CN114098529B - Cleaning method for cleaning robot system, and storage medium - Google Patents
Cleaning method for cleaning robot system, and storage medium Download PDFInfo
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- CN114098529B CN114098529B CN202111418518.3A CN202111418518A CN114098529B CN 114098529 B CN114098529 B CN 114098529B CN 202111418518 A CN202111418518 A CN 202111418518A CN 114098529 B CN114098529 B CN 114098529B
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/24—Floor-sweeping machines, motor-driven
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
- A47L11/4061—Steering means; Means for avoiding obstacles; Details related to the place where the driver is accommodated
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L2201/00—Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
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- 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
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L2201/00—Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
- A47L2201/06—Control of the cleaning action for autonomous devices; Automatic detection of the surface condition before, during or after cleaning
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Abstract
The invention is applicable to the field of cleaning robots, and provides a cleaning method of a cleaning robot system, the cleaning robot system and a storage medium, wherein the cleaning method is applied to a first cleaning robot and a second cleaning robot, the height of the second cleaning robot is smaller than that of the first cleaning robot, and the method comprises the following steps: the first cleaning robot walks along the edge at a preset distance value; acquiring position information of a low space when the first cleaning robot walks along the edge, and marking the position of the low space; generating a large map and marking position information of a short space in the large map; the first cleaning robot transmits a command for performing a task of cleaning a short space and a large map to the second cleaning robot, and performs a cleaning task for an area outside the short space. The invention can ensure the cleaning effect and cleaning efficiency of the conventional space cleaning, simultaneously takes the problem of low space cleaning into account, and further improves the cleaning efficiency and cleaning effect on the whole.
Description
Technical Field
The invention belongs to the field of cleaning robots, and particularly relates to a cleaning method of a cleaning robot system, a cleaning robot and a storage medium.
Background
The existing cleaning robot has a low space below some articles during the cleaning process, such as a bed bottom and a sofa bottom. The existing sweeping robot aims at solving the problem of low space, the common way is to thin the body of the sweeping robot, so that the sweeping robot can enter the space to be cleaned, although the thin mode of the body realizes the cleaning in different height spaces, but the partial performance of the sweeping robot can be influenced, for example, a water tank, a dust box and the like are compressed, the cleaning robot with large thickness degree in the sweeping process needs frequent water adding and garbage disposal, large-area sweeping cannot be continued, the cleaning robot with the structure is applied, so that the cleaning efficiency is reduced, in addition, the cleaning effect of the whole space (most of conventional spaces and low spaces) is influenced, and the user experience is poor.
Disclosure of Invention
The invention provides a cleaning method of a cleaning robot system, and aims to solve the problem that high-efficiency and high-cleaning effects cannot be realized while large-space and low-space cleaning is considered in the prior art.
The present invention is achieved in such a way that a cleaning method of a cleaning robot system is applied to a first cleaning robot and a second cleaning robot, wherein the height of the second cleaning robot is smaller than the height of the first cleaning robot, the method including the steps of:
the first cleaning robot walks along the edge at a preset distance value;
acquiring position information of a low space when the first cleaning robot walks along the edge, and marking the position of the low space;
generating a large map and marking position information of a short space in the large map;
and the first cleaning robot sends a command for executing a task of sweeping a low space and a large map to the second cleaning robot and executes a cleaning task of an area outside the low space.
Further, the step of acquiring position information of a low space when the first cleaning robot travels edgewise, and the marking the current position information includes:
acquiring an actual distance value between a first cleaning robot and an entity boundary at a preset height, wherein the preset height is greater than the height of a second cleaning robot;
judging whether the actual distance value is larger than the preset distance value or not;
and if so, marking the current position.
Further, if yes, the method further includes, after marking the current position:
acquiring an actual length value of the current position of the mark along the edge direction;
judging whether the actual length value is larger than a preset length value or not;
if so, the current position of the marker is determined to be a low space accessible.
Further, the step of the first cleaning robot sending an instruction to perform a task of sweeping a low space and a large map to the second cleaning robot, while the first cleaning robot performing a cleaning task of an area outside the low space includes:
the second cleaning robot enters a low space from the marked position according to a large map;
the second cleaning robot performs a cleaning task with the marked position of the short space in the geodetic view as a virtual wall.
Further, the second cleaning robot performs a cleaning task with a marked position of a low space in the geodetic image as a virtual wall, and then:
judging whether other mark positions exist on the outermost periphery boundary in the current short space;
if yes, marking other marked positions as invalid positions.
Further, after the step of sending an instruction for executing a task of cleaning a short space and a large map to the second cleaning robot and executing a cleaning task for an area outside the short space, the method further includes:
the second cleaning robot acquires environmental data of a short space;
and generating and storing a low space map according to the environment data.
Further, after the step of generating and storing a low-altitude space map according to the environment data, the method further comprises:
and displaying the geodesic map and the low space map on a user terminal.
The present invention also provides a cleaning robot system applied to a first cleaning robot and a second cleaning robot, wherein a height of the second cleaning robot is smaller than a height of the first cleaning robot, the system comprising:
the first execution module is used for the first cleaning robot to walk along the edge with a preset distance value;
the first acquisition module is used for acquiring the position information of the low space when the first cleaning robot walks along the edge and marking the position of the low space;
the first processing module is used for generating a large map and marking low spatial position information in the large map;
and the second processing module is used for sending a task instruction for cleaning a low space and a large map to the second cleaning robot by the first cleaning robot and executing a cleaning task of an area outside the low space.
The present invention also provides a storage medium having stored thereon a computer program which, when being executed by a processor, carries out the steps of the above-mentioned cleaning method of a cleaning robot system.
The invention has the advantages that the first cleaning robot and the second cleaning robot with different heights are utilized to realize the regional collaborative cleaning, compared with the cleaning mode which can not well consider the conventional space and the low space at the same time in the prior art, the design scheme can ensure the cleaning effect and the cleaning efficiency of the conventional space and consider the problem of low space cleaning, and further improves the cleaning efficiency and the cleaning effect on the whole.
Drawings
FIG. 1 is a block flow diagram of one embodiment of a method of cleaning a robotic cleaning system provided by the present invention;
FIG. 2 is a block flow diagram of another embodiment of a cleaning method for a cleaning robot system provided by the present invention;
FIG. 3 is a block flow diagram of yet another embodiment of a cleaning method of a cleaning robot system provided by the present invention;
FIG. 4 is a schematic view of a cleaning robot system according to the present invention;
FIG. 5 is a schematic diagram of a first acquisition module of the cleaning robot system according to the present invention;
fig. 6 is a schematic structural diagram of a second process module of the cleaning robot system according to the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and do not limit the invention.
Example one
Referring to fig. 1, the present invention provides a cleaning method of a cleaning robot system, which is applied to a first cleaning robot and a second cleaning robot, wherein the height of the second cleaning robot is smaller than the height of the first cleaning robot, and the method specifically includes the following steps:
s1, a first cleaning robot walks along the edge according to a preset distance value;
the term edgewise refers to walking along a solid boundary, which may be any boundary of an object existing in a space, including but not limited to a solid wall, an obstacle, etc., and the first cleaning robot walks edgewise at a predetermined distance so that the first cleaning robot does not collide with the solid boundary during the walking.
S2, acquiring position information of a low space when the first cleaning robot walks along the edge, and marking the position of the low space;
the position information refers to position information of a low space and a physical boundary, namely the position can be used as an entrance of a second cleaning robot entering the low space, the first cleaning robot judges whether the low space exists when walking along the edge, and marks the current position when the low space exists to generate point cloud information.
S3, generating a large map and marking short space position information in the large map;
the map is created by the first cleaning robot, and the large map generates continuous position information, i.e., linear position information, for the point position information of the short space mark. Specifically, a large map is generated according to point cloud data and path data acquired by the laser radar, and position information of a low space mark is marked in the large map, so that the second cleaning robot can conveniently identify the low space.
And S4, the first cleaning robot sends a task instruction for cleaning the short space and a large map to the second cleaning robot and executes the task of cleaning the area outside the short space.
After the second cleaning robot receives the large map and finds the position of the low space according to the large map, the first cleaning robot simultaneously cleans the area outside the low space to achieve the purpose of cooperative cleaning, and therefore the cleaning efficiency of the whole area to be cleaned is improved.
It can be understood that the large map can be shared by the first cleaning robot and the second cleaning robot, so that the second cleaning robot can synchronously acquire the large map in real time when the first cleaning robot updates the large map in real time. In addition, the geodesic map may also be transmitted to the second cleaning robot in a transmission manner, i.e., when the first cleaning robot updates the geodesic map in real time, the geodesic map is transmitted to the second cleaning robot only at the same time as or before the second cleaning robot executes the first cleaning robot cleaning task instruction.
According to the sweeping method of the cleaning robot system provided by the embodiment of the invention, the first cleaning robot and the second cleaning robot with different heights are utilized to realize the partition cooperation sweeping, compared with a sweeping mode which can not give consideration to both a conventional space and a low space well in the prior art, the design scheme can ensure the cleaning effect and the sweeping efficiency of the conventional space sweeping and give consideration to the problem of sweeping the low space, and further improves the sweeping efficiency and the sweeping effect on the whole.
It should be noted that the cleaning method provided by the embodiment of the present invention is not only suitable for cleaning a single space, but also suitable for cleaning in a plurality of different spaces. For convenience of explanation, the present embodiment is exemplified by cleaning a plurality of rooms. The cleaning method comprises the steps that a first cleaning robot walks along the sides in a plurality of rooms in sequence, low spaces are marked while walking, then a large map is generated, the positions of the low spaces are marked on the large map, when cleaning needs to be executed, the first cleaning robot sends a low space cleaning instruction to a second cleaning robot, the second cleaning robot navigates to the low space position and starts to execute cleaning work after a self-defined planning route of the large map acquired from the first cleaning robot, and meanwhile, the first cleaning robot executes own cleaning tasks.
Example two
Referring to fig. 2, as another embodiment of the present invention, on the basis of the first embodiment, specifically, the step S2 of acquiring the position information of the low space when the first cleaning robot travels along the edge, and marking the current position information includes:
s21, acquiring an actual distance value between the first cleaning robot and the entity boundary at a preset height, wherein the preset height is greater than the height of the second cleaning robot;
the actual distance value between the first cleaning robot and the entity boundary is obtained at the preset height, and the low space which cannot be entered by the second cleaning robot at the height can be screened in advance, so that the useless data information of the space which cannot be cleaned by too many marks in the walking process of the first cleaning robot can be avoided, the pressure of a processing module which is required to be consumed by data calculation and analysis of the first cleaning robot is reduced, and meanwhile, the cleaning efficiency of a cleaning robot system can be cleaned.
The preset height is larger than the height of the second cleaning robot, so that the second cleaning robot can be ensured to partially or completely enter a low space in the height space, and the second cleaning robot is ensured to clean the low space. The preset height may be achieved by providing a distance detecting device at a preset height position of the first cleaning robot, and the distance detecting device may employ, but is not limited to, one of TOF, infrared, ultrasonic sensors, or binocular vision.
S22, judging whether the actual distance value is larger than a preset distance value or not;
if the actual distance value is larger than the preset distance value, the short space exists.
And S23, if so, marking the current position.
The current position is marked so as to generate position information of a short space on a large map.
The embodiment can mark the region which accords with the second cleaning robot to carry out sweeping through the detection of the low space on the preset height, so that the first cleaning robot and the second cleaning robot can be divided conveniently, and the cooperative sweeping of the first cleaning robot and the second cleaning robot can be realized.
EXAMPLE III
Referring to fig. 2, as yet another embodiment of the present invention, on the basis of the second embodiment, further, if step S32 is yes, after marking the current position, the method further includes:
s24, acquiring the actual length value of the current position of the mark along the edge direction;
namely, after the position marking is carried out on the short space, the actual length value of the short space along the length direction of the entity boundary is obtained. Specifically, the actual length value may be acquired by an odometer provided on the first cleaning robot.
S25, judging whether the actual length value is larger than a preset length value or not;
and S26, if yes, confirming that the current position of the mark is a low space which can be accessed.
The entry means that the second cleaning robot is required to perform a cleaning command for a low space in terms of cleaning, and all the low spaces marked in the above embodiments are screened through steps S25 and S26, so that the low spaces which do not need to be cleaned or have little meaning after cleaning and affect the cleaning efficiency are distinguished, thereby improving the overall cleaning efficiency. Wherein the preset length value may be greater than or equal to a width value of the second cleaning robot.
In the present embodiment, the preset length may be greater than or equal to the width of the second cleaning robot, and may be 30 cm or more assuming that the width of the second cleaning robot is 30 cm.
Example four
Referring to fig. 3, as yet another embodiment of the present invention, based on the first embodiment, specifically, step S4 is that the first cleaning robot sends an instruction to perform a task of cleaning a short space and a large map to the second cleaning robot, and the performing of the cleaning task on the area outside the short space by the first cleaning robot includes:
s41, the second cleaning robot enters a low space according to the geodesic map;
and the second cleaning robot carries out path planning according to the large map so as to move into a low space to be cleaned according to the planned path to carry out a cleaning task.
S42, the second cleaning robot takes the position information of the low space in the geodesic as a virtual wall to carry out cleaning tasks;
when the second cleaning robot executes the cleaning task of the low space, the mark position of the low space is used as a virtual wall, namely, the second cleaning robot preferentially cleans the area in the low space in the executing process, and the cleaning efficiency of the second cleaning robot to the low space is improved. The virtual wall can also prevent the second cleaning robot from directly coming out from the mark position after walking along the edge and returning to the mark position after entering from the mark position.
EXAMPLE five
Referring to fig. 3, as yet another embodiment of the present invention, on the basis of the fourth embodiment, further, after the step S42 of the second cleaning robot performing the cleaning task with the marked position of the low space in the geodetic view as the virtual wall, the method further includes:
s43, judging whether other mark positions exist on the outermost periphery boundary in the current short space;
the second cleaning robot enters the low space from the mark position and walks in the low space along the edge, and when encountering other virtual walls in the process of walking along the edge, the second cleaning robot can recognize that the mark position exists at the current position;
and S44, if so, marking other marking positions as invalid positions.
This step marks other marked positions as invalid positions by the second cleaning robot to achieve an optimized plan for the subsequent sweeping path.
When the second cleaning robot enters the short space from the mark position, the mark position is used as an inlet of the short space, when the short spaces in different mark positions are in a communicated state, the short spaces in different mark positions form a complete space, at the moment, the second cleaning robot can completely clean the short spaces in the mark positions only when entering the short space from one mark position, and other mark positions except the mark position where the second cleaning robot enters are marked as invalid positions by judging the outermost periphery boundary in the current short space, namely when the second cleaning robot walks along the edge, if other mark positions exist, so that the second cleaning robot can be prevented from entering the short spaces repeatedly from other mark positions again, and the cleaning efficiency is improved.
Example six
Referring to fig. 1, as yet another embodiment of the present invention, on the basis of the first embodiment, step S4 further includes after the first cleaning robot sends an instruction to perform a task of cleaning a low space and a large map to the second cleaning robot, and performs a cleaning task for an area outside the low space:
s5, acquiring low space environment data by the second cleaning robot;
and S6, generating a low space map according to the environmental data and storing the low space map.
In this embodiment, during the cleaning process, the second cleaning robot synchronously acquires environmental data in the short space to generate a map of the short space, which may provide a basis for the second cleaning robot to plan a clean path of the short space. In addition, the generation of the map of the low space is realized in a way that when the second cleaning robot does not execute the same low space for the first time, the stored map can be directly called to realize cleaning, so that the reconstruction and path planning of the cleaning process are reduced, and the cleaning time is saved; on the other hand, after the path planning is performed according to the low space map, the cleaning efficiency of some special low spaces can be improved, for example, when the cleaning method is applied to the environment of a large warehouse, the bottom environment of the large goods shelf is extremely complex, and the path planning is not performed in advance, so that the cleaning effect of the second cleaning robot is not ideal or the second cleaning robot is disorderly in the low space and cannot rapidly go out of the area.
EXAMPLE seven
Referring to fig. 1, as yet another embodiment of the present invention, on the basis of the sixth embodiment, after the step S6 of generating and storing a low space map according to environment data, the method further includes:
and S7, displaying the geodesic map and the low-rise space map on the user terminal.
The map information is displayed at the user terminal, so that a user can conveniently observe the environmental condition in a cleaning area, and meanwhile, the map of the low space is displayed, so that the judgment of the user on objects possibly existing in the low space is facilitated, and the arrangement or the cleaning of the objects in the low space can be facilitated.
Example eight
Referring to fig. 4, an embodiment of the present invention further provides a cleaning robot system, which is applied to a first cleaning robot and a second cleaning robot, wherein the height of the second cleaning robot is smaller than the height of the first cleaning robot, and the system includes a first executing module 100, configured to enable the first cleaning robot to walk along a side by a preset distance value; a first obtaining module 200, configured to obtain position information of a low space when the first cleaning robot travels along the edge, and mark the position of the low space; a first processing module 300 for generating a large map and marking low spatial position information in the large map; and a second processing module 400 for the first cleaning robot to send an instruction to perform a task of sweeping a low space and a large map to the second cleaning robot and to perform a cleaning task for an area outside the low space.
Specifically, the first obtaining module 200 includes a first obtaining unit 2001, configured to obtain an actual distance value between the first cleaning robot and the physical boundary at a preset height, where the preset height is greater than the height of the second cleaning robot; a first judging unit 2002 for judging whether the actual distance value is greater than the preset distance value; a first executing unit 2003, configured to mark the current position if yes.
Referring to fig. 5, further, the first obtaining module 200 further includes: a second obtaining unit 2004 for obtaining an actual length value of the current position of the mark in the edge direction; a second judging unit 2005, configured to judge whether the actual length value is greater than the preset length value; a second executing unit 2006, configured to determine that the current position of the mark is a low space accessible if yes.
Referring to fig. 6, in detail, the second process module 400 includes a third execution unit 4001 for the second cleaning robot to enter a low space according to a geodetic map; a fourth performing unit 4002 for the second cleaning robot to perform a cleaning task with a boundary of a low space in the geodetic view as a virtual wall.
Further, the second processing module 400 further includes a third determining unit 4003, configured to determine whether there are other mark positions on the outermost periphery boundary in the current short space; a fifth execution unit 4004, configured to mark the other marked locations as invalid locations if yes.
Referring to fig. 1, further, the system further includes a second acquiring module 500 for acquiring low-space environment data by the second cleaning robot; and a second executing module 600, configured to generate and store a low-rise space map according to the environment data.
Referring to fig. 1, further, the system further includes a display module 700 for displaying the large map and the low space map on the user terminal.
According to the cleaning robot system provided by the embodiment of the invention, the first cleaning robot and the second cleaning robot with different heights are utilized to realize the regional collaborative cleaning, compared with the cleaning mode which can not well give consideration to the conventional space and the low space at the same time in the prior art, the design scheme can ensure the cleaning effect and the cleaning efficiency of the conventional space cleaning and give consideration to the problem of low space cleaning, and further improves the cleaning efficiency and the cleaning effect on the whole.
The present invention also provides a storage medium having stored thereon a computer program which, when executed by a processor, implements the steps of the cleaning method of the cleaning robot system described above. The storage medium may be, but is not limited to, ROM/RAM, magnetic disk, optical disk, etc.
The above description is intended to be illustrative of the preferred embodiment of the present invention and should not be taken as limiting the invention, but rather, the intention is to cover all modifications, equivalents, and alternatives falling within the spirit and scope of the invention.
Claims (8)
1. A cleaning method of a cleaning robot system applied to a first cleaning robot and a second cleaning robot, wherein a height of the second cleaning robot is smaller than a height of the first cleaning robot, the method comprising the steps of:
the first cleaning robot walks along the edge at a preset distance value;
acquiring position information of a low space when the first cleaning robot walks along the edge, and marking the position of the low space;
generating a large map and marking position information of a short space in the large map;
the first cleaning robot sends a task instruction for cleaning a low space and a large map to the second cleaning robot, and performs a cleaning task for an area outside the low space;
the acquiring position information of a short space when the first cleaning robot walks along the edge and marking the current position information includes:
acquiring an actual distance value between a first cleaning robot and an entity boundary at a preset height, wherein the preset height is greater than the height of a second cleaning robot;
judging whether the actual distance value is larger than the preset distance value or not;
and if so, marking the current position.
2. The cleaning method of a cleaning robot system according to claim 1, wherein if the current position is marked, the method further comprises:
acquiring an actual length value of the current position of the mark along the edge direction;
judging whether the actual length value is larger than a preset length value or not;
if so, the current position of the marker is determined to be a low space accessible.
3. The sweeping method of a cleaning robot system according to claim 1, wherein the first cleaning robot transmits an instruction to perform a task of sweeping a short space and a large map to the second cleaning robot while the first cleaning robot performs a cleaning task of an area outside the short space includes:
the second cleaning robot enters a low space from the marked position according to a large map;
the second cleaning robot performs a cleaning task with the marked position of the short space in the geodetic view as a virtual wall.
4. The cleaning method of a cleaning robot system according to claim 3, wherein the second cleaning robot further comprises, after performing the cleaning task with the marked position of the short space in the geodetic view as a virtual wall:
judging whether other mark positions exist on the outermost periphery boundary in the current short space;
if yes, marking other marked positions as invalid positions.
5. The cleaning method of a cleaning robot system according to claim 1, wherein the first cleaning robot transmits an instruction to perform a task of cleaning a low space and a large map to the second cleaning robot, and further comprises, after performing a cleaning task of an area outside the low space:
the second cleaning robot acquires environmental data of a short space;
and generating and storing a low space map according to the environment data.
6. The cleaning method for a cleaning robot system according to claim 5, further comprising, after generating and storing a map of low spaces from the environment data:
and displaying the geodesic map and the low space map on a user terminal.
7. A cleaning robot system applied to a first cleaning robot and a second cleaning robot, wherein a height of the second cleaning robot is smaller than a height of the first cleaning robot, the system comprising:
the first execution module is used for the first cleaning robot to walk along the edge with a preset distance value;
the first acquisition module is used for acquiring the position information of the low space when the first cleaning robot walks along the edge and marking the position of the low space, and comprises:
acquiring an actual distance value between a first cleaning robot and an entity boundary at a preset height, wherein the preset height is greater than the height of a second cleaning robot;
judging whether the actual distance value is larger than the preset distance value or not;
if so, marking the current position;
the first processing module is used for generating a large map and marking low spatial position information in the large map;
and the second processing module is used for sending a task instruction for cleaning a short space and a large map to the second cleaning robot by the first cleaning robot and executing a cleaning task of an area outside the short space.
8. A storage medium having stored thereon a computer program, wherein the computer program, when being executed by a processor, carries out the steps of a cleaning method of a cleaning robot system according to any one of claims 1-6.
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