技术领域Technical field
本公开涉及机器人控制领域，尤其涉及一种清洁机器人控制方法、装置及云端服务器。The present disclosure relates to the field of robot control, and in particular to a cleaning robot control method, device and cloud server.
背景技术Background technique
随着人们对卫生标准的不断提高，扫地机器人这种更加智能，清洁更加高效全面的产品逐渐步入了人们的生活中，通常需要拖扫机器人的协同工作以完成对应的清洁任务。As people's hygiene standards continue to improve, sweeping robots, which are smarter, more efficient and more comprehensive products for cleaning, have gradually entered people's lives. Sweeping robots usually need to work together to complete corresponding cleaning tasks.
在相关技术中，扫地机器人与拖地机器人的协同工作方案存在协同工作效率低等问题，所以如何对拖扫地机器人进行工作分配以在最短的时间内最大化清洁效果成为该领域的主要问题。In related technologies, the collaborative work scheme of sweeping robots and mopping robots has problems such as low collaborative working efficiency. Therefore, how to allocate work to the mopping robots to maximize the cleaning effect in the shortest time has become a major issue in this field.
发明内容Contents of the invention
为克服相关技术中存在的问题，本公开提供了一种清洁机器人控制方法、装置及云端服务器。In order to overcome the problems existing in related technologies, the present disclosure provides a cleaning robot control method, device and cloud server.
根据本公开实施例的第一方面，提供了一种清洁机器人控制方法，包括：According to a first aspect of an embodiment of the present disclosure, a cleaning robot control method is provided, including:
响应于接收到的清理任务，生成等待队列；所述清理任务中包括清理任务的执行区域和多个清理阶段，所述执行区域包括至少一个子区域，所述多个清理阶段至少包括第一清理阶段和第二清理阶段；In response to the received cleaning task, a waiting queue is generated; the cleaning task includes an execution area of the cleaning task and multiple cleaning stages, the execution area includes at least one sub-area, and the multiple cleaning stages include at least the first cleaning stage stage and second cleanup stage;
基于所述等待队列当前存放的信息和所述多个清理阶段，对每个所述子区域内的至少一个第一清洁机器人和每个所述子区域内的至少一个第二清洁机器人进行作业控制；其中，所述等待队列用于存放所述第一清理阶段当前已完成作业的子区域的标识信息。Based on the information currently stored in the waiting queue and the plurality of cleaning stages, perform job control on at least one first cleaning robot in each of the sub-areas and at least one second cleaning robot in each of the sub-areas. ; Wherein, the waiting queue is used to store the identification information of the sub-area of the currently completed job in the first cleaning stage.
在本公开的一些实施例中，所述基于所述等待队列当前存放的信息和所述多个清理阶段，对每个所述子区域内的至少一个第一清洁机器人和每个所述子区域内的至少一个第二清洁机器人进行作业控制，包括：In some embodiments of the present disclosure, based on the information currently stored in the waiting queue and the multiple cleaning stages, at least one first cleaning robot in each of the sub-areas and each of the sub-areas are At least one second cleaning robot within the robot performs job control, including:
控制每个所述子区域内与第一清理阶段对应的清洁机器人进行清洁作业，并基于所述等待队列当前存放的信息，检查所述第一清理阶段各子区域的作业完成进度，以及在所述第一清理阶段各子区域均完成作业时，控制每个所述子区域内与第二清理阶段对应的清洁机器人进行清洁作业。Control the cleaning robot corresponding to the first cleaning stage in each of the sub-areas to perform cleaning operations, and based on the information currently stored in the waiting queue, check the completion progress of the work in each sub-area of the first cleaning stage, and where When each sub-area in the first cleaning stage has completed operations, the cleaning robot corresponding to the second cleaning stage in each of the sub-areas is controlled to perform cleaning operations.
在本公开的一些实施例中，所述基于所述等待队列当前存放的信息和所述多个清理阶段，对每个所述子区域内的至少一个第一清洁机器人和每个所述子区域内的至少一个第二清洁机器人进行作业控制，包括：In some embodiments of the present disclosure, based on the information currently stored in the waiting queue and the multiple cleaning stages, at least one first cleaning robot in each of the sub-areas and each of the sub-areas are At least one second cleaning robot within the robot performs job control, including:
进入第一清理阶段，向每个所述子区域内的至少一个第一清洁机器人发送与所述第一清理阶段对应的第一清洁请求；所述第一清洁请求用于指示所述至少一个第一清洁机器人对对应子区域进行清洁作业；Entering the first cleaning stage, sending a first cleaning request corresponding to the first cleaning stage to at least one first cleaning robot in each sub-area; the first cleaning request is used to indicate the at least one first cleaning robot. A cleaning robot performs cleaning operations on the corresponding sub-area;
接收所述第一清洁机器人发送的清洁作业信息，所述清洁作业信息用于指示当前已完成作业的子区域的标识信息；Receive cleaning job information sent by the first cleaning robot, where the cleaning job information is used to indicate the identification information of the sub-area in which the job has been currently completed;
将所述当前已完成作业的子区域的标识信息添加至所述等待队列；Add the identification information of the sub-area of the currently completed job to the waiting queue;
响应于所述等待队列中当前存放的标识信息个数与所述子区域个数一致，进入所述第二清理阶段，并删除所述等待队列；In response to the number of identification information currently stored in the waiting queue being consistent with the number of sub-regions, enter the second cleaning stage and delete the waiting queue;
向每个所述子区域内的至少一个第二清洁机器人发送与所述第二清理阶段对应的第二清洁请求；所述第二清洁请求用于指示所述至少一个第二清洁机器人对对应子区域进行清洁作业。Send a second cleaning request corresponding to the second cleaning stage to at least one second cleaning robot in each sub-area; the second cleaning request is used to instruct the at least one second cleaning robot to respond to the corresponding sub-area. Clean the area.
在本公开的另一些实施例中，所述多个清理阶段还包括第三清理阶段；所述进入所述第二清理阶段，并删除所述等待队列，包括：In other embodiments of the present disclosure, the plurality of cleaning stages also include a third cleaning stage; entering the second cleaning stage and deleting the waiting queue includes:
进入所述第二清理阶段，并清空所述等待队列；Enter the second cleaning stage and clear the waiting queue;
在所述向每个所述子区域内的至少一个第二清洁机器人发送与所述第二清理阶段对应的第二清洁请求之后，所述方法还包括：After sending a second cleaning request corresponding to the second cleaning stage to at least one second cleaning robot in each of the sub-areas, the method further includes:
接收所述第二清洁机器人发送的清洁作业信息；Receive cleaning operation information sent by the second cleaning robot;
将所述当前已完成作业的子区域的标识信息添加至所述等待队列；Add the identification information of the sub-area of the currently completed job to the waiting queue;
响应于所述等待队列中当前存放的标识信息个数与所述子区域个数一致，进入所述第三清理阶段，并删除所述等待队列；In response to the number of identification information currently stored in the waiting queue being consistent with the number of sub-regions, enter the third cleaning stage and delete the waiting queue;
向每个所述子区域内的至少一个第一清洁机器人发送与所述第三清理阶段对应的第三清洁请求；所述第三清洁请求用于指示所述至少一个第一清洁机器人对对应子区域进行清洁作业。Send a third cleaning request corresponding to the third cleaning stage to at least one first cleaning robot in each sub-area; the third cleaning request is used to instruct the at least one first cleaning robot to respond to the corresponding sub-area. Clean the area.
作为一种可能的实现方式，所述至少一个第一清洁机器人为多个第一清洁机器人，所述多个第一清洁机器人包括第一主清洁机器人和至少一个第一从清洁机器人；As a possible implementation, the at least one first cleaning robot is a plurality of first cleaning robots, and the plurality of first cleaning robots include a first master cleaning robot and at least one first slave cleaning robot;
其中，所述向每个所述子区域内的至少一个第一清洁机器人发送与所述第一清理阶段对应的第一清洁请求，包括：Wherein, sending a first cleaning request corresponding to the first cleaning stage to at least one first cleaning robot in each of the sub-areas includes:
向每个所述子区域内的所述第一主清洁机器人发送与所述第一清理阶段对应的第一清洁请求；所述第一清洁请求用于指示所述第一主清洁机器人对自身负责的清洁区域进行清洁作业，并控制所述至少一个第一从清洁机器人对所述第一主清洁机器人的清洁作业进行清洁工作补偿；Send a first cleaning request corresponding to the first cleaning stage to the first main cleaning robot in each sub-area; the first cleaning request is used to indicate that the first main cleaning robot is responsible for itself perform cleaning operations in the cleaning area, and control the at least one first slave cleaning robot to perform cleaning work compensation for the cleaning operations of the first master cleaning robot;
其中，所述接收所述第一清洁机器人发送的清洁作业信息，包括：Wherein, receiving the cleaning operation information sent by the first cleaning robot includes:
接收所述第一主清洁机器人发送的清洁作业信息。Receive cleaning job information sent by the first main cleaning robot.
作为另一种可能的实现方式，所述至少一个第一清洁机器人为多个第一清洁机器人，所述多个第一清洁机器人包括第一主清洁机器人和至少一个第一从清洁机器人；As another possible implementation, the at least one first cleaning robot is a plurality of first cleaning robots, and the plurality of first cleaning robots include a first master cleaning robot and at least one first slave cleaning robot;
其中，所述向每个所述子区域内的至少一个第一清洁机器人发送与所述第一清理阶段对应的第一清洁请求，包括：Wherein, sending a first cleaning request corresponding to the first cleaning stage to at least one first cleaning robot in each of the sub-areas includes:
向每个所述子区域内的所述第一主清洁机器人和所述至少一个第一从清洁机器人发送主机清洁任务和从机清洁任务；sending a master cleaning task and a slave cleaning task to the first master cleaning robot and the at least one first slave cleaning robot in each of the sub-areas;
其中，所述接收所述第一清洁机器人发送的清洁作业信息，包括：Wherein, receiving the cleaning operation information sent by the first cleaning robot includes:
接收所述第一从清洁机器人发送的从机清洁任务完成信息，并将所述从机清洁任务完成信息进行存储；Receive the slave cleaning task completion information sent by the first slave cleaning robot, and store the slave cleaning task completion information;
周期性地将当前存储的所述第一从清洁机器人的从机清洁任务完成信息发送给对应的第一主清洁机器人；其中，所述对应的第一主清洁机器人用于在完成主机清洁任务，且基于接收到的从机清洁任务完成信息确定对应的所有第一从清洁机器人全部完成从机清洁任务时，发送清洁作业信息；Periodically sending the currently stored slave cleaning task completion information of the first slave cleaning robot to the corresponding first master cleaning robot; wherein the corresponding first master cleaning robot is used to complete the host cleaning task, And when it is determined based on the received slave cleaning task completion information that all corresponding first slave cleaning robots have completed the slave cleaning tasks, the cleaning job information is sent;
接收所述对应的第一主清洁机器人发送的清洁作业信息。Receive cleaning job information sent by the corresponding first main cleaning robot.
根据本公开的第二方面，提供了一种清洁机器人控制装置，包括：According to a second aspect of the present disclosure, a cleaning robot control device is provided, including:
生成模块，用于在接收到的清理任务时，生成等待队列；所述清理任务中包括清理任务的执行区域和多个清理阶段，所述执行区域包括至少一个子区域，所述多个清理阶段至少包括第一清理阶段和第二清理阶段；Generating module, configured to generate a waiting queue when receiving a cleaning task; the cleaning task includes an execution area of the cleaning task and multiple cleaning stages, the execution area includes at least one sub-area, and the multiple cleaning stages Include at least a first cleanup stage and a second cleanup stage;
控制模块，用于基于所述等待队列当前存放的信息和所述多个清理阶段，对每个所述子区域内的至少一个第一清洁机器人和每个所述子区域内的至少一个第二清洁机器人进行作业控制；其中，所述等待队列用于存放所述第一清理阶段当前已完成作业的子区域的标识信息。A control module configured to control at least one first cleaning robot in each sub-area and at least one second cleaning robot in each sub-area based on the information currently stored in the waiting queue and the multiple cleaning stages. The cleaning robot performs job control; wherein the waiting queue is used to store the identification information of the sub-area that has currently completed the job in the first cleaning stage.
在本公开的一些实施例中，所述控制模块具体用于：In some embodiments of the present disclosure, the control module is specifically used to:
控制每个所述子区域内与第一清理阶段对应的清洁机器人进行清洁作业，并基于所述等待队列当前存放的信息，检查所述第一清理阶段各子区域的作业完成进度，以及在所述第一清理阶段各子区域均完成作业时，控制每个所述子区域内与第二清理阶段对应的清洁机器人进行清洁作业。Control the cleaning robot corresponding to the first cleaning stage in each of the sub-areas to perform cleaning operations, and based on the information currently stored in the waiting queue, check the completion progress of the work in each sub-area of the first cleaning stage, and where When each sub-area in the first cleaning stage has completed operations, the cleaning robot corresponding to the second cleaning stage in each of the sub-areas is controlled to perform cleaning operations.
在本公开的一些实施例汇总，所述控制模块包括：In some embodiments of the present disclosure, the control module includes:
第一发送单元，用于进入第一清理阶段，向每个所述子区域内的至少一个第一清洁机器人发送与所述第一清理阶段对应的第一清洁请求；所述第一清洁请求用于指示所述至少一个第一清洁机器人对对应子区域进行清洁作业；A first sending unit configured to enter the first cleaning stage and send a first cleaning request corresponding to the first cleaning stage to at least one first cleaning robot in each sub-area; the first cleaning request is Instructing the at least one first cleaning robot to perform cleaning operations on the corresponding sub-area;
第一接收单元，用于接收所述第一清洁机器人发送的清洁作业信息，所述清洁作业信息用于指示当前已完成作业的子区域的标识信息；A first receiving unit configured to receive cleaning job information sent by the first cleaning robot, where the cleaning job information is used to indicate the identification information of the sub-area in which the job has been currently completed;
第一添加单元，用于将所述当前已完成作业的子区域的标识信息添加至所述等待队列；A first adding unit, configured to add the identification information of the sub-area of the currently completed job to the waiting queue;
第一删除单元，用于在所述等待队列中当前存放的标识信息个数与所述子区域个数一致时，进入所述第二清理阶段，并删除所述等待队列；A first deletion unit configured to enter the second cleaning stage and delete the waiting queue when the number of identification information currently stored in the waiting queue is consistent with the number of the sub-regions;
第二发送单元，用于向每个所述子区域内的至少一个第二清洁机器人发送与所述第二清理阶段对应的第二清洁请求；所述第二清洁请求用于指示所述至少一个第二清洁机器人对对应子区域进行清洁作业。A second sending unit, configured to send a second cleaning request corresponding to the second cleaning stage to at least one second cleaning robot in each sub-area; the second cleaning request is used to instruct the at least one The second cleaning robot performs cleaning operations on the corresponding sub-area.
在本公开的另一些实施例中，所述多个清理阶段还包括第三清理阶段；所述第一删除单元具体用于：In other embodiments of the present disclosure, the plurality of cleaning stages also include a third cleaning stage; the first deletion unit is specifically used to:
在所述等待队列中当前存放的标识信息个数与所述子区域个数一致时，进入所述第二清理阶段，并清空所述等待队列；When the number of identification information currently stored in the waiting queue is consistent with the number of sub-regions, enter the second cleaning stage and clear the waiting queue;
其中，所述控制模块还包括：Wherein, the control module also includes:
第二接收单元，用于在所述向每个所述子区域内的至少一个第二清洁机器人发送与所述第二清理阶段对应的第二清洁请求之后，接收所述第二清洁机器人发送的清洁作业信息；A second receiving unit configured to receive a second cleaning request sent by the second cleaning robot after sending a second cleaning request corresponding to the second cleaning stage to at least one second cleaning robot in each of the sub-areas. Cleaning operation information;
第二添加单元，用于将所述当前已完成作业的子区域的标识信息添加至所述等待队列；a second adding unit, configured to add the identification information of the sub-area of the currently completed job to the waiting queue;
第二删除单元，用于在所述等待队列中当前存放的标识信息个数与所述子区域个数一致时，进入所述第三清理阶段，并删除所述等待队列；The second deletion unit is configured to enter the third cleaning stage and delete the waiting queue when the number of identification information currently stored in the waiting queue is consistent with the number of the sub-regions;
第三发送单元，用于向每个所述子区域内的至少一个第一清洁机器人发送与所述第三清理阶段对应的第三清洁请求；所述第三清洁请求用于指示所述至少一个第一清洁机器人对对应子区域进行清洁作业。A third sending unit is configured to send a third cleaning request corresponding to the third cleaning stage to at least one first cleaning robot in each sub-area; the third cleaning request is used to instruct the at least one The first cleaning robot performs cleaning operations on the corresponding sub-area.
作为一种可能的实现方式，所述至少一个第一清洁机器人为多个第一清洁机器人，所述多个第一清洁机器人包括第一主清洁机器人和至少一个第一从清洁机器人；As a possible implementation, the at least one first cleaning robot is a plurality of first cleaning robots, and the plurality of first cleaning robots include a first master cleaning robot and at least one first slave cleaning robot;
其中，所述第一发送单元具体用于：Wherein, the first sending unit is specifically used for:
向每个所述子区域内的所述第一主清洁机器人发送与所述第一清理阶段对应的第一清洁请求；所述第一清洁请求用于指示所述第一主清洁机器人对自身负责的清洁区域进行清洁作业，并控制所述至少一个第一从清洁机器人对所述第一主清洁机器人的清洁作业进行清洁工作补偿；Send a first cleaning request corresponding to the first cleaning stage to the first main cleaning robot in each sub-area; the first cleaning request is used to indicate that the first main cleaning robot is responsible for itself perform cleaning operations in the cleaning area, and control the at least one first slave cleaning robot to perform cleaning work compensation for the cleaning operations of the first master cleaning robot;
其中，所述第一接收单元具体用于：Wherein, the first receiving unit is specifically used for:
接收所述第一主清洁机器人发送的清洁作业信息。Receive cleaning job information sent by the first main cleaning robot.
作为另一种可能的实现方式，所述至少一个第一清洁机器人为多个第一清洁机器人，所述多个第一清洁机器人包括第一主清洁机器人和至少一个第一从清洁机器人；As another possible implementation, the at least one first cleaning robot is a plurality of first cleaning robots, and the plurality of first cleaning robots include a first master cleaning robot and at least one first slave cleaning robot;
其中，所述第一发送单元还用于：Wherein, the first sending unit is also used for:
向每个所述子区域内的所述第一主清洁机器人和所述至少一个第一从清洁机器人发送主机清洁任务和从机清洁任务；sending a master cleaning task and a slave cleaning task to the first master cleaning robot and the at least one first slave cleaning robot in each of the sub-areas;
其中，所述第一接收单元还用于：Wherein, the first receiving unit is also used for:
接收所述第一从清洁机器人发送的从机清洁任务完成信息，并将所述从机清洁任务完成信息进行存储；Receive the slave cleaning task completion information sent by the first slave cleaning robot, and store the slave cleaning task completion information;
周期性地将当前存储的所述第一从清洁机器人的从机清洁任务完成信息发送给对应的第一主清洁机器人；其中，所述对应的第一主清洁机器人用于在完成主机清洁任务，且基于接收到的从机清洁任务完成信息确定对应的所有第一从清洁机器人全部完成从机清洁任务时，发送清洁作业信息；Periodically sending the currently stored slave cleaning task completion information of the first slave cleaning robot to the corresponding first master cleaning robot; wherein the corresponding first master cleaning robot is used to complete the host cleaning task, And when it is determined based on the received slave cleaning task completion information that all corresponding first slave cleaning robots have completed the slave cleaning tasks, the cleaning job information is sent;
接收所述对应的第一主清洁机器人发送的清洁作业信息。Receive cleaning job information sent by the corresponding first main cleaning robot.
根据本公开的第三方面，提供了一种云端服务器，包括：存储器、处理器及存储在所述存储器上并可在所述处理器上运行的计算机程序，所述处理器执行所述计算机程序时，实现上述第一方面所述的清洁机器人控制方法。According to a third aspect of the present disclosure, a cloud server is provided, including: a memory, a processor, and a computer program stored on the memory and executable on the processor, and the processor executes the computer program When, the cleaning robot control method described in the first aspect is implemented.
根据本公开的第四方面，提供了一种计算机可读存储介质，其上存储有计算机程序，其特征在于，所述计算机程序被处理器执行时实现上述第一方面所述的清洁机器人控制方法。According to a fourth aspect of the present disclosure, there is provided a computer-readable storage medium on which a computer program is stored, characterized in that when the computer program is executed by a processor, the cleaning robot control method described in the first aspect is implemented. .
根据本公开的第五方面，提供了一种计算机程序产品，包括计算机程序，其特征在于，所述计算机程序在被处理器执行时实现上述第一方面所述的清洁机器人控制方法。According to a fifth aspect of the present disclosure, a computer program product is provided, including a computer program, wherein the computer program implements the cleaning robot control method described in the first aspect when executed by a processor.
根据本公开的技术方案，在接收到多个清理阶段的清理任务时，生成等待队列，其中，等待队列中用于存放第一清理阶段当前已完成作业的子区域的标识信息，根据等待队列当前存放的信息和多个清理阶段，对执行区域中每个子区域内的第一清洁机器人和第二清洁机器人进行控制，也就是说，在本方案中无需第一清洁机器人与第二清洁机器人之间实时共享位置，而基于等待队列中存放的信息和多个清理阶段对各子区域中的清洁机器人进行作业控制，从而不仅可以降低清洁机器人的功耗，也可以提升第一清洁机器人与第二清洁机器人之间的协同效率，进而提升清洁机器人的清洁效率。According to the technical solution of the present disclosure, when receiving cleaning tasks in multiple cleaning stages, a waiting queue is generated, wherein the waiting queue is used to store the identification information of the sub-area of the currently completed job in the first cleaning stage. According to the current status of the waiting queue, The stored information and multiple cleaning stages are used to control the first cleaning robot and the second cleaning robot in each sub-area of the execution area. That is to say, in this solution, there is no need for communication between the first cleaning robot and the second cleaning robot. The location is shared in real time, and the cleaning robots in each sub-area are controlled based on the information stored in the waiting queue and multiple cleaning stages. This not only reduces the power consumption of the cleaning robot, but also improves the efficiency of the first cleaning robot and the second cleaning robot. Collaboration efficiency between robots, thereby improving the cleaning efficiency of cleaning robots.
应当理解的是，以上的一般描述和后文的细节描述仅是示例性和解释性的，并不能限制本公开。It should be understood that the foregoing general description and the following detailed description are exemplary and explanatory only, and do not limit the present disclosure.
附图说明Description of drawings
此处的附图被并入说明书中并构成本说明书的一部分，示出了符合本发明的实施例，并与说明书一起用于解释本发明的原理。The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the invention and together with the description serve to explain the principles of the invention.
图1是根据一示例性实施例示出的一种清洁机器人控制方法的流程图；Figure 1 is a flow chart of a cleaning robot control method according to an exemplary embodiment;
图2是根据一示例性实施例示出的另一种清洁机器人控制方法的流程图；Figure 2 is a flow chart of another cleaning robot control method according to an exemplary embodiment;
图3是根据一示例性实施例示出的又一种清洁机器人控制方法的流程图；Figure 3 is a flow chart of yet another cleaning robot control method according to an exemplary embodiment;
图4是根据一示例性实施例示出的又一种清洁机器人控制方法的流程图；Figure 4 is a flow chart of yet another cleaning robot control method according to an exemplary embodiment;
图5是根据一示例性实施例示出的又一种清洁机器人控制方法的流程图；Figure 5 is a flow chart of yet another cleaning robot control method according to an exemplary embodiment;
图6是根据一示例性实施例示出的又一种清洁机器人控制方法的流程图；Figure 6 is a flow chart of yet another cleaning robot control method according to an exemplary embodiment;
图7是根据一示例性实施例示出的一种清洁机器人控制装置的结构框图；Figure 7 is a structural block diagram of a cleaning robot control device according to an exemplary embodiment;
图8是根据一示例性实施例示出的一种云端服务器的结构框图。Figure 8 is a structural block diagram of a cloud server according to an exemplary embodiment.
具体实施方式Detailed ways
这里将详细地对示例性实施例进行说明，其示例表示在附图中。下面的描述涉及附图时，除非另有表示，不同附图中的相同数字表示相同或相似的要素。以下示例性实施例中所描述的实施方式并不代表与本发明相一致的所有实施方式。相反，它们仅是与如所附权利要求书中所详述的、本发明的一些方面相一致的装置和方法的例子。Exemplary embodiments will be described in detail herein, examples of which are illustrated in the accompanying drawings. When the following description refers to the drawings, the same numbers in different drawings refer to the same or similar elements unless otherwise indicated. The implementations described in the following exemplary embodiments do not represent all implementations consistent with the invention. Rather, they are merely examples of apparatus and methods consistent with aspects of the invention as detailed in the appended claims.
图1是根据一示例性实施例示出的一种清洁机器人控制方法的流程图。需要说明的是，本公开实施例中的清洁机器人控制方法可用于本公开实施例中的清洁机器人控制装置，且本公开实施例中的清洁机器人控制装置可配置于云端服务器中。如图1所示，该方法可以包括以下步骤：Figure 1 is a flow chart of a cleaning robot control method according to an exemplary embodiment. It should be noted that the cleaning robot control method in the embodiment of the present disclosure can be used in the cleaning robot control device in the embodiment of the present disclosure, and the cleaning robot control device in the embodiment of the present disclosure can be configured in a cloud server. As shown in Figure 1, the method may include the following steps:
步骤101，响应于接收到的清理任务，生成等待队列；清理任务中包括清理任务的执行区域和多个清理阶段，执行区域包括至少一个子区域，多个清理阶段至少包括第一清理阶段和第二清理阶段。Step 101: In response to the received cleaning task, a waiting queue is generated; the cleaning task includes an execution area of the cleaning task and multiple cleaning stages. The execution area includes at least one sub-area, and the multiple cleaning stages include at least a first cleaning stage and a third cleaning stage. Second cleaning stage.
在本公开的一些实施例中，该方法可以由云端服务器来执行。清理任务是指需要由清洁机器人对对应区域进行清理工作的任务，清理任务中可以包括清理任务的执行区域和多个清理阶段。其中，清理任务的执行区域是指与清理任务对应的待清理区域，多个清理阶段是指清理任务对应的清理流程中包含的不同清理阶段，清理任务对应的清理流程中可以包括两个清理阶段，也可以包括三个或三个以上清理阶段。作为一种示例，若某清理任务的多个清理任务中包含拖地阶段和扫地阶段，则第一清理阶段可以为拖地阶段、第二清理阶段可以为扫地阶段。In some embodiments of the present disclosure, the method may be performed by a cloud server. A cleaning task refers to a task that requires a cleaning robot to clean the corresponding area. The cleaning task may include the execution area of the cleaning task and multiple cleaning stages. Among them, the execution area of the cleaning task refers to the area to be cleaned corresponding to the cleaning task, and the multiple cleaning stages refer to the different cleaning stages included in the cleaning process corresponding to the cleaning task. The cleaning process corresponding to the cleaning task can include two cleaning stages. , can also include three or more cleaning stages. As an example, if multiple cleaning tasks of a certain cleaning task include a mopping phase and a sweeping phase, the first cleaning phase may be a mopping phase, and the second cleaning phase may be a sweeping phase.
此外，清理任务可以是用户基于清理需求通过终端设备发起的。作为一种示例，终端设备中可以安装有控制清理任务的应用程序，用户在终端设备中打开该应用程序，并通过用户交互界面创建清理任务，提交至云端服务器；在创建清理任务时，用户可以选择该清理任务的执行区域和该清理任务的多个清理阶段。In addition, the cleaning task can be initiated by the user through the terminal device based on the cleaning requirements. As an example, an application that controls cleaning tasks can be installed in the terminal device. The user opens the application in the terminal device, creates a cleaning task through the user interaction interface, and submits it to the cloud server; when creating a cleaning task, the user can Select the execution area of the cleanup task and the multiple cleanup stages of the cleanup task.
在本公开的一些实施例中，在接收到清理任务创建的等待队列为空队列，用于在清理任务的执行过程中存放第一清理阶段已完成作业的子区域的标识信息。作为一种实施方式，云端服务器可以预先存储各区域及各子区域的地图信息，以及各区域与各子区域的对应关系，所以可以基于执行区域确定该执行区域内包括的至少一个子区域。In some embodiments of the present disclosure, the waiting queue created after receiving the cleaning task is an empty queue, which is used to store the identification information of the sub-area of the completed job in the first cleaning stage during the execution of the cleaning task. As an implementation manner, the cloud server can pre-store map information of each region and each sub-region, as well as the corresponding relationship between each region and each sub-region, so at least one sub-region included in the execution region can be determined based on the execution region.
步骤102，基于等待队列当前存放的信息和多个清理阶段，对每个子区域内的至少一个第一清洁机器人和每个子区域内的至少一个第二清洁机器人进行作业控制；其中，等待队列用于存放第一清理阶段当前已完成作业的子区域的标识信息。Step 102: Based on the information currently stored in the waiting queue and multiple cleaning stages, perform job control on at least one first cleaning robot in each sub-area and at least one second cleaning robot in each sub-area; wherein the waiting queue is used for Stores the identification information of the sub-area of the currently completed job in the first cleaning phase.
也就是说，基于等待队列当前存放的信息和多个清理阶段，控制执行区域中各子区域内的第一清洁机器人和第二清洁机器人执行对应的清理作业。That is to say, based on the information currently stored in the waiting queue and multiple cleaning stages, the first cleaning robot and the second cleaning robot in each sub-area of the execution area are controlled to execute corresponding cleaning operations.
在本申请的一些实施例中，第一清洁机器人和第二清洁机器人可以分别是用于执行第一清理阶段的工作的清洁机器人和用于执行第二清理阶段的工作的清洁机器人。比如，若第一清理阶段为拖地阶段，第二清理阶段为扫地阶段，则第一清洁机器人为拖地机器人，第二清洁机器人为扫地机器人，或者，第一清洁机器人为扫地机器人，第二清洁机器人为拖地机器人。其中，每个子区域中用于执行第一清理阶段的工作的第一清洁机器人可以为1个，或者为多个，同样，每个子区域中用于执行第二清理阶段的工作的第二清洁机器人也可以为1个，或者多个，此处可以基于实际应用场景确定。In some embodiments of the present application, the first cleaning robot and the second cleaning robot may be a cleaning robot configured to perform the work of the first cleaning stage and a cleaning robot configured to perform the work of the second cleaning stage, respectively. For example, if the first cleaning stage is a mopping stage and the second cleaning stage is a sweeping stage, then the first cleaning robot is a mopping robot and the second cleaning robot is a sweeping robot, or the first cleaning robot is a sweeping robot and the second cleaning robot is a sweeping robot. The cleaning robot is a mopping robot. There may be one or more first cleaning robots in each sub-area for performing the work of the first cleaning stage. Similarly, there may be a second cleaning robot in each sub-area for performing the work of the second cleaning stage. It can also be one or more, which can be determined based on the actual application scenario.
需要说明的是，所有的第一清洁机器人与第二清洁机器人均可以注册在云端服务器中，且每个第一清洁机器人和第二清洁机器人所负责清理的子区域也均可以注册在云端服务器中。同时每个子区域的地图信息可以存储在对应的清洁机器人的存储空间中，也可以存储在云端服务器中。It should be noted that all the first cleaning robots and the second cleaning robots can be registered in the cloud server, and the sub-areas that each first cleaning robot and the second cleaning robot are responsible for cleaning can also be registered in the cloud server. . At the same time, the map information of each sub-area can be stored in the storage space of the corresponding cleaning robot or in the cloud server.
作为一种示例，若接收到的清理任务的清理流程包括先对执行区域进行第一清理阶段，在第一清理阶段完成后，再进入第二清理阶段，则对执行区域内各子区域的清洁机器人进行作业控制的实现方式可以为：在接收到清理任务后，生成等待队列；基于清理任务的执行区域包括的至少一个子区域，分别将清理任务中的第一清理阶段作业下发给对应子区域中的至少一个第一清理机器人；监控各第一清理机器人的清理进度，并将已清理完成的第一清理阶段作业的子区域的标识信息放入等待队列中；若等待队列中的子区域的标识信息的个数与执行区域中包含的子区域个数相同，则将清理任务下发给执行区域对应各子区域中的至少一个第二清理机器人，以控制第二清洁机器人执行第二清理阶段作业。As an example, if the cleaning process of the received cleaning task includes first performing a first cleaning phase on the execution area, and then entering the second cleaning phase after the first cleaning phase is completed, then the cleaning of each sub-area in the execution area The robot can implement job control by: after receiving the cleaning task, generate a waiting queue; based on at least one sub-area included in the execution area of the cleaning task, respectively deliver the first cleaning phase job in the cleaning task to the corresponding sub-area. At least one first cleaning robot in the area; monitor the cleaning progress of each first cleaning robot, and put the identification information of the sub-area of the completed first cleaning stage operation into the waiting queue; if the sub-area in the waiting queue The number of identification information is the same as the number of sub-areas contained in the execution area, then the cleaning task is issued to at least one second cleaning robot in each sub-area corresponding to the execution area to control the second cleaning robot to perform the second cleaning Stage work.
作为另一种示例，若接收到的清理任务的清理流程包括对执行区域各子区域的第一清理阶段和第二清理阶段，则对执行区域内各子区域的清洁机器人进行作业控制的实现方式可以为：在接收到清理任务后，生成等待队列；基于清理任务的执行区域包括的至少一个子区域，分别将清理任务中的第一清理阶段作业下发给对应子区域中的至少一个第一清理机器人；监控各第一清理机器人的清理进度，并将已清理完成的第一清理阶段作业的子区域的标识信息放入等待队列中；在等待队列有新增的子区域的标识信息时且该新增的标识信息在等待队列中是唯一的，将第二节点清理作业下发给该新增标识信息对应的子区域中的至少一个第二清理机器人；监控第二清理机器人的清理进度，并将已清理完成第二清理阶段作业的子区域的标识信息放入等待队列中；直至等待队列中子区域的标识信息的个数为执行区域中包含的子区域个数的2倍，说明该清理任务已完成。As another example, if the cleaning process of the received cleaning task includes a first cleaning stage and a second cleaning stage for each sub-area of the execution area, then the implementation of job control for the cleaning robots in each sub-area of the execution area It can be: after receiving the cleaning task, generating a waiting queue; based on at least one sub-area included in the execution area of the cleaning task, respectively delivering the first cleaning stage job in the cleaning task to at least one first in the corresponding sub-area. Cleaning robot; monitor the cleaning progress of each first cleaning robot, and put the identification information of the sub-area of the completed first cleaning stage operation into the waiting queue; when the waiting queue has the identification information of the newly added sub-area and The newly added identification information is unique in the waiting queue, and the second node cleaning job is delivered to at least one second cleaning robot in the sub-area corresponding to the new identification information; the cleaning progress of the second cleaning robot is monitored, And put the identification information of the sub-areas that have completed the second cleaning phase into the waiting queue; until the number of identification information of the sub-areas in the waiting queue is twice the number of sub-areas included in the execution area, it means that the Cleanup task completed.
根据本公开的清洁机器人控制方法，在接收到多个清理阶段的清理任务时，生成等待队列，其中，等待队列中用于存放第一清理阶段当前已完成作业的子区域的标识信息，根据等待队列当前存放的信息和多个清理阶段，对执行区域中每个子区域内的第一清洁机器人和第二清洁机器人进行控制，也就是说，在本方案中无需第一清洁机器人与第二清洁机器人之间实时共享位置，而基于等待队列中存放的信息和多个清理阶段对各子区域中的清洁机器人进行作业控制，从而不仅可以降低清洁机器人的功耗，也可以提升第一清洁机器人与第二清洁机器人之间的协同效率，进而提升清洁机器人的清洁效率。According to the cleaning robot control method of the present disclosure, when receiving cleaning tasks of multiple cleaning stages, a waiting queue is generated, wherein the waiting queue is used to store the identification information of the sub-area of the currently completed job in the first cleaning stage, according to the waiting The information currently stored in the queue and multiple cleaning stages are used to control the first cleaning robot and the second cleaning robot in each sub-area of the execution area. In other words, there is no need for the first cleaning robot and the second cleaning robot in this solution. Positions are shared in real time between each other, and the cleaning robots in each sub-area are controlled based on the information stored in the waiting queue and multiple cleaning stages. This not only reduces the power consumption of the cleaning robot, but also improves the relationship between the first cleaning robot and the third cleaning robot. The collaborative efficiency between the two cleaning robots can thereby improve the cleaning efficiency of the cleaning robot.
图2是根据一示例性实施例示出的另一种清洁机器人控制方法的流程图。如图2所示，该方法可以包括以下步骤：FIG. 2 is a flow chart of another cleaning robot control method according to an exemplary embodiment. As shown in Figure 2, the method may include the following steps:
步骤201，响应于接收到的清理任务，生成等待队列；清理任务中包括清理任务的执行区域和多个清理阶段，执行区域包括至少一个子区域，多个清理阶段至少包括第一清理阶段和第二清理阶段。Step 201: In response to the received cleaning task, a waiting queue is generated; the cleaning task includes an execution area of the cleaning task and multiple cleaning stages. The execution area includes at least one sub-area, and the multiple cleaning stages include at least a first cleaning stage and a third cleaning stage. Second cleaning stage.
步骤202，控制每个子区域内与第一清理阶段对应的清洁机器人进行清洁作业，并基于等待队列当前存放的信息，检查第一清理阶段各子区域的作业完成进度，以及在第一清理阶段各子区域均完成作业时，控制每个子区域内与第二清理阶段对应的清洁机器人进行清洁作业。Step 202: Control the cleaning robot corresponding to the first cleaning stage in each sub-area to perform cleaning operations, and check the completion progress of each sub-area in the first cleaning stage based on the information currently stored in the waiting queue, as well as the completion progress of each sub-area in the first cleaning stage. When all sub-areas have completed their operations, the cleaning robot corresponding to the second cleaning stage in each sub-area is controlled to perform cleaning operations.
在本公开的一些实施例中，控制每个子区域内与第一清理阶段对应的清洁机器人进行清洁作业，可以为先确定每个子区域内与第一清理阶段对应的清洁机器人，其中，每个子区域内与第一清理阶段对应的清洁机器人是指每个子区域内用于执行第一清理阶段的清洁作业的清洁机器人。若第一清洁机器人执行第一清理阶段的清洁任务，则每个子区域内与第一清理阶段对应的清洁机器人为每个子区域内的第一清洁机器人，若第二清洁机器人执行第一清理阶段的清洁任务，则每个子区域内与第一清理阶段对应的清洁机器人为每个子区域内的第二清洁机器人。在确定每个子区域内与第一清理阶段对应的清洁机器人后，将第一清理阶段对应的清理作业发送给上述清洁机器人，以指示上述清洁机器人执行第一清理阶段的清洁作业，并将第一清理阶段的清洁任务已完成的子区域的标识信息放入等待队列中。In some embodiments of the present disclosure, controlling the cleaning robot corresponding to the first cleaning stage in each sub-area to perform cleaning operations may be to first determine the cleaning robot corresponding to the first cleaning stage in each sub-area, wherein each sub-area The cleaning robot corresponding to the first cleaning stage refers to the cleaning robot in each sub-area used to perform the cleaning operation of the first cleaning stage. If the first cleaning robot performs the cleaning task of the first cleaning stage, the cleaning robot corresponding to the first cleaning stage in each sub-region is the first cleaning robot in each sub-region. If the second cleaning robot performs the cleaning task of the first cleaning stage, cleaning task, then the cleaning robot corresponding to the first cleaning stage in each sub-area is the second cleaning robot in each sub-area. After determining the cleaning robot corresponding to the first cleaning stage in each sub-area, the cleaning operation corresponding to the first cleaning stage is sent to the above-mentioned cleaning robot to instruct the above-mentioned cleaning robot to perform the cleaning operation in the first cleaning stage and send the first cleaning operation to the cleaning robot. The identification information of the sub-area for which the cleaning task in the cleaning phase has been completed is placed in the waiting queue.
作为一种示例，基于等待队列当前存放的信息，检测第一清理阶段各子区域的作业完成进度的实现方式可以为：读取等待队列当前存放的子区域的标识信息的第一个数；确定该清理任务的执行区域中包含的子区域的第二个数；将第一个数与第二个数的比值作为第一清理阶段各子区域的作业完成进度值，其中进度值为1时表示第一清理阶段各子区域均完成作业。As an example, based on the information currently stored in the waiting queue, the implementation method of detecting the job completion progress of each sub-area in the first cleaning stage can be: reading the first number of the identification information of the sub-area currently stored in the waiting queue; determining The second number of sub-regions contained in the execution area of the cleaning task; the ratio of the first number to the second number is used as the job completion progress value of each sub-region in the first cleaning phase, where the progress value is 1. In the first cleaning phase, work has been completed in each sub-area.
作为另一种示例，云端服务器中可以存储有各子区域的标识信息，基于等待队列当前存放的信息，检测第一清理阶段各子区域的作业完成进度的实现方式可以为：读取等待队列当前存放的子区域的标识信息；确定该清理任务的执行区域中包含的所有子区域的标识信息，并将该清理任务的执行区域中包含的所有子区域的标识信息组成标识信息集合；将标识信息集合中的元素与等待队列中的子区域的标识信息进行比对，若标识信息集合中每个元素均包含在等待队列中，则说明第一清理阶段各子区域均完成作业，否则说明存在未完成第一清理阶段作业的子区域。As another example, the cloud server can store the identification information of each sub-area. Based on the information currently stored in the waiting queue, the implementation method of detecting the job completion progress of each sub-area in the first cleaning stage can be: reading the current information of the waiting queue. The identification information of the stored sub-areas; determine the identification information of all sub-areas contained in the execution area of the clean-up task, and form the identification information of all sub-areas included in the execution area of the clean-up task into an identification information set; combine the identification information The elements in the set are compared with the identification information of the sub-areas in the waiting queue. If each element in the identification information set is included in the waiting queue, it means that each sub-area has completed the job in the first cleaning stage, otherwise it means that there is no Sub-areas to complete the first cleanup phase.
此外，在第一清理阶段各子区域均完成作业时，控制每个所述子区域内与第二清理阶段对应的清洁机器人进行清洁作业，是指在第一清理阶段各子区域均完成作业时，可以开始进入第二清理阶段，控制每个子区域内用于执行第二清理阶段的清理作业的清洁机器人执行清洁作业。In addition, when each sub-area in the first cleaning stage has completed operations, controlling the cleaning robot corresponding to the second cleaning stage in each of the sub-areas to perform cleaning operations refers to when all sub-areas in the first cleaning stage have completed operations. , you can start to enter the second cleaning stage, and control the cleaning robot in each sub-area to perform the cleaning operation of the second cleaning stage to perform the cleaning operation.
根据本公开实施例的清洁机器人控制方法，在接收到清理任务后，生成等待队列，控制每个子区域内与第一清理阶段对应的清洁机器人进行清洁工作，并基于等待队列当前存放的信息，确定第一清理阶段各子区域的作业完成进度，并在第一清理阶段各子区域均完成作业时，控制每个子区域内与第二清理阶段对应的清洁机器人进行清洁作业，相当于通过等待队列来监控第一清理阶段各子区域的作业完成进度，并在第一清理阶段各子区域的作业均完成后，开始控制对应的清洁机器人进行第二清理阶段的清洁作业。本方案不仅可以降低清洁机器人的功耗，还可以通过等待队列控制清理任务各清理阶段的有序进行，提升清洁机器人的清洁效率。According to the cleaning robot control method of the embodiment of the present disclosure, after receiving the cleaning task, a waiting queue is generated, the cleaning robot corresponding to the first cleaning stage in each sub-area is controlled to perform cleaning work, and based on the information currently stored in the waiting queue, determine The completion progress of each sub-area in the first cleaning stage, and when all sub-areas in the first cleaning stage have completed their operations, control the cleaning robot corresponding to the second cleaning stage in each sub-area to perform cleaning operations, which is equivalent to waiting for a queue. Monitor the completion progress of each sub-area in the first cleaning stage, and after the operations in each sub-area in the first cleaning stage are completed, start controlling the corresponding cleaning robot to perform cleaning operations in the second cleaning stage. This solution can not only reduce the power consumption of the cleaning robot, but also improve the cleaning efficiency of the cleaning robot by controlling the orderly progress of each cleaning stage of the cleaning task through the waiting queue.
为了对基于等待队列当前存放的信息和多个清理阶段，对每个子区域内的至少一个第一清洁机器人和每个子区域内的至少一个第二清洁机器人进行作业控制的步骤进行详细介绍，本公开提出了又一个实施例。In order to introduce in detail the steps of performing job control on at least one first cleaning robot in each sub-area and at least one second cleaning robot in each sub-area based on the information currently stored in the waiting queue and multiple cleaning stages, the present disclosure Yet another embodiment is presented.
图3是根据一示例性实施例示出的又一种清洁机器人控制方法的流程图。如图3所示，该方法可以包括以下步骤：FIG. 3 is a flow chart of yet another cleaning robot control method according to an exemplary embodiment. As shown in Figure 3, the method may include the following steps:
步骤301，响应于接收到的清理任务，生成等待队列；清理任务中包括清理任务的执行区域和多个清理阶段，执行区域包括至少一个子区域，多个清理阶段至少包括第一清理阶段和第二清理阶段。Step 301: In response to the received cleaning task, a waiting queue is generated; the cleaning task includes an execution area of the cleaning task and multiple cleaning stages. The execution area includes at least one sub-area, and the multiple cleaning stages include at least a first cleaning stage and a third cleaning stage. Second cleaning stage.
步骤302，进入第一清理阶段，向每个子区域内的至少一个第一清洁机器人发送与第一清理阶段对应的第一清洁请求；第一清洁请求用于指示至少一个第一清洁机器人对对应子区域进行清洁作业。Step 302, enter the first cleaning stage, and send a first cleaning request corresponding to the first cleaning stage to at least one first cleaning robot in each sub-area; the first cleaning request is used to instruct at least one first cleaning robot to respond to the corresponding sub-area. Clean the area.
也就是说，通过向每个子区域内人至少一个第一清洁机器人发送第一清洁请求，以指示每个子区域内至少一个第一清洁机器人对其负责的子区域进行第一清理阶段的清洁任务。That is to say, the first cleaning request is sent to at least one first cleaning robot in each sub-area to instruct at least one first cleaning robot in each sub-area to perform the cleaning task of the first cleaning stage for the sub-area it is responsible for.
在本公开的一些实施例中，若第一清洁机器人中未存储有其各自负责的子区域的地图，则第一清洁请求中还可以包括对应第一清洁机器人所负责的子区域的地图数据。在第一清洁机器人接收到第一清洁请求后，执行对应子区域的清洁任务。In some embodiments of the present disclosure, if the first cleaning robot does not store a map of the sub-area it is responsible for, the first cleaning request may also include map data corresponding to the sub-area the first cleaning robot is responsible for. After the first cleaning robot receives the first cleaning request, it executes the cleaning task of the corresponding sub-area.
作为一种示例，若第一清理阶段为拖地阶段，则向每个子区域内的至少一个拖地机器人发送第一清洁请求，各拖地机器人在接收到第一清洁请求后在各自对应的子区域内执行拖地作业。As an example, if the first cleaning stage is a mopping stage, a first cleaning request is sent to at least one mopping robot in each sub-area. After receiving the first cleaning request, each mopping robot performs a cleaning operation in its corresponding sub-area. Perform mopping operations in the area.
在本公开的一些实施例中，每个子区域内的第一清洁机器人可以为一个，也可以为多个。对于每个子区域的第一清洁机器人为一个的情况，则将第一清洁请求直接发送至每个子区域中的第一清洁机器人。每个子区域的第一清洁机器人为多个的情况，针对每个子区域，可以将该子区域再进行区域划分，即将该子区域划分为N个第一子区域，其中N为大于1的整数，且N的大小与该子区域中第一清洁机器人的数量一致，每个第一子区域为该子区域中的一部分区域，且N各第一子区域的并集与该子区域的范围一致；为每个第一子区域一一匹配第一清洁机器人，在向该子区域内的第一清洁机器人发送第一清洁请求时，相当于向该子区域的每个清洁机器人发送用于指示每个清洁机器人对对应第一子区域进行清洁工作的第一清洁请求。In some embodiments of the present disclosure, there may be one first cleaning robot in each sub-area, or there may be multiple first cleaning robots. For the case where there is one first cleaning robot in each sub-area, the first cleaning request is directly sent to the first cleaning robot in each sub-area. When there are multiple first cleaning robots in each sub-area, for each sub-area, the sub-area can be further divided into areas, that is, the sub-area is divided into N first sub-areas, where N is an integer greater than 1, And the size of N is consistent with the number of first cleaning robots in the sub-area, each first sub-area is a part of the sub-area, and the union of the N first sub-areas is consistent with the range of the sub-area; The first cleaning robot is matched one by one for each first sub-area. When sending the first cleaning request to the first cleaning robot in the sub-area, it is equivalent to sending a message indicating each cleaning robot in the sub-area. A first cleaning request for the cleaning robot to perform cleaning work on the corresponding first sub-area.
步骤303，接收第一清洁机器人发送的清洁作业信息，清洁作业信息用于指示当前已完成作业的子区域的标识信息。Step 303: Receive cleaning job information sent by the first cleaning robot. The cleaning job information is used to indicate the identification information of the sub-area in which the job has been completed.
作为一种实施方式，每个第一清洁机器人在完成对应子区域的第一清理阶段的清洁作业时，向云端服务器发送清洁作业信息，该清洁作业信息用于指示第一清洁机器人已完成第一清理阶段清洁作业的子区域的标识信息。As an implementation manner, when each first cleaning robot completes the cleaning operation of the first cleaning stage of the corresponding sub-area, it sends cleaning operation information to the cloud server. The cleaning operation information is used to indicate that the first cleaning robot has completed the first cleaning operation. Identification information of the sub-area of the cleaning operation during the cleaning phase.
步骤304，将当前已完成作业的子区域的标识信息添加至等待队列。Step 304: Add the identification information of the sub-area of the currently completed job to the waiting queue.
步骤305，响应于等待队列中当前存放的标识信息个数与子区域个数一致，进入第二清理阶段，并删除等待队列。Step 305: In response to the number of identification information currently stored in the waiting queue being consistent with the number of sub-regions, enter the second cleaning stage and delete the waiting queue.
可以理解，等待队列中的子区域的标识信息均为当前已完成作业的子区域的标识信息，若等待队列中当前存放的标识信息的个数与执行区域中包含的子区域的个数一致，则说明执行区域中包含的所有子区域的第一清理阶段的清洁作业均已完成，所以可以进入第二清理阶段。It can be understood that the identification information of the sub-regions in the waiting queue is the identification information of the sub-region of the currently completed job. If the number of identification information currently stored in the waiting queue is consistent with the number of sub-regions contained in the execution region, , it means that the cleaning operations of the first cleaning stage of all sub-areas included in the execution area have been completed, so the second cleaning stage can be entered.
作为一种示例，可以在每次执行步骤304时，将等待队列中当前存放的标识信息个数与子区域个数进行比对，若等待队列中当前存放的标识信息个数与子区域个数不一致，则继续执行步骤303和步骤304，若等待队列中当前存放的标识信息个数与子区域个数一致，则执行步骤305。As an example, each time step 304 is executed, the number of identification information currently stored in the waiting queue and the number of sub-regions can be compared. If the number of identification information currently stored in the waiting queue and the number of sub-regions If they are inconsistent, continue to execute step 303 and step 304. If the number of identification information currently stored in the waiting queue is consistent with the number of sub-regions, execute step 305.
在本公开的一些实施例中，若随着断的执行清理任务，不断地创建等待队列，则创建的大量等待队列会造成存储空间的占用。所以，为了避免存储空间的占用，可以在进入第二清理阶段时，将等待队列删除。In some embodiments of the present disclosure, if waiting queues are continuously created as cleaning tasks are continuously executed, the large number of waiting queues created will occupy storage space. Therefore, in order to avoid occupying storage space, the waiting queue can be deleted when entering the second cleaning stage.
步骤306，向每个子区域内的至少一个第二清洁机器人发送与第二清理阶段对应的第二清洁请求；第二清洁请求用于指示至少一个第二清洁机器人对对应子区域进行清洁作业。Step 306: Send a second cleaning request corresponding to the second cleaning stage to at least one second cleaning robot in each sub-area; the second cleaning request is used to instruct at least one second cleaning robot to perform cleaning operations on the corresponding sub-area.
也就是说，通过向每个子区域内人至少一个第二清洁机器人发送第二清洁请求，以指示每个子区域内至少一个第二清洁机器人对其负责的子区域进行第二清理阶段的清洁任务。That is to say, by sending a second cleaning request to at least one second cleaning robot in each sub-area, the at least one second cleaning robot in each sub-area is instructed to perform the cleaning task of the second cleaning stage in the sub-area it is responsible for.
在本公开的一些实施例中，若第二清洁机器人中未存储有其各自负责的子区域的地图，则第二清洁请求中还可以包括对应第二清洁机器人所负责的子区域的地图数据。在第二清洁机器人接收到第二清洁请求后，执行对应子区域的清洁任务。In some embodiments of the present disclosure, if the second cleaning robot does not store a map of the sub-area it is responsible for, the second cleaning request may also include map data corresponding to the sub-area the second cleaning robot is responsible for. After the second cleaning robot receives the second cleaning request, it executes the cleaning task of the corresponding sub-area.
作为一种示例，若第一清理阶段为拖地阶段，第二清理阶段为扫地阶段，则在进入第二清理阶段后向每个子区域内的至少一个扫地机器人发送第二清洁请求，各扫地机器人在接收到第二清洁请求后在各自对应的子区域内执行扫地作业。As an example, if the first cleaning stage is a mopping stage and the second cleaning stage is a sweeping stage, then after entering the second cleaning stage, a second cleaning request is sent to at least one sweeping robot in each sub-area, and each sweeping robot After receiving the second cleaning request, sweeping operations are performed in respective corresponding sub-areas.
在本公开的一些实施例中，每个子区域内的第二清洁机器人可以为一个，也可以为多个。对于每个子区域的第二清洁机器人为一个的情况，则将第二清洁请求直接发送至每个子区域中的第二清洁机器人。每个子区域的第二清洁机器人为多个的情况，针对每个子区域，可以将该子区域再进行区域划分，即将该子区域划分为N个第一子区域，其中N为大于1的整数，且N的大小与该子区域中第二清洁机器人的数量一致，每个第一子区域为该子区域中的一部分区域，且N各第一子区域的并集与该子区域的范围一致；为每个第一子区域一一匹配第二清洁机器人，在向该子区域内的第二清洁机器人发送第二清洁请求时，相当于向该子区域的每个第二清洁机器人发送用于指示每个清洁机器人对对应第一子区域进行清洁工作的第二清洁请求。In some embodiments of the present disclosure, there may be one second cleaning robot in each sub-area, or there may be multiple. For the case where there is one second cleaning robot in each sub-area, the second cleaning request is directly sent to the second cleaning robot in each sub-area. When there are multiple second cleaning robots in each sub-area, for each sub-area, the sub-area can be further divided into areas, that is, the sub-area is divided into N first sub-areas, where N is an integer greater than 1, And the size of N is consistent with the number of second cleaning robots in the sub-area, each first sub-area is a part of the sub-area, and the union of the first sub-areas of N is consistent with the range of the sub-area; The second cleaning robot is matched one by one for each first sub-area. When sending a second cleaning request to the second cleaning robot in the sub-area, it is equivalent to sending an instruction to each second cleaning robot in the sub-area. Each cleaning robot performs a second cleaning request for cleaning the corresponding first sub-area.
根据本公开实施例的清洁机器人控制方法，在第一清理阶段，向每个子区域内的至少一个第一清洁机器人发送与第一清洁阶段对应的第一清洁请求，并接收第一清洁机器人发送的清洁作业信息，将已完成作业的子区域的标识信息添加至等待队列中，并基于等待队列中标识信息的数量和执行区域中子区域的数量，确定进入第二清理阶段的时刻，再向每个子区域内的至少一个第二清洁机器人发送第二清洁请求，以指示至少一个第二清洁机器人对对应子区域进行第二清理阶段的清洁作业，从而实现了基于等待队列控制清理任务各清理阶段的有序进行，也可以提升清洁机器人的清洁效率。此外，在进入第二清理阶段时，将等待队列删除，可以避免等待队列对存储空间的占用，从而可以提高资源的有效利用率。According to the cleaning robot control method of the embodiment of the present disclosure, in the first cleaning stage, a first cleaning request corresponding to the first cleaning stage is sent to at least one first cleaning robot in each sub-area, and the first cleaning request sent by the first cleaning robot is received. Clean job information, add the identification information of the sub-region of the completed job to the waiting queue, and determine the moment to enter the second cleaning stage based on the number of identification information in the waiting queue and the number of sub-regions in the execution area, and then provide each At least one second cleaning robot in the sub-area sends a second cleaning request to instruct the at least one second cleaning robot to perform a cleaning operation in the second cleaning stage of the corresponding sub-area, thereby realizing the control of each cleaning stage of the cleaning task based on the waiting queue. Proceeding in an orderly manner can also improve the cleaning efficiency of the cleaning robot. In addition, when entering the second cleaning stage, the waiting queue is deleted, which can avoid the waiting queue occupying storage space, thereby improving the effective utilization of resources.
在一些应用场景中，多个清理阶段还可以包括第三清理阶段，接下来将针对这种情况进行详细说明。In some application scenarios, multiple cleaning stages may also include a third cleaning stage, which will be described in detail next.
图4是根据一示例性实施例示出的又一种清洁机器人控制方法的流程图。在本公开实施例中，多个清理阶段还包括第三清理阶段。如图4所示，该方法可以包括以下步骤：FIG. 4 is a flow chart of yet another cleaning robot control method according to an exemplary embodiment. In the embodiment of the present disclosure, the plurality of cleaning stages also include a third cleaning stage. As shown in Figure 4, the method may include the following steps:
步骤401，响应于接收到的清理任务，生成等待队列；清理任务中包括清理任务的执行区域和多个清理阶段，执行区域包括至少一个子区域，多个清理阶段至少包括第一清理阶段和第二清理阶段。Step 401: In response to the received cleaning task, a waiting queue is generated; the cleaning task includes an execution area of the cleaning task and multiple cleaning stages. The execution area includes at least one sub-area, and the multiple cleaning stages include at least a first cleaning stage and a third cleaning stage. Second cleaning stage.
步骤402，进入第一清理阶段，向每个子区域内的至少一个第一清洁机器人发送与第一清理阶段对应的第一清洁请求；第一清洁请求用于指示至少一个第一清洁机器人对对应子区域进行清洁作业。Step 402: Enter the first cleaning stage, and send a first cleaning request corresponding to the first cleaning stage to at least one first cleaning robot in each sub-area; the first cleaning request is used to instruct at least one first cleaning robot to respond to the corresponding sub-area. Clean the area.
步骤403，接收第一清洁机器人发送的清洁作业信息，清洁作业信息用于指示当前已完成作业的子区域的标识信息。Step 403: Receive cleaning job information sent by the first cleaning robot. The cleaning job information is used to indicate the identification information of the sub-area in which the job has been completed.
步骤404，将当前已完成作业的子区域的标识信息添加至等待队列。Step 404: Add the identification information of the sub-area of the currently completed job to the waiting queue.
步骤405，响应于等待队列中当前存放的标识信息个数与子区域个数一致，进入第二清理阶段，并清空等待队列。Step 405: In response to the number of identification information currently stored in the waiting queue being consistent with the number of sub-regions, enter the second cleaning stage and clear the waiting queue.
可以理解，由于该清洁任务的多个清理阶段中还包括第三清理阶段，所以为了保证第二清理阶段和第三清理阶段的有序进行，在第二清理阶段的进行过程中，还需要等待队列对各子区域的第二清理阶段的清洁任务的执行进度进行监控，所以为了便于后续步骤的适用，同时避免再次创建等待队列，将等待队列进行清空处理。It can be understood that since the multiple cleaning stages of this cleaning task also include a third cleaning stage, in order to ensure the orderly progress of the second cleaning stage and the third cleaning stage, it is necessary to wait during the progress of the second cleaning stage. The queue monitors the execution progress of the cleaning tasks in the second cleaning phase of each sub-area, so in order to facilitate the application of subsequent steps and avoid creating the waiting queue again, the waiting queue will be emptied.
步骤406，向每个子区域内的至少一个第二清洁机器人发送与第二清理阶段对应的第二清洁请求；第二清洁请求用于指示至少一个第二清洁机器人对对应子区域进行清洁作业。Step 406: Send a second cleaning request corresponding to the second cleaning stage to at least one second cleaning robot in each sub-area; the second cleaning request is used to instruct at least one second cleaning robot to perform cleaning operations on the corresponding sub-area.
步骤407，接收第二清洁机器人发送的清洁作业信息。Step 407: Receive the cleaning job information sent by the second cleaning robot.
也就是说，每个第二清洁机器人在完成对应子区域的第二清理阶段的清洁作业时，向云端服务器发送清洁作业信息，该清洁作业信息用于指示第二清洁机器人已完成第二清理阶段清洁作业的子区域的标识信息。That is to say, when each second cleaning robot completes the cleaning operation of the second cleaning stage of the corresponding sub-area, it sends cleaning operation information to the cloud server. The cleaning operation information is used to indicate that the second cleaning robot has completed the second cleaning stage. Identification information for the subarea of the cleaning operation.
步骤408，将当前已完成作业的子区域的标识信息添加至等待队列。Step 408: Add the identification information of the sub-area of the currently completed job to the waiting queue.
步骤409，响应于等待队列中当前存放的标识信息个数与子区域个数一致，进入第三清理阶段，并删除等待队列。Step 409: In response to the number of identification information currently stored in the waiting queue being consistent with the number of sub-regions, enter the third cleaning stage and delete the waiting queue.
可以理解，等待队列中的子区域的标识信息均为当前已完成第二清理阶段作业的子区域的标识信息，若等待队列中当前存放的标识信息的个数与执行区域中包含的子区域的个数一致，则说明执行区域中包含的所有子区域的第二清理阶段的清洁作业均已完成，所以可以进入第三清理阶段。It can be understood that the identification information of the sub-regions in the waiting queue is the identification information of the sub-region that has currently completed the second cleaning phase operation. If the number of identification information currently stored in the waiting queue is different from the number of sub-regions included in the execution area, If the numbers are consistent, it means that the cleaning operations of the second cleaning stage of all sub-areas included in the execution area have been completed, so the third cleaning stage can be entered.
作为一种示例，可以在每次执行步骤408时，将等待队列中当前存放的标识信息个数与子区域个数进行比对，若等待队列中当前存放的标识信息个数与子区域个数不一致，则继续执行步骤407和步骤408，若等待队列中当前存放的标识信息个数与子区域个数一致，则执行步骤409。As an example, each time step 408 is executed, the number of identification information currently stored in the waiting queue can be compared with the number of sub-regions. If the number of identification information currently stored in the waiting queue and the number of sub-regions If they are inconsistent, continue to execute step 407 and step 408. If the number of identification information currently stored in the waiting queue is consistent with the number of sub-regions, execute step 409.
在本公开的一些实施例中，若随着断的执行清理任务，不断地创建等待队列，则创建的大量等待队列会造成存储空间的占用。又由于第三清理阶段为多个清理阶段中的最后阶段，所以，为了避免存储空间的占用，可以在进入第三清理阶段时，将等待队列删除。In some embodiments of the present disclosure, if waiting queues are continuously created as cleaning tasks are continuously executed, the large number of waiting queues created will occupy storage space. And since the third cleaning stage is the last stage among multiple cleaning stages, in order to avoid occupying storage space, the waiting queue can be deleted when entering the third cleaning stage.
步骤410，向每个子区域内的至少一个第一清洁机器人发送与第三清理阶段对应的第三清洁请求；第三清洁请求用于指示至少一个第一清洁机器人对对应子区域进行清洁作业。Step 410: Send a third cleaning request corresponding to the third cleaning stage to at least one first cleaning robot in each sub-area; the third cleaning request is used to instruct at least one first cleaning robot to perform cleaning operations on the corresponding sub-area.
也就是说，第一清洁机器人除了可以执行第一清理阶段的清洁作业，还可以执行第三阶段的清洁作业，即第一清理阶段和第三清理阶段所执行的清洁作业一致。通过向每个子区域内人至少一个第一清洁机器人发送第三清洁请求，以指示每个子区域内至少一个第一清洁机器人对其负责的子区域进行第三清理阶段的清洁任务。That is to say, in addition to performing the cleaning operation in the first cleaning stage, the first cleaning robot can also perform the cleaning operation in the third stage, that is, the cleaning operations performed in the first cleaning stage and the third cleaning stage are the same. By sending a third cleaning request to at least one first cleaning robot in each sub-area, the at least one first cleaning robot in each sub-area is instructed to perform a cleaning task in the third cleaning stage for the sub-area it is responsible for.
举例而言，若第一清理阶段为拖地阶段、第二清理阶段为扫地阶段、第三清理阶段为拖地阶段，通过拖地、扫地、拖地的有序进行，可以对执行区域进行深度清理，也可以避免扫地阶段灰尘飞舞的现象发生，提升清洁机器人清洁的效果。其实现过程包括：接收到清理任务后，创建等待队列；进入拖地阶段，向执行区域中各子区域中的至少一个拖地机器人发送第一清洁请求；接收已完成对应子区域的清洁作业的拖地机器人发送的子区域的标识信息；将当前已完成作业的子区域的标识信息添加至等待队列；在每次向等待队列中添加标识信息时，均将等待队列中当前存放的标识信息个数与执行区域中子区域的个数进行比对，若等待队列中当前存放的标识信息个数与执行区域中子区域的个数一致，则进入扫地阶段，并将等待队列清空；向每个子区域内的至少一个扫地机器人发送第二清洁请求，以使每个子区域内的至少一个扫地机器人对对应子区域进行扫地作业；接收已完成对应子区域的清洁工作的扫地机器人发送的子区域的标识信息；将当前已完成作业的子区域的标识信息添加至等待队列中，并在每次向等待队列中添加标识信息时，均将等待队列中当前存放的标识信息个数与执行区域中子区域的个数进行比对；若等待队列中当前存放的标识信息个数与执行区域中子区域的个数一致，则再次进入拖地阶段，并将等待队列删除；向每个子区域内的至少一个拖地机器人发送第三清洁请求，使各子区域内的至少一个拖地机器人对对应子区域进行拖地作业，以完成该清理任务。For example, if the first cleaning stage is a mopping stage, the second cleaning stage is a sweeping stage, and the third cleaning stage is a mopping stage, the execution area can be deeply inspected by mopping, sweeping, and mopping in an orderly manner. Cleaning can also avoid dust flying during the sweeping stage and improve the cleaning effect of the cleaning robot. The implementation process includes: after receiving the cleaning task, creating a waiting queue; entering the mopping stage, sending a first cleaning request to at least one mopping robot in each sub-area in the execution area; receiving a message that has completed the cleaning operation of the corresponding sub-area. The identification information of the sub-area sent by the mopping robot; the identification information of the sub-area that has currently completed the job is added to the waiting queue; each time identification information is added to the waiting queue, the identification information currently stored in the waiting queue is added. Compare the number with the number of sub-regions in the execution area. If the number of identification information currently stored in the waiting queue is consistent with the number of sub-regions in the execution area, the sweeping phase will be entered and the waiting queue will be emptied; to each At least one sweeping robot in the sub-area sends a second cleaning request, so that at least one sweeping robot in each sub-area performs a sweeping operation on the corresponding sub-area; receives the sub-area information sent by the sweeping robot that has completed the cleaning work of the corresponding sub-area. Identification information; add the identification information of the sub-region of the currently completed job to the waiting queue, and every time the identification information is added to the waiting queue, the number of identification information currently stored in the waiting queue and the sub-region in the execution area will be added. Compare the number of areas; if the number of identification information currently stored in the waiting queue is consistent with the number of sub-areas in the execution area, the mopping stage will be entered again, and the waiting queue will be deleted; to each sub-area At least one mopping robot sends a third cleaning request, so that at least one mopping robot in each sub-area performs a mopping operation on the corresponding sub-area to complete the cleaning task.
根据本公开实施例的清洁机器人控制方法，针对多个清理阶段中包括第三清理阶段的情况，在进入第二清理阶段时，清空等待队列，并在向每个子区域内的至少一个第二清洁机器人发送第二清理阶段的请求后，接收第二清洁机器人发送的清洁作业信息，并将当前已完成作业的子区域的标识信息添加至等待队列，在等待队列中的标识信息个数与子区域个数一致时，进入第三清理阶段，并删除等待队列，向每个子区域的至少一个第一清洁机器人发送第三清洁请求，使各子区域中的至少一个第一清洁机器人对对应子区域执行第三清理阶段的清洁任务，从而可以通过等待队列，使清洁任务按照第一清理阶段、第二清理阶段和第三清理阶段的顺序有序进行，也可以进一步提升清洁机器人对执行区域的清洁效果。According to the cleaning robot control method of the embodiment of the present disclosure, for the situation where the third cleaning stage is included in the multiple cleaning stages, when entering the second cleaning stage, the waiting queue is cleared, and at least one second cleaning robot in each sub-area is After the robot sends the request for the second cleaning stage, it receives the cleaning job information sent by the second cleaning robot, and adds the identification information of the sub-area that has currently completed the operation to the waiting queue. The number of identification information in the waiting queue is the same as the number of sub-areas. When the numbers are consistent, enter the third cleaning stage, delete the waiting queue, and send a third cleaning request to at least one first cleaning robot in each sub-area, so that at least one first cleaning robot in each sub-area can respond to the corresponding sub-area. Execute the cleaning tasks in the third cleaning stage, so that the cleaning tasks can be carried out in an orderly manner according to the order of the first cleaning stage, the second cleaning stage and the third cleaning stage through the waiting queue, which can also further improve the cleaning of the execution area by the cleaning robot. Effect.
在一些应用场景中，每个子区域中的至少一个第一清洁机器人可以为多个第一清洁机器人，针对这种情况，本公开提出了又一个实施例。In some application scenarios, at least one first cleaning robot in each sub-area may be multiple first cleaning robots. For this situation, the present disclosure proposes yet another embodiment.
图5是根据一示例性实施例示出的又一种清洁机器人控制方法的流程图。在本公开实施例中，每个子区域中的至少一个第一清洁机器人可以为多个第一清洁机器人，为了避免多个第一清洁机器人之间的清洁工作的重复，可以将多个第一清洁机器人进行主从划分，即多个第一清洁机器人中可以包括第一主清洁机器人和至少一个第一从清洁机器人。第一主清洁机器人是指在该子区域中与云端服务器交互的第一清洁机器人，对该子区域内的主要清洁区域进行清洁工作，而第一从清洁机器人与其对应的子区域内的第一主清洁机器人进行交互，用于对该子区域内除主要清洁区域外的其他区域进行清洁工作。接下来将以多个清理阶段包括第一清理阶段、第二清理阶段和第三清理阶段为例对该方法进行介绍，如图5所述，该方法可以包括以下步骤：Figure 5 is a flow chart of yet another cleaning robot control method according to an exemplary embodiment. In an embodiment of the present disclosure, at least one first cleaning robot in each sub-area may be multiple first cleaning robots. In order to avoid duplication of cleaning work among multiple first cleaning robots, multiple first cleaning robots may be The robots are divided into masters and slaves, that is, the plurality of first cleaning robots may include a first master cleaning robot and at least one first slave cleaning robot. The first master cleaning robot refers to the first cleaning robot that interacts with the cloud server in the sub-area to perform cleaning work on the main cleaning area in the sub-area, and the first slave cleaning robot and the first cleaning robot in the corresponding sub-area The main cleaning robot interacts and is used to clean other areas in the sub-area except the main cleaning area. Next, the method will be introduced using multiple cleaning stages including the first cleaning stage, the second cleaning stage and the third cleaning stage as an example. As shown in Figure 5, the method may include the following steps:
步骤501，响应于接收到的清理任务，生成等待队列；清理任务中包括清理任务的执行区域和多个清理阶段，执行区域包括至少一个子区域，多个清理阶段至少包括第一清理阶段和第二清理阶段。Step 501: In response to the received cleaning task, a waiting queue is generated; the cleaning task includes an execution area of the cleaning task and multiple cleaning stages. The execution area includes at least one sub-area, and the multiple cleaning stages include at least a first cleaning stage and a third cleaning stage. Second cleaning stage.
步骤502，进入第一清理阶段，向每个子区域内的第一主清洁机器人发送与第一清理阶段对应的第一清洁请求；第一清洁请求用于指示第一主清洁机器人对自身负责的清洁区域进行清洁作业，并控制至少一个第一从清洁机器人对第一主清洁机器人的清洁作业进行清洁工作补偿。Step 502, enter the first cleaning stage, and send the first cleaning request corresponding to the first cleaning stage to the first main cleaning robot in each sub-area; the first cleaning request is used to instruct the first main cleaning robot to be responsible for its own cleaning. The cleaning operation is performed in the area, and at least one first slave cleaning robot is controlled to compensate for the cleaning operation of the first master cleaning robot.
在本公开的一些实施例中，云端服务器中可以存储有第一主清洁机器人的注册信息，同时存储有每个第一主清洁机器人对应的子区域。在进入第一清理阶段后，云端服务器可以向每个子区域的第一主清洁机器人发送第一清洁请求。针对某接收到第一清洁请求的第一主清洁机器人，该第一主清洁机器人基于接收到的第一清洁请求确定自身负责的清洁区域，并基于第一清理请求控制与该第一主清洁机器人对应的至少一个第一从清洁机器人对对应子区域中剩余区域进行清洁工作。其中，第一主清洁机器人自身负责的清洁区域可以为对应子区域中的主要清洁区域，比如某子区域的形状为不规则的八变形，其中第一主清洁机器人自身负责的清洁区域可以为该子区域中最大的内接矩形所在的区域，而该子区域中剩余的区域由第一从清洁机器人进行清洁工作。In some embodiments of the present disclosure, the cloud server may store the registration information of the first main cleaning robot, and also store the sub-regions corresponding to each first main cleaning robot. After entering the first cleaning stage, the cloud server may send a first cleaning request to the first main cleaning robot in each sub-area. For a first main cleaning robot that receives a first cleaning request, the first main cleaning robot determines the cleaning area it is responsible for based on the received first cleaning request, and controls the interaction with the first main cleaning robot based on the first cleaning request. The corresponding at least one first slave cleaning robot performs cleaning work on the remaining areas in the corresponding sub-area. Among them, the cleaning area that the first main cleaning robot is responsible for can be the main cleaning area in the corresponding sub-area. For example, the shape of a certain sub-area is an irregular eight-deformation, and the cleaning area that the first main cleaning robot is responsible for can be The area where the largest inscribed rectangle in the sub-area is located, and the remaining area in the sub-area is cleaned by the first slave cleaning robot.
作为一种实施方式，在进入清理阶段，向每个子区域的第一主清洁机器人发送第一清洁请求；针对每个接收到第一清洁请求的第一主清洁机器人，该第一主清洁机器人基于其对应的子区域的地图数据，计算自身负责的清洁区域，并对自身负责的清洁区域进行清洁作业；同时计算该子区域内除自身负责的清洁区域之外的其他清洁区域；确定第一从清洁机器人的数量；将其他清洁区域按照预设的规则，划分为多个其他清洁子区域，且其他清洁子区域的数量与第一从清洁机器人的数量一致；为至少一个第一从清洁机器人一一匹配其他清洁子区域，并按照匹配结果将至少一个其他清洁子区域的地图数据通过无线通信的方式(如4G、蓝牙、WIFI、蜂窝网等)分别发送至对应的第一从清洁机器人；第一从清洁机器人在接收到其他清洁子区域的信息后，执行对对应的其他清洁子区域的清洁工作。As an implementation manner, when entering the cleaning phase, a first cleaning request is sent to the first main cleaning robot in each sub-area; for each first main cleaning robot that receives the first cleaning request, the first main cleaning robot is based on Map data of its corresponding sub-area, calculate the cleaning area it is responsible for, and perform cleaning operations on the cleaning area it is responsible for; at the same time, calculate other cleaning areas in the sub-area except the cleaning area it is responsible for; determine the first step The number of cleaning robots; divide other cleaning areas into multiple other cleaning sub-areas according to preset rules, and the number of other cleaning sub-areas is consistent with the number of first slave cleaning robots; for at least one first slave cleaning robot 1. Match other cleaning sub-areas, and send the map data of at least one other cleaning sub-area to the corresponding first slave cleaning robot through wireless communication (such as 4G, Bluetooth, WIFI, cellular network, etc.) according to the matching results; After receiving information from other cleaning sub-areas, a slave cleaning robot performs cleaning work on the corresponding other cleaning sub-areas.
作为另一种实施方式，针对每个接收到第一清洁请求的第一主清洁机器人，若对应的子区域的第一从清洁机器人的数量为一个，该第一主清洁机器人基于其对应的子区域的地图数据，计算自身负责的清洁区域，并对自身负责的清洁区域进行清洁作业；同时将自身负责的清洁区域的地图信息和该子区域的地图信息发送至第一从清洁机器人；第一从清洁机器人在接收到第一主清洁机器人发送的地图信息后，计算自身负责清洁的区域，并对自身负责清洁的区域进行清洁作业。As another implementation manner, for each first master cleaning robot that receives the first cleaning request, if the number of first slave cleaning robots in the corresponding sub-area is one, the first master cleaning robot is based on its corresponding sub-area. The map data of the area, calculates the cleaning area it is responsible for, and performs cleaning operations on the cleaning area it is responsible for; at the same time, it sends the map information of the cleaning area it is responsible for and the map information of the sub-area to the first slave cleaning robot; After receiving the map information sent by the first master cleaning robot, the slave cleaning robot calculates the area it is responsible for cleaning, and performs cleaning operations on the area it is responsible for cleaning.
步骤503，接收第一主清洁机器人发送的清洁作业信息，清洁作业信息用于指示当前已完成作业的子区域的标识信息。Step 503: Receive cleaning job information sent by the first main cleaning robot. The cleaning job information is used to indicate the identification information of the sub-area in which the job has been completed.
也就是说，若某子区域的第一清理阶段的清理作业已完成，则第一主清洁机器人发送清洁作业信息，即第一主清洁机器人在自身的清理作业已完成且对应的至少第一从清洁机器人的清理作业均已完成时，向云端服务器发送清洁作业信息。That is to say, if the cleaning operation of the first cleaning stage of a certain sub-area has been completed, the first main cleaning robot sends cleaning operation information, that is, the first main cleaning robot has completed its own cleaning operation and the corresponding at least first slave When all cleaning operations of the cleaning robot are completed, cleaning operation information is sent to the cloud server.
在本公开的一些实施例中，对于执行区域中的每个子区域，在该子区域中的每个第一从清洁机器人的清理作为完成时，均向该子区域中的第一主清洁机器人发送作业完成信息；该子区域的第一主清洁机器人在自身清洁作业完成时，判断已接收到的作业完成信息的数量是否与该子区域内的第一从清洁机器人的数量一致，若已接收到的作业完成信息的数量与该子区域内的第一从清洁机器人的数量不一致，在每次接收到作业完成信息时，继续判断已接收到的作业完成信息的数量是否与该子区域内的第一从清洁机器人的数量一致；直至已接收到的作业完成信息的数量与该子区域内的第一从清洁机器人的数量一致，第一主清洁机器人向云端服务器发送清洁作业信息。In some embodiments of the present disclosure, for each sub-region in the execution area, when the cleaning of each first slave cleaning robot in the sub-region is completed, a message is sent to the first master cleaning robot in the sub-region. Job completion information; when the first master cleaning robot in the sub-area completes its own cleaning operation, it determines whether the number of received job completion messages is consistent with the number of the first slave cleaning robots in the sub-area. If it has received The number of job completion information is inconsistent with the number of the first slave cleaning robot in the sub-area. Each time the job completion information is received, continue to determine whether the number of received job completion information is consistent with the number of the first slave cleaning robot in the sub-area. The number of first slave cleaning robots is consistent; until the number of received job completion information is consistent with the number of first slave cleaning robots in the sub-area, the first master cleaning robot sends cleaning job information to the cloud server.
步骤504，将当前已完成作业的子区域的标识信息添加至等待队列。Step 504: Add the identification information of the sub-area of the currently completed job to the waiting queue.
步骤505，响应于等待队列中当前存放的标识信息个数与子区域个数一致，进入第二清理阶段，并删除等待队列。Step 505: In response to the number of identification information currently stored in the waiting queue being consistent with the number of sub-regions, enter the second cleaning stage and delete the waiting queue.
步骤506，向每个子区域内的至少一个第二清洁机器人发送与第二清理阶段对应的第二清洁请求；第二清洁请求用于指示至少一个第二清洁机器人对对应子区域进行清洁作业。Step 506: Send a second cleaning request corresponding to the second cleaning stage to at least one second cleaning robot in each sub-area; the second cleaning request is used to instruct at least one second cleaning robot to perform cleaning operations on the corresponding sub-area.
可以理解，若每个子区域内的第二清洁机器人的数量为多个，也可以为第二清洁机器人设定主从关系。对于每个子区域内的多个第二清洁机器人包括第二主清洁机器人和至少一个第二从清洁机器人。It can be understood that if there are multiple second cleaning robots in each sub-area, a master-slave relationship can also be set for the second cleaning robots. The plurality of second cleaning robots in each sub-area include a second master cleaning robot and at least one second slave cleaning robot.
也就是说，若每个子区域的第二清洁机器人的数量为多个时，步骤506的执行过程可以包括：向每个子区域的第二主清洁机器人发送与第二清理阶段对应的第二清洁请求；其中，第二清洁请求用于指示第二主清洁机器人对自身负责的清洁区域进行清洁工作，并控制至少一个第二从清洁机器人对第二主清洁机器人的清洁作业进行清洁工作补偿。That is to say, if the number of second cleaning robots in each sub-area is multiple, the execution process of step 506 may include: sending a second cleaning request corresponding to the second cleaning stage to the second main cleaning robot in each sub-area. ; Wherein, the second cleaning request is used to instruct the second master cleaning robot to clean the cleaning area it is responsible for, and to control at least one second slave cleaning robot to compensate for the cleaning work of the second master cleaning robot.
步骤507，接收第二清洁机器人发送的清洁作业信息。Step 507: Receive the cleaning job information sent by the second cleaning robot.
需要说明的是，若每个子区域中包括多个第二清洁机器人，且多个第二清洁机器人中包括第二主清洁机器人和至少一个第二从清洁机器人，这种情况下步骤506的实现过程为接收第二主清洁机器人发送的清洁作业信息。It should be noted that if each sub-area includes multiple second cleaning robots, and the multiple second cleaning robots include a second master cleaning robot and at least one second slave cleaning robot, in this case, the implementation process of step 506 To receive the cleaning job information sent by the second main cleaning robot.
也就是说，若某子区域的第二清理阶段的清理作业已完成，则第二主清洁机器人发送清洁作业信息，即第二主清洁机器人在自身的清理作业已完成且对应的至少第二从清洁机器人的清理作业均已完成时，向云端服务器发送清洁作业信息。That is to say, if the cleaning operation of the second cleaning stage of a certain sub-area has been completed, the second main cleaning robot sends cleaning operation information, that is, the second main cleaning robot has completed its own cleaning operation and the corresponding at least second slave When all cleaning operations of the cleaning robot are completed, cleaning operation information is sent to the cloud server.
步骤508，将当前已完成作业的子区域的标识信息添加至等待队列。Step 508: Add the identification information of the sub-area of the currently completed job to the waiting queue.
步骤509，响应于等待队列中当前存放的标识信息个数与子区域个数一致，进入第三清理阶段，并删除等待队列。Step 509: In response to the number of identification information currently stored in the waiting queue being consistent with the number of sub-regions, enter the third cleaning stage and delete the waiting queue.
步骤510，向每个子区域内的至少一个第一清洁机器人发送与第三清理阶段对应的第三清洁请求；第三清洁请求用于指示至少一个第一清洁机器人对对应子区域进行清洁作业。Step 510: Send a third cleaning request corresponding to the third cleaning stage to at least one first cleaning robot in each sub-area; the third cleaning request is used to instruct at least one first cleaning robot to perform cleaning operations on the corresponding sub-area.
在本公开的一些实施中，若每个子区域内的第一清洁机器人的数量为多个，且每个子区域内的多个第一清洁机器人包括第一主清洁机器人和至少一个第一从清洁机器人，步骤510的执行过程可以包括：向每个子区域的第一主清洁机器人发送与第三清理阶段对应的第三清洁请求；其中，第三清洁请求用于指示第一主清洁机器人对自身负责的清洁区域进行清洁工作，并控制至少一个第一从清洁机器人对第一主清洁机器人的清洁作业进行清洁工作补偿。In some implementations of the present disclosure, if the number of first cleaning robots in each sub-area is multiple, and the multiple first cleaning robots in each sub-area include a first master cleaning robot and at least one first slave cleaning robot , the execution process of step 510 may include: sending a third cleaning request corresponding to the third cleaning stage to the first main cleaning robot in each sub-area; wherein the third cleaning request is used to indicate that the first main cleaning robot is responsible for itself The cleaning area is cleaned, and at least one first slave cleaning robot is controlled to compensate for the cleaning operation of the first master cleaning robot.
根据本公开实施例的清洁机器人控制方法，对于每个子区域中包括多个第一清洁机器人的情况，将多个第一清洁机器人划分为第一主清洁机器人和至少一个第一从清洁机器人，在第一清理阶段，向每个子区域内的第一主清洁机器人发送第一清理阶段对应的第一清洁请求，以使第一主清洁机器人对自身负责的清洁区域进行清洁作业，同时至少一个第一从清洁机器人对第一主清洁机器人的清洁作业进行清洁工作补偿，以合理分配清洁作业，避免子区域内存在多个第一清洁机器人时出现重复清洁的问题，从而可以进一步提升清洁机器人的清洁效率。According to the cleaning robot control method of the embodiment of the present disclosure, for the situation that each sub-area includes a plurality of first cleaning robots, the plurality of first cleaning robots are divided into a first master cleaning robot and at least one first slave cleaning robot, in In the first cleaning stage, a first cleaning request corresponding to the first cleaning stage is sent to the first main cleaning robot in each sub-area, so that the first main cleaning robot performs cleaning operations on the cleaning area it is responsible for, and at least one first The cleaning robot compensates the cleaning work of the first main cleaning robot to reasonably distribute the cleaning work and avoid the problem of repeated cleaning when there are multiple first cleaning robots in the sub-area, thereby further improving the cleaning efficiency of the cleaning robot. .
针对每个子区域中的第一清洁机器人的数量为多个情况，本公开提出了又一个实施例。For the case where the number of first cleaning robots in each sub-area is multiple, the present disclosure proposes yet another embodiment.
图6是根据一示例性实施例示出的又一种清洁机器人控制方法的流程图。在本公开实施例中，每个子区域中的至少一个第一清洁机器人可以为多个第一清洁机器人，为了避免多个第一清洁机器人之间的清洁工作的重复，可以将多个第一清洁机器人进行主从划分，即多个第一清洁机器人中可以包括第一主清洁机器人和至少一个第一从清洁机器人。其中，第一主清洁机器人和第一从清洁机器人均注册在云端服务器中，第一主清洁机器人用于对该子区域内的主要清洁区域进行清洁工作，而第一从清洁机器人用于对该子区域内次要清洁区域进行清洁工作。接下来将以多个清理阶段包括第一清理阶段、第二清理阶段和第三清理阶段为例对该方法进行介绍，如图6所述，该方法可以包括以下步骤：FIG. 6 is a flow chart of yet another cleaning robot control method according to an exemplary embodiment. In an embodiment of the present disclosure, at least one first cleaning robot in each sub-area may be multiple first cleaning robots. In order to avoid duplication of cleaning work among multiple first cleaning robots, multiple first cleaning robots may be The robots are divided into masters and slaves, that is, the plurality of first cleaning robots may include a first master cleaning robot and at least one first slave cleaning robot. Among them, the first master cleaning robot and the first slave cleaning robot are both registered in the cloud server. The first master cleaning robot is used to clean the main cleaning area in the sub-area, and the first slave cleaning robot is used to clean the main cleaning area in the sub-area. Cleaning work is carried out in the secondary cleaning area within the sub-area. Next, the method will be introduced using multiple cleaning stages including the first cleaning stage, the second cleaning stage and the third cleaning stage as an example. As shown in Figure 6, the method may include the following steps:
步骤601，响应于接收到的清理任务，生成等待队列；清理任务中包括清理任务的执行区域和多个清理阶段，执行区域包括至少一个子区域，多个清理阶段至少包括第一清理阶段和第二清理阶段。Step 601: In response to the received cleaning task, a waiting queue is generated; the cleaning task includes an execution area of the cleaning task and multiple cleaning stages. The execution area includes at least one sub-area, and the multiple cleaning stages include at least a first cleaning stage and a third cleaning stage. Second cleaning stage.
步骤602，进入第一清理阶段，向每个所述子区域内的第一主清洁机器人和至少一个第一从清洁机器人发送主机清洁任务和从机清洁任务。Step 602: Enter the first cleaning stage, and send the master cleaning task and the slave cleaning task to the first master cleaning robot and at least one first slave cleaning robot in each sub-area.
在本公开的一些实施例中，云端服务器中可以存储有所以第一主清洁机器人的注册信息和每个第一主清洁机器人对应的至少一个第一从清洁机器人的注册信息，以及每个第一主清洁机器人和每个第一主清洁机器人对应的至少一个第一从清洁机器人与子区域的对应关系。在进入第一清理阶段后，云端服务器可以基于每个子区域的地图信息，以及每个子区域中第一从清洁机器人的数量，计算每个子区域的第一主清洁机器人的主机清洁任务和每个第一从机器人的从机清洁任务，并将主机清洁任务和从机清洁任务分别发送至对应的第一主清洁机器人和第一从清洁机器人。In some embodiments of the present disclosure, the cloud server may store the registration information of all first master cleaning robots and the registration information of at least one first slave cleaning robot corresponding to each first master cleaning robot, and each first slave cleaning robot. Correspondence between the master cleaning robot and at least one first slave cleaning robot corresponding to each first master cleaning robot and the sub-area. After entering the first cleaning stage, the cloud server can calculate the host cleaning tasks of the first master cleaning robot in each sub-area and the host cleaning tasks of each sub-area based on the map information of each sub-area and the number of first slave cleaning robots in each sub-area. A slave robot has a slave cleaning task, and sends the master cleaning task and the slave cleaning task to the corresponding first master cleaning robot and the first slave cleaning robot respectively.
步骤603，接收第一清洁机器人发送的清洁作业信息，清洁作业信息用于指示当前已完成作业的子区域的标识信息。Step 603: Receive cleaning job information sent by the first cleaning robot. The cleaning job information is used to indicate the identification information of the sub-area in which the job has been completed.
在本公开的一些实实施例中，由于每个子区域中包括第一主清洁机器人和至少一个第一从机器人，则步骤603的实现过程可以包括以下步骤：In some embodiments of the present disclosure, since each sub-area includes a first master cleaning robot and at least one first slave robot, the implementation process of step 603 may include the following steps:
步骤603-1，接收第一从清洁机器人发送的从机清洁任务完成信息，并将从机清洁任务完成信息进行存储。Step 603-1: Receive the slave cleaning task completion information sent by the first slave cleaning robot, and store the slave cleaning task completion information.
也就是说，第一从清洁机器人在完成清洁作业后，向云端服务器发送从机清洁任务完成信息That is to say, after completing the cleaning operation, the first slave cleaning robot sends slave cleaning task completion information to the cloud server.
作为一种示例，云端服务器可以生成执行区域中每个子区域第一主清洁机器人的机器人标识，且云端服务器中为机器人标识预设从机清洁任务完成信息的存储路径；在接收到第一从清洁机器人发送的从机清洁任务完成信息后，确定该第一从清洁机器人对应的第一主清洁机器人的机器人标识；将从机清洁任务完成信息存储至该机器人标识对应的存储路径下。As an example, the cloud server can generate the robot identification of the first master cleaning robot in each sub-area in the execution area, and the cloud server presets a storage path for the slave cleaning task completion information for the robot identification; after receiving the first slave cleaning robot After the robot sends the slave cleaning task completion information, the robot identification of the first master cleaning robot corresponding to the first slave cleaning robot is determined; the slave cleaning task completion information is stored in the storage path corresponding to the robot identification.
步骤603-2，周期性地将当前存储的第一从清洁机器人的从机清洁任务完成信息发送给对应的第一主清洁机器人；其中，对应的第一主清洁机器人用于在完成主机清洁任务，且基于接收到的从机清洁任务完成信息确定对应的所有第一从清洁机器人全部完成从机清洁任务时，发送清洁作业信息。Step 603-2: Periodically send the currently stored slave cleaning task completion information of the first slave cleaning robot to the corresponding first master cleaning robot; wherein the corresponding first master cleaning robot is used to complete the host cleaning task. , and when it is determined that all corresponding first slave cleaning robots have completed the slave cleaning tasks based on the received slave cleaning task completion information, the cleaning job information is sent.
作为一种示例，第一主清洁机器人在完成主机清洁任务后，周期性地向云端服务器发送获取从机执行进度的请求；云端服务器在接收到第一主清洁机器人发送的获取从机执行进度的请求后，确定该第一主清洁机器人的机器人标识，并在该机器人标识对应的从机清洁任务完成信息的存储路径下，获取该第一主清洁机器人对应的至少一个第一从清洁机器人的从机清洁任务完成信息；针对第一主清洁机器人周期性的请求，云端服务器向第一主清洁机器人周期性地发送第一从清洁机器人的从机清洁任务完成信息；若第一主清洁机器人根据接收到的从机清洁任务完成信息，确定其对应的所有第一从清洁机器人是否均已完成从机清洁任务，在其对应的所有第一从清洁机器人均已完成从机清洁任务时，向云端服务器发送清洁作业信息。As an example, after completing the host cleaning task, the first master cleaning robot periodically sends a request to obtain the slave machine execution progress to the cloud server; the cloud server receives a request to obtain the slave machine execution progress sent by the first master cleaning robot. After the request, the robot identification of the first master cleaning robot is determined, and the slave cleaning robot corresponding to the first master cleaning robot is obtained under the storage path of the slave cleaning task completion information corresponding to the robot identification. machine cleaning task completion information; in response to periodic requests from the first master cleaning robot, the cloud server periodically sends slave cleaning task completion information of the first slave cleaning robot to the first master cleaning robot; if the first master cleaning robot receives After receiving the slave machine cleaning task completion information, determine whether all the corresponding first slave cleaning robots have completed the slave machine cleaning task, and when all the corresponding first slave cleaning robots have completed the slave machine cleaning task, report to the cloud server Send cleaning job information.
步骤603-3，接收对应的第一主清洁机器人发送的清洁作业信息。Step 603-3: Receive the cleaning job information sent by the corresponding first main cleaning robot.
步骤604，将当前已完成作业的子区域的标识信息添加至等待队列。Step 604: Add the identification information of the sub-area of the currently completed job to the waiting queue.
步骤605，响应于等待队列中当前存放的标识信息个数与子区域个数一致，进入第二清理阶段，并删除等待队列。Step 605: In response to the number of identification information currently stored in the waiting queue being consistent with the number of sub-regions, enter the second cleaning stage and delete the waiting queue.
步骤606，向每个子区域内的至少一个第二清洁机器人发送与第二清理阶段对应的第二清洁请求；第二清洁请求用于指示至少一个第二清洁机器人对对应子区域进行清洁作业。Step 606: Send a second cleaning request corresponding to the second cleaning stage to at least one second cleaning robot in each sub-area; the second cleaning request is used to instruct at least one second cleaning robot to perform cleaning operations on the corresponding sub-area.
在本公开的一些实施例中，若每个子区域内的第二清洁机器人的数量为多个，也可以为第二清洁机器人设定主从关系，并且每个第二主清洁机器人和第二从清洁机器人均注册在云端服务器中，该步骤606的实现过程可以包括：向每个子区域的第二主清洁机器人和至少一个第二从清洁机器人发送主机清洁任务和从机清洁任务。In some embodiments of the present disclosure, if the number of second cleaning robots in each sub-area is multiple, a master-slave relationship can also be set for the second cleaning robots, and each second master cleaning robot and the second slave The cleaning robots are all registered in the cloud server. The implementation process of step 606 may include: sending the master cleaning task and the slave cleaning task to the second master cleaning robot and at least one second slave cleaning robot in each sub-area.
步骤607，接收第二清洁机器人发送的清洁作业信息。Step 607: Receive the cleaning job information sent by the second cleaning robot.
在本公开的一些实施例中，若每个子区域中包括多个第二清洁机器人，且多个第二清洁机器人中包括第二主清洁机器人和至少一个第二从清洁机器人，则步骤607的实现过程可以包括：接收第二从清洁机器人发送的从机清洁任务完成信息，并将从机任务完成信息进行存储；周期性地将当前存储的第二从清洁机器人的从机清洁任务完成信息发送给对应的第二主清洁机器人，其中，对应的第二主清洁机器人用于在完成主机清洁任务，且基于接收到的从机清洁任务完成信息确定对应的多页第二从清洁机器人全部完成从机清洁任务时，发送清洁作业信息。In some embodiments of the present disclosure, if each sub-area includes a plurality of second cleaning robots, and the plurality of second cleaning robots include a second master cleaning robot and at least one second slave cleaning robot, then the implementation of step 607 The process may include: receiving the slave cleaning task completion information sent by the second slave cleaning robot, and storing the slave task completion information; periodically sending the currently stored slave cleaning task completion information of the second slave cleaning robot to The corresponding second master cleaning robot, wherein the corresponding second master cleaning robot is used to complete the host cleaning task, and based on the received slave cleaning task completion information, it is determined that the corresponding multiple pages of the second slave cleaning robot have all completed the slave During the cleaning task, the cleaning job information is sent.
步骤608，将当前已完成作业的子区域的标识信息添加至等待队列。Step 608: Add the identification information of the sub-area of the currently completed job to the waiting queue.
步骤609，响应于等待队列中当前存放的标识信息个数与子区域个数一致，进入第三清理阶段，并删除等待队列。Step 609: In response to the number of identification information currently stored in the waiting queue being consistent with the number of sub-regions, enter the third cleaning stage and delete the waiting queue.
步骤610，向每个子区域内的至少一个第一清洁机器人发送与第三清理阶段对应的第三清洁请求；第三清洁请求用于指示至少一个第一清洁机器人对对应子区域进行清洁作业。Step 610: Send a third cleaning request corresponding to the third cleaning stage to at least one first cleaning robot in each sub-area; the third cleaning request is used to instruct at least one first cleaning robot to perform cleaning operations on the corresponding sub-area.
在本公开的一些实施中，若每个子区域内的第一清洁机器人的数量为多个，且每个子区域内的多个第一清洁机器人包括第一主清洁机器人和至少一个第一从清洁机器人，步骤610的执行过程可以包括：向每个子区域的第一主清洁机器人和第一从清洁机器人发送主机清洁任务和从机清洁任务。In some implementations of the present disclosure, if the number of first cleaning robots in each sub-area is multiple, and the multiple first cleaning robots in each sub-area include a first master cleaning robot and at least one first slave cleaning robot , the execution process of step 610 may include: sending the master cleaning task and the slave cleaning task to the first master cleaning robot and the first slave cleaning robot in each sub-area.
根据本公开实施例的清洁机器人控制方法，对于每个子区域中包括多个第一清洁机器人的情况，将多个第一清洁机器人划分为第一主清洁机器人和至少一个第一从清洁机器人，在第一清理阶段，向每个子区域内的第一主清洁机器人和至少一个第一从清洁机器人发送主机清洁任务和从机清洁任务，并接收第一从清洁机器人发送的从机清洁任务完成信息，并将从机清洁任务完成信息进行存储，周期性地将当前存储的第一从清洁机器人的从机清洁任务完成信息发送给对应的第一主清洁机器人，并接收对应的第一主清洁机器人发送的清洁作业信息，以避免子区域内存在多个第一清洁机器人时出现重复清洁的问题，从而可以进一步提升清洁机器人的清洁效率。According to the cleaning robot control method of the embodiment of the present disclosure, for the situation that each sub-area includes a plurality of first cleaning robots, the plurality of first cleaning robots are divided into a first master cleaning robot and at least one first slave cleaning robot, in In the first cleaning stage, send the master cleaning task and the slave cleaning task to the first master cleaning robot and at least one first slave cleaning robot in each sub-area, and receive the slave cleaning task completion information sent by the first slave cleaning robot, And store the slave cleaning task completion information, periodically send the currently stored slave cleaning task completion information of the first slave cleaning robot to the corresponding first master cleaning robot, and receive the transmission from the corresponding first master cleaning robot. Cleaning operation information to avoid repeated cleaning problems when there are multiple first cleaning robots in the sub-area, thereby further improving the cleaning efficiency of the cleaning robots.
为了实现上述实施例，本公开提供了一种清洁机器人控制装置。In order to implement the above embodiments, the present disclosure provides a cleaning robot control device.
图7是根据一示例性实施例示出的一种清洁机器人控制装置的结构框图。如图7所示，该装置可以包括：Figure 7 is a structural block diagram of a cleaning robot control device according to an exemplary embodiment. As shown in Figure 7, the device may include:
生成模块710，用于在接收到的清理任务时，生成等待队列；清理任务中包括清理任务的执行区域和多个清理阶段，执行区域包括至少一个子区域，多个清理阶段至少包括第一清理阶段和第二清理阶段；The generation module 710 is configured to generate a waiting queue when receiving a cleaning task; the cleaning task includes an execution area of the cleaning task and multiple cleaning stages. The execution area includes at least one sub-area, and the multiple cleaning stages include at least the first cleaning stage. stage and second cleanup stage;
控制模块720，用于基于等待队列当前存放的信息和多个清理阶段，对每个子区域内的至少一个第一清洁机器人和每个子区域内的至少一个第二清洁机器人进行作业控制；其中，等待队列用于存放第一清理阶段当前已完成作业的子区域的标识信息。The control module 720 is used to perform job control on at least one first cleaning robot in each sub-area and at least one second cleaning robot in each sub-area based on the information currently stored in the waiting queue and multiple cleaning stages; wherein, waiting The queue is used to store the identification information of the sub-area of the currently completed job in the first cleaning stage.
在本公开的一些实施例中，控制模块720具体用于：In some embodiments of the present disclosure, the control module 720 is specifically used to:
控制每个子区域内与第一清理阶段对应的清洁机器人进行清洁作业，并基于等待队列当前存放的信息，检查第一清理阶段各子区域的作业完成进度，以及在第一清理阶段各子区域均完成作业时，控制每个子区域内与第二清理阶段对应的清洁机器人进行清洁作业。Control the cleaning robot corresponding to the first cleaning stage in each sub-area to perform cleaning operations, and check the completion progress of each sub-area in the first cleaning stage based on the information currently stored in the waiting queue, and check the completion progress of each sub-area in the first cleaning stage. When the operation is completed, the cleaning robot corresponding to the second cleaning stage in each sub-area is controlled to perform the cleaning operation.
在本公开的一些实施例汇总，控制模块720包括：In some embodiments of the present disclosure, the control module 720 includes:
第一发送单元721，用于进入第一清理阶段，向每个子区域内的至少一个第一清洁机器人发送与第一清理阶段对应的第一清洁请求；第一清洁请求用于指示至少一个第一清洁机器人对对应子区域进行清洁作业；The first sending unit 721 is used to enter the first cleaning stage and send a first cleaning request corresponding to the first cleaning stage to at least one first cleaning robot in each sub-area; the first cleaning request is used to indicate at least one first cleaning robot. The cleaning robot performs cleaning operations on the corresponding sub-area;
第一接收单元722，用于接收第一清洁机器人发送的清洁作业信息，清洁作业信息用于指示当前已完成作业的子区域的标识信息；The first receiving unit 722 is configured to receive cleaning job information sent by the first cleaning robot, where the cleaning job information is used to indicate the identification information of the sub-area in which the job has been currently completed;
第一添加单元723，用于将当前已完成作业的子区域的标识信息添加至等待队列；The first adding unit 723 is used to add the identification information of the sub-area of the currently completed job to the waiting queue;
第一删除单元724，用于在等待队列中当前存放的标识信息个数与子区域个数一致时，进入第二清理阶段，并删除等待队列；The first deletion unit 724 is used to enter the second cleaning stage and delete the waiting queue when the number of identification information currently stored in the waiting queue is consistent with the number of sub-regions;
第二发送单元725，用于向每个子区域内的至少一个第二清洁机器人发送与第二清理阶段对应的第二清洁请求；第二清洁请求用于指示至少一个第二清洁机器人对对应子区域进行清洁作业。The second sending unit 725 is used to send a second cleaning request corresponding to the second cleaning stage to at least one second cleaning robot in each sub-area; the second cleaning request is used to instruct at least one second cleaning robot to respond to the corresponding sub-area. Carry out cleaning operations.
在本公开的另一些实施例中，多个清理阶段还包括第三清理阶段；第一删除单元724具体用于：In other embodiments of the present disclosure, the multiple cleaning stages also include a third cleaning stage; the first deletion unit 724 is specifically used to:
在等待队列中当前存放的标识信息个数与子区域个数一致时，进入第二清理阶段，并清空等待队列；When the number of identification information currently stored in the waiting queue is consistent with the number of sub-regions, the second cleaning stage is entered and the waiting queue is cleared;
其中，控制模块720还包括：Among them, the control module 720 also includes:
第二接收单元725，用于在向每个子区域内的至少一个第二清洁机器人发送与第二清理阶段对应的第二清洁请求之后，接收第二清洁机器人发送的清洁作业信息；The second receiving unit 725 is configured to receive the cleaning job information sent by the second cleaning robot after sending a second cleaning request corresponding to the second cleaning stage to at least one second cleaning robot in each sub-area;
第二添加单元726，用于将当前已完成作业的子区域的标识信息添加至等待队列；The second adding unit 726 is used to add the identification information of the sub-area of the currently completed job to the waiting queue;
第二删除单元727，用于在等待队列中当前存放的标识信息个数与子区域个数一致时，进入第三清理阶段，并删除等待队列；The second deletion unit 727 is used to enter the third cleaning stage and delete the waiting queue when the number of identification information currently stored in the waiting queue is consistent with the number of sub-regions;
第三发送单元728，用于向每个子区域内的至少一个第一清洁机器人发送与第三清理阶段对应的第三清洁请求；第三清洁请求用于指示至少一个第一清洁机器人对对应子区域进行清洁作业。The third sending unit 728 is used to send a third cleaning request corresponding to the third cleaning stage to at least one first cleaning robot in each sub-area; the third cleaning request is used to instruct at least one first cleaning robot to respond to the corresponding sub-area. Carry out cleaning operations.
作为一种可能的实现方式，至少一个第一清洁机器人为多个第一清洁机器人，多个第一清洁机器人包括第一主清洁机器人和至少一个第一从清洁机器人；As a possible implementation, at least one first cleaning robot is a plurality of first cleaning robots, and the plurality of first cleaning robots include a first master cleaning robot and at least one first slave cleaning robot;
其中，第一发送单元721具体用于：Among them, the first sending unit 721 is specifically used for:
向每个子区域内的第一主清洁机器人发送与第一清理阶段对应的第一清洁请求；第一清洁请求用于指示第一主清洁机器人对自身负责的清洁区域进行清洁作业，并控制至少一个第一从清洁机器人对第一主清洁机器人的清洁作业进行清洁工作补偿；Send a first cleaning request corresponding to the first cleaning stage to the first main cleaning robot in each sub-area; the first cleaning request is used to instruct the first main cleaning robot to perform cleaning operations on the cleaning area it is responsible for, and to control at least one The first slave cleaning robot performs cleaning work compensation for the cleaning work of the first master cleaning robot;
其中，第一接收单元722具体用于：Among them, the first receiving unit 722 is specifically used for:
接收第一主清洁机器人发送的清洁作业信息。Receive cleaning job information sent by the first main cleaning robot.
作为另一种可能的实现方式，至少一个第一清洁机器人为多个第一清洁机器人，多个第一清洁机器人包括第一主清洁机器人和至少一个第一从清洁机器人；As another possible implementation, at least one first cleaning robot is a plurality of first cleaning robots, and the plurality of first cleaning robots include a first master cleaning robot and at least one first slave cleaning robot;
其中，第一发送单元721还用于：Among them, the first sending unit 721 is also used for:
向每个子区域内的第一主清洁机器人和至少一个第一从清洁机器人发送主机清洁任务和从机清洁任务；sending the master cleaning task and the slave cleaning task to the first master cleaning robot and at least one first slave cleaning robot in each sub-area;
其中，第一接收单元722还用于：Among them, the first receiving unit 722 is also used for:
接收第一从清洁机器人发送的从机清洁任务完成信息，并将从机清洁任务完成信息进行存储；Receive the slave cleaning task completion information sent by the first slave cleaning robot, and store the slave cleaning task completion information;
周期性地将当前存储的第一从清洁机器人的从机清洁任务完成信息发送给对应的第一主清洁机器人；其中，对应的第一主清洁机器人用于在完成主机清洁任务，且基于接收到的从机清洁任务完成信息确定对应的所有第一从清洁机器人全部完成从机清洁任务时，发送清洁作业信息；Periodically send the currently stored slave cleaning task completion information of the first slave cleaning robot to the corresponding first master cleaning robot; wherein the corresponding first master cleaning robot is used to complete the host cleaning task, and based on the received When the slave cleaning task completion information determines that all corresponding first slave cleaning robots have completed the slave cleaning tasks, the cleaning job information is sent;
接收对应的第一主清洁机器人发送的清洁作业信息。Receive cleaning job information sent by the corresponding first main cleaning robot.
根据本公开实施例的清洁机器人控制方法，在接收到多个清理阶段的清理任务时，生成等待队列，其中，等待队列中用于存放第一清理阶段当前已完成作业的子区域的标识信息，根据等待队列当前存放的信息和多个清理阶段，对执行区域中每个子区域内的第一清洁机器人和第二清洁机器人进行控制，也就是说，在本方案中无需第一清洁机器人与第二清洁机器人之间实时共享位置，而基于等待队列中存放的信息和多个清理阶段对各子区域中的清洁机器人进行作业控制，从而不仅可以降低清洁机器人的功耗，也可以提升清洁机器人的清洁效率。According to the cleaning robot control method of the embodiment of the present disclosure, when receiving cleaning tasks for multiple cleaning stages, a waiting queue is generated, wherein the waiting queue is used to store the identification information of the sub-area that has currently completed the job in the first cleaning stage, According to the information currently stored in the waiting queue and multiple cleaning stages, the first cleaning robot and the second cleaning robot in each sub-area of the execution area are controlled. That is to say, in this solution, there is no need for the first cleaning robot and the second cleaning robot. Cleaning robots share their locations in real time, and control the cleaning robots in each sub-area based on the information stored in the waiting queue and multiple cleaning stages. This not only reduces the power consumption of the cleaning robots, but also improves the cleaning performance of the cleaning robots. efficiency.
关于上述实施例中的装置，其中各个模块执行操作的具体方式已经在有关该方法的实施例中进行了详细描述，此处将不做详细阐述说明。Regarding the devices in the above embodiments, the specific manner in which each module performs operations has been described in detail in the embodiments related to the method, and will not be described in detail here.
为了实现上述实施例，本公开提供了一种云端服务器。In order to implement the above embodiments, the present disclosure provides a cloud server.
图8是根据一示例性实施例示出的一种云端服务器800的框图。如图8所示，上述服务器800可以包括：Figure 8 is a block diagram of a cloud server 800 according to an exemplary embodiment. As shown in Figure 8, the above-mentioned server 800 may include:
存储器810及处理器820，连接不同组件(包括存储器810和处理器820)的总线830，存储器810存储有处理器820可执行指令；其中，处理器820被配置为执行所述指令，以实现本公开实施例所述的方法。The memory 810 and the processor 820 are connected to the bus 830 of different components (including the memory 810 and the processor 820). The memory 810 stores instructions executable by the processor 820; wherein the processor 820 is configured to execute the instructions to implement the present invention. The methods described in the disclosed embodiments are disclosed.
总线830表示几类总线结构中的一种或多种，包括存储器总线或者存储器控制器，外围总线，图形加速端口，处理器或者使用多种总线结构中的任意总线结构的局域总线。举例来说，这些体系结构包括但不限于工业标准体系结构(ISA)总线，微通道体系结构(MAC)总线，增强型ISA总线、视频电子标准协会(VESA)局域总线以及外围组件互连(PCI)总线。Bus 830 represents one or more of several types of bus structures, including a memory bus or memory controller, a peripheral bus, a graphics accelerated port, a processor, or a local bus using any of a variety of bus structures. For example, these architectures include, but are not limited to, the Industry Standard Architecture (ISA) bus, the Micro Channel Architecture (MAC) bus, the Enhanced ISA bus, the Video Electronics Standards Association (VESA) local bus, and the Peripheral Component Interconnect ( PCI) bus.
云端服务器800典型地包括多种电子设备可读介质。这些介质可以是任何能够被云端服务器800访问的可用介质，包括易失性和非易失性介质，可移动的和不可移动的介质。存储器810还可以包括易失性存储器形式的计算机系统可读介质，例如随机存取存储器(RAM)840和/或高速缓存存储器850。云端服务器800可以进一步包括其它可移动/不可移动的、易失性/非易失性计算机系统存储介质。仅作为举例，存储系统860可以用于读写不可移动的、非易失性磁介质(图8未显示，通常称为“硬盘驱动器”)。尽管图8中未示出，可以提供用于对可移动非易失性磁盘(例如“软盘”)读写的磁盘驱动器，以及对可移动非易失性光盘(例如CD-ROM,DVD-ROM或者其它光介质)读写的光盘驱动器。在这些情况下，每个驱动器可以通过一个或者多个数据介质接口与总线830相连。存储器810可以包括至少一个程序产品，该程序产品具有一组(例如至少一个)程序模块，这些程序模块被配置以执行本公开各实施例的功能。Cloud server 800 typically includes a variety of electronic device-readable media. These media can be any available media that can be accessed by the cloud server 800, including volatile and non-volatile media, removable and non-removable media. Memory 810 may also include computer system readable media in the form of volatile memory, such as random access memory (RAM) 840 and/or cache memory 850. The cloud server 800 may further include other removable/non-removable, volatile/non-volatile computer system storage media. By way of example only, storage system 860 may be used to read and write to non-removable, non-volatile magnetic media (not shown in Figure 8 and commonly referred to as a "hard drive"). Although not shown in FIG. 8, a disk drive for reading and writing removable non-volatile disks (e.g., "floppy disks"), and removable non-volatile optical disks (e.g., CD-ROM, DVD-ROM) may be provided. or other optical media) that can read and write optical disc drives. In these cases, each drive may be connected to bus 830 through one or more data media interfaces. Memory 810 may include at least one program product having a set (eg, at least one) of program modules configured to perform the functions of embodiments of the present disclosure.
具有一组(至少一个)程序模块870的程序/实用工具880，可以存储在例如存储器810中，这样的程序模块870包括——但不限于——操作系统、一个或者多个应用程序、其它程序模块以及程序数据，这些示例中的每一个或某种组合中可能包括网络环境的实现。程序模块870通常执行本公开所描述的实施例中的功能和/或方法。A program/utility 880 having a set of (at least one) program modules 870, which may be stored, for example, in memory 810, such program modules 870 including, but not limited to, an operating system, one or more applications, other programs Modules, as well as program data, each of these examples or some combination may include an implementation of a network environment. Program modules 870 generally perform functions and/or methods in the embodiments described in this disclosure.
云端服务器800也可以与一个或多个外部设备890(例如键盘、指向设备、显示器891等)通信，还可与一个或者多个使得用户能与该云端服务器800交互的设备通信，和/或与使得该云端服务器800能与一个或多个其它计算设备进行通信的任何设备(例如网卡，调制解调器等等)通信。这种通信可以通过输入/输出(I/O)接口892进行。并且，云端服务器800还可以通过网络适配器893与一个或者多个网络(例如局域网(LAN)，广域网(WAN)和/或公共网络，例如因特网)通信。如图所示，网络适配器893通过总线830与云端服务器800的其它模块通信。应当明白，尽管图中未示出，可以结合云端服务器800使用其它硬件和/或软件模块，包括但不限于：微代码、设备驱动器、冗余处理单元、外部磁盘驱动阵列、RAID系统、磁带驱动器以及数据备份存储系统等。Cloud server 800 may also communicate with one or more external devices 890 (e.g., keyboard, pointing device, display 891, etc.), may also communicate with one or more devices that enable a user to interact with cloud server 800, and/or with Any device (eg, network card, modem, etc.) that enables the cloud server 800 to communicate with one or more other computing devices. This communication may occur through input/output (I/O) interface 892. Moreover, the cloud server 800 can also communicate with one or more networks (such as a local area network (LAN), a wide area network (WAN) and/or a public network, such as the Internet) through a network adapter 893. As shown, network adapter 893 communicates with other modules of cloud server 800 through bus 830. It should be understood that, although not shown in the figures, other hardware and/or software modules may be used in conjunction with cloud server 800, including but not limited to: microcode, device drivers, redundant processing units, external disk drive arrays, RAID systems, tape drives And data backup storage system, etc.
处理器820通过运行存储在存储器810中的程序，从而执行各种功能应用以及数据处理。The processor 820 executes various functional applications and data processing by running programs stored in the memory 810 .
需要说明的是，本实施例的服务器的实施过程和技术原理参见前述对本公开实施例的方法的解释说明，此处不再赘述。It should be noted that, for the implementation process and technical principles of the server in this embodiment, please refer to the foregoing explanation of the method in the embodiment of the present disclosure, and will not be described again here.
为了实现上述实施例，本公开还提出一种计算机可读存储介质。In order to implement the above embodiments, the present disclosure also proposes a computer-readable storage medium.
其中，该计算机可读存储介质中存储有计算机程序，该计算机程序由服务器的处理器执行时，使得服务器能够执行如前所述的方法。Wherein, a computer program is stored in the computer-readable storage medium. When the computer program is executed by a processor of the server, it enables the server to perform the method as described above.
为了实现上述实施例，本公开还提供一种计算机程序产品。该计算机程序产品包括计算机程序，该计算机程序在被服务器的处理器执行时实现如前所述的方法。In order to implement the above embodiments, the present disclosure also provides a computer program product. The computer program product includes a computer program that, when executed by a processor of the server, implements the method as described above.
为了实现上述实施例，本公开还提供了一种清洁机器人控制系统。In order to implement the above embodiments, the present disclosure also provides a cleaning robot control system.
在本公开的一些实施例中，该清洁机器人控制系统包括云端服务器，各子区域中的至少一个第一清洁机器人和各子区域中的至少一个第二清洁机器人。其中，云端服务器为上述实施例中的可实现本公开的实施例中清洁机器人控制方法的云端服务器，第一清洁机器人和第二机器人均注册在云端服务器中，且云端服务器中存储有第一清洁机器人和第二清洁机器人与子区域的对应关系。在该系统中由云端服务器在接收到清理任务后，生成等待队列；该清理任务中包括清理任务的执行区域和多个清理阶段，执行区域包括至少一个子区域，多个清理阶段至少包括第一清理阶段和第二清理阶段；云端服务器基于等待队列当前存储的信息和多个清理阶段，对执行区域中每个子区域内的至少一个第一清洁机器人和执行区域中每个子区域内的至少一个第二清洁机器人进行作业控制；其中，等待队列用于存放第一清理阶段当前已完成作业的子区域的标识信息。In some embodiments of the present disclosure, the cleaning robot control system includes a cloud server, at least one first cleaning robot in each sub-area and at least one second cleaning robot in each sub-area. Wherein, the cloud server is the cloud server in the above embodiment that can implement the cleaning robot control method in the embodiment of the present disclosure. The first cleaning robot and the second robot are both registered in the cloud server, and the first cleaning robot is stored in the cloud server. The corresponding relationship between the robot and the second cleaning robot and the sub-area. In this system, the cloud server generates a waiting queue after receiving the cleaning task; the cleaning task includes an execution area of the cleaning task and multiple cleaning stages. The execution area includes at least one sub-area, and the multiple cleaning stages include at least the first The cleaning phase and the second cleaning phase; the cloud server, based on the information currently stored in the waiting queue and multiple cleaning phases, cleans at least one first cleaning robot in each sub-area of the execution area and at least one first cleaning robot in each sub-area of the execution area. The second cleaning robot performs job control; among them, the waiting queue is used to store the identification information of the sub-area that has currently completed the job in the first cleaning stage.
在本公开的一些实施例中，在该系统中由云端服务器在接收到清理任务后，生成等待队列；该清理任务中包括清理任务的执行区域和多个清理阶段，执行区域包括至少一个子区域，多个清理阶段至少包括第一清理阶段和第二清理阶段；云端服务器控制执行区域中每个子区域内与第一清理阶段对应的清洁机器人进行清洁作业，并基于等待队列当前存放的信息，检查第一清理阶段各子区域的作业完成进度，以及在第一清理阶段各子区域均完成作业时，控制每个子区域内与第二清理阶段对应的清洁机器人进行清洁作业。In some embodiments of the present disclosure, in the system, the cloud server generates a waiting queue after receiving the cleaning task; the cleaning task includes an execution area and multiple cleaning stages of the cleaning task, and the execution area includes at least one sub-area , multiple cleaning stages include at least the first cleaning stage and the second cleaning stage; the cloud server controls the cleaning robot corresponding to the first cleaning stage in each sub-area in the execution area to perform cleaning operations, and based on the information currently stored in the waiting queue, check The completion progress of each sub-area in the first cleaning stage, and when each sub-area in the first cleaning stage completes operations, the cleaning robot corresponding to the second cleaning stage in each sub-area is controlled to perform cleaning operations.
接下来以清理任务的多个清理阶段包括第一清理阶段、第二清理阶段和第三清理阶段为例，对该系统中云端服务器与第一清洁机器人和第二清洁机器人进行作业控制过程进行说明：云端服务器接收到清理任务后，生成等待队列；云端服务器进入第一清理阶段，向执行区域的每个子区域内的至少一个第一清洁机器人发送与第一清理阶段对应的第一清洁请求；执行区域的每个子区域的至少一个清洁机器人接收到第一清洁请求后，对对应子区域进行清洁作业，并在对应子区域已完成作业时向云端服务器发送子区域的标识信息；云端服务器将已完成作业的子区域的标识信息添加至等待队列；云端服务器将等待队列中当前存放的标识信息个数与执行区域中子区域的个数进行比对，若二者一致，进入第二清理阶段，并清空等待队列；云端服务器向执行区域的每个子区域内的至少一个第二清洁机器人发送与第二清理阶段对应的第二清洁请求；执行区域的每个子区域内的至少一个第二清洁机器人在接收到第二清洁请求后，对对应子区域进行清洁作业，并将当前已完成作业的子区域的标识信息发送至云端服务器；云端服务器将当前已完成作业的子区域的标识信息添加至等待队列，并将等待队列中当前存放的标识信息个数与子区域个数进行比对，在二者一致时，进入第三清理阶段，并删除等待队列；云端服务器向执行区域中每个子区域的至少一个第一清洁机器人发送与第三清理阶段对应的第三清洁请求；执行区域中每个子区域的至少一个第一清洁机器人接收到第三清洁请求后，对对应子区域进行清洁作业。Next, taking the multiple cleaning stages of the cleaning task, including the first cleaning stage, the second cleaning stage and the third cleaning stage, as an example, the operation control process between the cloud server and the first cleaning robot and the second cleaning robot in the system will be explained. : After receiving the cleaning task, the cloud server generates a waiting queue; the cloud server enters the first cleaning stage and sends the first cleaning request corresponding to the first cleaning stage to at least one first cleaning robot in each sub-area of the execution area; execute After receiving the first cleaning request, at least one cleaning robot in each sub-area of the area performs a cleaning operation on the corresponding sub-area, and sends the identification information of the sub-area to the cloud server when the corresponding sub-area completes the operation; the cloud server will have completed The identification information of the sub-region of the job is added to the waiting queue; the cloud server compares the number of identification information currently stored in the waiting queue with the number of sub-regions in the execution area. If the two are consistent, it enters the second cleaning stage and Clear the waiting queue; the cloud server sends a second cleaning request corresponding to the second cleaning stage to at least one second cleaning robot in each sub-area of the execution area; at least one second cleaning robot in each sub-area of the execution area receives After receiving the second cleaning request, perform a cleaning operation on the corresponding sub-area, and send the identification information of the currently completed sub-area to the cloud server; the cloud server adds the identification information of the currently completed sub-area to the waiting queue, And compare the number of identification information currently stored in the waiting queue with the number of sub-regions. When the two are consistent, enter the third cleaning stage and delete the waiting queue; the cloud server sends at least one of each sub-region in the execution area The first cleaning robot sends a third cleaning request corresponding to the third cleaning stage; after at least one first cleaning robot in each sub-area in the execution area receives the third cleaning request, it performs cleaning operations on the corresponding sub-area.
作为另一种示例，若每个子区域中的第一清洁机器人的数量为多个，且多个第一清洁机器人包括第一主清洁机器人和至少一个第一从清洁机器人，同时每个子区域中的第二清洁机器人的数量为多个，且多个第二清洁机器人包括第二主清洁机器人和至少一个第二从清洁机器人。清理任务的多个清理阶段包括第一清理阶段和第二清理阶段。其中，每个子区域中的第一主清洁机器人和第二主清洁机器人均注册在云端服务器中，且云端服务器中存储有每个第一主清洁机器人和每个第二主清洁机器人与子区域的对应关系。在该系统中，云端服务器进入第一清理阶段后，向执行区域中的每个子区域的第一主清洁机器人发送与第一清理阶段对应的第一清洁请求；执行区域中每个子区域的第一主清洁机器人在接收到第一清洁请求后对自身负责的清洁区域进行清洁作业，并将自身负责的清洁区域信息和对应的子区域信息发送至对应的第一从清洁机器人；执行区域中每个子区域的第一从清洁机器人接收到信息后，根据第一主清洁机器人自身负责的清洁区域信息和子区域信息，确定待补偿的清洁区域，并对待补偿的清洁区域进行清洁作业；执行区域中每个子区域的第一从清洁机器人在完成清洁作业后，向对应的第一主清洁机器人发送作业完成信息；执行区域中每个子区域的第一主清洁机器人在已完成自身负责区域的清洁工作，且已接收到第一从清洁机器人的作业完成信息后，向云端服务器发送自身子区域的标识信息；云端服务器接收到第一主清洁机器人发送的子区域标识信息后，将其添加至等待队列，并将等待队列中的当前存放的标识信息的个数与执行区域中子区域的个数进行比对，若二者一致，则进入第二清理阶段，并删除等待队列；云端服务器向执行区域的每个子区域的第二主清洁机器人发送与第二清理阶段对应的第二清洁请求；第二主清洁机器人接收到第二清洁请求后，对自身负责的区域进行清洁作业，并向其对应的第二主清洁机器人发送自身负责的区域信息和子区域的信息；第二从清洁机器人接收到信息后，基于对应的第二主清洁机器人自身负责的区域信息和子区域的信息，确定待补偿的清洁区域，并对待补偿的清洁区域进行清作业。As another example, if the number of first cleaning robots in each sub-area is multiple, and the multiple first cleaning robots include a first master cleaning robot and at least one first slave cleaning robot, and at the same time, the number of first cleaning robots in each sub-area is There are multiple second cleaning robots, and the plurality of second cleaning robots include a second master cleaning robot and at least one second slave cleaning robot. The multiple cleaning phases of the cleaning task include a first cleaning phase and a second cleaning phase. Among them, the first main cleaning robot and the second main cleaning robot in each sub-area are registered in the cloud server, and the cloud server stores the data of each first main cleaning robot and each second main cleaning robot and the sub-area. Correspondence. In this system, after the cloud server enters the first cleaning stage, it sends the first cleaning request corresponding to the first cleaning stage to the first main cleaning robot of each sub-area in the execution area; the first cleaning request of each sub-area in the execution area After receiving the first cleaning request, the master cleaning robot performs cleaning operations on the cleaning area it is responsible for, and sends the cleaning area information and corresponding sub-area information it is responsible for to the corresponding first slave cleaning robot; each sub-area in the execution area After the first slave cleaning robot in the area receives the information, it determines the cleaning area to be compensated based on the cleaning area information and sub-area information that the first main cleaning robot is responsible for, and performs cleaning operations on the cleaning area to be compensated; each sub-area in the execution area After completing the cleaning operation, the first slave cleaning robot in the area sends job completion information to the corresponding first main cleaning robot; the first main cleaning robot in each sub-area in the execution area has completed the cleaning work in the area it is responsible for, and has After receiving the job completion information of the first slave cleaning robot, it sends the identification information of its own sub-area to the cloud server; after the cloud server receives the sub-area identification information sent by the first master cleaning robot, it adds it to the waiting queue and adds it to the waiting queue. The number of identification information currently stored in the waiting queue is compared with the number of sub-regions in the execution area. If the two are consistent, the second cleaning stage is entered and the waiting queue is deleted; the cloud server sends a request to each sub-region of the execution area. The second main cleaning robot in the area sends a second cleaning request corresponding to the second cleaning stage; after receiving the second cleaning request, the second main cleaning robot performs cleaning operations on the area it is responsible for and reports to its corresponding second main cleaning robot. The cleaning robot sends the area information and sub-area information it is responsible for; after receiving the information from the second slave cleaning robot, it determines the cleaning area to be compensated based on the corresponding area information and sub-area information it is responsible for. Clean the compensated cleaning area.
作为又一种示例，若每个子区域中的第一清洁机器人的数量为多个，且多个第一清洁机器人包括第一主清洁机器人和至少一个第一从清洁机器人，同时每个子区域中的第二清洁机器人的数量为多个，且多个第二清洁机器人包括第二主清洁机器人和至少一个第二从清洁机器人。清理任务的多个清理阶段包括第一清理阶段和第二清理阶段。其中，每个子区域中的第一主清洁机器人、第一从清洁机器人、第二主清洁机器人和第二从清洁机器人均注册在云端服务器中，且云端服务器中存储有每个第一主清洁机器人、每个第一从清洁机器人、每个第二主清洁机器人、每个第二从清洁机器人分别与子区域的对应关系。在该系统中，云端服务器进入第一清理阶段后，向执行区域中的每个子区域的第一主清洁机器人发送主机清洁任务，同时向执行区域中每个子区域的第一从清洁机器人发送从机清洁任务；第一主清洁机器人接收到主机清洁任务后，按照主机清洁任务中的清洁区域执行清洁作业；第一从清洁机器人接收到从机清洁任务后，按照从机清洁任务中的清洁区域执行清洁作业，并在作业完成时，向云端服务器发送从机清洁任务完成信息；云端服务器将接收到的从机清洁任务完成信息进行存储；第一主清洁机器人在完成任务后，周期性地向云端服务器发送获取从机清洁任务完成信息的请求；云端服务器接收到该请求后，将该第一主机清洁机器人对应的第一从清洁机器人的从机清洁任务完成信息发送至该第一主清洁机器人；第一主清洁机器人基于接收到的从机清洁任务完成信息，确定其对应的全部第一从清洁机器人是否均已完成从机清洁任务，并在其对应的全部第一从清洁机器人均已完成从机清洁任务时，向云端服务器发送自身子区域的标识信息；云端服务器将接收到的标识信息添加至等待队列中，并将等待队列中的当前存放的标识信息的个数与执行区域中子区域的个数进行比对，若二者一致，则进入第二清理阶段，并删除等待队列，继续分别向执行区域的每个子区域中的第二主清洁机器人和第二从清洁机器人发送与第二清理阶段对应的主机清洁任务和从机清洁任务。As another example, if the number of first cleaning robots in each sub-area is multiple, and the multiple first cleaning robots include a first master cleaning robot and at least one first slave cleaning robot, and at the same time, the number of first cleaning robots in each sub-area is There are multiple second cleaning robots, and the plurality of second cleaning robots include a second master cleaning robot and at least one second slave cleaning robot. The multiple cleaning phases of the cleaning task include a first cleaning phase and a second cleaning phase. Among them, the first master cleaning robot, the first slave cleaning robot, the second master cleaning robot and the second slave cleaning robot in each sub-area are registered in the cloud server, and each first master cleaning robot is stored in the cloud server , the corresponding relationship between each first slave cleaning robot, each second master cleaning robot, and each second slave cleaning robot and the sub-region. In this system, after the cloud server enters the first cleaning stage, it sends a host cleaning task to the first master cleaning robot in each sub-area in the execution area, and at the same time sends a slave cleaning task to the first slave cleaning robot in each sub-area in the execution area. Cleaning task; after the first master cleaning robot receives the host cleaning task, it performs the cleaning operation according to the cleaning area in the host cleaning task; after the first slave cleaning robot receives the slave cleaning task, it performs the cleaning operation according to the cleaning area in the slave cleaning task. cleaning job, and when the job is completed, the slave machine cleaning task completion information is sent to the cloud server; the cloud server stores the received slave machine cleaning task completion information; after the first master cleaning robot completes the task, it periodically sends The server sends a request to obtain the slave cleaning task completion information; after receiving the request, the cloud server sends the slave cleaning task completion information of the first slave cleaning robot corresponding to the first host cleaning robot to the first master cleaning robot; Based on the received slave cleaning task completion information, the first master cleaning robot determines whether all its corresponding first slave cleaning robots have completed the slave cleaning task, and determines whether all its corresponding first slave cleaning robots have completed the slave cleaning task. When performing a machine cleaning task, it sends the identification information of its own sub-region to the cloud server; the cloud server adds the received identification information to the waiting queue, and compares the number of identification information currently stored in the waiting queue with the number of sub-regions in the execution area. The number is compared. If the two are consistent, the second cleaning stage is entered, the waiting queue is deleted, and the second main cleaning robot and the second slave cleaning robot in each sub-area of the execution area are continued to be sent. The cleaning phase corresponds to the host cleaning tasks and slave cleaning tasks.
本领域技术人员在考虑说明书及实践这里公开的发明后，将容易想到本发明的其它实施方案。本申请旨在涵盖本发明的任何变型、用途或者适应性变化，这些变型、用途或者适应性变化遵循本发明的一般性原理并包括本公开未公开的本技术领域中的公知常识或惯用技术手段。说明书和实施例仅被视为示例性的，本发明的真正范围和精神由下面的权利要求指出。Other embodiments of the invention will be readily apparent to those skilled in the art from consideration of the specification and practice of the invention disclosed herein. This application is intended to cover any variations, uses, or adaptations of the invention that follow the general principles of the invention and include common knowledge or customary technical means in the technical field that are not disclosed in the present disclosure. . It is intended that the specification and examples be considered as exemplary only, with a true scope and spirit of the invention being indicated by the following claims.
应当理解的是，本发明并不局限于上面已经描述并在附图中示出的精确结构，并且可以在不脱离其范围进行各种修改和改变。本发明的范围仅由所附的权利要求来限制。It is to be understood that the present invention is not limited to the precise construction described above and illustrated in the accompanying drawings, and that various modifications and changes may be made without departing from the scope thereof. The scope of the invention is limited only by the appended claims.
| Application Number | Priority Date | Filing Date | Title |
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| CN202210325676.2ACN114795001B (en) | 2022-03-29 | 2022-03-29 | Cleaning robot control method and device and cloud server |
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| CN202210325676.2ACN114795001B (en) | 2022-03-29 | 2022-03-29 | Cleaning robot control method and device and cloud server |
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| CN114795001A CN114795001A (en) | 2022-07-29 |
| CN114795001Btrue CN114795001B (en) | 2024-02-23 |
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| CN202210325676.2AActiveCN114795001B (en) | 2022-03-29 | 2022-03-29 | Cleaning robot control method and device and cloud server |
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| CN114795001A (en) | 2022-07-29 |
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