CN114610011A

CN114610011A - Control method, device and equipment for cooperative work of self-walking equipment

Info

Publication number: CN114610011A
Application number: CN202110207976.6A
Authority: CN
Inventors: 孟轲
Original assignee: Beijing Rockrobo Technology Co Ltd
Current assignee: Beijing Rockrobo Technology Co Ltd
Priority date: 2021-02-25
Filing date: 2021-02-25
Publication date: 2022-06-10

Abstract

The application discloses a self-walking equipment cooperative work control method, device and equipment, relates to the technical field of self-walking equipment control, can fully consider the cleaning resources of the self-walking equipment to distribute work tasks for each self-walking equipment, and improves the work efficiency of the self-walking equipment. The method comprises the following steps: determining a working area of the self-walking equipment for cooperative work, wherein the working area comprises more than one sub-area; calculating the workload information of the operation area according to the work plan corresponding to each sub-area; and distributing the work tasks for the available self-walking devices by combining the work capacity information of the currently available self-walking devices and the workload information of the work area, and indicating each available self-walking device to work according to the corresponding work task.

Description

Control method, device and equipment for cooperative work of self-walking equipment

Technical Field

The present application relates to the field of self-walking equipment control technologies, and in particular, to a method, an apparatus, and a device for controlling cooperative work of self-walking equipment.

Background

With the development of technology, various intelligent self-walking devices have appeared, such as a sweeping self-walking device, a mopping self-walking device, a window-wiping self-walking device, and the like, which can be placed in a specific area to execute a user-triggered instruction operation, which not only liberates labor force, but also saves labor cost.

In the correlation technique, during the operation of single self-walking equipment, this self-walking equipment all can be to the map of work area construction, and carry out the operation according to map and real-time location, but to the operation of large-scale scene, single self-walking equipment work efficiency is lower, need a plurality of self-walking equipment collaborative work, and at present a plurality of self-walking equipment can't accomplish collaborative work, need set up for every self-walking equipment alone, if do not have between a plurality of self-walking equipment independent work separately then can produce the repetitive work, cause the waste of self-walking equipment clean resource, influence self-walking equipment operating efficiency.

Disclosure of Invention

In view of this, the present application provides a method, an apparatus, and a device for controlling cooperative work of self-walking devices, and mainly aims to solve the problem in the prior art that if a plurality of self-walking devices work independently without cooperative work, repeated work is generated, waste of cleaning resources of the self-walking devices is caused, and operation efficiency of the self-walking devices is affected.

According to a first aspect of the present application, there is provided a control method of cooperative work from a walking apparatus, including:

determining a working area of the self-walking equipment for cooperative work, wherein the working area comprises more than one sub-area;

calculating the workload information of the operation area according to the work plan corresponding to each sub-area;

and distributing the work tasks for the available self-walking devices by combining the work capacity information of the currently available self-walking devices and the workload information of the work area, and indicating each available self-walking device to work according to the corresponding work task.

Further, the determining the working area where the self-walking device works cooperatively specifically includes:

responding to a triggering instruction of cooperative work of the self-walking equipment, receiving preset map information constructed by the self-walking equipment and/or a front end, wherein the map information comprises boundary information of a plurality of areas and area characteristics of each area;

determining an operation area where the self-walking equipment works cooperatively according to the boundary information of the areas in the map information;

and dividing the operation area into more than one sub-area according to the area characteristics of each area in the map information.

Further, the dividing the operation area into more than one sub-area according to the area feature of each area in the map information specifically includes:

pre-estimating a cleanliness index of each area according to the area characteristics of each area in the map information;

inquiring a work plan mapped by the cleaning index of each area by using a pre-configured cleaning mapping relation, wherein the cleaning mapping relation records the work plans mapped by different cleaning indexes;

and dividing the working area into more than one sub-area according to the working plan mapped by the cleaning index of each area.

Further, the working plan includes a used cleaning manner and/or a cleaning frequency, and the calculating the workload information of the working area according to the working plan corresponding to each sub-area specifically includes:

calculating the cleaning amount required by each subarea according to the cleaning area and/or the cleaning times of each subarea by using different cleaning modes;

and summarizing the cleaning amount required by each sub-area to obtain the workload information of the operation area.

Further, before the combining the working capacity information of the currently available self-walking devices and the workload information of the working area, allocating a working task to each available self-walking device and instructing each available self-walking device to work according to the corresponding working task, the method further includes:

acquiring information of self-walking equipment belonging to the operation area, wherein the information of the self-walking equipment comprises state information of the self-walking equipment, and the state information comprises a working state and a resource state of the self-walking equipment;

and selecting currently available self-walking equipment from the self-walking equipment belonging to the operation area according to the working state and the resource state of each self-walking equipment.

Further, the information of the self-walking device further includes position information of the self-walking device, and the method allocates a work task to each available self-walking device by combining currently available work capability information of the self-walking device and the workload information of the work area, and instructs each available self-walking device to work according to the corresponding work task, specifically including:

traversing and inquiring the position information of the currently available self-walking equipment, and acquiring the position distribution state of the self-walking equipment in the operation area;

and distributing a work task for each available self-walking device according to the position distribution state of the available self-walking device in the work area, the state information of each self-walking device in the current available self-walking device information and the workload information of the work area, and indicating each self-walking device to work according to the corresponding work task.

Further, the allocating a work task to each available self-walking device according to the position distribution state of the available self-walking device in the work area, the state information of each self-walking device in the currently available self-walking device information, and the workload information of the work area, and instructing each self-walking device to work according to the corresponding work task specifically includes:

setting sub-region information in each self-walking equipment butt joint operation region according to the position distribution state of the self-walking equipment in the operation region, the state information of the currently available self-walking equipment information and the workload information of the operation region, wherein the sub-region information comprises a sub-region operation sequence and a sub-region initial operation position;

and distributing work tasks for all available self-walking equipment according to the operation sequence of the sub-area, and instructing each self-walking equipment to move to the initial operation position of the sub-area for work.

Further, after the combining the working capacity information of the currently available self-walking devices and the workload information of the working area, allocating a working task to each available self-walking device, and instructing each available self-walking device to work according to the corresponding working task, the method further includes:

and when the working state of at least one available self-walking device is abnormal, the working task corresponding to the available self-walking device is redistributed to other available self-walking devices.

and when new available self-walking equipment is added, combining the working capacity information of all the currently available self-walking equipment and the workload information of the working area, and re-distributing the working tasks for each self-walking equipment.

According to a second aspect of the present application, there is provided a control apparatus cooperative with a walking device, comprising:

the device comprises a determining unit, a judging unit and a judging unit, wherein the determining unit is used for determining a working area of the self-walking equipment in cooperative work, and the working area comprises more than one sub-area;

the calculation unit is used for calculating the workload information of the operation area according to the work plan corresponding to each subarea;

and the allocation unit is used for allocating work tasks to the available self-walking devices by combining the work capacity information of the currently available self-walking devices and the workload information of the work area, and instructing each available self-walking device to work according to the corresponding work task.

Further, the determining unit includes:

the receiving module is used for responding to a triggering instruction of the cooperative work of the self-walking equipment, receiving preset map information constructed by the self-walking equipment and/or the front end, wherein the map information comprises boundary information of a plurality of areas and area characteristics of each area;

the determining module is used for determining the working area of the self-walking equipment in cooperative work according to the boundary information of the areas in the map information;

and the setting module is used for dividing the operation area into more than one sub-area according to the area characteristics of each area in the map information.

Further, the setting module includes:

the estimation submodule is used for estimating the cleanliness index of each area according to the area characteristics of each area in the map information;

the query submodule is used for querying the work plan mapped by the cleaning index of each area by utilizing a pre-configured cleaning mapping relation, and the cleaning mapping relation records the work plan mapped by different cleaning indexes;

and the dividing submodule is used for dividing the working area into more than one sub-area according to the working plan mapped by the cleaning index of each area.

Further, the work plan includes a cleaning manner and/or a number of cleaning times used, and the calculation unit includes:

the calculation module is used for calculating the cleaning amount required by each subarea according to the cleaning area and/or the cleaning times of each subarea by using different cleaning modes;

and the summarizing module is used for summarizing the cleaning amount required by each sub-area to obtain the workload information of the operation area.

Further, the apparatus further comprises:

an obtaining unit, configured to, before the working capacity information of the currently available self-walking device and the workload information of the working area are combined, allocate a working task to each available self-walking device and instruct each available self-walking device to work according to a corresponding working task, obtain information of the self-walking device belonging to the working area, where the information of the self-walking device includes state information of the self-walking device, and the state information includes a working state and a resource state of the self-walking device;

and the selecting unit is used for selecting the currently available self-walking equipment from the self-walking equipment belonging to the operation area according to the working state and the resource state of each self-walking equipment.

Further, the information of the self-walking apparatus further includes position information of the self-walking apparatus, and the allocation unit includes:

the query module is used for traversing and querying the position information of the self-walking equipment which is currently available, and acquiring the position distribution state of the self-walking equipment in the operation area;

and the distribution module is used for distributing a work task for each available self-walking device according to the position distribution state of the available self-walking device in the work area, the state information of each self-walking device in the current available self-walking device information and the workload information of the work area, and instructing each self-walking device to work according to the corresponding work task.

Further, the allocation module includes:

the setting submodule is used for setting sub-area information in each self-walking equipment butt joint operation area according to the position distribution state of the self-walking equipment in the operation area, the state information of the currently available self-walking equipment information and the workload information of the operation area, and the sub-area information comprises a sub-area operation sequence and a sub-area initial operation position;

and the distribution submodule is used for distributing work tasks to all available self-walking equipment according to the operation sequence of the sub-area and indicating each self-walking equipment to move to the initial operation position of the sub-area for working.

Further, the apparatus further comprises:

and a deleting unit, configured to, in combination with the working capability information of the currently available self-walking device and the workload information of the working area, allocate a work task to each available self-walking device, instruct each available self-walking device to work according to the corresponding work task, and when the working state of at least one available self-walking device is abnormal, reallocate the work task corresponding to the available self-walking device to another available self-walking device.

Further, the apparatus further comprises:

and the adding unit is used for combining the working capacity information of the currently available self-walking equipment and the workload information of the working area, distributing a working task for each available self-walking equipment, indicating each available self-walking equipment to work according to the corresponding working task, and when new available self-walking equipment is added, combining the working capacity information of all currently available self-walking equipment and the workload information of the working area, and re-distributing the working task for each self-walking equipment.

According to a third aspect of the present application, there is provided a computer device comprising a memory and a processor, the memory storing a computer program, the processor implementing the steps of the method of the first aspect when executing the computer program.

According to a fourth aspect of the present application, there is provided a readable storage medium having stored thereon a computer program which, when executed by a processor, carries out the steps of the method of the first aspect described above.

By means of the technical scheme, compared with the working mode which needs to be set for each self-walking device independently in the existing mode, the self-walking device cooperative work control method, the self-walking device cooperative work control device and the self-walking device cooperative work control device provided by the application have the advantages that the working area of the self-walking device cooperative work is determined, the working area comprises more than one sub-area, the workload information of the working area is calculated according to the working plan corresponding to each sub-area, the working tasks are distributed for each available self-walking device by combining the working capacity information of the current self-walking device and the working capacity information of the working area, the situation that the multiple self-walking devices work repeatedly independently is avoided, each available self-walking device is indicated to work according to the corresponding working task, the working capacity information of the current self-walking device is the self-walking device information suitable for cooperative work in a server, the cleaning resources of the self-walking equipment are fully considered to distribute work tasks for each self-walking equipment, and the work efficiency of the self-walking equipment is improved.

The above description is only an overview of the technical solutions of the present application, and the present application may be implemented in accordance with the content of the description so as to make the technical means of the present application more clearly understood, and the detailed description of the present application will be given below in order to make the above and other objects, features, and advantages of the present application more clearly understood.

Drawings

The accompanying drawings, which are included to provide a further understanding of the application and are incorporated in and constitute a part of this application, illustrate embodiment(s) of the application and together with the description serve to explain the application and not to limit the application. In the drawings:

fig. 1 is a schematic flow chart illustrating a cooperative control method for a self-propelled device according to an embodiment of the present disclosure;

FIG. 2 is a flow chart illustrating another control method for cooperative work of the self-propelled equipment according to the embodiment of the present application;

FIG. 3a is a schematic diagram illustrating that the work task is newly allocated to each self-walking device after the self-walking device information is deleted according to the embodiment of the present application;

FIG. 3b is a schematic diagram illustrating the re-assignment of work tasks to each self-walking device after adding self-walking device information provided by the embodiment of the present application;

FIG. 4 is a schematic structural diagram illustrating a cooperative control apparatus for a self-propelled device according to an embodiment of the present disclosure;

FIG. 5 is a schematic structural diagram of another control device cooperating with a self-walking apparatus provided in an embodiment of the present application;

fig. 6 is a schematic device structure diagram of a computer apparatus according to an embodiment of the present invention.

Detailed Description

The content of the invention will now be discussed with reference to a number of exemplary embodiments. It is to be understood that these examples are discussed only to enable those of ordinary skill in the art to better understand and thus implement the teachings of the present invention, and are not meant to imply any limitations on the scope of the invention.

As used herein, the term "include" and its variants are to be read as open-ended terms meaning "including, but not limited to. The term "based on" is to be read as "based, at least in part, on". The terms "one embodiment" and "an embodiment" are to be read as "at least one embodiment". The term "another embodiment" is to be read as "at least one other embodiment".

In the scene is used to self-walking equipment, during the operation of single self-walking equipment, this self-walking equipment all can be to the work area map of building, and according to carrying out the operation to map and real-time location, but to the operation of large-scale scene, single self-walking equipment work efficiency is lower, need a plurality of self-walking equipment collaborative work, and the collaborative work can't be accomplished to present a plurality of self-walking equipment, need set up for every self-walking equipment alone, if do not have between a plurality of self-walking equipment independent work separately and then can produce the repetitive work in coordination, cause the waste of self-walking equipment clean resource, influence self-walking equipment operating efficiency.

In order to solve the problem, the embodiment provides a control method for cooperative work of self-walking equipment, as shown in fig. 1, the method is applied to a central control server of the self-walking equipment, and includes the following steps:

101. a working area in which the self-walking devices work cooperatively is determined.

Generally, for the operation of a large scene, a plurality of self-walking devices are required to work together, wherein the self-walking devices can have cleaning functions of sweeping, dust collection, mopping and the like, and can perform tasks of different cleaning functions aiming at a selected area.

For example, if the operation area is a rectangular closed area, the sub-area may be three sub-areas which are uniformly divided, or may be randomly divided, if the operation area is three closed square areas, each square area may be used as one sub-area to form three sub-areas, or may further form four sub-areas with the other two square areas after dividing one of the square areas into two sub-areas. Here, the work plan may be the number of times of cleaning, the cleaning time, the cleaning intensity, and the like set for the sub-area, for example, the first cleaning is performed at 7 points and 10 points for the sub-area a, the cleaning intensity is 1 level, the second cleaning is performed at 8 points for the sub-area a, the cleaning intensity is 2 levels, and the division of the sub-area and the setting of the work plan are not specifically limited.

The main part can be for controlling means or equipment from the walking equipment collaborative work to the execution of this embodiment, can dispose the well accuse server at from the walking equipment, a plurality of from the walking equipment can be connected to this well accuse server, with the receipt from the walking equipment information, for example, from the walking equipment position, from the walking equipment quantity, from the walking equipment basin water yield etc., can also formulate the work task from the walking equipment collaborative work to from the walking equipment information, for example, from the clean region that the walking equipment is responsible for, clean number of times, clean time etc., can also control from the walking equipment according to work task collaborative work, so that sweep the floor can cooperate the completion work task from the walking equipment, make full use of is from the walking equipment resource.

102. And calculating the workload information of the operation area according to the work plan corresponding to each sub-area.

The work plan corresponding to each sub-region is equivalent to the cleaning information set for the sub-region, different sub-regions have different cleaning information, the cleaning information of all sub-regions is considered when the work plan corresponding to each sub-region is calculated, the cleaning information of all sub-regions is collected to form the work amount information of the work region, and for the sub-regions needing to be cleaned for multiple times, the cleaning areas of the sub-regions can be accumulated according to the times to form the total area of the sub-regions needing to be cleaned.

For example, the working area includes sub-area a, sub-area B, and sub-area C, sub-area a needs to be cleaned 2 times, sub-area B needs to be cleaned 3 times, and sub-area C needs to be cleaned 1 time, so the total area of sub-area a needs to be cleaned is a area x 2, the total area of sub-area B needs to be cleaned is B area x 3, sub-area C needs to be cleaned is C area x 1, and the total area of working area to be cleaned is a area x 2+ B area x 3+ C area x 1.

103. And distributing the work tasks for the available self-walking devices by combining the work capacity information of the currently available self-walking devices and the workload information of the work area, and indicating each available self-walking device to work according to the corresponding work task.

The server is used as a control end of the self-walking equipment, can receive a connection request of the self-walking equipment within a preset range or send the connection request to the self-walking equipment nearby so as to establish communication connection, and simultaneously acquires information of the self-walking equipment connected with the self-walking equipment, such as the model of the self-walking equipment, the cleaning function of the self-walking equipment, the electric quantity of the self-walking equipment and the like.

It can be understood that, because the machine information can reflect the position information, the state information, etc. of the self-walking device, not all the self-walking devices are suitable for cooperative work, for example, the electric quantity of some self-walking devices is low, some self-walking devices cannot reach the operation area, some self-walking devices are executing tasks, considering the working capacity information of the self-walking devices, the server can select available self-walking device information from the self-walking device information in combination, the available self-walking devices are self-walking devices which meet the working conditions generally, for example, the working state is free and self-walking devices with sufficient electric quantity. Further, in order to fully utilize self-walking equipment resources, the number of self-walking equipment which can work in a coordinated manner can be set according to a cleaning area covered by workload information of an operation area, if the number of self-walking equipment which meets working conditions is larger than the set number of self-walking equipment, the corresponding number of self-walking equipment can be randomly selected, screening conditions of the self-walking equipment can be added, for example, the cleaning capacity of the self-walking equipment reaches 3 grades, the historical cleaning amount of the self-walking equipment is larger than 5 times, and the like, so that the self-walking equipment which is more suitable for the coordinated work can be selected; correspondingly, if the number of the self-walking equipment meeting the working conditions does not reach the set number of the self-walking equipment, the work task can be distributed after the number of the self-walking equipment meeting the working conditions reaches the set number of the self-walking equipment.

In the embodiment of the application, considering the number of the self-walking devices and the resource states of the self-walking devices, under the condition that the resource states of the self-walking devices are balanced (usually, the electric quantity is sufficient), the workload information of the working area is evenly distributed according to the number of the self-walking devices, so that each self-walking device is distributed to the working tasks with the same cleaning amount; and aiming at the condition of unbalanced resource states of the self-walking equipment, the workload information of the operation area is incrementally distributed according to the sequencing of the resource states of the self-walking equipment, so that the self-walking equipment with higher resource states can distribute more clean work tasks, and the self-walking equipment with sufficient electric quantity can distribute more clean work tasks.

Compared with the working mode which needs to be set for each self-walking device independently in the existing mode, the working area of the self-walking device cooperative work is determined, the working area comprises more than one subarea, the workload information of the working area is calculated according to the working plan corresponding to each subarea, the working capacity information of the current self-walking device and the workload information of the working area are combined, the working tasks are distributed for the available self-walking devices, the situation that the multiple self-walking devices work repeatedly independently is avoided, each available self-walking device is indicated to work according to the corresponding working task, the working capacity information of the current self-walking device is the self-walking device information which is suitable for cooperative work in the server, and the working task is distributed for each self-walking device by fully considering the cleaning resources of the self-walking device, the working efficiency of the self-walking equipment is improved.

Further, as a refinement and an extension of the specific implementation of the foregoing embodiment, in order to fully illustrate the specific implementation process of the embodiment, the embodiment provides another control method for cooperative work of the self-walking device, as shown in fig. 2, the method includes:

201. and responding to a triggering instruction of the cooperative work of the self-walking equipment, and receiving preset map information constructed by the self-walking equipment and/or the front end.

Under the general condition, the control instruction of the self-walking equipment cooperative work can be triggered by a user through a client, the user selects a plurality of self-walking equipment cooperative work through the client, the self-walking equipment cooperative work can be automatically triggered by a server according to a work task, and the work task can be set by self-definition and can be generated by the server according to the cleaning requirement by self-definition.

The map information comprises boundary information of a plurality of regions and region characteristics of each region, wherein the boundary information of the plurality of regions is equivalent to a boundary coordinate set of the regions, a polar coordinate system is established by self-configured cameras, various sensors and the like of the walking equipment, the polar coordinate system is positioned to the coordinate position of the self-configured cameras, various sensors and the like in the polar coordinate system, the boundary of the regions is detected to acquire the boundary information of the regions, the outline of the regions can be determined through the boundary information of the regions, the area of the regions is calculated, the cleaning path of the regions is planned and the like. The preset self-walking device can be a self-walking device preset for area detection, and can also be a self-walking device randomly specified for detecting an area to construct map information, and certainly, if the map information is stored in the front end, the map information constructed by the front end can also be directly received.

202. And determining the working area of the self-walking equipment in cooperative work according to the boundary information of the plurality of areas in the map information.

It can be understood that the plurality of areas included in the map information may be a plurality of closed areas, or may be a plurality of areas divided in one closed area, for example, a plurality of areas divided by one closed area formed in a factory building, or may be a plurality of areas formed by a plurality of rooms. Specifically, in the process of detecting the boundary information of a plurality of areas by the self-walking equipment, the working area of the self-walking equipment in cooperative work can be determined according to the area composition of the boundary information.

Specifically, if the boundary information includes a plurality of areas formed by one closed area, the closed area may be used as a working area where the self-walking device works in cooperation, if the boundary information includes a plurality of closed areas, the plurality of closed areas may be summarized as working areas where the self-walking device works in cooperation, and certainly, the boundary information of the map information may be planned to adjust the working areas where the self-walking device works in cooperation, for example, the map information includes closed areas formed by 5 rooms, the working areas where the self-walking device works in cooperation may be adjusted to 3 rooms, and the closed area of each room may be adjusted, where a manner of adjusting the working areas is not limited.

203. And dividing the operation area into more than one sub-area according to the area characteristics of each area in the map information.

In the embodiment of the present application, the area characteristic may be an area, an area label, an area environment, etc., since different area characteristics require different cleaning parameters, for example, an area labeled as kitchen may need to be mopped for a plurality of times, an area labeled as toilet may not need to be swept, and a working area may be divided into more than one sub-area according to the cleaning parameters required by the area characteristic, where the cleaning parameters may include cleaning time, cleaning manner, cleaning times, etc., for example, an area characteristic needs to be swept for 1 time and mopped for two times within 1 hour, and a corresponding work plan is set for the area.

Specifically, a cleaning index of each area can be estimated according to the area characteristics of each area in the map information, the cleaning index can be the cleanliness of the ground in the area, the cleaning index of the area can be estimated by using an area mark, the cleanliness of the area is marked as low in the kitchen area and high in the bedroom or the study room, the cleaning index can be estimated by using the area environment, the cleanliness of the area with complex environment is low and the cleanliness of the area with simple environment is high, then the work plan mapped by the cleaning index of each area is inquired by using a pre-configured cleaning mapping relation, the cleaning mapping relation records the work plans mapped by different cleaning indexes, for example, the area with the cleaning index of 1 is provided with 1 cleaning mopping for 1 time, the area with the cleaning index of 2 is provided with 1 cleaning mopping for 1 time, the area with the cleaning index of 3 is provided with 1 cleaning mopping for 1 time and 2 times, the higher the cleaning index is, the lower the cleanliness is, and the work area is further divided into one or more sub-areas according to the work plan mapped by the cleaning index of each area, which is not specifically limited herein.

204. And calculating the cleaning amount required by each subarea according to the cleaning area and/or the cleaning times of each subarea by using different cleaning modes.

It is understood that the work plan includes the cleaning manner and/or the number of times of cleaning used, since the areas of different sub-areas are different and the work plans of different sub-areas are different, and specifically, when the cleaning amount required by each sub-area is calculated, the cleaning amount required by different cleaning manners for each sub-area can be calculated for the cleaning number required by each sub-area, for example, the area of sub-area a is 20 times flat, the work plan is sweeping 1 time, mopping twice, then the cleaning amount of sub-area a is sweeping 20 times, mopping 40 times, the area of sub-area a is 20 times, the work plan is sweeping 1 time, mopping 2 times, the area of sub-area B is 30 times, the work plan is sweeping 1 time, mopping 1 time, then the cleaning amount of sub-area B is sweeping 30 times, mopping 30 times, the same applies to other sub-areas.

205. And summarizing the cleaning amount required by each sub-area to obtain the workload information of the operation area.

Each sub-zone will have a corresponding amount of cleaning for different cleaning modes, for example, sub-zone a sweeping area m1, mopping area n1, sub-zone B sweeping area m2, mopping area n2, sub-zone C sweeping area m3, mopping area n3, then the workload information of the working zone is sweeping area m1+ m2+ m3, mopping area n1+ n2+ n 3.

It should be noted that the workload information of the working area may include, in addition to the cleaning amount, a cleaning time, a cleaning level, a cleaning path, and the like, where the cleaning time may be a cleaning start time, a cleaning time limit, and the like, the cleaning level may be a function level set for different cleaning strengths, such as a dust suction level, a floor mopping level, and the like, the cleaning path may be a cleaning route set for the cleaning area, for example, a cleaning area with more obstacles may be set with an edge path cleaning, that is, a path is searched around obstacles for cleaning, and a cleaning area with less obstacles may be set with a planned path cleaning, that is, a cleaning is performed according to a planned path in the cleaning area, the planned path is a path generated during historical cleaning, and the cleaned area is marked to avoid repeated cleaning, and a path planning may be performed during real-time cleaning, and are not limited herein.

206. And acquiring self-walking equipment information belonging to the operation area.

In this application example, specifically, the signal may be broadcasted through the network device through the server, so that the self-walking device in the operation area may establish communication connection with the server by using the broadcast signal, and obtain the self-walking device information belonging to the operation area, where the self-walking device belonging to the operation area may provide a self-walking device of a specific cleaning service for the operation area, and may further receive a connection signal sent by the self-walking device in the operation area through the server, where the connection signal carries a self-walking device identifier, and establish communication connection with the self-walking device by using the self-walking device identifier, and obtain the self-walking device information belonging to the operation area. It should be noted that, here, the self-walking device information is stored in the server in the form of a self-walking device list, and the self-walking device list records the self-walking device identifier, the functional parameters of the self-walking device, for example, parameter fields such as a self-walking device position parameter, a self-walking device state parameter, and a self-walking device resource parameter, and attribute values of the self-walking device on the corresponding parameter fields.

207. And selecting currently available self-walking equipment from the self-walking equipment belonging to the operation area according to the working state and the resource state of each self-walking equipment.

It can be understood that the state information of the self-walking device can be determined through the functional parameters of the self-walking device in the self-walking device information, the state information includes the working state and the resource state of the self-walking device, the working state includes whether the self-walking device executes the work task and the progress of executing the work task, the resource state includes the electric quantity resource and the water quantity resource of the self-walking device, and the resource state of the self-walking device executing the work task is usually a consumption state, and the resource state of the self-walking device is updated after the execution of the work task is finished.

Whether the self-walking equipment is available at present and the working capacity of the self-walking equipment can be reflected by the working state and the resource state, whether the self-walking equipment is suitable for cooperative work or not is determined, and the self-walking equipment which is executing a working task and the self-walking equipment with insufficient resource state are not suitable for cooperative work, so that the current self-walking equipment is not available, or the working capacity of the current self-walking equipment is not enough to support cooperative work, namely the self-walking equipment is not suitable for cooperative work, and then the self-walking equipment in an idle state and the self-walking equipment with sufficient resource state are selected from the self-walking equipment belonging to a working area to serve as the current available self-walking equipment.

208. And traversing and inquiring the position information of the self-walking equipment which is currently available, and acquiring the position distribution state of the self-walking equipment in the operation area.

In this application example, the position information of self-walking equipment is the position of self-walking equipment for the operation region, and self-walking equipment can be in the operation region, also can be outside the operation region, and here can utilize self-walking equipment from the locate function who takes to transmit the position information of self-walking equipment to the server in real time, and the server makes statistics to the position information who inserts self-walking equipment to obtain the position distribution state of self-walking equipment in the operation region.

209. And distributing a work task for each available self-walking device according to the position distribution state of the available self-walking device in the work area, the state information of each self-walking device in the current available self-walking device information and the workload information of the work area, and indicating each self-walking device to work according to the corresponding work task.

It can be understood that, since the position distribution state of the self-walking devices in the operation area can specifically reach the sub-area where each self-walking device is located in the operation area and the coordinate position of the self-walking device in the sub-area, by looking up the position distribution state of the self-walking devices in the operation area, the number of the self-walking devices in the operation area and the positions of the self-walking devices can be known, which is convenient for subsequent scheduling of cooperative work of the self-walking devices. For the sub-areas with densely distributed self-walking equipment positions, the sub-areas can be dispersed to other sub-areas to execute work tasks during subsequent cooperative work, and the setting is specifically performed according to the cleaning amount of the sub-areas.

Specifically, according to the position distribution state of the self-walking equipment in the operation area, the state information of the currently available self-walking equipment information and the workload information of the operation area, the sub-area information in each self-walking equipment butt joint operation area is set, the sub-area information comprises a sub-area operation sequence and a sub-area initial operation position, the workload information of the operation area and the resource state of the self-walking equipment are mainly considered, under the condition that the resource state of the self-walking equipment is sufficient, after the cleaning capacity of the operation area can be evenly distributed, the self-walking equipment is butt-jointed to the corresponding sub-area nearby and the initial operation position of the sub-area is selected according to the position of the sub-area where the self-walking equipment is located, if one self-walking equipment needs to butt joint a plurality of sub-areas, the self-walking equipment is butt-jointed to the corresponding sub-area nearby and a plurality of sub-areas adjacent to the sub-area, under the condition that the resource states of the self-walking equipment are uneven, the work tasks of the self-walking equipment can be adjusted according to the resource states, the resources of the self-walking equipment can be charged and/or stored with water before cooperative work is carried out, the self-walking equipment can complete the work tasks of an operation area in a cooperative mode under the condition that the resources are sufficient, then the work tasks are distributed for the available self-walking equipment according to the operation sequence of the sub-area, and each self-walking equipment is indicated to move to the initial operation position of the sub-area to carry out work.

It can be understood that the self-walking devices are allowed to be added or deleted in the cooperative working process, the service end dynamically adjusts the work tasks of the self-walking devices, and sends the adjusted work tasks to each self-walking device. If other cleaning works are needed or self-walking equipment has faults in the working process, the server can be informed, the server deletes corresponding self-walking equipment information from the self-walking equipment information of the cooperative work, for the rest cleaning areas in the working area, the working task of each self-walking equipment is replanned or the replacement self-walking equipment is used for replacing the corresponding self-walking equipment to continue the cooperative work, aiming at the condition of deleting the self-walking equipment, when the working state of at least one available self-walking equipment is abnormal, the working task corresponding to the available self-walking equipment is redistributed to other available self-walking equipment, as shown in FIG. 3a, under the condition that the resource states of the self-walking equipment are sufficient, the average task quantity is the total task quantity/the number of the self-walking equipment, and the total task quantity is the cleaning quantity of the working area, and after the self-walking equipment information is deleted, subtracting 1 from the number of the self-walking equipment, wherein the average task amount is the total task amount/(the number of the self-walking equipment-1). If the fault self-walking equipment is added again or the self-walking equipment is newly added, the server is also informed, the server can cancel the replacement self-walking equipment, replan the working task of each self-walking equipment aiming at the newly added self-walking equipment and aim at the condition of adding the self-walking equipment, when a new available self-walking device is added, the working capacity information of all the currently available self-walking devices and the workload information of the working area are combined, and a working task is allocated to each self-walking device again, as shown in fig. 3b, under the condition that the resource states of the self-walking equipment are sufficient, the average task amount of the self-walking equipment is the total task amount/the number of the self-walking equipment, the total task amount is the cleaning amount of the working area, the number of the self-walking devices is added with 1 after the self-walking device information is added, and the average task amount is the total task amount/(the number of the self-walking devices + 1).

Specifically, in the practical application process, if the abnormal target self-walking equipment in the working state is monitored, the resource state of the self-walking equipment can be insufficient, the self-walking equipment can also run into obstacles in the cleaning process, the faults of parts of the self-walking equipment can also be detected, the target self-walking equipment information is deleted from the self-walking equipment information suitable for cooperative work, a working task is distributed to each self-walking equipment again, or the working task corresponding to the target self-walking equipment in the working state is synchronized to the replacement self-walking equipment, so that the replacement self-walking equipment can continuously execute the working task.

Specifically, in the practical application process, if an adding instruction of the preset self-walking equipment is received, the preset self-walking equipment information is added into the self-walking equipment information suitable for cooperative work, and a work task is distributed for each self-walking equipment again, wherein the preset self-walking equipment is the self-walking equipment newly added into the cooperative work.

Further, as a specific implementation of the method shown in fig. 1 and fig. 2, an embodiment of the present application provides a control apparatus cooperatively working with a walking device, as shown in fig. 4, the apparatus includes: a determination unit 31, a calculation unit 32, an allocation unit 33.

A determining unit 31, which may be used to determine a working area where the self-walking devices work together, where the working area includes more than one sub-area;

a calculating unit 32, configured to calculate workload information of the work area according to a work plan corresponding to each sub-area;

the allocating unit 33 may be configured to allocate the work tasks to the available self-walking apparatuses by combining the work capacity information of the currently available self-walking apparatuses and the workload information of the work area, and instruct each available self-walking apparatus to work according to the corresponding work task.

Compared with the working mode which needs to be set for each self-walking device independently in the existing mode, the control device for the cooperative work of the self-walking devices determines the working area of the cooperative work of the self-walking devices, the working area comprises more than one subarea, the workload information of the working area is calculated according to the working plan corresponding to each subarea, the working capacity information of the current self-walking devices and the workload information of the working area are combined, the working tasks are distributed for the available self-walking devices, the situation that the self-walking devices work repeatedly independently is avoided, each available self-walking device is indicated to work according to the corresponding working task, the working capacity information of the current self-walking device is the self-walking device information which is suitable for the cooperative work in the server, and the working task is distributed for each self-walking device by fully considering the cleaning resources of the self-walking devices, the working efficiency of the self-walking equipment is improved.

In a specific application scenario, as shown in fig. 5, the determining unit 31 includes:

the receiving module 311 may be configured to receive preset map information constructed by the self-walking device and/or the front end in response to a trigger instruction for the cooperative work of the self-walking device, where the map information includes boundary information of a plurality of areas and area features of each area;

a determining module 312, configured to determine a working area where the self-walking device works cooperatively according to boundary information of multiple areas in the map information;

the setting module 313 may be configured to divide the work area into more than one sub-area according to an area feature of each area in the map information.

In a specific application scenario, as shown in fig. 5, the setting module 313 includes:

an estimation submodule 3131, configured to estimate a cleanliness index of each area according to an area characteristic of each area in the map information;

a query submodule 3132, configured to query a work plan mapped by the cleaning index of each area using a pre-configured cleaning mapping relation, where the cleaning mapping relation records work plans mapped by different cleaning indexes;

the dividing sub-module 3133 may be configured to divide the work area into more than one sub-area according to the work plan mapped by the cleaning index of each area.

In a specific application scenario, as shown in fig. 5, the work plan includes a cleaning manner and/or a cleaning frequency, and the calculating unit 32 includes:

the calculating module 321 may be configured to calculate a cleaning amount required for each sub-area according to a cleaning area and/or a cleaning frequency of each sub-area using different cleaning manners;

the summarizing module 322 may be configured to summarize the cleaning amount required by each sub-area to obtain the workload information of the work area.

In a specific application scenario, as shown in fig. 5, the apparatus further includes:

an obtaining unit 34, configured to, before the current state information of the self-walking device and the workload information of the working area are combined, allocate a work task to each self-walking device, and control each self-walking device to cooperatively work according to the work task, obtain information of the self-walking device belonging to the working area, where the information of the self-walking device includes state information of the self-walking device, and the state information includes a working state and a resource state of the self-walking device;

the selecting unit 35 may be configured to select currently available self-traveling devices from the self-traveling devices belonging to the operation area according to the working state and the resource state of each self-traveling device.

In a specific application scenario, as shown in fig. 5, the information of the self-walking device further includes position information of the self-walking device, and the allocating unit 33 includes:

the query module 331 may be configured to query, in a traversal manner, position information of currently available self-traveling devices, and obtain a position distribution state of the self-traveling devices in the working area;

the allocating module 332 may be configured to allocate a work task to each available self-walking device according to the position distribution state of the available self-walking devices in the work area, the state information of each self-walking device in the currently available self-walking device information, and the workload information of the work area, and instruct each self-walking device to work according to the corresponding work task.

In a specific application scenario, as shown in fig. 5, the allocating module 332 includes:

the setting sub-module 3321 is configured to set sub-region information in the docking operation region of each self-walking device according to the position distribution state of the self-walking device in the operation region, the state information of currently available self-walking device information, and the workload information of the operation region, where the sub-region information includes a sub-region operation sequence and a starting operation position of a sub-region;

the assignment sub-module 3322 may be configured to assign work tasks to the available self-propelled devices according to the sub-area work order, and instruct each self-propelled device to move to the starting work position of the sub-area for work.

the deleting unit 36 may be configured to, after the working capacity information of the currently available self-walking device and the workload information of the working area are combined, allocate a working task to each available self-walking device, and instruct each available self-walking device to work according to the corresponding working task, and when a working state of at least one available self-walking device is abnormal, reallocate the working task corresponding to the available self-walking device to another available self-walking device.

the adding unit 37 may be configured to, after the working capacity information of the currently available self-walking devices and the workload information of the working area are combined, allocate a working task to each available self-walking device, and instruct each available self-walking device to work according to the corresponding working task, and when a new available self-walking device is added, re-allocate a working task to each self-walking device by combining the working capacity information of all currently available self-walking devices and the workload information of the working area.

It should be noted that other corresponding descriptions of the functional units related to the control device for cooperative work of the self-walking apparatus provided in this embodiment may refer to the corresponding descriptions in fig. 1 to fig. 2, and are not repeated herein.

Based on the method shown in fig. 1-2, correspondingly, the embodiment of the present application further provides a storage medium, where a computer program is stored, and when the program is executed by a processor, the program implements the method for controlling cooperative work of self-walking apparatuses shown in fig. 1-2.

Based on such understanding, the technical solution of the present application may be embodied in the form of a software product, which may be stored in a non-volatile storage medium (which may be a CD-ROM, a usb disk, a removable hard disk, etc.), and includes several instructions for enabling a computer device (which may be a personal computer, a server, or a network device, etc.) to execute the method according to the implementation scenarios of the present application.

Based on the method shown in fig. 1-fig. 2 and the virtual device embodiment shown in fig. 4-fig. 5, to achieve the foregoing object, in this embodiment of the present application, an entity device for controlling cooperative work of a self-walking device is further provided, which may be specifically a computer, a smart phone, a tablet computer, a smart watch, a server, or a network device, and the entity device includes a storage medium and a processor; a storage medium for storing a computer program; a processor for executing a computer program to implement the cooperative control method of the self-propelled device shown in fig. 1-2.

Optionally, the entity device may further include a user interface, a network interface, a camera, a Radio Frequency (RF) circuit, a sensor, an audio circuit, a WI-FI module, and the like. The user interface may include a Display screen (Display), an input unit such as a keypad (Keyboard), etc., and the optional user interface may also include a USB interface, a card reader interface, etc. The network interface may optionally include a standard wired interface, a wireless interface (e.g., WI-FI interface), etc.

In an exemplary embodiment, referring to fig. 6, the entity device includes a communication bus, a processor, a memory, and a communication interface, and may further include an input/output interface and a display device, where the functional units may communicate with each other through the bus. The memory stores computer programs, and the processor is used for executing the programs stored in the memory and executing the painting mounting method in the embodiment.

It will be appreciated by those skilled in the art that the present embodiment provides a physical device structure for cooperative control from a walking device, which does not constitute a limitation of the physical device, and may include more or less components, or some components in combination, or a different arrangement of components.

The storage medium may further include an operating system and a network communication module. The operating system is a program for managing hardware and software resources of the actual device for store search information processing, and supports the operation of the information processing program and other software and/or programs. The network communication module is used for realizing communication among components in the storage medium and communication with other hardware and software in the information processing entity device.

Through the above description of the embodiments, those skilled in the art will clearly understand that the present application can be implemented by software plus a necessary general hardware platform, and can also be implemented by hardware. Through the technical scheme who uses this application, compare with present current mode, this application can combine the working capacity information of current self-propelled equipment and the regional work load information of operation, for each available self-propelled equipment allocation work task, avoid a plurality of self-propelled equipment between independent and the condition that produces repetitive work separately, and instruct every self-propelled equipment to carry out work according to corresponding work task, the working capacity information of current self-propelled equipment is the self-propelled equipment information that is applicable to collaborative work in the server, the clean resource of fully considering self-propelled equipment distributes work task for every self-propelled equipment, promote the operating efficiency from self-propelled equipment.

Those skilled in the art will appreciate that the figures are merely schematic representations of one preferred implementation scenario and that the blocks or flow diagrams in the figures are not necessarily required to practice the present application. Those skilled in the art can understand that the modules in the device in the implementation scenario may be distributed in the device in the implementation scenario according to the implementation scenario description, and may also be located in one or more devices different from the present implementation scenario with corresponding changes. The modules of the implementation scenario may be combined into one module, or may be further split into a plurality of sub-modules.

The above application serial numbers are for description purposes only and do not represent the superiority or inferiority of the implementation scenarios. The above disclosure is only a few specific implementation scenarios of the present application, but the present application is not limited thereto, and any variations that can be made by those skilled in the art are intended to fall within the scope of the present application.

Claims

1. A method of controlling cooperative operation of a self-propelled device, comprising:

calculating the workload information of the operation area according to the work plan corresponding to each subarea;

2. The method of claim 1, wherein the work plan includes a cleaning mode and/or a number of cleaning sessions used;

the calculating the workload information of the operation area according to the work plan corresponding to each sub-area specifically includes:

3. The method of claim 1, wherein prior to said assigning work tasks to the available self-propelled devices in conjunction with the work capacity information of the currently available self-propelled devices and the workload information of the work area, instructing each available self-propelled device to work according to the corresponding work task, the method further comprises:

4. The method according to claim 3, wherein the information of the self-walking device further includes position information of the self-walking device;

the step of distributing the work tasks for the available self-walking devices by combining the work capacity information of the currently available self-walking devices and the workload information of the work area, and instructing each available self-walking device to work according to the corresponding work task specifically includes:

5. The method according to claim 4, wherein the allocating a work task to each available self-walking device according to the position distribution state of the self-walking devices available in the work area, the state information of each self-walking device in the currently available self-walking device information, and the workload information of the work area, and instructing each self-walking device to work according to the corresponding work task specifically comprises:

and according to the operation sequence of the sub-area, distributing work tasks for all the available self-walking equipment, and indicating each self-walking equipment to move to the initial operation position of the sub-area for work.

6. The method of claim 1, wherein after the combining the work capacity information of the currently available self-propelled devices and the workload information of the work area, assigning work tasks to the available self-propelled devices, instructing each available self-propelled device to work according to the corresponding work task, the method further comprises:

7. The method of claim 1, wherein after the combining the work capacity information of the currently available self-propelled devices and the workload information of the work area, assigning work tasks to the available self-propelled devices, instructing each available self-propelled device to work according to the corresponding work task, the method further comprises:

8. A cooperative control apparatus for a self-propelled device, comprising:

9. A computer arrangement comprising a memory and a processor, the memory storing a computer program, characterized in that the processor, when executing the computer program, carries out the steps of the method of controlling a cooperative work of self-propelled devices according to any of claims 1 to 7.

10. A computer-readable storage medium, on which a computer program is stored, which, when being executed by a processor, carries out the steps of the cooperative control method of self-propelled devices according to any one of claims 1 to 7.