CN110716545A - Method and system for cooperative operation of multiple cleaning devices - Google Patents
Method and system for cooperative operation of multiple cleaning devices Download PDFInfo
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- CN110716545A CN110716545A CN201910993211.2A CN201910993211A CN110716545A CN 110716545 A CN110716545 A CN 110716545A CN 201910993211 A CN201910993211 A CN 201910993211A CN 110716545 A CN110716545 A CN 110716545A
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- 238000004140 cleaning Methods 0.000 title claims abstract description 371
- 238000000034 method Methods 0.000 title claims abstract description 60
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- 102220623373 Rhodopsin kinase GRK1_S21E_mutation Human genes 0.000 claims description 3
- 102220470058 Ribonucleoside-diphosphate reductase subunit M2_S20E_mutation Human genes 0.000 claims description 3
- 102220521910 THAP domain-containing protein 1_S21C_mutation Human genes 0.000 claims description 3
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- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0223—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving speed control of the vehicle
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
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Abstract
The invention relates to a method and a system for cooperative operation of a plurality of cleaning devices, which comprises the following steps: S1A, acquiring the number of cleaning devices and the total to-be-cleaned area to be operated, and distributing tasks to the cleaning devices to acquire a first sub-to-be-cleaned area corresponding to the operation task of the cleaning devices based on the total to-be-cleaned area and the number of the cleaning devices; S2A, monitoring the current working state of the cleaning equipment to determine whether the first preset condition is met, acquiring a first remaining area to be cleaned corresponding to the first cleaning equipment when the current working state of the first cleaning equipment does not meet the first preset condition, acquiring a segmented cleaning area from the first remaining area to be cleaned, and adding the segmented cleaning area to a work task of second cleaning equipment meeting the first preset condition. The invention can improve the cleaning efficiency of large-area sites.
Description
Technical Field
The invention relates to the technical field of cleaning equipment cooperative work, in particular to a method and a system for cooperative operation of multiple cleaning equipment.
Background
With the development of intelligent equipment, the field of use of the intelligent equipment is more and more extensive. Especially, in more cleaning occasions, the workload is huge, and more cleaning occasions are willing to be carried out by means of intelligent cleaning equipment. Many times, cleaning is usually accomplished by a plurality of cleaning devices for a large area. In the prior art, the respective working ranges of each cleaning device are generally set in advance, and each cleaning device respectively completes the respective cleaning task. The cleaning devices are not interfered with each other, and the whole cleaning work can be considered to be finished and finished only after all the cleaning devices finish the set cleaning work. At this time, some emergency situations cannot be automatically avoided, for example, the working schedule of a certain cleaning device may be delayed due to an abnormality, and the final cleaning working schedule of the whole cleaning area may be affected.
Disclosure of Invention
The present invention provides a method and a system for cooperating multiple cleaning devices, which are used to solve the above-mentioned technical problems in the prior art.
The technical scheme adopted by the invention for solving the technical problems is as follows: a method for constructing the cooperative operation of a plurality of cleaning devices is applied to the plurality of cleaning devices which are in communication connection, and comprises the following steps:
S1A, acquiring the number of cleaning devices and the total to-be-cleaned area to be operated, and distributing tasks to the cleaning devices to acquire a first sub-to-be-cleaned area corresponding to the operation task of the cleaning devices based on the total to-be-cleaned area and the number of the cleaning devices;
S2A, monitoring the current working state of the cleaning equipment to determine whether a first preset condition is met, acquiring a first remaining area to be cleaned corresponding to the first cleaning equipment when the current working state of the first cleaning equipment does not meet the first preset condition, acquiring a divided cleaning area from the first remaining area to be cleaned, and adding the divided cleaning area to a work task of second cleaning equipment meeting the first preset condition.
Preferably, the method further comprises:
S21A, acquiring position information of the second cleaning device, and confirming the distance between the second cleaning device and the first remaining cleaning area;
S22A, confirming a third cleaning device with the distance meeting a second preset condition, so as to obtain the divided cleaning region from the first remaining cleaning region close to the third cleaning device;
S23A, adding the divided cleaning region to the task of the third cleaning apparatus.
Preferably, the second preset condition includes:
the preset sequence of the sequences of the first distances from small to large; or
The first distance is a preset value.
Preferably, the method further comprises:
S21B, monitoring the number of the cleaning devices, and when the number is increased, acquiring a current second remaining area to be cleaned, and recalculating the working task corresponding to each cleaning device according to the updated number;
S22B, acquiring position information of a newly added cleaning device and setting a second sub-cleaning-area corresponding to the work task of the newly added cleaning device at a position close to the newly added cleaning device;
S23B, sequentially adjusting a first sub-cleaning-area of the original cleaning device along the direction far away from the newly added cleaning device to obtain a second sub-cleaning-area corresponding to the operation task; and/or
S21C, monitoring the number of the cleaning devices, acquiring a current third remaining area to be cleaned when the number is reduced, and recalculating the operation task corresponding to each cleaning device according to the updated number;
S22C, acquiring position information of a cleaning device to be reduced and a fourth remaining area to be cleaned corresponding to the cleaning device to be reduced, acquiring a fourth cleaning device close to the cleaning device to be reduced, and adding the fourth remaining area to be cleaned to the fourth cleaning device to acquire a third sub area to be cleaned corresponding to the work task;
and S23C, sequentially adjusting the first sub-cleaning-area of the rest original cleaning equipment along the direction close to the reduced cleaning equipment to obtain the third sub-cleaning-area corresponding to the work task.
Preferably, the method further comprises:
S20C, monitoring the current working state of the cleaning equipment, and when the current working state of the cleaning equipment meets a third preset condition, quitting the current operation of the cleaning equipment.
The invention also discloses a method for the cooperative operation of a plurality of cleaning devices, which is applied to the cleaning devices and comprises the following steps:
S1B, acquiring a corresponding first sub-area to be cleaned;
S2B, monitoring the current working state of the cleaning equipment to determine whether a first preset condition is met, and when the current working state of the cleaning equipment does not meet the first preset condition, acquiring a first remaining area to be cleaned corresponding to the cleaning equipment and sending the first remaining area to be cleaned to other cleaning equipment so that the other cleaning equipment acquires a divided cleaning area from the first remaining area to be cleaned and adds the divided cleaning area to an operation task of the other cleaning equipment.
Preferably, the method further comprises:
S21D, acquiring the number of cleaning devices establishing communication with the cleaning devices, acquiring a current second remaining area to be cleaned when the number is increased, and recalculating the corresponding job task according to the updated number;
and S22D, acquiring the position information reported by the newly added cleaning equipment, and adjusting the first sub-cleaning area of the cleaning equipment along the direction away from the newly added cleaning equipment to acquire the second sub-cleaning area corresponding to the operation task.
Preferably, the method further comprises
S21E, acquiring the number of cleaning devices establishing communication with the cleaning devices, acquiring a current third remaining area to be cleaned when the number is reduced, and recalculating corresponding job tasks according to the updated number;
and S22E, acquiring the position information reported by the cleaning reduction equipment, and adjusting the first sub-cleaning area of the cleaning equipment along the direction close to the cleaning reduction equipment to acquire a third sub-cleaning area corresponding to the operation task.
Preferably, the method further comprises:
S20E, monitoring the current working state of the cleaning equipment, exiting the current operation when the current working state of the cleaning equipment meets a second preset condition, and interrupting the communication with other cleaning equipment.
The invention also provides a multi-cleaning-device cooperative operation system, which comprises a plurality of cleaning devices which are mutually communicated and connected, and the multi-cleaning-device cooperative operation method is adopted for operation.
Preferably, the cleaning device comprises a plurality of cleaning devices, and the cleaning devices are connected with the cleaning device through a communication system.
The implementation of the method and the system for the cooperative operation of the plurality of cleaning devices has the following beneficial effects: the cleaning efficiency of a large area site can be improved.
Drawings
The invention will be further described with reference to the accompanying drawings and examples, in which:
FIG. 1 is a flowchart illustrating a method for coordinating a plurality of cleaning devices according to an embodiment of the present invention;
FIG. 2 is a flowchart illustrating the process of a method for cooperating a plurality of cleaning devices according to another embodiment of the present invention;
FIG. 3 is a flowchart illustrating the process of a method for cooperating a plurality of cleaning devices according to another embodiment of the present invention;
FIG. 4 is a flowchart illustrating the process of a method for cooperating a plurality of cleaning devices according to another embodiment of the present invention;
FIG. 5 is a flowchart illustrating the process of a method for cooperating a plurality of cleaning devices according to another embodiment of the present invention;
FIG. 6 is a flowchart illustrating the process of a method for cooperating a plurality of cleaning devices according to another embodiment of the present invention;
FIG. 7 is a flowchart illustrating a method for cooperating a plurality of cleaning devices according to another embodiment of the present invention.
Detailed Description
For a more clear understanding of the technical features, objects and effects of the present invention, embodiments of the present invention will now be described in detail with reference to the accompanying drawings.
As shown in fig. 1, in a first embodiment of a method for cooperative operation of a plurality of cleaning apparatuses according to the present invention, a method applied to a plurality of cleaning apparatuses connected in communication includes: S1A, acquiring the number of cleaning devices and the total to-be-cleaned area to be operated, and distributing tasks to the cleaning devices to acquire a first sub-to-be-cleaned area corresponding to the operation task of the cleaning devices based on the total to-be-cleaned area and the number of the cleaning devices; S2A, monitoring the current working state of the cleaning equipment to determine whether a first preset condition is met, acquiring a residual area to be cleaned corresponding to the first cleaning equipment when the current working state of the first cleaning equipment does not meet the first preset condition, acquiring a segmented cleaning area from the residual area to be cleaned, and adding the segmented cleaning area to a work task of second cleaning equipment meeting the preset condition. Specifically, before a plurality of cleaning devices are thrown into a region to be cleaned, communication connection is established, the cleaning task amount thrown into the region to be cleaned, such as the area of the region to be cleaned, then task allocation is performed on each cleaning device based on the total region to be cleaned and the number of the cleaning devices, so that each cleaning device obtains a corresponding operation task, a first sub-region to be cleaned specifically corresponding to the operation task is obtained, in the working process of the plurality of cleaning devices, the current working state of each cleaning device is monitored, whether the working state meets a first preset condition or not is judged, when the current working state of the cleaning device, namely the first cleaning device, does not meet the first preset condition, the remaining region to be cleaned corresponding to the cleaning device is obtained, the remaining region to be cleaned is re-divided, and a divided cleaning region is obtained, the divided cleaning region is added to a job task of a second cleaning apparatus which is a cleaning apparatus satisfying a preset condition. It can be understood that the number of the first cleaning devices may be one or multiple, and here, the remaining cleaning region to be cleaned corresponding to the first cleaning device is divided into multiple regions, and the divided cleaning regions may be divided into multiple regions, and respectively added to the task of the different second cleaning devices. The task division and allocation process for the first cleaning device may be implemented by a user terminal or a server that establishes a communication connection with the first cleaning device, or by any one or more of the first cleaning devices. For example, any of the first cleaning apparatuses may be selected as a master apparatus to perform a task division or assignment process, and the master apparatus may be communicatively transmitted to other first cleaning apparatuses that are communicatively connected to the master apparatus. The first cleaning devices can divide and distribute tasks based on the same information, and accordingly the first cleaning devices can acquire the tasks. The first preset condition may be set as required, for example, the first preset condition may be set as a preset working speed, and when the working speed does not meet the preset working speed, for example, the working speed is slow, that is, the first preset condition is not met.
Optionally, as shown in fig. 2, the method for cooperating multiple cleaning devices of the present invention further includes: S21A, acquiring position information of the second cleaning device, and confirming the distance between the second cleaning device and the residual cleaning area; S22A, confirming a third cleaning device with the distance meeting a second preset condition, so as to obtain the divided cleaning region from the first remaining cleaning region close to the third cleaning device; S23A, adding the divided cleaning region to the task of the third cleaning apparatus. Specifically, when the first remaining area to be cleaned of the first cleaning device is redistributed, the position information of the second cleaning device which normally works and meets the preset condition is obtained, the distance between the second cleaning device and the first remaining area to be cleaned of the first cleaning device is confirmed, the third cleaning device which meets the second preset condition and meets the distance requirement is confirmed from the second cleaning device, the third cleaning device obtains the divided cleaning area from the first remaining area to be cleaned close to the third cleaning device, and the divided cleaning area is added to the action task of the third cleaning device and is executed by the third cleaning device. It can be understood that for the remaining tasks of the abnormal first cleaning device, a third cleaning device with a distance meeting the requirement is selected from the second cleaning devices which normally work to share the remaining tasks, wherein the number of the third cleaning devices may be multiple, and the corresponding divided cleaning regions can be obtained from the remaining cleaning regions to be cleaned close to the third cleaning device according to the distance.
Optionally, the second preset condition includes: the preset sequence of the sequences of the first distances from small to large; or the first distance is a preset value. Specifically, the first distance meeting the preset condition may be understood as selecting a plurality of third cleaning devices, which are sequentially arranged from small to large from the remaining region to be cleaned, and the third cleaning devices may be configured to share the remaining region to be cleaned by setting one or more cleaning devices, which are within a certain distance range from the remaining region to be cleaned.
Optionally, as shown in fig. 3, the method for cooperating multiple cleaning devices of the present invention further includes: S21B, monitoring the number of the cleaning devices, and when the number is increased, acquiring a current second remaining area to be cleaned, and recalculating the corresponding work task of each corresponding cleaning device according to the updated number; S22B, acquiring position information of a newly added cleaning device and setting a second sub-cleaning-area corresponding to the work task of the newly added cleaning device at a position close to the newly added cleaning device; S23B, sequentially adjusting the first sub-cleaning-area to be cleaned of the original cleaning equipment along the direction far away from the newly added cleaning equipment to obtain a second sub-cleaning-area corresponding to the operation task; specifically, in order to increase the task speed, the number of cleaning devices may be increased, and it may be determined whether a newly added device is added to the communication. And recalculating the operation task of correspondingly acquiring the cleaning equipment for the second residual cleaning area according to the updated quantity, wherein the operation task which is supposed to be undertaken by each cleaning equipment after the quantity is updated can be understood as preliminarily confirming, acquiring the position of the newly-added cleaning equipment, setting a second sub cleaning area corresponding to the newly-added equipment at the position close to the newly-added equipment, and sequentially adjusting the sub-band cleaning area of the original cleaning equipment along the direction far away from the newly-added cleaning equipment for the original cleaning equipment to acquire the corresponding second sub cleaning area.
Optionally, as shown in fig. 4, the method for cooperating multiple cleaning devices of the present invention further includes: S21C, monitoring the number of the cleaning devices, acquiring a current third remaining area to be cleaned when the number is reduced, and recalculating the operation task corresponding to each cleaning device according to the updated number; S22C, obtaining the position information of the cleaning device reduction and a fourth remaining area to be cleaned corresponding to the cleaning device reduction, obtaining a fourth cleaning device close to the cleaning device reduction, and adding the fourth remaining area to be cleaned to the fourth cleaning device to obtain a third sub area to be cleaned corresponding to the job task; and S23C, sequentially adjusting the first sub-cleaning-area of the rest original cleaning equipment along the direction close to the reduced cleaning equipment to obtain the third sub-cleaning-area corresponding to the work task. Specifically, sometimes, when some cleaning devices are out of order, the cleaning task needs to be withdrawn, and here, it can be determined whether any device exits from communication, and when some device exits from communication, it can be understood that some device exits from working, and at this time, the remaining region to be cleaned, that is, the third remaining region to be cleaned, is acquired. And recalculating the corresponding operation tasks for the third remaining cleaning-required area according to the updated number, wherein the operation tasks which are supposed to be undertaken by each cleaning device after the number is updated are preliminarily confirmed, acquiring the position of the withdrawn cleaning device, namely the reduced cleaning device, acquiring a fourth cleaning device close to the reduced cleaning device, acquiring the remaining cleaning-required area, namely a fourth remaining cleaning-required area, corresponding to the reduced cleaning device, adding the fourth remaining cleaning-required area to a third sub cleaning-required area corresponding to the fourth cleaning device, simultaneously sequentially adjusting the first sub cleaning-required area of the remaining original cleaning device in the direction close to the reduced cleaning device, and acquiring the third sub cleaning-required area corresponding to each cleaning device operation task.
Optionally, the method for the cooperative operation of the plurality of cleaning devices further includes: S20C, monitoring the current working state of the cleaning equipment, and when the current working state of the cleaning equipment meets a third preset condition, quitting the current operation of the cleaning equipment. Specifically, in the working process, the working state of the cleaning equipment is monitored, and when the cleaning equipment is abnormally influenced in progress or is seriously damaged, the cleaning equipment can be quitted from the current work. The remaining processes can then be task adjusted with reference to the above processes.
As shown in fig. 5, the method for cooperating a plurality of cleaning devices according to the present invention is applied to a cleaning device, and includes: S1B, acquiring a corresponding first sub-area to be cleaned; S2B, monitoring the current working state of the cleaning equipment to determine whether a first preset condition is met, and when the current working state of the cleaning equipment does not meet the first preset condition, acquiring a first remaining area to be cleaned corresponding to the cleaning equipment and sending the first remaining area to be cleaned to other cleaning equipment so that the other cleaning equipment acquires a divided cleaning area from the first remaining area to be cleaned and adds the divided cleaning area to an operation task of the other cleaning equipment. Specifically, for a single cleaning device, after acquiring the corresponding sub-cleaning region to be cleaned, monitoring the working state of the cleaning device, and determining the working state of the cleaning device, when the working state of the cleaning device is abnormal, that is, the working state of the cleaning device does not satisfy the first preset condition, the remaining cleaning region of the cleaning device can be acquired, and the remaining cleaning region of the cleaning device can be sent to other cleaning devices, so that other cleaning devices can acquire part of tasks from the remaining cleaning region to be cleaned, that is, divide the cleaning region and add the divided cleaning region to their own action tasks, and it can be understood here that when dividing the remaining cleaning region, the division can be completed, and also a part of tasks can be still retained and completed by the original cleaning device.
Optionally, as shown in fig. 6, the method for cooperating multiple cleaning devices of the present invention further includes: S21D, acquiring the number of cleaning devices establishing communication with the cleaning devices, acquiring a current second remaining area to be cleaned when the number is increased, and recalculating the corresponding job task according to the updated number; and S22D, acquiring the position information reported by the newly added cleaning equipment, and adjusting the first sub-cleaning-area of the cleaning equipment along the direction away from the newly added cleaning equipment to acquire the second sub-cleaning-area corresponding to the operation task. Specifically, a single cleaning device monitors the number of cleaning devices currently establishing communication, and when the number of cleaning devices communicating with the single cleaning device increases, it can be understood that a cleaning device is newly added, and at this time, the remaining area to be cleaned, that is, the second remaining area to be cleaned can be acquired. And recalculating the corresponding operation task for the second remaining cleaning-waiting area according to the updated quantity, wherein the operation task which is supposed to be undertaken by each cleaning device after the quantity is updated is preliminarily confirmed, the position of the newly added cleaning device is obtained, the first sub cleaning-waiting area of the original cleaning device is adjusted along the direction far away from the newly added cleaning device, and the corresponding second sub cleaning-waiting area is obtained.
Optionally, as shown in fig. 7, the method for cooperating multiple cleaning devices of the present invention further includes: S21E, acquiring the number of cleaning devices establishing communication with the cleaning devices, acquiring a current second remaining area to be cleaned when the number is reduced, and recalculating the corresponding job task according to the updated number; and S22E, acquiring the position information reported by the cleaning reduction equipment, and adjusting the first sub-cleaning-area of the cleaning equipment along the direction close to the cleaning reduction equipment to acquire the third sub-cleaning-area corresponding to the operation task. Specifically, when the device exits the communication, it can be understood that the device exits the work, and at this time, the remaining region to be cleaned, that is, the third remaining region to be cleaned is acquired. And recalculating a corresponding third new sub-cleaning-to-be-cleaned area of the third remaining cleaning-to-be-cleaned area according to the updated number, wherein the recalculating can be understood as preliminarily confirming the operation task that each cleaning device should undertake after the number is updated, acquiring the position of the exited cleaning device, namely the reduced cleaning device, acquiring a fourth cleaning device close to the reduced cleaning device, adjusting the remaining sub-cleaning-to-be-cleaned area of the cleaning device along the direction close to the reduced cleaning device, and acquiring a corresponding third sub-cleaning-to-be-cleaned area.
Optionally, the method for cooperative operation of multiple cleaning devices further includes: S20E, monitoring the current working state of the cleaning equipment, exiting the current operation when the current working state of the cleaning equipment meets a third preset condition, and interrupting the communication with other cleaning equipment. Specifically, in the working process, the working state of the cleaning equipment is monitored, and when the cleaning equipment is abnormally influenced in progress or is seriously damaged, the cleaning equipment can be quitted from the current work. The remaining processes can then be task adjusted with reference to the above processes. And interrupt communication with other cleaning devices. So that other devices can perform new task assignments.
In addition, the invention provides a multi-cleaning-device cooperative operation system, which comprises a plurality of cleaning devices which are mutually communicated and connected, and the multi-cleaning-device cooperative operation method is adopted for operation. Specifically, the system for cooperative operation of multiple cleaning devices includes multiple cleaning devices in communication connection with each other, and the multiple cleaning devices perform operation by using the multiple cleaning devices in cooperation with the operation party. In another embodiment, the cleaning device may further comprise a user terminal for establishing a communication connection with the cleaning device. The user terminal can participate in the process as described above, and the user terminal can also participate in the whole operation process.
It is to be understood that the foregoing examples, while indicating the preferred embodiments of the invention, are given by way of illustration and description, and are not to be construed as limiting the scope of the invention; it should be noted that, for those skilled in the art, the above technical features can be freely combined, and several changes and modifications can be made without departing from the concept of the present invention, which all belong to the protection scope of the present invention; therefore, all equivalent changes and modifications made within the scope of the claims of the present invention should be covered by the claims of the present invention.
Claims (11)
1. A method for cooperative operation of a plurality of cleaning devices is characterized in that the method is applied to a plurality of cleaning devices which are in communication connection, and comprises the following steps:
S1A, acquiring the number of cleaning devices and the total to-be-cleaned area to be operated, and distributing tasks to the cleaning devices to acquire a first sub-to-be-cleaned area corresponding to the operation task of the cleaning devices based on the total to-be-cleaned area and the number of the cleaning devices;
S2A, monitoring the current working state of the cleaning equipment to determine whether a first preset condition is met, acquiring a first remaining area to be cleaned corresponding to the first cleaning equipment when the current working state of the first cleaning equipment does not meet the first preset condition, acquiring a divided cleaning area from the first remaining area to be cleaned, and adding the divided cleaning area to a work task of second cleaning equipment meeting the first preset condition.
2. The method of claim 1, further comprising:
S21A, acquiring position information of the second cleaning device, and confirming the distance between the second cleaning device and the first remaining cleaning area;
S22A, confirming a third cleaning device with the distance meeting a second preset condition, so as to obtain the divided cleaning region from the first remaining cleaning region close to the third cleaning device;
S23A, adding the divided cleaning region to the task of the third cleaning apparatus.
3. The method of claim 2, wherein the second preset condition comprises:
the preset sequence of the sequences of the first distances from small to large; or
The first distance is a preset value.
4. The method of claim 1, further comprising:
S21B, monitoring the number of the cleaning devices, and when the number is increased, acquiring a current second remaining area to be cleaned, and recalculating the working task corresponding to each cleaning device according to the updated number;
S22B, acquiring position information of a newly added cleaning device and setting a second sub-cleaning-area corresponding to the work task of the newly added cleaning device at a position close to the newly added cleaning device;
S23B, sequentially adjusting a first sub-cleaning-area of the original cleaning device along the direction far away from the newly added cleaning device to obtain a second sub-cleaning-area corresponding to the operation task; and/or
S21C, monitoring the number of the cleaning devices, acquiring a current third remaining area to be cleaned when the number is reduced, and recalculating the operation task corresponding to each cleaning device according to the updated number;
S22C, acquiring position information of a cleaning device to be reduced and a fourth remaining area to be cleaned corresponding to the cleaning device to be reduced, acquiring a fourth cleaning device close to the cleaning device to be reduced, and adding the fourth remaining area to be cleaned to the fourth cleaning device to acquire a third sub area to be cleaned corresponding to the work task;
and S23C, sequentially adjusting the first sub-cleaning-area of the rest original cleaning equipment along the direction close to the reduced cleaning equipment to obtain the third sub-cleaning-area corresponding to the work task.
5. The method of claim 4, further comprising:
S20C, monitoring the current working state of the cleaning equipment, and when the current working state of the cleaning equipment meets a third preset condition, quitting the current operation of the cleaning equipment.
6. A method for cooperative operation of a plurality of cleaning devices is applied to the cleaning devices, and is characterized by comprising the following steps:
S1B, acquiring a corresponding first sub-area to be cleaned;
S2B, monitoring the current working state of the cleaning equipment to determine whether a first preset condition is met, and when the current working state of the cleaning equipment does not meet the first preset condition, acquiring a first remaining area to be cleaned corresponding to the cleaning equipment and sending the first remaining area to be cleaned to other cleaning equipment so that the other cleaning equipment acquires a divided cleaning area from the first remaining area to be cleaned and adds the divided cleaning area to an operation task of the other cleaning equipment.
7. The method of claim 6, further comprising:
S21D, acquiring the number of cleaning devices establishing communication with the cleaning devices, acquiring a current second remaining area to be cleaned when the number is increased, and recalculating the corresponding job task according to the updated number;
S22D, acquiring position information reported by the newly added cleaning equipment, and adjusting a first sub-area to be cleaned of the cleaning equipment along a direction away from the newly added cleaning equipment to acquire a second sub-area to be cleaned corresponding to the operation task.
8. The method of claim 7, further comprising operating the plurality of cleaning devices in tandem
S21E, acquiring the number of cleaning devices establishing communication with the cleaning devices, acquiring a current third remaining area to be cleaned when the number is reduced, and recalculating corresponding job tasks according to the updated number;
and S22E, acquiring the position information reported by the cleaning reduction equipment, and adjusting the first sub-cleaning area of the cleaning equipment along the direction close to the cleaning reduction equipment to acquire a third sub-cleaning area corresponding to the operation task.
9. The method of claim 8, further comprising:
S20E, monitoring the current working state of the cleaning equipment, exiting the current operation when the current working state of the cleaning equipment meets a second preset condition, and interrupting the communication with other cleaning equipment.
10. A multiple cleaning apparatus cooperative operation system comprising a plurality of cleaning apparatuses communicatively connected to each other, which operates by the multiple cleaning apparatus cooperative operation method according to any one of claims 1 to 5.
11. The system of claim 10, further comprising a user terminal that establishes a communication connection with the cleaning device.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN201910993211.2A CN110716545A (en) | 2019-10-18 | 2019-10-18 | Method and system for cooperative operation of multiple cleaning devices |
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| CN201910993211.2A CN110716545A (en) | 2019-10-18 | 2019-10-18 | Method and system for cooperative operation of multiple cleaning devices |
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| CN110716545A true CN110716545A (en) | 2020-01-21 |
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| CN201910993211.2A Pending CN110716545A (en) | 2019-10-18 | 2019-10-18 | Method and system for cooperative operation of multiple cleaning devices |
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