A floor mopping machine path planning method and system

Abstract

The embodiment of the present application discloses a mopping machine path planning method and system, the method comprising: in response to a path planning instruction, determining the current cleaning state of the mopping cloth and the starting point and end point corresponding to the path planning instruction; determining the mopping track from the starting point to the end point according to the geographic real-time map, the cleaning real-time map and the cleaning state. During the mopping machine cleaning task, the path is reasonably planned to minimize secondary pollution of the road surface and improve the cleaning effect.

Description

Technical Field

[0001] The embodiments of the present application relate to the technical field of floor mopping machines, and particularly to a path planning method and system for a floor mopping machine. Background Art

[0002] Traditional sweeping machines only sweep and do not mop, and cannot remove stubborn stains on the ground. Since a mop is installed on the body of a floor mopping machine, the mop can be rotated at a high speed or translated and vibrated during floor cleaning, so as to realize pressing and mopping the floor, and thus the floor can be efficiently cleaned.

[0003] In actual work, after the floor mopping machine mops the floor, there will be a certain amount of water stains remaining on the ground. During the cleaning process of the floor mopping machine, the wheels will also carry some dust, and the mop cloth will also periodically change from clean to dirty. If the floor mopping machine passes through an area that has been cleaned before during the walking process, it will cause secondary pollution during the current cleaning process, affecting the final cleaning effect and reducing the user experience. Summary of the Invention

[0004] Therefore, the embodiments of the present application provide a path planning method and system for a floor mopping machine, which can reasonably plan the path during the cleaning task of the floor mopping machine, minimize the secondary pollution of the road surface as much as possible, and improve the cleaning effect.

[0005] To achieve the above object, the embodiments of the present application provide the following technical solutions:

[0006] According to the first aspect of the embodiments of the present application, a floor mopping method for a floor mopping machine is provided, and the method includes:

[0007] Responding to a path planning instruction, determining the current cleaning state of the mopping cloth and the starting point and ending point corresponding to the path planning instruction;

[0008] Determining a mopping trajectory between the starting point and the ending point according to the geographical actual situation map, the cleaning actual situation map and the cleaning state.

[0009] Optionally, the determining the current cleaning state of the mopping cloth includes:

[0010] If the current cleaning stage of the floor mopping machine is the stage of starting after self-cleaning at the water station, determining that the current cleaning state of the mopping cloth is clean;

[0011] If the current cleaning stage of the floor mopping machine is the stage of going from the currently cleaned area to the area to be cleaned, or the stage of returning to the water station to clean the mopping cloth, determining that the current cleaning state of the mopping cloth is dirty.

[0012] Optionally, determining a mopping trajectory between the starting point and the ending point according to the geographical actual situation map, the cleaning actual situation map and the cleaning state includes:

[0013] Determining an obstacle-free area based on the geographic real-time map;

[0014] According to the obstacle-free area and the actual cleaning map, and in accordance with a preset traffic strategy corresponding to the cleaning state, a mopping trajectory from the starting point to the end point is determined.

[0015] Optionally, the determining of the mopping track from the starting point to the end point according to the obstacle-free area and the actual cleaning map and a preset traffic strategy corresponding to the cleaning state includes:

[0016] According to the cleaning status being clean, determining the area that has been cleaned currently from the cleaning real-time map;

[0017] According to the obstacle-free area and the currently cleaned area, determine all obstacle-free and cleaned areas between the starting point and the end point;

[0018] It is determined that at least one continuous moving trajectory can be formed between the starting point, all areas without obstacles and completed cleaning, and the end point, and the moving trajectory with the shortest path among the at least one moving trajectory is determined as the mopping trajectory between the starting point and the end point.

[0019] Optionally, the determining of the mopping track from the starting point to the end point according to the obstacle-free area and the actual cleaning map and a preset traffic strategy corresponding to the cleaning state includes:

[0020] According to the cleaning state being dirty, determining all areas to be cleaned from the cleaning real-time map;

[0021] According to the obstacle-free area and all areas to be cleaned, determining all obstacle-free areas to be cleaned between the starting point and the end point;

[0022] It is determined that at least one continuous moving trajectory can be formed between the starting point, all areas to be cleaned without obstacles, and the end point, and the moving trajectory with the shortest path among the at least one moving trajectory is determined as the mopping trajectory between the starting point and the end point.

[0023] Optionally, the method further comprises:

[0024] It is determined that the continuous moving track cannot be formed, and a mopping track from the starting point to the end point is determined according to the obstacle-free area.

[0025] Optionally, before responding to the path planning instruction, the method further includes:

[0026] Divide the target mopping area into several regions and determine the cleaning order for each region.

[0027] Optionally, determining the starting point and ending point corresponding to the path planning instruction includes:

[0028] Determine the starting point and ending point corresponding to the path planning instruction according to the current cleaning stage of the mopping machine and the cleaning order of each region.

[0029] According to a second aspect of an embodiment of the present application, there is provided a path planning system for a mopping machine, the system including:

[0030] A positioning module, configured to determine the current cleaning state of the mopping cloth and the starting point and ending point corresponding to the path planning instruction in response to the path planning instruction;

[0031] A trajectory planning module, configured to determine a mopping trajectory between the starting point and the ending point according to the geographical actual situation map, the cleaning actual situation map, and the cleaning state.

[0032] According to a third aspect of an embodiment of the present application, there is provided an electronic device, including: a memory, a processor, and a computer program stored on the memory and executable on the processor, and when the processor runs the computer program, it is executed to implement the method described in the first aspect above.

[0033] According to a fourth aspect of an embodiment of the present application, there is provided a computer-readable storage medium, on which computer-readable instructions are stored, and the computer-readable instructions can be executed by a processor to implement the method described in the first aspect above.

[0034] In summary, the embodiments of the present application provide a path planning method and system for a mopping machine. By responding to a path planning instruction, the current cleaning state of the mopping cloth and the starting point and ending point corresponding to the path planning instruction are determined; according to the geographical actual situation map, the cleaning actual situation map, and the cleaning state, the mopping trajectory between the starting point and the ending point is determined. During the cleaning task of the mopping machine, the path is reasonably planned to minimize the secondary pollution of the road surface and improve the cleaning effect. BRIEF DESCRIPTION OF THE DRAWINGS

[0035] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following will briefly introduce the drawings required for use in the description of the embodiments or the prior art. Obviously, the drawings in the following description are only exemplary, and for those of ordinary skill in the art, other implementation drawings can be obtained based on the provided drawings without creative efforts.

[0036] The structures, proportions, sizes, etc. illustrated in this specification are only used to match the content disclosed in the specification for those familiar with this technology to understand and read, and are not used to limit the conditions for the implementation of the present invention. Therefore, they do not have any substantial technical significance. Any modification of the structure, change in the proportional relationship, or adjustment of the size, without affecting the effects that the present invention can produce and the purposes that can be achieved, should still fall within the scope covered by the technical content disclosed in the present invention.

[0037] Figure 1 It is a schematic flow chart of the floor mopping machine path planning method provided by an embodiment of this application;

[0038] Figure 2 It is a flow chart of the floor mopping machine path planning embodiment provided by an embodiment of this application;

[0039] Figure 3 It is a schematic diagram of layer 1 of the multi-layer map provided by an embodiment of this application;

[0040] Figure 4 It is a schematic diagram of layer 2 of the multi-layer map provided by an embodiment of this application;

[0041] Figure 5 It is a schematic diagram of the path planning provided by an embodiment of this application;

[0042] Figure 6 It is a block diagram of the floor mopping machine path planning system provided by an embodiment of this application;

[0043] Figure 7 It shows a schematic structural diagram of an electronic device provided by an embodiment of this application;

[0044] Figure 8 It shows a schematic diagram of a computer-readable storage medium provided by an embodiment of this application. Detailed implementation manners

[0045] The following specific embodiments illustrate the implementation manners of the present invention. Those familiar with this technology can easily understand other advantages and effects of the present invention from the content disclosed in this specification. Obviously, the described embodiments are part of the embodiments of the present invention, rather than all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts fall within the scope of protection of the present invention.

[0046] In order to clean the mop in time when mopping the whole house autonomously, the mop is equipped with a corresponding water station. When the user sends a cleaning command through the APP or a button, the water station will first fill the mop with water and wet the mop's rag. After the mop leaves the station, it navigates to different cleaning points according to certain strategies and starts mopping the floor. As the mopping proceeds normally, the mop will become dirtier and dirtier, so every time a certain area is cleaned or every once in a while, the mop will return to the water station to clean the rag. After cleaning, go to the last cleaning point and continue sweeping. Repeat this cycle until the entire room is mopped.

[0047] Figure 1 A mopping method for a mopping machine provided in an embodiment of the present application is shown, and the method includes:

[0048] Step 101: In response to a path planning instruction, determine a current cleaning state of the mop and a starting point and an end point corresponding to the path planning instruction;

[0049] Step 102: Determine a mopping track from the starting point to the end point according to the geographic real-time map, the cleaning real-time map and the cleaning status.

[0050] In a possible implementation, before step 101, the target mopping area is divided into several areas, and the cleaning order of each area is determined. The controller of the mopping machine splits the cleaning task into multiple serialized subtasks, and issues the corresponding subtasks in the serialized order, each subtask carrying the corresponding sub-area.

[0051] In a possible implementation, in step 101, determining the starting point and the end point corresponding to the path planning instruction includes: determining the starting point and the end point corresponding to the path planning instruction according to the current cleaning stage of the mopping machine and the cleaning order of each area.

[0052] In a possible implementation, in step 101, determining the current cleaning state of the mopping cloth includes:

[0053] If the cleaning stage currently in which the mopping machine is located is the stage started after self-cleaning at the water station, it is determined that the current cleaning state of the mopping cloth is clean;

[0054] If the mopping machine is currently in a cleaning stage of moving from the currently cleaned area to the area to be cleaned, or is in a stage of washing the mopping cloth in a return water station, it is determined that the current cleaning state of the mopping cloth is dirty.

[0055] In a possible implementation, in step 102, determining a mopping track from the starting point to the end point according to the geographic real-time map, the cleaning real-time map and the cleaning status includes:

[0056] Determining an obstacle-free area based on the geographic real-time map;

[0057] According to the obstacle-free area and the actual cleaning map, and in accordance with a preset traffic strategy corresponding to the cleaning state, a mopping trajectory from the starting point to the end point is determined.

[0058] In a possible implementation, determining the mopping trajectory from the starting point to the end point according to the obstacle-free area and the actual cleaning map and the preset traffic strategy corresponding to the cleaning state includes:

[0059] According to the cleaning status being clean, the area that has currently been cleaned is determined from the cleaning real-time map; based on the obstacle-free area and the area that has currently been cleaned, all areas between the starting point and the end point that are obstacle-free and have been cleaned are determined; it is determined that at least one continuous moving trajectory can be formed among the starting point, all areas that are obstacle-free and have been cleaned, and the end point, the moving trajectory with the shortest path among the at least one moving trajectory is determined as the mopping trajectory between the starting point and the end point.

[0060] In a possible implementation, determining the mopping trajectory from the starting point to the end point according to the obstacle-free area and the actual cleaning map and the preset traffic strategy corresponding to the cleaning state includes:

[0061] According to the cleaning status being dirty, all areas to be cleaned are determined from the actual cleaning map; according to the obstacle-free areas and all areas to be cleaned, all areas to be cleaned without obstacles between the starting point and the end point are determined; it is determined that at least one continuous moving trajectory can be formed between the starting point, all areas to be cleaned without obstacles and the end point, and the moving trajectory with the shortest path among the at least one moving trajectory is determined as the mopping trajectory between the starting point and the end point.

[0062] In a possible implementation, the method further includes: determining that the continuous moving trajectory cannot be formed, and determining a mopping trajectory from the starting point to the end point according to the obstacle-free area.

[0063] In a possible implementation, before step 101, the user starts the mopping machine for cleaning by remote control via an APP or a remote controller, or by direct control via buttons on the mopping machine.

[0064] In a possible implementation, before step 101, the method further includes: a controller of the mopping machine initializing a multi-layer map to obtain information of each layer of the multi-layer map, and regularly updating the map information in real time during the mopping process.

[0065] By utilizing accurate geographic information obtained from multi-layer maps, different mopping trajectory changes can be made according to the actual geographic map of the mopping machine, the actual cleaning map and the cleaning status. The change of the mopping trajectory is adaptive, and the next mopping trajectory is adjusted according to the position and stage of the mopping machine, which can reduce secondary pollution of the ground and achieve efficient cleaning.

[0066] In a possible implementation, the geographic reality in each sub-area is determined based on the reality of the obstacle layer of the grid layer in each sub-area; the cleanliness reality in each sub-area is determined based on the reality of the cleanliness reality layer of the grid layer in each sub-area.

[0067] When planning the mopping path, the geographic situation and cleaning situation of the area in the raster layer are determined based on the obstacle layer state and the cleaning situation layer state of the raster layer.

[0068] When the mop of the mopping machine has just cleaned, the obstacle layer status and the cleaning real-time layer status are used to prioritize the areas without obstacles and have been cleaned; during the normal cleaning stage or the interruption or end stage, it is highly likely that the mop of the mopping machine is not in the cleaning stage, and the uncleaned areas are prioritized according to the obstacle layer status and the cleaning real-time layer status.

[0069] When planning the path, we fully consider the stage of mopping machine cleaning and adopt different planning strategies for different stages to avoid secondary pollution more efficiently.

[0070] In a possible implementation manner, the geographic real-time map and the cleaning real-time map are updated in real time according to respective set periods.

[0071] The setting cycles of the real-time updated geographic live map and the cleaning live map can be set to be different or the same according to user needs.

[0072] The need to update the obstacle status comes from changes caused by moving or temporary obstacles.

[0073] The so-called update can be regarded as the update of the attribute value corresponding to the layer in the raster map.

[0074] In a possible implementation, the method further includes:

[0075] If the mopping trajectory planning for a sub-region fails, the mopping trajectory planning for the next sub-region is performed.

[0076] If the mopping trajectory planning for a certain sub-region fails, it is considered that the sub-region is unreachable, the sub-region is ignored, the cleaning sub-task is switched to the next sub-region, and the mopping path for the next sub-region is re-planned. If there is no next sub-region, the mopping ends.

[0077] In the process of mopping machine path planning in the embodiments of the present application, the path planning algorithms used include but are not limited to DijkStra, A*, JPS, etc., and the purpose is to find the path with the shortest length and the least pollution.

[0078] Figure 2 The figure shows a schematic flowchart of an embodiment of a mopping method of a mopping machine provided by an embodiment of the present application. The user remotely controls through an APP or a remote controller, or directly controls through a button on the mopping machine to start the mopping machine for cleaning. The task management module of the controller of the mopping machine performs mopping path planning according to the received mopping instruction to prepare for starting mopping, where the mopping instruction carries information such as the cleaning task type and the mopping area. The cleaning task is split into multiple serialized sub-tasks, and the corresponding sub-tasks are sent according to the serialized order, and each sub-task carries the corresponding sub-region. And the map module of the controller of the mopping machine performs multi-layer map initialization to obtain the information of each layer of the multi-layer map, and performs regular real-time update of the map information during mopping.

[0079] In the process of path planning for each sub-region, if the planning is successful, mopping of the sub-region is performed according to the planned path. If the planning fails, re-planning is performed by adjusting the conditions of the considered map layer. If the planning is successful this time, it is executed. If the planning still fails this time, the path planning for this sub-region is skipped, the cleaning sub-task is switched to the next sub-region, and the mopping path for the next sub-region is re-planned. If there is no next sub-region, the mopping ends.

[0080] According to the path planning instruction, determine the current cleaning state of the mopping cloth and the starting point and ending point corresponding to the path planning instruction; further determine the mopping trajectory between the starting point and the ending point according to the geographical actual situation map, the cleaning actual situation map and the cleaning state.

[0081] When determining the cleaning state of the rag, if the current cleaning stage of the mopping machine is the stage of starting after self-cleaning at the water station, it is determined that the current cleaning state of the mopping cloth is clean; if the current cleaning stage of the mopping machine is the stage of going from the currently cleaned area to the area to be cleaned, or the stage of returning to the water station to clean the mopping cloth, it is determined that the current cleaning state of the mopping cloth is dirty.

[0082] According to the actual geographic map, an obstacle-free area is determined; according to the obstacle-free area and the actual cleaning map, a mopping trajectory from the starting point to the end point is determined according to a preset traffic strategy corresponding to the cleaning state.

[0083] If the cleaning status is clean, determine the area that has currently completed cleaning from the actual cleaning map; determine all areas between the starting point and the end point that are free of obstacles and have completed cleaning based on the obstacle-free area and the area that has currently completed cleaning; determine that at least one continuous moving trajectory can be formed between the starting point, all areas that are free of obstacles and have completed cleaning, and the end point, and determine the moving trajectory with the shortest path among the at least one moving trajectory as the mopping trajectory between the starting point and the end point.

[0084] According to the cleaning status being dirty, all areas to be cleaned are determined from the actual cleaning map; according to the obstacle-free areas and all areas to be cleaned, all areas to be cleaned without obstacles between the starting point and the end point are determined; it is determined that at least one continuous moving trajectory can be formed between the starting point, all areas to be cleaned without obstacles and the end point, and the moving trajectory with the shortest path among the at least one moving trajectory is determined as the mopping trajectory between the starting point and the end point.

[0085] If it is determined that the continuous moving trajectory cannot be formed, the mopping trajectory from the starting point to the end point is determined according to the obstacle-free area.

[0086] Figure 3 Layer 1 of the grid map is shown, and layer 1 stores information about map obstacles and restricted areas (equivalent to obstacles) recorded by multiple sensors. Figure 3 As shown, the area types in the layer include obstacles, free areas, and map boundaries.

[0087] Figure 4 Layer 2 of the grid map is shown, and layer 2 stores the cleaning track information of the mopping machine. Figure 4 As shown, the area types in the layer include uncleaned, cleaned, and map boundary.

[0088] In a possible implementation, the entire cleaning process involves the following stages of path planning: the stage where the mop starts from the water station after cleaning the rag (referred to as stage 1), the stage where the mop moves from a cleaned area to another area to be cleaned during normal cleaning (referred to as stage 2), and the stage where cleaning is interrupted or ended and the mop needs to return to the water station to clean the rag (referred to as stage 3).

[0089] In each stage, a reasonable path needs to be planned for the floor mopping machine to follow. At this time, a multi-layer grid map is utilized. According to the different geographical stages where the floor mopping machine is located, different planning strategies are adopted to ensure that the machine preferentially walks on the cleaned areas in stage 1 and on the uncleaned areas in stages 2 and 3, thereby reducing secondary pollution of the ground.

[0090] Figure 5 The schematic diagram of the implementation example of the planned path is shown. It can be seen that there are two alternative paths for the path planning of the cleaning task in this sub-region, namely path 1 and path 2. Path 2 can be the path that the floor mopping machine selects to pass through the area that has no obstacles and has been cleaned after cleaning at the starting point; Path 2 can be the path that the floor mopping machine selects to pass through the area that has no obstacles and has not been cleaned when returning from the end point to the starting point.

[0091] During the cleaning process of the floor mopping machine, a two-layer grid map is maintained in real time. Each layer of the grid map stores an environmental feature of a certain type, where: Layer 1 stores the map obstacle and restricted area (equivalent to obstacles) information recorded by integrating multiple sensors; Layer 2 stores the cleaning track information of the areas mopped by the floor mopping machine. In the path planning of the sweeper, different planning strategies are adopted according to the different cleaning stages of the robot: when performing normal cleaning and navigating back to wash the mop, it preferentially walks on the areas that have not been mopped, and when performing subsequent sweeping after the mop is washed, it preferentially walks on the areas that have been mopped, thereby reducing secondary pollution of the ground.

[0092] In the embodiments of the present application, the most common object information to be considered in the application scenario of the floor mopping machine is taken as an example. However, in addition to the obstacle information and the track information of the areas cleaned by the floor mopping machine, there can also be layers of information set by users for personalization, etc. The embodiments of the present application do not limit this.

[0093] It should be noted that the methods for obtaining geographical facts in the embodiments of the present application include but are not limited to grid maps.

[0094] The embodiments of the present application also provide a method for mopping the floor by a floor mopping machine, and the method includes:

[0095] Step 1: In response to a path planning instruction, determine the current cleaning state of the mopping cloth and the starting point and end point corresponding to the path planning instruction; if the current cleaning stage of the floor mopping machine is the stage of starting after self-cleaning at the water station, then determine that the current cleaning state of the mopping cloth is clean; if the current cleaning stage of the floor mopping machine is the stage of going from the currently cleaned area to the area to be cleaned, or the stage of returning to the water station to wash the mopping cloth, then determine that the current cleaning state of the mopping cloth is dirty.

[0096] Step 2: Determine the mopping track between the starting point and the end point according to the geographical fact map, the cleaning fact map and the cleaning state.

[0097] In a possible implementation, before step 1, the user remotely controls through the APP or the remote control, or directly controls through the buttons on the floor mopping machine, to start the floor mopping machine for cleaning.

[0098] In a possible implementation, in step 1, the controller of the floor mopping machine plans the mopping path according to the received mopping instruction to prepare for starting mopping, where information such as the cleaning task type and the mopping area is carried in the mopping instruction.

[0099] In a possible implementation, the geographical reality map in each sub-region is determined according to the reality of the obstacle layer of the grid layer in each sub-region; the cleaning reality map in each sub-region is determined according to the reality of the cleaning reality layer of the grid layer in each sub-region.

[0100] When planning the mopping path, the obstacle state and cleaning reality of the area in the grid layer are determined based on the obstacle layer state and cleaning reality layer state of the grid layer.

[0101] In the stage when the mop of the floor mopping machine has just been cleaned, it preferentially walks through the obstacle-free and already cleaned areas through the obstacle layer state and cleaning reality layer state; in the normal cleaning stage or the interrupted or ended stage, probably the mop of the floor mopping machine is in the non-cleaned stage, and it preferentially walks through the non-cleaned areas through the obstacle layer state and cleaning reality layer state.

[0102] When planning the path, fully consider the stage to which the floor mopping of the floor mopping machine belongs, and adopt different planning strategies in different stages to more efficiently avoid secondary pollution.

[0103] In a possible implementation, the current cleaning state of the mopping cloth of the floor mopping machine, the geographical reality map in each sub-region, and the cleaning reality map are respectively updated in real time according to their respective set periods.

[0104] The set periods of the geographical reality map and the cleaning reality map updated in real time can be set differently according to user needs, or can be set to be the same.

[0105] The necessity for updating the geographical reality comes from the changes caused by moving or temporary obstacles. The so-called update can be regarded as the update of the attribute values corresponding to the layers in the grid map.

[0106] In the process of path planning of the floor mopping machine in the embodiments of the present application, the path planning algorithms used include but are not limited to DijkStra, A*, JPS, etc., and the purpose is to find the path with the shortest length and the least pollution.

[0107] The embodiments of the present application also provide a method for mopping the floor by a floor mopping machine, and the method includes:

[0108] Step 1: In response to the path planning instruction, determine the current cleaning state of the mop rag and the starting point and end point corresponding to the path planning instruction; if the current cleaning stage of the mop machine is the stage starting after self-cleaning at the water station, then determine that the current cleaning state of the mop rag is clean; if the current cleaning stage of the mop machine is the stage of going from the currently cleaned area to the area to be cleaned, or, it is the stage of returning to the water station to clean the mop rag, then determine that the current cleaning state of the mop rag is dirty.

[0109] Step 2: Determine an obstacle-free area based on the geographic real-time map; determine the mopping trajectory from the starting point to the end point based on the obstacle-free area and the real-time cleaning map and the preset traffic strategy corresponding to the cleaning state.

[0110] In a possible implementation, before step 1, the user starts the mopping machine for cleaning by remote control via an APP or a remote controller, or by direct control via buttons on the mopping machine.

[0111] In a possible implementation, in step 1, the controller of the mopping machine plans a mopping path according to a received mopping instruction to prepare to start mopping, wherein the mopping instruction carries information such as the cleaning task type and the mopping area.

[0112] In a possible implementation, the geographic real-time map in each sub-area is determined based on the real-time obstacle layer of the raster layer in each sub-area; the clean real-time map in each sub-area is determined based on the real-time clean real-time layer of the raster layer in each sub-area.

[0113] When planning the mopping path, the obstacle state and the cleaning status of the area in the grid layer are determined based on the obstacle layer state and the cleaning status layer state of the grid layer.

[0114] When the mop of the mopping machine has just cleaned, the obstacle layer status and the cleaning real-time layer status are used to prioritize the areas without obstacles and have been cleaned; during the normal cleaning stage or the interruption or end stage, it is highly likely that the mop of the mopping machine is not in the cleaning stage, and the uncleaned areas are prioritized according to the obstacle layer status and the cleaning real-time layer status.

[0115] When planning the path, we fully consider the stage of mopping machine cleaning and adopt different planning strategies for different stages to avoid secondary pollution more efficiently.

[0116] In a possible implementation manner, the current cleaning status of the mopping cloth of the mopping machine, the real-time geographical map in each sub-area, and the real-time cleaning map are updated in real time according to respective set cycles.

[0117] The setting periods of the real-time updated geographical live map and the cleaning live map can be set separately to be different according to user needs, or can be set to be the same.

[0118] The necessity for updating the geographical live situation stems from the changes caused by moving or temporary obstacles.

[0119] The so-called update can be regarded as the update of the attribute values corresponding to the layers in the grid map.

[0120] In the process of path planning of the mopping machine in the embodiments of the present application, the path planning algorithms used include but are not limited to DijkStra, A*, JPS, etc., and the purpose is to find the path with the shortest path and the least pollution.

[0121] The embodiments of the present application also provide a mopping method for a mopping machine, and the method includes:

[0122] Step 1: In response to a path planning instruction, determine the current cleaning state of the mopping cloth and the starting point and the ending point corresponding to the path planning instruction; if the current cleaning stage of the mopping machine is the stage of starting after self-cleaning at the water station, then determine that the current cleaning state of the mopping cloth is clean; if the current cleaning stage of the mopping machine is the stage of going from the currently cleaned area to the area to be cleaned, or is the stage of returning to the water station to clean the mopping cloth, then determine that the current cleaning state of the mopping cloth is dirty.

[0123] Step 2: According to the geographical live map, determine the area without obstacles; according to the area without obstacles and the cleaning live map, and in accordance with the preset passing strategy corresponding to the cleaning state, determine the mopping trajectory between the starting point and the ending point.

[0124] In a possible implementation manner, in Step 2, according to the cleaning state being clean, determine the area that has been cleaned currently from the cleaning live map; according to the area without obstacles and the area that has been cleaned currently, determine all the areas without obstacles and that have been cleaned between the starting point and the ending point; determine that at least one continuous moving trajectory can be formed between the starting point, all the areas without obstacles and that have been cleaned, and the ending point, and determine the moving trajectory with the shortest path among the at least one moving trajectory as the mopping trajectory between the starting point and the ending point.

[0125] In a possible implementation, in step 2, when the cleaning status is determined to be dirty, all areas to be cleaned are determined from the cleaning live map; based on the obstacle-free areas and all areas to be cleaned, all obstacle-free and to-be-cleaned areas between the starting point and the ending point are determined; it is determined that at least one continuous movement trajectory can be formed between the starting point, all obstacle-free and to-be-cleaned areas, and the ending point, and the movement trajectory with the shortest path among the at least one movement trajectory is determined as the mopping trajectory from the starting point to the ending point.

[0126] In a possible implementation, before step 1, the user remotely controls through an APP or a remote control, or directly controls through buttons on the mopping machine, to start the mopping machine for cleaning.

[0127] In a possible implementation, in step 1, the controller of the mopping machine performs mopping path planning according to the received mopping instruction to prepare for starting mopping, where information such as the cleaning task type and the mopping area is carried in the mopping instruction.

[0128] In a possible implementation, the geographical live map in each sub-area is determined according to the actual situation of the obstacle layer of the grid layer in each sub-area; the cleaning live map in each sub-area is determined according to the actual situation of the cleaning live layer of the grid layer in each sub-area.

[0129] When performing mopping path planning, the obstacle status and cleaning live situation of the areas in the grid layer are determined based on the obstacle layer status and cleaning live layer status of the grid layer.

[0130] In the stage when the mop of the mopping machine has just finished cleaning, it preferentially walks through obstacle-free and already-cleaned areas based on the obstacle layer status and cleaning live layer status; in the normal cleaning stage or the interrupted or ended stage, most likely the mop of the mopping machine is in the non-cleaning stage, and it preferentially walks through the non-cleaned areas based on the obstacle layer status and cleaning live layer status.

[0131] When performing path planning, fully consider the stage to which the mopping of the mopping machine belongs, and adopt different planning strategies in different stages to more efficiently avoid secondary pollution.

[0132] In a possible implementation, the current cleaning status of the mopping cloth of the mopping machine, the geographical live map in each sub-area, and the cleaning live map are respectively updated in real time according to their respective set periods.

[0133] The set periods of the geographical live map and the cleaning live map updated in real time can be set differently according to user needs, or can be set to be the same.

[0134] The need for updating the geographical reality stems from changes caused by moving or temporary obstacles.

[0135] The so-called update can be regarded as an update of the attribute values corresponding to the layers in the grid map.

[0136] In the process of path planning for the mopping machine in the embodiments of the present application, the path planning algorithms used include but are not limited to DijkStra, A*, JPS, etc., with the aim of finding the path with the shortest length and the least pollution.

[0137] The embodiments of the present application also provide a mopping method for a mopping machine, and the method includes:

[0138] Step 1: In response to a path planning instruction, determine the current cleaning state of the mopping cloth and the starting point and ending point corresponding to the path planning instruction; if the current cleaning stage of the mopping machine is the stage of starting after self-cleaning at the water station, then determine that the current cleaning state of the mopping cloth is clean; if the current cleaning stage of the mopping machine is the stage of going from the currently cleaned area to the area to be cleaned, or the stage of returning to the water station to clean the mopping cloth, then determine that the current cleaning state of the mopping cloth is dirty.

[0139] Step 2: According to the geographical reality map, determine the area without obstacles; according to the area without obstacles and the cleaning reality map, and in accordance with the preset passing strategy corresponding to the cleaning state, determine the mopping trajectory between the starting point and the ending point.

[0140] In a possible implementation manner, in Step 2, according to the cleaning state being clean, determine the area that has been cleaned currently from the cleaning reality map; according to the area without obstacles and the area that has been cleaned currently, determine all the areas without obstacles and that have been cleaned between the starting point and the ending point; determine that at least one continuous movement trajectory can be formed among the starting point, all the areas without obstacles and that have been cleaned, and the ending point, and determine the movement trajectory with the shortest path among the at least one movement trajectory as the mopping trajectory between the starting point and the ending point.

[0141] In a possible implementation manner, in Step 2, according to the cleaning state being dirty, determine all the areas to be cleaned from the cleaning reality map; according to the area without obstacles and all the areas to be cleaned, determine all the areas without obstacles and to be cleaned between the starting point and the ending point; determine that at least one continuous movement trajectory can be formed among the starting point, all the areas without obstacles and to be cleaned, and the ending point, and determine the movement trajectory with the shortest path among the at least one movement trajectory as the mopping trajectory between the starting point and the ending point.

[0142] In a possible implementation, the method further includes: determining that the continuous movement trajectory cannot be formed, and determining a mopping trajectory between the starting point and the ending point according to the obstacle-free area.

[0143] In a possible implementation, before step 1, the user remotely controls through an APP or a remote controller, or directly controls through a button on the mopping machine to start the mopping machine for cleaning.

[0144] In a possible implementation, in step 1, the controller of the mopping machine performs mopping path planning according to the received mopping instruction to prepare for starting mopping, where information such as the cleaning task type and the mopping area is carried in the mopping instruction.

[0145] In a possible implementation, the geographical reality map in each sub-region is determined according to the reality of the obstacle layer of the grid layer in each sub-region; the cleaning reality map in each sub-region is determined according to the reality of the cleaning reality layer of the grid layer in each sub-region.

[0146] When performing mopping path planning, the obstacle state and cleaning reality of the area in the grid layer are determined based on the obstacle layer state and cleaning reality layer state of the grid layer.

[0147] In the stage when the mop of the mopping machine has just been cleaned, it preferentially walks through the obstacle-free and already cleaned areas through the obstacle layer state and cleaning reality layer state; in the normal cleaning stage or the interrupted or ended stage, the mop of the mopping machine is probably in an uncleaned stage, and it preferentially walks through the uncleaned areas through the obstacle layer state and cleaning reality layer state.

[0148] When performing path planning, fully consider the stage to which the mopping of the mopping machine belongs, adopt different planning strategies in different stages, and more efficiently avoid secondary pollution.

[0149] In a possible implementation, the current cleaning state of the mopping cloth of the mopping machine, the geographical reality map in each sub-region, and the cleaning reality map are respectively updated in real time according to their respective set periods.

[0150] The set periods of the geographical reality map and the cleaning reality map updated in real time can be set differently according to user needs, or can be set to be the same.

[0151] The necessity for updating the geographical reality comes from the changes caused by moving or temporary obstacles.

[0152] The so-called update can be regarded as the update of the attribute values corresponding to the layers in the grid map.

[0153] In the embodiments of the present application, the path planning algorithm used in the process of floor mopping machine path planning includes, but is not limited to, DijkStra, A*, JPS, etc., and the purpose is to find the path with the shortest path and the least pollution.

[0154] The embodiments of the present application also provide a method for mopping the floor by a floor mopping machine, and the method includes:

[0155] Step 1: In response to a path planning instruction, determine the current cleaning state of the mopping cloth and the starting point and ending point corresponding to the path planning instruction; if the current cleaning stage of the floor mopping machine is the stage of starting after self-cleaning at the water station, then determine that the current cleaning state of the mopping cloth is clean; if the current cleaning stage of the floor mopping machine is the stage of going from the currently cleaned area to the area to be cleaned, or the stage of returning to the water station to clean the mopping cloth, then determine that the current cleaning state of the mopping cloth is dirty.

[0156] Step 2: According to the geographical actual situation map, determine the area without obstacles; according to the area without obstacles and the cleaning actual situation map, and in accordance with the preset passing strategy corresponding to the cleaning state, determine the mopping trajectory between the starting point and the ending point.

[0157] In a possible implementation manner, before step 1 in response to the path planning instruction, it further includes: dividing the target mopping area into several areas and determining the cleaning order of each area.

[0158] In a possible implementation manner, determining the starting point and ending point corresponding to the path planning instruction includes: determining the starting point and ending point corresponding to the path planning instruction according to the current cleaning stage of the floor mopping machine and the cleaning order of each area.

[0159] In a possible implementation manner, in step 2, according to the cleaning state being clean, determine the currently completed cleaned area from the cleaning actual situation map; according to the area without obstacles and the currently completed cleaned area, determine all the areas without obstacles and already cleaned between the starting point and the ending point; determine that at least one continuous movement trajectory can be formed between the starting point, all the areas without obstacles and already cleaned, and the ending point, and determine the movement trajectory with the shortest path among the at least one movement trajectory as the mopping trajectory between the starting point and the ending point.

[0160] In a possible implementation manner, in step 2, according to the cleaning state being dirty, all areas to be cleaned are determined from the cleaning live map; according to the obstacle-free areas and all areas to be cleaned, all obstacle-free and areas to be cleaned between the starting point and the ending point are determined; it is determined that at least one continuous movement trajectory can be formed between the starting point, all obstacle-free and areas to be cleaned, and the ending point, and the movement trajectory with the shortest path among the at least one movement trajectory is determined as the mopping trajectory between the starting point and the ending point.

[0161] In a possible implementation manner, the method further includes: determining that the continuous movement trajectory cannot be formed, and determining the mopping trajectory between the starting point and the ending point according to the obstacle-free areas.

[0162] In a possible implementation manner, before step 1, the user remotely controls through an APP or a remote controller, or directly controls through a button on the mopping machine to start the mopping machine for cleaning.

[0163] In a possible implementation manner, in step 1, the controller of the mopping machine performs mopping path planning according to the received mopping instruction to prepare for starting mopping, where information such as the cleaning task type and the mopping area is carried in the mopping instruction.

[0164] In a possible implementation manner, the geographical live map in each sub-region is determined according to the live conditions of the obstacle layer of the grid layer in each sub-region; the cleaning live map in each sub-region is determined according to the live conditions of the cleaning live layer of the grid layer in each sub-region.

[0165] When performing mopping path planning, the obstacle state and the cleaning live condition of the area in the grid layer are determined based on the obstacle layer state and the cleaning live layer state of the grid layer.

[0166] In the stage where the mop of the mopping machine has just been cleaned, priority is given to walking through obstacle-free and already cleaned areas through the obstacle layer state and the cleaning live layer state; in the normal cleaning stage or the interrupted or ended stage, probably the mop of the mopping machine is in an uncleaned stage, and priority is given to walking through uncleaned areas through the obstacle layer state and the cleaning live layer state.

[0167] When performing path planning, fully consider the stage to which the mopping of the mopping machine belongs, and adopt different planning strategies in different stages to more efficiently avoid secondary pollution.

[0168] In a possible implementation manner, the current cleaning state of the mopping cloth of the mopping machine, the geographical live map, and the cleaning live map in each sub-region are respectively updated in real time according to their respective set periods.

[0169] The setting periods of the real-time updated geographical live map and the cleaning live map can be set differently according to user needs, or can be set to be the same.

[0170] The necessity for updating the geographical live situation stems from the changes caused by moving or temporary obstacles.

[0171] The so-called update can be regarded as the update of the attribute values corresponding to the layers in the grid map.

[0172] In the process of path planning of the mopping machine in the embodiments of the present application, the path planning algorithms used include but are not limited to DijkStra, A*, JPS, etc., and the purpose is to find the path with the shortest path and the least pollution.

[0173] In summary, the embodiments of the present application provide a path planning method for a mopping machine. By responding to a path planning instruction, the current cleaning state of the mopping cloth and the starting point and ending point corresponding to the path planning instruction are determined; according to the geographical live map, the cleaning live map and the cleaning state, the mopping trajectory between the starting point and the ending point is determined. During the cleaning task of the mopping machine, the path is reasonably planned to minimize the secondary pollution of the road surface and improve the cleaning effect.

[0174] Based on the same technical concept, the embodiments of the present application also provide a path planning system for a mopping machine, as Figure 6 shown, the system includes:

[0175] A positioning module 601, configured to respond to a path planning instruction, and determine the current cleaning state of the mopping cloth and the starting point and ending point corresponding to the path planning instruction;

[0176] A trajectory planning module 602, configured to determine the mopping trajectory between the starting point and the ending point according to the geographical live map, the cleaning live map and the cleaning state.

[0177] In a possible implementation manner, the positioning module 601 is specifically configured to:

[0178] If the current cleaning stage of the mopping machine is the stage of starting after self-cleaning at the water station, it is determined that the current cleaning state of the mopping cloth is clean; if the current cleaning stage of the mopping machine is the stage of going from the currently cleaned area to the area to be cleaned, or the stage of returning to the water station to clean the mopping cloth, it is determined that the current cleaning state of the mopping cloth is dirty.

[0179] In a possible implementation manner, the trajectory planning module 602 is specifically configured to:

[0180] According to the actual geographic map, an obstacle-free area is determined; according to the obstacle-free area and the actual cleaning map, a mopping trajectory from the starting point to the end point is determined according to a preset traffic strategy corresponding to the cleaning state.

[0181] In a possible implementation, determining the mopping trajectory from the starting point to the end point according to the obstacle-free area and the actual cleaning map and the preset traffic strategy corresponding to the cleaning state includes:

[0182] According to the cleaning status being clean, the area that has currently been cleaned is determined from the cleaning real-time map; based on the obstacle-free area and the area that has currently been cleaned, all areas between the starting point and the end point that are obstacle-free and have been cleaned are determined; it is determined that at least one continuous moving trajectory can be formed among the starting point, all areas that are obstacle-free and have been cleaned, and the end point, the moving trajectory with the shortest path among the at least one moving trajectory is determined as the mopping trajectory between the starting point and the end point.

[0183] In a possible implementation, determining the mopping trajectory from the starting point to the end point according to the obstacle-free area and the actual cleaning map and the preset traffic strategy corresponding to the cleaning state includes:

[0184] According to the cleaning status being dirty, all areas to be cleaned are determined from the actual cleaning map; according to the obstacle-free areas and all areas to be cleaned, all areas to be cleaned without obstacles between the starting point and the end point are determined; it is determined that at least one continuous moving trajectory can be formed between the starting point, all areas to be cleaned without obstacles and the end point, and the moving trajectory with the shortest path among the at least one moving trajectory is determined as the mopping trajectory between the starting point and the end point.

[0185] In a possible implementation, the trajectory planning module 602 is further configured to:

[0186] It is determined that the continuous moving track cannot be formed, and a mopping track from the starting point to the end point is determined according to the obstacle-free area.

[0187] In a possible implementation, the system further includes:

[0188] The partitioning module is used to divide the target mopping area into a plurality of areas and determine the cleaning order of each area before responding to the path planning instruction.

[0189] In a possible implementation manner, the partition module is specifically used to:

[0190] Determine the start point and end point corresponding to the path planning instruction according to the current cleaning stage of the floor mopping machine and the cleaning sequence of each area.

[0191] An embodiment of the present application also provides an electronic device corresponding to the method provided in the foregoing embodiment. Please refer to Figure 7 , which shows a schematic diagram of an electronic device provided in some embodiments of the present application. The electronic device 20 may include: a processor 200, a memory 201, a bus 202, and a communication interface 203. The processor 200, the communication interface 203, and the memory 201 are connected through the bus 202; a computer program that can run on the processor 200 is stored in the memory 201, and when the processor 200 runs the computer program, it executes the method provided in any of the foregoing embodiments of the present application.

[0192] Among them, the memory 201 may include a high-speed random access memory (RAM: Random Access Memory), and may also include a non-volatile memory, such as at least one disk memory. The communication connection between the system network element and at least one other network element is realized through at least one physical port 203 (which can be wired or wireless), and the Internet, wide area network, local area network, metropolitan area network, etc. can be used.

[0193] The bus 202 may be an ISA bus, a PCI bus, an EISA bus, etc. The bus may be divided into an address bus, a data bus, a control bus, etc. Among them, the memory 201 is used to store a program. After receiving an execution instruction, the processor 200 executes the program, and the method disclosed in any of the foregoing embodiments of the present application can be applied to the processor 200 or implemented by the processor 200.

[0194] The processor 200 may be an integrated circuit chip with the ability to process signals. In the implementation process, each step of the above method can be completed by the integrated logic circuit of the hardware in the processor 200 or the instructions in the form of software. The above-mentioned processor 200 may be a general-purpose processor, including a central processing unit (CPU for short), a network processor (NP for short), etc.; it may also be a digital signal processor (DSP), an application-specific integrated circuit (ASIC), a field-programmable gate array (FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components. It can implement or execute the various methods, steps and logic block diagrams disclosed in the embodiments of the present application. The general-purpose processor may be a microprocessor or the processor may also be any conventional processor, etc. The steps of the method disclosed in combination with the embodiments of the present application can be directly embodied as being executed by a hardware decoding processor, or executed by a combination of hardware and software modules in the decoding processor. The software module may be located in a mature storage medium in the art such as a random access memory, a flash memory, a read-only memory, a programmable read-only memory or an electrically erasable programmable memory, a register, etc. This storage medium is located in the memory 201, and the processor 200 reads the information in the memory 201 and combines its hardware to complete the steps of the above method.

[0195] The electronic device provided in the embodiments of the present application and the method provided in the embodiments of the present application are based on the same inventive concept and have the same beneficial effects as the method adopted, run or implemented by it.

[0196] The embodiments of the present application also provide a computer-readable storage medium corresponding to the method provided in the foregoing embodiments. Please refer to Figure 8 which shows that the computer-readable storage medium is an optical disc 30, on which a computer program (i.e., a program product) is stored. When the computer program is run by a processor, it will execute the method provided in any of the foregoing embodiments.

[0197] It should be noted that examples of the computer-readable storage medium may also include, but are not limited to, phase change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other optical and magnetic storage media, which will not be elaborated here one by one.

[0198] The computer-readable storage medium provided in the above embodiments of the present application and the method provided in the embodiments of the present application are based on the same inventive concept and have the same beneficial effects as the method adopted, run or implemented by the application program stored in it.

[0199] It should be noted that:

[0200] The algorithms and displays provided herein are not inherently related to any particular computer, virtual apparatus, or other device. Various general-purpose apparatuses may also be used in conjunction with the teachings presented herein. The structure required to construct such apparatuses will be apparent from the above description. Additionally, the present application is not directed to any particular programming language. It should be understood that the content of the present application described herein may be implemented using various programming languages, and the description of a particular language above is for the purpose of disclosing the best mode of the present application.

[0201] In the specification provided herein, numerous specific details are set forth. However, it can be understood that embodiments of the present application may be practiced without these specific details. In some instances, well-known methods, structures, and techniques have not been shown in detail so as not to obscure the understanding of this specification.

[0202] Similarly, it should be understood that, in order to streamline the present application and assist in understanding one or more of the various inventive aspects, in the above description of the exemplary embodiments of the present application, the various features of the present application are sometimes grouped together into a single embodiment, figure, or description thereof. However, the disclosed method should not be construed as reflecting an intention that the claimed present application requires more features than are expressly recited in each claim. Rather, as reflected in the following claims, the inventive aspects lie in less than all the features of the single foregoing disclosed embodiment. Thus, the claims following the detailed description are hereby expressly incorporated into the detailed description, with each claim standing on its own as a separate embodiment of the present application.

[0203] Those skilled in the art will appreciate that the modules in the devices in the embodiments can be adaptively changed and disposed in one or more devices different from those of the embodiments. The modules or units or components in the embodiments can be combined into one module or unit or component, and in addition, they can be divided into multiple sub-modules or sub-units or sub-components. Except for the fact that at least some of such features and / or processes or units are mutually exclusive, any combination can be used to combine all the features disclosed in this specification (including the accompanying claims, abstract, and drawings) and all the processes or units of any method or device so disclosed. Unless otherwise expressly stated, each feature disclosed in this specification (including the accompanying claims, abstract, and drawings) can be replaced by an alternative feature that provides the same, equivalent, or similar purpose.

[0204] In addition, those skilled in the art can understand that although some of the embodiments described herein include certain features included in other embodiments rather than other features, the combination of features of different embodiments means that it is within the scope of this application and forms different embodiments. For example, in the following claims, any one of the claimed embodiments can be used in any combination.

[0205] Each component embodiment of this application can be implemented in hardware, or in software modules running on one or more processors, or in a combination thereof. Those skilled in the art should understand that a microprocessor or a digital signal processor (DSP) can be used in practice to implement some or all of the functions of some or all of the components in the virtual machine creation device according to the embodiments of this application. This application can also be implemented as a device or device program (such as a computer program and a computer program product) for executing part or all of the methods described herein. Such a program implementing this application can be stored on a computer-readable medium, or can be in the form of one or more signals. Such signals can be downloaded from an Internet website, or provided on a carrier signal, or provided in any other form.

[0206] It should be noted that the above embodiments illustrate rather than limit this application, and those skilled in the art can design alternative embodiments without departing from the scope of the appended claims. In the claims, any reference signs placed between parentheses shall not be construed as limiting the claim. The word "comprising" does not exclude the presence of elements or steps not listed in the claim. The word "a" or "an" preceding an element does not exclude the presence of a plurality of such elements. This application can be implemented by means of hardware including several different elements and by means of a suitably programmed computer. In the unit claims listing several devices, several of these devices can be embodied by the same item of hardware. The use of the words first, second, and third, etc. does not denote any order. These words can be interpreted as names.

[0207] As described above, the above are only the preferred specific embodiments of this application, but the protection scope of this application is not limited thereto. Any changes or substitutions that can be easily thought of by those skilled in the art within the technical scope disclosed in this application should be covered by the protection scope of this application. Therefore, the protection scope of this application shall be subject to the protection scope of the claimed rights.

Claims

1. A mopping method for a floor mopping machine, characterized in that, The method comprises: In response to the path planning instruction, determine the current cleaning state of the mop cloth and the starting point and the end point corresponding to the path planning instruction; Determine a mopping track from the starting point to the end point according to the geographic real-time map, the cleaning real-time map and the cleaning status; The determining of the mopping track from the starting point to the end point according to the geographic real-time map, the cleaning real-time map and the cleaning status includes: determining an obstacle-free area according to the geographic real-time map; determining the mopping track from the starting point to the end point according to the obstacle-free area and the cleaning real-time map and a preset traffic strategy corresponding to the cleaning status; The determining of the mopping trajectory from the starting point to the end point according to the obstacle-free area and the actual cleaning map and the preset passage strategy corresponding to the cleaning state includes: determining the area that has been cleaned from the actual cleaning map according to the cleaning state being clean; determining all the areas between the starting point and the end point that have been cleaned and are obstacle-free according to the obstacle-free area and the area that has been cleaned; determining that at least one continuous moving trajectory can be formed between the starting point, all the areas that have been cleaned and are obstacle-free, and the end point, and moving the at least one moving trajectory The moving trajectory with the shortest path in the moving trajectory is determined as the mopping trajectory between the starting point and the end point; or, according to the cleaning state being dirty, all areas to be cleaned are determined from the cleaning real-time map; according to the obstacle-free area and all areas to be cleaned, all areas to be cleaned without obstacles between the starting point and the end point are determined; it is determined that at least one continuous moving trajectory can be formed among the starting point, all areas to be cleaned without obstacles and the end point, and the moving trajectory with the shortest path in the at least one moving trajectory is determined as the mopping trajectory between the starting point and the end point.

2. The method according to claim 1, wherein Determining the current cleaning state of the mopping cloth includes: If the cleaning stage currently in which the mopping machine is located is the stage started after self-cleaning at the water station, it is determined that the current cleaning state of the mopping cloth is clean; If the mopping machine is currently in a cleaning stage of moving from the currently cleaned area to the area to be cleaned, or is in a stage of washing the mopping cloth in a return water station, it is determined that the current cleaning state of the mopping cloth is dirty.

3. The method according to claim 1, characterized in that The method further comprises: It is determined that the continuous moving track cannot be formed, and a mopping track from the starting point to the end point is determined according to the obstacle-free area.

4. The method according to any one of claims 1 to 3, characterized in that Before responding to the path planning instruction, the method further includes: Divide the target mopping area into several zones and determine the cleaning order for each zone.

5. The method according to claim 4, characterized in that, Determining the starting point and the end point corresponding to the path planning instruction includes: According to the current cleaning stage of the mopping machine and the cleaning order of each area, the starting point and the end point corresponding to the path planning instruction are determined.

6. A path planning system for a floor mopping machine, characterized in that, The system comprises: A positioning module, for determining the current cleaning state of the mopping cloth and the starting point and the end point corresponding to the path planning instruction in response to the path planning instruction; A trajectory planning module, for determining a mopping trajectory from the starting point to the end point according to a geographic real-time map, a cleaning real-time map and the cleaning status; the determining the mopping trajectory from the starting point to the end point according to the geographic real-time map, the cleaning real-time map and the cleaning status includes: determining an obstacle-free area according to the geographic real-time map; determining the mopping trajectory from the starting point to the end point according to a preset traffic strategy corresponding to the cleaning status according to the obstacle-free area and the cleaning real-time map; determining the mopping trajectory from the starting point to the end point according to the preset traffic strategy corresponding to the cleaning status according to the obstacle-free area and the cleaning real-time map includes: determining a currently cleaned area from the cleaning real-time map according to the cleaning status being clean; determining a currently cleaned area according to the obstacle-free area and the cleaning real-time map; determining a currently cleaned area according to the obstacle-free area and the cleaning real-time map; determining a currently cleaned area according to the obstacle-free area and the cleaning real-time map. The cleaning area is determined, and all the areas between the starting point and the end point that are free of obstacles and have been cleaned are determined; it is determined that at least one continuous moving trajectory can be formed among the starting point, all the areas that are free of obstacles and have been cleaned, and the end point, and the moving trajectory with the shortest path among the at least one moving trajectory is determined as the mopping trajectory between the starting point and the end point; or, according to the cleaning status being dirty, all the areas to be cleaned are determined from the cleaning real-time map; according to the obstacle-free areas and all the areas to be cleaned, all the areas to be cleaned that are free of obstacles between the starting point and the end point are determined; it is determined that at least one continuous moving trajectory can be formed among the starting point, all the areas to be cleaned that are free of obstacles and the end point, and the moving trajectory with the shortest path among the at least one moving trajectory is determined as the mopping trajectory between the starting point and the end point.

7. An electronic device, comprising: A memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the computer program to implement the method according to any one of claims 1 to 5.

8. A computer-readable storage medium, characterized in that, Computer-readable instructions are stored thereon, and the computer-readable instructions can be executed by a processor to implement the method according to any one of claims 1-5.

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