Method, device, computer equipment and medium for splitting and merging equipment operation units

Abstract

The present application relates to a method, device, computer device and storage medium for splitting and merging equipment operation units, wherein the method includes: determining an operation area; splitting the operation area into multiple operation units based on a preset splitting logic, the preset splitting logic including horizontal bow-shaped path splitting and / or vertical bow-shaped path splitting; arranging and combining multiple operation units to obtain multiple combination results; identifying the combination result corresponding to the optimal operation path in the multiple combination results, and obtaining the equipment operation unit merging result. In the whole process, the entire operation area is first split into multiple operation units based on the horizontal bow-shaped path splitting and / or the vertical bow-shaped path splitting, and then these operation units are combined to obtain different combination results, and the optimal operation path in each combination result is comprehensively identified. Since the optimal operation path is comprehensively identified based on the overall comprehensiveness, the overall optimal operation path can be selected, which can effectively support the efficient operation of the equipment.

Description

Technical Field

[0001] The present application relates to the field of intelligent control technology, and in particular to a method, device, computer equipment and storage medium for splitting and merging equipment operation units. Background Art

[0002] With the development of science and technology, more and more devices currently support automatic operation path planning, such as cleaning robots, automatic lawn mowers, and plant protection drones. These devices can automatically plan operation paths and methods, bringing convenience to people.

[0003] Taking cleaning robots as an example, they need to plan paths when performing cleaning tasks, and path planning is also one of the key technologies of mobile robots. Traditional cleaning robot path planning is based on edge cleaning. Due to the diversity of room sizes and shapes and possible obstacles, the whole house is divided into multiple cleaning areas during the actual application of whole-house cleaning. In the traditional cleaning process, bow-shaped path planning is performed separately for each cleaning area, and the cleaning areas are not merged and split in a reasonable way, resulting in a large number of turning paths, which ultimately greatly increases the time spent on cleaning.

[0004] It is understandable that similar problems also exist for other equipment (such as automatic lawn mowers and plant protection drones, etc.) That is, in the process of traditional equipment operation path planning, if the operation units are not reasonably split and merged, it will lead to low equipment operation efficiency. Summary of the invention

[0005] Based on this, it is necessary to provide a reasonable equipment operation unit splitting and merging method, device, computer equipment and storage medium to support efficient equipment operation in order to address the problem that there is currently no reasonable operation unit splitting and merging solution, resulting in low equipment operation efficiency.

[0006] A method for splitting and merging equipment operation units, the method comprising:

[0007] Determine the operating area;

[0008] Splitting the operation area into a plurality of operation units based on a preset splitting logic, wherein the preset splitting logic includes horizontal bow-shaped path splitting and / or vertical bow-shaped path splitting;

[0009] Arrange and combine multiple operation units to obtain multiple combination results;

[0010] The combined result corresponding to the optimal operation path among the multiple combined results is identified to obtain the combined result of the equipment operation unit.

[0011] In one embodiment, identifying a combination result corresponding to an optimal operation path among multiple combination results to obtain a combined result of equipment operation units includes:

[0012] Identify the number of turns in the operation path corresponding to each combination result;

[0013] Select the combination result corresponding to the minimum number of turns in the operation path to obtain the equipment operation unit merging result.

[0014] In one embodiment, the method for splitting and merging the equipment operation units further includes:

[0015] Select the combination result corresponding to the minimum number of turns in the operation path to obtain the target combination result;

[0016] If the target combination result is unique, the target combination result is used as the equipment operation unit merging result;

[0017] If the target combination result is not unique, then obtain the moving paths between different operation units in each target combination result;

[0018] The target combination result corresponding to the shortest moving path is selected as the equipment operation unit merging result.

[0019] In one embodiment, multiple operation units are arranged and combined to obtain multiple combination results including:

[0020] Arrange and combine multiple operation units to obtain an initial combination result;

[0021] Excluding the situation where the operation units arranged in sequence in the initial combination result are not adjacent in the operation area, multiple combination results are obtained.

[0022] In one embodiment, before arranging and combining the multiple operation units to obtain multiple combination results, the method further includes:

[0023] Add unique identifiers to multiple job units.

[0024] In one embodiment, determining the operating area includes:

[0025] Obtain edge operation data, and determine the operation area based on the edge operation data;

[0026] Or, obtain a global operation map, and determine the operation area according to the global operation map.

[0027] In one embodiment, after identifying the combination result corresponding to the optimal operation path among the multiple combination results and obtaining the equipment operation unit merging result, the method further includes:

[0028] Execute operations on the operation area based on the equipment operation unit merging results.

[0029] A device for splitting and merging equipment operation units, the device comprising:

[0030] An operation determination module, used for determining an operation area;

[0031] A splitting module, used for splitting the operation area into a plurality of operation units based on a preset splitting logic, wherein the preset splitting logic includes horizontal bow-shaped path splitting and / or vertical bow-shaped path splitting;

[0032] A combination module is used to arrange and combine multiple operation units to obtain multiple combination results;

[0033] The optimization module is used to identify the combination result corresponding to the optimal operation path among multiple combination results, and obtain the combined result of the equipment operation unit.

[0034] A computer device includes a memory and a processor, wherein the memory stores a computer program, and when the processor executes the computer program, the following steps are implemented:

[0035] Determine the operating area;

[0036] Splitting the operation area into a plurality of operation units based on a preset splitting logic, wherein the preset splitting logic includes horizontal bow-shaped path splitting and / or vertical bow-shaped path splitting;

[0037] Arrange and combine multiple operation units to obtain multiple combination results;

[0038] The combined result corresponding to the optimal operation path among the multiple combined results is identified to obtain the combined result of the equipment operation unit.

[0039] A computer-readable storage medium stores a computer program, which, when executed by a processor, implements the following steps:

[0040] Determine the operating area;

[0041] Splitting the operation area into a plurality of operation units based on a preset splitting logic, wherein the preset splitting logic includes horizontal bow-shaped path splitting and / or vertical bow-shaped path splitting;

[0042] Arrange and combine multiple operation units to obtain multiple combination results;

[0043] The combined result corresponding to the optimal operation path among the multiple combined results is identified to obtain the combined result of the equipment operation unit.

[0044] The above-mentioned equipment operation unit splitting and merging method, device, computer equipment and storage medium determine the operation area; split the operation area into multiple operation units based on the preset splitting logic, and the preset splitting logic includes horizontal bow-shaped path splitting and / or vertical bow-shaped path splitting; arrange and combine multiple operation units to obtain multiple combination results; identify the combination result corresponding to the optimal operation path in the multiple combination results to obtain the equipment operation unit merging result. In the whole process, the entire operation area is first split into multiple operation units based on the horizontal bow-shaped path splitting and / or the vertical bow-shaped path splitting, and then these operation units are combined to obtain different combination results, and the optimal operation path in each combination result is comprehensively identified. Since the optimal operation path is comprehensively identified based on the overall comprehensiveness, the overall optimal operation path can be selected, which can effectively support the efficient operation of the equipment. BRIEF DESCRIPTION OF THE DRAWINGS

[0045] Figure 1 A schematic diagram of a process of splitting and merging equipment operation units in one embodiment;

[0046] Figure 2 A schematic diagram of sub-area splitting and merging in one embodiment;

[0047] Figure 3 A schematic diagram of sub-area splitting and merging in yet another embodiment;

[0048] Figure 4 A schematic diagram of sub-area splitting and merging in yet another embodiment;

[0049] Figure 5 A schematic diagram of sub-area splitting and merging in yet another embodiment;

[0050] Figure 6 A schematic diagram of sub-area splitting and merging in yet another embodiment;

[0051] Figure 7 It is a flow chart of a method for splitting and merging equipment operation units in an application example;

[0052] Figure 8 It is a structural block diagram of a device for splitting and merging equipment operation units in one embodiment;

[0053] Fig. 9 FIG. 4 is a diagram showing the internal structure of a computer device in one embodiment. DETAILED DESCRIPTION

[0054] In order to make the purpose, technical solution and advantages of the present application more clearly understood, the present application is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and are not used to limit the present application.

[0055] In order to explain in detail the technical principles and effects of the method for splitting and merging the operating units of the equipment in this application, the application of the solution to a cleaning robot will be taken as an example to explain its core technical principles in detail.

[0056] Taking a cleaning robot as an example, in the process of path planning for a cleaning area, a traditional cleaning robot splits the current cleaning area into rectangular cleaning units, and cleans each rectangular cleaning unit one by one along a path with the least number of turns. This method improves the cleaning efficiency to a certain extent. However, when applied to an actual room, due to the implementation of the sub-area splitting logic, the splitting becomes rectangular cleaning units, ignoring the fact that the new cleaning units generated by merging some sub-areas require less time, and the improvement in cleaning efficiency is limited. The method for splitting and merging the operating units of the equipment in this application makes a further breakthrough in traditional technology. After splitting the cleaning area, different sub-areas are merged to form different cleaning unit combinations. The overall combination is comprehensively considered, and the optimal operating path is selected from different cleaning unit combinations, that is, the optimal and least time-consuming cleaning unit combination method is found to support the subsequent efficient cleaning operations of the cleaning robot. Specifically, when the method for splitting and merging the operating units of the equipment of the present application is applied to a cleaning robot scenario, it includes the following steps: obtaining and determining the cleaning area that currently needs to be cleaned; splitting the cleaning area into multiple cleaning sub-areas based on a preset splitting logic, arranging and combining these cleaning sub-areas to obtain multiple combination results, identifying the optimal path among the multiple combination results, and obtaining the final cleaning robot cleaning sub-area merging result, that is, determining the optimal cleaning path for the cleaning robot to support the cleaning robot to achieve efficient cleaning.

[0057] In one embodiment, Figure 1 As shown, a method for splitting and merging equipment operation units is provided, comprising the following steps:

[0058] S200: Determine the operation area.

[0059] The operation area refers to the operation area of ​​the equipment, that is, the entire area corresponding to the equipment when performing the operation process. Taking the cleaning robot as an example, the operation area refers to the entire area corresponding to this cleaning task. For example, when cleaning the whole house, the operation area refers to the whole house. The determination of the operation area can be directly carried by the external imported operation task data, or it can be determined by the equipment through automatic detection and exploration. For example, the equipment performs edge operations to explore and determine the entire operation area.

[0060] S400: Splitting the work area into a plurality of work units based on a preset splitting logic, wherein the preset splitting logic includes horizontal bow-shaped path splitting and / or vertical bow-shaped path splitting.

[0061] The splitting of the transverse bow-shaped path refers to the generation of a bow-shaped path in a transverse (horizontal) manner; the longitudinal bow-shaped path refers to the generation of a bow-shaped path in a longitudinal (vertical) manner. Here, the transverse bow-shaped path method can be used to determine the path of each work unit in the entire work area, the longitudinal bow-shaped path method can be used to determine the path of each work unit in the entire work area, and the path of each work unit can also be determined in a transverse manner in part and in a longitudinal manner in the other part. Based on the above-mentioned methods of determining the work paths and in combination with the shape of the entire work area, obstacles in the work area, and other conditions, the entire work area is split into multiple work units. Specifically, taking the application to a cleaning robot as an example, if Figure 2 as well as Figure 3 As shown in the figure, the entire operation area is divided into three operation units (cleaning sub-areas) A\B\C. Figure 2 and Figure 3 The work units obtained by splitting are different. It can be understood that different splitting results can be obtained for the same work area based on different splitting logics, that is, different work units will be obtained.

[0062] S600: Arrange and combine multiple operation units to obtain multiple combination results.

[0063] The operation units obtained in S400 can be arranged and combined to obtain multiple combination results. Specifically, based on the knowledge of arrangement and combination in mathematics, it can be known that the combination result is directly related to the number of types of operation units, and the number of types of operation units is related to the diversity of splitting methods and the sub-areas that can be split. To explain in detail the specific number of multiple combination results that can be obtained, the following will continue to take the splitting of the cleaning area into cleaning sub-areas (referred to as sub-areas) as an example, and combine Figure 3 and Figure 4 Expand description.

[0064] The cleaning robot determines the cleaning area and divides it into sub-areas in M ​​ways (M is the number of ways to divide the sub-areas: Figure 2 as well as Figure 3 For two different splitting methods, or even more), the clean area is split into N sub-areas (in Figure 2 and Figure 3 In the example, N=3), and then these sub-areas are judged. According to the mathematical rules of permutation and combination, the sum of the combinations corresponding to the M splitting methods is:

[0065] when hour:

[0066] when hour:

[0067] In the above formula, Z is a positive integer.

[0068] S800: Identify a combination result corresponding to an optimal operation path among multiple combination results, and obtain a combined result of equipment operation units.

[0069] In S600, multiple combination results are screened, and the combination result corresponding to the optimal operation path is selected to obtain the combined result of the equipment operation unit. It can be understood that the optimal operation path can be obtained based on the combined result of the operation unit, and when the equipment performs the operation based on the optimal operation path, the operation efficiency can be significantly improved.

[0070] The above-mentioned equipment operation unit splitting and merging method determines the operation area; splits the operation area into multiple operation units based on the preset splitting logic, and the preset splitting logic includes horizontal bow-shaped path splitting and / or vertical bow-shaped path splitting; arranges and combines multiple operation units to obtain multiple combination results; identifies the combination result corresponding to the optimal operation path in the multiple combination results, and obtains the equipment operation unit merging result. In the whole process, the entire operation area is first split into multiple operation units based on the horizontal bow-shaped path splitting and / or the vertical bow-shaped path splitting, and then these operation units are combined to obtain different combination results, and the optimal operation path in each combination result is comprehensively identified. Since the optimal operation path is comprehensively identified based on the overall comprehensiveness, the overall optimal operation path can be selected, which can effectively support the efficient operation of the equipment.

[0071] In one embodiment, identifying a combination result corresponding to an optimal operation path among multiple combination results to obtain a combined result of equipment operation units includes:

[0072] Identify the number of turns in the operation path corresponding to each combination result; select the combination result corresponding to the minimum number of turns in the operation path to obtain the equipment operation unit merging result.

[0073] Furthermore, in the process of selecting the operation path, the operation path corresponding to the least time consumption will be selected, and the time consumption of turning in the bow-shaped path will be significantly higher than the time consumption of the straight line. Therefore, the path with the least number of turns can be selected as the optimal operation path, that is, the combination result corresponding to the least number of turns is selected as the final equipment operation unit merging result. In this embodiment, the number of turns of the corresponding operation path in each combination result is first identified, and the combination result corresponding to the least number of turns is selected as the final equipment operation unit merging result.

[0074] In one embodiment, the method for splitting and merging the equipment operation units further includes:

[0075] Select the combination result corresponding to the least number of turns in the operation path to obtain the target combination result; if the target combination result is unique, use the target combination result as the equipment operation unit merging result; if the target combination result is not unique, obtain the moving paths between different operation units in each target combination result; select the target combination result corresponding to the shortest moving path as the equipment operation unit merging result.

[0076] The moving path between different operating units in each target combination result refers to the moving path from the end point of one operating unit to the starting point of the next operating unit. For example, if the current target combination result includes operating unit 1, operating unit 2 and operating unit 3, the moving path refers to the moving path from the end point of operating unit 1 to the starting point of operating unit 2. It can be understood that the shorter the moving path, the less time the equipment spends in the moving process, which can further improve the equipment operation efficiency. Based on the above theory, in view of the situation that the combination result corresponding to the minimum number of turns in the operating path that may exist in actual applications contains multiple combination results, in this embodiment, the moving paths between different operating units in each target combination result are obtained, and the target combination result corresponding to the shortest moving path is selected as the final equipment operating unit merging result. The distance of the moving path can be specifically obtained by the A star algorithm.

[0077] Assume that multiple combination results include combination result 1, combination result 2, and combination result 3, and the corresponding numbers of bends are 10, 12, and 14, respectively. Select the combination result with the least number of bends to obtain the target combination result, that is, determine the target combination result to be combination result 1, and the equipment operation unit merged result to be combination result 1. Assume that multiple combination results include combination result 4, combination result 5, and combination result 6, and the corresponding numbers of bends are 12, 12, and 14, respectively. Select the combination result with the least number of bends to obtain the target combination results, namely, combination result 4 and combination result 5. The moving paths in combination result 4 and combination result 5 are 3 meters and 4 meters, respectively. Select combination result 4 with the shorter moving path as the final equipment operation unit merged result.

[0078] In one embodiment, multiple operation units are arranged and combined to obtain multiple combination results including:

[0079] Arrange and combine multiple operating units to obtain an initial combination result; exclude the situation where the operating units arranged in sequence in the initial combination result are not adjacent in the operating area, and obtain multiple combination results.

[0080] Since the arrangement and combination of multiple operating units to obtain multiple combination results is based on mathematical arrangement and combination, it only considers the possibility of arrangement and combination. In actual applications, if the operating units arranged in sequence are not adjacent in the operating area, this will obviously seriously affect the operating efficiency of the equipment, which is obviously unreasonable. Therefore, it is necessary to exclude such situations and obtain the final multiple combination results. Figure 3 Taking the scene shown as an example, in the combination ACB, sub-area A and sub-area C are separated by obstacles and sub-area B, and the two are not adjacent. It can be understood that if sub-area A is cleaned and then sub-area C is cleaned, it is necessary to pass through sub-area B along the way, which will inevitably take a lot of time. Therefore, this type of combination result needs to be excluded, that is, the combination result ACB needs to be excluded.

[0081] In one of the embodiments, before arranging and combining the multiple operation units to obtain multiple combination results, the method further includes: adding unique identifiers to the multiple operation units respectively.

[0082] A unique identifier is added to each operation unit so that the corresponding operation unit can be accurately distinguished and identified later. The identifier can be understood as the unique identity identifier of the operation unit. In practical applications, the identifier can be a simple number, letter, or a combination of numbers and letters.

[0083] In one embodiment, determining the operating area includes:

[0084] Obtaining edge operation data; determining the operation area based on the edge operation data;

[0085] Or, obtain a global operation map and determine the operation area based on the global operation map.

[0086] In this embodiment, the device can determine the working area by working along the edge. Taking the device as a cleaning robot as an example, the cleaning robot is powered on to respond to the user's operation and perform this cleaning task. The cleaning robot starts to perform edge cleaning of the whole house, collects edge cleaning data, and creates a preliminary whole house cleaning map. The whole house cleaning map can accurately represent (display) the area that needs to be cleaned in the whole house, that is, the cleaning area corresponding to this whole house cleaning is obtained.

[0087] In addition, the device can also directly obtain the global operation map and determine the operation area based on the global operation map. The global operation map refers to a map that represents the entire operation area. It can be a map stored in historical operations or a map directly imported from the outside. Taking the device as a cleaning robot as an example, the cleaning robot is powered on to respond to the user's operation and perform the current cleaning task. The cleaning robot starts to obtain the whole house cleaning map that was built and stored after the last whole house cleaning. In addition, the whole house cleaning map can be directly imported into the cleaning robot from the outside. For example, the user directly sends the whole house cleaning map to the cleaning robot through a mobile phone. After obtaining the whole house cleaning map, the cleaning robot determines the entire cleaning area.

[0088] In order to further illustrate in detail the technical solution of the method for splitting and merging the operating units of the equipment of the present application, the following will take the application to a cleaning robot as an example and explain it in combination with the accompanying drawings.

[0089] In general, in a specific application example, the method for splitting and merging the operation units of the present application mainly identifies the combination result corresponding to the optimal path based on the following three criteria: Criterion 1: Compare the number of path turns in the area and select the planning scheme with the least number of turns; Criterion 2: The two cleaning units are adjacent units. Criterion 3: After satisfying criteria 1 and 2, the distance of the moving path is judged, and the merged area (combination result) with a close moving path is selected.

[0090] by Figure 2 Take the scene shown in as an example, the cleaning area is divided into three rectangular cleaning units (A, B, C). In summary, at this time, n = 3, M = 1 is substituted into the formula to calculate the cleaning area has 5 combinations. According to criteria 1 and 2, screening is performed to obtain relevant merged area information, and the three combinations that meet criteria 1 and 2 are AB\C, BC\A, and ABC, respectively. Figure 5 , Figure 6 , Figure 4 As shown in the figure, comparing the number of turns in the three combined areas, the AB\C combination has the least number of turns, so this combined area is selected for cleaning. If the combination selected by criteria 1 and 2 is ABC ( Figure 4 )、A\B\C( Figure 2 ) If the two combinations have the same number of turns, then according to criterion 3, ABC is shorter than the navigation path A\B\C, and the merged area is selected for cleaning. This method fully schedules the paths that may have a certain number of turns, merges the split sub-areas, and selects the path with fewer turns for cleaning, thereby optimizing the cleaning path and improving the cleaning efficiency.

[0091] like Figure 7 As shown, when applied to a cleaning robot, the method for splitting and merging the operating units of the equipment of the present application includes the following steps:

[0092] 1. The cleaning robot responds to user operations and powers on to start;

[0093] 2. Implement the sub-area splitting logic, arrange and combine the sub-areas, and start screening;

[0094] 3. Whether the number of turns of the combination is the minimum, if so, go to step 4; if not, exclude the combination;

[0095] 4. Determine whether the sub-areas arranged in sequence in the combination are adjacent in the cleaning area. If so, proceed to step 5; if not, exclude the combination;

[0096] 5. Is the combination unique? If so, go to step 7; if not, go to step 6;

[0097] 6. Determine whether the combined navigation path (moving path) is the shortest. If so, proceed to step 7; if not, exclude the combined method;

[0098] 7. Use this combination to clean;

[0099] 8. Complete this cleaning task.

[0100] It should be understood that, although the steps in the above-mentioned flowcharts are displayed in sequence according to the indication of the arrows, these steps are not necessarily executed in sequence according to the order indicated by the arrows. Unless there is a clear description in this article, there is no strict order restriction on the execution of these steps, and these steps can be executed in other orders. Moreover, at least a part of the steps in the above-mentioned flowcharts may include multiple steps or multiple stages, and these steps or stages are not necessarily executed at the same time, but can be executed at different times, and the execution order of these steps or stages is not necessarily to be carried out in sequence, but can be executed in turn or alternately with other steps or at least a part of the steps or stages in other steps.

[0101] In one embodiment, Figure 8 As shown, a device for splitting and merging equipment operation units is provided, comprising:

[0102] The operation determination module 200 is used to determine the operation area;

[0103] A splitting module 400, for splitting the operation area into a plurality of operation units based on a preset splitting logic, wherein the preset splitting logic includes horizontal bow-shaped path splitting and / or vertical bow-shaped path splitting;

[0104] A combination module 600 is used to arrange and combine multiple operation units to obtain multiple combination results;

[0105] The preferred module 800 is used to identify the combination result corresponding to the optimal operation path among multiple combination results, and obtain the equipment operation unit merging result.

[0106] The above-mentioned equipment operation unit splitting and merging device determines the operation area; splits the operation area into multiple operation units based on the preset splitting logic, and the preset splitting logic includes horizontal bow-shaped path splitting and / or vertical bow-shaped path splitting; arranges and combines multiple operation units to obtain multiple combination results; identifies the combination result corresponding to the optimal operation path in the multiple combination results, and obtains the equipment operation unit merging result. In the whole process, the entire operation area is first split into multiple operation units based on the horizontal bow-shaped path splitting and / or the vertical bow-shaped path splitting, and then these operation units are combined to obtain different combination results, and the optimal operation path in each combination result is comprehensively identified. Since the optimal operation path is comprehensively identified based on the overall comprehensiveness, the overall optimal operation path can be selected, which can effectively support the efficient operation of the equipment.

[0107] In one embodiment, the preferred module 800 is also used to identify the number of turns in the operation path corresponding to each combination result; the combination result corresponding to the least number of turns in the operation path is selected to obtain the equipment operation unit merging result.

[0108] In one of the embodiments, the preferred module 800 is also used to select the combination result corresponding to the least number of turns in the working path to obtain a target combination result; if the target combination result is unique, the target combination result is used as the equipment working unit merging result; if the target combination result is not unique, the moving paths between different working units in each target combination result are obtained; and the target combination result corresponding to the shortest moving path is selected as the equipment working unit merging result.

[0109] In one embodiment, the combination module 600 is further used to arrange and combine multiple operating units to obtain an initial combination result; excluding the situation where the operating units arranged in sequence in the initial combination result are not adjacent in the operating area, to obtain multiple combination results.

[0110] In one embodiment, the splitting module 400 is further used to add unique identifiers to the multiple operation units respectively.

[0111] In one embodiment, the operation determination module 200 is further used to obtain edge operation data; determine the operation area based on the edge operation data; or, to obtain a global operation map and determine the operation area based on the global operation map.

[0112] In one of the embodiments, the above-mentioned equipment operation unit splitting and merging device also includes an execution module, which is used to execute operations on the operation area according to the equipment operation unit merging result.

[0113] For the specific embodiments of the device for splitting and merging the equipment operation unit, please refer to the embodiments of the method for splitting and merging the equipment operation unit above, which will not be repeated here. Each module in the above-mentioned device for splitting and merging the equipment operation unit can be implemented in whole or in part by software, hardware and a combination thereof. The above-mentioned modules can be embedded in or independent of the processor in the computer device in the form of hardware, or can be stored in the memory of the computer device in the form of software, so that the processor can call and execute the operations corresponding to the above modules.

[0114] In one embodiment, a computer device is provided. The computer device may be a terminal, and its internal structure diagram may be as follows: Fig. 9 As shown. The computer device includes a processor, a memory, a communication interface, a display screen and an input device connected through a system bus. Among them, the processor of the computer device is used to provide computing and control capabilities. The memory of the computer device includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system and a computer program. The internal memory provides an environment for the operation of the operating system and the computer program in the non-volatile storage medium. The communication interface of the computer device is used to communicate with an external terminal in a wired or wireless manner, and the wireless manner can be achieved through WIFI, an operator network, NFC (near field communication) or other technologies. When the computer program is executed by the processor, a method for splitting and merging device operation units is implemented. The display screen of the computer device can be a liquid crystal display screen or an electronic ink display screen, and the input device of the computer device can be a touch layer covered on the display screen, or a button, trackball or touchpad set on the computer device housing, or an external keyboard, touchpad or mouse, etc.

[0115] Those skilled in the art will understand that Fig. 9 The structure shown in the figure is only a block diagram of a part of the structure related to the solution of the present application, and does not constitute a limitation on the computer device to which the solution of the present application is applied. The specific computer device may include more or fewer components than those shown in the figure, or combine certain components, or have a different arrangement of components.

[0116] In one embodiment, a computer device is provided, including a memory and a processor, wherein a computer program is stored in the memory, and when the processor executes the computer program, the following steps are implemented:

[0117] Determine the operating area;

[0118] Splitting the operation area into a plurality of operation units based on a preset splitting logic, wherein the preset splitting logic includes horizontal bow-shaped path splitting and / or vertical bow-shaped path splitting;

[0119] Arrange and combine multiple operation units to obtain multiple combination results;

[0120] The combined result corresponding to the optimal operation path among the multiple combined results is identified to obtain the combined result of the equipment operation unit.

[0121] In one embodiment, when the processor executes the computer program, the processor further implements the following steps:

[0122] Identify the number of turns in the operation path corresponding to each combination result; select the combination result corresponding to the minimum number of turns in the operation path to obtain the equipment operation unit merging result.

[0123] In one embodiment, when the processor executes the computer program, the processor further implements the following steps:

[0124] Select the combination result corresponding to the least number of turns in the operation path to obtain the target combination result; if the target combination result is unique, use the target combination result as the equipment operation unit merging result; if the target combination result is not unique, obtain the moving paths between different operation units in each target combination result; select the target combination result corresponding to the shortest moving path as the equipment operation unit merging result.

[0125] In one embodiment, when the processor executes the computer program, the processor further implements the following steps:

[0126] Arrange and combine multiple operating units to obtain an initial combination result; exclude the situation where the operating units arranged in sequence in the initial combination result are not adjacent in the operating area, and obtain multiple combination results.

[0127] In one embodiment, when the processor executes the computer program, the processor further implements the following steps:

[0128] Add unique identifiers to multiple job units.

[0129] In one embodiment, when the processor executes the computer program, the processor further implements the following steps:

[0130] Obtain edge operation data; determine the operation area based on the edge operation data; or obtain a global operation map and determine the operation area based on the global operation map.

[0131] In one embodiment, when the processor executes the computer program, the processor further implements the following steps:

[0132] Execute operations on the operation area based on the equipment operation unit merging results.

[0133] In one embodiment, a computer readable storage medium is provided, on which a computer program is stored, and when the computer program is executed by a processor, the following steps are implemented:

[0134] Determine the operating area;

[0135] Splitting the operation area into a plurality of operation units based on a preset splitting logic, wherein the preset splitting logic includes horizontal bow-shaped path splitting and / or vertical bow-shaped path splitting;

[0136] Arrange and combine multiple operation units to obtain multiple combination results;

[0137] The combined result corresponding to the optimal operation path among the multiple combined results is identified to obtain the combined result of the equipment operation unit.

[0138] In one embodiment, when the computer program is executed by a processor, the following steps are also implemented:

[0139] Identify the number of turns in the operation path corresponding to each combination result; select the combination result corresponding to the minimum number of turns in the operation path to obtain the equipment operation unit merging result.

[0140] In one embodiment, when the computer program is executed by a processor, the following steps are also implemented:

[0141] Select the combination result corresponding to the least number of turns in the operation path to obtain the target combination result; if the target combination result is unique, use the target combination result as the equipment operation unit merging result; if the target combination result is not unique, obtain the moving paths between different operation units in each target combination result; select the target combination result corresponding to the shortest moving path as the equipment operation unit merging result.

[0142] In one embodiment, when the computer program is executed by a processor, the following steps are also implemented:

[0143] Arrange and combine multiple operating units to obtain an initial combination result; exclude the situation where the operating units arranged in sequence in the initial combination result are not adjacent in the operating area, and obtain multiple combination results.

[0144] In one embodiment, when the computer program is executed by a processor, the following steps are also implemented:

[0145] Add unique identifiers to multiple job units.

[0146] In one embodiment, when the computer program is executed by a processor, the following steps are also implemented:

[0147] Obtain edge operation data; determine the operation area based on the edge operation data; or obtain a global operation map and determine the operation area based on the global operation map.

[0148] In one embodiment, when the computer program is executed by a processor, the following steps are also implemented:

[0149] Execute operations on the operation area based on the equipment operation unit merging results.

[0150] Those of ordinary skill in the art can understand that all or part of the processes in the above-mentioned embodiment methods can be completed by instructing the relevant hardware through a computer program, and the above-mentioned computer program can be stored in a non-volatile computer-readable storage medium. When the computer program is executed, it can include the processes of the embodiments of the above-mentioned methods. Among them, any reference to memory, storage, database or other media used in the embodiments provided in this application can include at least one of non-volatile and volatile memory. Non-volatile memory can include read-only memory (ROM), magnetic tape, floppy disk, flash memory or optical memory, etc. Volatile memory can include random access memory (RAM) or external cache memory. As an illustration and not limitation, RAM can be in various forms, such as static random access memory (SRAM) or dynamic random access memory (DRAM).

[0151] The technical features of the above embodiments may be arbitrarily combined. To make the description concise, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0152] The above embodiments only express several implementation methods of the present application, and the descriptions thereof are relatively specific and detailed, but they cannot be understood as limiting the scope of the invention patent. It should be pointed out that, for a person of ordinary skill in the art, several variations and improvements can be made without departing from the concept of the present application, and these all belong to the protection scope of the present application. Therefore, the protection scope of the patent of the present application shall be subject to the attached claims.

Claims

1. A method for splitting and merging equipment operation units, characterized in that: The method comprises: Determine the operating area; Splitting the operation area into a plurality of operation units based on a preset splitting logic, wherein the preset splitting logic includes horizontal bow-shaped path splitting and / or vertical bow-shaped path splitting; Arrange and combine the multiple operation units to obtain multiple combination results; Identify the combination result corresponding to the optimal operation path among the multiple combination results to obtain the equipment operation unit merging result; the optimal operation path is the path with the least number of turns.

2. The method according to claim 1, characterized in that: The step of identifying the combination result corresponding to the optimal operation path among the plurality of combination results to obtain the equipment operation unit merging result comprises: Identifying the number of turns in the operation path corresponding to each of the combination results; The combination result corresponding to the minimum number of turns in the operation path is selected to obtain the equipment operation unit merging result.

3. The method according to claim 2, characterized in that Also includes: Select the combination result corresponding to the minimum number of turns in the operation path to obtain the target combination result; If the target combination result is unique, the target combination result is used as the equipment operation unit merging result; If the target combination result is not unique, obtaining the moving paths between different operation units in each target combination result; The target combination result corresponding to the shortest moving path is selected as the equipment operation unit merging result.

4. The method according to claim 1, characterized in that The arranging and combining the multiple operation units to obtain multiple combination results includes: Arrange and combine the multiple operation units to obtain an initial combination result; Excluding the situation where the operation units arranged sequentially in the initial combination result are not adjacent in the operation area, a plurality of combination results are obtained.

5. The method according to claim 1, characterized in that Before arranging and combining the multiple operation units to obtain multiple combination results, the method further includes: Unique identifiers are added to the multiple operation units respectively.

6. The method according to claim 1, characterized in that Determining the operating area includes: Acquire edge operation data, and determine the operation area according to the edge operation data; Or, obtain a global operation map, and determine the operation area according to the global operation map.

7. The method according to claim 1, characterized in that After identifying the combination result corresponding to the optimal operation path among the multiple combination results and obtaining the equipment operation unit merging result, the method further includes: According to the merging result of the equipment operation units, the operation is performed on the operation area.

8. A device for splitting and merging equipment operation units, characterized in that: The device comprises: An operation determination module, used for determining an operation area; A splitting module, used for splitting the operation area into a plurality of operation units based on a preset splitting logic, wherein the preset splitting logic includes horizontal bow-shaped path splitting and / or vertical bow-shaped path splitting; A combination module, used for arranging and combining the multiple operation units to obtain multiple combination results; The optimization module is used to identify the combination result corresponding to the optimal operation path among the multiple combination results to obtain the combined result of the equipment operation unit; the optimal operation path is the path with the least number of turns.

9. A computer device comprising a memory and a processor, wherein the memory stores a computer program, wherein: When the processor executes the computer program, the steps of the method according to any one of claims 1 to 7 are implemented.

10. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the steps of the method according to any one of claims 1 to 7 are implemented.

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