CN115886666A - Breakpoint continuous sweeping method, control module, system and medium for sweeping robot - Google Patents
Breakpoint continuous sweeping method, control module, system and medium for sweeping robot Download PDFInfo
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- CN115886666A CN115886666A CN202211660884.4A CN202211660884A CN115886666A CN 115886666 A CN115886666 A CN 115886666A CN 202211660884 A CN202211660884 A CN 202211660884A CN 115886666 A CN115886666 A CN 115886666A
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Abstract
The invention discloses a breakpoint continuous sweeping method, a control module, a system and a medium for a sweeping robot, wherein the method comprises the following steps: receiving a continuous scanning request sent by a first scanning robot when meeting a preset replenishment condition; the continuous sweeping request comprises current sweeping data, wherein the current sweeping data comprises a sweeping map and an unswept area of the target area, and the current coordinate position of the first sweeping robot in the target area; judging whether a second sweeping robot meeting preset continuous sweeping conditions exists or not; and if the second sweeping robot meeting the preset continuous sweeping condition exists, sending a continuous sweeping instruction containing the current sweeping data to the second sweeping robot, so that the second sweeping robot receives the continuous sweeping instruction, and then executing a first continuous sweeping operation on the non-swept area according to the sweeping map by taking the current coordinate position in the current sweeping data as a starting point. According to the invention, a plurality of sweeping robots can take over to perform breakpoint continuous sweeping, and the sweeping efficiency and the use convenience of the sweeping robots are improved.
Description
Technical Field
The invention relates to the field of sweeping robots, in particular to a breakpoint continuous sweeping method, a control module, a system and a medium of a sweeping robot.
Background
The floor sweeping robot is also called an automatic sweeper, an intelligent dust collector or a robot dust collector, and the like, is one of intelligent household appliances, and can automatically finish floor cleaning work indoors and outdoors by means of certain artificial intelligence. In the prior art, when a sweeping robot executes a sweeping task in a complex sweeping environment, or when a user actively increases water yield during the sweeping task executed by the sweeping robot, the sweeping robot may lack water or electricity during the sweeping task, so that the sweeping task cannot be continuously executed.
Disclosure of Invention
In view of the above, it is necessary to provide a method, a control module, a system and a medium for sweeping a breakpoint of a sweeping robot to solve the problem that the sweeping robot cannot continue to perform a sweeping task under the condition of water shortage or power shortage.
A breakpoint continuous sweeping method of a sweeping robot comprises the following steps:
receiving a continuous scanning request sent by a first scanning robot when meeting a preset replenishment condition; the continuous sweeping request comprises current sweeping data, wherein the current sweeping data comprises a sweeping map and an uncleaned area of the target area, and a current coordinate position of the first sweeping robot in the target area;
judging whether a second sweeping robot meeting preset continuous sweeping conditions exists or not;
if a second sweeping robot meeting the preset sweeping continuation condition exists, sending a sweeping continuation instruction containing the current sweeping data to the second sweeping robot, so that after the second sweeping robot receives the sweeping continuation instruction, taking the current coordinate position in the current sweeping data as a starting point, and executing a first sweeping continuation operation on the non-swept area according to the sweeping map.
A control module comprises a base station and a cloud server in communication connection with the base station;
the cloud server is used for receiving a continuous scanning request sent when the first scanning robot meets preset replenishment conditions and forwarding the continuous scanning request to the base station; the continuous sweeping request comprises current sweeping data, wherein the current sweeping data comprises a sweeping map and an unswept area of the target area, and a current coordinate position of the first sweeping robot in the target area;
the base station is used for receiving the continuous scanning request sent by the cloud server and judging whether a second sweeping robot meeting preset continuous scanning conditions exists or not; if a second sweeping robot meeting the preset sweeping continuation condition exists, sending a sweeping continuation instruction containing the current sweeping data to the second sweeping robot, so that the second sweeping robot receives the sweeping continuation instruction, and then executing a first sweeping continuation operation on the non-swept area according to the sweeping map by taking the current coordinate position in the current sweeping data as a starting point.
A breakpoint continuous sweeping system comprises a control module and a plurality of sweeping robots in communication connection with the control module, wherein the sweeping robots comprise a first sweeping robot and a second sweeping robot;
the first sweeping robot is used for generating current sweeping data when meeting preset replenishment conditions and sending a continuous sweeping request comprising the current sweeping data to the cloud server; the current cleaning data comprise a cleaning map and an uncleaned area of the target area, and a current coordinate position of the first sweeping robot in the target area;
and the second sweeping robot is used for executing a first sweeping continuing operation on the non-sweeping area according to the sweeping map by taking the current coordinate position in the current sweeping data as a starting point after receiving the sweeping continuing instruction sent by the base station.
A computer-readable storage medium, which stores a computer program, and when the computer program is executed by a processor, the steps of the breakpoint continuous sweeping method of the sweeping robot are implemented.
According to the method, when a first sweeping robot performing sweeping work on a target area meets a preset replenishment condition, current sweeping data are generated, a sweeping continuing request comprising the current sweeping data is sent to a cloud server, a second sweeping robot meeting the preset sweeping continuing condition is determined through a base station in communication connection with the cloud server, and the second sweeping robot performs first sweeping continuing operation on an uncleaned area according to the current sweeping data, so that the target area is swept. Above-mentioned in-process has realized that the breakpoint between a plurality of robots of sweeping the floor continues to sweep, has promoted the robot of sweeping the floor clean efficiency and use convenience.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings needed to be used in the description of the embodiments of the present invention will be briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art that other drawings can be obtained according to these drawings without inventive labor.
Fig. 1 is a schematic flow chart illustrating a breakpoint continuous sweeping method of a sweeping robot according to an embodiment of the present invention.
Fig. 2 is a flowchart illustrating the step S200 of the breakpoint continuous sweeping method of the sweeping robot according to an embodiment of the present invention.
Fig. 3 is a schematic flow chart of a breakpoint continuous sweeping method of a sweeping robot according to another embodiment of the present invention.
Fig. 4 is a schematic flow chart illustrating a breakpoint continuous sweeping method of a sweeping robot according to another embodiment of the present invention.
Fig. 5 is a flowchart illustrating a step S200 of a breakpoint continuous sweeping method of a sweeping robot according to another embodiment of the present invention.
Fig. 6 is a schematic flow chart illustrating a breakpoint continuous sweeping method of a sweeping robot according to still another embodiment of the present invention.
Fig. 7 is a schematic structural diagram of a control module according to an embodiment of the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, not all, embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
The breakpoint continuous sweeping method of the sweeping robot provided in this embodiment may be applied to the control module 100 shown in fig. 7, where the control module 100 includes a base station 120 and a cloud server in communication connection with the base station 120. It should be understood that, the sweeping robot mentioned in the present invention refers to a sweeping robot that establishes a communication connection with the base station 120, and the first robot and the second robot are both one of the sweeping robots.
As shown in fig. 1, in an embodiment, a method for continuously sweeping a breakpoint of a sweeping robot is provided, which includes the following steps:
s100, receiving a continuous scanning request sent by a first scanning robot when meeting preset replenishment conditions; the continuous sweeping request comprises current sweeping data, wherein the current sweeping data comprises a sweeping map and an uncleaned area of the target area, and a current coordinate position of the first sweeping robot in the target area. In an embodiment, when the first sweeping robot meets the preset replenishment condition, current sweeping data is generated, and a sweeping continuation request including the current sweeping data is sent to the cloud server; the current cleaning data comprises a cleaning map and an uncleaned area of the target area, and a current coordinate position of the first sweeping robot in the target area. It is understood that the continuous scan request is a continuous scan request for the target area. The first sweeping robot executes a sweeping task in the target area, and when the first sweeping robot meets the preset replenishment condition, the sweeping task in the target area is not completed, so that the first sweeping robot needs to generate current sweeping data, and the sweeping robot capable of executing breakpoint continuous sweeping operation executes breakpoint continuous sweeping operation according to the current sweeping data. The preset replenishment condition includes, but is not limited to, a condition that the first sweeping robot cannot continue to perform the sweeping operation due to water shortage or power shortage of the first sweeping robot, and needs to return to the base station 120 for replenishment. The target area refers to an area where the first sweeping robot is currently performing a sweeping operation, and the sweeping map is also the sweeping map of the target area. In one embodiment, after receiving the continuous scanning request sent by the first scanning robot, the cloud server forwards the continuous scanning request to the base station 120.
And S200, judging whether a second sweeping robot meeting the preset continuous sweeping condition exists or not. It should be understood that, the sweeping robot mentioned in the present invention refers to a sweeping robot that establishes a communication connection with the base station 120, and the first robot and the second robot are both one of the sweeping robots mentioned above. After receiving the continuous sweeping request sent by the cloud server, the base station 120 determines whether a second sweeping robot meeting preset continuous sweeping conditions exists in all sweeping robots in communication connection with the base station 120. In one embodiment, at least one of the base stations 120 is communicatively connected to the cloud server, and one or more sweeping robots are communicatively connected to the base station 120; the cloud server may send the continuous sweeping request to all base stations 120 in communication connection with the cloud server, and determine whether a second sweeping robot meeting a preset continuous sweeping condition exists in all sweeping robots in communication connection with all base stations 120.
As shown in fig. 2, in an embodiment, the step S200 of determining whether there is a second sweeping robot meeting a preset continuous sweeping condition includes:
and S210, acquiring the current electric quantity and the current water quantity of all the sweeping robots in an idle state. It can be understood that, after receiving the continuous sweeping request sent by the cloud server, the base station 120 first obtains the current electric quantity and the current water quantity of all sweeping robots in an idle state and in communication connection with the base station 120. Understandably, the first sweeping robot is not in an idle state during sweeping and meets the preset replenishment requirement, so the first sweeping robot is not necessarily the second sweeping robot.
S220, judging whether each sweeping robot meets a preset continuous sweeping condition or not, wherein the preset continuous sweeping condition comprises the following steps: the current electric quantity of robot of sweeping the floor is greater than or equal to and predetermines the electric quantity, just the current water yield of robot of sweeping the floor is greater than or equal to and predetermines the water yield. It can be understood that each of the sweeping robots is also the sweeping robot in an idle state. In an embodiment, the preset water amount is determined according to the area of the non-cleaning area and the water consumption per unit area corresponding to a preset cleaning gear of the sweeping robot; the preset electric quantity is determined according to the area of the non-cleaning area and the electric consumption of the unit area corresponding to the preset cleaning gear of the sweeping robot. For example: setting a preset cleaning gear to be 4, wherein the water quantity required by cleaning per square meter is 20 milliliters; setting a preset cleaning gear to be 3, wherein the water quantity required by cleaning per square meter is 15 milliliters; setting a preset cleaning gear to 2, wherein the water quantity required by cleaning per square meter area is 10 milliliters; the preset cleaning gear is set to 1 gear, and the water quantity required by cleaning per square meter area is 5 milliliters.
And S230, when all the sweeping robots do not accord with the preset continuous sweeping condition, determining that no second sweeping robot meeting the preset continuous sweeping condition exists. In an embodiment, at least one of the base stations 120 is in communication with the cloud server, and at least one sweeping robot is in communication with the base station 120; the cloud server sends the continuous sweeping request to all the base stations 120 which are in communication connection with the cloud server, and if no second sweeping robot meeting preset continuous sweeping conditions exists in all the sweeping robots which are in communication connection with all the base stations 120, the second sweeping robot meeting the preset continuous sweeping conditions is determined to be absent.
And S300, if a second sweeping robot meeting the preset sweeping continuation condition exists, sending a sweeping continuation instruction containing the current sweeping data to the second sweeping robot, so that after the second sweeping robot receives the sweeping continuation instruction, taking the current coordinate position in the current sweeping data as a starting point, and executing a first sweeping continuation operation on the non-swept area according to the sweeping map. It can be understood that, if there is a second sweeping robot that satisfies the preset continuous sweeping condition, it indicates that the second sweeping robot can complete the sweeping of the non-swept area. After receiving the continuous sweeping instruction sent by the base station 120, the second sweeping robot performs a first continuous sweeping operation on the non-sweeping area according to the sweeping map with the current coordinate position in the current sweeping data as a starting point. It is understood that, in another embodiment, to reduce the load of the controller, the current sweeping data in the continuous sweeping command may also be sent to the second sweeping robot from the cloud server.
According to the breakpoint continuous sweeping method of the sweeping robot, when a first sweeping robot performing sweeping work in a target area meets preset replenishment conditions, current sweeping data are generated, a continuous sweeping request including the current sweeping data is sent to the cloud server, a second sweeping robot meeting the preset continuous sweeping conditions is determined through the base station 120 in communication connection with the cloud server, and the second sweeping robot performs first continuous sweeping operation on an uncleaned area according to the current sweeping data.
As shown in fig. 3, in an embodiment, after the step S200, that is, after the determining whether there is the second sweeping robot meeting the preset continuous sweeping condition, the method further includes:
and S400, if the second sweeping robot meeting the preset sweeping continuing condition does not exist, sending a first supplementing sweeping continuing instruction to the first sweeping robot, so that the first sweeping robot returns to the current coordinate position again after receiving the first supplementing sweeping continuing instruction and returning to the base station 120 to finish the supplementing, and continuously executing a second sweeping continuing operation on the non-sweeping area. It can be understood that if there is no second sweeping robot meeting the preset continuous sweeping condition, in order to complete the sweeping task of the target area, the first sweeping robot needs to continue to perform the breakpoint continuous sweeping operation on the target area after being replenished. Therefore, a first supplementary scanning continuing instruction is sent to the first scanning robot, the first scanning robot returns to the base station 120 for replenishment after receiving the first supplementary scanning continuing instruction, and returns to the current coordinate position again after replenishment is completed so as to continue to perform a second scanning continuing operation on the non-cleaned area.
As shown in fig. 4, in an embodiment, after the step S300, sending a continuous sweeping command including the current sweeping data to the second sweeping robot, the method further includes:
and S500, receiving prompt information which is fed back by the second sweeping robot and fails to load the current sweeping data, and sending a second supplementing continuous sweeping instruction to the first sweeping robot so that the first sweeping robot returns to the current coordinate position again after receiving the second supplementing continuous sweeping instruction and returning to the base station 120 to complete the supplementing, so as to continuously execute a second continuous sweeping operation on the non-swept area. It can be understood that, if the second floor-sweeping robot fails to load the current sweeping data due to various factors, the second floor-sweeping robot cannot perform the first sweeping continuing operation on the non-swept area according to the current sweeping data, and therefore, in order to complete the sweeping task on the target area, the second floor-sweeping robot feeds back the prompt information that the loading of the current sweeping data fails to the base station 120, the base station 120 sends a second supplementing sweeping continuing instruction to the first floor-sweeping robot, the first floor-sweeping robot returns to the base station 120 for replenishment after receiving the second supplementing sweeping continuing instruction, and returns to the current coordinate position again after completing the replenishment so as to continue to perform the second sweeping continuing operation on the non-swept area.
As shown in fig. 5, in an embodiment, after the step S220, that is, after the determining whether each sweeping robot meets the preset continuous sweeping condition, the method further includes:
s240, when only one sweeping robot meets the preset continuous sweeping condition, determining the sweeping robot which only meets the preset continuous sweeping condition as a second sweeping robot. It can be understood that, the cloud server sends the continuous sweeping request to all the base stations 120 in communication connection with the cloud server, and when only one sweeping robot in all the sweeping robots in communication connection with all the base stations 120 meets the preset continuous sweeping condition, only the sweeping robot meeting the preset continuous sweeping condition can be determined as the second sweeping robot.
And S250, when at least two sweeping robots meet the preset continuous sweeping condition, determining a second sweeping robot from all the sweeping robots meeting the preset continuous sweeping condition according to a preset selection rule. It can be understood that the cloud server sends the continuous sweeping request to all the base stations 120 in communication connection with the cloud server, and if at least two sweeping robots in all the sweeping robots in communication connection with all the base stations 120 meet the preset continuous sweeping condition, a second sweeping robot can be determined from all the sweeping robots meeting the preset continuous sweeping condition according to a preset selection rule. The preset selection rule can be set according to the real-time distance between the sweeping robot meeting the preset continuous sweeping condition and the current coordinate position, for example: sorting all the real-time distances between the sweeping robots meeting the preset continuous sweeping condition and the current coordinate position from small to large, and determining the sweeping robot with the prior real-time distance sorting in all the sweeping robots meeting the preset continuous sweeping condition as the second sweeping robot. It can be understood that the preset selection rule may also be set according to the water volume, the electric quantity, or the cleaning speed of the cleaning robot that meet the preset continuous sweeping condition, which is not described herein again.
As shown in fig. 6, in an embodiment, after the step S300, that is, after the second sweeping robot receives the continuous sweeping instruction, after performing a first continuous sweeping operation on the non-sweeping area according to the sweeping map with the current coordinate position in the current sweeping data as a starting point, the method further includes:
s600, sending a replenishment instruction to the first sweeping robot so that the first sweeping robot returns to the base station 120 for replenishment after receiving the replenishment instruction. It can be understood that, if there is a second sweeping robot that meets the preset continuous sweeping condition, it indicates that the second sweeping robot can complete the sweeping of the non-swept area. Therefore, the first sweeping robot does not need to perform the breakpoint sweeping operation on the target area again, a replenishment command is sent to the first sweeping robot, and the first sweeping robot returns to the base station 120 for replenishment after receiving the replenishment command.
It should be understood that, the sequence numbers of the steps in the foregoing embodiments do not imply an execution sequence, and the execution sequence of each process should be determined by its function and inherent logic, and should not constitute any limitation to the implementation process of the embodiments of the present invention.
As shown in fig. 7, in an embodiment, there is further provided a control module 100, including a base station 120 and a cloud server communicatively connected to the base station 120;
the cloud server is configured to receive a continuous scanning request sent by a first scanning robot when the first scanning robot meets a preset replenishment condition, and forward the continuous scanning request to the base station 120; the continuous sweeping request comprises current sweeping data, wherein the current sweeping data comprises a sweeping map and an uncleaned area of the target area, and a current coordinate position of the first sweeping robot in the target area;
the base station 120 is configured to receive the continuous scanning request sent by the cloud server, and determine whether a second scanning robot meeting a preset continuous scanning condition exists; if a second sweeping robot meeting the preset sweeping continuation condition exists, sending a sweeping continuation instruction containing the current sweeping data to the second sweeping robot, so that the second sweeping robot receives the sweeping continuation instruction, and then executing a first sweeping continuation operation on the non-swept area according to the sweeping map by taking the current coordinate position in the current sweeping data as a starting point.
The execution function of the control module 100 corresponds to the breakpoint continuous sweeping method of the sweeping robot in the above embodiment one by one. For specific limitations of the control module 100, reference may be made to the above limitations on the breakpoint continuous sweeping method of the sweeping robot, and details are not described herein again. The various sub-modules of the control module 100 described above may be implemented in whole or in part by software, hardware, and combinations thereof. The sub-modules can be embedded in a hardware form or independent of a processor in the computer device, or can be stored in a memory in the computer device in a software form, so that the processor can call and execute operations corresponding to the sub-modules.
In an embodiment, a breakpoint continuous sweeping system is further provided, which includes the control module 100, and a plurality of sweeping robots communicatively connected to the control module 100, where the sweeping robots include a first sweeping robot and a second sweeping robot;
the first sweeping robot is used for generating current sweeping data when meeting preset replenishment conditions and sending a continuous sweeping request comprising the current sweeping data to the cloud server; the current cleaning data comprise a cleaning map and an uncleaned area of the target area, and a current coordinate position of the first sweeping robot in the target area;
the second sweeping robot is configured to, after receiving the continuous sweeping instruction sent by the base station 120, perform a first continuous sweeping operation on the non-swept area according to the sweeping map with the current coordinate position in the current sweeping data as a starting point.
In an embodiment, a computer-readable storage medium is further provided, where a computer program is stored, and when the computer program is executed by a processor, the steps of the breakpoint continuous sweeping method for the sweeping robot are implemented.
It will be understood by those of ordinary skill in the art that all or part of the processes of the methods of the above embodiments may be implemented by hardware related to computer readable instructions, which may be stored in a non-volatile readable storage medium or a volatile readable storage medium, and when executed, the computer readable instructions may include processes of the above embodiments of the methods. Any reference to memory, storage, database, or other medium used in the embodiments provided herein may include non-volatile and/or volatile memory, among others. Non-volatile memory can include read-only memory (ROM), programmable ROM (PROM), electrically Programmable ROM (EPROM), electrically Erasable Programmable ROM (EEPROM), or flash memory. Volatile memory can include Random Access Memory (RAM) or external cache memory. By way of illustration and not limitation, RAM is available in a variety of forms such as Static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), double Data Rate SDRAM (DDRSDRAM), enhanced SDRAM (ESDRAM), synchronous Link DRAM (SLDRAM), rambus (Rambus) direct RAM (RDRAM), direct memory bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM).
It should be clear to those skilled in the art that, for convenience and simplicity of description, the foregoing division of the functional units and modules is only used for illustration, and in practical applications, the above functions may be distributed as different functional units and modules according to needs, that is, the internal structure of the system may be divided into different functional units or modules to implement all or part of the above described functions.
The above-mentioned embodiments are only used for illustrating the technical solutions of the present invention, and not for limiting the same; although the present invention has been described in detail with reference to the foregoing embodiments, it should be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; such modifications and substitutions do not substantially depart from the spirit and scope of the embodiments of the present invention, and are intended to be included within the scope of the present invention.
Claims (10)
1. A breakpoint continuous sweeping method of a sweeping robot is characterized by comprising the following steps:
receiving a continuous scanning request sent by a first scanning robot when meeting a preset replenishment condition; the continuous sweeping request comprises current sweeping data, wherein the current sweeping data comprises a sweeping map and an uncleaned area of the target area, and a current coordinate position of the first sweeping robot in the target area;
judging whether a second sweeping robot meeting preset continuous sweeping conditions exists or not;
if a second sweeping robot meeting the preset sweeping continuation condition exists, sending a sweeping continuation instruction containing the current sweeping data to the second sweeping robot, so that after the second sweeping robot receives the sweeping continuation instruction, taking the current coordinate position in the current sweeping data as a starting point, and executing a first sweeping continuation operation on the non-swept area according to the sweeping map.
2. The method for sweeping the breakpoint of the sweeping robot according to claim 1, wherein the step of judging whether the second sweeping robot meeting the preset sweeping continuation condition exists further comprises the following steps:
and if the second sweeping robot meeting the preset sweeping continuing condition does not exist, sending a first supplementing sweeping continuing instruction to the first sweeping robot, so that the first sweeping robot returns to the current coordinate position again after receiving the first supplementing sweeping continuing instruction and returning to the base station to finish the supplementing, and continuously executing a second sweeping continuing operation on the non-sweeping area.
3. The method for sweeping a breakpoint of a sweeping robot according to claim 1, wherein after sending the sweep continuation command containing the current sweeping data to the second sweeping robot, the method further comprises:
and receiving prompt information which is fed back by the second sweeping robot and fails to load the current sweeping data, and sending a second supplementing and sweeping continuing instruction to the first sweeping robot so that the first sweeping robot returns to the current coordinate position again after receiving the second supplementing and sweeping continuing instruction and returning to the base station to complete the supplementing, so as to continue to execute second sweeping continuing operation on the non-swept area.
4. The method for sweeping the breakpoint of the sweeping robot according to claim 1, wherein the step of judging whether the second sweeping robot meeting the preset sweeping continuation condition exists comprises:
acquiring the current electric quantity and the current water quantity of all the sweeping robots in an idle state;
judging whether each sweeping robot meets a preset continuous sweeping condition or not, wherein the preset continuous sweeping condition comprises the following steps: the current electric quantity of the sweeping robot is greater than or equal to a preset electric quantity, and the current water quantity of the sweeping robot is greater than or equal to a preset water quantity;
and when all the sweeping robots do not accord with the preset continuous sweeping condition, determining that no second sweeping robot meeting the preset continuous sweeping condition exists.
5. The method for sweeping the breakpoint of the sweeping robot according to claim 4, wherein after determining whether each sweeping robot meets the preset sweeping continuation condition, the method further comprises:
when only one sweeping robot meets the preset continuous sweeping condition, determining the sweeping robot which only meets the preset continuous sweeping condition as a second sweeping robot;
and when at least two sweeping robots meet the preset continuous sweeping condition, determining a second sweeping robot from all the sweeping robots meeting the preset continuous sweeping condition according to a preset selection rule.
6. The breaking point continuous sweeping method of the sweeping robot according to claim 4, wherein the preset water amount is determined according to the area of the non-swept area and the water consumption per unit area corresponding to a preset sweeping gear of the sweeping robot;
the preset electric quantity is determined according to the area of the non-cleaning area and the electric consumption of the unit area corresponding to the preset cleaning gear of the sweeping robot.
7. The method for sweeping the breakpoint of the sweeping robot according to claim 1, wherein after the second sweeping robot receives the sweeping continuation command, taking the current coordinate position in the current sweeping data as a starting point, and performing a first sweeping continuation operation on the non-swept area according to the sweeping map, the method further comprises:
and sending a replenishment instruction to the first sweeping robot so that the first sweeping robot returns to a base station for replenishment after receiving the replenishment instruction.
8. The control module is characterized by comprising a base station and a cloud server in communication connection with the base station;
the cloud server is used for receiving a continuous scanning request sent by a first scanning robot when meeting preset replenishment conditions, and forwarding the continuous scanning request to the base station; the continuous sweeping request comprises current sweeping data, wherein the current sweeping data comprises a sweeping map and an uncleaned area of the target area, and a current coordinate position of the first sweeping robot in the target area;
the base station is used for receiving the continuous scanning request sent by the cloud server and judging whether a second sweeping robot meeting preset continuous scanning conditions exists or not; if a second sweeping robot meeting the preset sweeping continuation condition exists, sending a sweeping continuation instruction containing the current sweeping data to the second sweeping robot, so that the second sweeping robot receives the sweeping continuation instruction, and then executing a first sweeping continuation operation on the non-swept area according to the sweeping map by taking the current coordinate position in the current sweeping data as a starting point.
9. A breakpoint continuous sweeping system, comprising the control module of claim 8, and a plurality of sweeping robots communicatively connected to the control module, wherein the sweeping robots comprise a first sweeping robot and a second sweeping robot;
the first sweeping robot is used for generating current sweeping data when meeting preset replenishment conditions and sending a continuous sweeping request comprising the current sweeping data to the cloud server; the current cleaning data comprise a cleaning map and an uncleaned area of the target area, and a current coordinate position of the first sweeping robot in the target area;
and the second sweeping robot is used for executing a first sweeping continuing operation on the non-sweeping area according to the sweeping map by taking the current coordinate position in the current sweeping data as a starting point after receiving the sweeping continuing instruction sent by the base station.
10. A computer-readable storage medium storing a computer program, wherein the computer program, when executed by a processor, implements the steps of the breakpoint continuous sweeping method of the sweeping robot according to any one of claims 1 to 7.
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| CN202211660884.4A CN115886666A (en) | 2022-12-23 | 2022-12-23 | Breakpoint continuous sweeping method, control module, system and medium for sweeping robot |
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| CN202211660884.4A CN115886666A (en) | 2022-12-23 | 2022-12-23 | Breakpoint continuous sweeping method, control module, system and medium for sweeping robot |
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