Abstract: A method of distributing task regions for a plurality of cleaning devices, including: dividing a task map into a plurality of basic sub-regions according to concave corners corresponding to the shape of the task map; combining each two adjacent basic sub-regions, and calculating basic cleaning time corresponding to each of the combined basic sub-regions; repeatedly combining each two adjacent basic sub-regions according to the basic cleaning time, and obtaining a basic partition result; selecting starting blocks according to positions of the plurality of task sub-regions in the basic partitioning result; combining the task sub-regions according to the position of each starting block, the position of each task sub-region, and the cleaning time corresponding to each task sub-region, and obtaining the task region distribution result; enabling cleaning devices to perform cleaning tasks according to the position of each cleaning device and the task region distribution result.

Abstract: A method of distributing task areas, adapted to a cleaning device, is provided, including: receiving a task map; obtaining a shape that corresponds to the task map; dividing the task map into a plurality of sub-regions according to a plurality of recesses in the shape; merging the two adjacent sub-regions that have a common long side or short side, and obtaining a plurality of merge results that correspond to each of the merge actions; calculating a plurality of cleaning times for each of the merge results for the cleaning device; selecting the merge result that has the shortest cleaning times as a first distribution result; and enabling the cleaning device to perform a cleaning task according to the first distribution result.

Abstract: A method of distributing task regions for a plurality of cleaning devices, including: dividing a task map into a plurality of basic sub-regions according to concave corners corresponding to the shape of the task map; combining each two adjacent basic sub-regions, and calculating basic cleaning time corresponding to each of the combined basic sub-regions; repeatedly combining each two adjacent basic sub-regions according to the basic cleaning time, and obtaining a basic partition result; selecting starting blocks according to positions of the plurality of task sub-regions in the basic partitioning result; combining the task sub-regions according to the position of each starting block, the position of each task sub-region, and the cleaning time corresponding to each task sub-region, and obtaining the task region distribution result; enabling cleaning devices to perform cleaning tasks according to the position of each cleaning device and the task region distribution result.

Abstract: A movement control method for multiple robots, including: obtaining a first operating status and a first predicted moving path corresponding to a first robot; obtaining a second operating status and a second predicted moving path corresponding to a second robot; determining whether the first predicted moving path and the second moving path have overlapping segments or adjacent segments; in response to the first predicted moving path and the second moving path having overlapping segments or adjacent segments, determining whether the difference between the first prediction time of the first robot and the second prediction time of the second robot is less than a given time; and in response to the difference being less than the given time, changing a first moving status of the first robot or a second moving status of the second robot according to the first operating status and the second operating status.

Abstract: A method of distributing task areas, adapted to a cleaning device, is provided, including: receiving a task map; obtaining a shape that corresponds to the task map; dividing the task map into a plurality of sub-regions according to a plurality of recesses in the shape; merging the two adjacent sub-regions that have a common long side or short side, and obtaining a plurality of merge results that correspond to each of the merge actions; calculating a plurality of cleaning times for each of the merge results for the cleaning device; selecting the merge result that has the shortest cleaning times as a first distribution result; and enabling the cleaning device to perform a cleaning task according to the first distribution result.

Abstract: An automatic charging method for robots is provided, including the following steps: a control terminal generates a plurality of current tasks that correspond to different task areas according to a task map; a plurality of robots receive the current tasks, and the first battery level required for the current task is calculated; each of the robots ascertains a plurality of positions that correspond to a plurality of charging stations, and the second battery level required to arrive at each of the charging stations is calculated according to the current position of each of the robots and the locations of the charging stations; and each of the robots determines whether to charge its battery based on the current battery level, the first battery level, the second battery level, and the low battery threshold.