CN103760853A - Extensible floor sweeping multi-robot method and system - Google Patents
Extensible floor sweeping multi-robot method and systemDownload PDFInfo
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- CN103760853A CN103760853ACN201410008678.4ACN201410008678ACN103760853ACN 103760853 ACN103760853 ACN 103760853ACN 201410008678 ACN201410008678 ACN 201410008678ACN 103760853 ACN103760853 ACN 103760853A
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
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Abstract
Description
Technical field
The invention belongs to Robotics field, relate in particular to a kind of scalable multirobot method and system of sweeping the floor.
Background technology
In prior art, there is a kind of scalable patrol multirobot method, the method only considers to readjust beat area in the process of robot quantity adjustment, but patrol and the difference of sweeping the floor, the place of going on patrol still needs to repeat patrol, but the place of being swept by any one robot does not need to repeat to sweep again, therefore in the process of sweeping the floor, residual area is constantly changing, and scalable patrol multirobot method is not suitable for sweeps the floor.
Summary of the invention
The embodiment of the present invention is to provide a kind of scalable multirobot method and system of sweeping the floor, and with when the remaining area area of sweeping the floor changes, automatically adjusts the remaining area area of sweeping the floor of each robot, improves the efficiency of sweeping.
The first aspect of the embodiment of the present invention, provides a kind of scalable multirobot method of sweeping the floor, and is applied to the system that comprises multiple sweeping robots, and described method comprises:
Obtain the remaining area total area of sweeping the floor, described in the remaining area total area of sweeping the floor be the remaining area area sum of sweeping the floor of each participation robot of sweeping the floor;
Whether the remaining area total area of sweeping the floor described in judgement has increases or reduces;
If so, based on the described remaining area total area of sweeping the floor, adjust the remaining area area of sweeping the floor of the robot that described each participation sweeps the floor, and the remaining area area of sweeping the floor after adjusting is sent to corresponding sweeping robot.
The second aspect of the embodiment of the present invention, provides a kind of scalable multi-robot system of sweeping the floor, and described system comprises multiple sweeping robots, and described system also comprises:
Information acquisition unit, for obtaining the remaining area total area of sweeping the floor, described in the remaining area total area of sweeping the floor be the remaining area area sum of sweeping the floor of each participation robot of sweeping the floor;
Whether judging unit, have and increase or reduce for the remaining area total area of sweeping the floor described in judging;
Adjustment unit, for in described judging unit judged result when being, based on the described remaining area total area of sweeping the floor, adjust the remaining area area of sweeping the floor of the robot that described each participation sweeps the floor, and the remaining area area of sweeping the floor after adjusting is sent to corresponding sweeping robot.
The beneficial effect that the embodiment of the present invention compared with prior art exists is: the embodiment of the present invention can be according to the variation of the remaining area total area of sweeping the floor, automatically adjust the remaining area area of sweeping the floor of each robot, to obtain, better sweep effect, improve the efficiency of sweeping.And the embodiment of the present invention is easy to operate, it is simple to realize, lower to hardware requirement, thus be conducive to reduce cost of products, make product applicable surface wider, there is stronger ease for use and practicality.
Accompanying drawing explanation
In order to be illustrated more clearly in the technical scheme in the embodiment of the present invention, to the accompanying drawing of required use in embodiment or description of the Prior Art be briefly described below, apparently, accompanying drawing in the following describes is only some embodiments of the present invention, for those of ordinary skills, do not paying under the prerequisite of creative work, can also obtain according to these accompanying drawings other accompanying drawing.
Fig. 1 is the realization flow figure of the scalable multirobot method of sweeping the floor that first embodiment of the invention provides;
Fig. 2 is the composition structural drawing of the scalable multi-robot system of sweeping the floor that second embodiment of the invention provides.
Embodiment
In order to make object of the present invention, technical scheme and advantage clearer, below in conjunction with drawings and Examples, the present invention is further elaborated.Should be appreciated that specific embodiment described herein, only in order to explain the present invention, is not intended to limit the present invention.
For technical solutions according to the invention are described, below by specific embodiment, describe.
embodiment mono-:
Fig. 1 shows the realization flow of the scalable multirobot method of sweeping the floor that the first embodiment provides, and details are as follows for the method process:
In step S101, obtain the remaining area total area of sweeping the floor, described in the remaining area total area of sweeping the floor be the remaining area area sum of sweeping the floor of each participation robot of sweeping the floor.
In the present embodiment, can first obtain the quantity that participates in the robot of sweeping the floor, then obtain the remaining area area of sweeping the floor of the robot that each participation sweeps the floor, the remaining area area of sweeping the floor of the robot that the each participation based on obtaining is swept the floor, calculates the remaining area total area of sweeping the floor.
Further, also comprise the ability of sweeping the floor of obtaining the robot that each participation sweeps the floor.
It should be noted that, the present embodiment can also be after step S102, obtain the remaining area total area of sweeping the floor before step S103.
In step S102, whether the remaining area total area of sweeping the floor described in judgement has increases or reduces, when judged result is "Yes", and execution step S103, otherwise continue judgement.
In the present embodiment, whether the system remaining area total area of sweeping the floor described in can Real-Time Monitoring has and increases or reduce.
Further, in order to strengthen and user's interactivity, the present embodiment can also provide an interactive operation interface, receive the solicited message that user is increased or reduced by the remaining area total area of sweeping the floor of described interactive operation interface input, described request packets of information is containing the remaining area area of sweeping the floor that increases or reduce.
As another example of the present invention, before showing described interactive operation interface, can also set in advance an enabled instruction, system, when receiving described enabled instruction, shows described interactive operation interface.
Described in the present embodiment, enabled instruction can be preferably: be at 2 and touch and after sliding trace is longitudinal relative sliding monitoring the touch action of user on system touch-screen, whether the speed whether the range difference whether displacement that judge the two longitudinal relative slidings in touch point is greater than default first threshold, the described two final drop points in touch point is simultaneously less than default Second Threshold and described two touch points slips is greater than the 3rd default threshold value simultaneously; Or be that 2 touches and described sliding trace are after reverse direction slides monitoring described touch action, judge whether range difference that whether displacement that two touch point reverse directions slide is greater than default first threshold, the described two final drop points in touch point is simultaneously greater than the speed of the 4th default threshold value and described two touch points sliding and whether is greater than the 3rd default threshold value simultaneously, if (being that above-mentioned three condition judgment results are all "Yes"), is judged to be described enabled instruction; (judged result of above-mentioned three conditions has one at least for "No"), does not carry out if not, finishes current operation.
In step S103, based on the described remaining area total area of sweeping the floor, adjust the remaining area area of sweeping the floor of the robot that described each participation sweeps the floor, and the remaining area area of sweeping the floor after adjusting is sent to corresponding sweeping robot.
Concrete is, when the remaining area total area of sweeping the floor increases, obtain sweep the floor remaining area area and the each ability of sweeping the floor that participates in the robot of sweeping the floor that newly increase, the ability of sweeping the floor of the robot of sweeping the floor based on described each participation, the remaining area area of sweeping the floor of sweeping the floor the remaining area total area and newly increase calculates the remaining area total area of sweeping the floor increases the remaining area area of sweeping the floor of rear each robot, and the remaining area area of sweeping the floor described in calculating is sent to corresponding sweeping robot, the remaining area area of sweeping the floor newly increasing is covered by least a portion sweeping robot,
When the remaining area total area of sweeping the floor reduces, obtain sweep the floor remaining area area and each ability of sweeping the floor that participates in the robot of sweeping the floor of minimizing, the remaining area area of sweeping the floor of the ability of sweeping the floor of the robot of sweeping the floor based on described each participation, sweep the floor the remaining area total area and minimizing calculates the remaining area total area of sweeping the floor reduce after the remaining area area of sweeping the floor of each robot, and the remaining area area of sweeping the floor described in calculating is sent to corresponding sweeping robot.
Further, it is described when the remaining area total area of sweeping the floor increases, obtain sweep the floor remaining area area and the each ability of sweeping the floor that participates in the robot of sweeping the floor that newly increase, the ability of sweeping the floor of the robot of sweeping the floor based on described each participation, sweep the floor the remaining area total area and the remaining area area of sweeping the floor that newly increases calculate the remaining area total area of sweeping the floor and increase after the remaining area area of sweeping the floor of each robot, and send to corresponding sweeping robot to comprise the remaining area area of sweeping the floor described in calculating:
Obtain the ability of sweeping the floor and the remaining area area of sweeping the floor accordingly of the robot that each participation sweeps the floor, wherein, i robot that participates in sweeping the floor is designated as Ri, i the ability of sweeping the floor that participates in the robot of sweeping the floor is designated as Ci, i the remaining area area of sweeping the floor that participates in the robot of sweeping the floor is designated as Ai;
The remaining area area of sweeping the floor newly increasing is designated as S, and after the remaining area total area of sweeping the floor increases, the remaining area area of sweeping the floor of each robot is
and by the remaining area area A of sweeping the floor described in calculatingi' send to corresponding sweeping robot Ri, wherein, i=1,2 ... m, m is the quantity that participates in the robot of sweeping the floor.
Further, it is described when the remaining area total area of sweeping the floor reduces, obtain sweep the floor remaining area area and each ability of sweeping the floor that participates in the robot of sweeping the floor of minimizing, the remaining area area of sweeping the floor of the ability of sweeping the floor of the robot of sweeping the floor based on described each participation, sweep the floor the remaining area total area and minimizing calculates the remaining area total area of sweeping the floor reduce after the remaining area area of sweeping the floor of each robot, and send to corresponding sweeping robot to comprise the remaining area area of sweeping the floor described in calculating:
Obtain the ability of sweeping the floor of robot and the remaining area area of sweeping the floor of correspondence that each participation is swept the floor, wherein, i robot that participates in sweeping the floor is designated as Ri, i the ability of sweeping the floor that participates in the robot of sweeping the floor is designated as Ci, i the remaining area area of sweeping the floor that participates in the robot of sweeping the floor is designated as Ai;
The remaining area area of sweeping the floor reducing is designated as S, and after the remaining area total area of sweeping the floor reduces, the remaining area area of sweeping the floor of each robot is
and by the remaining area area A of sweeping the floor described in calculatingi' send to corresponding sweeping robot Ri, wherein, i=1,2 ... m, m is the quantity that participates in the robot of sweeping the floor.
As another example of the present invention, when the area reducing is a certain sweeping the floor during remaining area area, the present embodiment also comprises:
Obtain the ability of sweeping the floor of robot and the remaining area area of sweeping the floor of correspondence that each participation is swept the floor, wherein, i robot that participates in sweeping the floor is designated as Ri, i the ability of sweeping the floor that participates in the robot of sweeping the floor is designated as Ci, i the remaining area area of sweeping the floor that participates in the robot of sweeping the floor is designated as Ai;
The remaining area area of sweeping the floor reducing is designated as Aj, after the remaining area total area of sweeping the floor reduces, the remaining area area of sweeping the floor of each robot is
The embodiment of the present invention can be according to the variation of the remaining area total area of sweeping the floor, and automatically adjusts the remaining area area of sweeping the floor of each robot, and the remaining area total area of ought sweeping the floor expands, and existing multirobot further disperses to sweep the floor at once; When the remaining area total area of sweeping the floor dwindles, existing multirobot is further concentrated and is swept the floor at once, can obtain and better sweep effect, improves the efficiency of sweeping.
embodiment bis-:
Fig. 2 shows the composition structure of the scalable multi-robot system of sweeping the floor that second embodiment of the invention provides, and for convenience of explanation, only shows the part relevant to the embodiment of the present invention.
This scalable multi-robot system of sweeping the floor comprises multiple sweeping robots.The described scalable multi-robot system of sweeping the floor also comprisesnumber obtainment unit 21,judging unit 22 and quantity adjustment unit 23.Wherein, the concrete function of each unit is as follows:
Whetherjudging unit 22, have and increase or reduce for the remaining area total area of sweeping the floor described in judging;
Further, describedadjustment unit 23 comprises:
Thefirst adjusting module 231, for when the remaining area total area of sweeping the floor increases, obtain sweep the floor remaining area area and the each ability of sweeping the floor that participates in the robot of sweeping the floor that newly increase, the ability of sweeping the floor of the robot of sweeping the floor based on described each participation, the remaining area area of sweeping the floor of sweeping the floor the remaining area total area and newly increase calculates the remaining area total area of sweeping the floor increases the remaining area area of sweeping the floor of rear each robot, and the remaining area area of sweeping the floor described in calculating is sent to corresponding sweeping robot, the remaining area area of sweeping the floor newly increasing is covered by least a portion sweeping robot,
The second adjustingmodule 232, for when the remaining area total area of sweeping the floor reduces, obtain sweep the floor remaining area area and each ability of sweeping the floor that participates in the robot of sweeping the floor of minimizing, the remaining area area of sweeping the floor of the ability of sweeping the floor of the robot of sweeping the floor based on described each participation, sweep the floor the remaining area total area and minimizing calculates the remaining area total area of sweeping the floor reduce after the remaining area area of sweeping the floor of each robot, and the remaining area area of sweeping the floor described in calculating is sent to corresponding sweeping robot.
Further, described thefirst adjusting module 231 specifically for:
Obtain the ability of sweeping the floor and the remaining area area of sweeping the floor accordingly of the robot that each participation sweeps the floor, wherein, i robot that participates in sweeping the floor is designated as Ri, i the ability of sweeping the floor that participates in the robot of sweeping the floor is designated as Ci, i the remaining area area of sweeping the floor that participates in the robot of sweeping the floor is designated as Ai;
The remaining area area of sweeping the floor newly increasing is designated as S, and after the remaining area total area of sweeping the floor increases, the remaining area area of sweeping the floor of each robot is
and by the remaining area area A of sweeping the floor described in calculatingi' send to corresponding sweeping robot Ri, wherein, i=1,2 ... m, m is the quantity that participates in the robot of sweeping the floor.
Further, described the second adjustingmodule 232 specifically for:
Obtain the ability of sweeping the floor of robot and the remaining area area of sweeping the floor of correspondence that each participation is swept the floor, wherein, i robot that participates in sweeping the floor is designated as Ri, i the ability of sweeping the floor that participates in the robot of sweeping the floor is designated as Ci, i the remaining area area of sweeping the floor that participates in the robot of sweeping the floor is designated as Ai;
The remaining area area of sweeping the floor reducing is designated as S, and after the remaining area total area of sweeping the floor reduces, the remaining area area of sweeping the floor of each robot is
and by the remaining area area A of sweeping the floor described in calculatingi' send to corresponding sweeping robot Ri, wherein, i=1,2 ... m, m is the quantity that participates in the robot of sweeping the floor.
Further, described the second adjustingmodule 232 also for:
Obtain the ability of sweeping the floor of robot and the remaining area area of sweeping the floor of correspondence that each participation is swept the floor, wherein, i robot that participates in sweeping the floor is designated as Ri, i the ability of sweeping the floor that participates in the robot of sweeping the floor is designated as Ci, i the remaining area area of sweeping the floor that participates in the robot of sweeping the floor is designated as Ai;
The remaining area area of sweeping the floor reducing is designated as Aj, after the remaining area total area of sweeping the floor reduces, the remaining area area of sweeping the floor of each robot is
Those skilled in the art can be well understood to, for convenience and simplicity of description, only with the division of above-mentioned each functional unit, module, be illustrated, in practical application, can above-mentioned functions be distributed and by different functional units, module, completed as required, the inner structure that is described system is divided into different functional units or module, to complete all or part of function described above.Each functional unit in embodiment or module can be integrated in a processing unit, also can be that the independent physics of unit exists, also can be integrated in a unit two or more unit, above-mentioned integrated unit or module both can adopt the form of hardware to realize, and also can adopt the form of SFU software functional unit to realize.In addition, the concrete title of each functional unit, module also, just for the ease of mutual differentiation, is not limited to the application's protection domain.The specific works process of unit, module in said system, can, with reference to the corresponding process of preceding method embodiment, not repeat them here.
In sum, the embodiment of the present invention can be according to the variation of the remaining area total area of sweeping the floor, and automatically adjusts the remaining area area of sweeping the floor of each robot, thereby can obtain, better sweeps effect, improves the efficiency of sweeping.And the embodiment of the present invention is easy to operate, it is simple to realize, lower to hardware requirement, thus be conducive to reduce cost of products, make product applicable surface wider, there is stronger ease for use and practicality.
Those of ordinary skills it is also understood that, the all or part of step realizing in above-described embodiment method is can carry out the hardware that instruction is relevant by program to complete, described program can be being stored in a computer read/write memory medium, described storage medium, comprises ROM/RAM, disk, CD etc.
Above content is in conjunction with concrete preferred implementation further description made for the present invention, can not assert that specific embodiment of the invention is confined to these explanations.For general technical staff of the technical field of the invention; make without departing from the inventive concept of the premise some alternative or obvious modification that are equal to; and performance or purposes identical, all should be considered as belonging to the present invention by the definite scope of patent protection of submitted to claims.
Claims (10)
1. the scalable multirobot method of sweeping the floor, is applied to the system that comprises multiple sweeping robots, it is characterized in that, described method comprises:
Obtain the remaining area total area of sweeping the floor, described in the remaining area total area of sweeping the floor be the remaining area area sum of sweeping the floor of each participation robot of sweeping the floor;
Whether the remaining area total area of sweeping the floor described in judgement has increases or reduces;
If so, based on the described remaining area total area of sweeping the floor, adjust the remaining area area of sweeping the floor of the robot that described each participation sweeps the floor, and the remaining area area of sweeping the floor after adjusting is sent to corresponding sweeping robot.
2. the method for claim 1, it is characterized in that, it is described when the remaining area total area of sweeping the floor increases or reduces, based on the described remaining area total area of sweeping the floor, adjust the remaining area area of sweeping the floor of the robot that described each participation sweeps the floor, and send to corresponding sweeping robot to comprise the remaining area area of sweeping the floor after adjusting:
When the remaining area total area of sweeping the floor increases, obtain sweep the floor remaining area area and the each ability of sweeping the floor that participates in the robot of sweeping the floor that newly increase, the ability of sweeping the floor of the robot of sweeping the floor based on described each participation, sweep the floor the remaining area total area and the remaining area area of sweeping the floor that newly increases calculate the remaining area total area of sweeping the floor and increase after the remaining area area of sweeping the floor of each robot, and the remaining area area of sweeping the floor described in calculating is sent to corresponding sweeping robot, the remaining area area of sweeping the floor newly increasing is covered by least a portion sweeping robot;
When the remaining area total area of sweeping the floor reduces, obtain sweep the floor remaining area area and each ability of sweeping the floor that participates in the robot of sweeping the floor of minimizing, the remaining area area of sweeping the floor of the ability of sweeping the floor of the robot of sweeping the floor based on described each participation, sweep the floor the remaining area total area and minimizing calculates the remaining area total area of sweeping the floor reduce after the remaining area area of sweeping the floor of each robot, and the remaining area area of sweeping the floor described in calculating is sent to corresponding sweeping robot.
3. method as claimed in claim 2, it is characterized in that, it is described when the remaining area total area of sweeping the floor increases, obtain sweep the floor remaining area area and the each ability of sweeping the floor that participates in the robot of sweeping the floor that newly increase, the ability of sweeping the floor of the robot of sweeping the floor based on described each participation, sweep the floor the remaining area total area and the remaining area area of sweeping the floor that newly increases calculate the remaining area total area of sweeping the floor and increase after the remaining area area of sweeping the floor of each robot, and send to corresponding sweeping robot to comprise the remaining area area of sweeping the floor described in calculating:
Obtain the ability of sweeping the floor and the remaining area area of sweeping the floor accordingly of the robot that each participation sweeps the floor, wherein, i robot that participates in sweeping the floor is designated as Ri, i the ability of sweeping the floor that participates in the robot of sweeping the floor is designated as Ci, i the remaining area area of sweeping the floor that participates in the robot of sweeping the floor is designated as Ai;
The remaining area area of sweeping the floor newly increasing is designated as S, and after the remaining area total area of sweeping the floor increases, the remaining area area of sweeping the floor of each robot is
, and by the remaining area area A of sweeping the floor described in calculatingi' send to corresponding sweeping robot Ri, wherein, i=1,2 ... m, m is the quantity that participates in the robot of sweeping the floor.
4. method as claimed in claim 2, it is characterized in that, it is described when the remaining area total area of sweeping the floor reduces, obtain sweep the floor remaining area area and each ability of sweeping the floor that participates in the robot of sweeping the floor of minimizing, the remaining area area of sweeping the floor of the ability of sweeping the floor of the robot of sweeping the floor based on described each participation, sweep the floor the remaining area total area and minimizing calculates the remaining area total area of sweeping the floor reduce after the remaining area area of sweeping the floor of each robot, and send to corresponding sweeping robot to comprise the remaining area area of sweeping the floor described in calculating:
Obtain the ability of sweeping the floor of robot and the remaining area area of sweeping the floor of correspondence that each participation is swept the floor, wherein, i robot that participates in sweeping the floor is designated as Ri, i the ability of sweeping the floor that participates in the robot of sweeping the floor is designated as Ci, i the remaining area area of sweeping the floor that participates in the robot of sweeping the floor is designated as Ai;
The remaining area area of sweeping the floor reducing is designated as S, and after the remaining area total area of sweeping the floor reduces, the remaining area area of sweeping the floor of each robot isand by the remaining area area A of sweeping the floor described in calculatingi' send to corresponding sweeping robot Ri, wherein, i=1,2 ... m, m is the quantity that participates in the robot of sweeping the floor.
5. method as claimed in claim 2, it is characterized in that, it is described when the remaining area total area of sweeping the floor reduces, obtain sweep the floor remaining area area and each ability of sweeping the floor that participates in the robot of sweeping the floor of minimizing, the remaining area area of sweeping the floor of the ability of sweeping the floor of the robot of sweeping the floor based on described each participation, sweep the floor the remaining area total area and minimizing calculates the remaining area total area of sweeping the floor reduce after the remaining area area of sweeping the floor of each robot, and send to corresponding sweeping robot to comprise the remaining area area of sweeping the floor described in calculating:
Obtain the ability of sweeping the floor of robot and the remaining area area of sweeping the floor of correspondence that each participation is swept the floor, wherein, i robot that participates in sweeping the floor is designated as Ri, i the ability of sweeping the floor that participates in the robot of sweeping the floor is designated as Ci, i the remaining area area of sweeping the floor that participates in the robot of sweeping the floor is designated as Ai;
The remaining area area of sweeping the floor reducing is designated as Aj, after the remaining area total area of sweeping the floor reduces, the remaining area area of sweeping the floor of each robot is
6. the scalable multi-robot system of sweeping the floor, described system comprises multiple sweeping robots, it is characterized in that, and described system comprises:
Information acquisition unit, for obtaining the remaining area total area of sweeping the floor, described in the remaining area total area of sweeping the floor be the remaining area area sum of sweeping the floor of each participation robot of sweeping the floor;
Whether judging unit, have and increase or reduce for the remaining area total area of sweeping the floor described in judging;
Adjustment unit, for in described judging unit judged result when being, based on the described remaining area total area of sweeping the floor, adjust the remaining area area of sweeping the floor of the robot that described each participation sweeps the floor, and the remaining area area of sweeping the floor after adjusting is sent to corresponding sweeping robot.
7. system as claimed in claim 6, is characterized in that, described adjustment unit comprises:
The first adjusting module, for when the remaining area total area of sweeping the floor increases, obtain sweep the floor remaining area area and the each ability of sweeping the floor that participates in the robot of sweeping the floor that newly increase, the ability of sweeping the floor of the robot of sweeping the floor based on described each participation, the remaining area area of sweeping the floor of sweeping the floor the remaining area total area and newly increase calculates the remaining area total area of sweeping the floor increases the remaining area area of sweeping the floor of rear each robot, and the remaining area area of sweeping the floor described in calculating is sent to corresponding sweeping robot, the remaining area area of sweeping the floor newly increasing is covered by least a portion sweeping robot,
The second adjusting module, for when the remaining area total area of sweeping the floor reduces, obtain sweep the floor remaining area area and each ability of sweeping the floor that participates in the robot of sweeping the floor of minimizing, the remaining area area of sweeping the floor of the ability of sweeping the floor of the robot of sweeping the floor based on described each participation, sweep the floor the remaining area total area and minimizing calculates the remaining area total area of sweeping the floor reduce after the remaining area area of sweeping the floor of each robot, and the remaining area area of sweeping the floor described in calculating is sent to corresponding sweeping robot.
8. system as claimed in claim 7, is characterized in that, described the first adjusting module specifically for:
Obtain the ability of sweeping the floor and the remaining area area of sweeping the floor accordingly of the robot that each participation sweeps the floor, wherein, i robot that participates in sweeping the floor is designated as Ri, i the ability of sweeping the floor that participates in the robot of sweeping the floor is designated as Ci, i the remaining area area of sweeping the floor that participates in the robot of sweeping the floor is designated as Ai;
The remaining area area of sweeping the floor newly increasing is designated as S, and after the remaining area total area of sweeping the floor increases, the remaining area area of sweeping the floor of each robot is
and by the remaining area area A of sweeping the floor described in calculatingi' send to corresponding sweeping robot Ri, wherein, i=1,2 ... m, m is the quantity that participates in the robot of sweeping the floor.
9. system as claimed in claim 7, is characterized in that, described the second adjusting module specifically for:
Obtain the ability of sweeping the floor of robot and the remaining area area of sweeping the floor of correspondence that each participation is swept the floor, wherein, i robot that participates in sweeping the floor is designated as Ri, i the ability of sweeping the floor that participates in the robot of sweeping the floor is designated as Ci, i the remaining area area of sweeping the floor that participates in the robot of sweeping the floor is designated as Ai;
The remaining area area of sweeping the floor reducing is designated as S, and after the remaining area total area of sweeping the floor reduces, the remaining area area of sweeping the floor of each robot is
and by the remaining area area A of sweeping the floor described in calculatingi' send to corresponding sweeping robot Ri, wherein, i=1,2 ... m, m is the quantity that participates in the robot of sweeping the floor.
10. system as claimed in claim 7, is characterized in that, described the second adjusting module also for:
Obtain the ability of sweeping the floor of robot and the remaining area area of sweeping the floor of correspondence that each participation is swept the floor, wherein, i robot that participates in sweeping the floor is designated as Ri, i the ability of sweeping the floor that participates in the robot of sweeping the floor is designated as Ci, i the remaining area area of sweeping the floor that participates in the robot of sweeping the floor is designated as Ai;
The remaining area area of sweeping the floor reducing is designated as Aj, after the remaining area total area of sweeping the floor reduces, the remaining area area of sweeping the floor of each robot is
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| CN201410008678.4ACN103760853A (en) | 2014-01-08 | 2014-01-08 | Extensible floor sweeping multi-robot method and system |
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