CN114795001B

CN114795001B - Cleaning robot control method and device and cloud server

Info

Publication number: CN114795001B
Application number: CN202210325676.2A
Authority: CN
Inventors: 朱政南
Original assignee: Beijing Xiaomi Mobile Software Co Ltd
Current assignee: Beijing Xiaomi Mobile Software Co Ltd
Priority date: 2022-03-29
Filing date: 2022-03-29
Publication date: 2024-02-23
Anticipated expiration: 2042-03-29
Also published as: CN114795001A

Abstract

The disclosure provides a cleaning robot control method and device and a cloud server, and relates to the field of robot control. The method comprises the following steps: generating a waiting queue in response to the received cleaning task; the cleaning task comprises an execution area of the cleaning task and a plurality of cleaning stages, wherein the execution area comprises at least one sub-area, and the plurality of cleaning stages at least comprise a first cleaning stage and a second cleaning stage; performing job control on at least one first cleaning robot in each subarea and at least one second cleaning robot in each subarea based on the information currently stored in the waiting queue and a plurality of cleaning stages; the waiting queue is used for storing identification information of a sub-area of the job which is currently completed in the first cleaning stage. The scheme not only can reduce the power consumption of the cleaning robot, but also can improve the cooperative efficiency between the first cleaning robot and the second cleaning robot, and further improve the cleaning efficiency of the cleaning robot.

Description

Cleaning robot control method and device and cloud server

Technical Field

The disclosure relates to the field of robot control, in particular to a cleaning robot control method, a cleaning robot control device and a cloud server.

Background

Along with the continuous improvement of the sanitary standard of people, the sweeping robot is more intelligent, the cleaning, more efficient and comprehensive products gradually step into the life of people, and the cooperative work of the sweeping robot is usually needed to complete the corresponding cleaning task.

In the related art, the cooperative work scheme of the sweeping robot and the mopping robot has the problems of low cooperative work efficiency, etc., so how to work and distribute the mopping robot to maximize the cleaning effect in the shortest time is a major problem in the field.

Disclosure of Invention

In order to overcome the problems in the related art, the disclosure provides a cleaning robot control method, a cleaning robot control device and a cloud server.

According to a first aspect of embodiments of the present disclosure, there is provided a cleaning robot control method including:

generating a waiting queue in response to the received cleaning task; the cleaning task comprises an execution area of the cleaning task and a plurality of cleaning stages, wherein the execution area comprises at least one sub-area, and the plurality of cleaning stages at least comprise a first cleaning stage and a second cleaning stage;

performing job control on at least one first cleaning robot in each of the sub-areas and at least one second cleaning robot in each of the sub-areas based on the information currently stored in the waiting queue and the plurality of cleaning stages; the waiting queue is used for storing identification information of a sub-area of the job which is completed currently in the first cleaning stage.

In some embodiments of the disclosure, the performing job control on the at least one first cleaning robot in each of the sub-areas and the at least one second cleaning robot in each of the sub-areas based on the information currently stored in the waiting queue and the plurality of cleaning phases includes:

and controlling the cleaning robots in each subarea corresponding to the first cleaning stage to perform cleaning operation, checking the operation completion progress of each subarea in the first cleaning stage based on the information currently stored in the waiting queue, and controlling the cleaning robots in each subarea corresponding to the second cleaning stage to perform cleaning operation when each subarea in the first cleaning stage is completed.

entering a first cleaning stage, and sending a first cleaning request corresponding to the first cleaning stage to at least one first cleaning robot in each subarea; the first cleaning request is used for instructing the at least one first cleaning robot to perform cleaning operation on the corresponding subarea;

Receiving cleaning job information sent by the first cleaning robot, wherein the cleaning job information is used for indicating identification information of a subarea where a job is completed currently;

adding the identification information of the subarea of the currently completed job to the waiting queue;

responding to the fact that the number of the identification information currently stored in the waiting queue is consistent with the number of the subareas, entering the second cleaning stage, and deleting the waiting queue;

sending a second cleaning request corresponding to the second cleaning stage to at least one second cleaning robot in each sub-area; the second cleaning request is used for instructing the at least one second cleaning robot to perform cleaning operation on the corresponding subarea.

In other embodiments of the present disclosure, the plurality of cleaning stages further includes a third cleaning stage; the entering the second cleaning stage and deleting the waiting queue includes:

entering the second cleaning stage and emptying the waiting queue;

after said sending a second cleaning request corresponding to said second cleaning phase to at least one second cleaning robot within each of said sub-areas, the method further comprises:

Receiving cleaning operation information sent by the second cleaning robot;

responding to the fact that the number of the identification information currently stored in the waiting queue is consistent with the number of the subareas, entering the third cleaning stage, and deleting the waiting queue;

transmitting a third cleaning request corresponding to the third cleaning stage to at least one first cleaning robot in each of the sub-areas; the third cleaning request is used for instructing the at least one first cleaning robot to perform cleaning operation on the corresponding subarea.

As one possible implementation, the at least one first cleaning robot is a plurality of first cleaning robots, including a first master cleaning robot and at least one first slave cleaning robot;

wherein said sending a first cleaning request corresponding to said first cleaning stage to at least one first cleaning robot in each of said sub-areas comprises:

sending a first cleaning request corresponding to the first cleaning stage to the first main cleaning robot in each sub-area; the first cleaning request is used for instructing the first master cleaning robot to perform cleaning operation on a cleaning area in charge of the first master cleaning robot and controlling the at least one first slave cleaning robot to perform cleaning operation compensation on the cleaning operation of the first master cleaning robot;

Wherein the receiving the cleaning job information sent by the first cleaning robot includes:

and receiving the cleaning operation information sent by the first main cleaning robot.

As another possible implementation, the at least one first cleaning robot is a plurality of first cleaning robots including a first master cleaning robot and at least one first slave cleaning robot;

sending a master cleaning task and a slave cleaning task to the first master cleaning robot and the at least one first slave cleaning robot within each of the sub-areas;

receiving slave cleaning task completion information sent by the first slave cleaning robot, and storing the slave cleaning task completion information;

periodically transmitting the currently stored slave cleaning task completion information of the first slave cleaning robot to the corresponding first master cleaning robot; the corresponding first master cleaning robots are used for sending cleaning job information when the master cleaning task is completed and all corresponding first slave cleaning robots are determined to complete the slave cleaning task based on the received slave cleaning task completion information;

And receiving the cleaning operation information sent by the corresponding first main cleaning robot.

According to a second aspect of the present disclosure, there is provided a cleaning robot control device including:

the generating module is used for generating a waiting queue when the received cleaning task is received; the cleaning task comprises an execution area of the cleaning task and a plurality of cleaning stages, wherein the execution area comprises at least one sub-area, and the plurality of cleaning stages at least comprise a first cleaning stage and a second cleaning stage;

the control module is used for controlling the operation of at least one first cleaning robot in each subarea and at least one second cleaning robot in each subarea based on the information currently stored in the waiting queue and the plurality of cleaning stages; the waiting queue is used for storing identification information of a sub-area of the job which is completed currently in the first cleaning stage.

In some embodiments of the disclosure, the control module is specifically configured to:

In some embodiments of the disclosure, the control module includes:

the first sending unit is used for entering a first cleaning stage and sending a first cleaning request corresponding to the first cleaning stage to at least one first cleaning robot in each subarea; the first cleaning request is used for instructing the at least one first cleaning robot to perform cleaning operation on the corresponding subarea;

a first receiving unit configured to receive cleaning job information sent by the first cleaning robot, where the cleaning job information is used to indicate identification information of a sub-area where a job is currently completed;

a first adding unit, configured to add identification information of a sub-region of the currently completed job to the waiting queue;

the first deleting unit is used for entering the second cleaning stage and deleting the waiting queue when the number of the identification information currently stored in the waiting queue is consistent with the number of the subareas;

a second transmitting unit configured to transmit a second cleaning request corresponding to the second cleaning stage to at least one second cleaning robot in each of the sub-areas; the second cleaning request is used for instructing the at least one second cleaning robot to perform cleaning operation on the corresponding subarea.

In other embodiments of the present disclosure, the plurality of cleaning stages further includes a third cleaning stage; the first deleting unit is specifically configured to:

when the number of the identification information currently stored in the waiting queue is consistent with the number of the subareas, entering the second cleaning stage, and emptying the waiting queue;

wherein the control module further comprises:

a second receiving unit, configured to receive cleaning job information sent by a second cleaning robot after the second cleaning request corresponding to the second cleaning stage is sent to at least one second cleaning robot in each of the sub-areas;

a second adding unit, configured to add identification information of a sub-region of the currently completed job to the waiting queue;

the second deleting unit is used for entering the third cleaning stage and deleting the waiting queue when the number of the identification information currently stored in the waiting queue is consistent with the number of the subareas;

a third transmitting unit configured to transmit a third cleaning request corresponding to the third cleaning stage to at least one first cleaning robot in each of the sub-areas; the third cleaning request is used for instructing the at least one first cleaning robot to perform cleaning operation on the corresponding subarea.

the first sending unit is specifically configured to:

the first receiving unit is specifically configured to:

wherein the first sending unit is further configured to:

Wherein the first receiving unit is further configured to:

According to a third aspect of the present disclosure, there is provided a cloud server comprising: the cleaning robot control method according to the first aspect is realized by a memory, a processor and a computer program stored in the memory and executable on the processor, wherein the processor executes the computer program.

According to a fourth aspect of the present disclosure, there is provided a computer-readable storage medium having stored thereon a computer program, characterized in that the computer program, when executed by a processor, implements the cleaning robot control method according to the above-described first aspect.

According to a fifth aspect of the present disclosure, there is provided a computer program product comprising a computer program, characterized in that the computer program, when being executed by a processor, implements the cleaning robot control method according to the first aspect described above.

According to the technical scheme, when the cleaning tasks of a plurality of cleaning stages are received, a waiting queue is generated, wherein the waiting queue is used for storing identification information of a subarea where the first cleaning stage is completed currently, the first cleaning robot and the second cleaning robot in each subarea in an execution area are controlled according to the information stored in the waiting queue and the plurality of cleaning stages, that is, the position sharing between the first cleaning robot and the second cleaning robot is not needed in real time in the scheme, and the cleaning robots in each subarea are controlled based on the information stored in the waiting queue and the plurality of cleaning stages, so that the power consumption of the cleaning robots can be reduced, the cooperative efficiency between the first cleaning robot and the second cleaning robot can be improved, and the cleaning efficiency of the cleaning robots is improved.

It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the disclosure.

Drawings

The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the invention and together with the description, serve to explain the principles of the invention.

FIG. 1 is a flow chart illustrating a cleaning robot control method according to an exemplary embodiment;

FIG. 2 is a flowchart illustrating another cleaning robot control method according to an exemplary embodiment;

FIG. 3 is a flowchart illustrating yet another cleaning robot control method according to an exemplary embodiment;

FIG. 4 is a flowchart illustrating yet another cleaning robot control method according to an exemplary embodiment;

FIG. 5 is a flowchart illustrating yet another cleaning robot control method according to an exemplary embodiment;

FIG. 6 is a flowchart illustrating yet another cleaning robot control method according to an exemplary embodiment;

fig. 7 is a block diagram illustrating a structure of a cleaning robot control device according to an exemplary embodiment;

fig. 8 is a block diagram illustrating a configuration of a cloud server according to an exemplary embodiment.

Detailed Description

Reference will now be made in detail to exemplary embodiments, examples of which are illustrated in the accompanying drawings. When the following description refers to the accompanying drawings, the same numbers in different drawings refer to the same or similar elements, unless otherwise indicated. The implementations described in the following exemplary examples do not represent all implementations consistent with the invention. Rather, they are merely examples of apparatus and methods consistent with aspects of the invention as detailed in the accompanying claims.

Fig. 1 is a flowchart illustrating a cleaning robot control method according to an exemplary embodiment. It should be noted that the cleaning robot control method in the embodiment of the disclosure may be used in the cleaning robot control device in the embodiment of the disclosure, and the cleaning robot control device in the embodiment of the disclosure may be configured in the cloud server. As shown in fig. 1, the method may include the steps of:

step 101, generating a waiting queue in response to a received cleaning task; the cleaning task comprises an execution area of the cleaning task and a plurality of cleaning stages, wherein the execution area comprises at least one sub-area, and the plurality of cleaning stages at least comprise a first cleaning stage and a second cleaning stage.

In some embodiments of the present disclosure, the method may be performed by a cloud server. The cleaning task refers to a task requiring cleaning work of a corresponding area by the cleaning robot, and the cleaning task may include an execution area of the cleaning task and a plurality of cleaning stages. The execution area of the cleaning task refers to an area to be cleaned corresponding to the cleaning task, and the plurality of cleaning stages refer to different cleaning stages included in a cleaning process corresponding to the cleaning task, wherein the cleaning process corresponding to the cleaning task can include two cleaning stages or three or more cleaning stages. As an example, if the plurality of cleaning tasks of a certain cleaning task includes a mopping stage and a sweeping stage, the first cleaning stage may be the mopping stage and the second cleaning stage may be the sweeping stage.

Furthermore, the cleaning task may be initiated by the user via the terminal device based on the cleaning requirements. As an example, an application program for controlling a cleaning task can be installed in the terminal device, and a user opens the application program in the terminal device, creates the cleaning task through a user interaction interface and submits the cleaning task to the cloud server; in creating a cleaning task, a user may select an execution area of the cleaning task and a plurality of cleaning stages of the cleaning task.

In some embodiments of the present disclosure, the waiting queue created when the cleaning task is received is an empty queue, and is used to store identification information of a sub-area where the job is completed in the first cleaning stage during the execution of the cleaning task. As an embodiment, the cloud server may store map information of each region and each sub-region in advance, and a correspondence relationship between each region and each sub-region, so that at least one sub-region included in the execution region may be determined based on the execution region.

Step 102, performing job control on at least one first cleaning robot in each subarea and at least one second cleaning robot in each subarea based on the information currently stored in the waiting queue and a plurality of cleaning stages; the waiting queue is used for storing identification information of a sub-area of the job which is currently completed in the first cleaning stage.

That is, the first cleaning robot and the second cleaning robot in each sub-area in the execution area are controlled to execute the corresponding cleaning job based on the information currently stored in the waiting queue and the plurality of cleaning stages.

In some embodiments of the present application, the first cleaning robot and the second cleaning robot may be a cleaning robot for performing the work of the first cleaning stage and a cleaning robot for performing the work of the second cleaning stage, respectively. For example, if the first cleaning stage is a mopping stage and the second cleaning stage is a sweeping stage, the first cleaning robot is a mopping robot and the second cleaning robot is a sweeping robot, or the first cleaning robot is a sweeping robot and the second cleaning robot is a mopping robot. The number of the first cleaning robots in each sub-area for performing the first cleaning stage may be 1 or more, and likewise, the number of the second cleaning robots in each sub-area for performing the second cleaning stage may be 1 or more, which may be determined based on the actual application scenario.

It should be noted that all the first cleaning robots and the second cleaning robots may be registered in the cloud server, and the sub-areas that each of the first cleaning robots and the second cleaning robots is responsible for cleaning may also be registered in the cloud server. Meanwhile, the map information of each sub-area can be stored in the storage space of the corresponding cleaning robot or in the cloud server.

As an example, if the received cleaning process of the cleaning task includes performing a first cleaning stage on the execution area, and entering a second cleaning stage after the first cleaning stage is completed, the implementation manner of performing job control on the cleaning robots of each sub-area in the execution area may be: after receiving the cleaning task, generating a waiting queue; based on at least one sub-area included in the execution area of the cleaning task, respectively issuing the first cleaning stage operation in the cleaning task to at least one first cleaning robot in the corresponding sub-area; monitoring the cleaning progress of each first cleaning robot, and placing the identification information of the sub-region of the cleaned first cleaning stage work into a waiting queue; and if the number of the identification information of the subareas in the waiting queue is the same as the number of the subareas contained in the execution area, issuing a cleaning task to at least one second cleaning robot in each subarea corresponding to the execution area so as to control the second cleaning robot to execute the second cleaning stage operation.

As another example, if the received cleaning process of the cleaning task includes a first cleaning stage and a second cleaning stage for each sub-region of the execution area, the implementation manner of performing job control on the cleaning robot for each sub-region in the execution area may be: after receiving the cleaning task, generating a waiting queue; based on at least one sub-area included in the execution area of the cleaning task, respectively issuing the first cleaning stage operation in the cleaning task to at least one first cleaning robot in the corresponding sub-area; monitoring the cleaning progress of each first cleaning robot, and placing the identification information of the sub-region of the cleaned first cleaning stage work into a waiting queue; when the waiting queue has the identification information of the newly added subarea and the newly added identification information is unique in the waiting queue, issuing a second node cleaning job to at least one second cleaning robot in the subarea corresponding to the newly added identification information; monitoring the cleaning progress of the second cleaning robot, and placing the identification information of the sub-area cleaned to finish the operation in the second cleaning stage into a waiting queue; until the number of the identification information of the sub-areas in the waiting queue is 2 times of the number of the sub-areas contained in the execution area, the cleaning task is completed.

According to the cleaning robot control method, when cleaning tasks of a plurality of cleaning stages are received, a waiting queue is generated, identification information of a subarea in which the cleaning tasks are completed currently in the first cleaning stage is stored in the waiting queue, and according to the information stored currently in the waiting queue and the cleaning stages, the first cleaning robot and the second cleaning robot in each subarea in an execution area are controlled, that is, in the scheme, the real-time sharing of positions between the first cleaning robot and the second cleaning robot is not needed, and the cleaning robots in each subarea are controlled based on the information stored in the waiting queue and the cleaning stages, so that the power consumption of the cleaning robots can be reduced, the cooperative efficiency between the first cleaning robot and the second cleaning robot can be improved, and the cleaning efficiency of the cleaning robots is improved.

Fig. 2 is a flowchart illustrating another cleaning robot control method according to an exemplary embodiment. As shown in fig. 2, the method may include the steps of:

step 201, generating a waiting queue in response to a received cleaning task; the cleaning task comprises an execution area of the cleaning task and a plurality of cleaning stages, wherein the execution area comprises at least one sub-area, and the plurality of cleaning stages at least comprise a first cleaning stage and a second cleaning stage.

Step 202, controlling the cleaning robots corresponding to the first cleaning stage in each sub-region to perform cleaning operation, checking the operation completion progress of each sub-region in the first cleaning stage based on the information currently stored in the waiting queue, and controlling the cleaning robots corresponding to the second cleaning stage in each sub-region to perform cleaning operation when each sub-region in the first cleaning stage completes operation.

In some embodiments of the present disclosure, the control of the cleaning robots in each sub-area corresponding to the first cleaning stage may be performed by first determining the cleaning robots in each sub-area corresponding to the first cleaning stage, where the cleaning robots in each sub-area corresponding to the first cleaning stage are the cleaning robots in each sub-area for performing the cleaning operation of the first cleaning stage. If the first cleaning robot executes the cleaning task of the first cleaning stage, the cleaning robot corresponding to the first cleaning stage in each subarea is the first cleaning robot in each subarea, and if the second cleaning robot executes the cleaning task of the first cleaning stage, the cleaning robot corresponding to the first cleaning stage in each subarea is the second cleaning robot in each subarea. After determining the cleaning robots corresponding to the first cleaning stage in each sub-area, sending the cleaning operation corresponding to the first cleaning stage to the cleaning robots so as to instruct the cleaning robots to execute the cleaning operation of the first cleaning stage, and placing the identification information of the sub-area where the cleaning task of the first cleaning stage is completed into a waiting queue.

As an example, based on the information currently stored in the waiting queue, the implementation manner of detecting the job completion progress of each sub-area in the first cleaning stage may be: reading a first number of identification information of a subarea currently stored in a waiting queue; determining a second number of sub-areas included in the execution area of the cleaning task; and taking the ratio of the first number to the second number as a job completion progress value of each subarea in the first cleaning stage, wherein when the progress value is 1, the job completion progress value of each subarea in the first cleaning stage is indicated.

As another example, the cloud server may store identification information of each sub-region, and based on information currently stored in the waiting queue, an implementation manner of detecting the job completion progress of each sub-region in the first cleaning stage may be: reading the identification information of the subarea currently stored in the waiting queue; determining the identification information of all the subregions contained in the execution region of the cleaning task, and forming the identification information of all the subregions contained in the execution region of the cleaning task into an identification information set; comparing the elements in the identification information set with the identification information of the subareas in the waiting queue, if each element in the identification information set is contained in the waiting queue, indicating that each subarea in the first cleaning stage completes the operation, otherwise, indicating that the subarea which does not complete the operation in the first cleaning stage exists.

In addition, when each subarea in the first cleaning stage completes the operation, the cleaning robots in each subarea corresponding to the second cleaning stage are controlled to perform the cleaning operation, that is, when each subarea in the first cleaning stage completes the operation, the cleaning robots in each subarea can start to enter the second cleaning stage, and the cleaning robots in the subareas for performing the cleaning operation in the second cleaning stage are controlled to perform the cleaning operation.

According to the cleaning robot control method disclosed by the embodiment of the disclosure, after a cleaning task is received, a waiting queue is generated, cleaning robots corresponding to a first cleaning stage in each subarea are controlled to perform cleaning work, the job completion progress of each subarea in the first cleaning stage is determined based on the information currently stored in the waiting queue, and when each subarea in the first cleaning stage is completed, the cleaning robots corresponding to a second cleaning stage in each subarea are controlled to perform cleaning work, which is equivalent to monitoring the job completion progress of each subarea in the first cleaning stage through the waiting queue, and after the jobs of each subarea in the first cleaning stage are completed, the corresponding cleaning robots are started to be controlled to perform the cleaning work of the second cleaning stage. The scheme can reduce the power consumption of the cleaning robot, and can further control the orderly progress of each cleaning stage of the cleaning task through the waiting queue, so that the cleaning efficiency of the cleaning robot is improved.

In order to describe in detail the step of performing job control for at least one first cleaning robot in each sub-area and at least one second cleaning robot in each sub-area based on the information currently stored in the waiting queue and the plurality of cleaning phases, the present disclosure proposes a further embodiment.

Fig. 3 is a flowchart illustrating yet another cleaning robot control method according to an exemplary embodiment. As shown in fig. 3, the method may include the steps of:

step 301, generating a waiting queue in response to a received cleaning task; the cleaning task comprises an execution area of the cleaning task and a plurality of cleaning stages, wherein the execution area comprises at least one sub-area, and the plurality of cleaning stages at least comprise a first cleaning stage and a second cleaning stage.

Step 302, entering a first cleaning stage, and sending a first cleaning request corresponding to the first cleaning stage to at least one first cleaning robot in each sub-area; the first cleaning request is used for instructing at least one first cleaning robot to perform cleaning operation on the corresponding subarea.

That is, the cleaning task of the first cleaning stage is performed on the sub-area for which the at least one first cleaning robot is responsible in each sub-area by sending a first cleaning request to the at least one first cleaning robot of the person in each sub-area.

In some embodiments of the present disclosure, if the map of the sub-region for which each is responsible is not stored in the first cleaning robot, the map data corresponding to the sub-region for which the first cleaning robot is responsible may be further included in the first cleaning request. After the first cleaning robot receives the first cleaning request, the cleaning task of the corresponding subarea is executed.

As an example, if the first cleaning stage is a mopping stage, a first cleaning request is sent to at least one mopping robot in each sub-area, and each mopping robot executes a mopping operation in a respective corresponding sub-area after receiving the first cleaning request.

In some embodiments of the present disclosure, the first cleaning robot in each sub-area may be one or more. In case the first cleaning robot of each sub-area is one, the first cleaning request is directly sent to the first cleaning robot in each sub-area. For each subarea, the subarea can be divided into N first subareas, wherein N is an integer greater than 1, the size of N is consistent with the number of the first cleaning robots in the subarea, each first subarea is a part of the subareas, and the union of N first subareas is consistent with the range of the subarea; the first cleaning robots are matched with each first subarea one by one, and when the first cleaning request is sent to the first cleaning robots in the subarea, the first cleaning request for instructing each cleaning robot to perform cleaning work on the corresponding first subarea is sent to each cleaning robot in the subarea.

Step 303, receiving cleaning job information sent by the first cleaning robot, where the cleaning job information is used to indicate identification information of a sub-area where the job is currently completed.

As one embodiment, each first cleaning robot transmits cleaning job information to the cloud server upon completion of the cleaning job of the first cleaning stage of the corresponding sub-area, the cleaning job information being identification information of the sub-area indicating that the first cleaning robot has completed the cleaning job of the first cleaning stage.

Step 304, adding the identification information of the sub-area of the currently completed job to the waiting queue.

And step 305, responding to the fact that the number of the identification information currently stored in the waiting queue is consistent with the number of the subareas, entering a second cleaning stage, and deleting the waiting queue.

It can be understood that the identification information of the sub-areas in the waiting queue is the identification information of the sub-areas of the currently completed job, and if the number of the identification information currently stored in the waiting queue is consistent with the number of the sub-areas included in the execution area, it is indicated that the cleaning job of the first cleaning stage of all the sub-areas included in the execution area is completed, so that the second cleaning stage can be entered.

As an example, each time step 304 is performed, the number of pieces of identification information currently stored in the waiting queue may be compared with the number of sub-areas, if the number of pieces of identification information currently stored in the waiting queue is inconsistent with the number of sub-areas, steps 303 and 304 are continuously performed, and if the number of pieces of identification information currently stored in the waiting queue is consistent with the number of sub-areas, step 305 is performed.

In some embodiments of the present disclosure, if a wait queue is created continuously as a cleaning task is performed intermittently, the large number of wait queues created may cause memory space to be occupied. Therefore, to avoid memory space occupation, the wait queue may be deleted upon entering the second clean-up phase.

Step 306, sending a second cleaning request corresponding to a second cleaning stage to at least one second cleaning robot in each sub-area; the second cleaning request is used for instructing at least one second cleaning robot to perform cleaning operation on the corresponding subarea.

That is, the at least one second cleaning robot in each sub-area is instructed to perform the cleaning task of the second cleaning stage for the sub-area for which it is responsible by sending a second cleaning request to the at least one second cleaning robot in each sub-area.

In some embodiments of the present disclosure, if the map of the sub-area for which each is responsible is not stored in the second cleaning robot, the map data corresponding to the sub-area for which the second cleaning robot is responsible may be further included in the second cleaning request. And after the second cleaning robot receives the second cleaning request, executing the cleaning task of the corresponding subarea.

As an example, if the first cleaning stage is a mopping stage and the second cleaning stage is a sweeping stage, a second cleaning request is sent to at least one sweeping robot in each sub-area after entering the second cleaning stage, and each sweeping robot executes a sweeping operation in a corresponding sub-area after receiving the second cleaning request.

In some embodiments of the present disclosure, the second cleaning robot in each sub-area may be one or more. In case the second cleaning robot of each sub-area is one, the second cleaning request is directly sent to the second cleaning robot in each sub-area. For each subarea, the subarea can be divided into N first subareas, wherein N is an integer greater than 1, the size of N is consistent with the number of the second cleaning robots in the subarea, each first subarea is a part of the subareas, and the union of N first subareas is consistent with the range of the subarea; the second cleaning robots are matched with each first subarea one by one, and when the second cleaning request is sent to the second cleaning robots in the subarea, the second cleaning request for instructing each cleaning robot to perform cleaning work on the corresponding first subarea is sent to each second cleaning robot in the subarea.

According to the cleaning robot control method disclosed by the embodiment of the disclosure, in the first cleaning stage, a first cleaning request corresponding to the first cleaning stage is sent to at least one first cleaning robot in each subarea, cleaning job information sent by the first cleaning robot is received, identification information of subareas with completed jobs is added to a waiting queue, the moment of entering the second cleaning stage is determined based on the number of the identification information in the waiting queue and the number of subareas in an execution area, and then a second cleaning request is sent to at least one second cleaning robot in each subarea so as to instruct the at least one second cleaning robot to perform cleaning jobs of the second cleaning stage corresponding to the subareas, so that orderly performance of each cleaning stage based on the control of the waiting queue is realized, and cleaning efficiency of the cleaning robots can be improved. In addition, when entering the second cleaning stage, the waiting queue is deleted, so that the occupation of the waiting queue to the storage space can be avoided, and the effective utilization rate of resources can be improved.

In some application scenarios, the plurality of cleaning phases may further comprise a third cleaning phase, which will be described in detail below.

Fig. 4 is a flowchart illustrating yet another cleaning robot control method according to an exemplary embodiment. In an embodiment of the present disclosure, the plurality of cleaning stages further includes a third cleaning stage. As shown in fig. 4, the method may include the steps of:

step 401, generating a waiting queue in response to a received cleaning task; the cleaning task comprises an execution area of the cleaning task and a plurality of cleaning stages, wherein the execution area comprises at least one sub-area, and the plurality of cleaning stages at least comprise a first cleaning stage and a second cleaning stage.

Step 402, entering a first cleaning stage, and sending a first cleaning request corresponding to the first cleaning stage to at least one first cleaning robot in each sub-area; the first cleaning request is used for instructing at least one first cleaning robot to perform cleaning operation on the corresponding subarea.

Step 403, receiving cleaning job information sent by the first cleaning robot, where the cleaning job information is used to indicate identification information of a sub-area where the job is currently completed.

Step 404, adding the identification information of the sub-region of the currently completed job to the waiting queue.

And step 405, in response to the fact that the number of the identification information currently stored in the waiting queue is consistent with the number of the subareas, entering a second cleaning stage, and emptying the waiting queue.

It can be understood that, since the plurality of cleaning stages of the cleaning task further includes a third cleaning stage, in order to ensure orderly progress of the second cleaning stage and the third cleaning stage, during the progress of the second cleaning stage, the waiting queue is further required to monitor the execution progress of the cleaning task of the second cleaning stage of each sub-region, so that the application of the subsequent steps is facilitated, and simultaneously, the waiting queue is avoided from being created again, and the waiting queue is subjected to the emptying treatment.

Step 406, sending a second cleaning request corresponding to a second cleaning stage to at least one second cleaning robot in each sub-area; the second cleaning request is used for instructing at least one second cleaning robot to perform cleaning operation on the corresponding subarea.

Step 407, receiving cleaning job information sent by the second cleaning robot.

That is, each second cleaning robot transmits cleaning job information for indicating identification information of a sub-area in which the second cleaning robot has completed the cleaning job of the second cleaning stage to the cloud server when the cleaning job of the second cleaning stage of the corresponding sub-area is completed.

Step 408, adding the identification information of the sub-region of the currently completed job to the waiting queue.

And 409, responding to the fact that the number of the identification information currently stored in the waiting queue is consistent with the number of the subareas, entering a third cleaning stage, and deleting the waiting queue.

It can be understood that the identification information of the sub-areas in the waiting queue is the identification information of the sub-areas where the second cleaning stage operation is currently completed, and if the number of the identification information currently stored in the waiting queue is consistent with the number of the sub-areas included in the execution area, it is indicated that the cleaning operation of the second cleaning stage of all the sub-areas included in the execution area is completed, so that the third cleaning stage can be entered.

As an example, each time step 408 is performed, the number of pieces of identification information currently stored in the waiting queue may be compared with the number of sub-areas, if the number of pieces of identification information currently stored in the waiting queue is inconsistent with the number of sub-areas, step 407 and step 408 may be performed continuously, and if the number of pieces of identification information currently stored in the waiting queue is consistent with the number of sub-areas, step 409 may be performed.

In some embodiments of the present disclosure, if a wait queue is created continuously as a cleaning task is performed intermittently, the large number of wait queues created may cause memory space to be occupied. In addition, since the third cleaning stage is the last stage of the plurality of cleaning stages, in order to avoid occupation of the storage space, the waiting queue may be deleted when entering the third cleaning stage.

Step 410, sending a third cleaning request corresponding to a third cleaning stage to at least one first cleaning robot in each sub-area; the third cleaning request is used for instructing at least one first cleaning robot to perform cleaning operation on the corresponding subarea.

That is, the first cleaning robot may perform the cleaning operation of the third stage in addition to the cleaning operation of the first cleaning stage, that is, the cleaning operations performed by the first cleaning stage and the third cleaning stage are identical. And sending a third cleaning request to at least one first cleaning robot in each sub-area to instruct the at least one first cleaning robot in each sub-area to perform a cleaning task of a third cleaning stage on the sub-area in which the at least one first cleaning robot is responsible.

For example, if the first cleaning stage is a mopping stage, the second cleaning stage is a sweeping stage, and the third cleaning stage is a mopping stage, the deep cleaning can be performed on the execution area by orderly mopping, sweeping and mopping, and the phenomenon of flying dust in the sweeping stage can be avoided, so that the cleaning effect of the cleaning robot is improved. The implementation process comprises the following steps: after receiving the cleaning task, creating a waiting queue; entering a mopping stage, and sending a first cleaning request to at least one mopping robot in each subarea in an execution area; receiving identification information of a subarea sent by a mopping robot which completes cleaning operation of the corresponding subarea; adding the identification information of the subarea of the currently completed job to a waiting queue; when the identification information is added to the waiting queue each time, comparing the number of the identification information currently stored in the waiting queue with the number of the sub-areas in the execution area, and if the number of the identification information currently stored in the waiting queue is consistent with the number of the sub-areas in the execution area, entering a sweeping stage and emptying the waiting queue; sending a second cleaning request to at least one sweeping robot in each subarea so as to enable the at least one sweeping robot in each subarea to sweep the floor of the corresponding subarea; receiving identification information of a subarea sent by a sweeping robot which completes cleaning work of the corresponding subarea; adding the identification information of the subarea of the currently completed job into a waiting queue, and comparing the number of the identification information currently stored in the waiting queue with the number of subareas in an execution area when the identification information is added into the waiting queue each time; if the number of the identification information currently stored in the waiting queue is consistent with the number of the sub-areas in the execution area, entering a mopping stage again, and deleting the waiting queue; and sending a third cleaning request to at least one mopping robot in each subarea, so that the at least one mopping robot in each subarea performs mopping operation on the corresponding subarea to complete the cleaning task.

According to the cleaning robot control method of the embodiment of the disclosure, for the case that the plurality of cleaning stages include the third cleaning stage, when entering the second cleaning stage, the waiting queue is emptied, after a request of the second cleaning stage is sent to at least one second cleaning robot in each subarea, the cleaning job information sent by the second cleaning robot is received, the identification information of the subarea where the job is currently completed is added to the waiting queue, when the number of the identification information in the waiting queue is consistent with the number of the subareas, the third cleaning stage is entered, the waiting queue is deleted, and a third cleaning request is sent to at least one first cleaning robot in each subarea, so that at least one first cleaning robot in each subarea executes cleaning tasks of the third cleaning stage on the corresponding subarea, and the cleaning tasks can be orderly carried out according to the sequence of the first cleaning stage, the second cleaning stage and the third cleaning stage through the waiting queue, and the cleaning effect of the cleaning robot on the execution area can be further improved.

In some application scenarios, the at least one first cleaning robot in each sub-area may be a plurality of first cleaning robots, for which case the present disclosure proposes a further embodiment.

Fig. 5 is a flowchart illustrating yet another cleaning robot control method according to an exemplary embodiment. In the embodiment of the present disclosure, the at least one first cleaning robot in each sub-area may be a plurality of first cleaning robots, which may be divided into a master and a slave in order to avoid repetition of cleaning work between the plurality of first cleaning robots, that is, the plurality of first cleaning robots may include a first master cleaning robot and at least one first slave cleaning robot therein. The first main cleaning robot refers to a first cleaning robot interacting with the cloud server in the subarea to perform cleaning work on a main cleaning area in the subarea, and the first auxiliary cleaning robot interacts with the first main cleaning robot in the subarea corresponding to the first auxiliary cleaning robot to perform cleaning work on other areas except the main cleaning area in the subarea. The method will be described next taking as an example a plurality of cleaning phases including a first cleaning phase, a second cleaning phase and a third cleaning phase, as illustrated in fig. 5, the method may comprise the steps of:

step 501, generating a waiting queue in response to a received cleaning task; the cleaning task comprises an execution area of the cleaning task and a plurality of cleaning stages, wherein the execution area comprises at least one sub-area, and the plurality of cleaning stages at least comprise a first cleaning stage and a second cleaning stage.

Step 502, entering a first cleaning stage, and sending a first cleaning request corresponding to the first cleaning stage to a first main cleaning robot in each sub-area; the first cleaning request is used for instructing the first master cleaning robot to perform cleaning operation on a cleaning area which is in charge of the first master cleaning robot and controlling at least one first slave cleaning robot to perform cleaning operation compensation on the cleaning operation of the first master cleaning robot.

In some embodiments of the present disclosure, registration information of the first main cleaning robots may be stored in the cloud server, and sub-areas corresponding to each of the first main cleaning robots are stored at the same time. After entering the first cleaning stage, the cloud server may send a first cleaning request to the first primary cleaning robot of each sub-area. For a first master cleaning robot which receives a first cleaning request, the first master cleaning robot determines a cleaning area which is responsible for the first master cleaning robot based on the received first cleaning request, and controls at least one first slave cleaning robot corresponding to the first master cleaning robot to clean the rest area in the corresponding subarea based on the first cleaning request. The cleaning area of the first main cleaning robot may be a main cleaning area in a corresponding sub-area, for example, a shape of a sub-area is an irregular eight-variant, wherein the cleaning area of the first main cleaning robot may be an area in which a largest inscribed rectangle in the sub-area is located, and the remaining areas in the sub-area are cleaned by the first auxiliary cleaning robot.

As one embodiment, upon entering the cleaning phase, a first cleaning request is sent to a first primary cleaning robot for each sub-area; for each first main cleaning robot which receives the first cleaning request, the first main cleaning robot calculates a self-responsible cleaning area based on map data of a corresponding subarea and performs cleaning operation on the self-responsible cleaning area; simultaneously calculating other cleaning areas except the cleaning area which is responsible for the cleaning area in the subarea; determining the number of first slave cleaning robots; dividing other cleaning areas into a plurality of other cleaning subareas according to a preset rule, wherein the number of the other cleaning subareas is consistent with that of the first slave cleaning robots; matching the other cleaning subareas one by one for at least one first slave cleaning robot, and respectively transmitting map data of the at least one other cleaning subarea to the corresponding first slave cleaning robot in a wireless communication mode (such as 4G, bluetooth, WIFI, a cellular network and the like) according to a matching result; the first slave cleaning robot performs a cleaning operation of the corresponding other cleaning sub-area after receiving the information of the other cleaning sub-area.

As another embodiment, for each first master cleaning robot that receives the first cleaning request, if the number of first slave cleaning robots of the corresponding subarea is one, the first master cleaning robot calculates a cleaning area in charge of itself based on map data of the corresponding subarea, and performs cleaning operation on the cleaning area in charge of itself; simultaneously, map information of a cleaning area and map information of the subarea which are responsible for the cleaning robot are sent to a first slave cleaning robot; and after the first slave cleaning robot receives the map information sent by the first master cleaning robot, calculating the area which is responsible for cleaning by the first slave cleaning robot, and cleaning the area which is responsible for cleaning by the first slave cleaning robot.

Step 503, receiving cleaning job information sent by the first main cleaning robot, where the cleaning job information is used to indicate identification information of a sub-area where the job is currently completed.

That is, if the cleaning operation of the first cleaning stage of a certain sub-area is completed, the first master cleaning robot sends cleaning operation information, that is, when the cleaning operation of the first master cleaning robot is completed and the cleaning operation of at least the corresponding first slave cleaning robot is completed, the first master cleaning robot sends the cleaning operation information to the cloud server.

In some embodiments of the present disclosure, for each sub-area in the execution area, when the cleaning of each first slave cleaning robot in the sub-area is completed, job completion information is sent to the first master cleaning robot in the sub-area; judging whether the number of the received operation completion information is consistent with the number of the first slave cleaning robots in the subarea when the first master cleaning robot in the subarea completes the self cleaning operation, if the number of the received operation completion information is inconsistent with the number of the first slave cleaning robots in the subarea, continuously judging whether the number of the received operation completion information is consistent with the number of the first slave cleaning robots in the subarea when each time of receiving the operation completion information; and the first master cleaning robot sends the cleaning operation information to the cloud server until the number of the received operation completion information is consistent with the number of the first slave cleaning robots in the subarea.

Step 504, adding the identification information of the sub-region of the currently completed job to the waiting queue.

And 505, responding to the fact that the number of the identification information currently stored in the waiting queue is consistent with the number of the subareas, entering a second cleaning stage, and deleting the waiting queue.

Step 506, sending a second cleaning request corresponding to a second cleaning stage to at least one second cleaning robot in each sub-area; the second cleaning request is used for instructing at least one second cleaning robot to perform cleaning operation on the corresponding subarea.

It will be appreciated that if the number of second cleaning robots in each sub-area is plural, a master-slave relationship may be set for the second cleaning robots. The plurality of second cleaning robots within each sub-area comprises a second master cleaning robot and at least one second slave cleaning robot.

That is, if the number of the second cleaning robots per sub-area is plural, the performing of step 506 may include: sending a second cleaning request corresponding to a second cleaning stage to a second main cleaning robot of each sub-area; the second cleaning request is used for instructing the second main cleaning robot to perform cleaning work on a cleaning area which is in charge of the second main cleaning robot, and controlling at least one second auxiliary cleaning robot to perform cleaning work compensation on the cleaning work of the second main cleaning robot.

Step 507, receiving cleaning job information sent by the second cleaning robot.

It should be noted that, if a plurality of second cleaning robots are included in each sub-area, and a plurality of second cleaning robots include a second master cleaning robot and at least one second slave cleaning robot, the implementation process of step 506 is to receive the cleaning job information sent by the second master cleaning robot.

That is, if the cleaning operation of the second cleaning stage of a certain sub-area is completed, the second master cleaning robot sends cleaning operation information to the cloud server, that is, when the cleaning operation of the second master cleaning robot is completed and the cleaning operation of at least the corresponding second slave cleaning robot is completed, the second master cleaning robot sends the cleaning operation information to the cloud server.

Step 508, adding the identification information of the sub-region of the currently completed job to the waiting queue.

And step 509, in response to the fact that the number of the identification information currently stored in the waiting queue is consistent with the number of the subareas, entering a third cleaning stage, and deleting the waiting queue.

Step 510 of sending a third cleaning request corresponding to a third cleaning stage to at least one first cleaning robot in each sub-area; the third cleaning request is used for instructing at least one first cleaning robot to perform cleaning operation on the corresponding subarea.

In some implementations of the present disclosure, if the number of first cleaning robots in each sub-area is plural, and the plurality of first cleaning robots in each sub-area includes a first master cleaning robot and at least one first slave cleaning robot, the performing of step 510 may include: transmitting a third cleaning request corresponding to a third cleaning stage to the first main cleaning robot of each sub-area; the third cleaning request is used for instructing the first main cleaning robot to perform cleaning work on a cleaning area which is in charge of the first main cleaning robot and controlling at least one first auxiliary cleaning robot to perform cleaning work compensation on the cleaning work of the first main cleaning robot.

According to the cleaning robot control method of the embodiment of the disclosure, for the case that each sub-area comprises a plurality of first cleaning robots, the plurality of first cleaning robots are divided into the first master cleaning robots and at least one first slave cleaning robot, and in the first cleaning stage, first cleaning requests corresponding to the first cleaning stage are sent to the first master cleaning robots in each sub-area, so that the first master cleaning robots perform cleaning operations on the cleaning area responsible for the first master cleaning robots, and meanwhile, at least one first slave cleaning robot performs cleaning operation compensation on the cleaning operations of the first master cleaning robots, so that the cleaning operations are reasonably distributed, the problem of repeated cleaning when the plurality of first cleaning robots exist in the sub-area is avoided, and the cleaning efficiency of the cleaning robots can be further improved.

For a number of cases of the first cleaning robot in each sub-area, the present disclosure proposes yet another embodiment.

Fig. 6 is a flowchart illustrating yet another cleaning robot control method according to an exemplary embodiment. In the embodiment of the present disclosure, the at least one first cleaning robot in each sub-area may be a plurality of first cleaning robots, which may be divided into a master and a slave in order to avoid repetition of cleaning work between the plurality of first cleaning robots, that is, the plurality of first cleaning robots may include a first master cleaning robot and at least one first slave cleaning robot therein. Wherein, the first master cleaning robot and the first slave cleaning robot are registered in the cloud server, the first master cleaning robot is used for cleaning the main cleaning area in the subarea, and the first slave cleaning robot is used for cleaning the secondary cleaning area in the subarea. The method will be described next taking as an example a plurality of cleaning phases including a first cleaning phase, a second cleaning phase and a third cleaning phase, as illustrated in fig. 6, the method may comprise the steps of:

Step 601, generating a waiting queue in response to a received cleaning task; the cleaning task comprises an execution area of the cleaning task and a plurality of cleaning stages, wherein the execution area comprises at least one sub-area, and the plurality of cleaning stages at least comprise a first cleaning stage and a second cleaning stage.

Step 602, entering a first cleaning stage, sending a master cleaning task and a slave cleaning task to a first master cleaning robot and at least one first slave cleaning robot within each of said sub-areas.

In some embodiments of the present disclosure, registration information of the first master cleaning robot and registration information of at least one first slave cleaning robot corresponding to each first master cleaning robot, and a correspondence relationship of each first master cleaning robot and at least one first slave cleaning robot corresponding to each first master cleaning robot and a sub-region may be stored in the cloud server. After entering the first cleaning stage, the cloud server may calculate a master cleaning task of the first master cleaning robot and a slave cleaning task of each first slave cleaning robot of each sub-region based on the map information of each sub-region and the number of the first slave cleaning robots in each sub-region, and transmit the master cleaning task and the slave cleaning task to the corresponding first master cleaning robot and first slave cleaning robot, respectively.

Step 603, receiving cleaning job information sent by the first cleaning robot, where the cleaning job information is used to indicate identification information of a sub-area where the job is currently completed.

In some embodiments of the present disclosure, since the first master cleaning robot and the at least one first slave robot are included in each sub-area, the implementation of step 603 may include the steps of:

step 603-1, receiving the slave cleaning task completion information sent by the first slave cleaning robot, and storing the slave cleaning task completion information.

That is, the first slave cleaning robot transmits the slave cleaning task completion information to the cloud server after completing the cleaning operation

As an example, the cloud server may generate a robot identifier of the first main cleaning robot in each sub-area in the execution area, and preset a storage path of the slave cleaning task completion information for the robot identifier in the cloud server; after receiving the slave cleaning task completion information sent by the first slave cleaning robot, determining a robot identifier of a first master cleaning robot corresponding to the first slave cleaning robot; and storing the slave cleaning task completion information to a storage path corresponding to the robot identifier.

Step 603-2, periodically transmitting the currently stored slave cleaning task completion information of the first slave cleaning robot to the corresponding first master cleaning robot; the corresponding first master cleaning robots are used for sending cleaning job information when the master cleaning task is completed and all corresponding first slave cleaning robots are determined to complete the slave cleaning task based on the received slave cleaning task completion information.

As an example, the first master cleaning robot periodically sends a request for acquiring the execution progress of the slave to the cloud server after completing the cleaning task of the host; the method comprises the steps that after a cloud server receives a request for acquiring the execution progress of a slave machine sent by a first master cleaning robot, a robot identification of the first master cleaning robot is determined, and slave machine cleaning task completion information of at least one first slave cleaning robot corresponding to the first master cleaning robot is acquired under a storage path of slave machine cleaning task completion information corresponding to the robot identification; aiming at the periodic request of the first master cleaning robot, the cloud server periodically transmits the slave cleaning task completion information of the first slave cleaning robot to the first master cleaning robot; if the first master cleaning robot determines whether all the corresponding first slave cleaning robots have completed the slave cleaning task according to the received slave cleaning task completion information, and when all the corresponding first slave cleaning robots have completed the slave cleaning task, the first master cleaning robot sends cleaning operation information to the cloud server.

Step 603-3, receiving cleaning job information sent by the corresponding first main cleaning robot.

Step 604, adding the identification information of the sub-region of the currently completed job to the waiting queue.

Step 605, in response to the number of the identification information currently stored in the waiting queue being consistent with the number of the subareas, entering a second cleaning stage, and deleting the waiting queue.

Step 606, sending a second cleaning request corresponding to a second cleaning stage to at least one second cleaning robot in each sub-area; the second cleaning request is used for instructing at least one second cleaning robot to perform cleaning operation on the corresponding subarea.

In some embodiments of the present disclosure, if the number of the second cleaning robots in each sub-area is multiple, a master-slave relationship may also be set for the second cleaning robots, and each of the second master cleaning robot and the second slave cleaning robot are registered in the cloud server, the implementation process of step 606 may include: a master cleaning task and a slave cleaning task are sent to the second master cleaning robot and at least one second slave cleaning robot for each sub-area.

Step 607, receiving cleaning job information sent by the second cleaning robot.

In some embodiments of the present disclosure, if a plurality of second cleaning robots are included in each sub-area and a second master cleaning robot and at least one second slave cleaning robot are included in the plurality of second cleaning robots, the implementation process of step 607 may include: receiving slave cleaning task completion information sent by a second slave cleaning robot, and storing the slave task completion information; and periodically transmitting the slave cleaning task completion information of the second slave cleaning robot stored currently to a corresponding second master cleaning robot, wherein the corresponding second master cleaning robot is used for transmitting cleaning job information when the master cleaning task is completed and a plurality of pages of corresponding second slave cleaning robots are determined to completely complete the slave cleaning task based on the received slave cleaning task completion information.

Step 608, adding the identification information of the sub-region of the currently completed job to the waiting queue.

And step 609, responding to the fact that the number of the identification information currently stored in the waiting queue is consistent with the number of the subareas, entering a third cleaning stage, and deleting the waiting queue.

Step 610, sending a third cleaning request corresponding to a third cleaning stage to at least one first cleaning robot in each sub-area; the third cleaning request is used for instructing at least one first cleaning robot to perform cleaning operation on the corresponding subarea.

In some implementations of the present disclosure, if the number of first cleaning robots in each sub-area is plural, and the plurality of first cleaning robots in each sub-area includes a first master cleaning robot and at least one first slave cleaning robot, the performing of step 610 may include: the first master cleaning robot and the first slave cleaning robot of each sub-area are sent a master cleaning task and a slave cleaning task.

According to the cleaning robot control method of the embodiment of the disclosure, for the case that a plurality of first cleaning robots are included in each sub-area, the plurality of first cleaning robots are divided into the first master cleaning robot and at least one first slave cleaning robot, in the first cleaning stage, the master cleaning task and the slave cleaning task are sent to the first master cleaning robot and the at least one first slave cleaning robot in each sub-area, and slave cleaning task completion information sent by the first slave cleaning robot is received, and the slave cleaning task completion information is stored, the currently stored slave cleaning task completion information of the first slave cleaning robot is periodically sent to the corresponding first master cleaning robot, and the cleaning job information sent by the corresponding first master cleaning robot is received, so that the problem of repeated cleaning when a plurality of first cleaning robots exist in the sub-area is avoided, and the cleaning efficiency of the cleaning robots can be further improved.

In order to achieve the above-described embodiments, the present disclosure provides a cleaning robot control device.

Fig. 7 is a block diagram illustrating a structure of a cleaning robot control device according to an exemplary embodiment. As shown in fig. 7, the apparatus may include:

a generating module 710, configured to generate a waiting queue when a received cleaning task is received; the cleaning task comprises an execution area of the cleaning task and a plurality of cleaning stages, wherein the execution area comprises at least one sub-area, and the plurality of cleaning stages at least comprise a first cleaning stage and a second cleaning stage;

a control module 720 for performing job control on at least one first cleaning robot in each sub-area and at least one second cleaning robot in each sub-area based on the information currently stored in the waiting queue and the plurality of cleaning stages; the waiting queue is used for storing identification information of a sub-area of the job which is currently completed in the first cleaning stage.

In some embodiments of the present disclosure, the control module 720 is specifically configured to:

In some embodiments of the present disclosure, the control module 720 includes:

a first sending unit 721 for entering a first cleaning stage, and sending a first cleaning request corresponding to the first cleaning stage to at least one first cleaning robot in each sub-area; the first cleaning request is used for instructing at least one first cleaning robot to perform cleaning operation on the corresponding subarea;

a first receiving unit 722 for receiving cleaning job information transmitted by the first cleaning robot, the cleaning job information being identification information indicating a sub-area in which a job is currently completed;

a first adding unit 723 for adding identification information of a subregion of a currently completed job to a waiting queue;

the first deleting unit 724 is configured to enter a second cleaning stage when the number of the identification information currently stored in the waiting queue is consistent with the number of the sub-areas, and delete the waiting queue;

a second transmitting unit 725 for transmitting a second cleaning request corresponding to the second cleaning stage to at least one second cleaning robot in each sub-area; the second cleaning request is used for instructing at least one second cleaning robot to perform cleaning operation on the corresponding subarea.

In other embodiments of the present disclosure, the plurality of cleaning stages further includes a third cleaning stage; the first deleting unit 724 specifically is configured to:

When the number of the identification information currently stored in the waiting queue is consistent with the number of the subareas, entering a second cleaning stage, and emptying the waiting queue;

wherein, the control module 720 further comprises:

a second receiving unit 725 for receiving the cleaning job information transmitted by the second cleaning robots after transmitting a second cleaning request corresponding to the second cleaning stage to at least one second cleaning robot in each sub-area;

a second adding unit 726, configured to add identification information of a sub-region of a currently completed job to a waiting queue;

the second deleting unit 727 is configured to enter a third cleaning stage when the number of the identification information currently stored in the waiting queue is consistent with the number of the sub-areas, and delete the waiting queue;

a third transmitting unit 728 configured to transmit a third cleaning request corresponding to the third cleaning stage to at least one first cleaning robot in each sub-area; the third cleaning request is used for instructing at least one first cleaning robot to perform cleaning operation on the corresponding subarea.

The first transmitting unit 721 is specifically configured to:

sending a first cleaning request corresponding to a first cleaning stage to a first main cleaning robot in each subarea; the first cleaning request is used for indicating the first main cleaning robot to perform cleaning operation on a cleaning area which is in charge of the first main cleaning robot and controlling at least one first auxiliary cleaning robot to perform cleaning operation compensation on the cleaning operation of the first main cleaning robot;

the first receiving unit 722 is specifically configured to:

and receiving cleaning operation information sent by the first main cleaning robot.

As another possible implementation, the at least one first cleaning robot is a plurality of first cleaning robots, including a first master cleaning robot and at least one first slave cleaning robot;

wherein the first transmitting unit 721 is further configured to:

sending a master cleaning task and a slave cleaning task to a first master cleaning robot and at least one first slave cleaning robot within each sub-area;

wherein the first receiving unit 722 is further configured to:

receiving slave cleaning task completion information sent by a first slave cleaning robot, and storing the slave cleaning task completion information;

Periodically transmitting the currently stored slave cleaning task completion information of the first slave cleaning robot to the corresponding first master cleaning robot; the corresponding first master cleaning robots are used for sending cleaning job information when the master cleaning task is completed and all corresponding first slave cleaning robots are determined to completely complete the slave cleaning task based on the received slave cleaning task completion information;

According to the cleaning robot control method, when cleaning tasks of a plurality of cleaning stages are received, a waiting queue is generated, identification information of a subarea in which the first cleaning stage is completed currently is stored in the waiting queue, and according to the information stored in the waiting queue currently and the plurality of cleaning stages, the first cleaning robot and the second cleaning robot in each subarea in an execution area are controlled, that is, in the scheme, the first cleaning robot and the second cleaning robot do not need to share positions in real time, and the cleaning robots in each subarea are controlled based on the information stored in the waiting queue and the plurality of cleaning stages, so that power consumption of the cleaning robots can be reduced, and cleaning efficiency of the cleaning robots can be improved.

The specific manner in which the various modules perform the operations in the apparatus of the above embodiments have been described in detail in connection with the embodiments of the method, and will not be described in detail herein.

In order to achieve the above embodiments, the present disclosure provides a cloud server.

Fig. 8 is a block diagram illustrating a cloud server 800 according to an example embodiment. As shown in fig. 8, the server 800 may include:

a memory 810 and a processor 820, a bus 830 connecting the different components (including the memory 810 and the processor 820), the memory 810 storing processor 820 executable instructions; wherein processor 820 is configured to execute the instructions to implement the methods described by embodiments of the present disclosure.

Bus 830 represents one or more of several types of bus structures, including a memory bus or memory controller, a peripheral bus, an accelerated graphics port, a processor, or a local bus using any of a variety of bus architectures. By way of example, and not limitation, such architectures include Industry Standard Architecture (ISA) bus, micro channel architecture (MAC) bus, enhanced ISA bus, video Electronics Standards Association (VESA) local bus, and Peripheral Component Interconnect (PCI) bus.

Cloud server 800 typically includes a variety of electronic device readable media. Such media can be any available media that can be accessed by cloud server 800 and includes both volatile and nonvolatile media, removable and non-removable media. Memory 810 may also include computer system readable media in the form of volatile memory, such as Random Access Memory (RAM) 840 and/or cache memory 850. Cloud server 800 may further include other removable/non-removable, volatile/nonvolatile computer system storage media. By way of example only, storage system 860 may be used to read from and write to non-removable, non-volatile magnetic media (not shown in FIG. 8, commonly referred to as a "hard disk drive"). Although not shown in fig. 8, a magnetic disk drive for reading from and writing to a removable non-volatile magnetic disk (e.g., a "floppy disk"), and an optical disk drive for reading from or writing to a removable non-volatile optical disk (e.g., a CD-ROM, DVD-ROM, or other optical media) may be provided. In such cases, each drive may be coupled to bus 830 through one or more data medium interfaces. Memory 810 may include at least one program product having a set (e.g., at least one) of program modules configured to carry out the functions of the various embodiments of the disclosure.

A program/utility 880 having a set (at least one) of program modules 870 may be stored, for example, in memory 810, such program modules 870 including, but not limited to, an operating system, one or more application programs, other program modules, and program data, each or some combination of which may include an implementation of a network environment. Program modules 870 generally perform the functions and/or methods in the embodiments described in this disclosure.

Cloud server 800 may also communicate with one or more external devices 890 (e.g., keyboard, pointing device, display 891, etc.), one or more devices that enable a user to interact with the cloud server 800, and/or any device (e.g., network card, modem, etc.) that enables the cloud server 800 to communicate with one or more other computing devices. Such communication may occur through an input/output (I/O) interface 892. Also, cloud server 800 may communicate with one or more networks such as a Local Area Network (LAN), a Wide Area Network (WAN), and/or a public network such as the internet via network adapter 893. As shown, the network adapter 893 communicates with other modules of the cloud server 800 via the bus 830. It should be appreciated that although not shown, other hardware and/or software modules may be used in connection with cloud server 800, including but not limited to: microcode, device drivers, redundant processing units, external disk drive arrays, RAID systems, tape drives, data backup storage systems, and the like.

Processor 820 executes various functional applications and data processing by executing programs stored in memory 810.

It should be noted that, the implementation process and the technical principle of the server in this embodiment refer to the foregoing explanation of the method in the embodiment of the disclosure, and are not repeated herein.

To achieve the above embodiments, the present disclosure also proposes a computer-readable storage medium.

Wherein the computer readable storage medium has stored therein a computer program which, when executed by a processor of a server, enables the server to perform the method as described above.

To achieve the above embodiments, the present disclosure also provides a computer program product. The computer program product comprises a computer program which, when executed by a processor of a server, implements a method as described above.

In order to implement the above-described embodiments, the present disclosure also provides a cleaning robot control system.

In some embodiments of the present disclosure, the cleaning robot control system includes a cloud server, at least one first cleaning robot in each sub-area, and at least one second cleaning robot in each sub-area. The cloud server is a cloud server in the above embodiment, wherein the cloud server can realize the method for controlling the cleaning robot in the embodiment of the disclosure, the first cleaning robot and the second robot are both registered in the cloud server, and the cloud server stores the corresponding relationship between the first cleaning robot and the sub-region and the second cleaning robot. In the system, a cloud server generates a waiting queue after receiving a cleaning task; the cleaning task comprises an execution area of the cleaning task and a plurality of cleaning stages, wherein the execution area comprises at least one sub-area, and the plurality of cleaning stages at least comprise a first cleaning stage and a second cleaning stage; the cloud server performs operation control on at least one first cleaning robot in each subarea in the execution area and at least one second cleaning robot in each subarea in the execution area based on the information currently stored in the waiting queue and a plurality of cleaning stages; the waiting queue is used for storing identification information of a sub-area of the job which is currently completed in the first cleaning stage.

In some embodiments of the present disclosure, generating, by the cloud server in the system, a wait queue after receiving a cleaning task; the cleaning task comprises an execution area of the cleaning task and a plurality of cleaning stages, wherein the execution area comprises at least one sub-area, and the plurality of cleaning stages at least comprise a first cleaning stage and a second cleaning stage; the cloud server controls the cleaning robots in each subarea of the execution area, which correspond to the first cleaning stage, to perform cleaning operation, checks the operation completion progress of each subarea of the first cleaning stage based on the information currently stored in the waiting queue, and controls the cleaning robots in each subarea, which correspond to the second cleaning stage, to perform cleaning operation when each subarea of the first cleaning stage is completed.

Next, taking a case that the cleaning stages of the cleaning task include a first cleaning stage, a second cleaning stage and a third cleaning stage, a process of controlling operations performed by the cloud server, the first cleaning robot and the second cleaning robot in the system is described: after receiving the cleaning task, the cloud server generates a waiting queue; the cloud server enters a first cleaning stage and sends a first cleaning request corresponding to the first cleaning stage to at least one first cleaning robot in each subarea of the execution area; after at least one cleaning robot of each sub-area of the execution area receives the first cleaning request, cleaning the corresponding sub-area, and sending the identification information of the sub-area to the cloud server when the corresponding sub-area has completed the operation; the cloud server adds the identification information of the sub-region of the completed job to a waiting queue; the cloud server compares the number of the identification information currently stored in the waiting queue with the number of the sub-areas in the execution area, and if the number of the identification information currently stored in the waiting queue is consistent with the number of the sub-areas in the execution area, the cloud server enters a second cleaning stage and empties the waiting queue; the cloud server sends a second cleaning request corresponding to a second cleaning stage to at least one second cleaning robot in each subarea of the execution area; after receiving the second cleaning request, at least one second cleaning robot in each subarea of the execution area performs cleaning operation on the corresponding subarea, and sends identification information of the subarea on which the operation is currently completed to the cloud server; the cloud server adds the identification information of the subareas which are currently finished with the job to a waiting queue, compares the number of the identification information currently stored in the waiting queue with the number of the subareas, and enters a third cleaning stage and deletes the waiting queue when the number of the identification information currently stored in the waiting queue is consistent with the number of the subareas; the cloud server sends a third cleaning request corresponding to a third cleaning stage to at least one first cleaning robot of each sub-area in the execution area; and after the at least one first cleaning robot of each subarea in the execution area receives the third cleaning request, cleaning the corresponding subarea.

As another example, if the number of the first cleaning robots in each sub-area is plural, and the plurality of first cleaning robots includes a first master cleaning robot and at least one first slave cleaning robot, while the number of the second cleaning robots in each sub-area is plural, and the plurality of second cleaning robots includes a second master cleaning robot and at least one second slave cleaning robot. The plurality of cleaning phases of the cleaning task includes a first cleaning phase and a second cleaning phase. The first main cleaning robots and the second main cleaning robots in each subarea are registered in the cloud server, and the corresponding relation between each first main cleaning robot and each second main cleaning robot and the subarea is stored in the cloud server. In the system, after a cloud server enters a first cleaning stage, a first cleaning request corresponding to the first cleaning stage is sent to a first main cleaning robot of each sub-region in an execution region; the first main cleaning robot of each sub-area in the execution area performs cleaning operation on the cleaning area in charge of the first main cleaning robot after receiving the first cleaning request, and sends the cleaning area information in charge of the first main cleaning robot and the corresponding sub-area information to the corresponding first auxiliary cleaning robot; after the first slave cleaning robot of each sub-area in the execution area receives the information, determining a cleaning area to be compensated according to the cleaning area information and the sub-area information which are responsible for the first master cleaning robot, and cleaning the cleaning area to be compensated; after the first slave cleaning robot of each sub-area in the execution area completes the cleaning operation, sending operation completion information to the corresponding first master cleaning robot; after the first main cleaning robot of each sub-area in the execution area has completed the cleaning work of the self-responsible area and has received the operation completion information of the first auxiliary cleaning robot, the identification information of the self-sub-area is sent to the cloud server; the cloud server receives the sub-region identification information sent by the first main cleaning robot, adds the sub-region identification information to a waiting queue, compares the number of currently stored identification information in the waiting queue with the number of sub-regions in an execution region, and enters a second cleaning stage and deletes the waiting queue if the number of the currently stored identification information in the waiting queue is consistent with the number of the sub-regions in the execution region; the cloud server sends a second cleaning request corresponding to a second cleaning stage to a second main cleaning robot of each sub-area of the execution area; after receiving the second cleaning request, the second main cleaning robot performs cleaning operation on the area in charge of the second main cleaning robot and sends the information of the area in charge of the second main cleaning robot and the information of the sub-area to the second main cleaning robot corresponding to the second main cleaning robot; after the second slave cleaning robot receives the information, determining a cleaning area to be compensated based on the corresponding area information and the information of the subareas which are responsible for the second slave cleaning robot, and cleaning the cleaning area to be compensated.

As yet another example, if the number of the first cleaning robots in each sub-area is a plurality, and the plurality of first cleaning robots includes a first master cleaning robot and at least one first slave cleaning robot, while the number of the second cleaning robots in each sub-area is a plurality, and the plurality of second cleaning robots includes a second master cleaning robot and at least one second slave cleaning robot. The plurality of cleaning phases of the cleaning task includes a first cleaning phase and a second cleaning phase. The first main cleaning robot, the first auxiliary cleaning robot, the second main cleaning robot and the second auxiliary cleaning robot in each subarea are all registered in the cloud server, and the corresponding relation between each first main cleaning robot, each first auxiliary cleaning robot, each second main cleaning robot and each second auxiliary cleaning robot and the subarea is stored in the cloud server. In the system, after entering a first cleaning stage, a cloud server sends a host cleaning task to a first main cleaning robot of each sub-area in an execution area, and simultaneously sends a slave cleaning task to a first slave cleaning robot of each sub-area in the execution area; after the first main cleaning robot receives the main cleaning task, executing cleaning operation according to a cleaning area in the main cleaning task; after the first slave cleaning robot receives the slave cleaning task, executing cleaning operation according to a cleaning area in the slave cleaning task, and sending slave cleaning task completion information to the cloud server when the operation is completed; the cloud server stores the received slave cleaning task completion information; after the first main cleaning robot finishes the task, periodically sending a request for acquiring the cleaning task completion information of the slave to the cloud server; after receiving the request, the cloud server sends the slave cleaning task completion information of the first slave cleaning robot corresponding to the first host cleaning robot to the first master cleaning robot; the first master cleaning robot determines whether all corresponding first slave cleaning robots have completed the slave cleaning task based on the received slave cleaning task completion information, and sends identification information of a sub-area of the first master cleaning robot to a cloud server when all corresponding first slave cleaning robots have completed the slave cleaning task; the cloud server adds the received identification information into a waiting queue, compares the number of the currently stored identification information in the waiting queue with the number of the sub-areas in the execution area, enters a second cleaning stage if the number of the currently stored identification information is consistent with the number of the sub-areas in the execution area, deletes the waiting queue, and continues to send a host cleaning task and a slave cleaning task corresponding to the second cleaning stage to a second master cleaning robot and a second slave cleaning robot in each sub-area in the execution area respectively.

Other embodiments of the invention will be apparent to those skilled in the art from consideration of the specification and practice of the invention disclosed herein. This application is intended to cover any variations, uses, or adaptations of the invention following, in general, the principles of the invention and including such departures from the present disclosure as come within known or customary practice within the art to which the invention pertains. It is intended that the specification and examples be considered as exemplary only, with a true scope and spirit of the invention being indicated by the following claims.

It is to be understood that the invention is not limited to the precise arrangements and instrumentalities shown in the drawings, which have been described above, and that various modifications and changes may be effected without departing from the scope thereof. The scope of the invention is limited only by the appended claims.

Claims

1. A cleaning robot control method, characterized by comprising:

Performing job control on at least one first cleaning robot in each of the sub-areas and at least one second cleaning robot in each of the sub-areas based on the information currently stored in the waiting queue and the plurality of cleaning stages; the waiting queue is used for storing identification information of a subarea of the operation which is finished currently in the first cleaning stage;

the task control of the at least one first cleaning robot in each sub-area and the at least one second cleaning robot in each sub-area based on the information currently stored in the waiting queue and the plurality of cleaning stages includes:

2. The method of claim 1, wherein the performing job control on the at least one first cleaning robot in each of the sub-areas and the at least one second cleaning robot in each of the sub-areas based on the information currently stored by the waiting queue and the plurality of cleaning phases comprises:

3. The method of claim 1, wherein the plurality of cleaning stages further comprises a third cleaning stage; the entering the second cleaning stage and deleting the waiting queue includes:

entering the second cleaning stage and emptying the waiting queue;

receiving cleaning operation information sent by the second cleaning robot;

4. The method of claim 1 or 3, wherein the at least one first cleaning robot is a plurality of first cleaning robots including a first master cleaning robot and at least one first slave cleaning robot;

5. The method of claim 1 or 3, wherein the at least one first cleaning robot is a plurality of first cleaning robots including a first master cleaning robot and at least one first slave cleaning robot;

6. A cleaning robot control device, characterized by comprising:

the generating module is used for generating a waiting queue when receiving the cleaning task; the cleaning task comprises an execution area of the cleaning task and a plurality of cleaning stages, wherein the execution area comprises at least one sub-area, and the plurality of cleaning stages at least comprise a first cleaning stage and a second cleaning stage;

The control module is used for controlling the operation of at least one first cleaning robot in each subarea and at least one second cleaning robot in each subarea based on the information currently stored in the waiting queue and the plurality of cleaning stages; the waiting queue is used for storing identification information of a subarea of the operation which is finished currently in the first cleaning stage;

the control module includes:

7. The apparatus of claim 6, wherein the control module is specifically configured to:

8. The apparatus of claim 6, wherein the plurality of cleaning stages further comprises a third cleaning stage; the first deleting unit is specifically configured to:

Wherein the control module further comprises:

9. The apparatus of claim 6 or 8, wherein the at least one first cleaning robot is a plurality of first cleaning robots including a first master cleaning robot and at least one first slave cleaning robot;

The first sending unit is specifically configured to:

the first receiving unit is specifically configured to:

10. The apparatus of claim 6 or 8, wherein the at least one first cleaning robot is a plurality of first cleaning robots including a first master cleaning robot and at least one first slave cleaning robot;

wherein the first sending unit is further configured to:

wherein the first receiving unit is further configured to:

11. A cloud server, comprising: a memory, a processor and a computer program stored on the memory and executable on the processor, the processor implementing the cleaning robot control method according to any one of claims 1 to 5 when the computer program is executed.

12. A computer-readable storage medium, on which a computer program is stored, characterized in that the computer program, when executed by a processor, implements the cleaning robot control method according to any one of claims 1 to 5.

13. A computer program product comprising a computer program, characterized in that the computer program, when being executed by a processor, implements the cleaning robot control method according to any one of claims 1 to 5.