CN115530699A - Cleaning control method and device for floor cleaning machine, computer equipment and storage medium - Google Patents
Cleaning control method and device for floor cleaning machine, computer equipment and storage medium Download PDFInfo
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- CN115530699A CN115530699A CN202211227974.4A CN202211227974A CN115530699A CN 115530699 A CN115530699 A CN 115530699A CN 202211227974 A CN202211227974 A CN 202211227974A CN 115530699 A CN115530699 A CN 115530699A
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
- A47L11/4011—Regulation of the cleaning machine by electric means; Control systems and remote control systems therefor
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/24—Floor-sweeping machines, motor-driven
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/28—Floor-scrubbing machines, motor-driven
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
- A47L11/4002—Installations of electric equipment
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
- A47L11/4002—Installations of electric equipment
- A47L11/4008—Arrangements of switches, indicators or the like
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L2201/00—Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
- A47L2201/06—Control of the cleaning action for autonomous devices; Automatic detection of the surface condition before, during or after cleaning
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Abstract
The invention discloses a cleaning control method and device for a floor cleaning machine, computer equipment and a storage medium. The method comprises the following steps: receiving a cleaning task instruction, and analyzing the cleaning task instruction to determine a cleaning task; determining the floor cleaning machines to be distributed according to the state data of the networked floor cleaning machines; if the number of the cleaning tasks is at least two and the number of the floor cleaning machines to be distributed is at least two, performing task matching according to the task information corresponding to all the cleaning tasks and the machine data of all the floor cleaning machines to be distributed, and determining and acquiring the task matching degree between each cleaning task and each floor cleaning machine to be distributed; determining a target floor cleaning machine corresponding to each cleaning task according to the task matching degree; and sending the task information corresponding to the cleaning task to the target floor cleaning machine so that the target floor cleaning machine executes the cleaning task. The method realizes scheduling of the plurality of to-be-distributed floor cleaning machines to execute the plurality of cleaning tasks, improves the intellectualization and the cleaning capability of the floor cleaning machines, and saves the cleaning time to bring better convenience.
Description
Technical Field
The invention relates to the technical field of floor cleaning machines, in particular to a floor cleaning machine cleaning control method, a floor cleaning machine cleaning control device, computer equipment and a storage medium.
Background
Floor washers, also known as automatic cleaners, intelligent dust collectors, robotic vacuum cleaners and the like, are one type of intelligent household appliances, and can automatically complete floor cleaning work indoors and outdoors by means of certain artificial intelligence. Generally, a brushing and vacuum mode is adopted, so that sundries on the ground are firstly absorbed into the garbage storage box, and the function of cleaning the ground is achieved. In general, a robot that performs cleaning, dust collection, and floor cleaning is also collectively called a floor cleaning robot.
When the current floor cleaning machine receives a plurality of cleaning tasks, for example, when cleaning operations required for cleaning different floors and different cleaning requirements are received, the current floor cleaning machines do not need to be rapidly and reasonably distributed, and the problem of low cleaning efficiency caused by complex tasks exists.
Disclosure of Invention
The embodiment of the invention provides a cleaning control method and device of a floor cleaning machine, computer equipment and a storage medium, which aim to solve the problem of low cleaning efficiency caused by task allocation of the existing floor cleaning machine.
A floor scrubbing sweeping control method comprising:
receiving a cleaning task instruction, and analyzing the cleaning task instruction to determine a cleaning task;
determining the floor cleaning machines to be distributed according to the state data of the networked floor cleaning machines;
if the number of the cleaning tasks is at least two and the number of the floor washers to be distributed is at least two, performing task matching according to task information corresponding to all the cleaning tasks and machine data of all the floor washers to be distributed, and determining and acquiring the task matching degree between each cleaning task and each floor washer to be distributed;
determining a target floor washing machine corresponding to each cleaning task according to the task matching degree between each cleaning task and each floor washing machine to be distributed;
and sending the task information corresponding to the cleaning task to a target floor cleaning machine corresponding to the cleaning task so that the target floor cleaning machine executes the cleaning task.
A floor scrubbing sweeping control apparatus comprising:
the cleaning task determining module is used for receiving a cleaning task instruction and analyzing the cleaning task instruction to determine a cleaning task;
the system comprises a to-be-distributed floor washing machine determining module, a distribution control module and a distribution control module, wherein the to-be-distributed floor washing machine determining module is used for determining the to-be-distributed floor washing machine according to the state data of the networked floor washing machines;
the task matching degree determining module is used for performing task matching according to task information corresponding to all the cleaning tasks and machine data of all the to-be-distributed floor washers and determining and acquiring the task matching degree between each cleaning task and each to-be-distributed floor washer if the number of the cleaning tasks is at least two and the number of the to-be-distributed floor washers is at least two;
the target floor cleaning machine determining module is used for determining a target floor cleaning machine corresponding to each cleaning task according to the task matching degree between each cleaning task and each floor cleaning machine to be distributed;
and the cleaning task execution module is used for sending the task information corresponding to the cleaning task to a target floor washing machine corresponding to the cleaning task so as to enable the target floor washing machine to execute the cleaning task.
A computer apparatus comprising a memory, a processor and a computer program stored in the memory and executable on the processor, the processor implementing the above-described method of controlling a floor scrubber when the computer program is executed by the processor.
A computer-readable storage medium, which stores a computer program that, when executed by a processor, implements the above-described floor cleaning control method.
According to the cleaning control method, the cleaning control device, the computer equipment and the storage medium of the floor cleaning machine, when the cleaning task instruction is received to contain at least two cleaning tasks and the number of the floor cleaning machines to be distributed is at least two, a multi-task distribution mechanism is adopted, task distribution is carried out according to task information corresponding to all the cleaning tasks and machine data of the floor cleaning machines to be distributed, and a target floor cleaning machine corresponding to each cleaning task is determined, so that the target floor cleaning machine executes the cleaning tasks according to the matched task information corresponding to the cleaning tasks, cleaning resources are utilized to the maximum degree, and the problem of low cleaning efficiency caused by complex tasks is solved. Understandably, a multi-task allocation mechanism is adopted, multiple cleaning tasks of the floor cleaning machine to be allocated are scheduled, task allocation operation can be automatically realized, the intellectualization and cleaning capability of the floor cleaning machine are improved, and cleaning time is saved, so that better convenience is brought.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required to be used in the description of the embodiments of the present invention will be briefly introduced below, and it is obvious that the drawings in the description below are only some embodiments of the present invention, and it is obvious for those skilled in the art that other drawings can be obtained according to the drawings without inventive labor.
FIG. 1 is a schematic view of a scrubber cleaning control system according to an embodiment of the invention;
FIG. 2 is a flow chart of a method of controlling the sweeping operation of the scrubber according to one embodiment of the present invention;
FIG. 3 is another flow chart of a method for controlling a scrubber cleaning machine according to an embodiment of the invention;
FIG. 4 is another flow chart of a scrubber cleaning control method in accordance with an embodiment of the invention;
FIG. 5 is another flow chart of a scrubber cleaning control method in accordance with an embodiment of the invention;
FIG. 6 is another flow chart of a scrubber cleaning control method in accordance with an embodiment of the invention;
FIG. 7 is a schematic view of a scrubber cleaning control arrangement according to an embodiment of the invention;
FIG. 8 is a schematic diagram of a computer device according to an embodiment of the invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, not all, embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
The cleaning control method of the cleaning machine provided by the embodiment of the invention can be applied to the application environment shown in figure 1. Specifically, the cleaning control method is applied to a cleaning control system of the cleaning machine, the cleaning control system of the cleaning machine comprises the server shown in fig. 1, and the client and the at least one cleaning machine which are communicated with the cloud server, and the cleaning control method is used for realizing that the received cleaning tasks are effectively distributed, and is beneficial to ensuring the cleaning efficiency of multiple cleaning tasks. The client is also called a client, and refers to a program corresponding to the server and providing local services for the client. The client may be installed on, but is not limited to, various personal computers, laptops, smartphones, tablets, and portable wearable devices. The server can be realized by an independent server or a server cluster formed by a plurality of servers, and particularly can be a cloud server capable of realizing cleaning task distribution.
In an embodiment, as shown in fig. 2, a method for controlling a floor cleaning machine is provided, which is exemplified by the server in fig. 1, and includes the following steps:
s201: receiving a cleaning task instruction, and analyzing the cleaning task instruction to determine a cleaning task;
s202: determining the floor cleaning machines to be distributed according to the state data of the networked floor cleaning machines;
s203: if the number of the cleaning tasks is at least two and the number of the floor cleaning machines to be distributed is at least two, performing task matching according to the task information corresponding to all the cleaning tasks and the machine data of all the floor cleaning machines to be distributed, and determining and acquiring the task matching degree between each cleaning task and each floor cleaning machine to be distributed;
s204: determining a target floor cleaning machine corresponding to each cleaning task according to the task matching degree between each cleaning task and each floor cleaning machine to be distributed;
s205: and sending the task information corresponding to the cleaning task to a target floor cleaning machine corresponding to the cleaning task so that the target floor cleaning machine executes the cleaning task.
Wherein the cleaning task command is a command formed based on the cleaning task. The cleaning task is a task for controlling the floor washing machine to perform a cleaning operation.
As an example, in step S201, the server may receive a cleaning task instruction sent by the user through the client, and parse the received cleaning task instruction to obtain at least one cleaning task corresponding to the cleaning task instruction.
The networked floor washing machine is a floor washing machine in a networked state, namely the floor washing machine which is networked with the server at the current moment. The state data is used for reflecting the current state of the networked floor washing machine, and the state data can only comprise the current state or can simultaneously comprise the current state and the current residual capacity. The current state may be an idle state and a non-idle state including, but not limited to, a cleaning state and a charging state. The current remaining capacity is the remaining capacity of the battery in the scrubber, i.e., the SOC value.
As an example, in step S202, after the server responds to the received cleaning task instruction, it needs to acquire state data of all networked floor cleaning machines in network communication with the server at the current time, compare the state data with preset assignable conditions, and if the state data meets the assignable conditions, determine the networked floor cleaning machines as the floor cleaning machines to be assigned; and if the state data does not meet the distributable condition, not determining the networked floor washing machine as the floor washing machine to be distributed.
The task information corresponding to the cleaning task is information for reflecting the cleaning requirement of the cleaning task, and the task information comprises a target area and/or a target mode. The target area here refers to an area that needs to be cleaned for a cleaning task. The target mode herein refers to a working mode required for the cleaning task execution process, and as an example, the target mode may be any one of a single-sweep mode, and a sweep-sweep mode. The single sweeping mode is a mode that only sweeping is needed. The single-mopping mode refers to a mode in which mopping is only required. The sweeping and mopping mode refers to a mode in which sweeping and mopping are required.
The machine data corresponding to the to-be-distributed floor washing machine is data used for reflecting the equipment state of the to-be-distributed floor washing machine at the current moment. The machine data includes a current location and a support mode. The current position here refers to the position of the machine to be dispensed at the current moment. The support mode refers to an operation mode that can be executed by the machine to be distributed at the current time, and the support mode may be any one of a single-sweep mode, a single-mopping mode and a sweeping mode, as an example.
As an example, in step S203, when the number of cleaning tasks is at least two and the number of to-be-allocated floor washers is at least two, it indicates that the number of cleaning tasks and the number of to-be-allocated floor washers are both multiple, and in order to more effectively improve the cleaning efficiency of multiple cleaning tasks, task information corresponding to all cleaning tasks and machine data of all to-be-allocated floor washers need to be acquired; and then, matching the task information corresponding to all the cleaning tasks and the machine data of all the floor cleaning machines to be distributed by adopting a multi-task distribution mechanism, and acquiring the task matching degree between each cleaning task and each floor cleaning machine to be distributed. The task matching degree refers to the matching degree between the task information corresponding to the cleaning task and the machine data of the floor cleaning machine to be distributed.
In this example, the server may determine a target scrubber from all the scrubbers to be distributed using a single-job allocation mechanism when the number of cleaning jobs is one, that is, when a single cleaning job is received, for example, using a proximity principle, so that the target scrubber can perform a cleaning operation based on the single cleaning job.
In this example, when the number of the floor cleaning machines to be distributed is one, the server may directly determine the floor cleaning machines to be distributed as the target floor cleaning machines, and distribute the plurality of cleaning tasks to the target floor cleaning machines, so that the target floor cleaning machines may perform the cleaning operation based on the plurality of cleaning tasks.
As an example, in step S204, the server may determine a target scrubber for each cleaning task based on the task matching degree between each cleaning task and each scrubber to be distributed. The target floor cleaning machine is a floor cleaning machine to be distributed, which is determined according to the task matching degree, and the floor cleaning machine to be distributed with the highest task matching degree can be determined as the target floor cleaning machine corresponding to each cleaning task. In a manner that will be understood,
as an example, in step S205, after determining the target scrubber corresponding to each cleaning task, the server may send task information corresponding to the cleaning task to the target scrubber corresponding to the cleaning task, so that the target scrubber can execute the cleaning task, even though all the target scrubbers can complete the cleaning operation based on the target area and/or the target pattern in the cleaning task matched with the target scrubber, which is helpful for ensuring the cleaning efficiency of multiple cleaning tasks.
In the cleaning control method for the floor cleaning machine provided by the embodiment, when the received cleaning task instruction includes at least two cleaning tasks and the number of the floor cleaning machines to be allocated is at least two, a multi-task allocation mechanism is adopted, task allocation is performed according to task information corresponding to all the cleaning tasks and machine data of all the floor cleaning machines to be allocated, and a target floor cleaning machine corresponding to each cleaning task is determined, so that the target floor cleaning machine executes the cleaning tasks according to the matched task information corresponding to the cleaning tasks, cleaning resources are utilized to the maximum extent, and the problem of low cleaning efficiency caused by complex tasks is solved. Understandably, a multi-task allocation mechanism is adopted, multiple cleaning tasks of the floor cleaning machine to be allocated are scheduled, task allocation operation can be automatically realized, the intellectualization and cleaning capability of the floor cleaning machine are improved, and cleaning time is saved, so that better convenience is brought.
In one embodiment, the status data of the networked scrubber includes a current status;
step S202, namely determining the floor washing machine to be distributed according to the status data of the floor washing machine, comprising the following steps: and determining the networked floor washing machine with the current state being the idle state as the floor washing machine to be distributed.
The current state may be an idle state and a non-idle state including, but not limited to, a sweeping state and a charging state.
As an example, the server obtains the current states of all networked floor washers networked with the server at the current moment, and determines the networked floor washers in the idle state as the floor washers to be allocated, so as to determine the target floor washers executing the cleaning task at this time from the floor washers to be allocated, so that the finally determined target floor washers are the floor washers in the idle state, and can directly execute the corresponding cleaning task, thereby ensuring the resource utilization rate of the floor washers, improving the cleaning efficiency, and avoiding the problem of low cleaning efficiency caused by the fact that the floor washers in the non-idle state can execute a new cleaning task after executing the current task.
In one embodiment, the state data of the networked floor washing machine comprises the current state and the current remaining capacity;
step S202, namely determining the floor washing machine to be distributed according to the status data of the floor washing machine, comprising the following steps: and determining the floor cleaning machine with the current state being an idle state and the current residual electric quantity being greater than a preset electric quantity threshold value as the floor cleaning machine to be distributed.
The current state may be an idle state and a non-idle state including, but not limited to, a sweeping state and a charging state. The current remaining capacity is the remaining capacity of the battery in the scrubber, i.e., the SOC value. The preset electric quantity threshold value is a preset threshold value used for evaluating whether the electric quantity of the floor washing machine can finish one cleaning task or not.
As an example, the server obtains the current states of all networked floor cleaning machines which are networked with the server at the current moment, determines the networked floor cleaning machines of which the current states are idle states and the current residual electric quantity is greater than a preset electric quantity threshold value as the floor cleaning machines to be allocated, so as to determine the target floor cleaning machines which execute the cleaning tasks at this time from the floor cleaning machines to be allocated, and make the finally determined target floor cleaning machines be idle states and the current residual electric quantity of the floor cleaning machines be larger, so that the target floor cleaning machines can directly execute the corresponding cleaning tasks and the current residual electric quantity of the floor cleaning machines is enough to support the completion of the cleaning tasks at this time.
In an embodiment, as shown in fig. 3, a method for controlling a floor cleaning machine is provided, which is exemplified by the server in fig. 1, and includes the following steps:
s301: receiving a cleaning task instruction, and analyzing the cleaning task instruction to determine a cleaning task;
s302: determining the floor cleaning machines to be distributed according to the state data of the networked floor cleaning machines;
s303: if the number of the cleaning tasks is at least two and the number of the floor cleaning machines to be distributed is at least two, performing position matching according to target areas corresponding to all the cleaning tasks and the current positions of all the floor cleaning machines to be distributed, and acquiring the position matching degree between each cleaning task and each floor cleaning machine to be distributed;
s304: distributing tasks according to the position matching degree between each cleaning task and each floor cleaning machine to be distributed, and determining a target floor cleaning machine corresponding to each cleaning task;
s305: and sending the task information corresponding to the cleaning task to a target floor cleaning machine corresponding to the cleaning task so that the target floor cleaning machine executes the cleaning task.
Step S301 is consistent with step S201, step S302 is consistent with step S202, step S305 is consistent with step S205, and for avoiding repetition, which is not described herein again, step S303 is a specific implementation manner of step S203, and step S304 is a specific implementation manner of step S204.
The target area is an area to be cleaned for the cleaning task. The current position refers to the position of the machine to be distributed at the current moment.
As an example, in step S303, when the number of cleaning tasks is at least two and the number of to-be-allocated floor washers is at least two, the server needs to determine a target area corresponding to each cleaning task from task information corresponding to each cleaning task, and determine a current position of each to-be-allocated floor washer from machine data of each to-be-allocated floor washer; and then, carrying out position matching according to the target areas corresponding to all the cleaning tasks and the current positions of all the to-be-distributed floor washing machines, and obtaining the position matching degree between each cleaning task and each to-be-distributed floor washing machine. The location match may reflect how far each scrubber to be assigned is from the target area for a cleaning task.
In this example, the server may calculate a distance between the center position of the target area for each cleaning task and the current position of the scrubber to be allocated, and determine it as a target distance between the current position and the target area; or calculating the distance between the nearest edge of the target area of each cleaning task and the current position of the floor cleaning machine to be distributed, and determining the distance as the target distance between the current position and the target area; then, according to the target distance between the current position and the target area, the position matching degree between each cleaning task and each floor cleaning machine to be distributed is determined. For example, the server may employ a normalization algorithm to calculate a target distance between the current location and the target area to determine a location match between each cleaning task and each of the scrubber machines to be assigned. For another example, the server may query a preset distance matching degree comparison table based on the target distance between the current position and the target area, and determine the position matching degree between each cleaning task and each floor cleaning machine to be distributed, where the distance matching degree comparison table is a comparison table for reflecting the correspondence between different distances and different matching degrees.
As an example, in step S304, the server may determine a target floor cleaning machine corresponding to each cleaning task according to the obtained position matching degree between each cleaning task and each floor cleaning machine to be allocated. For example, the server may determine the target scrubber for each cleaning task one by one from high to low according to the magnitude order of the position matching degree.
In the cleaning control method for the floor cleaning machine, a multi-task allocation mechanism is adopted, the target floor cleaning machine corresponding to each cleaning task is determined according to the position matching degree between the target areas corresponding to all the cleaning tasks and the current positions of all the floor cleaning machines to be allocated, the multiple floor cleaning machines to be allocated can be scheduled to execute multiple cleaning tasks based on the principle of nearby cleaning, task allocation operation can be automatically realized, the intelligentization and cleaning capacity of the floor cleaning machines are improved, better convenience is brought by saving cleaning time, the execution efficiency of the cleaning tasks is improved, and the cleaning efficiency is improved
In an embodiment, as shown in fig. 4, a method for controlling a floor cleaning machine is provided, which is exemplified by the server in fig. 1, and includes the following steps:
s401: receiving a cleaning task instruction, and analyzing the cleaning task instruction to determine a cleaning task;
s402: determining the floor cleaning machines to be distributed according to the state data of the networked floor cleaning machines;
s403: if the number of the cleaning tasks is at least two and the number of the floor cleaning machines to be distributed is at least two, performing mode matching according to target modes corresponding to all the cleaning tasks and support modes of all the floor cleaning machines to be distributed, and acquiring the mode matching degree between each cleaning task and each floor cleaning machine to be distributed;
s404: determining a target floor cleaning machine corresponding to each cleaning task according to the pattern matching degree between each cleaning task and each floor cleaning machine to be distributed;
s405: and sending the task information corresponding to the cleaning task to a target floor cleaning machine corresponding to the cleaning task so that the target floor cleaning machine executes the cleaning task.
Step S401 is consistent with step S201, step S402 is consistent with step S202, and step S405 is consistent with step S205, which are not repeated herein, step S403 is a specific implementation manner of step S203, and step S404 is a specific implementation manner of step S204.
The target mode herein refers to an operation mode required for the cleaning task execution process, and as an example, the target mode may be any one of a single-sweep mode, a single-mopping mode, and a sweeping-mopping mode. The support mode refers to an operation mode that can be executed by the machine to be distributed at the current time, and the support mode may be any one of a single-sweep mode, a single-mopping mode and a sweeping mode, as an example. The single sweeping mode is a mode that only sweeping is needed. The single-mopping mode refers to a mode in which mopping is only required. The sweeping and mopping mode refers to a mode in which sweeping and mopping are required.
As an example, in step S403, when the number of cleaning tasks is at least two and the number of to-be-allocated scrubber machines is at least two, the server needs to determine a target mode corresponding to each cleaning task from task information corresponding to each cleaning task, and determine a support mode of each to-be-allocated scrubber machine from machine data of each to-be-allocated scrubber machine; and then, performing mode matching according to the target modes corresponding to all the cleaning tasks and the support modes of all the floor cleaning machines to be distributed, and acquiring the mode matching degree between each cleaning task and each floor cleaning machine to be distributed. The pattern matching degree may reflect the degree of matching of whether each of the scrubber washers to be distributed is capable of achieving the target pattern. For example, if the target mode is the single sweep mode and the support modes of the scrubber to be distributed include the single sweep mode, the pattern matching degree is 100%; if the target mode is the single-sweep mode and the support mode of the floor washing machine to be distributed does not comprise the single-sweep mode, the mode matching degree is 0 percent; if the target mode is the sweeping mode and the supporting mode of the floor washing machine to be allocated includes only the single sweeping mode and not the single sweeping mode, the pattern matching degree is 50%.
As an example, in step S404, the server may determine a target floor cleaning machine corresponding to each cleaning task according to the obtained pattern matching degree between each cleaning task and each floor cleaning machine to be allocated. For example, the server may determine the target scrubber for each cleaning task one by one from high to low according to the magnitude order of the pattern matching degree.
In the cleaning control method for the floor cleaning machine, a multi-task allocation mechanism is adopted, the target floor cleaning machine corresponding to each cleaning task is determined according to the mode matching degree between the target modes corresponding to all the cleaning tasks and the support modes of all the floor cleaning machines to be allocated, the multiple floor cleaning machines to be allocated can be scheduled to execute multiple cleaning tasks based on the principle of meeting the cleaning requirement, the task allocation operation can be automatically realized, the intellectualization and the cleaning capability of the floor cleaning machines are improved, the cleaning time is saved, the better convenience is brought, the execution efficiency of the cleaning tasks is improved, and the cleaning efficiency is improved.
In an embodiment, as shown in fig. 5, a method for controlling a floor cleaning machine is provided, which is described by taking the server in fig. 1 as an example, and includes the following steps:
s501: receiving a cleaning task instruction, and analyzing the cleaning task instruction to determine a cleaning task;
s502: determining the floor cleaning machines to be distributed according to the state data of the networked floor cleaning machines;
s503: if the number of the cleaning tasks is at least two and the number of the floor cleaning machines to be distributed is at least two, performing position matching according to target areas corresponding to all the cleaning tasks and the current positions of all the floor cleaning machines to be distributed, and acquiring the position matching degree between each cleaning task and each floor cleaning machine to be distributed; performing mode matching according to target modes corresponding to all cleaning tasks and support modes of all to-be-distributed floor cleaning machines, and acquiring the mode matching degree between each cleaning task and each to-be-distributed floor cleaning machine;
s504: determining a target floor cleaning machine corresponding to each cleaning task according to the position matching degree and the mode matching degree between each cleaning task and each floor cleaning machine to be distributed;
s505: and sending the task information corresponding to the cleaning task to a target floor cleaning machine corresponding to the cleaning task so that the target floor cleaning machine executes the cleaning task.
Step S501 is the same as step S201, step S502 is the same as step S202, and step S506 is the same as step S205, which are not repeated here, step S503 is a specific implementation manner of step S203, and step S504 is a specific implementation manner of step S204.
As an example, in step S503, when the number of cleaning tasks is at least two and the number of to-be-allocated scrubber machines is at least two, the server needs to determine a target area corresponding to each cleaning task from task information corresponding to each cleaning task, and determine a current position of each to-be-allocated scrubber machine from machine data of each to-be-allocated scrubber machine; and then, carrying out position matching according to the target areas corresponding to all the cleaning tasks and the current positions of all the floor cleaning machines to be distributed, and acquiring the position matching degree between each cleaning task and each floor cleaning machine to be distributed. The location match may reflect how far each scrubber to be assigned is from the target area for a cleaning task.
In this example, the server may calculate a distance between the center position of the target area for each cleaning task and the current position of the scrubber to be distributed, and determine it as a target distance between the current position and the target area; or calculating the distance between the nearest edge of the target area of each cleaning task and the current position of the floor cleaning machine to be distributed, and determining the distance as the target distance between the current position and the target area; then, according to the target distance between the current position and the target area, the position matching degree between each cleaning task and each floor cleaning machine to be distributed is determined. For example, the server may employ a normalization algorithm to calculate a target distance between the current location and the target area to determine a location match between each cleaning task and each scrubber to be distributed. For another example, the server may query a preset distance matching degree comparison table based on the target distance between the current position and the target area, and determine the position matching degree between each cleaning task and each floor cleaning machine to be distributed, where the distance matching degree comparison table is a comparison table for reflecting the correspondence between different distances and different matching degrees.
As an example, in step S503, when the number of cleaning tasks is at least two and the number of to-be-allocated floor washers is at least two, the server needs to determine a target mode corresponding to each cleaning task from task information corresponding to each cleaning task, and determine a support mode of each to-be-allocated floor washer from machine data of each to-be-allocated floor washer; and then, performing mode matching according to the target modes corresponding to all the cleaning tasks and the support modes of all the floor cleaning machines to be distributed, and acquiring the mode matching degree between each cleaning task and each floor cleaning machine to be distributed. The pattern matching degree may reflect the degree of matching of whether each of the scrubber washers to be distributed is capable of achieving the target pattern. For example, if the target mode is the single sweep mode and the support modes of the scrubber to be distributed include the single sweep mode, the pattern matching degree is 100%; if the target mode is the single-sweep mode and the support mode of the floor washing machine to be distributed does not comprise the single-sweep mode, the mode matching degree is 0 percent; if the target mode is the sweep mode and the support mode of the scrubber to be allocated includes only the single sweep mode and not the single sweep mode, the pattern matching is 50%.
As an example, in step S504, the server determines the target scrubber for each cleaning task according to the position matching degree and the pattern matching degree between each cleaning task and each scrubber to be distributed. For example, the server may perform weighted calculation on the position matching degree and the pattern matching degree between each cleaning task and each floor cleaning machine to be allocated, obtain the weighted matching degree between each cleaning task and each floor cleaning machine to be allocated, and determine the target floor cleaning machine corresponding to each cleaning task one by one from high to low according to the magnitude sequence of the weighted matching degrees.
In the cleaning control method of the floor cleaning machine provided by the embodiment, a multi-task allocation mechanism is adopted, the target area and the target mode corresponding to all cleaning tasks are matched with the current position and the support mode corresponding to the floor cleaning machine to be allocated, the principle of considering the nearby principle and meeting the cleaning requirement can be realized, the multiple floor cleaning machines to be allocated are dispatched to execute multiple cleaning tasks, the task allocation operation can be automatically realized, the intelligentization and the cleaning capability of the floor cleaning machine are improved, better convenience is brought by saving the cleaning time, the execution efficiency of the cleaning tasks is improved, and the cleaning efficiency is improved.
In one embodiment, as shown in fig. 6, step S204, namely, determining the target scrubber for each cleaning task according to the task matching degree between each cleaning task and each scrubber to be distributed, includes:
s601: comparing the task matching degree between each cleaning task and each to-be-distributed floor washing machine with a target matching degree threshold value to obtain the target matching number corresponding to the to-be-distributed floor washing machine of which the task matching degree is greater than the target matching degree threshold value in each cleaning task;
s602: and determining the target floor cleaning machine corresponding to each cleaning task according to the sequence of the target matching number from small to large and the sequence of the task matching degree from large to small.
The target matching degree threshold is a preset threshold used for evaluating whether the matching degree requirement is met. The target matching number refers to the number of the floor cleaning machines to be distributed, wherein the task matching degree of each cleaning task is larger than a target matching degree threshold value.
For example, in the embodiment shown in fig. 3, the task matching degree is a position matching degree, the target matching degree threshold is a first matching degree threshold, and the target matching number is a first matching number, and the process of determining the target floor cleaning machine corresponding to each cleaning task is as follows: the server can compare the position matching degree between each cleaning task and each floor cleaning machine to be distributed with a first matching degree threshold value to obtain a first distribution quantity corresponding to the floor cleaning machine to be distributed, wherein the position matching degree is greater than the first matching degree threshold value, in each cleaning task; and determining the target floor cleaning machine corresponding to each cleaning task according to the sequence of the first distribution quantity from small to large and the sequence of the position matching degree from large to small. For example, analysis is performed according to the sequence of the first distribution quantity from small to large, and if the first distribution quantity is one, the to-be-distributed floor washing machine with the position matching degree larger than the first matching degree threshold value is directly determined as the target floor washing machine; and if the first distribution quantity is at least two, further determining the target floor washing machine according to the sequence of the position matching degrees from large to small. For example, the cleaning task instruction includes three cleaning tasks of a, B and C, and according to the status data of the networked floor washing machines, three floor washing machines to be allocated, i.e. U1, U2 and U3, are determined, and the calculated position matching degrees between each cleaning task and each floor washing machine to be allocated are Pl (A1), pl (A2), pl (A3), pl (B1), pl (B2), pl (B3), pl (C1), pl (C2) and Pl (C3), respectively; and comparing the calculated 9 position matching degrees with a first matching degree threshold value Pt1 respectively, determining the position matching degrees of Pl (A1), pl (B2), pl (B3), pl (C2) and Pl (C3) which are more than the first matching degree threshold value Pt1, and determining the first distribution quantities corresponding to the floor cleaning machines to be distributed with the position matching degrees which are more than the first matching degree threshold value to be 1, 3 and 2 respectively, namely the floor cleaning machines to be distributed which can be distributed by the three cleaning tasks of A, B and C are 1, 3 and 2 respectively. Because the number of the first distribution corresponding to the cleaning task A is 1, the floor cleaning machine U1 to be distributed, of which the position matching degree Pl (A1) is greater than the first matching degree threshold value, can be directly determined as the target floor cleaning machine corresponding to the cleaning task A; since the first distribution quantity corresponding to the cleaning task C is 2, the target floor cleaning machine corresponding to the cleaning task C can be determined to be U2 or U3 \8230, 8230, and so on according to the magnitude sequence of the position matching degrees Pl (C2) and Pl (C3).
For another example, in the embodiment shown in fig. 4, the task matching degree is a pattern matching degree, the target matching degree threshold is a second matching degree threshold, and the target matching number is a second matching number, and the process of determining the target scrubber corresponding to each cleaning task is as follows: the server can compare the pattern matching degree between each cleaning task and each floor cleaning machine to be distributed with a second matching degree threshold value to obtain a second matching number corresponding to the floor cleaning machine to be distributed, wherein the pattern matching degree is greater than the second matching degree threshold value in each cleaning task; and determining the target floor cleaning machine corresponding to each cleaning task according to the sequence of the second matching number from small to large and the sequence of the pattern matching degree from large to small. Generally speaking, if the second matching quantity is one, the floor washing machine to be distributed with the direct pattern matching degree larger than the second matching degree threshold value is determined as the target floor washing machine; and if the second matching quantity is at least two, further determining the target floor washing machine according to the sequence of the pattern matching degrees from large to small. For example, the cleaning task instruction includes three cleaning tasks of a, B and C, and the three to-be-distributed floor washers of U1, U2 and U3 are determined according to the state data of the networked floor washers, and the calculated pattern matching degrees between each cleaning task and each to-be-distributed floor washer are Pm (A1), pm (A2), pm (A3), pm (B1), pm (B2), pm (B3), pm (C1), pm (C2) and Pm (C3), respectively; and respectively comparing the calculated 9 pattern matching degrees with a second matching degree threshold value Pt2, determining the pattern matching degrees of Pm (A1), pm (B2), pm (B3), pm (C2) and Pm (C3) which are greater than the second matching degree threshold value Pt2, and determining that the second matching numbers corresponding to the to-be-distributed floor washers of which the pattern matching degrees are greater than the second matching degree threshold value are respectively 1, 3 and 2, namely, the to-be-distributed floor washers which can be distributed by the three cleaning tasks of A, B and C are respectively 1, 3 and 2. Because the number of the second matches corresponding to the cleaning task A is 1, the floor cleaning machine U1 to be distributed, of which the pattern matching degree Pm (A1) is greater than the second matching degree threshold value, can be directly determined as the target floor cleaning machine corresponding to the cleaning task A; because the number of the second matching numbers corresponding to the cleaning task C is 2, the target floor cleaning machine corresponding to the cleaning task C is determined to be U2 or U3 \8230 \ 8230;, and so on according to the size sequence of the pattern matching degrees Pm (C2) and Pm (C3), and the target floor cleaning machine corresponding to each cleaning task is determined from the floor cleaning machines to be distributed which are selected as the target floor cleaning machines.
For another example, in the embodiment shown in fig. 5, the task matching degree is a weighted matching degree determined based on the position matching degree and the pattern matching degree, the target matching degree threshold is a third matching degree threshold, and the target matching number is a third matching number, and the process of determining the target scrubber corresponding to each cleaning task is as follows: comparing the weighted matching degree between each cleaning task and each floor cleaning machine to be distributed with a third matching degree threshold value to obtain a third matching number corresponding to the floor cleaning machine to be distributed, wherein the weighted matching degree is greater than the third matching degree threshold value in each cleaning task; and determining the target floor cleaning machine corresponding to each cleaning task according to the sequence of the third matching number from small to large and the sequence of the weighted matching degree from large to small. For example, according to the sequence of the third matching number from small to large, if the third matching number is one, directly weighting the to-be-distributed scrubber with the matching degree larger than the third matching degree threshold value to determine the to-be-distributed scrubber as the target scrubber; and if the third matching quantity is at least two, further determining the target floor washing machine according to the sequence of the weighted matching degrees from large to small. For example, the cleaning task instruction includes three cleaning tasks of a, B and C, and according to the state data of the networked floor washers, three floor washers to be allocated, i.e., U1, U2 and U3, are determined, and the calculated weighted matching degrees between each cleaning task and each floor washer to be allocated are Pw (A1), pw (A2), pw (A3), pw (B1), pw (B2), pw (B3), pw (C1), pw (C2) and Pw (C3), respectively; and comparing the calculated 9 weighted matching degrees with a third matching degree threshold value Pt3 respectively, determining the weighted matching degrees of Pw (A1), pw (B2), pw (B3), pw (C2) and Pw (C3) which are more than the third matching degree threshold value Pt3, and determining that the third matching numbers corresponding to the cleaning machines to be distributed with the weighted matching degrees which are more than the third matching degree threshold value are 1, 3 and 2 respectively, namely, the cleaning machines to be distributed which can be distributed by the three cleaning tasks of A, B and C are 1, 3 and 2 respectively. Because the number of the third matches corresponding to the cleaning task A is 1, the floor cleaning machine U1 to be distributed, of which the weighted matching degree Pw (A1) is greater than the threshold value of the third matching degree, can be directly determined as the target floor cleaning machine corresponding to the cleaning task A; since the number of the third matches corresponding to the cleaning task C is 2, the target floor cleaning machine corresponding to the cleaning task C can be determined to be U2 or U3 \8230;, and so on, according to the magnitude sequence of the weighted matching degrees Pw (C2) and Pw (C3).
In the cleaning control method for the floor cleaning machine provided by the embodiment, the target matching number can be determined according to the comparison result of the task matching degree between each cleaning task and each floor cleaning machine to be distributed and the target matching degree threshold value, and based on the sequence of the target matching number from small to large and the sequence of the task matching degree from large to small, the task distribution operation is automatically realized, the intelligentization and cleaning capability of the floor cleaning machine are improved, the cleaning time is saved, the better convenience is brought, the execution efficiency of the cleaning task is improved, and the cleaning efficiency is improved.
It should be understood that, the sequence numbers of the steps in the foregoing embodiments do not imply an execution sequence, and the execution sequence of each process should be determined by functions and internal logic of the process, and should not limit the implementation process of the embodiments of the present invention in any way.
In one embodiment, a floor cleaning control device is provided, which corresponds to the floor cleaning control method in the above embodiments. As shown in fig. 7, the floor cleaning control apparatus includes a cleaning task determination module 701, a floor cleaning machine to be allocated determination module 702, a task matching degree determination module 703, a target floor cleaning machine determination module 704, and a cleaning task execution module 705. The detailed description of each functional module is as follows:
a cleaning task determining module 701, configured to receive a cleaning task instruction, and analyze the cleaning task instruction to determine a cleaning task;
a to-be-distributed floor cleaning machine determining module 702, configured to determine a to-be-distributed floor cleaning machine according to the state data of the networked floor cleaning machines;
the task matching degree determining module 703 is configured to, if the number of the cleaning tasks is at least two and the number of the scrubber to be allocated is at least two, perform task matching according to the task information corresponding to all the cleaning tasks and the machine data of all the scrubber to be allocated, and determine to obtain the task matching degree between each cleaning task and each scrubber to be allocated;
a target scrubber determining module 704, configured to determine a target scrubber corresponding to each cleaning task according to the task matching degree between each cleaning task and each scrubber to be allocated;
the cleaning task executing module 705 is configured to send task information corresponding to the cleaning task to a target scrubber corresponding to the cleaning task, so that the target scrubber executes the cleaning task.
In one embodiment, the status data for the networked scrubber includes a current status;
and a to-be-distributed scrubber determining module 702, configured to determine the networked scrubber in the idle state as the to-be-distributed scrubber.
In one embodiment, the status data of the networked scrubber includes a current status and a current remaining capacity;
and a to-be-distributed scrubber determining module 702, configured to determine a scrubber in which the current state is an idle state and the current remaining power is greater than a preset power threshold as the to-be-distributed scrubber.
In one embodiment, the task information corresponding to the cleaning task includes a target area; the machine data of the scrubber to be distributed comprises a current location;
the task matching degree determining module 703 is configured to perform position matching according to the target areas corresponding to all the cleaning tasks and the current positions of all the floor washers to be allocated, and obtain a position matching degree between each cleaning task and each floor washer to be allocated;
and the target floor cleaning machine determining module 704 is used for performing task allocation according to the position matching degree between each cleaning task and each floor cleaning machine to be allocated, and determining the target floor cleaning machine corresponding to each cleaning task.
In one embodiment, the task information corresponding to the cleaning task includes a target mode; the machine data of the floor washing machine to be distributed comprises a support mode;
the task matching degree determining module 703 is configured to perform pattern matching according to the target patterns corresponding to all the cleaning tasks and the support patterns of all the scrubber machines to be allocated, and obtain a pattern matching degree between each cleaning task and each scrubber machine to be allocated;
and the target floor cleaning machine determining module 704 is used for determining the target floor cleaning machine corresponding to each cleaning task according to the pattern matching degree between each cleaning task and each floor cleaning machine to be distributed.
In one embodiment, task information corresponding to a cleaning task comprises a target area and a target mode; the machine data of the floor washing machine to be distributed comprises a current position and a support mode;
the task matching degree determining module 703 is configured to perform position matching according to the target positions corresponding to all the cleaning tasks and the current positions of all the floor washers to be allocated, and obtain a position matching degree between each cleaning task and each floor washer to be allocated; performing mode matching according to target modes corresponding to all cleaning tasks and support modes of all to-be-distributed floor cleaning machines, and acquiring the mode matching degree between each cleaning task and each to-be-distributed floor cleaning machine;
and the target floor cleaning machine determining module 704 is used for determining the target floor cleaning machine corresponding to each cleaning task according to the position matching degree and the mode matching degree between each cleaning task and each floor cleaning machine to be distributed.
In one embodiment, the target scrubber determination module 704 includes:
the target matching number obtaining unit is used for comparing the task matching degree between each cleaning task and each floor cleaning machine to be distributed with a target matching degree threshold value to obtain the target matching number corresponding to the floor cleaning machine to be distributed, wherein the task matching degree is greater than the target matching degree threshold value in each cleaning task;
and the target floor washing machine determining unit is used for determining the target floor washing machine corresponding to each cleaning task according to the sequence of the target matching number from small to large and the sequence of the task matching degree from large to small.
For specific limitations of the scrubber cleaning control device, reference may be made to the above limitations of the scrubber cleaning control method, which are not described in detail here. All or part of the modules in the cleaning control device can be realized by software, hardware and the combination thereof. The modules can be embedded in a hardware form or independent from a processor in the computer device, and can also be stored in a memory in the computer device in a software form, so that the processor can call and execute operations corresponding to the modules.
In one embodiment, a computer device is provided, which may be a server or other device for performing a scrubber cleaning control method, and its internal structure diagram may be as shown in fig. 8. The computer device includes a processor, a memory, a network interface, and a database connected by a system bus. Wherein the processor of the computer device is configured to provide computing and control capabilities. The memory of the computer device comprises a nonvolatile storage medium and an internal memory. The non-volatile storage medium stores an operating system, a computer program, and a database. The internal memory provides an environment for the operation of an operating system and computer programs in the non-volatile storage medium. The database of the computer device is used for storing data used or generated for carrying out the process of the floor cleaning control method. The network interface of the computer device is used for communicating with an external terminal through a network connection. The computer program is executed by a processor to implement a scrubber cleaning control method.
In an embodiment, a computer device is provided, which includes a memory, a processor, and a computer program stored on the memory and executable on the processor, and when the processor executes the computer program, the method for controlling a floor cleaning machine in the foregoing embodiments is implemented, for example, S201-S205 shown in fig. 2, or shown in fig. 3 to 6, which is not described herein again to avoid repetition. Alternatively, the processor implements the functions of each module/unit in the embodiment of the floor cleaning machine cleaning control apparatus when executing the computer program, for example, the functions of the cleaning task determining module 701, the floor cleaning machine to be allocated determining module 702, the task matching degree determining module 703, the target floor cleaning machine determining module 704, and the cleaning task executing module 705 shown in fig. 7, which are not described herein again to avoid repetition.
In an embodiment, a computer-readable storage medium is provided, and a computer program is stored on the computer-readable storage medium, and when being executed by a processor, the computer program implements the cleaning control method in the above embodiments, such as S201-S205 shown in fig. 2, or shown in fig. 3 to 6, which are not repeated herein for avoiding repetition. Alternatively, the computer program, when executed by the processor, implements the functions of the modules/units in the embodiment of the floor cleaning control apparatus, such as the functions of the cleaning task determining module 701, the floor cleaning machine to be allocated determining module 702, the task matching degree determining module 703, the target floor cleaning machine determining module 704 and the cleaning task executing module 705 shown in fig. 7, and is not described herein again to avoid repetition.
It will be understood by those skilled in the art that all or part of the processes of the methods of the embodiments described above can be implemented by hardware instructions of a computer program, which can be stored in a non-volatile computer-readable storage medium, and when executed, can include the processes of the embodiments of the methods described above. Any reference to memory, storage, database, or other medium used in the embodiments provided herein may include non-volatile and/or volatile memory, among others. Non-volatile memory can include read-only memory (ROM), programmable ROM (PROM), electrically Programmable ROM (EPROM), electrically Erasable Programmable ROM (EEPROM), or flash memory. Volatile memory can include Random Access Memory (RAM) or external cache memory. By way of illustration and not limitation, RAM is available in a variety of forms such as Static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), double Data Rate SDRAM (DDRSDRAM), enhanced SDRAM (ESDRAM), synchronous Link DRAM (SLDRAM), rambus (Rambus) direct RAM (RDRAM), direct memory bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM).
It should be clear to those skilled in the art that, for convenience and simplicity of description, the foregoing division of the functional units and modules is only used for illustration, and in practical applications, the above function distribution may be performed by different functional units and modules as needed, that is, the internal structure of the apparatus may be divided into different functional units or modules to perform all or part of the above described functions.
The above-mentioned embodiments are only used for illustrating the technical solutions of the present invention, and not for limiting the same; although the present invention has been described in detail with reference to the foregoing embodiments, it should be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; such modifications and substitutions do not depart from the spirit and scope of the embodiments of the present invention, and they should be construed as being included therein.
Claims (10)
1. A floor cleaning machine sweeping control method is characterized by comprising the following steps:
receiving a cleaning task instruction, and analyzing the cleaning task instruction to determine a cleaning task;
determining the floor cleaning machines to be distributed according to the state data of the networked floor cleaning machines;
if the number of the cleaning tasks is at least two and the number of the floor cleaning machines to be distributed is at least two, performing task matching according to task information corresponding to all the cleaning tasks and machine data of all the floor cleaning machines to be distributed, and determining and acquiring the task matching degree between each cleaning task and each floor cleaning machine to be distributed;
determining a target floor cleaning machine corresponding to each cleaning task according to the task matching degree between each cleaning task and each floor cleaning machine to be distributed;
and sending the task information corresponding to the cleaning task to a target floor washing machine corresponding to the cleaning task so that the target floor washing machine executes the cleaning task.
2. The method of claim 1, wherein the status data of the networked scrubber comprises a current status;
according to the state data of the floor cleaning machine, the floor cleaning machine to be distributed is determined, and the method comprises the following steps: and determining the networked floor washing machine with the current state being the idle state as the floor washing machine to be distributed.
3. The floor scrubber cleaning control method as set forth in claim 1, wherein the status data of the networked floor scrubber includes a current status and a current remaining capacity;
the step of determining the floor washing machine to be distributed according to the state data of the floor washing machine comprises the following steps: and determining the floor washing machine in the idle state and with the current residual electric quantity greater than a preset electric quantity threshold value as the floor washing machine to be distributed.
4. The floor cleaning machine sweeping control method according to claim 1, wherein the task information corresponding to the cleaning task includes a target area; the machine data of the floor washing machine to be distributed comprises a current position;
the task matching is carried out according to the task information corresponding to all the cleaning tasks and the machine data of all the to-be-distributed floor washing machines, and the task matching degree between each cleaning task and each to-be-distributed floor washing machine is determined to be obtained, and the method comprises the following steps:
performing position matching according to target areas corresponding to all the cleaning tasks and the current positions of all the floor cleaning machines to be distributed, and acquiring the position matching degree between each cleaning task and each floor cleaning machine to be distributed;
the step of determining the target floor cleaning machine corresponding to each cleaning task according to the task matching degree between each cleaning task and each floor cleaning machine to be distributed comprises the following steps:
and performing task allocation according to the position matching degree between each cleaning task and each to-be-allocated floor washing machine, and determining a target floor washing machine corresponding to each cleaning task.
5. The floor cleaning machine sweeping control method according to claim 1, wherein the task information corresponding to the sweeping task includes a target mode; the machine data of the floor washing machine to be distributed comprises a support mode;
the task matching is carried out according to the task information corresponding to all the cleaning tasks and the machine data of all the to-be-distributed floor washers, and the task matching degree between each cleaning task and each to-be-distributed floor washer is determined and obtained, and the method comprises the following steps:
performing mode matching according to target modes corresponding to all the cleaning tasks and support modes of all the to-be-distributed floor washers, and acquiring the mode matching degree between each cleaning task and each to-be-distributed floor washer;
the step of determining the target floor cleaning machine corresponding to each cleaning task according to the task matching degree between each cleaning task and each floor cleaning machine to be distributed comprises the following steps:
and determining a target floor cleaning machine corresponding to each cleaning task according to the pattern matching degree between each cleaning task and each floor cleaning machine to be distributed.
6. The floor cleaning machine sweeping control method according to claim 1, wherein the task information corresponding to the sweeping task includes a target area and a target pattern; the machine data of the floor washing machine to be distributed comprises a current position and a support mode;
the task matching is carried out according to the task information corresponding to all the cleaning tasks and the machine data of all the to-be-distributed floor washers, and the task matching degree between each cleaning task and each to-be-distributed floor washer is determined and obtained, and the method comprises the following steps:
performing position matching according to target positions corresponding to all the cleaning tasks and the current positions of all the floor cleaning machines to be distributed, and acquiring the position matching degree between each cleaning task and each floor cleaning machine to be distributed; performing mode matching according to target modes corresponding to all the cleaning tasks and the support modes of all the to-be-distributed floor washing machines, and acquiring the mode matching degree between each cleaning task and each to-be-distributed floor washing machine;
the step of determining the target floor cleaning machine corresponding to each cleaning task according to the task matching degree between each cleaning task and each floor cleaning machine to be distributed comprises the following steps:
and determining a target floor washing machine corresponding to each cleaning task according to the position matching degree and the pattern matching degree between each cleaning task and each floor washing machine to be distributed.
7. The method for controlling the cleaning of a floor washing machine according to claim 1, wherein the step of determining the target floor washing machine corresponding to each cleaning task according to the task matching degree between each cleaning task and each floor washing machine to be distributed comprises the following steps:
comparing the task matching degree between each cleaning task and each to-be-distributed floor cleaning machine with a target matching degree threshold value to obtain the target matching number corresponding to the to-be-distributed floor cleaning machine of which the task matching degree is greater than the target matching degree threshold value in each cleaning task;
and determining the target floor cleaning machine corresponding to each cleaning task according to the sequence of the target matching number from small to large and the sequence of the task matching degree from large to small.
8. A floor cleaning machine sweeping control device is characterized by comprising:
the cleaning task determining module is used for receiving a cleaning task instruction and analyzing the cleaning task instruction to determine a cleaning task;
the to-be-distributed floor cleaning machine determining module is used for determining the to-be-distributed floor cleaning machine according to the state data of the networked floor cleaning machine;
the task matching degree determining module is used for matching tasks according to task information corresponding to all the cleaning tasks and machine data of all the to-be-distributed floor washers and determining and acquiring the task matching degree between each cleaning task and each to-be-distributed floor washer if the number of the cleaning tasks is at least two and the number of the to-be-distributed floor washers is at least two;
the target floor cleaning machine determining module is used for determining a target floor cleaning machine corresponding to each cleaning task according to the task matching degree between each cleaning task and each floor cleaning machine to be distributed;
and the cleaning task execution module is used for sending the task information corresponding to the cleaning task to the target floor cleaning machine corresponding to the cleaning task so as to enable the target floor cleaning machine to execute the cleaning task.
9. A computer arrangement comprising a memory, a processor and a computer program stored in the memory and executable on the processor, characterized in that the processor implements the scrubber cleaning control method according to any one of claims 1-7 when executing the computer program.
10. A computer-readable storage medium, in which a computer program is stored, which, when being executed by a processor, carries out a method for controlling a scrubber cleaning according to any one of claims 1-7.
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| PCT/CN2023/089432 WO2024077919A1 (en) | 2022-10-09 | 2023-04-20 | Floor cleaner cleaning control method and apparatus, computer device and storage medium |
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| CN111782383A (en) * | 2020-08-26 | 2020-10-16 | 北京元心科技有限公司 | Task allocation method, server, electronic terminal and computer readable storage medium |
| CN112353302A (en) * | 2020-10-28 | 2021-02-12 | 广东杜尼智能机器人工程技术研究中心有限公司 | Method for multi-robot collaborative scheduling of sweeping robots |
| CN115530699B (en) * | 2022-10-09 | 2023-09-26 | 深圳市普森斯科技有限公司 | Cleaning control method and device for floor cleaning machine, computer equipment and storage medium |
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| WO2024077919A1 (en) * | 2022-10-09 | 2024-04-18 | 深圳市普森斯科技有限公司 | Floor cleaner cleaning control method and apparatus, computer device and storage medium |
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| WO2024077919A1 (en) | 2024-04-18 |
| CN115530699B (en) | 2023-09-26 |
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