CN117901123B

CN117901123B - Water tank cleaning method, device, equipment and medium based on multiple cleaning robots

Info

Publication number: CN117901123B
Application number: CN202410316451.XA
Authority: CN
Inventors: 王经国
Original assignee: Guangjiao'ao Shanghai Intelligent Technology Co ltd
Current assignee: Guangjiao'ao Shanghai Intelligent Technology Co ltd
Priority date: 2024-03-20
Filing date: 2024-03-20
Publication date: 2024-05-31
Anticipated expiration: 2044-03-20
Also published as: CN117901123A

Abstract

The invention discloses a water tank cleaning method, a device, equipment and a medium based on a plurality of cleaning robots, which comprises the following steps: when a cleaning requirement is generated, at least three cleaning robots are controlled by a network relay point to scan a target water tank according to corresponding scanning areas, and area scanning information returned by each cleaning robot is obtained; performing three-dimensional modeling according to the area scanning information to obtain a three-dimensional model of the target water tank; slicing is carried out according to the three-dimensional model, and a regional planning path of the corresponding cleaning robot is determined; and controlling the corresponding cleaning robot to cooperatively clean the target water tank according to the area planning path. According to the technical scheme, the problem that water is stopped for a long time due to the fact that the water tank is cleaned is solved, the problems that the cleaning effect is poor and the water tank cannot be cleaned at one time are avoided, the cleaning time is shortened on the premise that the cleaning effect is guaranteed, and the cleaning efficiency is improved.

Description

Water tank cleaning method, device, equipment and medium based on multiple cleaning robots

Technical Field

The present invention relates to the field of computer technologies, and in particular, to a method, an apparatus, a device, and a medium for cleaning a water tank based on multiple cleaning robots.

Background

The water tank is used for storing domestic water, and along with the continuous development of living standard, people are increasingly high to the requirement of quality of water, therefore, need regularly clean the water tank of water storage in order to guarantee the quality of water.

At present, a water tank cleaning mode commonly adopted in the industry is to realize the integral cleaning of the water tank by one cleaning robot. When the cleaning robot is different in each time of cleaning the water tank, the corresponding operation range can have some changes, and in the face of some very big water tanks, the whole cleaning of the water tank through a cleaning robot can take longer time, cleaning efficiency is low, thereby long-time water cut-off is caused, the satisfaction degree of owners is poor, in addition, if the cleaning robot consumes more electricity in the water tank cleaning process, the electric quantity is too low or does not have the power to shut down, and the problems that the cleaning effect is poor or the cleaning can not be completed once are further formed.

Disclosure of Invention

The invention provides a water tank cleaning method, device, equipment and medium based on a plurality of cleaning robots, which solve the problem of long-time water cut-off caused by cleaning of a water tank, avoid the problems of poor cleaning effect and incapability of completing cleaning of the water tank at one time, shorten the cleaning time on the premise of ensuring the cleaning effect and improve the cleaning efficiency.

In a first aspect, an embodiment of the present disclosure provides a water tank cleaning method based on a plurality of cleaning robots, including:

When a cleaning requirement is generated, at least three cleaning robots are controlled by a network relay point to scan a target water tank according to corresponding scanning areas, and area scanning information returned by each cleaning robot is obtained;

performing three-dimensional modeling according to the area scanning information to obtain a three-dimensional model of the target water tank;

slicing is carried out according to the three-dimensional model, and a regional planning path of the corresponding cleaning robot is determined;

According to the area planning path, controlling the corresponding cleaning robots to cooperatively clean the target water tank, determining at least two target cleaning robots from the cleaning robots when preset optimized cleaning conditions are met, controlling other cleaning robots except the target cleaning robots in the target water tank to continuously clean according to the area planning path, and controlling the target cleaning robots to clean a target area in the target water tank, wherein the target area is the bottom of the water tank and the wall of the water tank with a preset layer height.

In a second aspect, embodiments of the present disclosure provide a water tank cleaning apparatus based on a plurality of cleaning robots, including:

The water tank scanning module is used for controlling at least three cleaning robots to scan a target water tank according to corresponding scanning areas through network relay points when the cleaning requirements are generated, and obtaining area scanning information returned by each cleaning robot;

The water tank modeling module is used for carrying out three-dimensional modeling according to the area scanning information to obtain a three-dimensional model of the target water tank;

The path planning module is used for carrying out slicing processing according to the three-dimensional model and determining an area planning path of the corresponding cleaning robot;

The water tank cleaning module is used for controlling the corresponding cleaning robots to cooperatively clean the target water tank according to the area planning path, determining at least two target cleaning robots from the cleaning robots when preset optimized cleaning conditions are met, controlling the cleaning robots except the target cleaning robots in the target water tank to continuously clean according to the area planning path, and controlling the target cleaning robots to clean a target area in the target water tank, wherein the target area is the bottom of the water tank and the wall of the water tank with a preset layer height.

In a third aspect, an embodiment of the present disclosure provides an electronic device, including:

At least one processor; and

A memory communicatively coupled to the at least one processor; wherein,

The memory stores a computer program executable by the at least one processor to enable the at least one processor to perform the water tank cleaning method provided by the embodiments of the first aspect described above.

In a fourth aspect, embodiments of the present disclosure provide a computer readable storage medium storing computer instructions for causing a processor to execute the method for cleaning a water tank provided in the above-described embodiments of the first aspect.

According to the water tank cleaning method, device, equipment and medium based on the plurality of cleaning robots, when the cleaning requirement is generated, at least three cleaning robots are controlled by a network relay point to scan a target water tank according to corresponding scanning areas, and area scanning information returned by each cleaning robot is obtained; performing three-dimensional modeling according to the area scanning information to obtain a three-dimensional model of the target water tank; slicing is carried out according to the three-dimensional model, and a regional planning path of the corresponding cleaning robot is determined; according to the area planning path, controlling the corresponding cleaning robots to cooperatively clean the target water tank, determining at least two target cleaning robots from the cleaning robots when preset optimized cleaning conditions are met, controlling other cleaning robots except the target cleaning robots in the target water tank to continuously clean according to the area planning path, and controlling the target cleaning robots to clean a target area in the target water tank, wherein the target area is the bottom of the water tank and the wall of the water tank with a preset layer height. According to the technical scheme, through multi-machine collaborative cleaning, the problem of long-time water cut-off caused by cleaning of the water tank is solved, the problems that the cleaning effect is poor and the water tank cannot be cleaned at one time are avoided, the cleaning time is shortened, and the cleaning efficiency is improved; the cleaning of middle layer tank wall and bottom target area in the target water tank is carried out synchronously, the problem that the cleaning effect is poor due to turbid water quality when the bottom layer is cleaned is avoided, and the cleaning effect of the water tank is guaranteed.

It should be understood that the description in this section is not intended to identify key or critical features of the embodiments of the invention or to delineate the scope of the invention. Other features of the present invention will become apparent from the description that follows.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required for the description of the embodiments will be briefly described below, and it is apparent that the drawings in the following description are only some embodiments of the present invention, and other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.

Fig. 1 is a flowchart of a water tank cleaning method based on a plurality of cleaning robots according to an embodiment of the present invention;

Fig. 2 is an exemplary illustration of a three-dimensional model of a target tank involved in a tank cleaning method based on a plurality of cleaning robots according to a first embodiment of the present invention;

fig. 3 is a flowchart of a water tank cleaning method based on a plurality of cleaning robots according to a second embodiment of the present invention;

fig. 4 is a schematic diagram of cooperation of multiple robots for a circular water tank involved in a water tank cleaning method based on multiple cleaning robots according to a second embodiment of the present invention;

fig. 5 is another multi-robot cooperation schematic diagram for a circular water tank involved in a water tank cleaning method based on multiple cleaning robots according to a second embodiment of the present invention;

Fig. 6 is a schematic diagram of cooperation of multiple robots for a square water tank involved in a water tank cleaning method based on multiple cleaning robots according to a second embodiment of the present invention;

fig. 7 is a schematic diagram of cooperation of multiple robots for a square water tank according to a water tank cleaning method based on multiple cleaning robots according to a second embodiment of the present invention;

fig. 8 is another flowchart of a water tank cleaning method based on a plurality of cleaning robots according to a second embodiment of the present invention;

Fig. 9 is a schematic structural view of a water tank cleaning device based on a plurality of cleaning robots according to a third embodiment of the present invention;

fig. 10 is a schematic structural diagram of an electronic device according to a fourth embodiment of the present invention.

Detailed Description

In order that those skilled in the art will better understand the present invention, a technical solution in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in which it is apparent that the described embodiments are only some embodiments of the present invention, not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the present invention without making any inventive effort, shall fall within the scope of the present invention.

It should be noted that the terms "first," "second," and "object" in the description of the present invention and the claims and the above figures are used for distinguishing between similar objects and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used may be interchanged where appropriate such that the embodiments of the invention described herein may be implemented in sequences other than those illustrated or otherwise described herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.

Example 1

Fig. 1 is a flowchart of a water tank cleaning method based on a plurality of cleaning robots according to an embodiment of the present invention, and the present embodiment is applicable to a case where a water tank is cleaned cooperatively by a plurality of cleaning robots, and the method may be performed by a water tank cleaning apparatus based on a plurality of cleaning robots, which may be implemented in the form of hardware and/or software.

As shown in fig. 1, the method includes:

And S101, when a cleaning requirement is generated, controlling at least three cleaning robots to scan the target water tank according to the corresponding scanning area through the network relay point, and obtaining area scanning information returned by each cleaning robot.

In this embodiment, the cleaning requirement may be understood as a requirement for cleaning the target water tank, and the condition for generating the cleaning requirement may be manually triggered or may be triggered based on a preset cleaning cycle, which is not limited in this embodiment. The network relay point may be understood as an intermediate connection node for realizing network communication between the water tank cleaning device as the execution subject in the present embodiment and the respective cleaning robots, for example, may be a WiFi router with a self-contained battery, wherein the network relay point is provided in the water tank cover.

A cleaning robot may be understood as a robot for performing water tank cleaning. The scanning area can be understood as a water tank area to be scanned by each cleaning robot determined according to the number of the cleaning robots, and the scanning areas corresponding to all the cleaning robots are integrated to be the scanning area of the whole target water tank. The target water tank is understood to be the water tank to be cleaned, which is the water tank storing the domestic water. The area scanning information can be understood as information returned by the cleaning robot in the scanning process of the scanning area, and at least comprises a real-time scanning result and robot positioning information, and can also comprise electric quantity information of the robot and the like.

Specifically, when a cleaning requirement is generated, network communication is performed with each cleaning robot through the network relay points, and the number of scanning areas to be divided and the cleaning robots corresponding to the scanning areas are determined according to the number of the cleaning robots. And controlling each cleaning robot to scan according to the corresponding scanning area through a camera and/or a laser radar, and generating area scanning information comprising at least a real-time scanning result and robot positioning information and returning the area scanning information after each cleaning robot finishes scanning of the corresponding scanning area. The water tank cleaning device receives the regional scanning information returned by each cleaning robot through the network relay point.

S102, performing three-dimensional modeling according to the area scanning information to obtain a three-dimensional model of the target water tank.

In this embodiment, fig. 2 is an exemplary display diagram of a three-dimensional model of a target water tank involved in a water tank cleaning method based on multiple cleaning robots according to an embodiment of the present invention, where the three-dimensional model of the target water tank may be understood as a water tank model generated after integration and three-dimensional modeling based on area scan information returned by each cleaning robot, as shown in fig. 2.

Specifically, region scanning information of each scanning region returned by each cleaning robot is integrated, 3D modeling is performed based on the integrated scanning information, and a three-dimensional model corresponding to the integrated scanning information is obtained.

S103, slicing is carried out according to the three-dimensional model, and a regional planning path of the corresponding cleaning robot is determined.

In the present embodiment, the area planning path may be understood as a cleaning path when cleaning the target tank for each cleaning robot, and the area planning path includes a planning path for the tank wall and a planning path for the tank bottom.

Specifically, carrying out plane slicing and dividing on the three-dimensional model according to a preset dividing rule, determining a plurality of box wall cleaning areas, carrying out layering slicing treatment on the box wall cleaning areas according to a preset layer height aiming at each box wall cleaning area, and determining a planning path of each cleaning robot in the corresponding box wall cleaning area; and carrying out plane slicing and dividing on the three-dimensional model according to a preset dividing rule, determining two box bottom cleaning areas, and determining the planning path of each cleaning robot in the corresponding box bottom cleaning area.

S104, controlling the corresponding cleaning robots to cooperatively clean the target water tank according to the area planning path, determining at least two target cleaning robots from the cleaning robots when preset optimized cleaning conditions are met, controlling other cleaning robots except the target cleaning robots in the target water tank to continuously clean according to the area planning path, and controlling the target cleaning robots to clean the water tank in a target area in the target water tank, wherein the target area is the bottom of the water tank and the wall of the water tank with a preset layer height.

In the present embodiment, the optimized cleaning condition may be understood as a preset condition for securing the cleaning effect of the water tank, for example, a cleaning robot sinking to a preset height to reach a preset cleaning level. The target cleaning robot may be understood as a cleaning robot for cleaning a target area, which is determined based on a specific condition from among all the cleaning robots. The target area is a tank bottom and a tank wall with a preset layer height, the tank wall with the preset layer height is a tank wall area with the preset layer height extending upwards from the tank bottom position in the target tank, namely, the target area is the bottom part of the whole target tank. It will be appreciated that the top position of the tank wall of the preset floor height in the target area is not the same as the position where the cleaning robot is currently submerged. And controlling the water tank to drain and purify according to a preset cleaning rule, and returning to control the cleaning robot to clean the water tank again according to the path planning result.

Specifically, after the planning paths of each cleaning robot relative to each cleaning area in the tank wall and the tank bottom are determined, the planning paths of the areas corresponding to the cleaning robots are sent to the cleaning robots, and a plurality of cleaning robots are controlled to cooperatively perform high-pressure flushing and rolling brush cleaning on the target water tank. Meanwhile, relevant information returned by each cleaning robot in the cleaning process is received in real time. And controlling the water tank to drain and purify according to a preset cleaning rule in the process of controlling the corresponding cleaning robot to cooperatively clean the target water tank according to the area planning path. Wherein the preset cleaning rules comprise preset drainage rules and preset purification rules. The preset drainage rule may be understood as a rule for controlling the water tank drainage speed to be matched with the washing speed of the cleaning robot. The preset purging rules are understood to be rules for controlling the release of the sanitizing liquid inside the tank, for example based on a set dose, set concentration or set time interval, and also based on other aspects, which the present embodiment is not limited to.

The cleaning robot is controlled to sink to the second tank wall, and the second layer of the water tank is continuously cleaned until the second layer is cleaned, so that the water tank is continuously circulated, spiral cleaning along with the water level drop of the water tank is realized, and the water tank is completely cleaned.

Because the cleaning of the target water tank in this embodiment is to drain water while cleaning, in the cleaning process of the water tank, water at the corresponding water level after the cleaning of each layer of tank wall is completed is discharged, and most dirt slowly sinks to the bottom of the water tank, at this time, along with the continuation of the cleaning process of the target water tank, water in the water tank becomes more and more turbid, so if the cleaning robot completes the cleaning of the whole water tank layer by layer in a descending manner, along with the continuation of the cleaning process, the cleaning effect of the bottom layer of the water tank cannot be ensured. Therefore, in the process of carrying out high-pressure flushing and rolling brush cleaning on the target water tank by the cooperation of the cleaning robots, judging whether preset optimized cleaning conditions are met currently, and if not, continuing to carry out descending type layer-by-layer cleaning on the basis of the area planning path by all the cleaning robots; if so, determining at least two target cleaning robots from the cleaning robots, controlling other cleaning robots except the target cleaning robots in the target water tank, continuing cleaning layer by layer according to the original area planning path, controlling the target cleaning robots to sink to the target area, and cleaning the target area. When the cleaning is completed, the target area is cleaned twice by the target cleaning robot and other cleaning robots, and when the target area is cleaned by the target cleaning robot, the water in the target area is cleaner than the water in the scheme of cleaning the bottom layer by layer, and at the moment, the target area is cleaned, so that the cleaning effect of the target area can be effectively ensured. In the process that the target cleaning robot and other cleaning robots execute cleaning tasks in parallel, the target cleaning robot can stir lower-layer water, at the moment, upper-layer drainage work can discharge turbid water out of the water tank, and residual dirt in the water tank can be less than that in the process of layer-by-layer sinking cleaning, so that the cleaning effect of the water tank is effectively improved.

It can be understood that when cleaning the target area, cleaning the corresponding tank wall level is performed based on the tank wall planning path in the original area planning path, and cleaning the tank bottom is performed based on the tank bottom planning path in the original area planning path, wherein cleaning of the tank bottom is performed by one or two target cleaning robots, if one target cleaning robot is performed, cleaning is performed based on an arc shape or a return shape, and if two target cleaning robots are performed, one target cleaning robot performs cleaning from the center point of the tank bottom to the edge of the tank, and the other target cleaning robot performs cleaning from the edge of the tank to the center point of the tank bottom. The tank bottom and the tank wall in the target area may be cleaned synchronously or sequentially, and the cleaning timing and the cleaning area allocation are determined based on the number and actual requirements of the target cleaning robots, which is not limited in this embodiment.

Wherein the manner of determining at least two target cleaning robots from among the cleaning robots is: the cleaning robot charge meets a preset threshold or a preset ranking. For example, the remaining power of the cleaning robots is ranked from high to low, the cleaning robots of which the number of ranks is preset before are determined as the target cleaning robots, or the cleaning robots of which the remaining power satisfies the preset power minimum threshold are determined as the target cleaning robots, which is not limited in this embodiment.

For example, if the target tank wall includes twenty tank walls and one tank bottom, the preset optimized cleaning condition is that the cleaning robot has cleaned to the fifteenth tank wall, and the target area is the tank bottom and two high tank walls (i.e., the nineteenth tank wall and the twentieth tank wall). When any one or all of the cleaning robots are cleaned to the tenth five-layer tank wall, at least two target cleaning robots are determined from the cleaning robots, the cleaning robots except the target cleaning robots in the target water tank are controlled to continue to clean from the fifteenth layer tank wall to the twentieth layer tank wall according to the area planning path, the target cleaning robots are controlled to sink to the nineteenth layer tank wall and/or the tank bottom, the target cleaning robots firstly clean the nineteenth layer tank wall and/or the tank bottom based on the corresponding area planning path, and after cleaning of the layers is completed, the cleaning of the corresponding layers is carried out, the cleaning of the next layer (for example, the twentieth layer tank wall) is carried out.

According to the water tank cleaning method based on the plurality of cleaning robots, when a cleaning requirement is generated, at least three cleaning robots are controlled by a network relay point to scan a target water tank according to corresponding scanning areas, and area scanning information returned by each cleaning robot is obtained; performing three-dimensional modeling according to the area scanning information to obtain a three-dimensional model of the target water tank; slicing is carried out according to the three-dimensional model, and a regional planning path of the corresponding cleaning robot is determined; according to the area planning path, controlling the corresponding cleaning robots to cooperatively clean the target water tank, determining at least two target cleaning robots from the cleaning robots when preset optimized cleaning conditions are met, controlling other cleaning robots except the target cleaning robots in the target water tank to continuously clean according to the area planning path, and controlling the target cleaning robots to clean the water tank in a target area in the target water tank, wherein the target area is the bottom of the water tank and the wall of the water tank with a preset layer height. According to the technical scheme, through multi-machine collaborative cleaning, the problem of long-time water cut-off caused by cleaning of the water tank is solved, the problems that the cleaning effect is poor and the water tank cannot be cleaned at one time are avoided, the cleaning time is shortened, and the cleaning efficiency is improved; the cleaning of middle layer tank wall and bottom target area in the target water tank is carried out synchronously, the problem that the cleaning effect is poor due to turbid water quality when the bottom layer is cleaned is avoided, and the cleaning effect of the water tank is guaranteed.

It can be understood that each cleaning robot can be internally networked through a communication protocol capable of transmitting data, such as WiFi, 4G or 5G, each cleaning robot can be in interconnection communication with other cleaning robots, one cleaning robot sends information, and other cleaning robots can simultaneously receive the same information. Each cleaning robot has a certain arithmetic processing capability, and a cleaning system formed by combining a plurality of cleaning robots can also be used as an execution main body for cleaning a water tank, at this time, the cleaning system comprises a main cleaning robot and at least one secondary cleaning robot, and the main cleaning robot is equivalent to the water tank cleaning device in the embodiment. The execution steps are as follows: when a cleaning requirement is generated, the main cleaning robot distributes corresponding scanning areas for the main cleaning robot and each cleaning robot, the distributed scanning areas are sent to each cleaning robot through a local network of an internal networking, and each cleaning robot scans a target water tank according to the corresponding scanning areas to obtain area scanning information; the main cleaning robot controls each secondary cleaning robot and sends the obtained area scanning information to the main cleaning robot; integrating all area scanning information by the main cleaning robot, and performing three-dimensional modeling according to the integrated area scanning information to obtain a three-dimensional model of the target water tank; slicing is carried out according to the three-dimensional model, and the regional planning path of each cleaning robot is determined; and transmitting the area planning paths corresponding to the secondary cleaning robots, and cooperatively cleaning the standard water tank by the primary cleaning robot and the secondary cleaning robot according to the corresponding area planning paths.

Specifically, the cleaning robots can mutually confirm the identity and identify the number of the cleaning robots which assist in the process after entering the water tank, the scanning areas are allocated, the overlapping range is determined, modeling is performed in the main cleaning robot based on the information scanned by each cleaning robot, and the modeled three-dimensional model is sent to other cleaning robots to be spliced to obtain a complete model.

The machine scans the whole water tank through the sensor to form a three-dimensional image, and the three-dimensional image can be greatly improved by integrating a plurality of machine scans into one image. The scanning mode is multi-machine division scanning, the machine knows the working quantity of the cooperative machine, then the water tank is sequentially layered from top to bottom, and in the cleaning process, the 3D image linear interpolation algorithm is used for filtering, so that the influence of shaking of the machine in water and mutual interference of the machine is avoided.

In this way, when the cloud end connected to the robot (i.e., the water tank cleaning device as the execution body of the present embodiment) may be problematic, and cannot communicate with the cleaning robots, each cleaning robot can also spontaneously complete the water tank cleaning operation.

As a first alternative embodiment of the embodiments, on the basis of the above embodiments, the first alternative embodiment further optimizes and increases:

a1 Judging whether the region scanning information returned by the cleaning robot meets the preset modeling condition, and if not, generating a scanning abnormality notification.

In this embodiment, the preset modeling condition may be understood as a preset condition for determining that three-dimensional modeling may be performed, for example, scanning of all scanning ranges in the corresponding scanning area may be completed for each cleaning robot, and the scanning degree may reach 100%. Scan anomaly notification can be understood as a result that characterizes the entire range of scans within an incomplete scan area.

Specifically, for each cleaning robot, the area scanning information returned by the cleaning robot is received, the area scanning information comprises a real-time scanning result and robot positioning information, the position coordinates of the water tank scanned by the cleaning robot in the real-time scanning result are combined with the position coordinates of the cleaning robot in the robot positioning information to determine the superposition condition of the position coordinates of the water tank and the position coordinates of the cleaning robot, the scanned range of the cleaning robot is further determined, the scanned range of the cleaning robot is compared with the whole range of the cleaning robot which needs to be scanned in the scanning area, and the scanning result of the cleaning robot which is completed in the corresponding scanning area, for example, 95% of scanning is determined. At this time, the result of the completed scan is less than 100%, and it is determined that the preset modeling condition is not satisfied at present, and an abnormal scan notification is generated. If the result of the completed scanning meets the preset modeling condition and reaches 100%, step S103 may be directly executed at this time, and three-dimensional modeling may be performed in combination with the area scanning information of each cleaning robot.

B1 A robot supplemental scan instruction is received, wherein the robot supplemental scan instruction is generated based on the scan anomaly notification.

In the present embodiment, the robot supplementary scanning instruction may be understood as an instruction for the cleaning robot to perform supplementary scanning.

Specifically, after the scan abnormality notification is generated, the scan abnormality notification is reported, and at this time, an operator checks the scan condition according to the scan abnormality notification and performs a corresponding supplementary scan operation, for example, determines coordinates of a position, which is not autonomously scanned by the cleaning robot, in the scan area. And receiving supplementary scanning operation of an operator, namely a corresponding robot supplementary scanning instruction.

C1 And controlling the cleaning robot to perform supplementary scanning on a corresponding scanning area in the target water tank according to the robot supplementary scanning instruction to obtain supplementary scanning information returned by the cleaning robot, and filling the supplementary scanning information into the area scanning information.

In this embodiment, the supplementary scan information may be understood as information returned by the cleaning robot in the supplementary scan process for the range of the incomplete autonomous scan in the scan area based on the supplementary scan control instruction, and may include at least a real-time scan result and robot positioning information, and may also include electrical quantity information of the robot, and the like.

Specifically, the cleaning robots corresponding to the corresponding area scanning information which does not meet the preset modeling conditions are determined, the corresponding cleaning robots are controlled to perform supplementary scanning on the part which does not meet the independent scanning in the corresponding scanning area in response to the robot supplementary scanning instruction.

After filling all the supplementary scanning information into the corresponding area scanning information, the three-dimensional modeling can be performed on the target water tank based on the supplementary completed area scanning information corresponding to each cleaning robot.

As a second alternative embodiment of the embodiments, on the basis of the above embodiments, the second alternative embodiment is further optimized to add:

a2 Acquiring cleaning result information returned by the cleaning robot when the water tank is cleaned according to the path planning result.

In this embodiment, the cleaning result information may be understood as information about the cleaning robot to the cleaned water tank collected during the cleaning of the water tank, for example, when a camera is provided on the cleaning robot, the cleaning result information may be a cleaning image collected by the cleaning robot or a corresponding cleaning value determined after the cleaning robot performs arithmetic processing based on the cleaning image.

Specifically, when the cleaning robot cleans a corresponding cleaning area in the target water tank according to a corresponding path planning result, cleaning result information during cleaning is returned in real time. And receiving the cleaning result information returned by the cleaning robot.

B2 Comparing the cleaning result information with preset standard result information, and judging whether the repeated cleaning condition is met currently according to the comparison result.

In this embodiment, the preset standard result information may be understood as preset relevant information indicating that the target water tank is cleaned, for example, may be a clean water tank image, or a corresponding cleaning value. The repeated cleaning condition may be understood as a preset condition for judging whether the current cleaning position of the cleaning robot is clean or not, and the condition requiring repeated cleaning, for example, a cleaning value corresponding to the cleaning result information is greatly different from a cleaning value corresponding to the standard result information.

Specifically, based on a 3D image linear interpolation algorithm, comparing the cleaning image corresponding to the cleaning result information with the cleaning image corresponding to the preset standard result information, or comparing the cleaning value corresponding to the cleaning result information with the cleaning value corresponding to the standard result information, thereby obtaining a comparison result. When the comparison result shows that the difference between the cleaning result information and the standard result information is larger, determining that the repeated cleaning condition is currently met, and representing that the current cleaning area of the cleaning robot is not cleaned.

C2 If yes, the cleaning robot is controlled to repeatedly clean the current cleaning position.

In this embodiment, if the repeated cleaning condition is met currently, it is determined that the current cleaning area corresponding to the cleaning robot still needs to be cleaned repeatedly, then the cleaning robot adsorbed on the water tank is controlled to continue to perform high-pressure flushing and rolling cleaning on the current cleaning area, and whether repeated cleaning is needed is determined again according to the cleaning result information acquired after cleaning is completed, if repeated cleaning is still needed, and the number of cycles reaches the preset repeated cleaning threshold (for example, 3 times), it is determined that the current cleaning area has an unresistible cleaning factor, cleaning of the current area is abandoned, abnormal conditions of the current cleaning area are marked, and the cleaning robot is controlled to continue cleaning on the next cleaning area based on the path planning result.

Example two

Fig. 3 is a flowchart of a water tank cleaning method based on multiple cleaning robots according to a second embodiment of the present invention, which is a further optimization of any of the above embodiments, and is applicable to a case where multiple cleaning robots are used to clean a water tank cooperatively, the method may be performed by a water tank cleaning device based on multiple cleaning robots, and the water tank cleaning device may be implemented in hardware and/or software.

As shown in fig. 3, the method includes:

And S201, when the cleaning requirement is generated, connecting the cleaning robots through the network relay points.

In this embodiment, the router built in the tank cover of the target tank serves as a network relay point through which the cleaning robot is communicatively connected when the cleaning demand is generated.

S202, dividing the target water tank into areas according to the number of the cleaning robots, and determining each scanning area and overlapping range corresponding to each cleaning robot.

In the present embodiment, the scanning area may be understood as an area that the cleaning robot needs to scan, which is an area in the target tank. The overlapping range is understood to be the range in which every two adjacent scanning areas overlap.

Specifically, virtual boundary division is performed on the target water tank according to the number of the cleaning robots, and the result of the virtual boundary division is determined as a scanning area and a superposition range corresponding to each cleaning robot. When the target water tank is a rectangular or square water tank, dividing a scanning area and a superposition range corresponding to the cleaning robot according to a diagonal line; when the target water tank is a circular or oval water tank, the scanning area and the overlapping range corresponding to the cleaning robot are divided according to angles. It will be appreciated that the target water tank may be in other shapes, such as a sphere, a cube corresponding to a polygon, and the corresponding virtual boundary dividing rules are not the same, which is not limited in this embodiment.

For a circular water tank, determining the boundary of a scanning area according to a preset angle, and determining a corresponding overlapping range according to a set offset angle. For example, when the number of cleaning robots is 2, the number of corresponding scanning areas is 2, a straight line corresponding to the circle center 0 ° and 180 ° is determined as a virtual boundary of two scanning areas of the circular water tank with the center point of the circular water tank as the circle center, the offset angle is set to be 5 °, and at this time, the overlapping ranges of the two scanning areas are 0 ° ± 5 ° and 180 ° ± 5 °.

Fig. 4 is a schematic diagram of cooperation of multiple robots for a circular water tank involved in a water tank cleaning method based on multiple cleaning robots according to a second embodiment of the present invention; as shown in fig. 4, when the number of cleaning robots is 2, the plan view of the circular water tank is equally divided into two semicircles, which correspond to the cleaning robots a and B, respectively, and the semicylinder corresponding to each semicircle is the scanning area corresponding to each cleaning robot.

Fig. 5 is another multi-robot cooperation schematic diagram for a circular water tank involved in a water tank cleaning method based on multiple cleaning robots according to a second embodiment of the present invention; as shown in fig. 5, when the number of cleaning robots is 4, the plan view of the circular water tank is equally divided into four sectors, which correspond to the cleaning robots A, B, C and D, respectively, and the sector corresponding to each sector is the scanning area corresponding to each cleaning robot.

For square water tank, possess vertical lines in case wall junction, regard vertical lines of junction as the distribution boundary, overlap the scope at this moment minimum, only have the coincidence in line department, if the line is thinner, can confirm that two adjacent scanning areas do not have the overlap scope. In addition, if the square water tank is a round corner square water tank, only the round corner part is overlapped at the joint of the tank walls, and the round corner part is determined as an overlapping range.

Fig. 6 is a schematic diagram of cooperation of multiple robots for a square water tank involved in a water tank cleaning method based on multiple cleaning robots according to a second embodiment of the present invention; as shown in fig. 6, when the number of cleaning robots is 2, the plan view of the square water tank is equally divided into two right triangles according to a diagonal line of the square water tank, the two right triangles respectively correspond to the cleaning robots a and B, and a half cube corresponding to each right triangle is a scanning area corresponding to each cleaning robot.

Fig. 7 is a schematic diagram of cooperation of multiple robots for a square water tank according to a water tank cleaning method based on multiple cleaning robots according to a second embodiment of the present invention; as shown in fig. 7, when the number of cleaning robots is 4, the plan view of the square water tank is equally divided into four equilateral triangles according to two diagonal lines of the square water tank, the four equilateral triangles respectively correspond to the cleaning robots A, B, C and D, and a quarter cube corresponding to each equilateral triangle is a scanning area corresponding to each cleaning robot.

And S203, controlling each cleaning robot to scan according to the corresponding scanning area and the overlapping range.

In this embodiment, each cleaning robot is controlled to perform cooperative scanning on the target water tank based on the scanning area in which it is located and the overlapping range with respect to the scanning area.

S204, obtaining region scanning information returned by each cleaning robot, wherein the region scanning information at least comprises a real-time scanning result and robot positioning information, and the real-time scanning result is obtained by scanning and returning the cleaning robot in real time according to the corresponding scanning region and the overlapping range.

In this embodiment, the real-time scanning result may be understood as a result determined by the cleaning robot scanning the corresponding scanning area, and may include, for example, depth information and/or coordinate information of the corresponding scanning position. The robot positioning information may be understood as depth information and/or coordinate information of the cleaning robot itself.

Specifically, each cleaning robot scans each position in a corresponding scanning area and a corresponding overlapping range, and the scanning mode can be based on acquisition of a scanning image by a built-in camera or acquisition of depth information by a laser radar to acquire a real-time scanning result. The robot combines the real-time scanning result and the positioning information of the robot into area scanning information, and transmits the area scanning information to the water tank cleaning device through the network relay point. The water tank cleaning device acquires the area scanning information of the corresponding scanning area returned by each cleaning robot.

It can be appreciated that, in order to avoid the problem that the cleaning robot cannot continue to perform the water tank cleaning method due to offline, each cleaning robot uploads the area scanning information in real time while scanning.

S205, integrating the region scanning information returned by each cleaning robot to obtain integrated target scanning information.

In this embodiment, the target scan information may be understood as integrated information of all area scan information corresponding to all cleaning robots, that is, scan information corresponding to the entire target water tank.

Specifically, the region scanning information which is returned by each cleaning robot and meets the preset modeling condition is integrated, and target scanning information is obtained.

It can be understood that each cleaning robot scans the corresponding scanning area and the overlapping area, at this time, there are cases that a plurality of cleaning robots repeatedly scan the overlapping area, so that depth information and/or coordinate information of a scanning position in a real-time scanning result and depth information and/or coordinate information of the cleaning robot itself in robot positioning information are removed, only one part of area scanning information is reserved in the same depth and/or coordinate, and target scanning information is obtained by integrating one part of area scanning information reserved in the overlapping area and other normal area scanning information.

S206, performing three-dimensional modeling according to the target scanning information to obtain a three-dimensional model of the target water tank.

In this embodiment, the three-dimensional model may be understood as a three-dimensional modeled water tank model.

Specifically, 3D modeling is performed according to various coordinate information and depth learning in the target scanning information in combination with the overall shape of the target water tank, and a three-dimensional model for the target water tank is generated, as shown in fig. 2.

S207, dividing the tank wall of the target water tank into tank wall areas according to a first preset dividing rule by the three-dimensional model, determining tank wall cleaning areas corresponding to the cleaning robots, carrying out tank wall slicing processing on each tank wall cleaning area according to a preset layer height, obtaining tank wall slicing results corresponding to each cleaning area, and determining a tank wall planning path of each cleaning robot in the corresponding tank wall cleaning area according to each tank wall slicing result.

In this embodiment, the first preset dividing rule may be understood as a preset rule for planning a cleaning area of the tank wall, for example, may be the same as the scanning area dividing rule, and correspondingly, fig. 4, 5, 6, and 7 may also represent the dividing result of the cleaning area of the tank wall. The tank wall cleaning area is understood to be the range of tank walls that need to be cleaned for each cleaning robot. The preset layer height can be understood as the height required to be lowered from one layer to the next after the cleaning robot cleans the layer, the smaller the layer height is, the finer the cleaning is, and meanwhile, the longer the cleaning time is. The wall slicing result can be understood as each wall level divided by a preset floor height slice for each layer of wall. The wall planning path may be understood as a cleaning path within a corresponding wall cleaning area for each cleaning robot.

Specifically, the three-dimensional model is combined with the shape of the target water tank and the number of the cleaning robots, and the tank wall of the target water tank is divided into tank wall areas according to a first preset division rule, so that the tank wall cleaning areas corresponding to the cleaning robots are determined, for example, as shown in fig. 4, 5, 6 and 7. And sequentially carrying out wall slicing treatment on each wall cleaning area from top to bottom according to the preset layer height to obtain each layer of the corresponding wall layered slice of each wall cleaning area, connecting the upper layer with the lower layer, wherein each wall cleaning area after the layer connection is in an arch shape, and correspondingly, determining the planning path of each cleaning robot in the corresponding wall cleaning area.

S208, dividing the tank bottom of the target water tank into tank bottom areas according to a second preset dividing rule by the three-dimensional model, determining tank bottom cleaning areas corresponding to the cleaning robots, and determining tank bottom planning paths of the cleaning robots in the corresponding tank bottom cleaning areas.

In this embodiment, the second preset dividing rule may be understood as a preset rule for planning a cleaning area of the tank wall, which may be the same as a rule for performing the scanning area dividing for two cleaning robots, and correspondingly, fig. 4 and 6 may also represent a dividing result of the cleaning area of the tank bottom. The tank bottom cleaning area is understood to be the range of tank bottoms that need to be cleaned for each cleaning robot. The floor planning path may be understood as a cleaning path for each cleaning robot within the corresponding floor cleaning area.

Specifically, the cleaning robots determining the first priority and the cleaning robots determining the second priority are cleaning robots that perform cleaning of the bottom of the tank, where the priorities may be determined according to the remaining power of the cleaning robots, or may be based on preset priorities of the robots, which is not limited in this embodiment. Dividing the bottom of the target water tank into two bottom cleaning areas, determining the two bottom cleaning areas and the corresponding cleaning robots, and further determining the planned paths of the two cleaning robots in the corresponding bottom cleaning areas, wherein it is understood that the path planning needs opposite directions for the two cleaning robots in order to avoid collision risks of the two cleaning robots.

Optionally, dividing the tank bottom of the target water tank by the three-dimensional model according to a second preset dividing rule, determining a tank bottom cleaning area corresponding to each cleaning robot, and determining a tank bottom planning path of each cleaning robot in the corresponding tank bottom cleaning area, including:

s2081, dividing the tank bottom of the target water tank into tank bottom areas according to a second preset dividing rule by the three-dimensional model to obtain a first tank bottom cleaning area and a second tank bottom cleaning area.

In this embodiment, the first bottom cleaning area and the second bottom cleaning area may be understood as two identical areas after the bottom portion of the target tank is equally divided, which are both half bottom cleaning areas.

Specifically, dividing the tank bottom of the three-dimensional model of the target water tank into two tank bottom cleaning areas, wherein the specific dividing mode is determined based on the shape of the target water tank, and a first tank bottom cleaning area and a second tank bottom cleaning area after the tank bottom is divided are obtained.

S2082, determining a first cleaning robot and a second cleaning robot meeting preset cleaning conditions according to the region scanning information returned by the cleaning robots.

In this embodiment, the preset cleaning condition may be understood as a robot condition capable of continuing to perform the tank bottom cleaning operation, for example, the robot electric quantity satisfies a preset threshold or a preset ranking. The first cleaning robot and the second cleaning robot may be understood as cleaning robots satisfying preset cleaning conditions among all the cleaning robots.

Specifically, according to the residual electric quantity information of each cleaning robot in the area scanning information returned by the cleaning robots, the two cleaning robots with the largest residual electric quantity are respectively determined to be the first cleaning robot and the second cleaning robot.

S2083, determining a first bottom planning path of the first cleaning robot relative to the first bottom cleaning area and a second bottom planning path of the second cleaning robot relative to the second bottom cleaning area, wherein the first bottom planning path is a planning path from the center of the water tank to the edge of the water tank, and the second bottom planning path is a planning path from the edge of the water tank to the center of the water tank.

In this embodiment, the first floor planning path may be understood as a cleaning path of the first cleaning robot at the floor. The second floor planning path may be understood as a cleaning path of the second cleaning robot at the floor of the tank.

Specifically, determining a path of the first cleaning robot relative to a first box bottom cleaning area, wherein the path is used for performing arcuate cleaning from the center position of the box bottom to the edge position of the box bottom; determining a path of the second cleaning robot relative to the second box bottom cleaning area, wherein the path is used for cleaning the arc shape from the edge position of the box bottom to the center position of the box bottom.

Or as another optional implementation manner of determining the planned path of the box bottom in the embodiment, slicing the box bottom, dividing the box bottom into multiple layers according to the preset layer height based on the shape of the Chinese character 'hui', determining a first cleaning robot entering the box bottom as a first cleaning robot, and determining a second cleaning robot entering the box bottom as a second cleaning robot. Determining a first floor plan path relative to a first cleaning robot as: the first cleaning robot cleans in a shape like a Chinese character 'Hui' outwards from the center of the box bottom. The planned path of the second bottom relative to the second cleaning robot is: the second cleaning robot cleans the box in a shape like a Chinese character 'Hui' inwards from the edge position of the bottom of the box. When only one layer of the zigzag slices is left between the first cleaning robot and the second cleaning robot, the first cleaning robot is controlled to return to the center of the tank bottom, the second cleaning robot is controlled to clean the tank bottom one layer, and all cleaning of the target water tank is completed.

S209, controlling the corresponding cleaning robot to cooperatively clean the target water tank according to the area planning path.

According to the water tank cleaning method based on the plurality of cleaning robots, when the cleaning requirements are generated, the cleaning robots are connected through the network relay points; dividing the target water tank into areas according to the number of the cleaning robots, and determining each scanning area and overlapping range corresponding to each cleaning robot; controlling each cleaning robot to scan according to the corresponding scanning area and the overlapping range; the method comprises the steps of obtaining region scanning information returned by each cleaning robot, wherein the region scanning information at least comprises real-time scanning results and robot positioning information, and the real-time scanning results are obtained by the cleaning robots through scanning and real-time returning according to corresponding scanning regions and overlapping ranges; integrating the regional scanning information returned by each cleaning robot to obtain integrated target scanning information; performing three-dimensional modeling according to the target scanning information to obtain a three-dimensional model of the target water tank; dividing a tank wall of a target water tank into tank wall areas according to a first preset dividing rule by the three-dimensional model, determining tank wall cleaning areas corresponding to all cleaning robots, carrying out tank wall slicing treatment on each tank wall cleaning area according to a preset layer height, obtaining tank wall slicing results corresponding to each cleaning area, and determining a tank wall planning path of each cleaning robot in the corresponding tank wall cleaning area according to each tank wall slicing result; dividing the tank bottom of the target water tank into tank bottom areas according to a second preset dividing rule by the three-dimensional model, determining tank bottom cleaning areas corresponding to all cleaning robots, and determining tank bottom planning paths of all the cleaning robots in the corresponding tank bottom cleaning areas; and controlling the corresponding cleaning robot to cooperatively clean the target water tank according to the area planning path. Above-mentioned technical scheme effectively realizes the layer by layer cleanness of wall and bottom of the case, and when the bottom of the case region cleans, a robot is from inside to outside, and a robot is from outside to inside, effectively avoids two robots at the collision risk of cleaning in-process, ensures cleaning robot's operation security when carrying out the water tank cleaning, improves the clear cleaning efficiency of water tank.

Fig. 8 is another flow chart of a water tank cleaning method based on multiple cleaning robots according to the second embodiment of the present invention, as shown in fig. 4, the solution adopts multiple cleaning robots to cooperatively work to realize the layer-by-layer cleaning of the domestic water tank. At this time, the execution subject of the water tank cleaning method based on the plurality of cleaning robots may be a water tank cleaning system composed of the plurality of cleaning robots.

Firstly, a plurality of cleaning robots enter the water tank together, and simultaneously scan an environment image and perform three-dimensional image construction.

Each robot transmits its own built image to the other water tank cleaning robots so that each water tank cleaning robot can receive all the images and integrate the images into a new panoramic image.

The inside of this water tank is sliced layer by layer according to panoramic image, divides the worker planning route to realize the multi-machine and wash the operation in coordination, each water tank cleaning robot is with the corresponding case wall layer of self planning route after the sanitization, and the cleaning process is full-intelligent, independently plans the cleaning route, can reach high-efficient, clean purpose of high quality.

Wherein, the washing operation is carried out in the multimachine cooperation includes: the cleaning robot adsorbs and climbs the wall through the sucking disc, and high-pressure flushing is avoided through the high-pressure self-priming pump, the ejector and the water jet; and brushing the wall surface of the area which is just washed under high pressure by a rolling brush after the high pressure washing.

Collecting and extracting a cleaned area image through a rearview camera on the robot after brushing; and acquiring a cleaning region image uploaded by the cleaning robot, and performing image analysis processing on the cleaning region image based on the image processing system.

Searching whether an unclean place (dirt block/spot and the like) exists in the current clean area through an image algorithm; if yes, recording the coordinates of the dirty object points, re-dividing and planning a route according to the number of the dirty object points collected by a plurality of machines at the same time, the coordinates of the dirty object points and the coordinates of a plurality of cleaning robots, and cooperatively cleaning the cleaning machines; or controlling the cleaning robot of the current area to repeatedly perform cleaning operation on the current area, if the current area is not cleaned continuously for preset times, discarding the area, and continuing to perform water tank cleaning according to the planned path;

If not, namely the current area is cleaned, judging whether a box wall layer cleaned at the current moment of the cleaning robot is a box bottom or not; if not, the robot is controlled to move to the next layer, adsorption wall climbing and high-pressure flushing are continued, and circulation is carried out until the cleaning robot is cleaned to the bottom of the box.

When the cleaning robots clean to the bottom of the tank, i.e. are currently located at the bottom layer, two cleaning robots are selected from all the cleaning robots, and the bottom layer is cleaned based on the bow shape or the return shape. It should be noted that the cleaning paths of the two cleaning robots are opposite.

Example III

Fig. 9 is a schematic structural view of a water tank cleaning device based on a plurality of cleaning robots according to a third embodiment of the present invention. As shown in fig. 9, the apparatus includes:

The water tank scanning module 31 is used for controlling at least three cleaning robots to scan a target water tank according to corresponding scanning areas through network relay points when a cleaning requirement is generated, and obtaining area scanning information returned by each cleaning robot;

the water tank modeling module 32 is configured to perform three-dimensional modeling according to the area scanning information, so as to obtain a three-dimensional model of the target water tank;

the path planning module 33 is configured to perform slicing processing according to the three-dimensional model, and determine a region planning path of the corresponding cleaning robot;

The water tank cleaning module 34 is configured to control the corresponding cleaning robots to cooperatively clean the target water tank according to the area planning path, determine at least two target cleaning robots from among the cleaning robots when a preset optimized cleaning condition is satisfied, control other cleaning robots except the target cleaning robots in the target water tank to continue cleaning according to the area planning path, and control the target cleaning robots to clean a target area in the target water tank, where the target area is a water tank bottom and a water tank wall with a preset layer height.

The water tank cleaning device based on a plurality of cleaning robots that this technical scheme adopted has solved because the long-time water supply interruption problem that the clean water tank leads to has avoided the clean effect poor and can't once only accomplish the clear problem of water tank, shortens the clean time under the prerequisite of guaranteeing the clean effect, promotes clean efficiency.

Optionally, the tank scanning module 31 is specifically configured to:

dividing the target water tank into areas according to the number of the cleaning robots, and determining each scanning area and overlapping range corresponding to each cleaning robot;

controlling each cleaning robot to scan according to the corresponding scanning area and the overlapping range;

And obtaining region scanning information returned by each cleaning robot, wherein the region scanning information at least comprises a real-time scanning result and robot positioning information, and the real-time scanning result is obtained by scanning and returning the cleaning robot in real time according to the corresponding scanning region and the overlapping range.

Optionally, the device further comprises a supplementary scanning module, and the supplementary scanning module is specifically configured to:

Judging whether the region scanning information returned by the cleaning robot meets a preset modeling condition or not, and if not, generating a scanning abnormality notification;

receiving a robot supplementary scanning instruction, wherein the robot supplementary scanning instruction is generated based on the scanning abnormality notification;

And controlling the cleaning robot to perform supplementary scanning on a corresponding scanning area in the target water tank according to the robot supplementary scanning instruction, obtaining supplementary scanning information returned by the cleaning robot, and filling the supplementary scanning information into the area scanning information.

Optionally, the water tank modeling module 32 is specifically configured to:

integrating the regional scanning information returned by each cleaning robot to obtain integrated target scanning information;

And carrying out three-dimensional modeling according to the target scanning information to obtain a three-dimensional model of the target water tank.

Optionally, the path planning module 33 includes:

The box wall path planning unit is used for dividing box walls of the target water tank into box wall areas according to a first preset dividing rule, determining box wall cleaning areas corresponding to the cleaning robots, carrying out box wall slicing processing on each box wall cleaning area according to a preset layer height, obtaining box wall slicing results corresponding to each cleaning area, and determining box wall planning paths of the cleaning robots in the corresponding box wall cleaning areas according to the box wall slicing results;

The box bottom path planning unit is used for dividing the box bottom of the target water tank into box bottom areas according to a second preset dividing rule, determining box bottom cleaning areas corresponding to the cleaning robots, and determining box bottom planning paths of the cleaning robots in the corresponding box bottom cleaning areas.

Optionally, the bottom path planning unit is specifically configured to:

Dividing the tank bottom of the target water tank into tank bottom regions according to a second preset dividing rule by the three-dimensional model to obtain a first tank bottom cleaning region and a second tank bottom cleaning region;

determining a first cleaning robot and a second cleaning robot meeting preset cleaning conditions according to the region scanning information returned by the cleaning robots;

Determining a first bottom planning path of the first cleaning robot relative to the first bottom cleaning area and a second bottom planning path of the second cleaning robot relative to the second bottom cleaning area, wherein the first bottom planning path is a planning path from the center of the water tank to the edge of the water tank, and the second bottom planning path is a planning path from the edge of the water tank to the center of the water tank.

Optionally, the device further comprises a repeated cleaning module, and the repeated cleaning module is specifically configured to:

acquiring cleaning result information returned by the cleaning robot when the water tank is cleaned according to the path planning result;

comparing the cleaning result information with preset standard result information, and judging whether the repeated cleaning condition is met currently according to the comparison result;

and if yes, controlling the cleaning robot to repeatedly clean the current cleaning position.

The water tank cleaning device based on the plurality of cleaning robots provided by the embodiment of the invention can execute the water tank cleaning method based on the plurality of cleaning robots provided by any embodiment of the invention, and has the corresponding functional modules and beneficial effects of the execution method.

Example IV

Fig. 10 shows a schematic diagram of an electronic device 40 that may be used to implement an embodiment of the invention. Electronic devices are intended to represent various forms of digital computers, such as laptops, desktops, workstations, personal digital assistants, servers, blade servers, mainframes, and other appropriate computers. Electronic equipment may also represent various forms of mobile devices, such as personal digital processing, cellular telephones, smartphones, wearable devices (e.g., helmets, glasses, watches, etc.), and other similar computing devices. The components shown herein, their connections and relationships, and their functions, are meant to be exemplary only, and are not meant to limit implementations of the inventions described and/or claimed herein.

As shown in fig. 10, the electronic device 40 includes at least one processor 41, and a memory communicatively connected to the at least one processor 41, such as a Read Only Memory (ROM) 42, a Random Access Memory (RAM) 43, etc., in which the memory stores a computer program executable by the at least one processor, and the processor 41 may perform various suitable actions and processes according to the computer program stored in the Read Only Memory (ROM) 42 or the computer program loaded from the storage unit 48 into the Random Access Memory (RAM) 43. In the RAM 43, various programs and data required for the operation of the electronic device 40 may also be stored. The processor 41, the ROM 42 and the RAM 43 are connected to each other via a bus 44. An input/output (I/O) interface 45 is also connected to bus 44.

Various components in electronic device 40 are connected to I/O interface 45, including: an input unit 46 such as a keyboard, a mouse, etc.; an output unit 47 such as various types of displays, speakers, and the like; a storage unit 48 such as a magnetic disk, an optical disk, or the like; and a communication unit 49 such as a network card, modem, wireless communication transceiver, etc. The communication unit 49 allows the electronic device 40 to exchange information/data with other devices via a computer network, such as the internet, and/or various telecommunication networks.

The processor 41 may be various general and/or special purpose processing components with processing and computing capabilities. Some examples of processor 41 include, but are not limited to, a Central Processing Unit (CPU), a Graphics Processing Unit (GPU), various specialized Artificial Intelligence (AI) computing chips, various processors running machine learning model algorithms, digital Signal Processors (DSPs), and any suitable processor, controller, microcontroller, etc. The processor 41 performs the respective methods and processes described above, for example, a water tank cleaning method based on a plurality of cleaning robots.

In some embodiments, the multiple cleaning robot-based water tank cleaning method may be implemented as a computer program tangibly embodied on a computer-readable storage medium, such as the storage unit 48. In some embodiments, part or all of the computer program may be loaded and/or installed onto the electronic device 40 via the ROM 42 and/or the communication unit 49. When the computer program is loaded into the RAM 43 and executed by the processor 41, one or more steps of the above-described water tank cleaning method based on a plurality of cleaning robots may be performed. Alternatively, in other embodiments, the processor 41 may be configured to perform the multiple cleaning robot based water tank cleaning method by any other suitable means (e.g., by means of firmware).

Various implementations of the systems and techniques described here above may be implemented in digital electronic circuitry, integrated circuit systems, field Programmable Gate Arrays (FPGAs), application Specific Integrated Circuits (ASICs), application Specific Standard Products (ASSPs), systems On Chip (SOCs), load programmable logic devices (CPLDs), computer hardware, firmware, software, and/or combinations thereof. These various embodiments may include: implemented in one or more computer programs, the one or more computer programs may be executed and/or interpreted on a programmable system including at least one programmable processor, which may be a special purpose or general-purpose programmable processor, that may receive data and instructions from, and transmit data and instructions to, a storage system, at least one input device, and at least one output device.

A computer program for carrying out methods of the present invention may be written in any combination of one or more programming languages. These computer programs may be provided to a processor of a general purpose computer, special purpose computer, or other programmable data processing apparatus, such that the computer programs, when executed by the processor, cause the functions/acts specified in the flowchart and/or block diagram block or blocks to be implemented. The computer program may execute entirely on the machine, partly on the machine, as a stand-alone software package, partly on the machine and partly on a remote machine or entirely on the remote machine or server.

In the context of the present invention, a computer-readable storage medium may be a tangible medium that can contain, or store a computer program for use by or in connection with an instruction execution system, apparatus, or device. The computer readable storage medium may include, but is not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any suitable combination of the foregoing. Alternatively, the computer readable storage medium may be a machine readable signal medium. More specific examples of a machine-readable storage medium would include an electrical connection based on one or more wires, a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.

To provide for interaction with a user, the systems and techniques described here can be implemented on an electronic device having: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to a user; and a keyboard and a pointing device (e.g., a mouse or a trackball) through which a user can provide input to the electronic device. Other kinds of devices may also be used to provide for interaction with a user; for example, feedback provided to the user may be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user may be received in any form, including acoustic input, speech input, or tactile input.

The systems and techniques described here can be implemented in a computing system that includes a background component (e.g., as a data server), or that includes a middleware component (e.g., an application server), or that includes a front-end component (e.g., a user computer having a graphical user interface or a web browser through which a user can interact with an implementation of the systems and techniques described here), or any combination of such background, middleware, or front-end components. The components of the system can be interconnected by any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include: local Area Networks (LANs), wide Area Networks (WANs), blockchain networks, and the internet.

The computing system may include clients and servers. The client and server are typically remote from each other and typically interact through a communication network. The relationship of client and server arises by virtue of computer programs running on the respective computers and having a client-server relationship to each other. The server can be a cloud server, also called a cloud computing server or a cloud host, and is a host product in a cloud computing service system, so that the defects of high management difficulty and weak service expansibility in the traditional physical hosts and VPS service are overcome.

It should be appreciated that various forms of the flows shown above may be used to reorder, add, or delete steps. For example, the steps described in the present invention may be performed in parallel, sequentially, or in a different order, so long as the desired results of the technical solution of the present invention are achieved, and the present invention is not limited herein.

The above embodiments do not limit the scope of the present invention. It will be apparent to those skilled in the art that various modifications, combinations, sub-combinations and alternatives are possible, depending on design requirements and other factors. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should be included in the scope of the present invention.

Claims

1. A water tank cleaning method based on a plurality of cleaning robots, comprising:

According to the area planning path, controlling the corresponding cleaning robots to cooperatively clean the target water tank, determining at least two target cleaning robots from the cleaning robots when preset optimized cleaning conditions are met, controlling the cleaning robots except the target cleaning robots in the target water tank to continuously descend and clean layer by layer according to the area planning path, and controlling the target cleaning robots to clean the water tank in a target area in the target water tank, wherein the target area is the bottom of the water tank and the wall of the water tank with preset layer height.

2. The method according to claim 1, wherein the controlling at least three cleaning robots to scan the target water tank according to the corresponding scan areas to obtain the area scan information returned by each cleaning robot includes:

3. The method of claim 1, further comprising, prior to three-dimensional modeling from the region scan information:

4. The method of claim 1, wherein the three-dimensional modeling based on the regional scanning information to obtain the three-dimensional model of the target tank comprises:

5. The method of claim 1, wherein the determining the area planning path of the corresponding cleaning robot according to the slicing process performed by the three-dimensional model comprises:

Dividing the tank wall of the target water tank into tank wall areas according to a first preset dividing rule, determining tank wall cleaning areas corresponding to the cleaning robots, performing tank wall slicing processing on each tank wall cleaning area according to a preset layer height, obtaining tank wall slicing results corresponding to each cleaning area, and determining a tank wall planning path of each cleaning robot in the corresponding tank wall cleaning area according to each tank wall slicing result;

And dividing the tank bottom of the target water tank into tank bottom areas according to a second preset dividing rule by the three-dimensional model, determining tank bottom cleaning areas corresponding to the cleaning robots, and determining tank bottom planning paths of the cleaning robots in the corresponding tank bottom cleaning areas.

6. The method according to claim 5, wherein the step of dividing the three-dimensional model into bottom areas according to a second preset division rule for the bottom of the target water tank, determining a bottom cleaning area corresponding to each cleaning robot, and determining a bottom planning path of each cleaning robot in the corresponding bottom cleaning area includes:

7. The method according to claim 1, characterized in that the method further comprises:

Acquiring cleaning result information returned by the cleaning robot when the water tank is cleaned according to a path planning result;

8. A water tank cleaning device based on a plurality of cleaning robots, comprising:

The water tank cleaning module is used for controlling the corresponding cleaning robots to cooperatively clean the target water tank according to the area planning path, determining at least two target cleaning robots from the cleaning robots when preset optimized cleaning conditions are met, controlling the cleaning robots except the target cleaning robots in the target water tank to continuously descend and clean layer by layer according to the area planning path, and controlling the target cleaning robots to clean a water tank in a target area in the target water tank, wherein the target area is the bottom of the water tank and the wall of the water tank with a preset layer height.

9. An electronic device, comprising:

At least one processor; and

A memory communicatively coupled to the at least one processor; wherein,

The memory stores a computer program executable by the at least one processor to enable the at least one processor to perform a cleaning method of a water tank based on a plurality of cleaning robots as claimed in any one of claims 1 to 7.

10. A computer readable storage medium storing computer instructions for causing a processor to perform a method of cleaning a water tank based on a plurality of cleaning robots as claimed in any one of claims 1 to 7.