Asynchronous cooperative control method and device for multiple cabin cleaning robots

The invention provides an asynchronous cooperative control method and device for multiple cabin cleaning robots, and belongs to the technical field of robots. The method comprises the steps of determining an efficiency evaluation result, a risk evaluation result and a path planning evaluation result of the cabin cleaning robots when a plurality of cabin cleaning robots perform autonomous operation according to a preset multi-constraint path planning algorithm based on a preset starting point and a preset ending point, and further determining whether the robots need to be switched from an autonomous operation mode to a manual control mode or not; the information of the cabin cleaning robot needing to be switched to the manual control mode is displayed through the main display screen, an alarm is given through the indicator lamp, and the information of the cabin cleaning robot in the autonomous operation mode is displayed through the auxiliary display screen; according to the control method, the control instruc