CN112353302A - Method for multi-robot collaborative scheduling of sweeping robots - Google Patents
Method for multi-robot collaborative scheduling of sweeping robots Download PDFInfo
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- CN112353302A CN112353302A CN202011173278.0A CN202011173278A CN112353302A CN 112353302 A CN112353302 A CN 112353302A CN 202011173278 A CN202011173278 A CN 202011173278A CN 112353302 A CN112353302 A CN 112353302A
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- Prior art keywords
- sweeping robot
- robot
- sweeping
- area
- tasks
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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
- A47L11/4011—Regulation of the cleaning machine by electric means; Control systems and remote control systems therefor
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- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The invention discloses a method for multi-robot collaborative scheduling of a sweeping robot, which comprises the following steps: the sweeping robot reports various current states to the server at intervals; counting the quantity according to the current state of the sweeping robot, calculating the total area of the tasks to be swept, carrying out a distribution method close to the average area, respectively designating the areas to be swept by the corresponding sweeping robot, and distributing the sweeping tasks; the user sets the conditions for multi-machine cooperative operation or single operation according to the condition of the user, and the server controls the sweeping robot according to the set conditions. The method is capable of accomplishing the best cleaning task at the least cost.
Description
Technical Field
The invention relates to the technical field of sweeping robots, in particular to a method for multi-robot collaborative scheduling of sweeping robots.
Background
With the continuous development of science and technology, the sweeper (also called sweeping robot) gradually moves into common families and is accepted by more and more people. When a sweeping robot executes a sweeping task, path planning is needed, namely a safe and feasible path is selected to avoid collision with obstacles in a working space, the path planning is also one of key technologies of a mobile robot, the problems of environment map construction, robot positioning and the like are involved, and the method is an important direction for modern robot research. Most of current intelligent cleaning equipment are cleaned independently, and the flexibility of multi-machine cooperation and the unified planning are lacked.
Disclosure of Invention
The object of the invention is to provide a method which makes it possible to carry out the best cleaning task at the least cost.
In order to solve the technical problems, the technical scheme adopted by the invention is as follows: a method for multi-robot collaborative scheduling of a sweeping robot is characterized by comprising the following steps:
the sweeping robot reports various current states to the server at intervals;
counting the quantity according to the current state of the sweeping robot, calculating the total area of the tasks to be swept, carrying out a distribution method close to the average area, respectively designating the areas to be swept by the corresponding sweeping robot, and distributing the sweeping tasks;
the user sets the conditions for multi-machine cooperative operation or single operation according to the condition of the user, and the server controls the sweeping robot according to the set conditions.
The further technical scheme is as follows: the various states include an operating state, an idle state, a cleaning state, a charging state, and a current coordinate.
The further technical scheme is as follows: the set conditions comprise that the area of the area to be cleaned is larger than the set area or only a nearest healthy and available machine is scheduled to carry out a cleaning task with a small area.
Adopt the produced beneficial effect of above-mentioned technical scheme to lie in: the method is mainly suitable for large-area cleaning tasks, such as global cleaning tasks, and the cleaning tasks are quickly cleaned and completed. The method has the advantages that the small area is near, the machine is scheduled to clean, the time cost is reduced, the electricity is saved, the service life of the machine is prolonged, and the best task cleaning can be completed with the least cost.
Drawings
The present invention will be described in further detail with reference to the accompanying drawings and specific embodiments.
FIG. 1 is a flow chart of a method according to an embodiment of the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention are 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.
In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present invention, but the present invention may be practiced in other ways than those specifically described and will be readily apparent to those of ordinary skill in the art without departing from the spirit of the present invention, and therefore the present invention is not limited to the specific embodiments disclosed below.
As shown in fig. 1, an embodiment of the present invention discloses a method for multi-robot collaborative scheduling of a sweeping robot, including the following steps:
at regular intervals of the sweeper, the server reports the current running state, such as the information of an idle state, a sweeping state, a charging state, current coordinates and the like.
Counting the number according to the current idle and healthy machines, calculating the total area of the tasks to be cleaned, performing a distribution method which is properly close to the average area, and respectively assigning the areas to be cleaned of the corresponding machines to distribute the cleaning tasks.
The user can trigger the condition of multi-machine cooperation according to the condition of the user, such as the area is larger than a plurality of specific areas, or multi-machine cooperation is only carried out when a global cleaning task is carried out, or only the nearest healthy and available machine is scheduled to carry out a small-area cleaning task. The user can flexibly set the requirements of the user.
The method is mainly suitable for large-area cleaning tasks, such as global cleaning tasks, and the cleaning tasks are quickly cleaned and completed. The method has the advantages that the small area is near, the machine is scheduled to clean, the time cost is reduced, the electricity is saved, the service life of the machine is prolonged, and the best task cleaning can be completed with the least cost.
Claims (3)
1. A method for multi-robot collaborative scheduling of a sweeping robot is characterized by comprising the following steps:
the sweeping robot reports various current states to the server at intervals;
counting the quantity according to the current state of the sweeping robot, calculating the total area of the tasks to be swept, carrying out a distribution method close to the average area, respectively designating the areas to be swept by the corresponding sweeping robot, and distributing the sweeping tasks;
the user sets the conditions for multi-machine cooperative operation or single operation according to the condition of the user, and the server controls the sweeping robot according to the set conditions.
2. The method for the multi-robot collaborative scheduling of the sweeping robot according to claim 1, characterized in that:
the various states include an operating state, an idle state, a cleaning state, a charging state, and a current coordinate.
3. The method for the multi-robot collaborative scheduling of the sweeping robot according to claim 1, characterized in that:
the set conditions comprise that the area of the area to be cleaned is larger than the set area or only a nearest healthy and available machine is scheduled to carry out a cleaning task with a small area.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011173278.0A CN112353302A (en) | 2020-10-28 | 2020-10-28 | Method for multi-robot collaborative scheduling of sweeping robots |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011173278.0A CN112353302A (en) | 2020-10-28 | 2020-10-28 | Method for multi-robot collaborative scheduling of sweeping robots |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN112353302A true CN112353302A (en) | 2021-02-12 |
Family
ID=74511128
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202011173278.0A Withdrawn CN112353302A (en) | 2020-10-28 | 2020-10-28 | Method for multi-robot collaborative scheduling of sweeping robots |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN112353302A (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113749565A (en) * | 2021-09-23 | 2021-12-07 | 珠海一微半导体股份有限公司 | Multi-floor cleaning control method for robot |
| CN113854906A (en) * | 2021-10-22 | 2021-12-31 | 广州科语机器人有限公司 | Control method, device and equipment for cooperative operation of multiple cleaning robots |
| CN114677068A (en) * | 2022-05-30 | 2022-06-28 | 深圳博鹏智能科技有限公司 | Scheduling management method and system for disinfection floor cleaning robot |
| 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 |
-
2020
- 2020-10-28 CN CN202011173278.0A patent/CN112353302A/en not_active Withdrawn
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113749565A (en) * | 2021-09-23 | 2021-12-07 | 珠海一微半导体股份有限公司 | Multi-floor cleaning control method for robot |
| CN113749565B (en) * | 2021-09-23 | 2023-08-15 | 珠海一微半导体股份有限公司 | Multi-floor cleaning control method of robot |
| CN113854906A (en) * | 2021-10-22 | 2021-12-31 | 广州科语机器人有限公司 | Control method, device and equipment for cooperative operation of multiple cleaning robots |
| CN114677068A (en) * | 2022-05-30 | 2022-06-28 | 深圳博鹏智能科技有限公司 | Scheduling management method and system for disinfection floor cleaning robot |
| CN114677068B (en) * | 2022-05-30 | 2022-08-12 | 深圳博鹏智能科技有限公司 | Scheduling management method and system for disinfection floor cleaning robot |
| 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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| SE01 | Entry into force of request for substantive examination | ||
| WW01 | Invention patent application withdrawn after publication |
Application publication date: 20210212 |
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| WW01 | Invention patent application withdrawn after publication |