CN115363479A

CN115363479A - Water replenishing and draining method, device, system, equipment and storage medium

Info

Publication number: CN115363479A
Application number: CN202110558628.3A
Authority: CN
Inventors: 刘亮
Original assignee: Guangzhou Shiyuan Electronics Thecnology Co Ltd; Guangzhou Shirui Electronics Co Ltd
Current assignee: Guangzhou Shiyuan Electronics Thecnology Co Ltd; Guangzhou Shirui Electronics Co Ltd
Priority date: 2021-05-21
Filing date: 2021-05-21
Publication date: 2022-11-22
Anticipated expiration: 2041-05-21
Also published as: CN115363479B

Abstract

The invention discloses a water replenishing and draining method, device, system, equipment and storage medium. The method comprises the following steps: acquiring current working parameters of a water replenishing and draining robot and a cleaning robot in a target area; determining the number of first type cleaning robots in a target area according to the current working parameters of the cleaning robots; and determining a water quantity adjusting strategy according to the number of the first type cleaning robots, so that the water replenishing and draining robots and/or the cleaning robots replenish and/or drain water for the first type cleaning robots. According to the embodiment of the invention, a flexible water replenishing and draining robot or a cleaning robot in an idle state is used for replacing a large number of workstations to replenish and/or drain water for the first type of cleaning robot, so that the hardware cost and the user cost are reduced, the working efficiency of the cleaning robot is improved, and the energy consumption is reduced; and the cloud server is used for monitoring the current working parameters of all the cleaning robots, so that the intelligent resource coordination and the optimal water replenishing and draining scheme planning are realized.

Description

Water replenishing and draining method, device, system, equipment and storage medium

Technical Field

The embodiment of the invention relates to a data processing technology, in particular to a water replenishing and draining method, a water replenishing and draining device, a water replenishing and draining system, water replenishing and draining equipment and a storage medium.

Background

When a commercial cleaning robot performs a cleaning task (such as a cleaning task, a washing task, etc.), if it is detected that the clean water tank is short of water or the sewage tank is full of water, the cleaning robot returns to the workstation to replenish the clean water tank or drain the sewage tank, and then resumes the cleaning task at a task break point. However, in the actual operation process, the adoption of the water replenishing or draining mode has three problems: firstly, the electric quantity of the cleaning robot which is executing the cleaning task is wasted and returns to the workstation for water replenishing and draining; secondly, the cleaning efficiency is reduced, and the cleaning robot wastes time on the way back to the workstation; thirdly, in the current industry, a plurality of workstations are built in the workplace (for example, in a large business super, if only one workstation is located at the 1 st floor, when the robot executes tasks at the 4 th floor, the robot needs to return to the 1 st floor for water replenishing and draining at a long distance, and in order to improve the efficiency, a plurality of workstations are generally built in the business super), thereby increasing the hardware cost and the user cost.

Disclosure of Invention

In view of the above, the present invention provides a water replenishing and draining method, apparatus, system, device and storage medium, which improves the working efficiency of the cleaning robot and reduces the energy consumption of the cleaning robot on the basis of reducing the hardware cost and the user cost.

In a first aspect, an embodiment of the present invention provides a water replenishing and draining method, including:

acquiring current working parameters of each water replenishing and draining robot and each cleaning robot in a target area;

determining the number of first type cleaning robots in the target area according to the current working parameters of the cleaning robots, wherein the first type cleaning robots are cleaning robots executing cleaning tasks when the current clear water volume reaches a first water volume threshold value and/or the current sewage volume reaches a second water volume threshold value;

and determining a water quantity adjusting strategy according to the number of the first type of cleaning robots, so that the water replenishing and draining robot and/or the cleaning robot perform water replenishing and/or draining operation on the first type of cleaning robot.

In a second aspect, an embodiment of the present invention further provides a water replenishing and draining device, including:

the acquisition module is used for acquiring the current working parameters of each water replenishing and draining robot and each cleaning robot in the target area;

a determination module, configured to determine the number of first type cleaning robots within the target area according to current working parameters of the cleaning robots, wherein the first type cleaning robots are cleaning robots that are performing cleaning tasks for which a current amount of clean water reaches a first water threshold value and/or for which a current amount of sewage reaches a second water threshold value;

and the execution module is used for determining a water quantity adjustment strategy according to the number of the first type of cleaning robots so as to enable the water replenishing and draining robot and/or the cleaning robot to perform water replenishing and/or draining operation on the first type of cleaning robot.

In a third aspect, an embodiment of the present invention further provides a water replenishing and draining system, including: the system comprises a cloud server, a cleaning robot and a water replenishing and draining robot; the cloud server is in communication connection with the cleaning robot and the water replenishing and draining robot respectively; the cleaning robot and the water replenishing and draining robot are in communication connection;

when the cleaning robot executes a cleaning task, the cleaning robot and the water replenishing and draining robot upload the current working parameters of the cleaning robot and the water replenishing and draining robot to the cloud server in real time; and the cloud server controls the cleaning robot in an idle state and/or the water replenishing and draining robot to perform water replenishing and/or draining operations on a first type of cleaning robot according to the current working parameters of the cleaning robot and the water replenishing and draining robot, wherein the first type of cleaning robot is a cleaning robot which is executing a cleaning task and has the current clear water amount reaching a first water amount threshold value and/or the current sewage amount reaching a second water amount threshold value.

In a fourth aspect, an embodiment of the present invention further provides a water replenishing and draining apparatus, including: a communication module, a memory, and one or more processors;

the communication module is used for establishing communication connection among the cleaning robot, the water replenishing and draining robot and the water replenishing and draining equipment;

a memory for storing one or more programs;

when the one or more programs are executed by the one or more processors, the one or more processors are caused to implement the method of replenishing water and draining as in any of the embodiments above.

In a fifth aspect, a computer-readable storage medium has stored thereon a computer program which, when executed by a processor, implements a method of replenishing water for draining as in any of the embodiments described above.

The method comprises the steps of obtaining current working parameters of each water replenishing and draining robot and each cleaning robot in a target area; determining the number of first type cleaning robots in a target area according to the current working parameters of the cleaning robots, wherein the first type cleaning robots are cleaning robots executing cleaning tasks when the current clear water amount reaches a first water amount threshold value and/or the current sewage amount reaches a second water amount threshold value; and determining a water quantity adjusting strategy according to the number of the first type cleaning robots, so that the water replenishing and draining robot and/or the cleaning robot perform water replenishing and/or draining operation on the first type cleaning robots. According to the embodiment of the invention, a flexible water replenishing and draining robot or a cleaning robot in an idle state is used for replacing a large number of workstations, and water replenishing and/or draining are carried out on the first type cleaning robot with requirements, so that the number of workstations in fixed positions is reduced, the user cost is reduced, the working efficiency of the cleaning robot is improved, and the energy consumption is reduced; in addition, the cloud server is used for monitoring the current working parameters of all the cleaning robots, so that intelligent resource coordination is realized, and an optimal water replenishing and draining scheme is planned.

Drawings

FIG. 1 is a flow chart of a method for replenishing water and draining provided by an embodiment of the invention;

FIG. 2 is a flow chart of another water replenishing and draining method according to an embodiment of the present invention;

FIG. 3 is a block diagram of a water replenishing and draining system according to an embodiment of the present invention;

FIG. 4 is a flow chart of a method for replenishing and draining water according to an embodiment of the present invention;

FIG. 5 is a block diagram of a water replenishing and draining device according to an embodiment of the present invention;

FIG. 6 is a block diagram of another embodiment of the present invention;

fig. 7 is a schematic hardware structure diagram of a water replenishing and draining device 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.

In an embodiment, fig. 1 is a flowchart of a water replenishing and draining method according to an embodiment of the present invention, and the embodiment is applicable to a case where a first type of cleaning robot with a demand is replenished and/or drained. The present embodiment may be performed by a water replenishing and draining apparatus. Wherein, the moisturizing drainage equipment can be the high in the clouds server. Illustratively, the cloud server may be a computer device. As shown in fig. 1, the present embodiment includes the following steps:

and S110, acquiring current working parameters of each water replenishing and draining robot and each cleaning robot in the target area.

Wherein, the target area refers to the area where the water replenishing and draining robot and the cleaning robot are located currently. Illustratively, the target area may be a public area of a mall, a government, or the like. In an embodiment, the number of the moisturizing and draining robots and the cleaning robots in each target area is at least one. Wherein, moisturizing drainage robot can understand as a moisturizing drainage workstation that removes. In the actual operation process, in order to reduce the hardware cost and the user cost, a water replenishing and draining robot is configured in the target area as an example, and the water replenishing and draining process is explained.

In the actual operation process, the cloud server can simultaneously monitor the current working parameters of each water replenishing and draining robot and all cleaning robots in the target area in real time; the current working parameters of the robot can be actively uploaded to the cloud server through the water replenishing and draining robot and each cleaning robot, and the current working parameters are not limited. It can be understood that the cloud server and the water replenishing and draining robot, and the cloud server and the cleaning robot are in two-way communication. Of course, the cloud server can establish communication connection with the water replenishing and draining robot and the cleaning robot when the water replenishing and draining robot and the cleaning robot are started.

In one embodiment, the current operating parameters of the cleaning robot and the refill and drain robot each include: the current clear water volume of the clear water tank, the current sewage volume of the sewage tank and the current working state. The current clear water quantity of the clear water tank refers to the current remaining clear water quantity in the clear water tank; the current sewage amount of the sewage tank refers to the current residual sewage amount in the sewage tank; the current working state includes: an active state and an idle state. Wherein, the working state comprises one of the following: a state in which a cleaning task is being performed; a state in which water is being replenished to another cleaning robot; a state in which water is being drained to another cleaning robot; the state of water replenishment and drainage is being performed to the other cleaning robots.

In an embodiment, the cloud server monitors the current fresh water amount of the clean water tank of the cleaning robot and the current sewage amount of the sewage tank in real time while the cleaning robot is performing a cleaning task. Meanwhile, when the water replenishing and draining robot is replenishing water and/or draining water to the cleaning robot, the cloud server monitors the current clear water amount of the self clear water tank of the water replenishing and draining robot and the current sewage amount of the self sewage tank in real time. It should be noted that the structure of the moisturizing and draining robot is substantially the same as that of the cleaning robot, and the only difference is that the moisturizing and draining robot is not provided with a sweeping component, i.e. does not have the function of cleaning operation.

And S120, determining the number of the first type of cleaning robots in the target area according to the current working parameters of the cleaning robots.

Wherein the first type of cleaning robot is a cleaning robot performing a cleaning task for which a current amount of fresh water reaches a first water amount threshold and/or for which a current amount of sewage reaches a second water amount threshold.

In an embodiment, after obtaining the current working parameters of the cleaning robot, the cloud server compares the current clean water amount of the clean water tank in the cleaning robot with a first water amount threshold value configured in advance, and compares the current sewage amount of the sewage tank with a second water amount threshold value configured in advance. When the current clear water amount reaches a first water amount threshold value, indicating that the clear water in a clear water tank in the cleaning robot is about to be used up; or when the current sewage amount reaches the second water amount threshold value, the sewage in the sewage tank in the cleaning robot is about to be filled, namely the cleaning robot is about to meet the requirement of supplementing clean water or discharging sewage. The first water volume threshold and the second water volume threshold may be set according to the area size of the target region.

For example, when the area of the target area is larger, the larger the first water amount threshold value can be set, and the smaller the second water amount threshold value can be set, so as to avoid that the water replenishing and draining robot or the cleaning robot in idle state does not reach the vicinity of the cleaning robot where the water replenishing and draining requirement occurs when the clean water of the clean water tank is used up and the sewage of the sewage tank is full, and thus the water replenishing and/or draining operation cannot be performed on the cleaning robot where the water replenishing and draining requirement occurs in time. For example, the first water amount threshold may be 10% of the total fresh water amount of the fresh water tank, and the second water amount threshold may be 90% of the total sewage amount of the sewage tank.

In an embodiment, the cloud server determines whether the cleaning robot is a first type cleaning robot according to the current working parameters of the cleaning robot, and if so, performs an operation of adding one to the number of the first type cleaning robot until the judgment of all the cleaning robots in the target area is completed, so that the number of the first type cleaning robots in the target area can be determined.

And S130, determining a water quantity adjusting strategy according to the number of the first type of cleaning robots, so that the water replenishing and draining robot and/or the cleaning robot perform water replenishing and/or draining operation on the first type of cleaning robots.

The water amount adjusting strategy refers to a strategy for supplementing and/or draining water to the first type of cleaning robot, and can also be understood as a strategy for adjusting the amount of clean water in a clean water tank and/or the amount of sewage in a sewage tank in the first type of cleaning robot. In an embodiment, when the water replenishing operation is performed on the first type cleaning robot, the amount of clean water in a clean water tank in the first type cleaning robot is adjusted; adjusting the amount of sewage in a sewage tank in the first type cleaning robot when the first type cleaning robot is performing the draining operation; when the water replenishing and draining operations are simultaneously performed on the first type cleaning robot, the amount of fresh water in the fresh water tank and the amount of sewage in the sewage tank in the first type cleaning robot are simultaneously adjusted. It should be noted that, one water replenishing and draining robot is configured in each target area, that is, one water replenishing and draining robot can only perform water replenishing and/or draining operations for one cleaning robot with or about to have water replenishing and/or draining requirements at the same time. Correspondingly, when the number of the first type cleaning robots is at least two, the corresponding water quantity adjusting strategy is required to be adopted, and the water replenishing and/or draining operations can be simultaneously executed on the at least two first type cleaning robots. In the embodiment, under the condition that one first type of cleaning robot exists in a target area, in the process that the first type of cleaning robot executes a cleaning task, in order to avoid the interruption of the cleaning task of the first type of cleaning robot, the cloud server determines whether the water replenishing and draining robot is in an idle state according to the current working parameters of the water replenishing and draining robot; and if the water replenishing and draining robot is in an idle state, the cloud server sends a control instruction to the water replenishing and draining robot so that the water replenishing and draining robot moves to a target position corresponding to the first type cleaning robot to perform water replenishing and/or draining operation on the first type cleaning robot.

Certainly, when at least two first type cleaning robots exist in the target area, the cloud server sends a control instruction to the water replenishing and draining robot and/or the cleaning robot in the idle state according to the current working states of the water replenishing and draining robot and the cleaning robot in the idle state, so that the water replenishing and draining robot and/or the cleaning robot in the idle state move to a target position corresponding to the first type cleaning robot, and water replenishing and/or draining operations are performed on the first type cleaning robot. Here, the target position refers to a position in the vicinity of the position where the first type cleaning robot is located, even if a communication connection is established between the first type cleaning robot and another cleaning robot or a moisturizing drain robot.

According to the technical scheme in the implementation example, a large number of workstations are replaced by the flexible water replenishing and draining robot or the cleaning robot in an idle state, water replenishing and/or draining is carried out on the first type of cleaning robot with a demand, the number of workstations in fixed positions is reduced, the user cost is reduced, the working efficiency of the cleaning robot is improved, and the energy consumption is reduced; in addition, the cloud server is used for monitoring the current working parameters of all the cleaning robots, so that intelligent resource coordination is realized, and an optimal water replenishing and draining scheme is planned.

In an embodiment, fig. 2 is a flowchart of another water replenishing and draining method according to an embodiment of the present invention. This embodiment is further described with reference to the above embodiments, and the procedure of water replenishing and draining will be described. As shown in fig. 2, the water replenishing and draining method in the present embodiment includes the following steps:

s210, obtaining current working parameters of each water replenishing and draining robot and each cleaning robot in the target area.

And S220, determining the number of the first type of cleaning robots in the target area at the current moment according to the current working parameters of the cleaning robots.

In an embodiment, the cloud server may determine the number of the first type of cleaning robots in the target area at the current time according to the current working parameters of the cleaning robots, or may estimate the number of the first type of cleaning robots in the target area at the target time.

In one embodiment, S220 includes: s2201 to S2202.

S2201, determining whether the cleaning robot is the first type cleaning robot or not according to a comparison result of the current clean water amount of the clean water tank in the cleaning robot and the first water amount threshold value and/or a comparison result of the current sewage amount of the sewage tank and the second water amount threshold value.

In an embodiment, the cleaning robot is considered as the first type cleaning robot in case the current amount of fresh water of the fresh water tank reaches the first water amount threshold value and/or the current amount of sewage of the sewage tank reaches the second water amount threshold value in the cleaning robot.

S2202, when the cleaning robot is the first type of cleaning robot, performing an adding operation on the number of the first type of cleaning robots in the target area until all the cleaning robots in the target area at the current moment are traversed.

In an embodiment, when the cleaning robot is the first type cleaning robot, an operation of adding one to the number of the first type cleaning robots in the target area is performed, and all cleaning robots performing a cleaning task in the target area are determined to be the first type cleaning robot or not until all cleaning robots in the target area at the current time are traversed, so that the number of the first type cleaning robots in the target area at the current time can be accurately determined.

And S230, determining the number of the first type of cleaning robots in the target area at the target moment according to the current working parameters of the cleaning robots.

Wherein the target time is located after the current time. In an embodiment, the cloud server may predict the number of first type of cleaning within the target area at a future time (i.e., the target time) based on the current operating parameters of the cleaning robot.

S2301, when the current working state of the cleaning robot is to execute a cleaning task, determining the current fresh water amount of a clean water tank and/or the current sewage amount of a sewage tank in the cleaning robot at a target moment according to the fresh water outlet amount, the sewage absorption speed and the remaining cleaning tasks of the cleaning robot.

In an embodiment, when the cleaning robot is performing a cleaning task, the cloud server may determine a current fresh water amount of a fresh water tank in the cleaning robot at a target time according to a fresh water outlet amount of the cleaning robot and remaining cleaning tasks. Wherein the clear water yield refers to the water outlet speed of clear water in the clear water tank; the remaining cleaning tasks may be characterized in terms of remaining cleaning time, i.e. the remaining cleaning time is proportional to how much of the remaining cleaning tasks are. It can be understood that the cloud server can judge whether the current fresh water amount of the fresh water tank can support the cleaning robot to complete the remaining cleaning task according to the fresh water yield and the remaining cleaning task, and the current fresh water amount of the fresh water tank in the cleaning robot at the target moment. The speed of the fresh water consumed by the cleaning robot during the cleaning task performed by the cleaning robot may be uniform or non-uniform, which is not limited. Illustratively, the current amount of fresh water in the fresh water tank is calculated, taking as an example the speed of the fresh water consumed during the cleaning task performed by the cleaning robot is uniform. Specifically, the remaining cleaning time corresponding to the remaining cleaning task is multiplied by the fresh water yield to determine the fresh water amount consumed within the remaining cleaning time, and then the current fresh water amount of the fresh water tank before the remaining cleaning task is executed is subtracted from the fresh water amount consumed within the remaining cleaning time to determine the current fresh water amount of the fresh water tank after the remaining cleaning task is executed.

In an embodiment, while the cleaning robot is performing the cleaning task, the cloud server may determine a current amount of sewage of the sewage tank in the cleaning robot at the target time according to a sewage absorption speed of the cleaning robot and the remaining cleaning tasks. The speed of the sewage absorbed by the cleaning robot may be uniform or non-uniform during the cleaning task performed by the cleaning robot, which is not limited herein. Illustratively, the current amount of sewage in the sewage tank is calculated, taking as an example that the speed at which the cleaning robot absorbs the sewage is uniform during the cleaning task performed by the cleaning robot. Specifically, the amount of sewage absorbed in the remaining cleaning time can be determined by multiplying the remaining cleaning time corresponding to the remaining cleaning task by the sewage absorption speed, and then the current amount of sewage of the sewage tank before the remaining cleaning task is performed and the amount of sewage absorbed in the remaining cleaning time are added to obtain the current amount of sewage of the sewage after the remaining cleaning task is performed.

S2302, determining whether the cleaning robot is the first type cleaning robot or not according to a comparison result of the current clean water amount of the clean water tank and the first water amount threshold value and/or a comparison result of the current sewage amount of the sewage tank and the second water amount threshold value.

S2303, when the cleaning robot is the first type cleaning robot, performing an addition operation on the number of the first type cleaning robots in the target area until all the cleaning robots in the target area are traversed at the target time.

In an embodiment, when the cleaning robot is the first type cleaning robot, the number of the first type cleaning robots in the target area is increased by one, and all the cleaning robots performing the cleaning task in the target area are judged to determine whether the cleaning robot is the first type cleaning robot until all the cleaning robots in the target area are traversed by the target time, so that the number of the first type cleaning robots in the target area at the target time can be accurately determined.

And S240, determining a water quantity adjusting strategy according to the number of the first type of cleaning robots, so that the water replenishing and draining robot and/or the cleaning robot perform water replenishing and/or draining operation on the first type of cleaning robots.

In an embodiment, in the case where the number of the first type cleaning robots is one, the first type cleaning robot may be refilled and/or drained with a refill drain robot or a cleaning robot in an idle state. Specifically, S240 includes one of the following implementation manners:

when the current working state of the water replenishing and draining robot is in an idle state, the water replenishing and draining robot is controlled to move to a target position corresponding to the first type of cleaning robot, so that the water replenishing and draining robot can perform water replenishing and/or draining operations on the first type of cleaning robot.

In an embodiment, when the number of the first type of cleaning robots in the target area is one, and the current working state of the water replenishing and draining robot in the target area is an idle state, the cloud server sends a control instruction to the water replenishing and draining robot to control the water replenishing and draining robot to move to a target position corresponding to the first type of cleaning robot, so that the water replenishing and draining robot performs water replenishing and/or draining on the first type of cleaning robot.

In another implementation manner, when the current working state of the water replenishing and draining robot is to execute a work task, the cleaning robot in the idle state is controlled to move to the target position corresponding to the first type cleaning robot, so that the cleaning robot in the idle state executes water replenishing and/or draining operations on the first type cleaning robot. The operation task executed by the water replenishing and draining robot can comprise one of the following steps: a water replenishing task; a water draining task; and (5) water replenishing and draining tasks.

In an embodiment, when the number of the first type of cleaning robots in the target area is one, and the current working state of the water replenishing and draining robot in the target area is to execute the job task, the cloud server may search for one cleaning robot in an idle state according to the current working parameters sent by the cleaning robot, and send a control instruction to the cleaning robot in the idle state to control the cleaning robot in the idle state to move to the target position of the first type of cleaning robot, so that the cleaning robot in the idle state executes water replenishing and/or draining operations on the first type of cleaning robot. Of course, when searching for the cleaning robot in the idle state, the cloud server may preferentially search for the cleaning robot in the idle state closest to the first type cleaning robot, so as to reduce energy consumption of the cleaning robot in the idle state and reduce waiting time of the first type cleaning robot.

In an embodiment, in the case that the number of the first type cleaning robots is at least two, S240 includes one implementation of:

when the current working state of the water replenishing and draining robot is in an idle state and cleaning robots in the idle state exist, the water replenishing and draining robot is controlled to move to a target position corresponding to the first type cleaning robot with the highest priority according to the cleaning task priority of each first type cleaning robot, and the cleaning robots in the idle state move to target positions corresponding to other first type cleaning robots according to the cleaning task priority, so that the water replenishing and draining robot and the cleaning robots in the idle state perform water replenishing and/or draining operations on all the first type cleaning robots.

In an embodiment, when the number of the first type cleaning robots in the target area is at least two, the current working state of the water replenishing and draining robot is an idle state, and when cleaning robots in the idle state exist, the cloud server controls the water replenishing and draining robot to move to a target position corresponding to the first type cleaning robot with the highest priority according to the cleaning task priority of each first type cleaning robot, and controls the cleaning robots in the idle state to move to target positions corresponding to other first type cleaning robots respectively according to the sequence from high to low of the cleaning task priorities, so that the water replenishing and draining robot and the cleaning robots in the idle state perform water replenishing and/or draining operations on all the first type cleaning robots. Exemplarily, it is assumed that there are four first type cleaning robots, a, B, C, and D, respectively, within the target area, and there are one water replenishing and draining robot and 2 cleaning robots in an idle state; the cleaning task priority is sorted from high to low in sequence as follows: A. b, D and C, the cloud server controls the water replenishing and draining robot to move to the target position of the first type cleaning robot A, one cleaning robot in an idle state to move to the target position of the first type cleaning robot B, and the other cleaning robot in the idle state to move to the target position of the first type cleaning robot D. After the water replenishing and draining robot or the other two cleaning robots in the idle states finish water replenishing and/or draining operations, controlling one of the water replenishing and draining robot or the other two cleaning robots in the idle states to move to the target position where the first type cleaning robot C is located, and thus finishing the water replenishing and/or draining operations of all the first type cleaning robots in the target area.

According to another implementation mode, when the current working state of the water replenishing and draining robot is an idle state and no cleaning robot in the idle state exists, the water replenishing and draining robot is controlled to sequentially move to the target positions corresponding to all the first type cleaning robots according to the cleaning task priority of each first type cleaning robot, so that the water replenishing and draining robot sequentially performs water replenishing and/or draining operations on all the first type cleaning robots.

In an embodiment, when the number of the first type cleaning robots in the target area is at least two, and the current working state of the water replenishing and draining robot is an idle state and no cleaning robot in the idle state exists, the cloud server controls the water replenishing and draining robot to move to the first type cleaning robot which is executing the cleaning task and has the highest cleaning task priority so as to replenish and/or drain the first type cleaning robot which has the highest cleaning task priority. And after the water replenishing and draining robot finishes the water replenishing and/or draining requirements of the first type cleaning robot with the highest cleaning task priority, sequentially replenishing and/or draining water to other first type cleaning robots according to the cleaning task priority.

In another mode, when the current working state of the water replenishing and draining robot is a working state and when cleaning robots in an idle state exist, the cleaning robots in the idle state are controlled to move to the target positions corresponding to the first type cleaning robots according to the cleaning task priority, so that the cleaning robots in the idle state perform water replenishing and/or draining operations on all the first type cleaning robots.

In an embodiment, when the number of the first type cleaning robots in the target area is at least two, and the current working state of the water replenishing and draining robot is a working state and there are cleaning robots in an idle state, the cloud server arranges that the cleaning robots in the idle state move to target positions corresponding to the first type cleaning robots according to the level of the cleaning task priority, so that the cleaning robots in the idle state perform water replenishing and/or draining operations on all the first type cleaning robots. Of course, if the number of the cleaning robots in the idle state is less than the number of the first type cleaning robots, the cleaning robot in the idle state is controlled to move to the first type cleaning robot having the highest priority of the cleaning task, so as to replenish and/or drain water to the first type cleaning robot. Meanwhile, arranging other cleaning robots in idle states to supply water and/or drain water to other first type cleaning robots according to the cleaning task priority; if only one cleaning robot in the idle state exists in the target area, the cleaning robot in the idle state sequentially supplies and/or discharges water to other first type cleaning robots according to the cleaning task priority after finishing the requirement of the first type cleaning robot with the highest cleaning task priority.

It should be noted that the execution sequence of S220 and S230 is not limited, that is, S220 and S230 may be executed independently or simultaneously.

According to the scheme of the embodiment, the water replenishing and/or draining operation is executed on the first type cleaning robot through the water replenishing and draining robot and/or the cleaning robot in the idle state, so that the waste of the electric quantity of the battery and the round trip time caused by the fact that the first type cleaning robot returns to the fixed workstation for water replenishing and/or draining is reduced, the cleaning efficiency is improved, and the energy consumption is reduced.

In an embodiment, fig. 3 is a block diagram of a water replenishing and draining system according to an embodiment of the present invention. As shown in fig. 3, the water replenishing and draining system in the present embodiment includes: cloud server, moisturizing drainage robot and commercial cleaning machines people (cleaning machines for short). The water replenishing and draining robot is specially used for replenishing clean water to a cleaning robot and draining sewage without participating in the work of cleaning the ground, the water replenishing and draining robot is not provided with a sweeping component, and only comprises a clean water tank, two sewage tanks, a control module with a Micro Controller Unit (MCU) as a core, a communication module, an electronic valve (a water outlet valve and a water inlet valve respectively) for controlling water outlet and water inlet, and a water quantity sensor (a clean water tank water quantity sensor and a sewage tank water quantity sensor respectively). When the commercial cleaning robot executes tasks, the cleaning robot and the water replenishing and draining robot upload current water quantity information and current working states (including a series of states of clear water yield, sewage absorbing speed, residual working tasks and the like) of the clean water tank and the sewage tank to the cloud server through a network in real time. And the cloud server is used for monitoring the current working parameters of all the cleaning robots and the water replenishing and draining robots at the same time, and according to the data analysis, the water replenishing and draining requirements of some cleaning robots at a certain moment are estimated, so that the cloud server can intelligently plan the optimal solution.

In an embodiment, fig. 4 is a flowchart of another water replenishing and draining method according to an embodiment of the present invention. As shown in fig. 4, the water replenishing and draining process in this embodiment includes:

the cloud server monitors information of all cleaning robots, estimates a certain moment (including the current moment and the target moment), immediately inquires whether the water replenishing and draining robot is idle at the current moment if only one cleaning robot which is executing a cleaning task is lack of water in a clean water tank or full of a sewage tank, and controls the water replenishing and draining robot to move to a cleaning robot with a demand (namely, the first type cleaning robot in the embodiment) if the water replenishing and draining robot is idle. When the water replenishing and draining robot reaches a certain range of the position of the cleaning robot, the water replenishing and draining robot and the cleaning robot with a demand start communication interaction, when the clear water of the cleaning robot is lack of water and alarms or the sewage is full of water and alarms, the cleaning robot stops executing a sweeping and washing task, the water replenishing and draining robot accesses a water distribution pipe or a water drainage pipe (or accesses the water distribution pipe or the water drainage pipe simultaneously and is related to the alarm type of the cleaning robot) into a water tank of the cleaning robot, and the MCU controls a water valve switch to perform water replenishing and draining operations. If the water replenishing and draining robot is not in an idle state, other idle cleaning robots which do not execute the sweeping and washing tasks and have water in the clean water tank or the sewage tank not full are replenished and/or drained to the cleaning robot with a demand, so that the electric quantity waste and the time waste caused by the fact that the cleaning robot returns to a work station for water replenishing and draining are reduced, the cleaning efficiency is improved, and the energy consumption of the cleaning robot is reduced.

The method comprises the steps that a cloud server monitors states of all cleaning robots, a certain moment (including the current moment and a target moment) is estimated, if at least two cleaning robots executing a sweeping and washing task are available, the cloud server immediately inquires whether the current water replenishing and draining robot is in an idle state or not if the clean water tank is short of water or the sewage tank is full of water in the close-up time, and if the cloud server is in the idle state, the cloud server controls the water replenishing and draining robot to move to the cleaning robot executing the sweeping and washing task with the highest cleaning task priority according to the important emergency degree (namely the height of the cleaning task priority) of the cleaning task so as to replenish and/or drain water for the cleaning robot; meanwhile, other idle cleaning robots are arranged to supply water and drain water to the cleaning robots with demands according to the cleaning task priority, if no idle cleaning robot supplies water and drains water to the cleaning robots with demands at the moment, the water supply and drainage robot supplies water and drains water to the cleaning robots with demands in sequence according to the cleaning task priority after processing the demands of the cleaning robot with the highest cleaning task priority, and therefore the battery power waste and the time waste caused by the fact that the cleaning robot returns to the workstation for water supply and drainage are reduced, the cleaning efficiency is improved, and the energy consumption of the cleaning robots is reduced.

According to the technical scheme of the embodiment, one water replenishing and draining robot is used for specially replenishing clean water and draining sewage to the robot executing the cleaning task, namely the mobile flexible water replenishing and draining robot is used for replacing the construction of a large number of workstations and replenishing water and draining water to the cleaning robot with a demand, so that the number of the workstations is reduced, and the user cost is reduced; the idle cleaning robot is used for replenishing clean water and sewage to the cleaning robot which is required to execute the cleaning task, so that the problems that the cleaning robot which executes the task wastes time and battery power when going to and fro the workstation are avoided, the working efficiency of the cleaning robot is improved, and the energy consumption is reduced; meanwhile, the cloud server is utilized to monitor water volume information and current working states of all cleaning robot water tanks, estimate when each cleaning robot has water shortage in a clean water tank or drainage requirement of a sewage tank, and coordinate resources in advance to plan an optimal water replenishing and drainage scheme.

In an embodiment, fig. 5 is a block diagram of a water replenishing and draining device according to an embodiment of the present invention, which is suitable for a situation where a cleaning robot of a first type in need is replenished and/or drained, and the device may be implemented by hardware/software. As shown in fig. 5, the apparatus includes: an acquisition module 510, a determination module 520, and an execution module 530.

The acquiring module 510 is configured to acquire current working parameters of each water replenishing and draining robot and each cleaning robot in a target area;

a determining module 520, configured to determine the number of first type cleaning robots within the target area according to the current working parameters of the cleaning robots, wherein the first type cleaning robots are cleaning robots that are performing cleaning tasks for which the current amount of clean water reaches a first water threshold value and/or for which the current amount of sewage reaches a second water threshold value;

an executing module 530, configured to determine a water amount adjusting strategy according to the number of the first type of cleaning robots, so that the water replenishing and draining robot and/or the cleaning robot performs water replenishing and/or draining operations on the first type of cleaning robot.

According to the technical scheme of the embodiment, a large number of workstations are replaced by the flexible water replenishing and draining robot or the cleaning robot in an idle state, and water replenishing and/or draining are carried out on the first type of cleaning robot with a demand, so that the number of workstations in fixed positions is reduced, the user cost is reduced, the working efficiency of the cleaning robot is improved, and the energy consumption is reduced; and the cloud server is used for monitoring the current working parameters of all the cleaning robots, so that intelligent resource coordination is realized, and an optimal water replenishing and draining scheme is planned. .

On the basis of the above embodiment, the determining module includes:

the first determining unit is used for determining the number of the first type of cleaning robots in the target area at the current moment according to the current working parameters of the cleaning robots;

and/or a second determining unit for determining the number of the first type of cleaning robots within the target area at a target moment according to the current working parameters of the cleaning robots, the target moment being located after the current moment.

On the basis of the above embodiment, the first determination unit includes:

a first determining subunit, configured to determine whether the cleaning robot is a first type of cleaning robot according to a comparison result between a current fresh water amount of a fresh water tank in the cleaning robot and a first water amount threshold value, and/or a comparison result between a current sewage amount of a sewage tank and a second water amount threshold value;

and the first execution subunit is used for executing an operation of adding one to the number of the first type of cleaning robots in the target area when the cleaning robot is the first type of cleaning robot until all the cleaning robots in the target area at the current moment are traversed.

On the basis of the above embodiment, the second determination unit includes:

a second determining subunit, configured to determine, when the current working state of the cleaning robot is to execute the cleaning task, a current fresh water amount of a fresh water tank and/or a current sewage amount of a sewage tank in the cleaning robot at a target time according to the fresh water outlet amount, the sewage absorption speed, and the remaining cleaning tasks of the cleaning robot;

a third determining subunit, configured to determine whether the cleaning robot is the first type cleaning robot according to a comparison result between the current fresh water amount of the fresh water tank and the first water amount threshold and/or a comparison result between the current sewage amount of the sewage tank and the second water amount threshold;

and the second execution subunit is used for executing an operation of adding one to the number of the first type of cleaning robots in the target area when the cleaning robot is the first type of cleaning robot until all the cleaning robots in the target area are traversed at the target moment.

On the basis of the above embodiment, in the case that the number of the first type of cleaning robot is one, the execution module is specifically configured to:

when the current working state of the water replenishing and draining robot is an idle state, controlling the water replenishing and draining robot to move to a target position corresponding to the first type of cleaning robot so that the water replenishing and draining robot can perform water replenishing and/or draining operation on the first type of cleaning robot;

or when the current working state of the water replenishing and draining robot is the task of executing the work, controlling the cleaning robot in the idle state to move to the target position corresponding to the first type cleaning robot, so that the cleaning robot in the idle state can execute water replenishing and/or draining operations on the first type cleaning robot.

On the basis of the above embodiment, in the case that the number of the first type of cleaning robot is at least two, the execution module is specifically configured to:

when the current working state of the water replenishing and draining robot is an idle state and cleaning robots in the idle state exist, controlling the water replenishing and draining robot to move to a target position corresponding to the first type cleaning robot with the highest priority according to the cleaning task priority of each first type cleaning robot, and controlling the cleaning robot in the idle state to move to target positions corresponding to other first type cleaning robots according to the cleaning task priority, so that the water replenishing and draining robot and the cleaning robots in the idle state can perform water replenishing and/or draining operations on all the first type cleaning robots;

or when the current working state of the water replenishing and draining robot is an idle state and no cleaning robot in the idle state exists, controlling the water replenishing and draining robot to sequentially move to the target positions corresponding to all the first type cleaning robots according to the cleaning task priority of each first type cleaning robot so that the water replenishing and draining robot sequentially performs water replenishing and/or draining operations on all the first type cleaning robots;

or when the current working state of the water replenishing and draining robot is a working state and cleaning robots in an idle state exist, controlling the cleaning robots in the idle state to move to the target positions corresponding to the first type of cleaning robots according to the cleaning task priority, so that the cleaning robots in the idle state perform water replenishing and/or draining operations on all the first type of cleaning robots.

On the basis of the embodiment, the current working parameters of the cleaning robot and the water replenishing and draining robot comprise: the current clear water volume of the clear water tank, the current sewage volume of the sewage tank and the current working state.

The water replenishing and draining device can execute the water replenishing and draining method provided by any embodiment of the invention, and has the corresponding functional module and beneficial effect of executing the water replenishing and draining method.

In an embodiment, fig. 6 is a block diagram of another water replenishing and draining system according to an embodiment of the present invention. As shown in fig. 6, the water replenishing and draining system in the present embodiment includes: a cloud server 610, a cleaning robot 620 and a water replenishing and draining robot 630; the cloud server 610 is in communication connection with the cleaning robot 620 and the water replenishing and draining robot 630 respectively; a communication connection is established between the cleaning robot 620 and the water replenishing and draining robot 630;

when the cleaning robot 620 executes a cleaning task, the cleaning robot 620 and the water replenishing and draining robot 630 upload current working parameters of the cleaning robot 620 and the water replenishing and draining robot to the cloud server 610 in real time; the cloud server 610 controls the cleaning robot 620 and/or the water replenishing and draining robot 630 in an idle state to perform water replenishing and/or draining operations on the cleaning robot of the first type according to the current working parameters of the cleaning robot 620 and the water replenishing and draining robot 630, wherein the cleaning robot of the first type is the cleaning robot 620 which is performing the cleaning task and has the current clean water amount reaching a first water amount threshold value and/or has the current sewage amount reaching a second water amount threshold value.

In one embodiment, the refill drain robot 630 includes: the device comprises a clean water tank, a sewage tank, a control module, a communication module, a water outlet valve, a water inlet valve, a clean water tank water quantity sensor and a sewage tank water quantity sensor; the water outlet valve, the water inlet valve, the clean water tank water quantity sensor and the sewage tank water quantity sensor are all connected with the control module; the control module is connected with the communication module;

the clear water tank water quantity sensor is used for detecting the current clear water quantity of the clear water tank; the sewage tank water quantity sensor is used for detecting the current sewage quantity of the sewage tank; transmitting the received water quantity adjusting instruction to a control module through a communication module; the control module controls the opening and closing of a valve of the water outlet valve and/or the water inlet valve according to the water quantity adjusting instruction so as to perform water replenishing and/or water draining operation on the first type cleaning robot; wherein the first type of cleaning robot is a cleaning robot performing a cleaning task for which a current amount of fresh water reaches a first water amount threshold and/or for which a current amount of sewage reaches a second water amount threshold.

In an embodiment, the refill drain robot 630 is used to refill the cleaning robot 620 with fresh water and/or drain sewage without participating in the work of cleaning the floor, i.e., the refill drain robot 630 is not equipped with a sweeping component; the cleaning robot 620 is configured with a sweeping assembly above the structure of the refill drain robot 630 to perform an operation of washing the floor. When the cleaning robot 620 performs a cleaning task, the cleaning robot 620 and the water replenishing and draining robot 630 upload current water amount information and current working state of their own clean water tank and sewage amount to the cloud server 610 through the network in real time. The cloud server 610 is used for monitoring the current working parameters of all the cleaning robots 620 and the water replenishing and draining robots 630 at the same time, and the cleaning robots with water replenishing and/or draining requirements at a certain moment are estimated according to the current working parameters, so that an optimal water replenishing and/or draining scheme is intelligently planned.

Fig. 7 is a schematic diagram of a hardware structure of a water replenishing and draining device according to an embodiment of the present invention. The device in the embodiment of the present invention is described by taking a cloud server as an example. As shown in fig. 7, the cloud server provided in the embodiment of the present invention includes: a processor 710, a memory 720, an input device 730, an output device 740, and a communication module 750. The number of the processors 710 in the cloud server may be one or more, in fig. 7, one processor 710 is taken as an example, the processor 710, the memory 720, the input device 730, the output device 740, and the communication module 750 in the cloud server may be connected by a bus or other methods, and in fig. 7, the processor is taken as an example.

The memory 720 in the cloud server is used as a computer-readable storage medium for storing one or more programs, which may be software programs, computer-executable programs, and modules, such as program instructions/modules corresponding to the embodiment of the present invention or the provided water replenishing and draining method (for example, the modules in the water replenishing and draining apparatus shown in fig. 5 include an obtaining module, a determining module, and an executing module). The processor 510 executes various functional applications and data processing of the cloud server by running software programs, instructions and modules stored in the memory 520, so as to implement the water replenishing and draining method in the above method embodiment.

The memory 720 may include a storage program area and a storage data area, wherein the storage program area may store an operating system, an application program required for at least one function; the storage data area may store data created according to use of the device, and the like. Further, the memory 720 may include high speed random access memory, and may also include non-volatile memory, such as at least one magnetic disk storage device, flash memory device, or other non-volatile solid state storage device. In some examples, the memory 720 can further include memory located remotely from the processor 710, which can be connected to devices through a network. Examples of such networks include, but are not limited to, the internet, intranets, local area networks, mobile communication networks, and combinations thereof.

The input device 730 may be used to receive numeric or character information input by a user to generate key signal inputs related to user settings and function control of the terminal device. The output device 640 may include a display device such as a display screen. And a communication module 750 for establishing communication connection among the cleaning robot, the water replenishing and draining robot and the water replenishing and draining equipment.

When one or more programs included in the cloud server are executed by the one or more processors 710, the programs perform the following operations: acquiring current working parameters of each water replenishing and draining robot and each cleaning robot in a target area; determining the number of first type cleaning robots in a target area according to the current working parameters of the cleaning robots, wherein the first type cleaning robots are cleaning robots executing cleaning tasks when the current clear water amount reaches a first water amount threshold value and/or the current sewage amount reaches a second water amount threshold value; and determining a water quantity adjusting strategy according to the number of the first type of cleaning robots, so that the water replenishing and draining robot and/or the cleaning robot perform water replenishing and/or draining operation on the first type of cleaning robot.

An embodiment of the present invention further provides a computer-readable storage medium, on which a computer program is stored, where the computer program, when executed by a processor, implements the water replenishing and draining method provided by the embodiment of the present invention, and the method includes: acquiring current working parameters of each water replenishing and draining robot and each cleaning robot in a target area; determining the number of first type cleaning robots in a target area according to the current working parameters of the cleaning robots, wherein the first type cleaning robots are cleaning robots executing cleaning tasks when the current clear water amount reaches a first water amount threshold value and/or the current sewage amount reaches a second water amount threshold value; and determining a water quantity adjusting strategy according to the number of the first type cleaning robots, so that the water replenishing and draining robot and/or the cleaning robot perform water replenishing and/or draining operation on the first type cleaning robots.

Computer storage media for embodiments of the present invention may take the form of any combination of one or more computer-readable media. The computer readable medium may be a computer readable signal medium or a computer readable storage medium. A computer readable storage medium may be, for example, but not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination of the foregoing. More specific examples (a non-exhaustive list) of the computer readable storage medium would include the following: an electrical connection having one or more wires, a portable computer diskette, a hard disk, a Random Access Memory (RAM), a Read-Only Memory (ROM), an Erasable Programmable Read-Only Memory (EPROM or flash Memory), an optical fiber, a portable Compact Disc Read-Only Memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing. In the context of this document, a computer readable storage medium may be any tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, apparatus, or device.

A computer readable signal medium may include a propagated data signal with computer readable program code embodied therein, for example, in baseband or as part of a carrier wave. Such a propagated data signal may take any of a variety of forms, including, but not limited to, electro-magnetic, optical, or any suitable combination thereof. A computer readable signal medium may also be any computer readable medium that is not a computer readable storage medium and that can communicate, propagate, or transport a program for use by or in connection with an instruction execution system, apparatus, or device.

Program code embodied on a computer readable medium may be transmitted using any appropriate medium, including but not limited to wireless, wireline, optical fiber cable, RF, etc., or any suitable combination of the foregoing.

Computer program code for carrying out operations for aspects of the present invention may be written in any combination of one or more programming languages, including an object oriented programming language such as Java, smalltalk, C + + or the like and conventional procedural programming languages, such as the "C" programming language or similar programming languages. The program code may execute entirely on the user's computer, partly on the user's computer, as a stand-alone software package, partly on the user's computer and partly on a remote computer or entirely on the remote computer or server. In the case of a remote computer, the remote computer may be connected to the user's computer through any type of network, including a Local Area Network (LAN) or a Wide Area Network (WAN), or the connection may be made to an external computer (for example, through the Internet using an Internet service provider).

It is to be noted that the foregoing description is only exemplary of the invention and that the principles of the technology may be employed. Those skilled in the art will appreciate that the present invention is not limited to the particular embodiments described herein, and that various obvious changes, rearrangements and substitutions will now be 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

1. A water replenishing and draining method is characterized by comprising the following steps:

2. The method of claim 1, wherein the determining the number of first type cleaning robots within the target area based on current operating parameters of the cleaning robots comprises:

determining the number of the first type of cleaning robots in the target area at the current moment according to the current working parameters of the cleaning robots;

and/or determining the number of the first type of cleaning robots in the target area at a target moment according to the current working parameters of the cleaning robots, wherein the target moment is behind the current moment.

3. The method of claim 2, wherein the determining the number of first type cleaning robots to be within the target area at the current time based on the current operating parameters of the cleaning robots includes:

determining whether the cleaning robot is a first type cleaning robot or not according to a comparison result of the current clear water amount of a clear water tank in the cleaning robot and a first water amount threshold value and/or a comparison result of the current sewage amount of a sewage tank and a second water amount threshold value;

when the cleaning robot is a first type of cleaning robot, performing an adding operation on the number of the first type of cleaning robots within the target area until all the cleaning robots within the target area at the current moment are traversed.

4. The method of claim 2, wherein the determining the number of first type cleaning robots within the target area at a target time based on the current operating parameters of the cleaning robots comprises:

when the current working state of the cleaning robot is to execute a cleaning task, determining the current fresh water amount of a fresh water tank and/or the current sewage amount of a sewage tank in the cleaning robot at a target moment according to the fresh water yield, the sewage absorption speed and the remaining cleaning tasks of the cleaning robot;

determining whether the cleaning robot is a first type cleaning robot or not according to a comparison result of the current clear water amount of the clear water tank and a first water amount threshold value and/or a comparison result of the current sewage amount of the sewage tank and a second water amount threshold value;

when the cleaning robot is a first type cleaning robot, performing an adding operation on the number of the first type cleaning robots in the target area until all the cleaning robots in the target area are traversed at the target moment.

5. The method according to any one of claims 2 to 4, wherein in the case that the number of the first type cleaning robots is one, the determining a water amount adjustment strategy according to the number of the first type cleaning robots to cause the moisturizing and draining robot and/or the cleaning robot to perform a moisturizing and/or draining operation on the first type cleaning robot comprises:

or when the current working state of the water replenishing and draining robot is the task of executing the work, controlling the cleaning robot in the idle state to move to the target position corresponding to the first type of cleaning robot, so that the cleaning robot in the idle state can execute water replenishing and/or draining operations on the first type of cleaning robot.

6. The method according to any one of claims 2 to 4, wherein in the case that the number of the first type cleaning robots is at least two, the determining the water amount adjustment strategy according to the number of the first type cleaning robots to cause the moisturizing and/or draining robot and/or the cleaning robot to perform a moisturizing and/or draining operation on the first type cleaning robot comprises:

when the current working state of the water replenishing and draining robot is an idle state and cleaning robots in the idle state exist, controlling the water replenishing and draining robot to move to a target position corresponding to the first type cleaning robot with the highest priority and controlling the cleaning robot in the idle state to move to target positions corresponding to other first type cleaning robots according to the cleaning task priority of each first type cleaning robot, so that the water replenishing and draining robot and the cleaning robots in the idle state perform water replenishing and/or draining operations on all the first type cleaning robots;

or when the current working state of the water replenishing and draining robot is an idle state and no cleaning robot in the idle state exists, controlling the water replenishing and draining robot to sequentially move to target positions corresponding to all the first type cleaning robots according to the cleaning task priority of each first type cleaning robot so that the water replenishing and draining robot sequentially performs water replenishing and/or draining operations on all the first type cleaning robots;

7. The method of any of claims 2-4, wherein the current operating parameters of the cleaning robot and the refill drain robot each comprise: the current clear water volume of the clear water tank, the current sewage volume of the sewage tank and the current working state.

8. A refill water drain device, comprising:

and the execution module is used for determining a water quantity adjusting strategy according to the number of the first type of cleaning robots so that the water replenishing and draining robot and/or the cleaning robot execute water replenishing and/or draining operations on the first type of cleaning robots.

9. A refill water drain system, comprising: the system comprises a cloud server, a cleaning robot and a water replenishing and draining robot; the cloud server is in communication connection with the cleaning robot and the water replenishing and draining robot respectively; the cleaning robot and the water replenishing and draining robot are in communication connection;

10. The system of claim 9, wherein the refill drain robot comprises: the device comprises a clean water tank, a sewage tank, a control module, a communication module, a water outlet valve, a water inlet valve, a clean water tank water quantity sensor and a sewage tank water quantity sensor; the water outlet valve, the water inlet valve, the clean water tank water quantity sensor and the sewage tank water quantity sensor are all connected with the control module; the control module is connected with the communication module;

the clear water tank water quantity sensor is used for detecting the current clear water quantity of the clear water tank; the sewage tank water quantity sensor is used for detecting the current sewage quantity of the sewage tank; transmitting the received water amount adjusting instruction to the control module through the communication module; the control module controls the valve opening and closing of the water outlet valve and/or the water inlet valve according to the water quantity adjusting instruction so as to perform water replenishing and/or water draining operation on the first type cleaning robot; wherein the first type of cleaning robot is a cleaning robot that is performing a cleaning task for which a current amount of fresh water reaches a first water amount threshold and/or a current amount of sewage reaches a second water amount threshold.

11. A refill drain apparatus, the apparatus comprising: a communication module, a memory, and one or more processors;

a memory for storing one or more programs;

when executed by the one or more processors, cause the one or more processors to implement the method of any of claims 1-7.

12. A computer-readable storage medium on which a computer program is stored, the program, when executed by a processor, implementing the refill water draining method according to any one of claims 1-7.