CN113876249A - Cleaning method and multi-machine cooperative cleaning system - Google Patents

Cleaning method and multi-machine cooperative cleaning system Download PDF

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Publication number
CN113876249A
CN113876249A CN202111143656.5A CN202111143656A CN113876249A CN 113876249 A CN113876249 A CN 113876249A CN 202111143656 A CN202111143656 A CN 202111143656A CN 113876249 A CN113876249 A CN 113876249A
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China
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robot
sweeping
mopping
floor
real
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CN202111143656.5A
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Chinese (zh)
Inventor
李煌
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Shenzhen Umouse Technology Development Co Ltd
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Shenzhen Umouse Technology Development Co Ltd
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Priority to CN202111143656.5A priority Critical patent/CN113876249A/en
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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
    • 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
    • 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
    • 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
    • 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
    • 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
    • A47L11/4061—Steering means; Means for avoiding obstacles; Details related to the place where the driver is accommodated
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L2201/00—Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
    • A47L2201/04—Automatic control of the travelling movement; Automatic obstacle detection

Abstract

The invention discloses a cleaning method and a multi-machine cooperative cleaning system. The cleaning method comprises the following steps that a sweeping robot executes a sweeping task according to a sweeping area map and a sweeping path; the mopping robot receives a cleaning area map, a cleaning path and the real-time position of the sweeping robot; the mopping robot executes a mopping task according to the cleaning area map and the cleaning path, and sends the real-time position of the mopping robot to the sweeping robot; the mopping robot judges whether the mopping robot meets the sweeping robot or not according to the real-time position of the sweeping robot and the real-time position of the mopping robot, and if so, the mopping task is suspended; the sweeping robot judges whether the sweeping robot meets the mopping robot or not according to the real-time position of the sweeping robot and the real-time position of the mopping robot, if so, the sweeping robot bypasses the mopping robot and continues to execute sweeping tasks, and therefore the sweeping robot and the mopping robot work cooperatively, and cleaning efficiency is improved.

Description

Cleaning method and multi-machine cooperative cleaning system
Technical Field
The embodiment of the invention relates to the technical field of smart home, in particular to a cleaning method and a multi-machine cooperative cleaning system.
Background
The intelligent robot can play a powerful role in human life and industrial production, so that people can complete set work better and faster. With the rapid development of the intelligent home industry, the trend that the sweeping robot becomes an indispensable household appliance in a family is irreversible, and the sweeping robot also puts forward higher requirements on the intellectualization and humanization of the sweeping robot.
At present, the mainstream sweeping robot mostly adopts a sweeping and mopping integrated design idea, but due to the operations of changing and washing sweeping and mopping parts and the like, a great deal of inconvenience is brought to people, and the cleaning efficiency is reduced.
Disclosure of Invention
The invention provides a cleaning method and a multi-machine cooperative cleaning system, which are used for improving the cleaning efficiency.
In a first aspect, an embodiment of the present invention provides a cleaning method applied to a multi-machine collaborative cleaning system, where the multi-machine collaborative cleaning system includes a sweeping robot and a mopping robot, and the cleaning method includes:
the sweeping robot executes a sweeping task according to a sweeping area map and a sweeping path;
the mopping robot receives the cleaning area map, the cleaning path and the real-time position of the sweeping robot;
the mopping robot executes a mopping task according to the cleaning area map and the cleaning path, and sends the real-time position of the mopping robot to the sweeping robot;
the mopping robot judges whether the mopping robot meets the floor sweeping robot or not according to the real-time position of the floor sweeping robot and the real-time position of the mopping robot, and if so, the floor mopping task is suspended;
and the sweeping robot judges whether the sweeping robot meets the mopping robot or not according to the real-time position of the sweeping robot and the real-time position of the mopping robot, and if so, the sweeping robot bypasses the mopping robot and continues to execute a sweeping task.
Optionally, the floor-mopping robot judges whether the floor-mopping robot is in an encounter state according to the real-time position of the floor-mopping robot and the real-time position of the floor-mopping robot, including:
the mopping robot judges whether the distance between the real-time position of the sweeping robot and the real-time position of the mopping robot is smaller than a first preset threshold value or not, and if yes, the mopping robot is judged to be in an encounter state with the sweeping robot;
the robot of sweeping the floor according to the real-time position of robot of sweeping the floor with the real-time position judgement of robot of mopping with the robot of mopping is in the state of meeting, include:
the floor sweeping robot judges whether the distance between the real-time position of the floor sweeping robot and the real-time position of the floor mopping robot is smaller than a second preset threshold value or not, and if yes, the floor sweeping robot is judged to be in an encountering state.
Optionally, when the floor mopping robot suspends the floor mopping task, the floor mopping robot judges whether the meeting state with the floor sweeping robot is released according to the real-time position of the floor sweeping robot and the real-time position of the floor mopping robot, and if yes, the floor mopping task is continuously executed.
Optionally, the floor-mopping robot determines whether to release the meeting state with the floor-sweeping robot according to the real-time position of the floor-sweeping robot and the real-time position of the floor-mopping robot, including:
and the mopping robot judges whether the distance between the real-time position of the sweeping robot and the real-time position of the mopping robot is greater than a third preset threshold value or not, and if so, the robot is judged to be in a state of meeting with the sweeping robot.
Optionally, the multi-machine collaborative cleaning system further includes a cloud background module;
the mopping robot receives the cleaning area map, the cleaning path and the real-time position of the sweeping robot, and the method comprises the following steps:
the sweeping robot sends the sweeping area map, the sweeping path and the real-time position of the sweeping robot to the cloud background module;
and the mopping robot receives the cleaning area map, the cleaning path and the real-time position of the sweeping robot which are sent by the cloud background module.
Optionally, the multi-machine collaborative cleaning system further includes a cloud background module;
the cleaning method further comprises:
the cloud background module sends information of wet mopping prohibition areas to the sweeping robot and/or the mopping robot;
the sweeping robot receives the wet mopping prohibition region information sent by the cloud background module and executes a sweeping task according to the wet mopping prohibition region information, and/or the mopping robot receives the wet mopping prohibition region information sent by the cloud background module and executes a mopping task according to the wet mopping prohibition region information.
Optionally, the sweeping robot executes a sweeping task according to the sweeping area map and the sweeping path, including:
the sweeping robot divides the sweeping area map into a plurality of sweeping sub-areas;
the sweeping robot executes sweeping tasks on the plurality of sweeping sub-areas according to a preset sequence;
after the sweeping task of the current sweeping sub-area is completed, the sweeping robot sends the current sweeping sub-area, the sweeping path and the real-time position of the sweeping robot to the floor mopping robot.
Optionally, the multi-machine collaborative cleaning system further includes a cloud background module;
the cleaning method further comprises:
the cloud background module is used for issuing a control instruction to the sweeping robot and/or the mopping robot;
and the sweeping robot executes a sweeping task according to the control instruction, and/or the mopping robot executes a mopping task according to the control instruction.
In a second aspect, an embodiment of the present invention further provides a multi-robot cooperative cleaning system, configured to execute any one of the cleaning methods in the first aspect, where the multi-robot cooperative cleaning system includes a floor sweeping robot and a floor mopping robot;
the sweeping robot is used for executing sweeping tasks according to a sweeping area map and a sweeping path;
the mopping robot is used for receiving the cleaning area map, the cleaning path and the real-time position of the sweeping robot, executing a mopping task according to the cleaning path and sending the real-time position of the mopping robot to the sweeping robot;
the mopping robot is also used for judging whether the mopping robot meets the floor sweeping robot or not according to the real-time position of the floor sweeping robot and the real-time position of the mopping robot, and if so, suspending the execution of a mopping task;
the sweeping robot is further used for judging whether the sweeping robot meets the mopping robot or not according to the real-time position of the sweeping robot and the real-time position of the mopping robot, and if yes, the sweeping robot bypasses the mopping robot and then continues to execute sweeping tasks.
Optionally, when the floor mopping robot suspends execution of the floor mopping task, the floor mopping robot is further configured to determine whether the floor mopping robot is in a meeting state with the floor sweeping robot according to the real-time position of the floor sweeping robot and the real-time position of the floor mopping robot, and if yes, the floor mopping task is continuously executed.
Optionally, the multi-machine collaborative cleaning system further includes a cloud background module, and the cloud background module is in communication connection with the floor sweeping robot and the floor mopping robot respectively;
the cloud background module issues a control instruction to the sweeping robot and/or the mopping robot so that the sweeping robot executes a sweeping task according to the control instruction, and/or the mopping robot executes a mopping task according to the control instruction.
The cleaning method provided by the embodiment of the invention is applied to a multi-machine cooperative cleaning system comprising a sweeping robot and a mopping robot, and can effectively solve the non-intelligent problem of the changing and washing of the mopping part by adopting a more compact design of a double-machine sweeping and mopping separation mode. Through setting up the robot of sweeping the floor and mopping the floor robot sharing and clean regional map, clean route and real-time position, realize sweeping the floor the robot and mopping the collaborative work of robot, improved clean efficiency. Meanwhile, the floor sweeping robot and the floor mopping robot judge whether the floor sweeping robot and the floor mopping robot are in an encounter state or not based on the shared real-time position, when the floor sweeping robot and the floor mopping robot are in the encounter state, the floor mopping robot suspends the floor mopping task, and the floor sweeping robot bypasses the floor mopping robot and then continues to execute the floor sweeping task, so that the damage of equipment caused by collision between the floor mopping robot and the floor sweeping robot is avoided, the autonomous floor sweeping work is realized, the cleaning efficiency is further improved, and the daily cleaning requirements are met.
Drawings
FIG. 1 is a schematic flow chart of a cleaning method according to an embodiment of the present invention;
FIG. 2 is a schematic structural diagram of a multi-machine cooperative cleaning system according to an embodiment of the present invention;
FIG. 3 is a schematic diagram of another multi-unit cooperative cleaning system according to an embodiment of the present invention;
fig. 4 is a schematic structural diagram of a multi-machine cooperative cleaning system according to an embodiment of the present invention.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings and examples. It is to be understood that the specific embodiments described herein are merely illustrative of the invention and are not limiting of the invention. It should be further noted that, for the convenience of description, only some of the structures related to the present invention are shown in the drawings, not all of the structures.
Fig. 1 is a schematic flow diagram of a cleaning method according to an embodiment of the present invention, and fig. 2 is a schematic structural diagram of a multi-robot cooperative cleaning system according to an embodiment of the present invention, and as shown in fig. 1 and fig. 2, the cleaning method according to an embodiment of the present invention is applied to a multi-robot cooperative cleaning system including a floor sweeping robot 210 and a floor mopping robot 220, wherein the overall size of the apparatus is effectively reduced by adopting a more compact dual-robot and mopping separation mode design, and the non-intelligent problem of the mopping component exchange and washing is effectively solved.
The cleaning method provided by the embodiment of the invention comprises the following steps:
and S110, the sweeping robot executes a sweeping task according to the sweeping area map and the sweeping path.
Specifically, as shown in fig. 1 and fig. 2, the sweeping robot 210 can sense an external environment to build a map, generate a map of a cleaning area, perform path planning according to the map of the cleaning area, generate a cleaning path, and then execute a sweeping task along the cleaning path by the sweeping robot 210 to complete the cleaning work of the cleaning area.
During the process of executing the sweeping task by the sweeping robot 210, the sweeping robot records the sweeping path and shares the real-time position of the sweeping path and the sweeping robot with the mopping robot 220.
And S120, the floor mopping robot receives the cleaning area map, the cleaning path and the real-time position of the floor sweeping robot.
Specifically, as shown in fig. 1 and 2, the mopping robot 220 receives the cleaning area map created by the sweeping robot 210, the cleaning path of the sweeping robot 210, and the real-time position of the sweeping robot 210.
Alternatively, the cleaning area map, the cleaning path, and the real-time location of the sweeping robot 210 may be sent directly by the sweeping robot 210 to the mopping robot 220. For example, the sweeping robot 210 directly transmits the sweeping area map, the sweeping path, and the real-time position of the sweeping robot 210 to the mopping robot 220 through wireless transmission methods such as a shared lan, wifi, and bluetooth.
S130, the floor mopping robot executes a floor mopping task according to the cleaning area map and the cleaning path, and sends the real-time position of the floor mopping robot to the floor sweeping robot.
Specifically, as shown in fig. 1 and fig. 2, the floor mopping robot 220 performs floor mopping along the cleaning path according to a tracking strategy in the floor mopping process, so as to perform floor mopping on the area which has been cleaned along the sweeping route of the sweeping robot 210, thereby realizing the cooperative operation of the sweeping robot 210 and the floor mopping robot 220, and further improving the sweeping and mopping efficiency.
When the mopping robot 220 performs the mopping task, the real-time position of the mopping robot 220 is synchronously shared with the sweeping robot 210.
For example, the mopping robot 220 directly transmits the real-time position of the mopping robot 220 to the sweeping robot 210 through wireless transmission methods such as a shared local area network, wifi, bluetooth, and the like.
And S140, judging whether the floor mopping robot meets the floor mopping robot or not according to the real-time position of the floor mopping robot and the real-time position of the floor mopping robot, and if so, suspending execution of a floor mopping task.
Fig. 3 is a schematic structural diagram of another multi-machine cooperative cleaning system according to an embodiment of the present invention, as shown in fig. 3, the sweeping robot 210 and the mopping robot 220 may meet each other during a cooperative working process, so that a collision occurs, and a sweeping task and a mopping task cannot be executed. In this embodiment, the position information is shared between the floor-mopping robot 220 and the floor-sweeping robot 210, when the floor-mopping robot 220 executes the floor-mopping task, the floor-mopping robot 220 may determine whether the floor-mopping robot 210 is in an encounter state with the floor-sweeping robot 210 according to the real-time position of the floor-mopping robot 210 and the real-time position of the floor-mopping robot 220, that is, whether the floor-sweeping robot 210 and the floor-mopping robot 220 encounter with each other, and if so, the floor-mopping robot 220 suspends the execution of the floor-mopping task, thereby avoiding the collision with the floor-mopping robot 210.
The suspension of the mopping task means that the mopping robot 220 stops performing the action.
And S150, judging whether the floor sweeping robot meets the floor mopping robot or not according to the real-time position of the floor sweeping robot and the real-time position of the floor mopping robot, and if so, bypassing the floor mopping robot and then continuing to execute a floor sweeping task.
Specifically, with reference to fig. 3, when the sweeping robot 210 executes the sweeping task, the sweeping robot 210 also determines whether the sweeping robot 210 and the mopping robot 220 are in an encounter state according to the real-time position of the sweeping robot 210 and the real-time position of the mopping robot 220, that is, whether the sweeping robot 210 and the mopping robot 220 encounter each other, if yes, the sweeping robot 210 plans a path again to bypass the mopping robot 220, so as to avoid the mopping robot 220 from colliding with each other, and after the sweeping robot 210 bypasses the mopping robot 220, the sweeping robot 210 continues to execute the sweeping task to complete the sweeping work on the cleaning area.
Optionally, when the sweeping robot 210 bypasses the mopping robot 220, the re-planned path of the sweeping robot 210 avoids the area wet-dragged by the mopping robot 220, so as to avoid the influence of the wet-dragged area on the sweeping robot 210 on the cleaning effect of sweeping.
The cleaning method provided by the embodiment of the invention is applied to a multi-machine cooperative cleaning system comprising a sweeping robot and a mopping robot, and can effectively solve the non-intelligent problem of the changing and washing of the mopping part by adopting a more compact design of a double-machine sweeping and mopping separation mode. Through setting up the robot of sweeping the floor and mopping the floor robot sharing and clean regional map, clean route and real-time position, realize sweeping the floor the robot and mopping the collaborative work of robot, improved clean efficiency. Meanwhile, the floor sweeping robot and the floor mopping robot judge whether the floor sweeping robot and the floor mopping robot are in an encounter state or not based on the shared real-time position, when the floor sweeping robot and the floor mopping robot are in the encounter state, the floor mopping robot suspends the floor mopping task, and the floor sweeping robot bypasses the floor mopping robot and then continues to execute the floor sweeping task, so that the damage of equipment caused by collision between the floor mopping robot and the floor sweeping robot is avoided, the autonomous floor sweeping work is realized, the cleaning efficiency is further improved, and the daily cleaning requirements are met.
Optionally, the real-time position of robot and the real-time position of robot that drags ground judges whether be in the state of meeting with the robot of sweeping the floor according to sweeping the floor, include:
the mopping robot judges whether the distance between the real-time position of the sweeping robot and the real-time position of the mopping robot is smaller than a first preset threshold value or not, and if yes, the mopping robot is judged to be in an encounter state.
Specifically, the floor mopping robot receives the real-time position of the floor sweeping robot, compares the distance between the real-time position of the floor sweeping robot and the real-time position of the floor mopping robot with a first preset threshold, and determines that the floor mopping robot and the floor sweeping robot are in a meeting state if the distance between the real-time position of the floor sweeping robot and the real-time position of the floor mopping robot is smaller than the first preset threshold, which indicates that the distance between the floor sweeping robot and the floor mopping robot is too close and a collision risk exists, and the floor mopping robot suspends to execute a floor mopping task to wait for the floor sweeping robot to bypass the floor mopping robot.
The first preset threshold value may be set according to the structural information and the pose information of the floor sweeping robot and the floor mopping robot, which is not limited by those skilled in the art.
Optionally, the real-time position of robot and the real-time position of robot that drags ground of sweeping the floor judges whether be in the state of meeting with the robot that drags the ground according to the robot that sweeps the floor, include:
the floor sweeping robot judges whether the distance between the real-time position of the floor sweeping robot and the real-time position of the floor mopping robot is smaller than a second preset threshold value or not, and if yes, the floor sweeping robot is judged to be in an encounter state with the floor mopping robot.
Specifically, the sweeping robot receives the real-time position of the mopping robot, compares the distance between the real-time position of the sweeping robot and the real-time position of the mopping robot with a second preset threshold, and if the distance between the real-time position of the sweeping robot and the real-time position of the mopping robot is smaller than the second preset threshold, that is, the distance between the sweeping robot and the mopping robot is smaller than the second preset threshold, it indicates that the distance between the sweeping robot and the mopping robot is too close and there is a risk of collision, at this time, it is determined that the sweeping robot and the mopping robot are in a meeting state, and the sweeping robot continues to execute a sweeping task after bypassing the mopping robot.
The second preset threshold value may be set according to the structural information and the pose information of the floor sweeping robot and the floor mopping robot, which is not limited by those skilled in the art.
Optionally, when the floor mopping robot suspends the floor mopping task, the floor mopping robot judges whether the floor mopping robot meets the floor sweeping robot or not according to the real-time position of the floor sweeping robot and the real-time position of the floor mopping robot, and if yes, the floor mopping task is continuously executed.
Specifically, when the floor-mopping robot judges that the floor-mopping robot is in an encounter state with the floor-sweeping robot, the floor-mopping robot suspends the execution of the floor-mopping task, waits for the floor-sweeping robot to pass around, judges whether the floor-mopping robot is in the encounter state with the floor-sweeping robot or not according to the real-time position of the floor-sweeping robot and the real-time position of the floor-mopping robot, and continues to execute the floor-mopping task when the floor-mopping robot is in the encounter state with the floor-sweeping robot, namely after the floor-sweeping robot bypasses the floor-mopping robot, so as to complete the wet mopping work of a cleaning area.
Optionally, the real-time position of robot and the real-time position of robot that drags ground judges whether to remove the state of meeting with the robot of sweeping the floor according to sweeping the floor, include:
and the mopping robot judges whether the distance between the real-time position of the mopping robot and the real-time position of the mopping robot is greater than a third preset threshold value or not, and if so, the state of meeting with the mopping robot is judged to be released.
Specifically, when the floor sweeping robot judges that the floor sweeping robot is in an encounter state with the floor sweeping robot, the floor sweeping robot suspends execution of a floor sweeping task, waits for the floor sweeping robot to pass around, receives the real-time position of the floor sweeping robot at the moment, compares the distance between the real-time position of the floor sweeping robot and the real-time position of the floor sweeping robot with a third preset threshold, and if the distance between the real-time position of the floor sweeping robot and the real-time position of the floor sweeping robot is larger than the third preset threshold, that is, the distance between the floor sweeping robot and the floor sweeping robot is larger than the third preset threshold, indicates that the distance between the floor sweeping robot and the floor sweeping robot is relatively long, and the floor sweeping robot has bypassed the floor sweeping robot to continue execution of the floor sweeping task, the floor sweeping robot continues execution of the floor sweeping task, so as to complete floor sweeping work of a sweeping area.
The third preset threshold value may be set according to the structural information and the pose information of the floor sweeping robot and the floor mopping robot, which is not limited by those skilled in the art.
It should be noted that, the distance between the real-time position of the sweeping robot and the real-time position of the mopping robot may be an euclidean distance, where the euclidean distance is an "ordinary" (i.e., straight line) distance between two points in an euclidean space.
Optionally, the multi-machine collaborative cleaning system further includes a cloud background module, and the mopping robot receives the real-time positions of the cleaning area map, the cleaning path and the sweeping robot, including:
the sweeping robot sends a sweeping area map, a sweeping path and the real-time position of the sweeping robot to the cloud background module.
The mopping robot receives the cleaning area map, the cleaning path and the real-time position of the sweeping robot sent by the cloud background module.
In this embodiment, the sweeping robot and the mopping robot can transmit a sweeping area map, a sweeping path and real-time position information through the cloud background module.
Specifically, the floor sweeping robot sends the real-time position of the floor sweeping robot to the cloud background module, the cloud background module forwards the information to the floor sweeping robot, and similarly, the floor sweeping robot sends the real-time position of the floor sweeping robot to the cloud background module, and the cloud background module sends the real-time position of the floor sweeping robot to the floor sweeping robot.
Optionally, the cloud background module may further receive status information of the floor sweeping robot and the floor mopping robot, so that the user may obtain the status information through the cloud background module, for example, taking the cloud background module as a server, the user is connected with the cloud background module through the terminal APP to obtain the status information.
The state information of the floor sweeping robot can comprise a floor sweeping state, a floor sweeping progress, a charging state and the like of the floor sweeping robot, the state information of the floor mopping robot can comprise a floor mopping state, a floor mopping progress, a charging state and the like of the floor mopping robot, and technical personnel in the field can set the state information according to actual requirements.
Optionally, the cloud background module can also issue a control instruction to the sweeping robot and the mopping robot, so that the sweeping robot and the mopping robot can perform sweeping work according to the control instruction.
For example, the cloud background module issues control instructions such as map building and sweeping task execution to the sweeping robot, so that the sweeping robot performs operations such as map building and sweeping. The cloud background module can also issue control instructions such as follow-up cooperative work and the like to the mopping robot so that the mopping robot carries out mopping tasks along the sweeping path of the sweeping robot.
Optionally, the cloud background module receives real-time positions of the sweeping robot and the mopping robot, so that a user can obtain the real-time positions of the sweeping robot and the mopping robot through the cloud background module, for example, taking the cloud background module as a server, the user is connected with the cloud background module through a terminal APP, and real-time positions of the sweeping robot and the mopping robot are displayed on a map at the same time.
Optionally, the multi-machine collaborative cleaning system further includes a cloud background module, and the cleaning method further includes:
and the cloud background module sends the wet mopping prohibition area information to the sweeping robot and/or the mopping robot.
The sweeping robot receives the wet mopping prohibition region information sent by the cloud background module and executes a sweeping task according to the wet mopping prohibition region information, and/or the mopping robot receives the wet mopping prohibition region information sent by the cloud background module and executes a mopping task according to the wet mopping prohibition region information.
For example, an area where wet mopping is prohibited may exist in a cleaning area of the sweeping robot, for example, an area where a carpet is located, and the area where wet mopping is prohibited may be stored in the cloud background module, for example, taking the cloud background module as a server, the area where wet mopping is prohibited may be set in the terminal APP by a user and sent to the cloud background module through the terminal, and the cloud background module sends information of the area where wet mopping is prohibited to the mopping robot, so that the mopping robot skips the area where wet mopping is prohibited according to the information of the area where wet mopping is prohibited, that is, the mopping robot does not enter the area where wet mopping is prohibited, thereby avoiding the mopping robot performing a wet mopping task on the area where wet mopping is prohibited.
In other embodiments, optionally, the cloud backend module sends the information of the wet mopping prohibited area to the sweeping robot, so that the sweeping robot executes a sweeping task according to the information of the wet mopping prohibited area, for example, the sweeping robot executes a powerful sweeping mode on the wet mopping prohibited area according to the information of the wet mopping prohibited area, where the powerful sweeping mode may be to perform two or more sweeps on the wet mopping prohibited area, thereby ensuring a cleaning effect of the wet mopping prohibited area.
Optionally, the sweeping robot executes a sweeping task according to the sweeping area map and the sweeping path, including:
the sweeping robot divides the sweeping area map into a plurality of sweeping sub-areas.
The sweeping robot executes sweeping tasks on the plurality of sweeping sub-areas according to a preset sequence.
After the sweeping task of the current sweeping sub-area is completed, the sweeping robot sends the current sweeping sub-area, the sweeping path and the real-time position of the sweeping robot to the floor mopping robot.
Specifically, the sweeping robot divides the sweeping area map into a plurality of sweeping sub-areas for block sweeping, for example, when the sweeping robot needs to sweep the floor of the whole house, each room can be divided into the sweeping sub-areas.
The sweeping robot executes sweeping tasks on the plurality of sweeping sub-areas according to a preset sequence, wherein the preset sequence can be set according to actual requirements, for example, the sequence of division is adopted, or the sequence of sweeping is determined according to the positions of the sweeping sub-areas.
After the sweeping robot completes the sweeping task of the current sweeping subarea, the sweeping robot sends the current sweeping subarea, the sweeping path and the real-time position of the sweeping robot to the mopping robot, so that the mopping robot carries out the mopping task on the current sweeping subarea of the sweeping robot, the possibility of collision between the sweeping robot and the mopping robot is reduced, the whole sweeping area can be orderly cleaned according to a mode of sweeping firstly and then mopping, and the cleaning efficiency and the cleaning effect are favorably improved.
And the sweeping robot cleans a sub-cleaning area and sends information of the sub-cleaning area to the mopping robot, so that the mopping robot carries out mopping tasks according to the sweeping sequence of the sweeping robot to the sub-cleaning area, the mopping tasks can be carried out on the currently cleaned sub-cleaning area along the sweeping path planned by the sweeping robot, the mopping cleaning efficiency can be improved, and the orderly performance of the mopping tasks can be ensured.
Optionally, when the sweeping robot sweeps the floor in the sweeping area for the first time, the map of the sweeping area is not established, at this time, the sweeping robot performs real-time positioning when executing the sweeping task to construct the map of the sweeping area, and after the sweeping robot finishes sweeping the whole sweeping area, the map of the sweeping area and the sweeping path are sent to the mopping robot, so that the mopping robot starts to execute the mopping task along the sweeping path after finishing the sweeping task of the whole sweeping area, and thus the orderly execution of the sweeping task and the mopping task is ensured.
Optionally, the multi-machine collaborative cleaning system further includes a cloud background module, and the cleaning method provided in the embodiment of the present invention further includes:
and the cloud background module issues a control instruction to the sweeping robot and/or the mopping robot.
And the sweeping robot executes the sweeping task according to the control instruction, and/or the mopping robot executes the mopping task according to the control instruction.
The cloud background module is used for remotely scheduling and managing the floor sweeping robot and the floor mopping robot, and can be hardware or software. The hardware can adopt a server, a mobile phone, a computer and other intelligent terminals; the software can adopt an application program, a client, a mobile phone APP and other software platforms; the cloud backend module may also be a combination of software and hardware, for example, the cloud backend module includes a processor and a memory, where the memory stores executable instructions, and the executable instructions, when executed by the processor, implement remote scheduling and management of the floor sweeping robot and the floor mopping robot, which is not limited in the embodiment of the present invention.
In some embodiments, the cloud background module may include a human-computer interaction interface, so that intelligent tasks and instructions can be issued through human operations.
Specifically, a user can set task parameters through a human-computer interaction interface, and the cloud background module receives the task parameters and issues control instructions to the sweeping robot and/or the mopping robot according to the task parameters, so that the sweeping robot and/or the mopping robot execute sweeping tasks and mopping tasks according to the control instructions.
The task parameters may include a time interval between the sweeping robot performing the sweeping task and the mopping robot performing the mopping task, a sequence classification of mopping areas, a number of times of sweeping and mopping a single area, and the like, and those skilled in the art may set the task parameters according to actual requirements.
Optionally, the cloud backend module may further include an AI platform system, so that the cloud backend module can analyze and learn the operation data of the floor sweeping robot and the floor mopping robot based on an AI algorithm.
For example, the cloud background module may receive operation data of the sweeping robot and the mopping robot, analyze the operation data of the sweeping robot and the mopping robot based on an AI algorithm to obtain a cleaning mode most suitable for a current working environment, and issue a control instruction to the sweeping robot and the mopping robot so that the sweeping robot and the mopping robot perform a sweeping task and a mopping task according to a cleaning mode most suitable for the current working environment, where the cleaning mode may include that the mopping robot performs a mopping task on a currently cleaned sub-area after the sweeping robot completes the sweeping task on the currently cleaned sub-area, and in some embodiments, the cleaning mode may further include that the sweeping robot performs a powerful cleaning mode on an area where wet mopping is prohibited, and the powerful cleaning mode may be that the area where wet mopping is prohibited is cleaned twice or more than twice, thereby ensuring the cleaning effect of the wet mopping forbidden area, which is not limited by the embodiment of the invention.
Based on the same inventive concept, an embodiment of the present invention further provides a multi-machine cooperative cleaning system, and fig. 4 is a schematic structural diagram of the multi-machine cooperative cleaning system provided in the embodiment of the present invention, as shown in fig. 4, the multi-machine cooperative cleaning system is used for executing the cleaning method described in any embodiment of the present invention, so that the multi-machine cooperative cleaning system provided in the embodiment of the present invention has the technical effect of the technical solution in any embodiment, and the explanation of the structure and the terminology which are the same as or corresponding to those in the embodiment described above is not repeated herein.
As shown in fig. 4, the multi-robot cooperative cleaning system provided by the embodiment of the invention includes a sweeping robot 210 and a mopping robot 220, wherein the sweeping robot 210 is configured to perform a sweeping task according to a sweeping area map and a sweeping path.
Optionally, as shown in fig. 4, the sweeping robot 210 includes a first Robot Control Unit (RCU) RCU1, where the first robot Control Unit RCU1 is used as an upper computer and connected to a first external sensor device (ECU) ECU1, and the first external sensor device ECU1 transmits the sensed external information to the first robot Control Unit RCU1, so that the first robot Control Unit RCU1 realizes the functions of map building and positioning, and the first robot Control Unit RCU1 may also process upper-layer planning functions of the movement of the sweeping robot 210, such as planning a sweeping path and the like.
Wherein, sensor devices such as laser radar or camera can be selected for use to first external sensor device ECU1, and the technical personnel in the art can set up according to actual need.
With continued reference to fig. 4, the first robot control Unit RCU1 is further connected to a first robot control Unit (MCU) MCU1, wherein the first robot control Unit MCU1 is used as a lower computer and is mainly used for implementing a motion control floor of the sweeping robot 210, the first robot control Unit MCU1 is further connected to a second external sensor device ECU2 and a third external sensor device ECU3, and the first robot control Unit MCU1 is capable of receiving and processing sensing information of the second external sensor device ECU2 and the third external sensor device ECU3 to implement an obstacle detection function of the sweeping robot 210.
The second external sensor device ECU2 may be an Inertial Measurement Unit (IMU) or the like, and the third external sensor device ECU3 may be an infrared sensor or the like, which may be set by a person skilled in the art according to actual needs.
For example, as shown in fig. 4, the first robot control unit RCU1 of the sweeping robot 210 creates a map of a cleaning area based on the external environment sensed by the first external sensor device ECU1, performs path planning according to the map of the cleaning area, and generates a cleaning path, and then the first robot control unit RCU1 controls the sweeping robot 210 to perform a sweeping task along the cleaning path, thereby completing the cleaning of the cleaning area.
The first robot control unit RCU1 is further configured to record a cleaning path and share the cleaning path and a real-time location of the sweeping robot 210 with the mopping robot 220 during the sweeping task performed by the sweeping robot 210.
With continued reference to fig. 4, the mopping robot 220 is configured to receive the cleaning area map, the cleaning path, and the real-time location of the sweeping robot, perform a mopping task according to the cleaning path, and send the real-time location of the mopping robot 220 to the sweeping robot 210.
Optionally, as shown in fig. 4, the mopping robot 220 includes a second Robot Control Unit (RCU) RCU2, wherein the second robot Control Unit RCU2 is an upper computer, and is connected with a fourth external sensor device (ECU) ECU4, and the fourth external sensor device ECU4 transmits the sensed external information to the second robot Control Unit RCU2, so that the second robot Control Unit RCU2 performs a positioning function, and the second robot Control Unit RCU2 may also process an upper planning function of the movement of the mopping robot 220, such as performing a mopping task along a cleaning path.
The fourth external sensor device ECU4 may be a sensor device such as a laser radar or a camera, and it should be noted that, since the floor-mopping robot 220 does not need to build a map, the fourth external sensor device ECU4 may be located by a vision sensor to reduce the cost, and those skilled in the art may set the device according to actual requirements.
With continued reference to fig. 4, the second robot control Unit RCU2 is further connected to a second robot control Unit (MCU) MCU2, wherein the second robot control Unit MCU2 is used as a lower computer and is mainly used for implementing a motion control floor of the floor mopping robot 220, the second robot control Unit MCU2 is further connected to a fifth external sensor device ECU5 and a sixth external sensor device ECU6, and the second robot control Unit MCU2 is capable of receiving and processing sensing information of the fifth external sensor device ECU5 and the sixth external sensor device ECU6 to implement an obstacle detection function of the floor mopping robot 220.
The fifth external sensor device ECU5 may be an Inertial Measurement Unit (IMU) or the like, and the sixth external sensor device ECU6 may be an infrared sensor or the like, which may be set by a person skilled in the art according to actual needs.
For example, as shown in fig. 4, the second robot control unit RCU2 of the floor-mopping robot 220 receives the cleaning area map created by the floor-sweeping robot 210, the cleaning path of the floor-sweeping robot 210, and the real-time position of the floor-sweeping robot 210, and controls the floor-mopping robot 220 to mop the floor along the cleaning path according to the tracking strategy, so as to mop the area that has been cleaned along the floor-sweeping path of the floor-sweeping robot 210, thereby implementing the cooperative operation of the floor-sweeping robot 210 and the floor-mopping robot 220, and thus improving the efficiency of the floor-mopping.
When the mopping robot 220 performs the mopping task, the real-time position of the mopping robot 220 is synchronously shared with the sweeping robot 210.
For example, the second robot manipulation unit RCU2 of the mopping robot 220 may directly perform information interaction with the first robot manipulation unit RCU1 of the sweeping robot 210 through wireless transmission methods such as a shared local area network, wifi, bluetooth, and the like.
With continued reference to fig. 4, the mopping robot 220 is further configured to determine whether the floor-sweeping robot 210 is in an encounter state according to the real-time position of the floor-sweeping robot 210 and the real-time position of the mopping robot 220, and if so, suspend the execution of the mopping task.
For example, the position information is shared between the floor-mopping robot 220 and the floor-sweeping robot 210, when the floor-mopping robot 220 executes the floor-mopping task, the second robot control unit RCU2 of the floor-mopping robot 220 may determine whether the floor-mopping robot 210 is in an encounter state according to the real-time position of the floor-mopping robot 210 and the real-time position of the floor-mopping robot 220, that is, whether the floor-mopping robot 210 and the floor-mopping robot 220 encounter each other, and if so, control the floor-mopping robot 220 to suspend executing the floor-mopping task, so as to avoid collision with the floor-mopping robot 210.
With continued reference to fig. 4, the sweeping robot 210 is further configured to determine whether the sweeping robot 210 and the mopping robot 220 meet each other according to the real-time position of the sweeping robot 210 and the real-time position of the mopping robot 220, and if so, the sweeping robot bypasses the mopping robot 220 and continues to perform the sweeping task.
For example, when the sweeping robot 210 executes a sweeping task, the first robot control unit RCU1 of the sweeping robot 210 judges whether the sweeping robot 210 and the mopping robot 220 are in an encounter state according to the real-time position of the sweeping robot 210 and the real-time position of the mopping robot 220, that is, whether the sweeping robot 210 and the mopping robot 220 encounter each other, if yes, the sweeping robot 210 is controlled to re-plan a path to bypass the mopping robot 220, so as to avoid the mopping robot 220 from colliding with the sweeping robot, and after the sweeping robot 210 bypasses the mopping robot 220, the sweeping robot 210 continues to execute the sweeping task to complete the sweeping work on the sweeping area.
Optionally, when the sweeping robot 210 bypasses the mopping robot 220, the path replanned by the first robot control unit RCU1 of the sweeping robot 210 avoids the area wet-dragged by the mopping robot 220, so as to avoid the cleaning effect of sweeping being affected by wetting the sweeping robot 210.
With reference to fig. 4, optionally, when the floor-mopping robot 220 suspends the floor-mopping task, the floor-mopping robot 220 is further configured to determine whether the floor-mopping robot 210 meets the floor-mopping robot 220 according to the real-time position of the floor-mopping robot 210 and the real-time position of the floor-mopping robot 220, and if yes, continue to execute the floor-mopping task.
For example, when the second robot handling unit RCU2 of the floor-mopping robot 220 determines that the floor-mopping robot 210 is in an encounter state, the floor-mopping robot 220 is controlled to suspend executing the floor-mopping task, wait for the floor-mopping robot 210 to go around, determine whether the floor-mopping robot is in an encounter state with the floor-mopping robot according to the real-time position of the floor-mopping robot 210 and the real-time position of the floor-mopping robot 220, and when the floor-mopping robot 220 is in an encounter state with the floor-mopping robot 210, that is, after the floor-mopping robot 210 goes around the floor-mopping robot 220, the floor-mopping robot 220 is controlled to continue executing the floor-mopping task to complete the wet mopping work on the cleaning area.
With continued reference to fig. 4, the multi-machine collaborative cleaning system provided in the embodiment of the present invention further includes a cloud backend module 230, the cloud backend module 230 is respectively in communication connection with the sweeping robot 210 and the mopping robot 220, and the cloud backend module 230 is configured to issue a control instruction to the sweeping robot 210 and/or the mopping robot 220, so that the sweeping robot 210 executes a sweeping task according to the control instruction, and/or the mopping robot 220 executes a mopping task according to the control instruction.
The sweeping robot 210 is further configured to send a sweeping area map, a sweeping path, and a real-time position of the sweeping robot to the cloud backend module 230.
The mopping robot 220 is further configured to receive the cleaning area map, the cleaning path and the real-time position of the sweeping robot 210 sent by the cloud backend module 230.
Specifically, the sweeping robot 210 sends the sweeping area map, the sweeping path and the real-time position of the sweeping robot to the cloud background module 230, the cloud background module 230 forwards the information to the mopping robot 220, similarly, the mopping robot 220 sends the real-time position of the mopping robot 220 to the cloud background module 230, and the cloud background module 230 sends the real-time position of the mopping robot 220 to the sweeping robot 210, so that the first robot control unit RCU1 of the sweeping robot 210 and the second robot control unit RCU2 of the mopping robot 220 perform information transmission through the cloud background module 230.
Optionally, the cloud backend module 230 is further configured to receive status information of the floor sweeping robot 210 and the floor mopping robot 220, so that the user can obtain the status information through the cloud backend module 230, for example, taking the cloud backend module as a server, the user is connected with the cloud backend module 230 through the terminal APP to obtain the status information.
Optionally, the cloud background module 230 is further configured to issue a control instruction to the sweeping robot 210 and the mopping robot 220, so that the sweeping robot 210 and the mopping robot 220 perform a sweeping operation according to the control instruction.
Optionally, the cloud backend module 230 is further configured to receive real-time positions of the sweeping robot 210 and the mopping robot 220, so that a user can obtain the real-time positions of the sweeping robot 210 and the mopping robot 220 through the cloud backend module 230, for example, taking the cloud backend module as a server, the user is connected with the cloud backend module through a terminal APP, so as to simultaneously display the real-time positions of the sweeping robot 210 and the mopping robot 220 on a map.
Optionally, the cloud backend module 230 is further configured to send information of a wet mopping prohibition area to the mopping robot 220.
The mopping robot 220 is further configured to receive the wet mopping prohibition area information sent by the cloud backend module 230, and execute a mopping task according to the wet mopping prohibition area information.
Specifically, there may be an area where wet mopping is prohibited in the cleaning area of the sweeping robot 210, for example, an area where a carpet is located, and the cloud backend module 230 is further configured to store information of the area where wet mopping is prohibited and send the information of the area where wet mopping is prohibited to the mopping robot 220, so that the mopping robot 220 skips the area where wet mopping is prohibited according to the information of the area where wet mopping is prohibited, that is, the mopping robot 220 does not enter the area where wet mopping is prohibited, thereby avoiding the mopping robot 220 from performing a wet mopping task on the area where wet mopping is prohibited.
It should be noted that the cloud backend module 230 is used to perform remote scheduling and management on the floor sweeping robot 210 and the floor mopping robot 220, and the cloud backend module 230 may be hardware or software. The hardware can adopt a server, a mobile phone, a computer and other intelligent terminals; the software can adopt an application program, a client, a mobile phone APP and other software platforms; the cloud backend module 230 may also be a combination of software and hardware, for example, the cloud backend module 230 includes a processor and a memory, where the memory stores executable instructions, and the executable instructions, when executed by the processor, implement remote scheduling and management of the floor sweeping robot 210 and the floor mopping robot 220, which is not limited in the embodiment of the present invention.
Optionally, the cloud background module 230 may include a human-computer interaction interface, so that intelligent tasks and instructions can be issued through manual operations.
Specifically, the user may set task parameters through the human-computer interaction interface, and the cloud backend module 230 receives the task parameters and issues a control instruction to the sweeping robot 210 and/or the mopping robot 220 according to the task parameters, so that the sweeping robot 210 and/or the mopping robot 220 execute the sweeping task and the mopping task according to the control instruction.
The task parameters may include a time interval between the sweeping robot 210 performing the sweeping task and the mopping robot 220 performing the mopping task, a sequence classification of mopping areas, a number of times of sweeping and mopping a single area, and the like, and may be set by a person skilled in the art according to actual needs.
Optionally, the cloud backend module 230 may further include an AI platform system, so that the cloud backend module 230 can analyze and learn the operation data of the sweeping robot 210 and the mopping robot 220 based on an AI algorithm.
For example, the cloud backend module 230 may receive the operation data of the sweeping robot 210 and the mopping robot 220, and analyze the operation data of the sweeping robot 210 and the mopping robot 220 based on the AI algorithm to obtain a cleaning mode most suitable for the current working environment, and issue a control instruction to the sweeping robot 210 and the mopping robot 220 to enable the sweeping robot 210 and the mopping robot 220 to perform the sweeping task and the mopping task according to the cleaning mode most suitable for the current working environment, where the cleaning mode may include the mopping robot 220 performing the mopping task on the sweeping sub-area after the sweeping robot 210 completes the cleaning task on the current sweeping sub-area, and in some embodiments, the cleaning mode may further include the sweeping robot 210 performing a powerful sweeping mode on an area prohibited from being wet, and the powerful sweeping mode may be two or more times of cleaning the area prohibited from being wet mopped, thereby ensuring the cleaning effect of the wet mopping forbidden area, which is not limited by the embodiment of the invention.
It is to be noted that the foregoing is only illustrative of the preferred embodiments of the present invention and the technical principles employed. It will be understood by those skilled in the art that the present invention is not limited to the particular embodiments described herein, but is capable of various obvious modifications, rearrangements, combinations and substitutions as will now become apparent to those skilled in the art without departing from the scope of the invention. Therefore, although the present invention has been described in greater detail by the above embodiments, the present invention is not limited to the above embodiments, and may include other equivalent embodiments without departing from the spirit of the present invention, and the scope of the present invention is determined by the scope of the appended claims.

Claims (11)

1. A cleaning method is applied to a multi-machine cooperative cleaning system, wherein the multi-machine cooperative cleaning system comprises a sweeping robot and a mopping robot, and the cleaning method comprises the following steps:
the sweeping robot executes a sweeping task according to a sweeping area map and a sweeping path;
the mopping robot receives the cleaning area map, the cleaning path and the real-time position of the sweeping robot;
the mopping robot executes a mopping task according to the cleaning area map and the cleaning path, and sends the real-time position of the mopping robot to the sweeping robot;
the mopping robot judges whether the mopping robot meets the floor sweeping robot or not according to the real-time position of the floor sweeping robot and the real-time position of the mopping robot, and if so, the floor mopping task is suspended;
and the sweeping robot judges whether the sweeping robot meets the mopping robot or not according to the real-time position of the sweeping robot and the real-time position of the mopping robot, and if so, the sweeping robot bypasses the mopping robot and continues to execute a sweeping task.
2. The cleaning method according to claim 1,
the mopping robot judges whether the floor sweeping robot is in an encounter state according to the real-time position of the floor sweeping robot and the real-time position of the mopping robot, and the method comprises the following steps:
the mopping robot judges whether the distance between the real-time position of the sweeping robot and the real-time position of the mopping robot is smaller than a first preset threshold value or not, and if yes, the mopping robot is judged to be in an encounter state with the sweeping robot;
the robot of sweeping the floor according to the real-time position of robot of sweeping the floor with the real-time position judgement of robot of mopping with the robot of mopping is in the state of meeting, include:
the floor sweeping robot judges whether the distance between the real-time position of the floor sweeping robot and the real-time position of the floor mopping robot is smaller than a second preset threshold value or not, and if yes, the floor sweeping robot is judged to be in an encountering state.
3. The cleaning method according to claim 1,
when the floor mopping robot suspends the floor mopping task, the floor mopping robot judges whether the floor mopping robot is in a meeting state with the floor sweeping robot or not according to the real-time position of the floor sweeping robot and the real-time position of the floor mopping robot, and if yes, the floor mopping task is continuously executed.
4. The cleaning method according to claim 3,
the mopping robot judges whether the meeting state of the mopping robot is removed according to the real-time position of the mopping robot and the real-time position of the mopping robot, and the method comprises the following steps:
and the mopping robot judges whether the distance between the real-time position of the sweeping robot and the real-time position of the mopping robot is greater than a third preset threshold value or not, and if so, the robot is judged to be in a state of meeting with the sweeping robot.
5. The cleaning method according to claim 1,
the multi-machine collaborative cleaning system further comprises a cloud background module;
the mopping robot receives the cleaning area map, the cleaning path and the real-time position of the sweeping robot, and the method comprises the following steps:
the sweeping robot sends the sweeping area map, the sweeping path and the real-time position of the sweeping robot to the cloud background module;
and the mopping robot receives the cleaning area map, the cleaning path and the real-time position of the sweeping robot which are sent by the cloud background module.
6. The cleaning method of claim 1, wherein the multi-machine collaborative cleaning system further comprises a cloud backend module;
the cleaning method further comprises:
the cloud background module sends information of wet mopping prohibition areas to the sweeping robot and/or the mopping robot;
the sweeping robot receives the wet mopping prohibition region information sent by the cloud background module and executes a sweeping task according to the wet mopping prohibition region information, and/or the mopping robot receives the wet mopping prohibition region information sent by the cloud background module and executes a mopping task according to the wet mopping prohibition region information.
7. The cleaning method of claim 1, wherein the sweeping robot performs sweeping tasks according to a sweeping area map and a sweeping path, comprising:
the sweeping robot divides the sweeping area map into a plurality of sweeping sub-areas;
the sweeping robot executes sweeping tasks on the plurality of sweeping sub-areas according to a preset sequence;
after the sweeping task of the current sweeping sub-area is completed, the sweeping robot sends the current sweeping sub-area, the sweeping path and the real-time position of the sweeping robot to the floor mopping robot.
8. The cleaning method of claim 1, wherein the multi-machine collaborative cleaning system further comprises a cloud backend module;
the cleaning method further comprises:
the cloud background module issues a control instruction to the sweeping robot and/or the mopping robot;
and the sweeping robot executes a sweeping task according to the control instruction, and/or the mopping robot executes a mopping task according to the control instruction.
9. A multi-robot cooperative cleaning system for performing the cleaning method according to any one of claims 1 to 8, the multi-robot cooperative cleaning system comprising a sweeping robot and a mopping robot;
the sweeping robot is used for executing sweeping tasks according to a sweeping area map and a sweeping path;
the mopping robot is used for receiving the cleaning area map, the cleaning path and the real-time position of the sweeping robot, executing a mopping task according to the cleaning path and sending the real-time position of the mopping robot to the sweeping robot;
the mopping robot is also used for judging whether the mopping robot meets the floor sweeping robot or not according to the real-time position of the floor sweeping robot and the real-time position of the mopping robot, and if so, suspending the execution of a mopping task;
the sweeping robot is further used for judging whether the sweeping robot meets the mopping robot or not according to the real-time position of the sweeping robot and the real-time position of the mopping robot, and if yes, the sweeping robot bypasses the mopping robot and then continues to execute sweeping tasks.
10. The multi-machine cooperative cleaning system as recited in claim 9,
when the floor mopping robot stops executing the floor mopping task, the floor mopping robot is further used for judging whether the floor mopping robot is in a meeting state with the floor sweeping robot or not according to the real-time position of the floor sweeping robot and the real-time position of the floor mopping robot, and if yes, the floor mopping task is continuously executed.
11. The multi-machine collaborative cleaning system according to claim 9, further comprising a cloud backend module, the cloud backend module being in communication connection with the floor sweeping robot and the floor mopping robot, respectively;
the cloud background module is used for issuing a control instruction to the sweeping robot and/or the mopping robot so that the sweeping robot executes a sweeping task according to the control instruction and/or the mopping robot executes a mopping task according to the control instruction.
CN202111143656.5A 2021-09-28 2021-09-28 Cleaning method and multi-machine cooperative cleaning system Pending CN113876249A (en)

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