CN112641380B - Cleaning robot operation method and device, cleaning robot and chip - Google Patents
Cleaning robot operation method and device, cleaning robot and chip Download PDFInfo
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- CN112641380B CN112641380B CN202011525275.9A CN202011525275A CN112641380B CN 112641380 B CN112641380 B CN 112641380B CN 202011525275 A CN202011525275 A CN 202011525275A CN 112641380 B CN112641380 B CN 112641380B
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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
- A47L11/02—Floor surfacing or polishing machines
- A47L11/10—Floor surfacing or polishing 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
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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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- Electric Vacuum Cleaner (AREA)
Abstract
The application discloses an operation method and device of a cleaning robot, the cleaning robot and a chip, and belongs to the technical field of cleaning robots. The operation method comprises the following steps: before starting operation, controlling a detection device to detect the total area to be operated of an area to be operated; controlling the Bluetooth device to acquire at least one second cleaning robot within a preset range; when the second cleaning robot is searched, matching with the second cleaning robot; acquiring the residual capacity of the second cleaning robot, and determining the residual working area of the second cleaning robot based on the residual capacity; acquiring self residual electric quantity, and determining self residual operation area according to the self residual electric quantity; and distributing the work tasks of the cleaning robots according to the ratio of the residual work areas of the cleaning robots to the total residual work area. The method provided by the application can enable the cleaning robots in the same operation environment to automatically pair and cooperatively complete the operation, and the sweeping operation efficiency is high.
Description
Technical Field
The embodiment of the application relates to the technical field of cleaning robots, in particular to a cleaning robot operation method and device, a cleaning robot and a chip.
Background
The cleaning robot is one of intelligent household appliances, and along with the development of scientific technology in recent years, the cleaning robot is more and more intelligent, and can automatically complete ground cleaning work in a room by means of a certain artificial intelligence technology. The existing cleaning robot is very suitable for the family environment during operation, and can automatically sense the new environment and calculate the operation area and the operation time after entering the new environment, so that charging and operation are intelligently controlled. However, for a large-area working space, one cleaning robot cannot complete all cleaning after being fully charged once, and the efficiency is low.
Disclosure of Invention
The invention provides a cleaning robot operation method, a cleaning robot operation device, a cleaning robot and a chip, and the specific technical scheme is as follows:
a cleaning robot working method, the cleaning robot including a probe device and a bluetooth device, the cleaning robot working method comprising: before starting operation, controlling the detection device to detect the total area to be operated of the area to be operated; in the working process, controlling the Bluetooth device to acquire at least one second cleaning robot within a preset range; recording the operated area and the operated position; when the second cleaning robot is searched, matching with the second cleaning robot; acquiring the residual capacity of the second cleaning robot, and determining the residual working area of the second cleaning robot based on the residual capacity; acquiring self residual electric quantity, and determining self residual operation area according to the self residual electric quantity; determining a total residual operation area according to the total area to be operated and the operated area; and distributing the work tasks of the cleaning robots according to the ratio of the residual work areas of the cleaning robots to the total residual work area.
Further, the matching with the second cleaning robot includes: issuing a pairing command to the second cleaning robot; and when a response signal sent by the second cleaning robot is received within a preset time period, establishing a pairing relationship with the second cleaning robot, and determining that the second cleaning robot is a slave robot.
Further, the second cleaning robot is plural, and after the second cleaning robot is determined as a slave robot, the method further includes: issuing a pairing command to the other second cleaning robots that do not complete pairing; receiving response signals sent by other uncompleted paired second cleaning robots within a preset time period, establishing a pairing relationship with the other uncompleted paired second cleaning robots, and determining the uncompleted paired second cleaning robots as slave robots.
Further, controlling the detection device to detect the total area to be worked of the area to be worked includes: the area to be operated comprises a plurality of sub-areas; controlling a cleaning robot to enter each subarea, and controlling the cleaning robot to rotate so that the detection device can rotate to collect the area to be worked of each subarea; and summing the areas to be worked of all the sub-areas to determine the total area to be worked.
Further, the allocating the work tasks of the respective cleaning robots according to the ratio of the remaining work areas of the respective cleaning robots to the total remaining work area includes: when the residual operation area is larger than the total residual operation area, calculating the ratio of the residual operation area of each cleaning robot to the total residual operation area, and distributing the operation tasks of each cleaning robot according to the ratio; and when the residual working area is not larger than the total residual working area, calculating the residual working area of each cleaning robot, and distributing the working tasks of each cleaning robot according to the to-be-worked areas of the sub-areas of the to-be-worked area.
Further, the obtaining of the self remaining power and the determining of the self remaining operation area according to the self remaining power include: acquiring self residual electric quantity; determining return electric quantity when the user walks to a charging position; and determining the operation electric quantity according to the self residual electric quantity and the return electric quantity, and determining the self residual operation area according to the operation electric quantity.
A cleaning robot working device, the cleaning robot including a probe device and a bluetooth device, the device comprising: the preparation module is used for controlling the detection device to detect the total area to be operated of the area to be operated before operation is started; the searching module is used for controlling the Bluetooth device to acquire at least one second cleaning robot within a preset range in the operation process; the recording module is used for recording the operated area and the operated position; a matching module for matching with the second cleaning robot when the second cleaning robot is searched; an acquisition module, configured to acquire a remaining power of the second cleaning robot, and determine a remaining work area of the second cleaning robot based on the remaining power; the first determining module is used for acquiring the self residual electric quantity and determining the self residual operation area according to the self residual electric quantity; the second determining module is used for determining the total residual operation area according to the total area to be operated and the operated area; and the distribution module is used for distributing the work tasks of the cleaning robots according to the ratio of the residual work areas of the cleaning robots to the total residual work area.
Further, the matching module is further configured to: issuing a pairing command to the second cleaning robot; and when a response signal sent by the second cleaning robot is received within a preset time period, establishing a pairing relationship with the second cleaning robot, and determining that the second cleaning robot is a slave robot.
A cleaning robot comprising a processor and a memory, said memory having a computer program stored therein, said computer program being loaded and executed by said processor to implement the above-mentioned cleaning robot working method.
A chip having stored therein a computer program for controlling a cleaning robot to perform the above-described cleaning robot working method.
The invention has the beneficial effects that: when the cleaning robot works in the space, the detection device can be controlled to detect the total area to be worked of the area to be worked; in the working process, controlling the Bluetooth device to acquire at least one second cleaning robot within a preset range; recording the operated area and the operated position; when the second cleaning robot is searched, matching with the second cleaning robot; acquiring the residual capacity of the second cleaning robot, and determining the residual working area of the second cleaning robot based on the residual capacity; acquiring self residual electric quantity, and determining self residual operation area according to the self residual electric quantity; determining a total residual operation area according to the total area to be operated and the operated area; and distributing the work tasks of the cleaning robots according to the ratio of the residual work areas of the cleaning robots to the total residual work area. According to the working method of the cleaning robot, the cleaning robot can work cooperatively in combination with the surrounding cleaning robots, namely the working capacity of each cleaning robot can be determined according to the residual electric quantity of each cleaning robot, so that the working tasks are distributed according to the working capacity, the technical effect of intelligently distributing the working tasks is achieved, the working efficiency is improved, and the working method is particularly suitable for the condition that a plurality of cleaning robots work on the same large-area.
Drawings
FIG. 1 illustrates a flow chart of a method of cleaning a robot operation provided by an exemplary embodiment of the present invention;
fig. 2 is a block diagram illustrating a structure of a cleaning robot working device according to an exemplary embodiment of the present invention.
Detailed Description
To make the objects, technical solutions and advantages of the present application more clear, embodiments of the present application will be described in further detail below with reference to the accompanying drawings.
Reference herein to "a plurality" means two or more. "and/or" describes the association relationship of the associated objects, meaning that there may be three relationships, e.g., a and/or B, which may mean: a exists alone, A and B exist simultaneously, and B exists alone. The character "/" generally indicates that the former and latter associated objects are in an "or" relationship.
Fig. 1 is a flowchart of a method for operating a cleaning robot according to an exemplary embodiment of the present disclosure. Referring to fig. 1, the method is suitable for cleaning robots such as a sweeping robot, a mopping robot, a sweeping and mopping integrated robot, a polishing robot, a waxing robot, etc., and the operation method may include:
And 202, controlling the Bluetooth device to acquire at least one second cleaning robot within a preset range in the working process. Every cleaning machines people all disposes the bluetooth device, can realize pairing automatically.
And 204, when the second cleaning robot is searched, matching with the second cleaning robot.
And step 206, acquiring self residual electric quantity, and determining self residual operation area according to the self residual electric quantity. The residual electric quantity of the cleaning robot represents the operable area of the cleaning robot, and can be calculated according to the unit operating area of the unit electric quantity.
And step 207, determining a total residual operation area according to the total area to be operated and the operated area.
And step 208, distributing the work tasks of the cleaning robots according to the ratio of the residual work areas of the cleaning robots to the total residual work area. The operation tasks are reasonably distributed according to the residual operation areas of the cleaning robots, for example, the a, b and c robots which are matched with each other can operate 100 square meters, 200 square meters and 100 square meters respectively, and the three robots can operate in a 200-square space in a matching mode, so that the operation area can be operated by operating 50 square meters for the a operation, 100 square meters for the b operation and 50 square meters for the c operation, and the maximum operation performance is kept.
In the embodiment of the application, when the cleaning robot operates the space, the detection device can be controlled to detect the total area to be operated of the area to be operated; in the working process, controlling the Bluetooth device to acquire at least one second cleaning robot within a preset range; recording the operated area and the operated position; when the second cleaning robot is searched, matching with the second cleaning robot; acquiring the residual capacity of the second cleaning robot, and determining the residual working area of the second cleaning robot based on the residual capacity; acquiring self residual electric quantity, and determining self residual operation area according to the self residual electric quantity; determining a total residual operation area according to the total area to be operated and the operated area; and distributing the work tasks of the cleaning robots according to the ratio of the residual work areas of the cleaning robots to the total residual work area. According to the working method of the cleaning robot, the cleaning robot can work cooperatively in combination with the surrounding cleaning robots, namely the working capacity of each cleaning robot can be determined according to the residual electric quantity of each cleaning robot, so that the working tasks are distributed according to the working capacity, the technical effect of intelligently distributing the working tasks is achieved, the working efficiency is improved, and the working method is particularly suitable for the condition that a plurality of cleaning robots work on the same large-area.
Another exemplary embodiment of the present application provides a cleaning robot working method adapted to a cleaning robot, the method including:
step 401, before starting operation, controlling the detecting device to detect the total area to be operated of the area to be operated. The detection device, such as a radar, an image sensor, an infrared sensor, a distance measurement sensor, etc., can determine the area by recognizing the boundary line in the image, and can also predict the area by distance measurement.
And 402, controlling the Bluetooth device to acquire at least one second cleaning robot within a preset range in the working process. Every cleaning machines people all disposes the bluetooth device, can realize pairing automatically.
In step 403, the operated area and the operated position are recorded. The current cleaning robot can record its own position, the cleaned position by a position sensor, or can record the worked position and worked area by dotting during the movement.
And step 404, when the second cleaning robot is searched, matching with the second cleaning robot.
Step 405, issuing a pairing command to the second cleaning robot. Bluetooth signals within a preset range can be searched in a Bluetooth searching mode, and a pairing command is sent when the signals are searched.
And 406, when a response signal sent by the second cleaning robot is received within a preset time period, establishing a pairing relationship with the second cleaning robot, and determining that the second cleaning robot is a slave robot. For example, if the second cleaning robot is deemed to be not present in the surroundings when the bluetooth signal of the second cleaning robot is not found within 5 minutes, the separate job is started.
Step 407, the second cleaning robot is plural, and after the second cleaning robot is determined to be a slave robot, the method further includes:
and step 408, sending a pairing command to other second cleaning robots which do not finish pairing.
Step 409, receiving response signals sent by other uncompleted paired second cleaning robots within a preset time period, establishing a pairing relationship with the uncompleted paired other second cleaning robots, and determining the uncompleted paired second cleaning robots as slave robots. If there are more second cleaning robots that can cooperate after completing the pairing with one of the second cleaning robots, the matching signal may be continuously sent to perform the matching, and then the cooperation may be performed, which may be allocated in real time as a plurality of second cleaning robots are added.
And step 410, acquiring the residual electric quantity of the second cleaning robot, and determining the residual working area of the second cleaning robot based on the residual electric quantity. The residual electric quantity of the cleaning robot represents the operable area of the cleaning robot, and can be calculated according to the unit operating area of the unit electric quantity.
Step 411, obtaining the self remaining power, and determining the self remaining operation area according to the self remaining power. The residual electric quantity of the cleaning robot represents the operable area of the cleaning robot, and can be calculated according to the unit operating area of the unit electric quantity.
And step 412, determining a total remaining operation area according to the total area to be operated and the operated area.
And 413, distributing the work tasks of the cleaning robots according to the ratio of the residual work areas of the cleaning robots to the total residual work area. The operation tasks are reasonably distributed according to the residual operation areas of the cleaning robots, for example, the a, b and c robots which are matched with each other can operate 100 square meters, 200 square meters and 100 square meters respectively, and the three robots can operate in a 200-square space in a matching mode, so that the operation area can be operated by operating 50 square meters for the a operation, 100 square meters for the b operation and 50 square meters for the c operation, and the maximum operation performance is kept.
Another exemplary embodiment of the present application provides a cleaning robot working method adapted to a cleaning robot, the method including:
step 601, before starting operation, controlling the detection device to detect the total area to be operated of the area to be operated.
Step 602, the area to be operated comprises a plurality of sub-areas; multiple sub-areas are generally the case for a relatively multi-room.
Step 603, controlling the cleaning robot to enter each sub-area, and controlling the cleaning robot to rotate so that the detection device rotates to collect the area to be worked of each sub-area, wherein the cleaning robot can enter a plurality of rooms to detect in sequence before working, so as to determine a plurality of sub-areas.
Step 604 sums the areas to be worked of the various sub-regions to determine the total area to be worked.
Step 605, in the process of working, controlling the bluetooth device to acquire at least one second cleaning robot within a preset range.
In step 606, the operated area and the operated position are recorded.
And step 607, when the second cleaning robot is searched, matching with the second cleaning robot.
Step 608, obtaining the remaining power of the second cleaning robot, and determining the remaining working area of the second cleaning robot based on the remaining power.
And step 609, acquiring self residual electric quantity, and determining self residual operation area according to the self residual electric quantity.
And step 610, determining a total residual operation area according to the total area to be operated and the operated area.
And 611, distributing the work tasks of the cleaning robots according to the ratio of the residual work areas of the cleaning robots to the total residual work area.
Steps 605-611 are similar to 202-208 above and will not be described herein.
Another exemplary embodiment of the present application provides a cleaning robot working method adapted to a cleaning robot, the method including:
step 801, before starting operation, controlling the detecting device to detect the total area to be operated of the area to be operated.
And 802, controlling the Bluetooth device to acquire at least one second cleaning robot in a preset range in the working process.
In step 803, the operated area and the operated position are recorded.
And step 804, when the second cleaning robot is searched, matching with the second cleaning robot.
Step 805, acquiring the remaining power of the second cleaning robot, and determining the remaining working area of the second cleaning robot based on the remaining power.
Steps 801 to 805 are the same as steps 201 to 205, and are not described herein again.
And 806, acquiring the self residual electric quantity, and determining the self residual operation area according to the self residual electric quantity.
Step 807, obtaining self residual electric quantity;
step 808, determining return electric quantity of the user walking to the charging position;
and step 809, determining operation electric quantity according to the self residual electric quantity and the return electric quantity, and determining the self residual operation area according to the operation electric quantity.
In this embodiment, the remaining power minus the return power to the original charging position is the operation power, so that the return charging of the operation robot can be ensured.
And 810, determining a total remaining operation area according to the total area to be operated and the operated area.
Step 811, when the residual working area is larger than the total residual working area, calculating the ratio of the residual working area of each cleaning robot to the total residual working area, and distributing the working tasks of each cleaning robot according to the ratio;
and 812, when the residual operation area is not larger than the total residual operation area, calculating the residual operation area of each cleaning robot, and distributing the operation tasks of each cleaning robot according to the to-be-operated areas of the sub-areas of the to-be-operated area.
In this embodiment, tasks may be intelligently allocated according to the operation capability of each cleaning robot and the area size of each sub-area, for example, if the a, b, c robots that have established a matching relationship may operate 100 square meters, 200 square meters, 100 square meters, respectively, and the three may cooperate to operate in a 200-level space, the a operation may operate in a sub-area of 50 square meters, the b operation may operate in a sub-area of 100 square meters, and the c operation may operate in a sub-area of 50 square meters, and the operation may be performed in a work area with the maximum operation performance.
Referring to fig. 2, there is shown a block diagram of a cleaning robot working apparatus provided in an exemplary embodiment of the present application, the apparatus being used for a cleaning robot, the apparatus including:
a preparation module 901, configured to control the detection device to detect a total area to be operated of an area to be operated before starting operation;
a searching module 902, configured to control the bluetooth device to acquire at least one second cleaning robot within a preset range during an operation;
a recording module 903, configured to record a worked area and a worked position;
a matching module 904 for matching with the second cleaning robot when the second cleaning robot is searched;
an obtaining module 905, configured to obtain a remaining power of the second cleaning robot, and determine a remaining working area of the second cleaning robot based on the remaining power;
a first determining module 906, configured to obtain a self remaining power amount, and determine a self remaining operation area according to the self remaining power amount;
a second determining module 907, configured to determine a total remaining operation area according to the total area to be operated and the operated area;
an assigning module 908 for assigning the work tasks of the respective cleaning robots according to a ratio of the remaining work areas of the respective cleaning robots to the total remaining work area.
Further, the matching module 904 is further configured to:
issuing a pairing command to the second cleaning robot;
and when a response signal sent by the second cleaning robot is received within a preset time period, establishing a pairing relationship with the second cleaning robot, and determining that the second cleaning robot is a slave robot.
The cleaning robot provided in one embodiment of the present application may be used to implement the cleaning robot working method provided in the above embodiment. The cleaning robot may be the cleaning robot described in the corresponding embodiment of fig. 1. Specifically, the method comprises the following steps:
the cleaning robot includes a Central Processing Unit (CPU), a system memory including a Random Access Memory (RAM) and a Read Only Memory (ROM), and a system bus connecting the system memory and the CPU. There is a basic input/output system (I/O system) for transferring information between the various devices, and a mass storage device for storing an operating system, application programs, and other program modules, which may include a computer readable medium such as a hard disk or CD-ROM drive.
Without loss of generality, the computer-readable media may comprise computer storage media and communication media. Computer storage media includes volatile and nonvolatile, removable and non-removable media implemented in any method or technology for storage of information such as computer readable instructions, data structures, program modules or other data. Computer storage media includes RAM, ROM, EPROM, EEPROM, flash memory or other solid state memory technology, and also includes CD-ROM, DVD, or other optical storage, magnetic cassettes, magnetic tape, magnetic disk storage or other magnetic storage devices. Of course, those skilled in the art will appreciate that the computer storage media is not limited to the foregoing. The system memory and mass storage devices described above may be collectively referred to as memory.
The memory also includes one or more programs stored in the memory and configured to be executed by one or more processors. The one or more programs include instructions for implementing the cleaning robot working method.
The memory has stored therein at least one instruction configured to be executed by one or more processors to implement the functions of the various steps of the above-described cleaning robot working method.
The embodiment of the application also provides a chip, wherein at least one computer program instruction is stored in the chip, and the at least one instruction is loaded by the chip and controls the cleaning robot to execute the cleaning robot operation method provided by each embodiment.
Optionally, a computer-readable storage medium is disposed in the chip, and the computer-readable storage medium may include: a Read Only Memory (ROM), a Random Access Memory (RAM), a Solid State Drive (SSD), or an optical disc. The Random Access Memory may include a resistive Random Access Memory (ReRAM) and a Dynamic Random Access Memory (DRAM).
The above-mentioned serial numbers of the embodiments of the present application are merely for description and do not represent the merits of the embodiments.
It will be understood by those skilled in the art that all or part of the steps for implementing the above embodiments may be implemented by hardware, or may be implemented by a program instructing relevant hardware, where the program may be stored in a computer-readable storage medium, and the above-mentioned storage medium may be a read-only memory, a magnetic disk or an optical disk, etc.
The above description is only exemplary of the present application and should not be taken as limiting, as any modification, equivalent replacement, or improvement made within the spirit and principle of the present application should be included in the protection scope of the present application.
Claims (10)
1. A cleaning robot working method, the cleaning robot including a probe device and a bluetooth device, the cleaning robot working method comprising:
before starting operation, controlling the detection device to detect the total area to be operated of the area to be operated;
in the working process, controlling the Bluetooth device to acquire at least one second cleaning robot within a preset range;
recording the operated area and the operated position;
when the second cleaning robot is searched, matching with the second cleaning robot;
acquiring the residual capacity of the second cleaning robot, and determining the residual working area of the second cleaning robot based on the residual capacity;
acquiring self residual electric quantity, and determining self residual operation area according to the self residual electric quantity;
determining a total residual operation area according to the total area to be operated and the operated area;
and distributing the work tasks of the cleaning robots according to the ratio of the residual work areas of the cleaning robots to the total residual work area.
2. The method of claim 1, wherein the matching with the second cleaning robot comprises:
issuing a pairing command to the second cleaning robot;
and when a response signal sent by the second cleaning robot is received within a preset time period, establishing a pairing relationship with the second cleaning robot, and determining that the second cleaning robot is a slave robot.
3. The method of claim 2, wherein the second cleaning robot is plural, and further comprising, after determining the second cleaning robot as a slave robot:
issuing a pairing command to the other second cleaning robots that do not complete pairing;
receiving response signals sent by other uncompleted paired second cleaning robots within a preset time period, establishing a pairing relationship with the other uncompleted paired second cleaning robots, and determining the uncompleted paired second cleaning robots as slave robots.
4. The method of claim 1, wherein controlling the detection device to detect a total area to be worked of the area to be worked comprises:
the area to be operated comprises a plurality of sub-areas;
controlling a cleaning robot to enter each subarea, and controlling the cleaning robot to rotate so that the detection device can rotate to collect the area to be worked of each subarea;
and summing the areas to be worked of all the sub-areas to determine the total area to be worked.
5. The method of claim 4, wherein assigning the work tasks of each cleaning robot according to the ratio of the remaining work area of each cleaning robot to the total remaining work area comprises:
and when the residual operation area is larger than the total residual operation area, calculating the ratio of the residual operation area of each cleaning robot to the total residual operation area, and distributing the operation tasks of each cleaning robot according to the ratio.
6. The method according to any one of claims 1 to 5, wherein the obtaining of the self remaining power and the determining of the self remaining working area according to the self remaining power comprise:
acquiring self residual electric quantity;
determining return electric quantity when the user walks to a charging position;
and determining the operation electric quantity according to the self residual electric quantity and the return electric quantity, and determining the self residual operation area according to the operation electric quantity.
7. A robot cleaner working apparatus, the robot cleaner including a probe unit and a Bluetooth unit, the apparatus comprising:
the preparation module is used for controlling the detection device to detect the total area to be operated of the area to be operated before operation is started;
the searching module is used for controlling the Bluetooth device to acquire at least one second cleaning robot within a preset range in the operation process;
the recording module is used for recording the operated area and the operated position;
a matching module for matching with the second cleaning robot when the second cleaning robot is searched;
an acquisition module, configured to acquire a remaining power of the second cleaning robot, and determine a remaining work area of the second cleaning robot based on the remaining power;
the first determining module is used for acquiring the self residual electric quantity and determining the self residual operation area according to the self residual electric quantity;
the second determining module is used for determining the total remaining operation area according to the total area to be operated and the operated area;
and the distribution module is used for distributing the work tasks of the cleaning robots according to the ratio of the residual work areas of the cleaning robots to the total residual work area.
8. The apparatus of claim 7, wherein the matching module is further configured to:
issuing a pairing command to the second cleaning robot;
and when a response signal sent by the second cleaning robot is received within a preset time period, establishing a pairing relationship with the second cleaning robot, and determining that the second cleaning robot is a slave robot.
9. A cleaning robot, characterized in that it comprises a processor and a memory, in which a computer program is stored, which computer program is loaded and executed by the processor to carry out the cleaning robot working method according to any one of claims 1 to 6.
10. A chip having a computer program stored therein, wherein the computer program is for controlling a cleaning robot to perform the cleaning robot working method of any one of the preceding claims 1 to 6.
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| CN202011525275.9A CN112641380B (en) | 2020-12-22 | 2020-12-22 | Cleaning robot operation method and device, cleaning robot and chip |
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| CN202011525275.9A CN112641380B (en) | 2020-12-22 | 2020-12-22 | Cleaning robot operation method and device, cleaning robot and chip |
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| 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 |
| CN114391780B (en) * | 2022-01-19 | 2023-03-21 | 深圳市无限动力发展有限公司 | Sweeping control method and device of sweeper, computer equipment and storage medium |
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