Best advice I can give you is once they have gone out to school go up to their room/rooms put everything that is out of place on their bed whether its clothes, books, toys whatever. You can then hoover, dust, clean windows etc. When they come home they can go to their rooms and put things away tidily in whatever way they wish. Make sure they have a laundry bin for dirty clothes. Once they learn how to do this they will keep their rooms a lot tidier. It is not for them to allow you to things with their toys. They shouldn't allow you to do anything - you're the parent. You are in charge. That way you will have time to take them to the park where they can play safely.