CN111374595B - Operation planning method and system of double-sweeping robot - Google Patents
Operation planning method and system of double-sweeping robot Download PDFInfo
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- CN111374595B CN111374595B CN201811616782.6A CN201811616782A CN111374595B CN 111374595 B CN111374595 B CN 111374595B CN 201811616782 A CN201811616782 A CN 201811616782A CN 111374595 B CN111374595 B CN 111374595B
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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
- A47L11/40—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
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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
- A47L11/4005—Arrangements of batteries or cells; Electric power supply arrangements
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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
- 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
- A47L2201/00—Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
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- Electric Vacuum Cleaner (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The invention relates to an operation planning method and system for a double-floor-sweeping robot, and belongs to the field of intelligent robots. Wherein, the method comprises the following steps: two sweeping robots are arranged, a first sweeping robot and a second sweeping robot are arranged, the first sweeping robot is higher than the second robot, the working height of the first sweeping robot is higher than a first height, the working height of the second sweeping robot is higher than a second height, the first height is higher than the second height, the first sweeping robot and the second sweeping robot are respectively communicated with a handheld terminal, an environment map is constructed by the first sweeping robot, a user obtains a higher working area of the first sweeping robot and a lower working area of the second sweeping robot on the handheld terminal, and the user selects an area to be worked and designates the corresponding sweeping robot to complete sweeping operation. The invention solves the technical problem that the existing sweeping robot cannot sweep large garbage because the sweeping robot is designed to be thinner for sweeping the bottom space of furniture.
Description
Technical Field
The invention relates to the field of intelligent robots, in particular to a method and a system for planning operation of a double-floor-sweeping robot.
Background
The floor sweeping robot is also called an automatic cleaner, intelligent dust collection, a robot dust collector and the like, is one of intelligent household appliances, and can automatically complete floor cleaning work in a room by means of certain artificial intelligence. Generally, the floor cleaning machine adopts a brushing and vacuum mode, and firstly absorbs the impurities on the floor into the garbage storage box, so that the function of cleaning the floor is achieved. Generally, a robot that performs cleaning, dust collection and floor wiping is also collectively called a floor sweeping robot. The machine body of the sweeping machine is a wireless machine, and mainly takes a disc type as a main machine. The rechargeable battery is used for operation, and the operation mode is a remote controller or an operation panel on the machine. Generally, the time can be set for cleaning in a reserved mode, and the automatic charging is realized. The sensor is arranged in front of the device, can detect obstacles, can automatically turn when touching a wall or other obstacles, and can walk different routes according to different manufacturers so as to plan cleaning areas. (some of the models of the older generations may lack some functions) because of their simple operation and convenience, they are becoming popular home appliances for office workers and modern families. The science and technology of the floor sweeping robot are more mature nowadays, so each brand has different research and development directions and has special designs, such as double dust absorption covers, a handheld dust collector, a dust collection box with washing and mopping functions, an aromatic agent releasing function, a photocatalyst sterilization function and the like.
However, the current trend is that the thinner the sweeping robot is, the better the cleaning dead angle below the furniture is, but the thinner sweeping robot cannot sweep larger garbage, and needs manual cleaning by a user, which causes great inconvenience to the user and reduces product experience.
Disclosure of Invention
The invention provides an operation planning method and system of a double-sweeping robot, which at least solve the technical problem that the existing sweeping robot cannot sweep large garbage due to the fact that the existing sweeping robot is designed to be thin in order to sweep the bottom space of furniture.
A method of job planning for a dual sweeping robot, the method comprising: step 1, a first floor sweeping robot and a second floor sweeping robot, wherein the first floor sweeping robot is higher than the second robot, the working height of the first floor sweeping robot is higher than a first height, the working height of the second floor sweeping robot is higher than a second height, the first height is higher than the second height, and the first floor sweeping robot and the second floor sweeping robot are respectively in communication connection with a handheld terminal; step 2, a user sends an environment map building instruction to the first ground scanning robot through the handheld terminal; step 3, the first floor sweeping robot and the second floor sweeping robot are both provided with a distance measuring sensor, and after receiving the instruction, the first floor sweeping robot starts the distance measuring sensor and constructs the environment map; step 4, the first sweeper robot sends the environment map to the handheld terminal; step 5, the handheld terminal is provided with a graphical display interface, receives the environment map, divides an area with the working height higher than or equal to the first height into a first floor sweeping robot working area according to the working height information in the environment map, and displays the other areas as a second floor sweeping robot working area to a user through the graphical display interface; step 6, the user selects a working area and sends a cleaning instruction through the handheld terminal; and 7, cleaning the working area of the first floor cleaning robot by the first floor cleaning robot according to the cleaning instruction, and cleaning the working area of the second floor cleaning robot by the second floor cleaning robot according to the cleaning instruction.
Further, after the cleaning instruction is sent, the first floor sweeping robot preferentially cleans the first floor sweeping robot operation area according to the cleaning instruction, and after the first floor sweeping robot finishes operation or returns to charge, the second floor sweeping robot starts to clean the second floor sweeping robot operation area according to the cleaning instruction.
Furthermore, the first floor sweeping robot and the second floor sweeping robot share the same charging seat.
Further, when the first floor sweeping robot is charging, the electric quantity of the second floor sweeping robot is not enough to complete the floor sweeping task, and then the second floor sweeping robot executes standby.
Further, when the first sweeping robot is charging and the electric quantity of the second sweeping robot is not enough to complete the sweeping task, whether the charged quantity of the first sweeping robot is enough to complete the remaining operation tasks in the working area of the first sweeping robot is judged, if yes, the first sweeping robot stops charging and executes the remaining operation tasks, and the second sweeping robot charges.
Furthermore, the operation area is an important operation area selected by the user, the important operation area is located in the operation area of the first sweeping robot, the first sweeping robot sweeps the floor according to the sweeping instruction aiming at the important operation area, and after the first sweeping robot finishes the operation or returns to charge, the second sweeping robot begins to sweep the important operation area according to the sweeping instruction.
Furthermore, the user sets a work starting time or a work time period for the work area through the handheld terminal, and the first sweeping robot and/or the second sweeping robot start and complete a work task according to the work starting time or the work time period.
A work planning system of a double-sweeping robot comprises: the first floor sweeping robot is higher than the second robot, the working height of the first floor sweeping robot is more than a first height, the working height of the second floor sweeping robot is more than a second height, the first height is higher than the second height, the first floor sweeping robot and the second floor sweeping robot are respectively in communication connection with a handheld terminal, and the first floor sweeping robot and the second floor sweeping robot are both provided with a distance measuring sensor; the handheld terminal is used for receiving the environment map, dividing an area with the working height higher than or equal to the first height into a first sweeping robot working area according to the working height information in the environment map, and displaying the rest areas as second sweeping robot working areas to a user through the graphical display interface; and the communication pairing module is respectively arranged on the sweeping robot and the handheld terminal of the user and is used for connecting the first sweeping robot and the second sweeping robot with the handheld terminal in a communication manner so as to transmit data.
The invention has the beneficial effects that: two sweeping robots are arranged, a first sweeping robot and a second sweeping robot are arranged, the first sweeping robot is higher than the second robot, the working height of the first sweeping robot is higher than a first height, the working height of the second sweeping robot is higher than a second height, the first height is higher than the second height, the first sweeping robot and the second sweeping robot are respectively communicated with a handheld terminal, an environment map is constructed by the first sweeping robot, a user obtains a higher working area of the first sweeping robot and a lower working area of the second sweeping robot on the handheld terminal, and the user selects an area to be worked and designates the corresponding sweeping robot to complete sweeping operation. Therefore, the technical effect that large garbage and small garbage can be cleaned up is achieved, and the technical problem that the existing sweeping robot cannot clean the large garbage due to the fact that the floor sweeping robot is designed to be thin for sweeping the bottom space of furniture is solved.
Drawings
The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the invention and not to limit the invention. In the drawings:
fig. 1 is a schematic flow chart of a method for planning a working path of a cleaning robot according to an embodiment of the present invention;
fig. 2 is a block diagram schematically illustrating a structure of a sweeping robot work path planning system according to an embodiment of the present invention.
Detailed Description
In order to make the technical solutions of the present invention better understood, 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 only a part of the embodiments of the present invention, and not all of the embodiments. 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.
It should be noted that the terms "first," "second," and the like in the description and claims of the present invention and in the drawings described above are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used is interchangeable under appropriate circumstances such that the embodiments of the invention described herein are capable of operation in sequences other than those illustrated or described herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed, but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.
In accordance with an embodiment of the present invention, there is provided an embodiment of a method for planning a work of a double-sweeping robot, wherein the steps illustrated in the flowchart of the drawings may be executed in a computer system, such as a set of computer-executable instructions, and wherein although a logical order is illustrated in the flowchart, in some cases, the steps illustrated or described may be executed in an order different from that described herein.
Fig. 1 is a method for planning operation of a double-sweeping robot according to an embodiment of the present invention, as shown in fig. 1, the method includes the following steps: step 10, as shown in fig. 2, the floor sweeping system comprises a first floor sweeping robot, a second floor sweeping robot and a mobile phone, wherein the first floor sweeping robot is higher than the second robot, the working height of the first floor sweeping robot is higher than a first height, the working height of the second floor sweeping robot is higher than a second height, the first height is higher than the second height, and the first floor sweeping robot and the second floor sweeping robot are respectively in communication connection with the mobile phone; step 20, a user sends an environment map building instruction to the first floor sweeping robot through the mobile phone; step 30, the first floor sweeping robot and the second floor sweeping robot are both provided with a distance measuring sensor, and after receiving the instruction, the first floor sweeping robot starts the distance measuring sensor and constructs the environment map; step 40, the first sweeper robot sends the environment map to the mobile phone; step 50, the mobile phone is provided with a graphical display interface, receives the environment map, divides an area with the working height higher than or equal to the first height into a first floor sweeping robot working area according to the working height information in the environment map, and displays the other areas as a second floor sweeping robot working area to a user through the graphical display interface; step 60, the user selects a working area, selects an air route type through the mobile phone and sends a cleaning instruction; and 70, cleaning the working area of the first floor cleaning robot by the first floor cleaning robot according to the cleaning instruction, and cleaning the working area of the second floor cleaning robot by the second floor cleaning robot according to the cleaning instruction.
According to an alternative embodiment of the present invention, the distance measuring sensor in step S30 is a laser distance measuring sensor, and the laser sensor is operated by first emitting laser pulses by the laser diode aiming at the target. The laser light is scattered in all directions after being reflected by the target. Part of the scattered light returns to the sensor receiver, is received by the optical system and is imaged onto the avalanche photodiode. The avalanche photodiode is an optical sensor having an amplification function therein, and thus it can detect an extremely weak optical signal. The time from the emission of the light pulse to the return to be received is recorded and processed, i.e. the target distance can be determined.
In some alternative embodiments of the present invention, step S60 is performed in which the user selects a parallel route on the cell phone display interface that is of the route type of a "bow" font that traverses the workable space.
In other alternative embodiments of the present invention, in step S60, the user selects the route type as an irregular free route traversing the workable space on the cell phone display interface.
In some alternative embodiments of the present invention, in step S60, the user selects the flight path type as a combined flight path of regular flight paths such as a parallel flight path and a spiral flight path traversing the workable space on the cell phone display interface.
In some alternative embodiments of the present invention, in step S60, the user selects the course type as a combination of a regular course and an irregular free course traversing the workable space on the cell phone display interface.
In some optional embodiments of the present invention, after the sweeping instruction is issued in step S70, the first sweeping robot preferentially sweeps the first sweeping robot working area according to the sweeping instruction, and after the first sweeping robot finishes working or returns to charging, the second sweeping robot starts to sweep the second sweeping robot working area according to the sweeping instruction.
In some optional embodiments of the present invention, the first sweeping robot and the second sweeping robot share the same charging stand.
In some optional embodiments of the present invention, when the first sweeping robot is charging and the electric quantity of the second sweeping robot is not enough to complete the sweeping task, the second sweeping robot executes a standby state.
In some optional embodiments of the present invention, when the first sweeping robot is charging and the electric quantity of the second sweeping robot is not enough to complete the sweeping task, it is determined whether the charged quantity of the first sweeping robot is enough to complete the remaining operation tasks in the working area of the first sweeping robot, if so, the first sweeping robot stops charging and executes the remaining operation tasks, and the second sweeping robot charges.
In some optional embodiments of the invention, the operation area is an important operation area selected by the user, and the important operation area is located in the operation area of the first sweeping robot, then, for the important operation area, the first sweeping robot sweeps according to the sweeping instruction, and after the first sweeping robot completes the operation or returns to charge, the second sweeping robot starts to sweep the important operation area according to the sweeping instruction.
In some optional embodiments of the present invention, the user sets a job start time or a job time period for the job area through the mobile phone, and the first sweeping robot and/or the second sweeping robot start and complete a job task according to the job start time or the job time period.
The embodiment of the invention also provides a storage medium, which comprises a stored program, wherein when the program runs, the equipment where the storage medium is located is controlled to execute the sweeping robot operation path planning method. The storage medium stores a program for executing the following functions: step 10, a first floor sweeping robot and a second floor sweeping robot, wherein the first floor sweeping robot is higher than the second robot, the working height of the first floor sweeping robot is more than a first height, the working height of the second floor sweeping robot is more than a second height, the first height is higher than the second height, and the first floor sweeping robot and the second floor sweeping robot are respectively in communication connection with a mobile phone; step 20, a user sends an environment map building instruction to the first floor sweeping robot through the mobile phone; step 30, the first floor sweeping robot and the second floor sweeping robot are both provided with a distance measuring sensor, and after receiving the instruction, the first floor sweeping robot starts the distance measuring sensor and constructs the environment map; step 40, the first sweeper robot sends the environment map to the mobile phone; step 50, the mobile phone is provided with a graphical display interface, receives the environment map, divides an area with the working height higher than or equal to the first height into a first floor sweeping robot working area according to the working height information in the environment map, and displays the other areas as a second floor sweeping robot working area to a user through the graphical display interface; step 60, the user selects a working area, selects an air route type through the mobile phone and sends a cleaning instruction; and 70, cleaning the working area of the first floor cleaning robot by the first floor cleaning robot according to the cleaning instruction, and cleaning the working area of the second floor cleaning robot by the second floor cleaning robot according to the cleaning instruction.
The embodiment of the invention also provides a processor, wherein the processor is used for running a program, and the program executes the sweeping robot operation path planning method during running.
The above-mentioned serial numbers of the embodiments of the present invention are merely for description and do not represent the merits of the embodiments.
In the above embodiments of the present invention, the descriptions of the respective embodiments have respective emphasis, and for parts that are not described in detail in a certain embodiment, reference may be made to related descriptions of other embodiments.
In the embodiments provided in the present invention, it should be understood that the disclosed technical contents can be implemented in other manners. The above-described embodiments of the apparatus are merely illustrative, and for example, the division of the units may be a logical division, and in actual implementation, there may be another division, for example, multiple units or components may be combined or integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection through some interfaces, units or modules, and may be in an electrical or other form.
The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.
In addition, functional units in the embodiments of the present invention may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit. The integrated unit can be realized in a form of hardware, and can also be realized in a form of a software functional unit.
The integrated unit, if implemented in the form of a software functional unit and sold or used as a stand-alone product, may be stored in a computer readable storage medium. Based on such understanding, the technical solution of the present invention may be embodied in the form of a software product, which is stored in a storage medium and includes instructions for causing a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the steps of the method according to the embodiments of the present invention. And the aforementioned storage medium includes: a U-disk, a Read-only Memory (ROM), a Random Access Memory (RAM), a removable hard disk, a magnetic or optical disk, and other various media capable of storing program codes.
In the embodiments provided by the present invention, it should be understood that the disclosed system, apparatus and method may be implemented in other ways. For example, the above-described apparatus embodiments are merely illustrative, and for example, the division of the units is only one logical division, and other divisions may be realized in practice, for example, a plurality of units or components may be combined or integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection through some interfaces, devices or units, and may be in an electrical, mechanical or other form. The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.
Claims (3)
1. A method for planning operation of a double-sweeping robot is characterized by comprising the following steps:
step 1, a first floor sweeping robot and a second floor sweeping robot, wherein the first floor sweeping robot is higher than the second floor sweeping robot, the working height of the first floor sweeping robot is higher than a first height, the working height of the second floor sweeping robot is higher than a second height, the first height is higher than the second height, and the first floor sweeping robot and the second floor sweeping robot are respectively in communication connection with a handheld terminal;
step 2, a user sends an environment map building instruction to the first ground scanning robot through the handheld terminal;
step 3, the first floor sweeping robot and the second floor sweeping robot are both provided with a distance measuring sensor, and after receiving the instruction, the first floor sweeping robot starts the distance measuring sensor and constructs the environment map;
step 4, the first sweeper robot sends the environment map to the handheld terminal;
step 5, the handheld terminal is provided with a graphical display interface, receives the environment map, divides an area with the working height higher than or equal to the first height into a first floor sweeping robot working area according to the working height information in the environment map, and displays the other areas as a second floor sweeping robot working area to a user through the graphical display interface;
step 6, the user selects a working area and sends a cleaning instruction through the handheld terminal, the working area is an important working area selected by the user, and the important working area is located in the first robot cleaning working area;
step 7, the first floor sweeping robot cleans the first floor sweeping robot operation area according to the cleaning instruction, and the second floor sweeping robot cleans the second floor sweeping robot operation area according to the cleaning instruction, wherein for the important operation area, the first floor sweeping robot cleans according to the cleaning instruction, and after the first floor sweeping robot finishes operation or returns to charge, the second floor sweeping robot starts to clean the important operation area according to the cleaning instruction;
the user sets a work starting time or a work time period for the work area through the handheld terminal, and the first sweeping robot and/or the second sweeping robot start and complete a work task according to the work starting time or the work time period;
the first floor sweeping robot and the second floor sweeping robot share the same charging seat; when the first floor sweeping robot is charging, and the electric quantity of the second floor sweeping robot is not enough to complete the floor sweeping task, judging whether the charged quantity of the first floor sweeping robot is enough to complete the residual operation task of the operation area of the first floor sweeping robot, if so, stopping charging the first floor sweeping robot and executing the residual operation task, and if not, executing standby by the second floor sweeping robot.
2. The method according to claim 1, wherein after the sweeping command is issued, the first sweeping robot preferentially sweeps the first sweeping robot working area according to the sweeping command, and after the first sweeping robot finishes working or returns to charging, the second sweeping robot starts sweeping the second sweeping robot working area according to the sweeping command.
3. An operation planning system of a double-sweeping robot, the system being used for implementing the operation planning method of the double-sweeping robot according to any one of claims 1 to 2, the system comprising:
the first floor sweeping robot is higher than the second floor sweeping robot, the working height of the first floor sweeping robot is more than a first height, the working height of the second floor sweeping robot is more than a second height, the first height is higher than the second height, the first floor sweeping robot and the second floor sweeping robot are respectively in communication connection with a handheld terminal, and the first floor sweeping robot and the second floor sweeping robot are both provided with a ranging sensor;
the handheld terminal is used for receiving the environment map, dividing an area with the working height higher than or equal to the first height into a first sweeping robot working area according to the working height information in the environment map, and displaying the rest areas as second sweeping robot working areas to a user through the graphical display interface;
and the communication pairing module is respectively arranged on the sweeping robot and the handheld terminal of the user and is used for connecting the first sweeping robot and the second sweeping robot with the handheld terminal in a communication manner so as to transmit data.
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| CN114098529B (en) * | 2021-11-26 | 2023-02-14 | 深圳乐生机器人智能科技有限公司 | Cleaning method for cleaning robot system, and storage medium |
| CN114468838B (en) * | 2022-01-21 | 2023-03-31 | 深圳市无限动力发展有限公司 | Charging control method, device, equipment and storage medium for cleaning robot |
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| CN108968805A (en) * | 2017-06-05 | 2018-12-11 | 碧洁家庭护理有限公司 | Autonomous floor-cleaning system |
| CN108420371A (en) * | 2018-06-21 | 2018-08-21 | 马书翠 | A kind of separate type sweeping robot control method |
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