand that the processor 110 can be a general-purpose processor, including a central processing unit (CPU), a network processor (NP), etc.; it can also be a digital signal processor (DSP), an application specific integrated circuit (ASIC), a field programmable gate array (FPGA) or other programmable logic devices, discrete gates or transistor logic devices, discrete hardware components.

[0067] The memory 120, as a non-transient computer-readable storage medium, can be used to store non-transient software programs, non-transient computer executable programs, instructions and modules, for example, programs, instructions and modules corresponding to the multi-cleaning robot collaborative cleaning method in the embodiment of the present invention. In some embodiments, the memory 120 may include a storage program area and a storage data area, the storage program area may store an operating system, an application required for at least one function, and the storage data area may store data created according to the use of the processor 110. The processor 110 executes various functional applications and data processing of the control device 100 by running the non-transient software programs, instructions and modules stored in the memory 120 to implement any of the multi-cleaning robot collaborative cleaning methods provided in the embodiment of the present invention, or execute any of the multi-cleaning robot collaborative cleaning methods provided in the embodiment of the present invention. Steps in any possible implementation. In some embodiments, the memory 120 may include a high-speed random access memory and may also include a non-transient memory. For example, at least one disk storage device, a flash memory device or other non-transient solid-state storage device. In some embodiments, the memory 120 may also include a memory remotely arranged relative to the processor 110, and these remotely arranged memories may be connected to the processor 110 via a communication network. It can be understood that examples of the above-mentioned communication network include but are not limited to the Internet, corporate intranet, local area network, mobile communication network and combinations thereof.

[0068] It can be understood from the above that the implementation and execution subject of any of the multi-cleaning robot collaborative cleaning methods provided in the embodiments of the present invention can be any suitable type of control device with certain computing and control capabilities, for example, it can be implemented by the above-mentioned control device 100. In some feasible implementations, any of the multi-cleaning robot collaborative cleaning methods provided in the embodiments of the present invention can be implemented by a processor executing computer program instructions stored in a memory.

[0069] The multi-cleaning robot collaborative cleaning method provided by the embodiment of the present invention will be described in detail below in conjunction with the exemplary application and implementation of the control device provided by the embodiment of the present invention.

[0070] See also Figure 3 , Figure 3 The flowchart of the multi-cleaning robot collaborative cleaning method provided by some embodiments of the present invention is schematically shown.

[0071] Those skilled in the art will appreciate that the multi-cleaning robot collaborative cleaning method provided in the embodiment of the present invention can be applied to the above-mentioned control device (eg, control device 100). Specifically, the execution subject of the multi-cleaning robot collaborative cleaning method is one or at least two processors of the control device.

[0072] For example, Figure 3 As shown, the multi-cleaning robot collaborative cleaning method includes but is not limited to the following steps S100-S400:

[0073] S100: Acquire at least two cleaning tasks, each cleaning task corresponding to an area to be cleaned.

[0074] In this step, each cleaning task corresponds to an area to be cleaned. The area to be cleaned can be a sub-cleaning area obtained by dividing the entire cleaning area. For example, in a factory workshop, the factory workshop includes multiple work areas, such as assembly work areas, handling work areas, welding work areas, etc. The ground area of ​​the factory workshop is used as the entire cleaning area. According to different work areas, each work area is divided into a corresponding sub-cleaning area, and the sub-cleaning area is an area to be cleaned. In some embodiments, the area to be cleaned can also be a room area in a home environment, and each room area can be used as an area to be cleaned, such as a kitchen area, a bedroom area, a study area, a living room area, a bathroom area, etc. Of course, the area to be cleaned can also be an area determined by any other suitable method, and the embodiment of the present invention does not make any limitation to this.

[0075] In some embodiments, the cleaning task can be a user-entered or preset task, and the user can manually set multiple cleaning tasks through an interactive interface (e.g., a mobile phone APP, a control panel). For example, the user selects different cleaning areas, specifies cleaning times and task priorities, etc., to trigger the generation of corresponding tasks to be cleaned, thereby obtaining at least two cleaning tasks.

[0076] In some embodiments, the cleaning task can also be an automatically generated task. The control device automatically generates the cleaning task according to the environmental conditions, sensor data and preset rules. For example, if it detects and recognizes that the ground in a certain area is highly dirty, the control device generates a corresponding cleaning task based on the ground garbage data; or if it detects and recognizes that the air quality in a certain area is poor, the control device generates a corresponding cleaning task based on the air quality data.

[0077] It is understandable that at least two cleaning tasks may be acquired in any other suitable manner or method, and the embodiment of the present invention does not impose any limitation on this. For example, the control device may also predict and generate cleaning tasks based on historical cleaning data, for example, a certain area needs to be cleaned twice a week, or a certain area is used more during certain periods of time, and the area needs to be cleaned once a day. Based on the historical cleaning data, the control device may plan and generate corresponding cleaning tasks in advance.

[0078] In some embodiments, the control device maintains a cleaning task queue or sequence. Whenever a cleaning task is completed, the control device takes out the next cleaning task from the cleaning task queue or sequence, assigns it to a suitable cleaning robot, and controls the cleaning robot to perform the cleaning task. If there are multiple cleaning tasks in the cleaning task queue or sequence, the control device selects multiple suitable cleaning robots to perform the corresponding cleaning tasks according to the status and cleaning requirements of the cleaning robots.

[0079] Exemplarily, in some embodiments, obtaining at least two cleaning tasks specifically includes but is not limited to the following steps S110-S140:

[0080] S110: Divide the entire cleaning area into at least two areas to be cleaned, obtain ground garbage data of at least two areas to be cleaned, and / or obtain air quality data of at least two areas to be cleaned.

[0081] In this step, the ground garbage data includes the amount of garbage and the type of garbage, and the air quality data includes the type of solid particles, the concentration of solid particles, the type of harmful gases, and the concentration of harmful gases.

[0082] In this step, first obtain the information of the entire cleaning area, and divide the entire cleaning area into at least two areas to be cleaned. In some embodiments, the cleaning area is divided equally according to the area by area, and multiple areas to be cleaned are generated. For example, a large room area is divided into at least two small areas, and each small area is used as an area to be cleaned. In some other embodiments, it can also be divided by function, and divided into different areas to be cleaned according to the function and cleaning requirements of the area. For example, each area of ​​the kitchen, bedroom, corridor, living room, etc. is used as an area to be cleaned. It should be understood that the entire cleaning area can also be divided into at least two areas to be cleaned in any other suitable manner, and the embodiment of the present invention does not impose any limitation on this.

[0083] Specifically, the amount of garbage on the ground in each area to be cleaned can be collected through ground sensors, cameras and other equipment, and the types of various garbage on the ground (such as paper scraps, plastic, glass fragments and food residues, etc.) can be identified to obtain the type of garbage on the ground in each area to be cleaned. Different types of garbage require different cleaning methods or cleaning resources. In some embodiments, the amount of garbage can also be counted and the type of garbage can be identified through machine vision or image processing technology of cleaning robots or environmental monitoring equipment.

[0084] Exemplarily, the air quality sensors of cleaning robots or environmental monitoring equipment can be used to detect the types of solid particles in the air of each area to be cleaned (e.g., PM2.5, PM10, etc.) and the concentration of each solid particle, and the air quality monitoring sensors can be used to detect the types of harmful gases in the air of each area to be cleaned (e.g., CO2, O3, SO2, formaldehyde, etc.) and the concentration of each harmful gas.

[0085] In some embodiments, obtaining ground garbage data of at least two areas to be cleaned includes but is not limited to the following steps S111-S112:

[0086] S111: Control the cleaning robot to travel on the ground of each area to be cleaned, so as to collect and obtain ground point cloud data of at least two areas to be cleaned by using garbage monitoring sensors.

[0087] In this step, the cleaning robot includes a garbage monitoring sensor, that is, the cleaning robot is equipped with a garbage monitoring sensor, and the garbage monitoring sensor can be a laser radar, an infrared sensor, an ultrasonic sensor, etc.

[0088] Specifically, the control device controls the cleaning robot to travel on the ground of each area to be cleaned, and uses the garbage monitoring sensor equipped on the cleaning robot to collect and obtain the environmental data on the ground of each area to be cleaned, and the environmental data is ground point cloud data. The garbage monitoring sensor transmits the collected ground point cloud data of each area to be cleaned to the control device, or the control device actively obtains the ground point cloud data of each area to be cleaned from the garbage monitoring sensor, so that the control device obtains the ground point cloud data of at least two areas to be cleaned.

[0089] The cleaning robot determines the position and shape of each area to be cleaned through the cleaning map pre-loaded for each area to be cleaned or the map constructed in real time using SLAM technology, and plans a detection path suitable for driving in each area to be cleaned using a path planning algorithm. The robot drives along the detection path and starts garbage monitoring sensors (such as lidar, camera, infrared sensor) to collect environmental data of each area to be cleaned in real time to obtain ground point cloud data of at least two areas to be cleaned.

[0090] S112: Extracting ground garbage data of each area to be cleaned based on the ground point cloud data of each area to be cleaned.

[0091] In this step, the control device uses machine vision and image processing technologies to process the ground point cloud data of each area to be cleaned, identify the garbage type in each area to be cleaned, and count the amount of each type of garbage, thereby extracting the ground garbage data of each area to be cleaned.

[0092] It is understandable that, based on the ground point cloud data of each area to be cleaned, the ground garbage data of each area to be cleaned can be extracted, and conventional techniques familiar to those skilled in the art can be used. For example, a filtering algorithm is first used to remove irrelevant data in the ground point cloud data (such as noise points, walls, furniture, etc.), and only the point cloud data related to the ground and garbage is retained. Next, a ground point cloud extraction algorithm (such as a RANSAC algorithm, a ground point-based segmentation method, etc.) is used to extract ground points from the point cloud data, and the ground points are used to build a ground surface model, and points in non-ground areas are eliminated. Furthermore, based on the geometric shape and size of the garbage in the point cloud, garbage is identified in the extracted ground point cloud data. For example, smaller and regular objects are considered to be paper scraps and plastic bottles, while larger and irregular objects are considered to be food residues, cartons, etc. Use clustering algorithms (such as DBSCAN, K-means) to distinguish garbage areas from other areas in the ground point cloud data, use machine learning or deep learning methods to analyze the point cloud density and distribution characteristics of each garbage area, determine the type of garbage based on the characteristics of the point cloud data (such as size, shape, distribution, etc.), and count the extracted garbage areas to calculate the amount of each type of garbage. Based on the results of point cloud data extraction, generate specific ground garbage data for each area to be cleaned, including the type of garbage, amount of garbage, and garbage distribution location of each area to be cleaned.

[0093] For example, the ground garbage data of the area E1 to be cleaned are as follows: garbage types: 3 types, garbage quantity: 20 items, specifically: 10 pieces of paper scraps, 5 plastic bottles and 5 food residues.

[0094] The ground garbage data of the area E2 to be cleaned: garbage types: 3 types, garbage quantity: 30 items, specifically: 10 cigarette butts, 15 paper scraps and 5 metal objects.

[0095] In some embodiments, obtaining air quality data of at least two areas to be cleaned includes but is not limited to the following steps S113:

[0096] S113: Control the cleaning robot to travel on the ground of each area to be cleaned, so as to collect and obtain air quality data of at least two areas to be cleaned by using an air monitoring sensor.

[0097] In this step, the cleaning robot includes an air monitoring sensor, that is, the cleaning robot is equipped with an air monitoring sensor, and the air monitoring sensor includes various types of sensors such as O3 sensor, CO2 sensor, SO2 sensor, NO sensor, NO2 sensor and formaldehyde sensor.

[0098] Specifically, the control device controls the cleaning robot to travel on the ground of each area to be cleaned, and uses various types of air monitoring sensors equipped on the cleaning robot to collect and obtain air quality data of each area to be cleaned. The air monitoring sensor transmits the collected air quality data of each area to be cleaned to the control device, or the control device actively obtains the air quality data of each area to be cleaned from the air monitoring sensor, so that the control device obtains the air quality data of at least two areas to be cleaned.

[0099] S120: Acquire the type of each area to be cleaned, and determine the usage frequency level of each area to be cleaned based on the type of each area to be cleaned.

[0100] In this step, the type of each area to be cleaned represents the usage frequency of the area to be cleaned, and the type of each area to be cleaned determines the cleaning frequency and cleaning requirements of the area to be cleaned.

[0101] Exemplarily, an embodiment of the present invention obtains the type of each area to be cleaned according to functional area division, such as the bathroom, kitchen, bedroom, living room, and corridor waiting to be cleaned areas. The type of the area to be cleaned can be stored in the local storage of the robot or the local storage of the control device, and the type of each area to be cleaned can be obtained from the local storage of the robot or the local storage of the control device.

[0102] After obtaining the type of each area to be cleaned, determine the frequency level of each area to be cleaned according to its type. For example, areas with high frequency of use, such as kitchens, bathrooms, and living rooms, are prone to generate more garbage or air pollution. The frequency level is set to a high frequency level, and the corresponding cleaning priority is a high priority. For another example, areas with medium frequency of use, such as storage rooms, balconies, and corridors, are more likely to generate more garbage or air pollution. The frequency level is set to a medium frequency level, and the corresponding cleaning priority is also a medium priority. For another example, areas with low frequency of use, such as bedrooms and study rooms, are not prone to generate more garbage or air pollution. The frequency level is set to a low frequency level, and the corresponding cleaning priority is also set to a low priority.

[0103] It can be understood that the frequency level of each area to be cleaned can be determined based on the type of each area to be cleaned, and a more detailed or rough frequency level division can be performed. The frequency level of each area to be cleaned can be dynamically adjusted according to actual needs. The embodiment of the present invention does not impose any limitation on this.

[0104] S130: Generating cleaning tasks corresponding to each area to be cleaned according to the ground garbage data and / or air quality data of each area to be cleaned, so as to obtain at least two cleaning tasks.

[0105] In this step, cleaning tasks corresponding to each area to be cleaned are created, and the ground garbage data and / or air quality data collected for each area to be cleaned are associated or filled in with the cleaning tasks corresponding to each area to be cleaned to generate cleaning tasks corresponding to each area to be cleaned, thereby obtaining at least two cleaning tasks.

[0106] For example, if there is a large amount of garbage in a certain area to be cleaned or there are complex types of garbage (such as oil stains, glass fragments, etc.), a targeted cleaning task can be generated. For areas to be cleaned with a lot of garbage, a cleaning task of "cleaning the ground garbage in this area" can be generated. For areas to be cleaned with mixed garbage, a cleaning task of "sorting and recycling ground garbage" needs to be generated.

[0107] For another example, if the air quality in a certain area to be cleaned is poor (such as high PM2.5 concentration or high harmful gas concentration), an air purification cleaning task is generated. For areas to be cleaned with high solid particle concentrations, a cleaning task of "cleaning with an air purifier" is generated. For areas to be cleaned with high carbon dioxide concentrations, a cleaning task of "spraying air freshener" is generated.

[0108] S140: Determine the priority of the cleaning task corresponding to each area to be cleaned according to the frequency of use of each area to be cleaned, and attach a priority identifier corresponding to the priority of each cleaning task to each cleaning task, wherein the priority identifier is used to represent the urgency of the cleaning task.

[0109] In this step, the priority identifier is used to characterize the urgency of the cleaning task, and different priority identifiers correspond to different usage frequency levels.

[0110] Specifically, for high-frequency use areas (such as kitchens, bathrooms, living rooms, etc.), cleaning tasks need to be processed with priority, that is, the priority of cleaning tasks corresponding to each area to be cleaned with a high frequency level is determined to be a high priority. For medium-frequency use areas (for example, storage rooms, balconies, corridors, etc.), cleaning tasks are processed according to conventional needs, and the priority of cleaning tasks corresponding to each area to be cleaned with a medium frequency level is determined to be a medium priority. In some embodiments, if the amount of garbage in the area to be cleaned is large and / or the air quality is poor, the priority of the cleaning task can be set to a higher priority. For low-frequency use areas (such as study rooms, bedrooms, etc.), cleaning tasks can be delayed, performed regularly or as needed, and the priority of cleaning tasks corresponding to each area to be cleaned with a low frequency level is determined to be a low priority.

[0111] After determining the priority of the cleaning task corresponding to each area to be cleaned, the priority identifier corresponding to the priority of each cleaning task is attached to each cleaning task, and the high priority identifier corresponding to the high priority is attached to the high priority cleaning task, and the high priority identifier corresponds to the high frequency level. The medium priority identifier corresponding to the medium priority is attached to the medium priority cleaning task, and the medium priority identifier corresponds to the medium frequency level. The low priority identifier corresponding to the low priority is attached to the low priority cleaning task, and the low priority identifier corresponds to the low frequency level.

[0112] For example, please refer to the following Table 1, which schematically shows cleaning tasks and their corresponding priorities, priority identifiers, areas to be cleaned, and usage frequency levels of the areas to be cleaned.

[0113] Table 1:

[0114]

[0115] According to Table 1, the priority of cleaning task D1 is high priority, the priority identifier corresponding to high priority is high priority identifier, the area to be cleaned corresponding to cleaning task D1 is a high-frequency use area, and the use frequency level of the area to be cleaned corresponding to cleaning task D1 is a high-frequency level. Cleaning tasks D2 and D3 are similar to cleaning task D1, and are not described one by one here.

[0116] S200: Acquire status data and cleaning data of each cleaning robot.

[0117] In some embodiments, the state data of the cleaning robot includes the working state and the remaining power, and the cleaning data of the cleaning robot includes the state of the cleaning components, the types of cleaning resources, and the remaining quantity of each type of cleaning resources. It should be understood that the state data and cleaning data may also include any other suitable data, for example, the state data also includes information such as the position, speed, and acceleration of the cleaning robot. The cleaning data also includes information such as the type, quantity, and structure of the cleaning components.

[0118] Specifically, the control device obtains the status data and cleaning data of each cleaning robot through the hardware sensors, software interfaces and central control system of the cleaning robot. The cleaning robot provides a standardized API interface, allowing the central control system to obtain the status data and cleaning data of the cleaning robot through API calls. For example, the remaining power, working status, cleaning task status and remaining cleaning resources of the cleaning robot can be obtained through the API. The central control system has remote monitoring and control functions, and can obtain and view the real-time data of the cleaning robot (including status data and cleaning data, etc.), send control instructions to adjust the status of the cleaning robot, such as pausing the currently executing cleaning task.

[0119] The cleaning robot is equipped with a battery management system (BMS), which is responsible for monitoring and obtaining information such as the battery power and charging status. The cleaning robot can feed back the power information to the central control system regularly or when necessary, and the control device obtains the remaining power of the cleaning robot through the central control system.

[0120] The cleaning robot is also equipped with a special control module for real-time monitoring and updating of the working status of the cleaning robot (such as idle, cleaning, charging, etc.). The cleaning robot transmits information to the central control system through a built-in communication interface or other suitable means (such as Wi-Fi or Bluetooth, etc.), and the control device obtains the working status of the cleaning robot through the central control system.

[0121] The cleaning robot is equipped with various sensors (such as acceleration sensors, gyroscopes, laser radars, and visual sensors) to detect the working status, position, and motion information of the cleaning robot. The control device obtains the current position, posture or shape, speed, acceleration, and whether the cleaning robot is working normally in real time through various sensors equipped on the cleaning robot.

[0122] The cleaning robot is equipped with a variety of cleaning components, such as a brush head, a vacuum cleaner, a spray device, etc. The working status and use status of each cleaning component are monitored through sensors (such as current sensors, temperature sensors). For example, whether the brush head is working, whether the rotation is normal, whether the vacuum cleaner is working, whether the suction is normal, whether the water pump is working, whether it works normally, etc. The cleaning robot can feed back the status information of the cleaning components to the central control system through internal sensors regularly or when necessary, and the control device obtains the status of the cleaning components of the cleaning robot through the central control system.

[0123] The cleaning robot is equipped with replaceable cleaning resources, such as detergent, rags, vacuum bags, disinfectant and clean water. The sensors (such as weight sensors or flow sensors) equipped on the cleaning robot can monitor the remaining amount of cleaning resources. For example, the amount of water in the water tank, the remaining amount of detergent, etc. The remaining quantity of each type of cleaning resources can be used to determine whether the cleaning resources need to be replenished, or whether other cleaning robots need to be dispatched to cooperate in performing cleaning tasks. The cleaning robot can transmit the types of cleaning resources and the remaining quantity of each type of cleaning resources to the central control system regularly or when necessary, and the control device can obtain the types of cleaning resources and the remaining quantity of each type of cleaning resources of the cleaning robot through the central control system.

[0124] In some embodiments, when the cleaning robot performs a cleaning task, it records the state changes and cleaning progress of the cleaning area in real time. For example, the cleaning robot can record the cleaning area, cleaning time, cleaning effect (assessed by image or sensor data), etc. in real time. Each cleaning robot generates a cleaning record based on the cleaning task performed, including the start time, end time, resources used, and cleaning results of the cleaning task. The cleaning record data is stored in the local storage of the cleaning robot, and the cleaning robot transmits it to the central control system through a suitable communication method (such as Wi-Fi or Bluetooth) for summary and analysis.

[0125] S300: Determine a target cleaning robot that matches each cleaning task based on the status data and cleaning data of each cleaning robot, where each target cleaning robot corresponds to one or more cleaning tasks.

[0126] In this step, each target cleaning robot corresponds to one or more cleaning tasks, that is, a target cleaning robot needs to perform one or more cleaning tasks and perform cleaning operations on one or more areas to be cleaned.

[0127] Specifically, clarify the specific requirements of each cleaning task, such as the size of the area to be cleaned and the cleaning complexity, the priority of the cleaning task, and the cleaning resources required for the cleaning task. Different areas to be cleaned may require different types of robots. For example, small areas to be cleaned require small and flexible cleaning robots, while larger areas to be cleaned require cleaning robots with stronger cleaning capabilities and longer battery life. Each cleaning task may use different types of cleaning resources (such as water, detergent, etc.). The type and remaining amount of cleaning resources that the cleaning robot can provide will also affect the allocation of cleaning tasks.

[0128] According to the specific requirements of each cleaning task, the status data and cleaning data of each cleaning robot are evaluated, and the target cleaning robot matching each cleaning task is determined based on the preset rules or algorithms. The working status of each cleaning robot is determined. The cleaning robot may be in different working states, such as "idle", "cleaning", "charging" and "fault waiting for repair", etc. Only the cleaning robot in the "idle" working state will be assigned a new cleaning task. The remaining power of the cleaning robot directly affects whether it can complete a cleaning task. If the cleaning time is long or the cleaning robot is insufficient, the cleaning task needs to be assigned to a cleaning robot with sufficient power. The cleaning components of the cleaning robot (such as vacuum cleaners, brush heads, water tanks, spraying devices, etc.) need to be in good condition. If the cleaning components of the cleaning robot are damaged or have abnormalities or faults, new cleaning tasks will not be assigned. Only cleaning robots with good cleaning components will be assigned new cleaning tasks. Whether the cleaning robot has enough cleaning resources (such as water, detergent, etc.) to perform cleaning tasks. If a cleaning task requires special cleaning resources, and the cleaning robot does not reserve the cleaning resources or reserves are insufficient, it is necessary to dispatch a cleaning robot with sufficient cleaning resources.

[0129] In some embodiments, a target cleaning robot matching each cleaning task is determined based on a multi-factor weighted evaluation, and multiple evaluation indicators are set for each cleaning task and cleaning robot, such as the remaining power of the cleaning robot, the state of the cleaning components, the distance from the task area, the remaining amount of cleaning resources, etc. A weighted evaluation model is used to comprehensively select the most suitable cleaning robot based on all indicators.

[0130] In some embodiments, the target cleaning robot that matches each cleaning task can also be determined based on machine learning, and a machine learning algorithm (such as reinforcement learning or supervised learning, etc.) is used to train the task allocation model through the cleaning history data, and the task allocation model is used to predict the appropriate and accurate cleaning task-cleaning robot pairing. The task allocation model can optimize the task allocation strategy according to the historical performance of the cleaning robot, the type of cleaning task, and the cleaning difficulty.

[0131] In some embodiments, according to the status data and cleaning data of each cleaning robot, a target cleaning robot matching each cleaning task is determined, including but not limited to the following steps S1-S3:

[0132] S1: Determine a first preset condition and a second preset condition according to ground garbage data and air quality data of a first cleaning task.

[0133] In this step, the first cleaning task is any one of the at least two cleaning tasks, the first preset condition is a condition on the status data of the cleaning robot, and the second preset condition is a condition on the cleaning data of the cleaning robot.

[0134] Specifically, according to the ground garbage data and air quality data of the first cleaning task, the first preset condition and the second preset condition that the cleaning robot needs to meet are determined. For example, if the ground garbage data shows that the amount of garbage is large and the types of garbage are complex, a cleaning robot with rich types of cleaning resources and a large remaining number of various cleaning resources is required to perform the first cleaning task, and the cleaning robot that meets this condition is the target cleaning robot that matches the first cleaning task.

[0135] The first preset condition is a condition related to the status data of the cleaning robot. If the cleaning task is more complicated or the area to be cleaned is larger, a cleaning robot with sufficient power needs to be selected, and the cleaning robot needs to be in an idle and available state. The first preset condition is that the remaining power of the cleaning robot is greater than or equal to the preset power threshold, and the cleaning robot is in an idle and available state. For example, the first preset condition may be that the power of the cleaning robot is greater than 30%, and the cleaning robot is in an "idle" or "standby" state.

[0136] The second preset condition is a condition related to the cleaning data of the cleaning robot. The cleaning robot needs to have sufficient cleaning resources (such as detergent, vacuum cleaner suction, etc.) to complete the cleaning task, and whether the cleaning components of the cleaning robot are working properly, for example, whether the vacuum cleaner and brush head are clean, and whether the filter function is available. In some embodiments, the second preset condition can be that the cleaning robot has sufficient detergent or vacuum resources, and the cleaning components of the cleaning robot are in a normal and usable state (for example, not damaged or blocked).

[0137] Exemplarily, in some embodiments, the first preset condition is determined according to the ground garbage data and the air quality data of the first cleaning task, specifically including but not limited to the following steps S11-S16:

[0138] S11: Determine a first cleaning duration according to the amount of garbage in the ground garbage data corresponding to the first cleaning task.

[0139] In this step, the first cleaning time is calculated by the amount of garbage and the preset cleaning rate (the time required to clean each unit of garbage / garbage unit). The first cleaning time can be calculated by the following calculation formula: T1 = S1*Q1, T1 is the first cleaning time, S1 is the amount of garbage, and Q1 is the cleaning rate.

[0140] For example, the cleaning rate Q1 is 2 minutes to clean one garbage unit, and the number of garbage S1 is 10, then the first cleaning time T1 = S1*Q1 = 10*2 = 20 minutes.

[0141] It is easy to understand that those skilled in the art can set the cleaning rate based on experimental data, empirical data and cleaning robot performance data, and store the cleaning rate in the local storage of the cleaning robot or the local storage of the control device. When needed, the control device can obtain it from the local storage of the cleaning robot or the local storage of the control device.

[0142] S12: For the air quality data corresponding to the first cleaning task, if the concentration of solid particles is greater than or equal to the first concentration threshold, and / or if the concentration of harmful gases is greater than or equal to the second concentration threshold, a global path covering the driving area to be cleaned is planned, and the second cleaning time is determined based on the length of the global path and the preset driving speed of the cleaning robot.

[0143] In this step, technicians in this field can use the first concentration threshold and the second concentration threshold based on experimental data and empirical data to determine whether the concentration of solid particles in the air in the area to be cleaned corresponding to the first cleaning task is greater than or equal to the first concentration threshold, and / or whether the concentration of harmful gases is greater than or equal to the second concentration threshold.

[0144] Exemplarily, the solid particle concentration and the harmful gas concentration in the air quality data corresponding to the first cleaning task are compared with the first concentration threshold and the second concentration threshold, respectively. If the solid particle concentration is greater than or equal to the first concentration threshold, and / or the harmful gas concentration is greater than or equal to the second concentration threshold, it means that it is necessary to perform cleaning operations not only on the ground garbage in the area to be cleaned, but also on the air in the area to be cleaned. According to the geographical location of the area to be cleaned, obstacles, and the movement ability of the cleaning robot, a path planning algorithm (for example, A* algorithm, etc.) is used to plan the optimal global path covering the driving area to be cleaned, and the length of the global path is calculated.

[0145] Furthermore, the second cleaning duration is calculated by the length of the global path and the preset driving speed of the cleaning robot. The second cleaning duration can be calculated by the following calculation formula: T2=L1 / V1, T2 is the second cleaning duration, L1 is the length of the global path, and V1 is the preset driving speed of the cleaning robot.

[0146] For example, the length L1 of the global path is 60 m, and the preset driving speed V1 is 0.5 m / s, then the second cleaning time T2 = L1 / V1 = 60 / 0.5 = 120 seconds, ie 2 minutes.

[0147] S13: Add the first cleaning duration and the second cleaning duration to obtain a target cleaning duration.

[0148] Specifically, the first cleaning time and the second cleaning time are added to obtain the target cleaning time. For example, the first cleaning time T1 is 20 minutes, the second cleaning time T2 is 2 minutes, and the target cleaning time T t The first cleaning time T1 plus the second cleaning time T2, that is, T t =T1+T2=20+2=22 minutes.

[0149] S14: If the solid particle concentration is less than the first concentration threshold, and the harmful gas concentration is less than the second concentration threshold, the first cleaning time is used as the target cleaning time.

[0150] Exemplarily, the solid particle concentration and the harmful gas concentration in the air quality data corresponding to the first cleaning task are compared with the first concentration threshold and the second concentration threshold, respectively. If the solid particle concentration is less than the first concentration threshold, and the harmful gas concentration is less than the second concentration threshold, it means that only the ground garbage in the area to be cleaned needs to be cleaned, and the air in the area to be cleaned does not need to be cleaned. The first cleaning time is taken as the target cleaning time, that is, the target cleaning time T t =T1=20 minutes.

[0151] S15: determining a power consumption corresponding to the target cleaning time based on the target cleaning time, and determining a target power consumption corresponding to the power consumption based on the power consumption.

[0152] In this step, the power consumed by the cleaning robot is proportional to the cleaning time. The power required for cleaning per minute is the power consumption rate (unit: unit power / minute). The power consumption corresponding to the target cleaning time can be calculated by the following calculation formula: Y1 = T t *K1, where Y1 is the power consumption, T t is the target cleaning time, and K1 is the power consumption rate.

[0153] For example, the power required for cleaning per minute is 0.5 units of power / minute (i.e., the power consumption rate K1 is 0.5), and the target cleaning time T t For 22 minutes, the power consumption is Y1 = T t *K1=22*0.5=11 units of electricity.

[0154] It is easy to understand that those skilled in the art can set the power consumption rate based on experimental data, experience data and cleaning robot performance data, and store the power consumption rate in the local storage of the cleaning robot or the local storage of the control device. When needed, the control device can obtain it from the local storage of the cleaning robot or the local storage of the control device.

[0155] In the embodiment of the present invention, considering that the cleaning robot needs to reserve power to return to the charging pile or travel to other locations (for example, designated docking locations) after performing the cleaning task, therefore, after determining the power consumption corresponding to the target cleaning time, the power consumption is added to the preset remaining power to obtain the target power. The preset remaining power represents the amount of power that the cleaning robot needs to consume at least after performing the cleaning task, that is, the target cleaning time. Those skilled in the art can set the preset remaining power according to the performance data of the cleaning robot, the distance between the current position of the cleaning robot and the final docking position, etc.

[0156] S16: Determining that the working state of the cleaning robot is an idle state and the remaining power of the cleaning robot is greater than the target power as a first preset condition.

[0157] In this step, the first preset condition includes at least two aspects: the working state of the cleaning robot is "idle", that is, the cleaning robot is not performing other cleaning tasks, and the remaining power of the cleaning robot is greater than the target power, ensuring that the cleaning robot has sufficient power to perform the cleaning task, and can drive back to the charging station or drive to other locations after performing the cleaning task.

[0158] Specifically, the working state of the cleaning robot is an idle state, and the remaining power of the cleaning robot is greater than the target power as the first preset condition. If the cleaning robot meets the first preset condition, it is determined that the cleaning robot can perform the first cleaning task.

[0159] Exemplarily, in some embodiments, the second preset condition is determined according to the ground garbage data and the air quality data of the first cleaning task, specifically including but not limited to the following steps S11A-S14A:

[0160] S11A: Determine the first cleaning resources required to clean the garbage corresponding to each garbage type and the first consumption quantity of each first cleaning resource according to each garbage type and the garbage quantity corresponding to each garbage type in the ground garbage data corresponding to the first cleaning task.

[0161] In this step, the first cleaning resources required to clean each type of garbage are determined based on the various garbage types in the ground garbage data, and the first consumption quantity of the first cleaning resources required to clean each type of garbage is determined based on the garbage quantity corresponding to each garbage type in the ground garbage data and the number of cleaning units required for each type of garbage.

[0162] For example, the types of garbage include paper scraps, plastics, metals and glass. The numbers of paper scraps, plastics, metals and glass are 2, 5, 4 and 8 respectively. Cleaning paper scraps, plastics, metals and glass requires cleaning liquid. Cleaning each piece of paper scrap, plastic, metal and glass requires 0.5 units, 0.4 units, 0.3 units and 0.5 units of cleaning liquid respectively. For paper scraps, the first cleaning resource required is 2*0.5=1 unit of cleaning liquid. For plastics, the first cleaning resource required is 5*0.4=2 units of cleaning liquid. For metals, the first cleaning resource required is 4*0.3=1.2 units of cleaning liquid. For glass, the first cleaning resource required is 8*0.5=4 units of cleaning liquid. Then the first consumption quantity (total consumption) of the first cleaning resource (i.e., cleaning liquid) is 1+2+1.2+4=8.2 units.

[0163] S12A: For the air quality data corresponding to the first cleaning task, if the solid particle concentration is greater than or equal to the first concentration threshold, the corresponding second cleaning resource and the second consumption quantity of the second cleaning resource are determined based on the solid particle type and the solid particle concentration, and / or, if the harmful gas concentration is greater than or equal to the second concentration threshold, the corresponding third cleaning resource and the third consumption quantity of the third cleaning resource are determined based on the harmful gas type and the harmful gas concentration.

[0164] In this step, technicians in this field can use the first concentration threshold and the second concentration threshold based on experimental data and empirical data to determine whether the concentration of solid particles in the air in the area to be cleaned corresponding to the first cleaning task is greater than or equal to the first concentration threshold, and / or whether the concentration of harmful gases is greater than or equal to the second concentration threshold.

[0165] Exemplarily, the solid particle concentration and harmful gas concentration in the air quality data corresponding to the first cleaning task are compared with the first concentration threshold and the second concentration threshold, respectively. If the solid particle concentration is greater than or equal to the first concentration threshold, and / or the harmful gas concentration is greater than or equal to the second concentration threshold, it means that not only the ground garbage in the area to be cleaned needs to be cleaned, but also additional cleaning resources need to be used to clean the air in the area to be cleaned. Then, the required second cleaning resources are determined according to the type of solid particles, and the second consumption quantity of the required second cleaning resources is determined according to the solid particle concentration. The required third cleaning resources are determined according to the type of harmful gas, and the third consumption quantity of the required third cleaning resources is determined according to the concentration of the harmful gas.

[0166] S13A: The usage status of the first cleaning component corresponding to each garbage type, the second cleaning component corresponding to the solid particle type and / or the third cleaning component corresponding to the harmful gas type is an available status, the remaining quantity of each first cleaning resource is greater than the first consumption quantity of each first cleaning resource, the remaining quantity of the second cleaning resource is greater than the second consumption quantity, and / or the remaining quantity of the third cleaning resource is greater than the third consumption quantity is determined as the second preset condition.

[0167] In this step, the second preset condition involves checking the status of various cleaning components used by the cleaning robot and whether the remaining quantity of various cleaning resources required to be used meets the cleaning requirements. The first cleaning component is a cleaning component required to clean each type of garbage, the second cleaning component is a cleaning component required to clean solid particles corresponding to the solid particle type, and the third cleaning component is a cleaning component required to clean harmful gases corresponding to the harmful gas type.

[0168] Specifically, the use status of the first cleaning components corresponding to each garbage type, the second cleaning components corresponding to the solid particle type, and / or the third cleaning components corresponding to the harmful gas type is in an available state, and the remaining quantity of each type of first cleaning resource is greater than the first consumption quantity of each type of first cleaning resource, the remaining quantity of the second cleaning resource is greater than the second consumption quantity, and / or the remaining quantity of the third cleaning resource is greater than the third consumption quantity is determined as the second preset condition. If the cleaning robot meets the second preset condition, it is determined that the cleaning robot can perform the first cleaning task.

[0169] S14A: If the solid particle concentration is less than the first concentration threshold and the harmful gas concentration is less than the second concentration threshold, the usage status of the first cleaning component corresponding to each garbage type is an available state and the remaining quantity of each first cleaning resource is greater than the first consumption quantity of each first cleaning resource, which is determined as the second preset condition.

[0170] Exemplarily, the solid particle concentration and harmful gas concentration in the air quality data corresponding to the first cleaning task are compared with the first concentration threshold and the second concentration threshold, respectively. If the solid particle concentration is less than the first concentration threshold, and the harmful gas concentration is less than the second concentration threshold, it means that only the ground garbage in the area to be cleaned needs to be cleaned, and no additional cleaning resources are needed to clean the air in the area to be cleaned. Then, the use status of the first cleaning components corresponding to each garbage type is an available state, and the remaining quantity of each type of first cleaning resource is greater than the first consumption quantity of each type of first cleaning resource, which is determined as the second preset condition. When the cleaning robot meets the second preset condition, it is determined that the cleaning robot can perform the first cleaning task.

[0171] S2: If the status data of the first cleaning robot meets the first preset condition and the cleaning data of the first cleaning robot meets the second preset condition, the first cleaning robot is determined as the target cleaning robot matching the first cleaning task, and the first cleaning robot is any one of the multiple cleaning robots.

[0172] In this step, the first cleaning robot is any one of the multiple cleaning robots.

[0173] Specifically, the state data of the first cleaning robot is compared with the first preset condition to determine whether its remaining power, working status, etc. meet the first preset condition, and the cleaning data of the first cleaning robot is compared with the second preset condition to determine whether its cleaning resource types, the remaining amount of each type of cleaning resources, and the state of the cleaning components meet the second preset condition. If the state data of the first cleaning robot meets the first preset condition and the cleaning data of the first cleaning robot meets the second preset condition, it means that the first cleaning robot can perform the first cleaning task, and the first cleaning task can be assigned to the first cleaning robot, and the first cleaning robot is determined to be the target cleaning robot that matches the first cleaning task.

[0174] S3: Repeat the above steps S1 to S2 until a target cleaning robot matching each cleaning task is determined.

[0175] Specifically, for the remaining cleaning tasks, repeat the above steps S1 and S2, that is, determine the first preset condition and the second preset condition according to the ground garbage data and air quality data of each cleaning task, and compare to determine whether the status data of the first cleaning robot meets the first preset condition and whether the cleaning data of the first cleaning robot meets the second preset condition; if the status data of the first cleaning robot meets the first preset condition and the cleaning data of the first cleaning robot meets the second preset condition, then determine that the first cleaning robot is the target cleaning robot that matches the first cleaning task, until the target cleaning robots that match each cleaning task are determined, and each target cleaning robot corresponds to one or more cleaning tasks.

[0176] S400: Allocate each cleaning task to a corresponding target cleaning robot, and control each target cleaning robot to perform cleaning operations on the to-be-cleaned area corresponding to each cleaning task.

[0177] In this step, after the target cleaning robots matching each cleaning task are determined, each cleaning task is assigned to the corresponding target cleaning robot. Each target cleaning robot is responsible for one or more cleaning tasks, and each target cleaning robot performs cleaning operations on one or more areas to be cleaned.

[0178] Specifically, each target cleaning robot plans the best cleaning path based on the map or actual environment of the area to be cleaned. The target cleaning robot uses technologies such as laser radar, visual sensors, and SLAM (simultaneous localization and mapping) to generate an electronic map corresponding to the cleaning area, and performs path planning to avoid obstacles, pedestrians or other objects to obtain a cleaning path.

[0179] Before starting cleaning, control each target cleaning robot to enable cleaning components (such as vacuum cleaners, brush heads, and water tanks, etc.) to ensure that the cleaning components are in normal condition. If some cleaning components fail, are abnormal, or have insufficient cleaning resources, the cleaning robot should be rescheduled and replaced. In some embodiments, due to the differences in cleaning tasks, the target cleaning robot needs to adjust the cleaning mode. For example, for cleaning tasks over a large area, the target cleaning robot needs to vacuum efficiently for a longer period of time. For cleaning tasks that require wiping or spraying, the target cleaning robot needs to use clean water or detergent.

[0180] After confirming that the cleaning path and cleaning components are correct and that there are sufficient cleaning resources, the target cleaning robot is controlled to walk along the cleaning path and the corresponding cleaning components are activated to perform cleaning operations on the area to be cleaned. The control device monitors the status of each target cleaning robot and the progress of the cleaning task in real time. If a target cleaning robot fails or has insufficient resources (for example, low battery or running out of cleaning agent), the target cleaning robot needs to be rescheduled to ensure that the cleaning task can continue to be completed.

[0181] For example, see Figure 4 , cleaning task C1 corresponds to area A to be cleaned (kitchen area), cleaning task C2 corresponds to area B to be cleaned (bedroom area), cleaning task C3 corresponds to area C to be cleaned (living room area), cleaning task C4 corresponds to area D to be cleaned (study area), the target cleaning robot matching cleaning task C1 is cleaning robot R1, the target cleaning robot matching cleaning task C2 is cleaning robot R2, the target cleaning robot matching cleaning task C3 is cleaning robot R3, and the target cleaning robot matching cleaning task C4 is cleaning robot R4. Cleaning task C1, cleaning task C2, cleaning task C3 and cleaning task C4 are assigned to cleaning robots R1, cleaning robot R2, cleaning robot R3 and cleaning robot R4 respectively, and cleaning robots R1, cleaning robot R2, cleaning robot R3 and cleaning robot R4 are controlled to perform cleaning operations on area A to be cleaned, area B to be cleaned, area C to be cleaned and area D to be cleaned respectively.

[0182] In some embodiments, each target cleaning robot is controlled to perform cleaning operations on the to-be-cleaned area corresponding to each cleaning task, including but not limited to the following steps S410-S420:

[0183] S410: Control the multi-task target cleaning robot to perform cleaning operations on the to-be-cleaned areas corresponding to the respective cleaning tasks in sequence according to the priority identifiers of the respective cleaning tasks that the robot is responsible for executing.

[0184] S420: Control the single-task target cleaning robot to perform a cleaning operation on the to-be-cleaned area corresponding to the cleaning task that the robot is responsible for performing.

[0185] In this step, the multi-task target cleaning robot is a cleaning robot responsible for performing multiple cleaning tasks, and the single-task target cleaning robot is a cleaning robot responsible for performing a single cleaning task.

[0186] Specifically, the control device sends control instructions to the multi-task target cleaning robot to control the multi-task target cleaning robot to perform the multiple cleaning tasks it is responsible for, that is, obtains the multiple cleaning tasks it is responsible for, and sorts the multiple cleaning tasks according to the priority identifiers of each cleaning task to obtain a task sorting sequence, and performs cleaning operations on the areas to be cleaned corresponding to each cleaning task in sequence according to the task sorting sequence.

[0187] Specifically, the control device sends a control instruction to the single-task target cleaning robot to control the single-task target cleaning robot to perform a cleaning task it is responsible for, that is, to obtain a cleaning task it is responsible for and perform a cleaning operation on the area to be cleaned corresponding to the cleaning task.

[0188] In some embodiments, the multi-cleaning robot collaborative cleaning method further includes but is not limited to the following steps S500:

[0189] S500: During the cleaning process, if a pedestrian is detected entering the area to be cleaned, the cleaned area is displayed to the pedestrian to guide the pedestrian to walk through the cleaned area.

[0190] In this step, while each target cleaning robot is performing cleaning operations on each area to be cleaned, the sensors (such as lidar, camera or infrared sensor, etc.) equipped on the target cleaning robot are used to detect whether pedestrians have stepped into the area to be cleaned. If a pedestrian is detected to have stepped into the area to be cleaned, the cleaned area is displayed to the pedestrian through the interactive interface or projection device of the target cleaning robot. That is, the target cleaning robot is controlled to display the cleaned area to the pedestrian, thereby guiding the pedestrian to walk through the cleaned area.

[0191] In some embodiments, the interactive interface may be a touch screen, a display screen or a touch screen, etc. The control device may control the target cleaning robot to display the cleaned area to pedestrians in any suitable form such as graphics, patterns or icons. The projection device may project a guide line, wherein the guide line is located in the cleaned area and is used to guide pedestrians to walk through the cleaned area.

[0192] To summarize, the multi-cleaning robot collaborative cleaning method provided in an embodiment of the present invention includes: obtaining at least two cleaning tasks, each cleaning task corresponds to an area to be cleaned, obtaining status data and cleaning data of each cleaning robot, the status data including working status and remaining power, the cleaning data including cleaning component status, cleaning resource type and remaining quantity of each type of cleaning resource, determining a target cleaning robot matching each cleaning task based on the status data and cleaning data of each cleaning robot, each target cleaning robot corresponding to one or more cleaning tasks, assigning each cleaning task to a corresponding target cleaning robot, and controlling each target cleaning robot to perform cleaning operations on the area to be cleaned corresponding to each cleaning task.

[0193] The embodiment of the present invention assigns multiple cleaning tasks to corresponding cleaning robots according to the status data and cleaning data of each cleaning robot, so that each cleaning robot cleans the corresponding cleaning area, thereby performing targeted cleaning on different areas to be cleaned, improving cleaning efficiency and cleaning effect, and increasing cleaning coverage.

[0194] An embodiment of the present invention provides a computer-readable storage medium, on which computer program instructions executable by a processor are stored. When the computer program instructions are executed by the processor, the computer executes any one of the multi-cleaning robot collaborative cleaning methods provided by the embodiments of the present invention, or executes the steps in any one of the implementations of any one of the multi-cleaning robot collaborative cleaning methods provided by the embodiments of the present invention.

[0195] Those skilled in the art will appreciate that the embodiments provided by the present invention are only illustrative, and the order of writing the steps in the method of the embodiment does not mean a strict execution order and does not constitute any limitation on the implementation process. The order can be adjusted, merged and deleted according to actual needs, and the modules or sub-modules, units or sub-units in the device or system of the embodiment can be merged, divided and deleted according to actual needs. For example, the division of units is only a logical function division, and there can be other division methods in actual implementation. For another example, multiple units or components can be combined or integrated into another device, or some features can be ignored or not executed.

[0196] Through the description of the above embodiments, those skilled in the art can clearly understand that each embodiment can be implemented by means of software plus a general hardware platform, and of course can also be implemented by hardware. Those skilled in the art can understand that all or part of the processes in the above embodiment methods 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. When the computer program is executed, it can include the processes of the embodiments of the above methods. The storage medium can be a disk, an optical disk, a read-only memory (ROM) or a random access memory (RAM), etc.

[0197] It should be noted that the above embodiments are intended to illustrate the technical concept and features of the present invention, and their purpose is to enable people familiar with this technology to understand the content of the present invention and implement it accordingly, and cannot be used to limit the scope of protection of the present invention. Ordinary technicians in this field can understand that all or part of the processes of the above embodiments can be implemented according to the technical solutions recorded in the embodiments of the present invention, or some of the technical features can be equivalently replaced. It can be understood that these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the scope of the technical solutions of the embodiments of the present invention, and should be regarded as equal changes and modifications based on the embodiments of the present invention, and should all fall within the scope of the claims of the present invention.

Claims

1. A collaborative cleaning method using multiple cleaning robots, characterized in that: include: Acquire at least two cleaning tasks, each of which corresponds to an area to be cleaned; Acquire status data and cleaning data of each of the cleaning robots, wherein the status data includes working status and remaining power, and the cleaning data includes cleaning component status, cleaning resource types, and remaining quantities of various cleaning resources; Determining a target cleaning robot matching each of the cleaning tasks according to the status data and cleaning data of each of the cleaning robots, each of the target cleaning robots corresponding to one or more of the cleaning tasks; Each of the cleaning tasks is assigned to the corresponding target cleaning robot, and each of the target cleaning robots is controlled to perform cleaning operations on the to-be-cleaned area corresponding to each of the cleaning tasks.

2. The method according to claim 1, characterized in that The obtaining of at least two cleaning tasks comprises: Divide the entire cleaning area into at least two areas to be cleaned, obtain ground garbage data of the at least two areas to be cleaned, and / or obtain air quality data of the at least two areas to be cleaned, wherein the ground garbage data includes the amount and type of garbage, and the air quality data includes the type of solid particles, the concentration of solid particles, the type of harmful gases, and the concentration of harmful gases; Acquire the type of each of the areas to be cleaned, and determine the usage frequency level of each of the areas to be cleaned based on the type of each of the areas to be cleaned; Generating cleaning tasks corresponding to each of the areas to be cleaned according to the ground garbage data and / or the air quality data of each of the areas to be cleaned, so as to obtain at least two cleaning tasks; The priority of the cleaning task corresponding to each of the areas to be cleaned is determined according to the frequency of use of each of the areas to be cleaned, and a priority identifier corresponding to the priority of each of the cleaning tasks is attached to each of the cleaning tasks, wherein the priority identifier is used to characterize the urgency of the cleaning task.

3. The method according to claim 2, characterized in that The cleaning robot includes a garbage monitoring sensor, and the acquiring of ground garbage data of the at least two areas to be cleaned includes: Controlling the cleaning robot to travel on the ground of each of the areas to be cleaned, so as to collect and obtain ground point cloud data of at least two areas to be cleaned by using the garbage monitoring sensor; Based on the ground point cloud data of each area to be cleaned, ground garbage data of each area to be cleaned is extracted.

4. The method according to claim 2, characterized in that: The cleaning robot includes an air monitoring sensor, and the obtaining of air quality data of the at least two areas to be cleaned includes: The cleaning robot is controlled to travel on the ground of each of the areas to be cleaned, so as to collect and obtain air quality data of at least two areas to be cleaned by using the air monitoring sensor.

5. The method according to any one of claims 2 to 4, characterized in that: Determining a target cleaning robot matching each cleaning task according to the status data and cleaning data of each cleaning robot comprises: S1: Determine a first preset condition and a second preset condition according to ground garbage data and air quality data of a first cleaning task, wherein the first cleaning task is any one of the at least two cleaning tasks, the first preset condition is a condition on the state data of the cleaning robot, and the second preset condition is a condition on the cleaning data of the cleaning robot; S2: if the state data of the first cleaning robot meets the first preset condition and the cleaning data of the first cleaning robot meets the second preset condition, determining the first cleaning robot as a target cleaning robot matching the first cleaning task, the first cleaning robot being any one of the multiple cleaning robots; S3: Repeat the above steps S1 to S2 until a target cleaning robot matching each of the cleaning tasks is determined.

6. The method according to claim 5, characterized in that The determining of the first preset condition according to the ground garbage data and the air quality data of the first cleaning task includes: Determining a first cleaning duration according to the amount of garbage in the ground garbage data corresponding to the first cleaning task; For the air quality data corresponding to the first cleaning task, if the solid particle concentration is greater than or equal to a first concentration threshold, and / or if the harmful gas concentration is greater than or equal to a second concentration threshold, a global path covering the area to be cleaned is planned, and a second cleaning time is determined based on the length of the global path and a preset driving speed of the cleaning robot; Adding the first cleaning time and the second cleaning time to obtain a target cleaning time; or, If the solid particle concentration is less than the first concentration threshold, and the harmful gas concentration is less than the second concentration threshold, the first cleaning time is used as the target cleaning time; Determining a power consumption corresponding to the target cleaning duration based on the target cleaning duration, and determining a target power consumption corresponding to the power consumption based on the power consumption; It is determined as a first preset condition that the working state of the cleaning robot is an idle state and the remaining power of the cleaning robot is greater than the target power.

7. The method according to claim 5, characterized in that The determining of the second preset condition according to the ground garbage data and the air quality data of the first cleaning task includes: Determine, according to each garbage type and the garbage quantity corresponding to each garbage type in the ground garbage data corresponding to the first cleaning task, the first cleaning resource required to clean the garbage corresponding to each garbage type and the first consumption quantity of each first cleaning resource; For the air quality data corresponding to the first cleaning task, if the solid particle concentration is greater than or equal to a first concentration threshold, determining a corresponding second cleaning resource and a second consumption quantity of the second cleaning resource based on the solid particle type and the solid particle concentration, and / or, if the harmful gas concentration is greater than or equal to a second concentration threshold, determining a corresponding third cleaning resource and a third consumption quantity of the third cleaning resource based on the harmful gas type and the harmful gas concentration; Determining as a second preset condition that the use status of the first cleaning component corresponding to each of the garbage types, the second cleaning component corresponding to the solid particle type, and / or the third cleaning component corresponding to the harmful gas type is an available state, the remaining quantity of each of the first cleaning resources is greater than the first consumption quantity of each of the first cleaning resources, the remaining quantity of the second cleaning resource is greater than the second consumption quantity, and / or the remaining quantity of the third cleaning resource is greater than the third consumption quantity; or, If the solid particle concentration is less than the first concentration threshold and the harmful gas concentration is less than the second concentration threshold, the usage status of the first cleaning component corresponding to each of the garbage types is an available status and the remaining quantity of each of the first cleaning resources is greater than the first consumption quantity of each of the first cleaning resources, which is determined as a second preset condition.

8. The method according to claim 5, characterized in that The controlling each of the target cleaning robots to perform cleaning operations on the to-be-cleaned areas corresponding to each of the cleaning tasks comprises: Controlling the multi-task target cleaning robot to perform cleaning operations on the to-be-cleaned areas corresponding to the respective cleaning tasks in sequence according to the priority identifiers of the respective cleaning tasks that the multi-task target cleaning robot is a cleaning robot that is responsible for performing multiple cleaning tasks; The single-task target cleaning robot is controlled to perform a cleaning operation on the to-be-cleaned area corresponding to the cleaning task that it is responsible for performing, wherein the single-task target cleaning robot is a cleaning robot responsible for performing a single cleaning task.

9. The method according to claim 1, characterized in that: The method further comprises: During the cleaning process, if a pedestrian is detected stepping into the area to be cleaned, the cleaned area is displayed to the pedestrian to guide the pedestrian to walk through the cleaned area.

10. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores computer program instructions executable by a processor, and when the computer program instructions are executed by the processor, the computer executes the multi-cleaning robot collaborative cleaning method as described in any one of claims 1-9.

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