A cleaning path planning method and a cleaning device

Abstract

An embodiment of the present application discloses a cleaning path planning method, which includes: determining at least one area to be cleaned; determining the current position parameters of the cleaning device; determining a cleaning sorting list for the at least one area to be cleaned based on the at least one area to be cleaned and the current position parameters; and controlling the cleaning device to clean the at least one area to be cleaned in sequence according to the cleaning sorting list. An embodiment of the present application also discloses a cleaning device.

Description

Technical Field

[0001] This application relates to the field of cleaning technology, and in particular, to a cleaning path planning method and a cleaning device. Background Art

[0002] Currently, with the popularization of the concept of smart home, smart home appliances have been widely used, reducing a lot of household workload for people and effectively improving people's quality of life. Among them, the use of intelligent sweeping robots is more extensive. The functions of intelligent sweeping robots usually include cleaning the floor, but some intelligent sweeping robots can also include the function of mopping the floor.

[0003] However, currently, when an intelligent sweeping robot is cleaning, it only considers the cleaning coverage area. That is to say, in the current design process of intelligent sweeping robots, in order to ensure the cleaning coverage area of the intelligent sweeping robot, the problem of repeatedly cleaning the areas that have been cleaned is not considered, resulting in repeated cleaning of the areas that have been cleaned, causing secondary pollution and low cleaning efficiency of the intelligent sweeping robot.

[0004] Application Content

[0005] To solve the above technical problems, embodiments of this application expect to provide a cleaning path planning method and a cleaning device, which solve the problem of low cleaning efficiency caused by the current cleaning device repeatedly cleaning the same area, propose a cleaning path planning method, effectively improve the cleaning efficiency of the cleaning device, and reduce the possibility of secondary pollution.

[0006] The technical solution of this application is implemented as follows:

[0007] In a first aspect, a cleaning path planning method, the method includes:

[0008] Determine at least one area to be cleaned;

[0009] Determine the current position parameters of the cleaning device;

[0010] Based on the at least one area to be cleaned and the current position parameters, determine a cleaning sorting list for the at least one area to be cleaned;

[0011] According to the cleaning sorting list, control the cleaning device to clean the at least one area to be cleaned in sequence.

[0012] In a second aspect, a cleaning path planning device, the device includes: a first determination unit, a second determination unit, and a cleaning unit; where:

[0013] The first determination unit is used to determine at least one area to be cleaned;

[0014] The first determination unit is further configured to determine the current position parameter of the cleaning device;

[0015] The second determination unit is configured to determine a cleaning sequence list for the at least one area to be cleaned based on the at least one area to be cleaned and the current position parameter;

[0016] The cleaning unit is configured to control the cleaning device to sequentially clean the at least one area to be cleaned according to the cleaning sequence list.

[0017] In a third aspect, a cleaning device includes a processor and a cleaning component; wherein:

[0018] The processor is configured to implement the following steps: determining at least one area to be cleaned; determining the current position parameter of the cleaning device; determining a cleaning sequence list for the at least one area to be cleaned based on the at least one area to be cleaned and the current position parameter; generating a control instruction according to the cleaning sequence list and sending it to the cleaning component; wherein, the control instruction is used to control the cleaning component to sequentially clean the at least one area to be cleaned;

[0019] The cleaning component is configured to sequentially clean the at least one area to be cleaned in response to the control instruction; wherein, the cleaning component includes a floor cleaning component and / or a mopping component.

[0020] In a fourth aspect, a storage medium stores a cleaning path planning program, and when the cleaning path planning program is executed by a processor, the steps of the cleaning path planning method described in any one of the above are implemented.

[0021] In the embodiments of the present application, by determining at least one area to be cleaned and the current position parameter of the cleaning device, a cleaning sequence list for the at least one area to be cleaned is determined, and then according to the cleaning sequence list, the cleaning device is controlled to sequentially clean the at least one area to be cleaned. In this way, by controlling the cleaning device to sequentially clean the at least one area to be cleaned according to the cleaning sequence list, the problem that the current cleaning device repeatedly cleans the same area resulting in low cleaning efficiency is solved, and a cleaning path planning method is proposed, effectively improving the cleaning efficiency of the cleaning device and reducing the possibility of secondary pollution. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Figure 1 It is a schematic flowchart of a cleaning path planning method provided by an embodiment of the present application;

[0023] Figure 2 It is a schematic flowchart of another cleaning path planning method provided by an embodiment of the present application;

[0024] Figure 3 It is a schematic flowchart of another cleaning path planning method provided by an embodiment of the present application;

[0025] Figure 4 It is a schematic diagram of a target map provided by an embodiment of the present application;

[0026] Figure 5 It is a schematic diagram of an application for a target map provided by an embodiment of the present application;

[0027] Figure 6 It is a schematic diagram of an area division provided by an embodiment of the present application;

[0028] Figure 7 It is another schematic diagram of an application for a target map provided by an embodiment of the present application;

[0029] Figure 8 It is a schematic structural diagram of another cleaning path planning device provided by an embodiment of the present application;

[0030] Figure 9 It is a schematic structural diagram of a cleaning device provided by an embodiment of the present application. Detailed implementation manners

[0031] Next, the technical solutions in the embodiments of the present application will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present application.

[0032] An embodiment of the present application provides a cleaning path planning method. Referring to Figure 1 as shown, the method is applied to a cleaning device, and the method includes the following steps:

[0033] Step 101: Determine at least one area to be cleaned.

[0034] In an embodiment of the present application, at least one area to be cleaned is obtained by dividing the area to be cleaned by the cleaning device to a certain extent. The cleaning device may be a cleaning robot with functions such as automatic sweeping and / or mopping.

[0035] Step 102: Determine the current position parameter of the cleaning device.

[0036] In an embodiment of the present application, the current position parameter of the cleaning device is usually located at a certain position in the foregoing at least one area to be cleaned, that is, the position of the cleaning device at the current moment in the at least one area to be cleaned, which can be realized by a positioning device in the cleaning device.

[0037] Step 103: Based on the at least one area to be cleaned and the current position parameter, determine a cleaning sequence list for the at least one area to be cleaned.

[0038] In the embodiments of the present application, the cleaning device analyzes and sorts at least one area to be cleaned based on the relationship between at least one area to be cleaned and the current position parameters, and even can also be based on the relationship between at least one area to be cleaned and the current position parameters, as well as some working parameters of the cleaning device, to obtain a cleaning sorting list for at least one area to be cleaned.

[0039] Step 104: Control the cleaning device to clean at least one area to be cleaned in sequence according to the cleaning sorting list.

[0040] In the embodiments of the present application, when the cleaning device is cleaning, it cleans at least one area to be cleaned in sequence according to the cleaning sorting list, so that the cleaning device will not repeatedly clean in the same area to be cleaned, realizing the sequential cleaning of all areas to be cleaned, and ensuring the working efficiency of the cleaning device.

[0041] In the embodiments of the present application, by determining at least one area to be cleaned and the current position parameters of the cleaning device, a cleaning sorting list for at least one area to be cleaned is determined, and then according to the cleaning sorting list, the cleaning device is controlled to clean at least one area to be cleaned in sequence. In this way, by controlling the cleaning device to clean at least one area to be cleaned in sequence according to the cleaning sorting list, the problem that the current cleaning device has low cleaning efficiency due to repeated cleaning of the same area is solved, and a cleaning path planning method is proposed, effectively improving the cleaning efficiency of the cleaning device and reducing the possibility of secondary pollution.

[0042] Based on the foregoing embodiments, the embodiments of the present application provide a cleaning path planning method. Refer to Figure 2 As shown, the method is applied to a cleaning device, and the method includes the following steps:

[0043] Step 201: Obtain a target map.

[0044] In the embodiments of the present application, the target map can be a planar map of the area where the cleaning device is currently located and needs to be cleaned. It can be obtained by the cleaning device itself through a collection device set by itself around the edge structures such as the walls of the area to be cleaned, or it can be stored by the user in the cleaning device. For example, it can be a floor plan of a room, which can also include the schematic positions of the furnishings in the room. The collection device can be, for example, a radar collection device with a visualization function, or a camera collection device, etc.

[0045] Step 202: Divide the target map into areas to obtain at least one area to be cleaned.

[0046] In an embodiment of the present application, the cleaning device divides the areas in the target map that need to be cleaned, for example, divides them according to room areas and / or the extension lines of some straight lines in the indoor area, so as to obtain at least one area to be cleaned.

[0047] Step 203: Determine the current position parameters of the cleaning device.

[0048] In an embodiment of the present application, positioning processing is performed on the cleaning device to determine the location parameters of the cleaning device in the target map, and the current position parameters of the cleaning device are obtained.

[0049] Step 204: Based on at least one area to be cleaned and the current position parameters, determine a cleaning sequence list for at least one area to be cleaned.

[0050] In an embodiment of the present application, the cleaning device analyzes the relationship between at least one area to be cleaned obtained by dividing the target map and the current position parameters, and determines a cleaning sequence list including the cleaning order of each area to be cleaned.

[0051] Step 205: Control the cleaning device to clean at least one area to be cleaned in sequence according to the cleaning sequence list.

[0052] In this way, by correspondingly dividing the areas in the target map area into smaller areas, the influence of the arrangement of furnishings in the target map area on the cleaning process of the cleaning device is effectively considered, and each smaller area obtained by division is cleaned in sequence, effectively ensuring the cleaning efficiency of the cleaning device.

[0053] It should be noted that the descriptions of the same steps and the same content in this embodiment and other embodiments can refer to the descriptions in other embodiments, and will not be repeated here.

[0054] In an embodiment of the present application, a cleaning sequence list for at least one area to be cleaned is determined through the determined at least one area to be cleaned and the current position parameters of the cleaning device, and then the cleaning device is controlled to clean at least one area to be cleaned in sequence according to the cleaning sequence list. In this way, by controlling the cleaning device to clean at least one area to be cleaned in sequence according to the cleaning sequence list, the problem that the current cleaning device repeatedly cleans the same area resulting in low cleaning efficiency is solved, and a cleaning path planning method is proposed, effectively improving the cleaning efficiency of the cleaning device and reducing the possibility of secondary pollution.

[0055] Based on the foregoing embodiments, an embodiment of the present application provides a cleaning path planning method. Referring to Figure 3 As shown, the method is applied to a cleaning device, and the method includes the following steps:

[0056] Step 301: Obtain a target map.

[0057] In the embodiment of the present application, taking the target map obtained by the cleaning device through its own acquisition device for collecting the area to be cleaned as an example, usually the cleaning device only needs to collect the area to be cleaned once through its own acquisition device to obtain the target map. However, during the actual cleaning process, the cleaning device can also correct the target map according to the changes in the furnishings of the objects in the area to be cleaned. Exemplarily, the obtained target map can be referred to Figure 4 as shown.

[0058] Step 302: Based on the target map, obtain at least one straight boundary.

[0059] In the embodiment of the present application, the straight boundary can be some fitted straight lines, and the straight boundaries can be straight lines of different lengths. Exemplarily, based on Figure 4 the target map shown, the at least one straight boundary obtained can be referred to Figure 5 L1, L2, L3, L4, L5, L6, L7, L8, and L9 shown in

[0060] Step 303: Based on the at least one straight boundary, divide the target map into regions to obtain at least one reference region.

[0061] In the embodiment of the present application, dividing the target map into regions based on the at least one straight boundary to obtain at least one reference region can be achieved by methods such as computer morphology or erosion and dilation. The specific implementation process can be to extend the at least one straight boundary accordingly to obtain corresponding intersection points for region division to obtain at least one reference region. Exemplarily, based on Figure 5 the straight boundaries L1, L2, L3, L4, L5, L6, L7, L8, and L9 shown, divide the target map. For example, extend one end of the straight line L4 to intersect with the straight boundary L1; extend the other end of the straight boundary L4 as well, which just intersects with the straight boundary L8; extend the straight boundary L3 to intersect with the straight boundary L9; extend the straight boundary L5 to intersect with the straight boundary L9. In this way, the target map can be divided into five reference regions A, B, C, D, and E.

[0062] Step 304: Determine the reference area of each reference region to obtain at least one reference area.

[0063] In the embodiment of the present application, respectively determine Figure 5 the reference area of reference region A, the reference area of reference region B, the reference area of reference region C, the reference area of reference region D, and the reference area of reference region E in

[0064] Step 305: Determine at least one area to be cleaned from at least one reference area among at least one reference region.

[0065] In the embodiment of the present application, by analyzing at least one reference area, a reference region that meets certain requirements, such as an area greater than a certain threshold, is determined as the area to be cleaned. Exemplarily, for Figure 5 the reference areas of reference region A, reference region B, reference region C, reference region D, and reference region E in, after analyzing the reference areas, the at least one area to be cleaned obtained includes Figure 5 the 5 reference regions A, B, C, D, and E shown in.

[0066] Step 306: Determine the current position parameter of the cleaning device.

[0067] In the embodiment of the present application, it is assumed that the current position parameter of the cleaning device is determined through the image information collected by the acquisition device of the cleaning device.

[0068] Step 307: Based on at least one area to be cleaned and the current position parameter, determine a cleaning order list for at least one area to be cleaned.

[0069] Step 308: Control the cleaning device to clean at least one area to be cleaned in sequence according to the cleaning order list.

[0070] Based on the foregoing embodiments, in other embodiments of the present application, step 305 may be implemented by steps 305a to 305b:

[0071] Step 305a: Determine at least one target area with an area greater than the area threshold from at least one reference area.

[0072] In the embodiment of the present application, taking the at least one reference region shown in Figure 6 as an example for illustration, the at least one reference region includes regions F1, F2, F3, F4, F5, F6, and F7. The areas of the at least one reference region F1, F2, F3, F4, F5, F6, and F7 are determined to obtain 7 reference areas. It is assumed that since the reference areas of reference regions F2 and F3 are less than the area threshold, therefore, at least one target area with an area greater than the area threshold can be determined as the reference areas corresponding to reference regions F1, F4, F5, F6, and F7. Among them, Figure 6 the black filled areas in are walls or furnishings. The area threshold can be determined according to the volume of the cleaning device.

[0073] Step 305b: Determine the reference areas corresponding to at least one target area from at least one reference area, and obtain at least one area to be cleaned.

[0074] In the embodiment of the present application, it is determined that the reference areas F1, F4, F5, F6, and F7 are the corresponding at least one area to be cleaned.

[0075] In this way, the areas that do not meet the regulations are removed, effectively reducing the risk of the cleaning device being stuck, improving the usage efficiency of the cleaning device, and ensuring the intelligence level of the cleaning device.

[0076] Based on the foregoing embodiments, in other embodiments of the present application, step 307 can be implemented by steps 307a to 307b:

[0077] Step 307a: Determine n cleaning start areas based on at least one area to be cleaned.

[0078] Wherein, n is an integer greater than or equal to 2.

[0079] In the embodiment of the present application, analyze at least one area to be cleaned to determine n cleaning start areas.

[0080] Step 307b: Sort at least one area to be cleaned based on the n cleaning start areas and the current position parameter to obtain a cleaning sort list.

[0081] In the embodiment of the present application, determine a cleaning sort list for at least one area to be cleaned according to the relationship between the n cleaning start areas and the current position parameter.

[0082] Based on the foregoing embodiments, in other embodiments of the present application, step 307a can be implemented by steps a11 to a12:

[0083] Step a11: Based on at least one area to be cleaned, determine the conduction ports for each area to be cleaned to lead to adjacent areas.

[0084] In the embodiment of the present application, the conduction port can be, for example, a door or the extension line of a straight boundary. Based on Figure 5 the shown at least one area to be cleaned, determining the conduction ports for each area to be cleaned to lead to adjacent areas can refer to Figure 7As shown, the area A to be cleaned includes a conducting port, which is the conducting port G1 for the area A to be cleaned leading to the area B to be cleaned; the area B to be cleaned includes two conducting ports, which are the conducting port G1 for the area B to be cleaned leading to the area A to be cleaned and the conducting port G2 for the area B to be cleaned leading to the area C to be cleaned; the area C to be cleaned includes two conducting ports, which are the conducting port G2 for the area C to be cleaned leading to the area B to be cleaned and the conducting port G3 for the area C to be cleaned leading to the area D to be cleaned; the area D to be cleaned includes two conducting ports, which are the conducting port G3 for the area D to be cleaned leading to the area C to be cleaned and the conducting port G4 for the area D to be cleaned leading to the area E to be cleaned; the area E to be cleaned includes one conducting port, which is the conducting port G4 for the area E to be cleaned leading to the area D to be cleaned.

[0085] Step a12: Determine, from at least one area to be cleaned, the areas to be cleaned that include one conducting port, and obtain n cleaning start areas.

[0086] In the embodiment of the present application, among the areas A, B, C, D, and E to be cleaned, the areas to be cleaned with one conducting port are the areas A and E to be cleaned. Therefore, 2 cleaning start areas A and E can be determined.

[0087] Based on the foregoing embodiments, in other embodiments of the present application, step 307b can be implemented by steps b11 to b13:

[0088] Step b11: Determine the first target area where the power supply device for powering the cleaning device is located.

[0089] Among them, the first target area is one of at least one area to be cleaned.

[0090] In the embodiment of the present application, the power supply device for powering the cleaning device is a charging device for charging the cleaning device. Exemplarily, the power supply device H for powering the cleaning device is arranged in Figure 7 the area C to be cleaned shown, so the first target area can be determined as Figure 7 the area C to be cleaned in.

[0091] Step b12: Group at least one area to be cleaned based on the first target area and the n cleaning start areas, and obtain m groups of areas to be cleaned.

[0092] Among them, m is n - 1 or n.

[0093] In the embodiments of the present application, since the first target area is the area where the power supply device for the cleaning device is located, therefore, the first target area should be determined as the area that is cleaned last when the cleaning device is cleaning. So, at least one area to be cleaned can be grouped according to the start and end relationships between the n cleaning start areas and the first target area, thereby obtaining m groups of areas to be cleaned. When the first target area belongs to the n cleaning start areas, that is, the first target area is a cleaning start area, the first target area cannot be both the start area and the last cleaning area when the cleaning device is cleaning. Therefore, in this case, when grouping, the first target area does not need to be considered, so it can be determined that m is n - 1. When the first target area does not belong to the n cleaning start areas, it is determined that the number m of groups for grouping is equal to n.

[0094] Step b13: Obtain a cleaning sorting list based on the m groups of areas to be cleaned and the current position parameters.

[0095] In the embodiments of the present application, the m groups of areas to be cleaned and the current position parameters are analyzed to determine a cleaning sorting list.

[0096] Based on the foregoing examples, in other embodiments of the present application, step b12 can be implemented by steps b121 - b122, or step b123:

[0097] Step b121: If the first target area is one of the n cleaning start areas, determine the areas other than the first target area from the n cleaning start areas to obtain m second target areas.

[0098] Wherein, m is n - 1.

[0099] In the embodiments of the present application, assuming that 3 cleaning start areas are determined, namely area 1, area 2, and area 3, and the first target area is area 1, 2 second target areas can be determined, namely area 2 and area 3.

[0100] Step b122: Determine, from the areas other than the first target area in the at least one area to be cleaned, the connected areas to be cleaned with each second target area as the conduction start point until the first target area as the conduction end point, to obtain m groups of areas to be cleaned.

[0101] Wherein, each group of areas to be cleaned is arranged according to connectivity.

[0102] In the embodiments of the present application, for the areas in at least one area to be cleaned except the first target area, taking each second target area as the conduction starting point until the first target area as the conduction ending point, the areas to be cleaned with connectivity are obtained, and a set of areas to be cleaned corresponding to each second target area is obtained. By repeating this process and performing the same operation on all second target areas, m sets of areas to be cleaned can be obtained, where each set of areas to be cleaned does not include the first target area. Exemplarily, assuming that the areas to be cleaned with connectivity starting from area 2 until area 1 as the conduction ending point are as follows: area 2 is connected to area 5, and area 5 is connected to area 1. Therefore, it can be determined that a set of areas to be cleaned corresponding to area 2 is area 2 and area 5; the areas to be cleaned with connectivity starting from area 3 until area 1 as the conduction ending point are as follows: area 3 is connected to area 4, and area 4 is connected to area 1. Therefore, it can be determined that a set of areas to be cleaned corresponding to area 3 is area 3 and area 4.

[0103] Correspondingly, when step b12 is implemented by steps b121 - b122, step b13 can be implemented by steps b131 - b134:

[0104] Step b131: Based on the m second target areas, determine the point farthest from the conduction port of each second target area in each second target area as the cleaning starting point of each second target area, and obtain m cleaning starting points.

[0105] In the embodiments of the present application, determine the point farthest from the conduction port where area 2 is connected to area 5 in area 2 as the cleaning starting point of area 2, and the point farthest from the conduction port where area 3 is connected to area 4 in area 3 as the cleaning starting point of area 3, thereby obtaining 2 cleaning starting points.

[0106] Step b132: Determine the distance between each cleaning starting point and the current position parameter, and obtain m target distances.

[0107] In the embodiments of the present application, the distance between each cleaning starting point and the current position parameter can be the straight-line distance between two points, but in some application scenarios, it can also be the driving distance for controlling the cleaning device from the current position to each cleaning starting point.

[0108] Step b133: Based on the m target distances, sort the m sets of areas to be cleaned according to a preset sorting order to obtain a reference sorted list.

[0109] In the embodiments of the present application, the preset sorting order may be a sorting order from largest to smallest or from smallest to largest in terms of distance. However, in some application scenarios, in addition to the target distance between the current position parameter and each cleaning starting point, some other factors may also be considered, such as environmental factors and the working parameters of the cleaning device. Among them, the environmental factors may be factors such as the number of obstacles during the process of the cleaning device moving from the current position to each cleaning starting point, and the working parameters of the cleaning device may be the travel speed of the cleaning device to each cleaning starting point, etc. Exemplarily, assuming that the target distance between the cleaning starting point of area 2 and the current position parameter is less than the target distance between the cleaning starting point of area 3 and the current position parameter, and the corresponding preset sorting order is to clean in the order of the target distance from largest to smallest, the obtained reference sorting list may be (area 3, area 4; area 2, area 5).

[0110] Step b134: Sort the first target area in the reference sorting list to obtain a cleaning sorting list.

[0111] Among them, in the cleaning sorting list, the sorting of the first target area is the last area to be cleaned.

[0112] In the embodiments of the present application, sorting the first target area at the end of the reference sorting list, the corresponding obtained cleaning sorting list is (area 3, area 4; area 2, area 5; area 1).

[0113] Or, step b123: If the first target area is an area other than n cleaning starting areas among at least one area to be cleaned, determine, from the areas other than the first target area among at least one area to be cleaned, a group of connected areas to be cleaned with each cleaning starting area as the conduction starting point until the first target area as the conduction end point, to obtain m groups of areas to be cleaned.

[0114] Among them, m is n, and each group of areas to be cleaned is arranged according to connectivity.

[0115] In the embodiments of the present application, taking Figure 7 as an example for illustration, since the first target area is area C to be cleaned and does not belong to the cleaning starting areas A and E, therefore, from the areas to be cleaned A, B, D, and E, determine a group of connected areas to be cleaned with the cleaning starting area A as the conduction starting point until the first target area C as the conduction end point as: area to be cleaned A, area to be cleaned B; another group of connected areas to be cleaned with the cleaning starting area E as the conduction starting point until the first target area C as the conduction end point as: area to be cleaned E, area to be cleaned D.

[0116] When step b12 is implemented by step b123, step b13 can be implemented by steps b135 to b138:

[0117] Step b135: Based on n cleaning start regions, determine the point farthest from the conduction port of each cleaning start region in each cleaning start region as the cleaning start point of each cleaning start region, and obtain m cleaning start points.

[0118] Step b136: Determine the distances between each cleaning start point and the current position parameter to obtain m target distances.

[0119] Step b137: Based on the m target distances, sort the m groups of areas to be cleaned in a preset sorting order to obtain a reference sorted list.

[0120] Step b138: Arrange the first target area in the reference sorted list to obtain a cleaning sorted list.

[0121] Among them, in the cleaning sorted list, the first target area is arranged as the last area to be cleaned.

[0122] Based on the foregoing embodiments, in other embodiments of the present application, step b134 or step b138 can be implemented by steps c11 - c13:

[0123] Step c11: Obtain the working parameters of the cleaning device.

[0124] In the embodiments of the present application, the working parameters of the cleaning device can be the travel speed of the cleaning device. Among them, the travel speed of the cleaning device can be the driving speed of a single cleaning device. In some cases, the travel speed of the cleaning device also needs to consider the speed affected by situations such as turning of the cleaning device.

[0125] Step c12: Based on the working parameters and each target distance, determine the target coefficients of the cleaning start points of the corresponding groups of areas to be cleaned, and obtain m target coefficients.

[0126] In the embodiments of the present application, when determining the target coefficients based on the working parameters and each target distance, a first weight coefficient of the working parameters and second weight coefficients corresponding to different target distances can be preset in advance, and then calculated using, for example, the formula "first weight coefficient * working parameter + second weight coefficient * target distance = target coefficient" to obtain the target coefficient corresponding to each target distance, thereby obtaining m target coefficients.

[0127] Step c13: Based on the m target coefficients, sort the m groups of areas to be cleaned in a preset sorting order to obtain a reference sorted list.

[0128] Based on the foregoing embodiments, in other embodiments of the present application, step 308 can be implemented by steps:

[0129] Step 308a: When controlling the cleaning device to clean at least one area to be cleaned in sequence according to the cleaning sequence list, use the target identification information to identify the cleaned area in the current cleaning area.

[0130] In an embodiment of the present application, the target identification information may be a symbol. When using the target identification information to identify the cleaned area in the current cleaning area, it may be identified according to the current cleaning path of the cleaning device. That is, when the cleaning device is cleaning, every time it moves a certain displacement, it marks the moving distance of the corresponding cleaning device.

[0131] Step 308b: Clean the unmarked area in the current cleaning area according to the preset cleaning method until at least one area to be cleaned has been marked with the target identification information.

[0132] In an embodiment of the present application, the cleaning device uses the target identification information to identify the cleaned area in the cleaning area, so that the cleaning device can determine which areas have been cleaned, effectively avoiding the cleaning device from repeatedly cleaning the cleaned area and reducing the secondary pollution caused by repeated cleaning.

[0133] It should be noted that the descriptions of the same steps and the same content in this embodiment and other embodiments can refer to the descriptions in other embodiments, and will not be repeated here.

[0134] In an embodiment of the present application, by determining at least one area to be cleaned and the current position parameters of the cleaning device, a cleaning sequence list for at least one area to be cleaned is determined, and then according to the cleaning sequence list, the cleaning device is controlled to clean at least one area to be cleaned in sequence. In this way, by controlling the cleaning device to clean at least one area to be cleaned in sequence according to the cleaning sequence list, the problem that the current cleaning device repeatedly cleans the same area resulting in low cleaning efficiency is solved, and a cleaning path planning method is proposed, effectively improving the cleaning efficiency of the cleaning device and reducing the possibility of secondary pollution.

[0135] Based on the foregoing embodiments, an embodiment of the present application provides a cleaning path planning device. Referring to Figure 8 As shown, the cleaning path planning device 4 may include: a first determination unit 41, a second determination unit 42, and a cleaning unit 43; where:

[0136] The first determination unit 41 is used to determine at least one area to be cleaned;

[0137] The first determination unit 41 is further used to determine the current position parameters of the cleaning device;

[0138] The second determination unit 42 is configured to determine a cleaning order list for at least one area to be cleaned based on at least one area to be cleaned and the current position parameter;

[0139] The cleaning unit 43 is configured to control the cleaning device to clean at least one area to be cleaned in sequence according to the cleaning order list.

[0140] In other embodiments of the present application, the first determination unit includes an acquisition module and a division module; wherein:

[0141] The acquisition module is configured to acquire a target map;

[0142] The division module is configured to perform area division on the target map to obtain at least one area to be cleaned.

[0143] In other embodiments of the present application, the division module may specifically be configured to implement the following steps:

[0144] Based on the target map, obtain at least one straight boundary;

[0145] Based on at least one straight boundary, perform area division on the target map to obtain at least one reference area;

[0146] Determine the reference area of each reference area to obtain at least one reference area;

[0147] Based on at least one reference area, determine at least one area to be cleaned from at least one reference area.

[0148] In other embodiments of the present application, when the division module is used to implement the step of determining at least one area to be cleaned from at least one reference area based on at least one reference area, it may be implemented through the following steps:

[0149] From at least one reference area, determine at least one target area whose area is greater than the area threshold;

[0150] Determine the reference areas corresponding to at least one target area from at least one reference area to obtain at least one area to be cleaned.

[0151] In other embodiments of the present application, the second determination unit includes: a determination module and a sorting module; wherein:

[0152] The determination module is configured to determine n cleaning start areas based on at least one area to be cleaned; wherein, n is an integer greater than or equal to 2;

[0153] The sorting module is configured to sort at least one area to be cleaned based on the n cleaning start areas and the current position parameter to obtain a cleaning order list.

[0154] In other embodiments of the present application, the determination module may specifically be used to implement the following steps:

[0155] Based on at least one area to be cleaned, determine the conduction ports through which each area to be cleaned leads to adjacent areas;

[0156] From at least one area to be cleaned, determine the areas to be cleaned that include one conduction port to obtain n cleaning start areas.

[0157] In an embodiment of the present application, the sorting module may specifically be used to implement the following steps:

[0158] Determine the first target area where the power supply device for powering the cleaning device is located; wherein, the first target area is one of the at least one area to be cleaned;

[0159] Based on the first target area and the n cleaning start areas, group the at least one area to be cleaned to obtain m groups of areas to be cleaned; wherein, m is n - 1 or n;

[0160] Based on the m groups of areas to be cleaned and the current position parameters, obtain a cleaning sorting list.

[0161] In other embodiments of the present application, when the sorting module is used to implement the step of grouping the at least one area to be cleaned based on the first target area and the n cleaning start areas to obtain m groups of areas to be cleaned, it may be implemented by the following steps:

[0162] If the first target area is one of the n cleaning start areas, determine the areas other than the first target area from the n cleaning start areas to obtain m second target areas; wherein, m is n - 1;

[0163] From the areas of the at least one area to be cleaned other than the first target area, determine the connected areas to be cleaned with each second target area as the conduction starting point until the first target area as the conduction end point to obtain m groups of areas to be cleaned; wherein, each group of areas to be cleaned is arranged according to connectivity.

[0164] In other embodiments of the present application, when the sorting module is used to implement the step of grouping the at least one area to be cleaned based on the first target area and the n cleaning start areas to obtain m groups of areas to be cleaned, it may also be implemented by the following steps:

[0165] If the first target area is an area of the at least one area to be cleaned other than the n cleaning start areas, determine the connected areas to be cleaned with each cleaning start area as the conduction starting point until the first target area as the conduction end point from the areas of the at least one area to be cleaned other than the first target area to obtain m groups of areas to be cleaned; wherein, m is n, and each group of areas to be cleaned is arranged according to connectivity.

[0166] In other embodiments of the present application, when the sorting module is used to implement the step of obtaining the cleaning sorting list based on m groups of areas to be cleaned and the current position parameters, it can be implemented through the following steps:

[0167] Based on the m second target areas, determine the point farthest from the conduction port of each second target area in each second target area as the cleaning starting point of each second target area, and obtain m cleaning starting points;

[0168] Determine the distance between each cleaning starting point and the current position parameters to obtain m target distances;

[0169] Based on the m target distances, sort the m groups of areas to be cleaned according to the preset sorting order to obtain a reference sorting list;

[0170] Sort the first target area in the reference sorting list to obtain the cleaning sorting list, wherein in the cleaning sorting list, the first target area is sorted as the last area to be cleaned.

[0171] In other embodiments of the present application, when the sorting module is used to implement the step of obtaining the cleaning sorting list based on m groups of areas to be cleaned and the current position parameters, it can also be implemented through the following steps:

[0172] Based on the n cleaning starting areas, determine the point farthest from the conduction port of each cleaning starting area in each cleaning starting area as the cleaning starting point of each cleaning starting area, and obtain m cleaning starting points;

[0173] Determine the distance between each cleaning starting point and the current position parameters to obtain m target distances;

[0174] Based on the m target distances, sort the m groups of areas to be cleaned according to the preset sorting order to obtain a reference sorting list;

[0175] Sort the first target area in the reference sorting list to obtain the cleaning sorting list; wherein in the cleaning sorting list, the first target area is sorted as the last area to be cleaned.

[0176] In other embodiments of the present application, when the sorting module is used to implement the step of sorting the m groups of areas to be cleaned according to the preset sorting order based on the m target distances to obtain a reference sorting list, it can be implemented through the following steps:

[0177] Obtain the working parameters of the cleaning device;

[0178] Based on the working parameters and each target distance, determine the target coefficient of the cleaning starting point of each corresponding group of areas to be cleaned to obtain m target coefficients;

[0179] Based on m target coefficients, sort m groups of areas to be cleaned according to a preset sorting order to obtain a reference sorted list.

[0180] In other embodiments of the present application, the cleaning unit includes: an identification module and a cleaning module; where:

[0181] The identification module is used to use target identification information to identify the cleaned areas in the current cleaning area when controlling the cleaning device to clean at least one area to be cleaned in sequence according to the cleaning sorted list;

[0182] The cleaning module is used to clean the unmarked areas in the current cleaning area according to a preset cleaning method until at least one area to be cleaned has been marked with target identification information.

[0183] It should be noted that for the specific implementation process of information interaction between the units and modules in this embodiment, reference can be made to Figures 1-3 the implementation process in the cleaning path planning method provided in the corresponding embodiment, which will not be elaborated here.

[0184] In the embodiments of the present application, at least one area to be cleaned and the current position parameters of the cleaning device are determined to determine a cleaning sorted list for at least one area to be cleaned, and then the cleaning device is controlled to clean at least one area to be cleaned in sequence according to the cleaning sorted list. In this way, by controlling the cleaning device to clean at least one area to be cleaned in sequence according to the cleaning sorted list, the problem that the current cleaning device repeatedly cleans the same area resulting in low cleaning efficiency is solved, and a cleaning path planning method is proposed, effectively improving the cleaning efficiency of the cleaning device and reducing the possibility of secondary pollution.

[0185] Based on the foregoing embodiments, an embodiment of the present application provides a cleaning device. Referring to Figure 9 as shown, the cleaning device 5 may include: a processor 51 and a cleaning component 52; where:

[0186] The processor 51 is used to implement the following steps: determine at least one area to be cleaned; determine the current position parameters of the cleaning device; determine a cleaning sorted list for at least one area to be cleaned based on at least one area to be cleaned and the current position parameters; generate a control instruction according to the cleaning sorted list and send it to the cleaning component; where the control instruction is used to control the cleaning component to clean at least one area to be cleaned in sequence;

[0187] The cleaning component 52 is used to respond to the control instruction and clean at least one area to be cleaned in sequence; where the cleaning component includes a floor cleaning component and / or a mopping component.

[0188] In the embodiments of the present application, the processor is further configured to implement the cleaning path planning method provided in reference to Figures 1-3 and the foregoing other method embodiments, which will not be elaborated herein.

[0189] Based on the foregoing embodiments, an embodiment of the present application provides a computer-readable storage medium, simply referred to as a storage medium. The computer-readable storage medium stores one or more programs, and the one or more programs can be executed by one or more processors to implement the implementation process of the cleaning path planning method provided in the corresponding Figures 1-3 embodiment, which will not be elaborated herein.

[0190] Those skilled in the art should understand that the embodiments of the present application can be provided as methods, systems, or computer program products. Therefore, the present application can adopt the form of hardware embodiments, software embodiments, or embodiments combining software and hardware aspects. Moreover, the present application can adopt the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk storage and optical storage, etc.) containing computer-usable program code.

[0191] The present application is described with reference to the flowcharts and / or block diagrams of methods, devices (systems), and computer program products according to the embodiments of the present application. It should be understood that each process and / or block in the flowchart and / or block diagram, as well as the combination of processes and / or blocks in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to the processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing devices to generate a machine, so that the instructions executed by the processor of the computer or other programmable data processing devices generate means for implementing the specified functions in Figure 1 one process or multiple processes and / or blocks Figure 1 one block or multiple blocks.

[0192] These computer program instructions can also be stored in a computer-readable memory that can direct a computer or other programmable data processing device to work in a specific manner, so that the instructions stored in the computer-readable memory generate a manufactured article including instruction means, and the instruction means implement the specified functions in Figure 1 one process or multiple processes and / or blocks Figure 1 one block or multiple blocks.

[0193] These computer program instructions can also be loaded onto a computer or other programmable data processing device, so that a series of operation steps are executed on the computer or other programmable device to generate computer-implemented processing, and thus the instructions executed on the computer or other programmable device provide means for implementing the specified functions in Figure 1 one process or multiple processes and / or blocksFigure 1 Steps of functions specified in one or more boxes.

[0194] As described above, it is only a preferred embodiment of the present application and is not used to limit the protection scope of the present application.

Claims

1. A cleaning path planning method, characterized in that, The method includes: Determining at least one area to be cleaned; Determining the current position parameters of the cleaning device; Based on the at least one area to be cleaned and the current position parameters, determining a cleaning sequence list for the at least one area to be cleaned; Controlling the cleaning device to clean the at least one area to be cleaned in sequence according to the cleaning sequence list; Wherein, the determining the cleaning sequence list for the at least one area to be cleaned based on the at least one area to be cleaned and the current position parameters includes: Based on the at least one area to be cleaned, determining n cleaning start areas; where n is an integer greater than or equal to 2; Based on the n cleaning start areas and the current position parameters, sorting the at least one area to be cleaned to obtain the cleaning sequence list; Wherein, the determining n cleaning start areas based on the at least one area to be cleaned includes: Based on the at least one area to be cleaned, determining the conduction openings through which each area to be cleaned leads to adjacent areas; Determining, from the at least one area to be cleaned, the areas to be cleaned that include one conduction opening to obtain the n cleaning start areas; Correspondingly, the sorting the at least one area to be cleaned based on the n cleaning start areas and the current position parameters to obtain the cleaning sequence list includes: Determining a first target area where the power supply device for powering the cleaning device is located; wherein the first target area is one of the at least one area to be cleaned; Based on the first target area and the n cleaning start areas, grouping the at least one area to be cleaned to obtain m groups of areas to be cleaned; where m is n - 1 or n; Based on the m groups of areas to be cleaned and the current position parameters, obtaining the cleaning sequence list.

2. The method according to claim 1, wherein The determining at least one area to be cleaned includes: Obtaining a target map; Based on the target map, obtaining at least one straight boundary; Based on the at least one straight boundary, dividing the target map into areas to obtain at least one reference area; Determining the reference area of each reference area to obtain at least one reference area; Based on the at least one reference area, determining the at least one area to be cleaned from the at least one reference area.

3. The method according to claim 2, wherein The determining the at least one area to be cleaned from the at least one reference area based on the at least one reference area includes: Determining at least one target area with an area greater than an area threshold from the at least one reference area; Determining the reference areas corresponding to the at least one target area from the at least one reference area to obtain the at least one area to be cleaned.

4. The method according to claim 1, characterized in that, The grouping the at least one area to be cleaned based on the first target area and the n cleaning start areas to obtain m groups of areas to be cleaned includes: If the first target area is one of the n cleaning start areas, determining, from the n cleaning start areas, the areas other than the first target area to obtain m second target areas; where m is n - 1; From the areas of the at least one area to be cleaned except the first target area, determine the areas to be cleaned with connectivity starting from each second target area until the first target area as the conduction end point, to obtain the m groups of areas to be cleaned; wherein each group of the areas to be cleaned is arranged according to the connectivity. Correspondingly, obtaining the cleaning sorting list based on the m groups of areas to be cleaned and the current position parameter includes: Based on the m second target areas, determine the point farthest from the conduction port of each second target area in each second target area as the cleaning start point of each second target area, to obtain m cleaning start points. Determine the distance between each cleaning start point and the current position parameter, to obtain m target distances. Based on the m target distances, sort the m groups of areas to be cleaned in a preset sorting order to obtain a reference sorting list. Sort the first target area in the reference sorting list to obtain the cleaning sorting list; wherein in the cleaning sorting list, the first target area is sorted as the last area to be cleaned.

5. The method according to claim 1, characterized in that, Grouping the at least one area to be cleaned based on the first target area and the n cleaning start areas to obtain m groups of areas to be cleaned includes: If the first target area is an area of the at least one area to be cleaned except the n cleaning start areas, from the areas of the at least one area to be cleaned except the first target area, determine the areas to be cleaned with connectivity starting from each cleaning start area until the first target area as the conduction end point, to obtain the m groups of areas to be cleaned; wherein m is n, and each group of the areas to be cleaned is arranged according to the connectivity. Correspondingly, obtaining the cleaning sorting list based on the m groups of areas to be cleaned and the current position parameter includes: Based on the n cleaning start areas, determine the point farthest from the conduction port of each cleaning start area in each cleaning start area as the cleaning start point of each cleaning start area, to obtain m cleaning start points. Determine the distance between each cleaning start point and the current position parameter, to obtain m target distances. Based on the m target distances, sort the m groups of areas to be cleaned in a preset sorting order to obtain a reference sorting list. Sort the first target area in the reference sorting list to obtain the cleaning sorting list; wherein in the cleaning sorting list, the first target area is sorted as the last area to be cleaned.

6. The method according to claim 4 or 5, characterized in that, Sorting the m groups of areas to be cleaned in a preset sorting order based on the m target distances to obtain the reference sorting list includes: Obtain the working parameters of the cleaning device. Based on the working parameters and each target distance, determine the target coefficient of the cleaning start point of each corresponding group of areas to be cleaned, to obtain m target coefficients. Based on the m target coefficients, sort the m groups of areas to be cleaned in a preset sorting order to obtain the reference sorting list.

7. The method according to claim 1, characterized in that, Controlling the cleaning device to clean the at least one area to be cleaned in sequence according to the cleaning sequence list includes: When controlling the cleaning device to clean the at least one area to be cleaned in sequence according to the cleaning sequence list, using target identification information to identify the cleaned areas in the current cleaning area; Cleaning the unmarked areas in the current cleaning area according to a preset cleaning method until all the at least one area to be cleaned have been marked with the target identification information.

8. A cleaning device, characterized in that, The cleaning device includes: a processor and a cleaning component; wherein: The processor is configured to implement the following steps: determining at least one area to be cleaned; determining the current position parameter of the cleaning device; based on the at least one area to be cleaned and the current position parameter, determining a cleaning sequence list for the at least one area to be cleaned; generating a control instruction according to the cleaning sequence list and sending it to the cleaning component; wherein, the control instruction is used to control the cleaning component to clean the at least one area to be cleaned in sequence; The cleaning component is configured to respond to the control instruction and clean the at least one area to be cleaned in sequence; wherein, the cleaning component includes a floor cleaning component and / or a mopping component; Wherein, the determining the cleaning sequence list for the at least one area to be cleaned based on the at least one area to be cleaned and the current position parameter includes: Based on the at least one area to be cleaned, determining n cleaning start areas; wherein, n is an integer greater than or equal to 2; Sorting the at least one area to be cleaned based on the n cleaning start areas and the current position parameter to obtain the cleaning sequence list; Wherein, the determining n cleaning start areas based on the at least one area to be cleaned includes: Based on the at least one area to be cleaned, determining the access ports for each area to be cleaned to adjacent areas; Determining the areas to be cleaned that include one access port from the at least one area to be cleaned to obtain the n cleaning start areas; Correspondingly, the sorting the at least one area to be cleaned based on the n cleaning start areas and the current position parameter to obtain the cleaning sequence list includes: Determining a first target area where the power supply device for powering the cleaning device is located; wherein, the first target area is one of the at least one area to be cleaned; Grouping the at least one area to be cleaned based on the first target area and the n cleaning start areas to obtain m groups of areas to be cleaned; wherein, m is n - 1 or n; Obtaining the cleaning sequence list based on the m groups of areas to be cleaned and the current position parameter.

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