CN107981788A - A kind of sweeping robot Multi computer cooperation system and method - Google Patents
A kind of sweeping robot Multi computer cooperation system and method Download PDFInfo
- Publication number
- CN107981788A CN107981788A CN201711169080.3A CN201711169080A CN107981788A CN 107981788 A CN107981788 A CN 107981788A CN 201711169080 A CN201711169080 A CN 201711169080A CN 107981788 A CN107981788 A CN 107981788A
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- Prior art keywords
- sweeping robot
- purging zone
- cleaning
- purging
- region
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Links
- 238000010408 sweeping Methods 0.000 title claims abstract description 125
- 238000000034 method Methods 0.000 title claims abstract description 16
- 238000010926 purge Methods 0.000 claims abstract description 144
- 238000004140 cleaning Methods 0.000 claims abstract description 100
- 238000005516 engineering process Methods 0.000 abstract description 3
- 239000002699 waste material Substances 0.000 abstract description 2
- 230000004888 barrier function Effects 0.000 description 6
- 238000010586 diagram Methods 0.000 description 5
- 238000005406 washing Methods 0.000 description 4
- 241001417527 Pempheridae Species 0.000 description 2
- 238000010276 construction Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000011002 quantification Methods 0.000 description 1
Classifications
-
- 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
-
- 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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- Manipulator (AREA)
Abstract
The invention belongs to space cleaning technology field, is related to a kind of sweeping robot Multi computer cooperation system and method.At present, more sweeping robots can be introduced come the completion that cooperates in order to improve cleaning efficiency when large space cleans, but it is to face the problem of to be solved that how more sweeping robots, which cooperate, are efficiently completed clean up task,.A kind of sweeping robot Multi computer cooperation system of the present invention, including the cleaning region being made of several adjacent purging zones, sweeping robot walking passageway is provided between adjacent purging zone, mutually pass through in purging zone along walking passageway at least provided with a sweeping robot, sweeping robot in each purging zone；The method is that cleaning region is divided into several adjacent purging zones, the sweeping robot of deployment in each purging zone is passed through the mutually current cleaning for realizing cleaning region of the walking passageway between purging zone.The system and method for the present invention avoid idleness of equipment waste, improve cleaning efficiency.
Description
Technical field
The invention belongs to space cleaning technology field, is related to a kind of sweeping robot Multi computer cooperation system and method.
Background technology
At present, people clean ground by sweeping robot, to mitigate or substitute hand sweeping.In large space,
Such as supermarket, market, hotel lobby ground, in order to it is timely, efficiently clean ground, often a sweeping robot is not enough to
Meet high-efficiency cleaning requirement.More clean robots can be introduced come the completion that cooperates, but at one in order to improve cleaning efficiency
In large space, how more sweeping robots cooperate, are efficiently completed clean up task, are currently to face to solve the problems, such as.
The content of the invention
Present invention aims at a kind of sweeping robot Multi computer cooperation system and method is provided, will make after cleaning region division
More sweeping robots are freely come and gone by walking passageway, cooperative job realizes region clean, are swept with solving large space Nei Duotai
The problem of floor-washing robot cooperation cleaning ground.
To achieve the above object, the technical solution adopted by the present invention is：
A kind of sweeping robot Multi computer cooperation system, including cleaning region, its feature are being：The cleaning region by
Several adjacent purging zones are formed, and the walking passageway of sweeping robot, Mei Geqing are provided between adjacent purging zone
Sweep in region at least provided with a sweeping robot, sweeping robot phase in the purging zone along walking passageway
It is mutually current.
Above-mentioned purging zone at least two.
At least provided with a sweeping robot in above-mentioned each purging zone.
A kind of sweeping robot Multi computer cooperation method, is that cleaning region is divided into several adjacent purging zones, makes
The sweeping robot of deployment passes through the mutually current realization cleaning region of the walking passageway between purging zone in each purging zone
Cleaning.
A kind of sweeping robot Multi computer cooperation method, comprises the following steps：
1) the cleaning region is divided into several adjacent purging zones；It is provided between adjacent purging zone
Walking passageway；
2) an at least sweeping robot is deployed with each purging zone；
3) after the completion of any purging zone cleaning described in, the sweeping robot of the purging zone by walking passageway into
Enter unfinished clean purging zone.
When above-mentioned unfinished clean purging zone remaining time is more than fixed time period, the sweeping area of the cleaning completion
The sweeping robot in domain, which enters, does not complete clean purging zone.
A kind of sweeping robot Multi computer cooperation method, comprises the following steps：
1) cleaning region is divided into several adjacent purging zones；It is logical that walking is provided between adjacent purging zone
Road；
2) an at least sweeping robot is deployed with each purging zone；
3) sweeping robot in the remaining minimum cleaning time purging zone is entered remaining most by walking passageway
The purging zone of cleaning time.
Minimum cleaning time of the above-mentioned most cleaning times more than 3 times.
The present invention is had the following advantages that and effect relative to the prior art：
1st, the cleaning region of large space is divided into multiple adjacent purging zones by the present invention, in each purging zone
At least set a sweeping robot to be cleaned, accelerate cleaning efficiency；It is provided with the same time in adjacent purging zone and is used to sweep
The walking passageway of floor-washing robot walking, after the completion of the cleaning of some purging zone, the sweeping robot in the purging zone can
Enter the purging zone for not cleaning completion by walking passageway, it is jointly clear with the sweeping robot of the not clean purging zone
It is clean, not only shorten cleaning efficiency, while it also avoid idleness of equipment waste.
2nd, after the completion of the cleaning of some purging zone, the residue that can monitor a certain purging zone for not cleaning completion is clear
The clean time, if the residue cleaning time is more than a certain setting time value, cleaning completes the sweeping robot in region according to the time
Sequence does not complete clean purging zone automatically into corresponding, and the sweeping robot common operational with the region, accelerates cleaning
Efficiency, which can freely set taking human as according to cleaning scene, convenient and efficient.
3rd, in cleaning, if the remaining cleaning time of some purging zone is long, it can set and meet that minimax remains
Remaining cleaning time difference is more than the principle of three times, and the sweeping robot in the short purging zone of remaining cleaning time is added to residue
The long purging zone of cleaning time, not only shortens overall cleaning time, while improves the utilization rate of equipment.
Brief description of the drawings
Fig. 1 is sweeping robot Multi computer cooperation system construction drawing of the present invention.
Fig. 2 is that the embodiment of the present invention 1 cleans region sweeping robot cleaning schematic diagram.
Fig. 3 is that the embodiment of the present invention 2 cleans region sweeping robot cleaning schematic diagram.
Fig. 4 is that the embodiment of the present invention 2 cleans region sweeping robot equipment calls cleaning schematic diagram.
Fig. 5 is that the embodiment of the present invention 5 cleans region sweeping robot cleaning schematic diagram.
Fig. 6 is that the embodiment of the present invention 5 cleans region sweeping robot equipment calls cleaning schematic diagram.
In figure：1- cleans region, 2- walking passageways, 3- purging zones, 4- sweeping robots, 5- barriers.
Embodiment
The present invention is described in detail with specific embodiment below in conjunction with the accompanying drawings.
Referring to Fig. 1.A kind of sweeping robot Multi computer cooperation system, including cleaning region 1, the cleaning region is by some
A adjacent purging zone 3 is formed, and the purging zone 3 divides successively according to the placement region of barrier 5 to be formed.Adjacent
The walking passageway 2 voluntarily to pass through for sweeping robot is set between purging zone 3, one is deployed with each purging zone 3
Or more sweeping robots 4, the deployment quantity of sweeping robot can be determined according to purging zone size or voluntarily quantification.When
When sweeping robot 4 in a certain purging zone 3 cleans completion, or the remaining of the region cleans the time less than unfinished sweeping area
During the remaining time in domain, the part sweeping robot of the purging zone can be passed through along walking passageway 2 to adjacent not complete
Into in clean purging zone, together cleaned with not completing the sweeping robot in clean purging zone, complete whole cleaning
The cleaning in region 1.
A kind of sweeping robot Multi computer cooperation method of the present invention, first according to the barrier situation in cleaning region by institute
The cleaning region stated is divided into several purging zones, is at least 2, being both provided between each adjacent cleaning region can
Make the walking passageway that sweeping robot passes through, varying number is disposed according to situations such as the size of each purging zone, barrier
Sweeping robot, when the sweeping robot of some purging zone, which cleans, to be completed, sweeping in the purging zone which completes
Floor-washing robot can enter adjacent unfinished clean purging zone by walking passageway, common with the sweeping robot in the region
Operation, and so on, the final whole cleanings for realizing whole cleaning region.
Certainly, it is more than the minimum of 3 times of any other a purging zone when some purging zone cleaning remaining time
During remaining cleaning time, then it can pass through sweeping robot from the cleaning remaining time few cleaning intra-domain call sweeping robot
Walking passageway to cleaning remaining time more than purging zone in, with cleaning remaining time more than purging zone in sweeping robot
Together operation.
Meanwhile can also artificially be set for the remaining cleaning time of respective purging zone, when a certain purging zone
Remaining cleaning time when reaching the setting value, then pass through from the few sweeping area intra-domain call sweeping robot of remaining cleaning time
Walking passageway to cleaning remaining time more than purging zone in, with cleaning remaining time more than purging zone in sweeping robot
Together operation.
Embodiment 1
Referring to Fig. 2.Fig. 2 is the cleaning region 1 of a market plane figure.First, the barrier (barrier that will be cleaned in region 1
Hindering thing to include business's cabinet, elevator, retail shop etc., hinder the object of sweeping robot walking) situation will need clean open space to draw
It is divided into adjacent purging zone A, purging zone B and purging zone C, walking passageway is provided between three adjacent purging zones
2 is current for sweeping robot contact.A sweeping robot A1 is provided with the first purging zone A, described clear
Sweep and two sweeping robot B1 and sweeping robot B2 are provided with the B of region, three machines of sweeping the floor are provided with purging zone C
People C1, C2, C3.During cleaning, purging zone A is cleaned by sweeping robot A1, and purging zone B is by sweeping robot B1 and cleaning
Robot B2 is cleaned jointly, and purging zone C is completed clear jointly by sweeping robot C1, sweeping robot C2 and sweeping robot C3
Sweep.
Embodiment 2
Referring to Fig. 3.Fig. 3 is the cleaning region 1 of a market plane figure.First, will clean region 1 be divided into it is adjacent clear
Region D, purging zone E and purging zone F are swept, walking passageway 2 is provided between three adjacent purging zones for machine of sweeping the floor
People's contact is current.Sweeping robot, wherein purging zone D are deployed with respectively in purging zone D, purging zone E and purging zone F
It is deployed with sweeping robot D1；Purging zone E has sweeping robot E1 and sweeping robot E2；It is deployed with and sweeps in purging zone F
Floor-washing robot F1, sweeping robot F2 and sweeping robot F3.The sweeping robot of each purging zone is in respective sweeping area
Cleaning operation is carried out in domain, as the T of purging zone DD(the remaining cleaning time of cleaning region D) ＞ 3*TF(purging zone F's is surplus
Remaining cleaning time), as shown in figure 4, then transferring a sweeping robot from purging zone F at this time enters purging zone D, sweeping area
The sweeping robot F3 of domain F enters purging zone along the sweeping robot walking passageway between purging zone F and purging zone D
The sweeping robot D1 of D and purging zone D together cleaning operations, are completed until purging zone D is cleaned.
Embodiment 3
As different from Example 2, region will be cleaned and be divided into n adjacent purging zones, n is the natural number more than 2,
Walking passageway is provided between the adjacent purging zone, at this time, the area for setting each purging zone is followed successively by S1、S2、
S3、...、Sm、...、Sn, the cleaning efficiency of sweeping robot is w, and sweeping robot quantity is n in each purging zone1、n2、
n3、...、nm、...、nn, then each purging zone cleaning remaining time is Tn=(Sn-w*nn*t)/(w*nn), work as Tn(max)It is (maximum
Remaining cleaning time) ＞ 3*Tm(min)(3 times of least residue cleaning times), purging zone n will transfer the sweeper of purging zone m
The sweeping robot that device people enters in purging zone n and purging zone n together carries out cleaning operation；And so on, until by institute
There is cleaning region clean to complete.
Embodiment 4
As different from Example 3, when purging zone m, which is cleaned, to be completed, the Tn (residues of purging zone n of purging zone n
Cleaning time) ＞ fixed value time values L (L can according to user need setting freely be adjusted, unit is minute) when, sweeping area
Domain n together carries out the sweeping robot that the sweeping robot for transferring purging zone m enters in purging zone n and purging zone n
Cleaning operation.
Embodiment 5
Referring to Fig. 5.Fig. 5 is the cleaning region 1 of a market plane figure.First, will clean region 1 be divided into it is adjacent clear
Region G, purging zone H and purging zone I are swept, walking passageway 2 is provided between three adjacent purging zones and supplies sweeper
Device people contact is current.A sweeping robot G1 is provided with the purging zone G, is set in the purging zone I
There are two sweeping robot I1 and sweeping robot I2, sweeping robot H1, sweeping robot H2 are provided with purging zone H
And sweeping robot H3.The sweeping robot of each purging zone carries out cleaning operation in respective purging zone, works as cleaning
When H cleanings in region are completed, then sweeping robot is called to enter purging zone G from purging zone H, as shown in fig. 6, purging zone H
Sweeping robot H1 along the sweeping robot walking passageway between purging zone H and purging zone G enter purging zone G with
The sweeping robot G1 of purging zone G together cleaning operations, are completed until purging zone G is cleaned.
Claims (8)
1. a kind of sweeping robot Multi computer cooperation system, including cleaning region, its feature are being：If the cleaning region by
Dry adjacent purging zone is formed, and the walking passageway of sweeping robot is provided between adjacent purging zone, each to clean
At least be deployed with a sweeping robot in region, the sweeping robot along walking passageway in the purging zone mutually
It is current.
A kind of 2. sweeping robot Multi computer cooperation system according to claim 1, it is characterised in that：The purging zone is extremely
It is two less.
A kind of 3. sweeping robot Multi computer cooperation system according to claim 1 or claim 2, it is characterised in that：Described is each clear
Sweep and a sweeping robot is at least deployed with region.
4. a kind of sweeping robot Multi computer cooperation method, is that cleaning region is divided into several adjacent purging zones, makes every
The sweeping robot of deployment realizes the clear of cleaning region by the way that the walking passageway between purging zone is mutually current in a purging zone
It is clean.
A kind of 5. sweeping robot Multi computer cooperation method according to claim 4, it is characterised in that：Comprise the following steps：
1) the cleaning region is divided into several adjacent purging zones；Walking is provided between adjacent purging zone
Passage；
2) an at least sweeping robot is deployed with each purging zone；
3) after the completion of any one purging zone cleaning described in, the sweeping robot of the purging zone is entered not by walking passageway
Complete clean purging zone.
A kind of 6. sweeping robot Multi computer cooperation method according to claim 5, it is characterised in that：It is described unfinished clean
When purging zone remaining time is more than fixed time period, the sweeping robot for the purging zone that the cleaning is completed, which enters, not to be completed
Clean purging zone.
A kind of 7. sweeping robot Multi computer cooperation method according to claim 4, it is characterised in that：Comprise the following steps：
1) the cleaning region is divided into several adjacent purging zones；Walking is provided between adjacent purging zone
Passage；
2) an at least sweeping robot is deployed with each purging zone；
3) sweeping robot in the remaining minimum cleaning time purging zone is entered by walking passageway
The purging zone of remaining at most cleaning time.
A kind of 8. sweeping robot Multi computer cooperation method according to claim 7, it is characterised in that：It is described most when cleaning
Between minimum more than 3 times clean the time.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711169080.3A CN107981788A (en) | 2017-11-22 | 2017-11-22 | A kind of sweeping robot Multi computer cooperation system and method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711169080.3A CN107981788A (en) | 2017-11-22 | 2017-11-22 | A kind of sweeping robot Multi computer cooperation system and method |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN107981788A true CN107981788A (en) | 2018-05-04 |
Family
ID=62032467
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201711169080.3A Pending CN107981788A (en) | 2017-11-22 | 2017-11-22 | A kind of sweeping robot Multi computer cooperation system and method |
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Cited By (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108420371A (en) * | 2018-06-21 | 2018-08-21 | 马书翠 | A kind of separate type sweeping robot control method |
| CN108742378A (en) * | 2018-06-21 | 2018-11-06 | 马书翠 | A kind of separate type sweeping robot control system |
| CN110427036A (en) * | 2019-08-14 | 2019-11-08 | 成都普诺思博科技有限公司 | A kind of cloud management system of commercialization clean robot |
| CN110604515A (en) * | 2019-09-11 | 2019-12-24 | 深圳市银星智能科技股份有限公司 | Multi-machine cooperation system and cleaning equipment |
| CN111358353A (en) * | 2018-12-26 | 2020-07-03 | 珠海市一微半导体有限公司 | Cleaning robot work distribution method and device and work system |
| CN111374605A (en) * | 2018-12-28 | 2020-07-07 | 珠海市一微半导体有限公司 | Gemini sweeping robot and sweeping method thereof |
| CN111813111A (en) * | 2020-06-29 | 2020-10-23 | 佛山科学技术学院 | Multi-robot cooperative working method |
| CN112190182A (en) * | 2020-09-24 | 2021-01-08 | 广东杜尼智能机器人工程技术研究中心有限公司 | Method for finishing cleaning task in cluster mode |
| WO2021010899A1 (en) * | 2019-07-15 | 2021-01-21 | Lionsbot International Pte. Ltd. | System and apparatus for cooperative cleaning |
| CN112677154A (en) * | 2020-12-21 | 2021-04-20 | 正从科技(上海)有限公司 | Artificial intelligent cleaning robot collaborative cleaning method and system |
| CN114532927A (en) * | 2022-03-23 | 2022-05-27 | 北京小米移动软件有限公司 | Cleaning method, cleaning device, cleaning system, electronic device, and storage medium |
| CN114829085A (en) * | 2019-12-20 | 2022-07-29 | Lg电子株式会社 | Mobile robot and control method thereof |
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Cited By (19)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108420371A (en) * | 2018-06-21 | 2018-08-21 | 马书翠 | A kind of separate type sweeping robot control method |
| CN108742378A (en) * | 2018-06-21 | 2018-11-06 | 马书翠 | A kind of separate type sweeping robot control system |
| CN111358353B (en) * | 2018-12-26 | 2021-12-24 | 珠海一微半导体股份有限公司 | Cleaning robot work distribution method and device and work system |
| CN111358353A (en) * | 2018-12-26 | 2020-07-03 | 珠海市一微半导体有限公司 | Cleaning robot work distribution method and device and work system |
| CN111374605A (en) * | 2018-12-28 | 2020-07-07 | 珠海市一微半导体有限公司 | Gemini sweeping robot and sweeping method thereof |
| WO2021010899A1 (en) * | 2019-07-15 | 2021-01-21 | Lionsbot International Pte. Ltd. | System and apparatus for cooperative cleaning |
| CN110427036A (en) * | 2019-08-14 | 2019-11-08 | 成都普诺思博科技有限公司 | A kind of cloud management system of commercialization clean robot |
| CN110604515A (en) * | 2019-09-11 | 2019-12-24 | 深圳市银星智能科技股份有限公司 | Multi-machine cooperation system and cleaning equipment |
| CN110604515B (en) * | 2019-09-11 | 2021-05-28 | 深圳市银星智能科技股份有限公司 | Multi-machine cooperation system and cleaning equipment |
| CN114829085A (en) * | 2019-12-20 | 2022-07-29 | Lg电子株式会社 | Mobile robot and control method thereof |
| CN114829085B (en) * | 2019-12-20 | 2023-11-14 | Lg电子株式会社 | Mobile robot and control method thereof |
| CN111813111A (en) * | 2020-06-29 | 2020-10-23 | 佛山科学技术学院 | Multi-robot cooperative working method |
| CN111813111B (en) * | 2020-06-29 | 2024-02-20 | 佛山科学技术学院 | Multi-robot cooperative working method |
| CN112190182A (en) * | 2020-09-24 | 2021-01-08 | 广东杜尼智能机器人工程技术研究中心有限公司 | Method for finishing cleaning task in cluster mode |
| CN112190182B (en) * | 2020-09-24 | 2021-07-27 | 广东杜尼智能机器人工程技术研究中心有限公司 | Method for finishing cleaning task in cluster mode |
| CN112677154B (en) * | 2020-12-21 | 2022-04-12 | 正从科技(上海)有限公司 | Artificial intelligent cleaning robot collaborative cleaning method and system |
| CN112677154A (en) * | 2020-12-21 | 2021-04-20 | 正从科技(上海)有限公司 | Artificial intelligent cleaning robot collaborative cleaning method and system |
| CN114532927A (en) * | 2022-03-23 | 2022-05-27 | 北京小米移动软件有限公司 | Cleaning method, cleaning device, cleaning system, electronic device, and storage medium |
| CN114532927B (en) * | 2022-03-23 | 2023-09-19 | 北京小米移动软件有限公司 | Cleaning method, cleaning device, cleaning system, electronic device, and storage medium |
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Application publication date: 20180504 |