CN115363480A

CN115363480A - Man-machine cooperation equipment and use method thereof

Info

Publication number: CN115363480A
Application number: CN202210490557.2A
Authority: CN
Inventors: 朱元远; 李斌; 董海洋
Original assignee: Candela Shenzhen Technology Innovations Co Ltd
Current assignee: Candela Shenzhen Technology Innovations Co Ltd
Priority date: 2022-10-17
Filing date: 2022-10-17
Publication date: 2022-11-22

Abstract

The invention discloses a man-machine cooperative device and a using method thereof, wherein the man-machine cooperative device comprises: the cleaning robot comprises a sweeper, a cleaning robot and a control end, wherein the control end controls the cleaning robot to bear the sweeper and move to an area to be cleaned through a driving device; an operator takes down the sweeper arranged on the cleaning robot and sweeps or sucks the garbage in the area to be swept; the control end determines that the sweeper finishes sweeping work through working parameters of the sweeper or through an intelligent terminal carried by an operator and communicated with the control end; the control end judges whether the sweeper finishes sweeping the current area of the area to be swept or not, and if the sweeper finishes sweeping the current area, the cleaning robot finishes secondary sweeping of the current area of the sweeper according to a preset mode; if not, the cleaning robot waits for the cleaner to complete the cleaning of the current area. Through multiple man-machine interaction modes, the cleaning efficiency of a cleaning area is effectively improved, and garbage in the area difficult to clean can be cleaned.

Description

Man-machine cooperation equipment and use method thereof

Technical Field

The invention relates to a man-machine cooperation device, in particular to a man-machine cooperation device applied to the field of unmanned cleaning and a using method thereof.

Background

At present, common cleaning robot divide into indoor cleaning robot and outdoor cleaning robot according to operational environment, indoor cleaning robot is mostly indoor sweeping robot, mopping robot etc. and outdoor cleaning robot is mostly comparatively large-scale cleaning vehicle that sanitation car class of a kind went on the road and in the garden.

A cleaning robot, whether indoor or outdoor, generally has: driving devices, cleaning devices, garbage storage bins, and the like; the cleaning robot is used as a single device to clean in a preset cleaning area according to a preset program, an operator usually only controls the cleaning robot to start, pause, remotely control the cleaning robot front and back and left and right, and the like, the simple interaction cannot fundamentally improve the cleaning efficiency of the cleaning area, and the garbage at the cleaning edges, corners and the like cannot be cleaned, so the cleaning completion rate is not ideal.

Disclosure of Invention

The invention aims to provide man-machine cooperative equipment and a using method thereof, which can complete cleaning tasks in a cleaning area more quickly and can also effectively clean an area which is difficult to clean.

The invention is realized by the following technical scheme:

a human-machine collaboration device, comprising: a sweeper and a cleaning robot;

the cleaner has: the device comprises a fan, a blowing and sucking pipeline, a blowing and sucking power supply, a holding part, a control part, an external transmission part and a collection part;

the cleaning robot includes: drive device, power storage device, and identification device

The power supply storage device provides power supply for the blowing and sucking device;

the control end is configured to send an instruction to the control end after the sweeper finishes sweeping work of the area to be swept, and the control end remotely controls the cleaning robot to start a preset cleaning mode to carry out secondary sweeping work on the area to be swept.

Wherein the sweeper is a device capable of sucking and blowing air by a fan therein. According to the working environment, accessories such as a support frame, a strap, a trailer, a garbage collection bag, a transmission pipeline and the like can be correspondingly arranged, so that the sweeper is more convenient and humanized to use.

Preferably, the power storage device includes: the power supply storage device comprises a power supply storage support, a guide rail arranged along the axial direction of the power supply storage support, and a power supply located between tracks.

Preferably, the human-computer cooperation apparatus further includes: the control end can acquire the current position of the positioning module and enables the cleaning robot to follow the positioning module;

or the cleaning robot to the location module position.

The use method of the man-machine cooperation equipment comprises the following steps:

s1, a control end controls a cleaning robot to bear a sweeper and move to an area to be cleaned through a driving device;

s2, an operator takes down the cleaner arranged on the cleaning robot and sweeps or sucks the garbage in the area to be cleaned;

s3, the control end determines that the sweeper finishes sweeping work through working parameters of the sweeper or through an intelligent terminal carried by an operator and communicated with the control end;

s4, the control end judges whether the sweeper finishes sweeping the current area of the area to be swept or not, and if the sweeper finishes sweeping the current area, the cleaning robot finishes secondary sweeping of the current area of the sweeper according to a preset mode;

if not, the cleaning robot waits for the sweeper to complete the sweeping of the current area.

In S4, the method further includes step S41, where the preset mode at least includes: traversing the cleaning mode and identifying the cleaning mode;

in the traversal cleaning mode, the cleaning robot performs path planning on an area to be cleaned, and performs traversal cleaning;

and identifying a cleaning mode, namely cleaning the garbage in the cleaning area of the cleaning robot equipment, positioning the garbage, moving the garbage to the position near the garbage position, and cleaning the garbage.

In the traversal cleaning mode, a sub-traversal cleaning mode is further included, that is, a region selection is performed on the cleaning region, and the traversal cleaning mode is performed on the selected cleaning region.

In the step S3, a positioning module is provided in the intelligent terminal, and the control end correspondingly determines the cleaning area of the cleaner from the area where the positioning module of the intelligent terminal is located, or selects the area through the intelligent terminal as the cleaning area of the cleaner.

The preset mode further comprises: through a positioning module, a control end can acquire the current position of the positioning module and enable the cleaning robot to follow the positioning module; or the cleaning robot is advanced to the location module position.

The preset mode further comprises: a timing mode; and after the cleaning robot obtains 5 minutes after the cleaner finishes cleaning the current area of the area to be cleaned, the cleaning robot automatically starts to clean the area to be cleaned for the second time, and performs key cleaning at a coordinate point where the cleaner starts to work.

The invention has the advantages that: through multiple human-computer interaction mode, let the operator accomplish the clearance that the machine is difficult to the clearance part through the sweeper, and let the cleaning robot accomplish secondary cleaning work according to multiple humanized mode of predetermineeing again, not only can effectual improvement clean regional cleaning efficiency, also can clear up the rubbish that is difficult to the clearance region, the rate of cleaning is comparatively satisfied.

Drawings

FIG. 1 is a schematic view of a cleaning robot;

FIG. 2 is a schematic diagram of a human-machine collaboration apparatus;

FIG. 3 is a schematic flow chart according to a first embodiment of the present invention;

FIG. 4 is a schematic view of a cleaning method according to a first embodiment of the present invention;

FIG. 5 is a schematic view of a cleaning method according to a second embodiment of the present invention;

FIG. 6 is a schematic view of a cleaning method according to a third embodiment of the present invention;

fig. 7 is a schematic diagram of a cleaning method in a fourth embodiment of the present invention.

In the figure: 1. a drive device; 2. an identification device; 3. a cleaning device; 4. a garbage storage barrel; 5. a negative pressure fan; 6. a sweeper; 100. a cleaning robot; 200. a tablet computer; 300. and a control end.

Detailed Description

In order to make the technical problems solved, the technical solutions adopted and the technical effects achieved by the present invention clearer, the technical solutions of the present invention are further described below by way of specific embodiments with reference to the accompanying drawings. 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 but not all of the elements associated with the present invention are shown in the drawings. In the description of the present invention, unless otherwise explicitly specified or limited, the terms "connected," "connected," and "fixed" are to be construed broadly and may, for example, be fixedly connected, detachably connected, or integral to one another; can be mechanically or electrically connected; they may be directly connected or indirectly connected through intervening media, or may be connected through the use of two elements or the interaction of two elements. The specific meanings of the above terms in the present invention can be understood in a specific case to those of ordinary skill in the art. In the present invention, unless expressly stated or limited otherwise, the recitation of a first feature "on" or "under" a second feature may include the recitation of the first and second features being in direct contact, and may also include the recitation that the first and second features are not in direct contact, but are in contact via another feature between them. Also, the first feature being "on," "above" and "over" the second feature includes the first feature being directly on and obliquely above the second feature, or merely indicating that the first feature is at a higher level than the second feature. "beneath," "under" and "beneath" a first feature includes the first feature being directly beneath and obliquely beneath the second feature, or simply indicating that the first feature is at a lesser elevation than the second feature.

In order to make the technical problems solved, the technical solutions adopted and the technical effects achieved by the present invention clearer, the technical solutions of the present invention are further described below by way of specific embodiments with reference to the accompanying drawings. 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 but not all of the elements associated with the present invention are shown in the drawings. In the description of the present invention, unless expressly stated or limited otherwise, the terms "connected," "connected," and "fixed" are to be construed broadly, e.g., as meaning permanently connected, removably connected, or integral to one another; can be mechanically or electrically connected; they may be directly connected or indirectly connected through intervening media, or may be connected through the use of two elements or the interaction of two elements. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art. In the present invention, unless expressly stated or limited otherwise, the recitation of a first feature "on" or "under" a second feature may include the recitation of the first and second features being in direct contact, and may also include the recitation that the first and second features are not in direct contact, but are in contact via another feature between them. Also, the first feature being "on," "above" and "over" the second feature includes the first feature being directly on and obliquely above the second feature, or merely indicating that the first feature is at a higher level than the second feature. The first feature "under", "below" and "beneath" the second feature encompasses the first feature being directly under and obliquely below the second feature, or merely represents an orientation or positional relationship in which the first feature is at a lesser level than the second feature, merely for convenience of description and ease of operation, and does not indicate or imply that the device or element referred to must have a particular orientation, be constructed in a particular orientation and be operated upon, and therefore should not be construed as limiting the present invention. Furthermore, the terms "first" and "second" are used only for descriptive purposes and are not intended to be limiting.

Example one

As shown in fig. 1, a plurality of heavy dirt areas are present in a cleaning area, a cleaning robot 100 is located at the starting end of the cleaning area, the cleaning robot 100 fixes a sweeper 6 on a housing thereof by a fixing device, and an operator can conveniently take off the sweeper 6 and perform road surface cleaning work by using the sweeper 6. The sweeper 6 and the cleaning robot 100 together constitute a man-machine interaction device of the present embodiment. The sweeper 6 is provided with a strap which is convenient for an operator to carry, the operator can carry the sweeper 6, suck up the garbage on the ground through a suction nozzle on the sweeper 6 and store the garbage in a garbage bag connected with the sweeper 6 through a pipeline. Of course, the mode of the cleaning device 6 can be adjusted so that the cleaning device 6 is changed from suction to blowing, and by blowing out a large amount of wind, the garbage in the corners and grasses can be blown out to a wide road surface. The sweeper 6 is internally provided with a high-power fan capable of rotating forwards and reversely to realize air blowing and air suction, and is also provided with a sweeper 6 power supply for supplying power to the high-power fan, usually, one sweeper 6 power supply can only continue a journey for 10-25 minutes, when the power supply in the sweeper 6 is exhausted, a fixed power supply needs to be searched for charging the power supply or replacing the power supply, but the power supply usually weighs more than 5 kilograms and is not very suitable for portability, so an operator can only usually clean for 10-25 minutes, and the cleaning work needs to be stopped and the sweeper needs to be charged.

Referring again to fig. 1, the cleaning robot 100 includes: the garbage cleaning device comprises a driving device 1, a recognition device 2, a cleaning device 3 and a garbage storage device; the driving device controls the cleaning robot to move; the identification device comprises various sensors distributed on the shell of the cleaning robot, such as an infrared sensor, a laser radar sensor, a vision sensor and an ultrasonic sensor, which are also the mainstream schemes for acquiring the environmental data around the robot by the robot at present; the cleaning device mainly comprises an edge brush positioned at the front part of the cleaning robot and a rolling brush positioned at the bottom part; certainly, according to the serious condition of the garbage in the cleaning area, an adjusting mechanism can be added to the side brush to adjust the height and the extension of the side brush, and a watering mechanism can also be added to the side brush to enable the side brush to play a role of dust falling when the side brush rotates at a high speed to stir up the ground dust. The rear part of the rolling brush is provided with a transmission pipeline for conveying the garbage rolled up by the rolling brush into a garbage storage device. The garbage storage device is internally provided with a garbage can 4 for storing garbage and a negative pressure fan 5 for generating negative pressure, wherein the negative pressure fan enables the transmission pipeline and the rolling brush to generate negative pressure, so that the garbage at the rolling brush is sucked into the transmission pipeline and finally reaches the garbage can.

Still set up power storage device in the rubbish storage device, the storage supplies the backup battery that the sweeper changed.

When the battery of the cleaner used by an operator is exhausted and the power supply needs to be replaced, the power supply in the power supply storage device is taken out to replace the original cleaner power supply without electricity, and then the cleaner power supply without electricity is put into the power supply storage device for charging. Therefore, a user can quickly obtain a new power supply to continue working with the sweeper.

As shown in fig. 2, the human-machine cooperation apparatus in this embodiment further includes: the positioning module can be a single electronic module and can also be arranged in other electronic products. In this embodiment, the positioning module is installed in the tablet pc 200, and an operator holds the tablet pc to send an operation instruction on site.

The human-machine cooperation apparatus further includes: and a control terminal 300 configured to remotely control the cleaning robot 100 to start a preset cleaning mode after the sweeper finishes the cleaning work of the area to be cleaned, and perform secondary cleaning work on the area to be cleaned.

The control terminal 300 communicates with the tablet pc 200 and the cleaning robot 100 remotely.

As shown in fig. 3, the use method of the human-computer cooperation device includes the following steps:

s4, the control end judges whether the sweeper finishes sweeping the current area of the area to be swept again, and if the sweeper finishes sweeping the current area, the cleaning robot finishes secondary sweeping of the current area of the sweeper according to a preset mode;

In the step S3, the operation parameter information of the sweeper includes: working time, the number of times of battery replacement in the current work task, a working mode, working coordinates and the like;

and the control end determines whether the sweeper finishes sweeping or not according to the working parameter information of the sweeper.

When the working coordinate of the sweeper continuously moves from one point to another point, the sweeper is started and generates working time length, namely the sweeper is in a working state from one point to another point by default.

When the sweeper works, the sweeper adopts a suction sweeping mode or a blowing sweeping mode, and the judgment of whether the sweeper finishes working or not by the control end is not influenced.

When the sweeper moves from one point to another and the working time is continuously increased, but the power supply is dead and stops working, the number of times of battery replacement in the current working is increased later, and the sweeper still continues to work.

And only when the front position and the rear position of the sweeper are changed, the working time length is changed, and the sweeper is not restarted after 5 minutes of the working time length is finished, and the control end defaults to finish the work of the sweeper.

As shown in fig. 4, the cleaning area may be preset and stored in the system, and the cleaning area for the next work may be selected only by selecting the corresponding cleaning area, or the cleaning area for the current work may be redefined.

After the cleaning area is selected, the control end controls the cleaning robot to carry the sweeper to move to the area to be cleaned through the driving device, and at the edge of the cleaning area, even the edge is provided with garbage, even more garbage is in the cleaning area, and the cleaning robot cannot clean the area because the edges are often gullies, flower beds, lawns and other areas which are not beneficial to the running of the wheeled vehicle.

In order to complete the cleaning of the edge of the cleaning area, an operator takes down a cleaner fixed on the cleaning robot, and blows the garbage at the edge of the cleaning area into the cleaning area, and a control end acquires the working parameter information of the cleaner, and the method comprises the following steps: working time, the number of times of battery replacement in the current working task, a working mode, working coordinates and the like; as can be seen from the figure, the sweeper was moved from point a to point B, the path from a to B was purged, the purging mode was used, it took 10 minutes, and then the operation was stopped at point B, during which time the battery was not replaced. The control end judges that the sweeper finishes sweeping tasks from the point A to the point B, and a concentrated garbage pile is formed between the point A and the point B.

When an operator confirms that the sweeper finishes a sweeping task through the handheld terminal, the control end controls the cleaning robot to start to sweep the sweeping area in a traversing mode, the cleaning robot covers the garbage pile from the point A to the point B in a sweeping path, and the garbage pile from the point A to the point B can be swept into a garbage can of the cleaning robot; in this embodiment, of course, the control end obtains the coordinates of the user from the point a to the point B through the handheld terminal.

If the operator does not confirm completion of the cleaning through the handheld terminal, the control terminal will wait for the operator to confirm.

Example two

As shown in fig. 5, the control end controls the cleaning robot to carry the sweeper to move to the area to be cleaned through the driving device, the operator takes down the sweeper fixed on the cleaning robot, and blows the garbage at the edge of the cleaning area into the cleaning area, and the control end obtains the working parameter information of the sweeper, including: working time, the number of times of battery replacement in the current working task, a working mode, working coordinates and the like;

the intelligent terminal that the operator dressed with cleaning machines people communication, cleaning machines people can implement and acquire intelligent terminal's positional information, cleaning machines people can follow according to this positional information intelligent terminal, thereby control end can control the robot gets into and follows the mode.

And the distance between the cleaning robot and the intelligent terminal can be set. The handheld sweeper of operator is in clean the work of cleaning robot the place ahead certain distance, blow in clean area with the rubbish of clean area border and the outer certain limit in border in clean area, the control end obtains the sweeper has moved 2 meters from point A to point B, has utilized the mode of sweeping to work 30 seconds, and the battery has not been changed during, blows in clean map with the rubbish of point A to point B, has formed a rubbish heap.

The control end controls the cleaning robot to exit the following mode and enter the cleaning mode, the cleaning robot does not reach the point to clean as the point A and the point B are positioned at the edge and outside the edge of the cleaning area, the cleaning robot moves to the point A (1) in the cleaning area corresponding to the point A in the horizontal direction to start cleaning, path cleaning from the point A (1) to the point B (1) is executed, and the point B (1) is also a point in the cleaning area corresponding to the point B in the horizontal direction.

When the cleaning robot finishes cleaning the path from the point A (1) to the point B (1), the cleaning robot continues to enter a following mode after cleaning a garbage pile in a cleaning area, and follows the intelligent terminal worn on an operator to reach the position of a point C.

The sweeper is opened to the operator at D point in the right front of C point, moves to E point position from D point position, through sweeping the mode work 20 minutes, the sweeper shows that the electric quantity is not enough, and the operator holds back the sweeper extremely cleaning machines people department changes the battery. Six spare power supplies of cleaners are embedded into the cleaning robot, and after the operator replaces the power supply with enough power, the power supply with insufficient power is placed into the power supply storage device for charging.

And the operator continues to work from the E point position to the F point position, closes the sweeper at the F point position, and then confirms that the sweeper finishes sweeping through the intelligent terminal.

And the control end acquires the working state of the sweeper and determines that the sweeper completes the current sweeping task.

And the control end controls the cleaning robot to exit from the following mode and enter into the cleaning mode, and the cleaning robot cleans the path from the point D (1) to the point F (1). And D (1) and F (1) are points in the cleaning area corresponding to the D point and the F point horizontally.

EXAMPLE III

As shown in fig. 6, a control end controls a cleaning robot to carry a sweeper to move to a to-be-cleaned area through a driving device, an operator takes down the sweeper fixed on the cleaning robot and blows garbage on the edge of the cleaning area into the cleaning area, the control end obtains working parameter information of the sweeper, and the condition that the sweeper cleans the cleaning area is judged according to the working parameter information of the sweeper;

when the front position and the rear position of the sweeper are changed, the working time length is changed, and the sweeper is not restarted after the working time length is finished for a certain preset time, the control end defaults to finish the work of the sweeper.

The cleaning robot moves to the position near the A point, and garbage in a certain range near the A point is identified; the cleaning robot shoots image information of the garbage through the recognition device, analyzes whether the garbage is the garbage or not, calculates the position of the garbage relative to the cleaning robot when the garbage is determined to be the garbage, plans a path in real time, moves to the garbage position, and cleans the garbage.

When the robot identifies garbage, a plurality of garbage can be identified, the position of each garbage is marked, the positions of all the garbage to the cleaning robot are calculated, a path is planned, the garbage position points are connected in series, cleaning is carried out according to the path planning, and all the garbage is cleaned.

Example four

As shown in fig. 7, the control end controls the cleaning robot to carry the sweeper to move to the area to be cleaned through the driving device, an operator takes down the sweeper fixed on the cleaning robot, and the garbage at the edge of the cleaning area is blown into the cleaning area;

the operator runs corresponding software through an intelligent terminal communicated with the control terminal to obtain a map of an area to be cleaned, checks the working track of the handheld cleaner, selects the working track in a frame mode, and marks the working track as an area to be cleaned by the cleaning robot for the second time;

in this embodiment, after the control end acquires the area to be cleaned for the second time, it is determined that the cleaning machine is 10 minutes after cleaning is completed, and the cleaning robot is controlled to start cleaning the area to be cleaned for the second time.

The control end judges the 10 minutes of waiting after the sweeper finishes sweeping, can automatically adjust according to requirements, and is not used as a condition for limiting the invention. Similarly, the control end controls the cleaning robot to start cleaning after 5 minutes, and the time can be adjusted by itself.

EXAMPLE five

The control end controls the cleaning robot to carry the sweeper to move to the area to be cleaned through the driving device, an operator takes down the sweeper fixed on the cleaning robot and blows garbage on the edge of the cleaning area into the cleaning area;

the control end obtains working parameter information of the sweeper and determines whether the sweeper finishes working according to the working parameter information; the working parameter information comprises: working time, the number of times of battery replacement in the current working task, a working mode, working coordinates and the like; simultaneously the operation still hold with the panel computer of control end communication, also pre-equipped with in the panel computer with control end matched with APP or software, through this APP steerable cleaning machines people.

After finishing the sweeping work in a certain distance, the operator inputs the information to the tablet personal computer through voice, if the operator "i finish the sweeping work here", the control end acquires the confirmation information of the completion of the work and then controls the cleaning robot to immediately start the sweeping of the area to be cleaned.

Cleaning machines people starts the ergodic cleaning of whole piece region from the initial section of waiting to clean the region cleaning machines people process the position that the operator passed through the originated cleaning of sweeper opens rubbish recognition mode, discerns rubbish, increases cleaning machines people's cleaning device's operating power, cleans this region in focus, cleans this region after finishing, resumes cleaning devices and continues to accomplish remaining cleaning work for original operating power.

Claims

1. A human-machine collaboration device, comprising: a sweeper and a cleaning robot;

the cleaning robot includes: the garbage cleaning device comprises a cleaning device, a driving device, a power storage device, a recognition device and a garbage storage box; the sweeping device is configured to perform sweeping; the driving device is configured to drive the cleaning robot to move; the recognition device is configured to recognize obstacles and images around the cleaning robot; the garbage storage box is connected with the cleaning device and stores garbage cleaned by the cleaning device; the power storage device is configured to store the blowing and sucking power supply and charge the blowing and sucking power supply;

2. The human-computer cooperative apparatus according to claim 1, wherein the power supply storage means comprises: the power supply storage device comprises a power supply storage support, a guide rail arranged along the axial direction of the power supply storage support, and a power supply located between tracks.

3. The human-computer cooperative device according to claim 1, further comprising a positioning module, wherein the control terminal can acquire a current position of the positioning module and cause the cleaning robot to follow the positioning module; or the cleaning robot to the location module position.

4. The man-machine cooperation method is characterized by comprising the following steps:

the control end controls the cleaning robot to carry the sweeper to move to the area to be swept through the driving device;

an operator takes down the sweeper arranged on the cleaning robot and sweeps or sucks the garbage in the area to be swept;

the control end determines that the sweeper finishes sweeping work through working parameters of the sweeper or through an intelligent terminal carried by an operator and communicated with the control end;

the control end judges whether the sweeper finishes sweeping the current area of the area to be swept or not, and if the sweeper finishes sweeping the current area, the cleaning robot finishes secondary sweeping of the current area of the sweeper according to a preset mode;

5. The method of human-computer collaboration as described in claim 4,

the preset mode at least comprises the following steps: traversing the cleaning mode and identifying the cleaning mode;

6. The man-machine cooperation method according to claim 4, wherein the control end judges whether the sweeper finishes sweeping the current area of the area to be swept, and judges the sweeping condition of the sweeper on the area to be swept by acquiring the sweeper working parameter information; the operating parameter information includes: working time, the number of times of battery replacement in the current working task, a working mode, working coordinates and the like; when the front position and the rear position of the sweeper are changed, the working time length is changed, and the sweeper is not restarted after the working time length is finished for a certain preset time, the control end defaults to finish the work of the sweeper.

7. The human-computer cooperation method according to claim 4, wherein the sweeper can be determined to complete sweeping of the current area of the area to be swept through an intelligent terminal in communication with the control terminal.

8. The human-computer cooperation method according to claim 7, wherein the sweeper is determined to complete sweeping of the current area of the area to be swept through an interactive method such as manual operation input, voice input, gesture input and the like of an intelligent terminal.

9. The human-computer cooperation method according to claim 7, wherein a positioning module is arranged in the intelligent terminal, and the control end correspondingly determines the cleaning area of the sweeper from the area where the positioning module of the intelligent terminal is located, or selects the area through the intelligent terminal as the cleaning area of the sweeper.

10. The method of human-machine collaboration as in claim 4 wherein the preset mode further comprises: and after the cleaning robot obtains 5 minutes after the cleaner finishes cleaning the current area of the area to be cleaned, the cleaning robot automatically starts to clean the area to be cleaned for the second time, and performs key cleaning at a coordinate point where the cleaner starts to work.