Cleaning planning method and device based on breakpoint record

Abstract

The application discloses a breakpoint record-based cleaning planning method and device, which comprises the following steps: determining historical breakpoint records of a target cleaning device; obtaining historical task information of the historical cleaning tasks of the target cleaning device; determining historical unfinished cleaning information of the target cleaning device according to the historical task information and the historical breakpoint records; determining a future cleaning plan of the target cleaning device for a target area; and determining a cleaning strategy of the target cleaning device for the target area according to the historical unfinished cleaning information and the future cleaning plan. It can be seen that the application can more reasonably and intelligently determine a cleaning strategy, comprehensively considers previous unfinished work, and improves the cleaning efficiency of the cleaning device.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of Internet of Things, and in particular to a breakpoint record-based cleaning planning method and device. BACKGROUND

[0002] With the development of cleaning equipment research and development technology and intelligent algorithm technology, the degree of intelligence of household cleaning equipment is also higher and higher, and more and more families choose intelligent cleaning equipment such as sweeping robots as household cleaning equipment. The existing cleaning equipment may interrupt cleaning when encountering an obstacle during cleaning, but rarely considers the cleaning situation at the time of interruption when re-planning cleaning, so it is impossible to comprehensively and reasonably determine the cleaning strategy. It can be seen that the prior art has defects and needs to be solved. SUMMARY

[0003] The technical problem to be solved by the present application is to provide a breakpoint record-based cleaning planning method and device, which can more reasonably and intelligently determine a cleaning strategy and comprehensively consider previous unfinished work to improve the cleaning efficiency of cleaning equipment.

[0004] To solve the above technical problem, the first aspect of the present application discloses a breakpoint record-based cleaning planning method, which comprises:

[0005] determining a historical breakpoint record of a target cleaning equipment; the historical breakpoint record is used to indicate a breakpoint record of the target cleaning equipment when interrupting a historical cleaning task at least once in a target area in a historical time period;

[0006] obtaining historical task information of the historical cleaning task of the target cleaning equipment, and determining historical unfinished cleaning information of the target cleaning equipment according to the historical task information and the historical breakpoint record;

[0007] determining a future cleaning plan of the target cleaning equipment for the target area, and determining a cleaning strategy of the target cleaning equipment for the target area according to the historical unfinished cleaning information and the future cleaning plan; the cleaning strategy is used to control the target cleaning equipment to clean the target area.

[0008] As an optional implementation manner, in the first aspect of the present application, the breakpoint information of the breakpoint record comprises at least one of a breakpoint position, a breakpoint time, a breakpoint number and a breakpoint task progress.

[0009] As an optional implementation manner, in the first aspect of the present application, the determination of the historical breakpoint record of the target cleaning equipment comprises:

[0010] obtaining a plurality of breakpoint records of the target cleaning equipment when interrupting a plurality of historical cleaning tasks in a target area in a plurality of historical time periods;

[0011] For any one of the breakpoint records, according to the breakpoint information, it is judged whether the breakpoint record is an unimportant breakpoint or a device failure breakpoint;

[0012] When it is judged that the breakpoint record is an unimportant breakpoint or a device failure breakpoint, the breakpoint record is deleted from the historical breakpoint records.

[0013] As an optional implementation, in the first aspect of the present application, the judging whether the breakpoint record is an unimportant breakpoint or a device failure breakpoint according to the breakpoint information comprises:

[0014] judging whether the breakpoint position of the breakpoint record is located in a preset edge position area;

[0015] If yes, it is judged that the breakpoint record is an unimportant breakpoint;

[0016] and / or,

[0017] judging whether the distance between the breakpoint position of the breakpoint record and the activity center position of the target area is greater than a preset first distance threshold value; the activity center position is calculated according to the human activity trajectories of the target area;

[0018] If yes, it is judged that the breakpoint record is an unimportant breakpoint;

[0019] and / or,

[0020] judging whether the time difference between the breakpoint time of the breakpoint record and the end time of the corresponding historical cleaning task is greater than a preset first time threshold value;

[0021] If yes, it is judged that the breakpoint record is an unimportant breakpoint;

[0022] and / or,

[0023] calculating the frequency average of the breakpoint frequencies of all the breakpoint records;

[0024] judging whether the frequency difference value between the breakpoint frequency of the breakpoint record and the frequency average is greater than a preset frequency difference threshold value;

[0025] If yes, it is judged that the breakpoint record is a device failure breakpoint;

[0026] and / or,

[0027] judging whether the breakpoint task progress of the breakpoint record is greater than a preset progress threshold value;

[0028] If yes, it is judged that the breakpoint record is an unimportant breakpoint.

[0029] As an optional implementation, in the first aspect of the present application, the historical task information comprises a task cleaning object and / or a task cleaning route; and / or, the historical unfinished cleaning information comprises an unfinished cleaning object and / or an unfinished cleaning area.

[0030] As an optional implementation, in the first aspect of the present application, the determining of the historical unfinished cleaning information of the target cleaning device according to the historical task information and the historical breakpoint record comprises:

[0031] For any one of the historical cleaning tasks, a corresponding unfinished route of the historical cleaning task is determined according to a task cleaning route of the historical cleaning task and a breakpoint position of the breakpoint record;

[0032] The start point and the end point of the unfinished route in the target area are determined;

[0033] Two first lines are drawn through the start point; the size of the angle formed by the two first lines with the start point as the vertex and facing the end point is proportional to the cleaning area of the target cleaning device;

[0034] Two second lines are drawn through the end point; the size of the angle formed by the two second lines with the end point as the vertex and facing the start point is proportional to the cleaning area of the target cleaning device;

[0035] An area surrounded by the two first lines and the two second lines in the target area is determined as the unfinished cleaning area of the target cleaning device;

[0036] and / or,

[0037] For any one of the historical cleaning tasks, it is judged whether the breakpoint task progress of the breakpoint record of the historical cleaning task is less than 100%, and if so, the task cleaning object of the historical cleaning task is determined as the unfinished cleaning object of the target cleaning device.

[0038] As an optional implementation, in the first aspect of the present application, the future cleaning plan comprises future task information of a plurality of future cleaning tasks; the future task information comprises a future cleaning area and / or a future cleaning object.

[0039] As an optional implementation, in the first aspect of the present application, the determining of the cleaning strategy of the target cleaning device for the target area according to the historical unfinished cleaning information and the future cleaning plan comprises:

[0040] For any one of the future cleaning tasks, a task adaptation degree of the future cleaning task is calculated according to the future task information and the historical unfinished cleaning information;

[0041] sequencing the future cleaning tasks according to the task fitness degree from large to small, to obtain a task sequence;

[0042] determining that the cleaning strategy of the target cleaning device for the target area is to sequentially execute all the future cleaning tasks according to the task sequence from beginning to end;

[0043] and the task fitness degree of the future cleaning task is calculated according to the future task information and the historical unfinished cleaning information, including:

[0044] calculating a first similarity between the future cleaning area and the unfinished cleaning area to determine the task fitness degree of the future cleaning task;

[0045] and / or,

[0046] calculating a second similarity between the future cleaning object and the to-be-completed cleaning object to determine the task fitness degree of the future cleaning task;

[0047] and / or,

[0048] calculating a weighted sum value of the first similarity and the second similarity to determine the task fitness degree of the future cleaning task.

[0049] The second aspect of the present application discloses a cleaning planning device based on breakpoint records, the device comprising:

[0050] a first determination module for determining historical breakpoint records of a target cleaning device; the historical breakpoint records are used to indicate breakpoint records of the target cleaning device when interrupting at least one historical cleaning task in a target area in a historical time period;

[0051] a second determination module for obtaining historical task information of the historical cleaning task of the target cleaning device, and determining historical unfinished cleaning information of the target cleaning device according to the historical task information and the historical breakpoint records;

[0052] a third determination module for determining a future cleaning plan of the target cleaning device for the target area, and determining a cleaning strategy of the target cleaning device for the target area according to the historical unfinished cleaning information and the future cleaning plan; the cleaning strategy is used to control the target cleaning device to clean the target area.

[0053] As an optional implementation, in the second aspect of the present application, the breakpoint information of the breakpoint record includes at least one of a breakpoint position, a breakpoint time, a breakpoint number and a breakpoint task progress.

[0054] As an optional implementation, in the second aspect of the present application, the first determining module comprises:

[0055] The acquisition unit is configured to acquire a plurality of breakpoint records of the target cleaning device interrupting a plurality of historical cleaning tasks in the target area at a plurality of historical time periods;

[0056] The determining unit is configured to determine, for any one of the breakpoint records, whether the breakpoint record is an unimportant breakpoint or a device fault breakpoint according to the breakpoint information.

[0057] The deletion unit is configured to delete the breakpoint record from the historical breakpoint records when the determining unit determines that the breakpoint record is an unimportant breakpoint or a device fault breakpoint.

[0058] As an optional implementation, in the second aspect of the present application, the specific manner in which the determining unit determines, according to the breakpoint information, whether the breakpoint record is an unimportant breakpoint or a device fault breakpoint comprises:

[0059] determining whether the breakpoint position of the breakpoint record is located in a preset edge position area;

[0060] If yes, the breakpoint record is determined to be an unimportant breakpoint.

[0061] and / or,

[0062] determining whether a distance between the breakpoint position of the breakpoint record and an activity center position of the target area is greater than a preset first distance threshold value; the activity center position is calculated according to a plurality of human activity trajectories of the target area;

[0063] If yes, the breakpoint record is determined to be an unimportant breakpoint.

[0064] and / or,

[0065] determining whether a time difference between the breakpoint time of the breakpoint record and an end time of the corresponding historical cleaning task is greater than a preset first time threshold value;

[0066] If yes, the breakpoint record is determined to be an unimportant breakpoint.

[0067] and / or,

[0068] calculating a frequency average value of the breakpoint frequencies of all the breakpoint records;

[0069] determining whether a frequency difference value between the breakpoint frequency of the breakpoint record and the frequency average value is greater than a preset frequency difference threshold value;

[0070] If yes, the breakpoint record is determined to be a device fault breakpoint.

[0071] And / or,

[0072] Determine whether the task progress at the breakpoint recorded by the breakpoint is greater than a preset progress threshold;

[0073] If so, then the breakpoint record is determined to be an unimportant breakpoint.

[0074] As an optional implementation, in a second aspect of the invention, the historical task information includes task cleaning objects and / or task cleaning routes; and / or, the historical incomplete cleaning information includes objects to be cleaned and / or areas that have not been cleaned.

[0075] As an optional implementation, in a second aspect of the invention, the second determining module determines the specific method by which it determines the historical incomplete cleaning information of the target cleaning equipment based on the historical task information and the historical breakpoint records, including:

[0076] For any historical cleaning task, the incomplete route corresponding to the historical cleaning task is determined based on the task cleaning route of the historical cleaning task and the breakpoint position recorded by the breakpoint.

[0077] Determine the start and end points of the incomplete route within the target area;

[0078] Two first lines are drawn through the starting point; the angle formed by the two first lines with the starting point as the vertex and pointing towards the ending point is proportional to the cleaning area of ​​the target cleaning equipment.

[0079] Two second lines are drawn through the endpoint; the angle formed by the two second lines with the endpoint as the vertex and pointing towards the starting point is proportional to the cleaning area of ​​the target cleaning equipment.

[0080] Within the target area, the area surrounded by the two first lines and the two second lines is defined as the uncleaned area of ​​the target cleaning equipment.

[0081] And / or,

[0082] For any of the historical cleaning tasks, determine whether the task progress is less than 100% when the breakpoint record of the historical cleaning task is broken. If so, determine the cleaning object of the historical cleaning task as the cleaning object to be completed by the target cleaning equipment.

[0083] As an optional implementation, in a second aspect of the present invention, the future cleaning plan includes future task information for multiple future cleaning tasks; the future task information includes future cleaning areas and / or future cleaning objects.

[0084] As an optional implementation, in the second aspect of the present application, the third determining module determines the specific way of the cleaning strategy of the target cleaning device for the target area according to the historical unfinished cleaning information and the future cleaning plan, including:

[0085] For any of the future cleaning tasks, the task adaptation degree of the future cleaning task is calculated according to the future task information and the historical unfinished cleaning information;

[0086] All the future cleaning tasks are sorted according to the task adaptation degree from large to small to obtain a task sequence;

[0087] The cleaning strategy of the target cleaning device for the target area is determined to be to sequentially execute all the future cleaning tasks from beginning to end according to the task sequence;

[0088] And the specific way of the third determining module to calculate the task adaptation degree of the future cleaning task according to the future task information and the historical unfinished cleaning information includes:

[0089] The first similarity of the future cleaning area and the unfinished cleaning area is calculated to determine the task adaptation degree of the future cleaning task;

[0090] And / or,

[0091] The second similarity of the future cleaning object and the to-be-completed cleaning object is calculated to determine the task adaptation degree of the future cleaning task;

[0092] And / or,

[0093] The weighted sum value of the first similarity and the second similarity is calculated to determine the task adaptation degree of the future cleaning task.

[0094] The third aspect of the present application discloses another breakpoint record-based cleaning planning device, which comprises:

[0095] A memory storing executable program codes;

[0096] A processor coupled with the memory;

[0097] The processor invokes the executable program codes stored in the memory to execute part or all of the steps of the breakpoint record-based cleaning planning method disclosed in the first aspect of the present application.

[0098] Compared with the prior art, the embodiments of the present application have the following beneficial effects:

[0099] In the embodiment of the present application, the historical breakpoint record of the target cleaning device is determined, the historical task information of the historical cleaning task of the target cleaning device is acquired, the historical unfinished cleaning information of the target cleaning device is determined according to the historical task information and the historical breakpoint record, the future cleaning plan of the target cleaning device for the target area is determined, and the cleaning strategy of the target cleaning device for the target area is determined according to the historical unfinished cleaning information and the future cleaning plan. It can be seen that the present application can utilize the historical breakpoint record and the historical task information of the cleaning device to determine the unfinished task information thereof, and then determine the cleaning strategy according to the future cleaning plan combined with the unfinished task information, so as to realize more reasonable and intelligent determination of the cleaning strategy, comprehensively consider the previous unfinished work, and improve the cleaning efficiency of the cleaning device. BRIEF DESCRIPTION OF DRAWINGS

[0100] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed to be used in the embodiments will be briefly introduced. Obviously, the drawings in the following description are only some embodiments of the present application, and other drawings can be obtained by those skilled in the art without creative effort on the basis of these drawings.

[0101] Figure 1 is a flow diagram of a cleaning planning method based on breakpoint record disclosed by the embodiment of the present application;

[0102] Figure 2 is a flow diagram of another cleaning planning method based on breakpoint record disclosed by the embodiment of the present application;

[0103] Figure 3 is a structural diagram of a cleaning planning device based on breakpoint record disclosed by the embodiment of the present application;

[0104] Figure 4 is a structural diagram of another cleaning planning device based on breakpoint record disclosed by the embodiment of the present application;

[0105] Figure 5 is a structural diagram of still another cleaning planning device based on breakpoint record disclosed by the embodiment of the present application;

[0106] Figure 6 is a scene diagram of a cleaning planning scheme disclosed by the embodiment of the present application. DETAILED DESCRIPTION

[0107] In the following, the technical solutions in the embodiments of the present application will be described clearly and completely with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments of the present application. Based on the embodiments in the present application, all the other embodiments obtained by a person of ordinary skill in the art without creative effort belong to the scope of the present application.

[0108] The terms "first", "second", and the like in the specification and claims of the present application and the above-described drawings are used to distinguish different objects, rather than to describe a particular order. In addition, the terms "include" and "have" and any variations thereof are intended to cover non-exclusive inclusion. For example, a process, method, device, product, or end including a series of steps or units is not limited to the listed steps or units, but can optionally include steps or units not listed, or can optionally include other steps or units inherent to the process, method, product, or end.

[0109] Reference herein to "an embodiment" means that a particular feature, structure, or characteristic described in connection with the embodiment can be included in at least one embodiment of the application. The phrase appears at various places in the specification does not necessarily all refer to the same embodiment, nor is it necessarily mutually exclusive of other embodiments. It is explicitly and implicitly understood that the embodiments described herein can be combined with other embodiments.

[0110] The present application discloses a breakpoint record-based cleaning planning method and device, which can determine the unfinished task information of a cleaning device by using the historical breakpoint record and historical task information of the cleaning device, and determine the cleaning strategy according to the future cleaning plan and the unfinished task information, so as to more reasonably and intelligently determine the cleaning strategy, comprehensively consider the previous unfinished work, and improve the cleaning efficiency of the cleaning device. The following will be described in detail.

[0111] Embodiment one

[0112] Please refer to Figure 1 , Figure 1 is a flowchart of a breakpoint record-based cleaning planning method disclosed by an embodiment of the present application. Wherein, Figure 1 The described method can be applied to a corresponding cleaning planning device, which can be a planning device, a planning terminal, or a planning server. The server can be a cloud server or a local server, which is not limited by the present application. As Figure 1 The breakpoint record-based cleaning planning method can include the following operations:

[0113] 101、Determine the historical breakpoint record of a target cleaning device.

[0114] Specifically, the historical breakpoint record is used to indicate a breakpoint record of the target cleaning device interrupting at least one historical cleaning task in the target area in a historical time period. Optionally, the target cleaning device can be a vacuum cleaner, a sweeping robot, a mopping robot, and other cleaning devices with a control device, which is not limited by the present application. Optionally, the historical breakpoint record can be obtained by communicating with the controller of the target cleaning device to obtain the historical breakpoint record stored therein, or by communicating with a cloud server storing the historical breakpoint record to obtain the historical breakpoint record. The historical breakpoint record can be generated by monitoring the operation information of the target cleaning device in real time and executing other tasks when the target cleaning device pauses the cleaning task. The monitoring of the operation information can be monitoring the running route of the target cleaning device (obtained by a positioning device) or monitoring the component running parameters of the target cleaning device. Optionally, the breakpoint information of the breakpoint record can include at least one of a breakpoint position, a breakpoint time, a breakpoint number, and a breakpoint task progress.

[0115] 102, obtaining historical task information of a historical cleaning task of the target cleaning device, and determining historical unfinished cleaning information of the target cleaning device according to the historical task information and the historical breakpoint record.

[0116] Optionally, the historical task information includes a task cleaning object and / or a task cleaning route. Optionally, the determined historical unfinished cleaning information includes a to-be-completed cleaning object and / or an unfinished cleaning area. The cleaning object can be different types of dirt, such as oil stains, water stains, dust, or specific chemical types. The task cleaning route refers to a position that the target cleaning device needs to pass through in the historical cleaning task, which can be a specific line segment or a sequence of multiple position points, such as ABCDE, which identifies that the target cleaning device needs to pass through A point (area), B point (area), C point (area), D point (area), and E point (area) in sequence in the historical cleaning task. The unfinished cleaning area can be a pre-set divided area in the target area or an area composed of unfinished task areas.

[0117] 103, determining a future cleaning plan of the target cleaning device for the target area, and determining a cleaning strategy of the target cleaning device for the target area according to the historical unfinished cleaning information and the future cleaning plan.

[0118] Optionally, the cleaning strategy is used to control the target cleaning device to clean the target area, which can include one or more control instructions to determine one or more cleaning task parameters of the target cleaning device. Optionally, the future cleaning plan includes future task information of a plurality of future cleaning tasks, wherein the future task information can include a future cleaning area and / or a future cleaning object.

[0119] Specifically, an embodiment scene diagram of the cleaning planning technical solution of the present application can refer to Figure 6 In which the cleaning device in the target area sends the historical breakpoint record and future cleaning plan information to the cloud server to obtain the cleaning strategy according to the above method steps.

[0120] It can be seen that the method described in the embodiment of the present application can utilize the historical breakpoint record and historical task information of the cleaning device to determine the unfinished task information thereof, and then determine the cleaning strategy according to the future cleaning plan combined with the unfinished task information, so as to realize more reasonable and intelligent determination of the cleaning strategy, and comprehensively consider the previous unfinished work to improve the cleaning efficiency of the cleaning device.

[0121] As an optional implementation, the step 101 of determining the historical breakpoint record of the target cleaning device comprises:

[0122] Obtaining a plurality of breakpoint records of the target cleaning device when interrupting a plurality of historical cleaning tasks in the target area in a plurality of historical time periods;

[0123] For any one breakpoint record, according to the breakpoint information, judging whether the breakpoint record is an unimportant breakpoint or a device fault breakpoint;

[0124] When it is judged that the breakpoint record is an unimportant breakpoint or a device fault breakpoint, the breakpoint record is deleted from the historical breakpoint record.

[0125] It can be seen that through the optional implementation, for any one breakpoint record, whether it is an unimportant breakpoint or a device fault breakpoint can be judged according to the breakpoint information, so as to realize the screening of the breakpoint record, to realize the exclusion of the breakpoint due to device fault or the breakpoint with low importance from the historical breakpoint record, so as to reduce the calculation amount of subsequent determination of the cleaning strategy, so that more reasonable and intelligent determination of the cleaning strategy can be realized, and the previous unfinished important work is comprehensively considered to improve the cleaning efficiency of the cleaning device.

[0126] As an optional implementation, the step of judging whether the breakpoint record is an unimportant breakpoint or a device fault breakpoint according to the breakpoint information comprises:

[0127] Judging whether the breakpoint position of the breakpoint record is located in a preset edge position area;

[0128] If yes, it is judged that the breakpoint record is an unimportant breakpoint.

[0129] Optionally, the edge position area can be an edge area in the preset target area, for example, an area close to the boundary, or an area defined as having a distance from the geometric center or human activity center or cleaning activity center of the target area higher than a preset threshold. The human activity center of the target area can be calculated based on multiple human activity trajectories of the target area, wherein the human activity trajectories can be determined based on a positioning device or an image analysis device. The cleaning activity center can be calculated based on multiple historical cleaning routes of the target area, wherein the historical cleaning routes can be determined by obtaining information of cleaning tasks of the target area by multiple cleaning devices.

[0130] It can be seen that, by the optional implementation, the breakpoint record can be determined as an unimportant breakpoint when the breakpoint position of the breakpoint record is located in the preset edge position area, so as to realize screening of the breakpoint record, and to realize elimination of the breakpoint with low importance from the historical breakpoint record, so as to reduce the calculation amount of subsequent determination of the cleaning strategy, and to realize more reasonable and intelligent determination of the cleaning strategy, and to comprehensively consider the important work not completed previously, so as to improve the cleaning efficiency of the cleaning device.

[0131] As an optional implementation, in the above step, determining, according to the breakpoint information, whether the breakpoint record is an unimportant breakpoint or a device fault breakpoint comprises:

[0132] determining whether a distance between the breakpoint position of the breakpoint record and an activity center position of the target area is greater than a preset first distance threshold;

[0133] The activity center position is calculated based on multiple human activity trajectories of the target area.

[0134] If yes, the breakpoint record is determined as an unimportant breakpoint.

[0135] Specifically, the activity center position is similar to the human activity center, which is calculated based on the convergence point of the multiple human activity trajectories, or calculated based on the geometric center of an enclosed area formed by the multiple human activity trajectories, or calculated based on the geometric center of an area with the most passing times of the multiple human activity trajectories.

[0136] Optionally, the first distance threshold can be determined by a technician according to an empirical value or an experimental result, and adjusted in practice according to the effect, so as to achieve the best screening effect.

[0137] It can be seen that, by the optional implementation, the breakpoint record can be determined as an unimportant breakpoint when the distance between the breakpoint position of the breakpoint record and the activity center position of the target region is greater than the preset first distance threshold, so as to realize the screening of the breakpoint record, to realize the elimination of the breakpoint with low importance from the historical breakpoint record, so as to reduce the calculation amount of subsequent determination of the cleaning strategy, so that the cleaning strategy can be determined more reasonably and intelligently, and the important work not completed previously is comprehensively considered, so as to improve the cleaning efficiency of the cleaning device.

[0138] As an optional implementation, in the step of determining, according to the breakpoint information, whether the breakpoint record is an unimportant breakpoint or a device fault breakpoint, the step includes:

[0139] determining whether the time difference between the breakpoint time of the breakpoint record and the end time of the corresponding historical cleaning task is greater than a preset first time threshold;

[0140] if yes, determining that the breakpoint record is an unimportant breakpoint.

[0141] Optionally, the first time threshold can be determined by a technician according to an experience value or an experimental result, and adjusted according to the effect in practice, to realize the best screening effect.

[0142] It can be seen that, by the optional implementation, the breakpoint record can be determined as an unimportant breakpoint when the time difference between the breakpoint time of the breakpoint record and the end time of the corresponding historical cleaning task is greater than the preset first time threshold, so as to realize the screening of the breakpoint record, to realize the elimination of the breakpoint with low importance from the historical breakpoint record, so as to reduce the calculation amount of subsequent determination of the cleaning strategy, so that the cleaning strategy can be determined more reasonably and intelligently, and the important work not completed previously is comprehensively considered, so as to improve the cleaning efficiency of the cleaning device.

[0143] As an optional implementation, in the step of determining, according to the breakpoint information, whether the breakpoint record is an unimportant breakpoint or a device fault breakpoint, the step includes:

[0144] calculating the frequency average of the breakpoint frequencies of all the breakpoint records;

[0145] determining whether the frequency difference between the breakpoint frequency of the breakpoint record and the frequency average is greater than a preset frequency difference threshold;

[0146] if yes, determining that the breakpoint record is a device fault breakpoint.

[0147] Optionally, the frequency difference threshold can be determined by a technician according to an experience value or an experimental result, and adjusted according to the effect in practice, to realize the best screening effect.

[0148] It can be seen that, through the optional implementation, the breakpoint record can be screened when it is judged that the number difference between the breakpoint number of the breakpoint record and the number average is greater than the preset number difference threshold, so as to remove the breakpoint caused by equipment failure from the historical breakpoint record. Such breakpoint is difficult to repair and subsequent repair condition position, and after removal, the calculation amount of subsequent determination of the cleaning strategy is reduced, so that a more reasonable and intelligent cleaning strategy can be determined, and the important work not completed previously is comprehensively considered, so as to improve the cleaning efficiency of the cleaning equipment.

[0149] As an optional implementation, in the step, according to the breakpoint information, it is judged whether the breakpoint record is an unimportant breakpoint or an equipment failure breakpoint, comprising:

[0150] It is judged whether the task progress at the breakpoint of the breakpoint record is greater than a preset progress threshold.

[0151] If yes, the breakpoint record is judged as an unimportant breakpoint.

[0152] Optionally, the progress threshold can be determined by a technician according to experience value or experimental result, and adjusted according to the effect in practice, so as to achieve the best screening effect.

[0153] It can be seen that, through the optional implementation, the breakpoint record can be screened when it is judged that the number difference between the breakpoint number of the breakpoint record and the number average is greater than the preset number difference threshold, so as to remove the breakpoint caused by equipment failure from the historical breakpoint record. Such breakpoint is difficult to repair and subsequent repair condition position, and after removal, the calculation amount of subsequent determination of the cleaning strategy is reduced, so that a more reasonable and intelligent cleaning strategy can be determined, and the important work not completed previously is comprehensively considered, so as to improve the cleaning efficiency of the cleaning equipment.

[0154] As an optional implementation, in the step 102, according to the historical task information and the historical breakpoint record, the historical unfinished cleaning information of the target cleaning equipment is determined, comprising:

[0155] For any one historical cleaning task, according to the task cleaning route of the historical cleaning task and the breakpoint position of the breakpoint record, the unfinished route corresponding to the historical cleaning task is determined;

[0156] The starting point and the ending point of the unfinished route in the target area are determined;

[0157] Two first lines are drawn through the starting point; wherein the size of the angle formed by the two first lines with the starting point as the vertex and facing the ending point is proportional to the cleaning area of the target cleaning equipment;

[0158] Two second lines are drawn through the ending point; wherein the size of the angle formed by the two second lines with the ending point as the vertex and facing the starting point is proportional to the cleaning area of the target cleaning equipment;

[0159] The area surrounded by the two first lines and the two second lines in the target area is determined as the unfinished cleaning area of the target cleaning device.

[0160] Optionally, the cleaning area of the target cleaning device can be determined according to the area of the cleaning component thereof, for example, according to the area of the chassis of the robot cleaner, or can be determined according to the experimental cleaning area result of the cleaning device. Here, the cleaning area is generally used to indicate the area that can be involved in one-time static cleaning at a fixed position.

[0161] It can be seen that, through the optional embodiment, the unfinished cleaning area of the target cleaning device can be determined according to the unfinished route, so as to determine the cleaning strategy according to the unfinished cleaning area subsequently, thereby the cleaning strategy can be determined more reasonably and intelligently, and the important work previously unfinished is comprehensively considered, so as to improve the cleaning efficiency of the cleaning device.

[0162] As an optional embodiment, the determination of the historical unfinished cleaning information of the target cleaning device according to the historical task information and the historical breakpoint record in the step 102 comprises:

[0163] For any one historical cleaning task, it is judged whether the breakpoint time task progress of the breakpoint record of the historical cleaning task is less than 100%, and if so, the task cleaning object of the historical cleaning task is determined as the to-be-completed cleaning object of the target cleaning device.

[0164] It can be seen that, through the optional embodiment, the to-be-completed cleaning object of the target cleaning device can be determined, so as to determine the cleaning strategy according to the to-be-completed cleaning object subsequently, thereby the cleaning strategy can be determined more reasonably and intelligently, and the important work previously unfinished is comprehensively considered, so as to improve the cleaning efficiency of the cleaning device.

[0165] Embodiment two

[0166] Please refer to Figure 2 , Figure 2 is another flowchart of the cleaning planning method based on the breakpoint record disclosed in the embodiments of the present application. Among them, Figure 2 The method described is applied to the corresponding cleaning planning device, which can be a planning device, a planning terminal or a planning server. The server can be a cloud server or a local server, which is not limited by the present application. As Figure 2 shown, the cleaning planning method based on the breakpoint record can include the following operations:

[0167] 201, determine the historical breakpoint record of the target cleaning device.

[0168] 202、obtain historical task information of historical cleaning tasks of the target cleaning device, and determine historical unfinished cleaning information of the target cleaning device according to the historical task information and the historical breakpoint record.

[0169] 203、determine a future cleaning plan of the target cleaning device for the target area.

[0170] In the embodiments of the present application, the specific technical details and technical terms of steps 201-203 can refer to the description of steps 101-103 in the first embodiment, which will not be repeated here.

[0171] 204、for any future cleaning task, calculate a task adaptation degree of the future cleaning task according to the future task information and the historical unfinished cleaning information.

[0172] Specifically, the task adaptation degree is used to indicate the matching degree of the task elements of the future cleaning task and the historical unfinished cleaning information, so as to subsequently select the future cleaning task which can end the historical unfinished cleaning information to the greatest extent when executed.

[0173] 205、sort all future cleaning tasks according to the task adaptation degree from large to small to obtain a task sequence.

[0174] 206、determine that the cleaning strategy of the target cleaning device for the target area is to sequentially execute all future cleaning tasks according to the task sequence from beginning to end.

[0175] It can be seen that the embodiments of the present application can sort all future cleaning tasks according to the task adaptation degree of the future task information from large to small to obtain a task sequence, and determine that a plurality of cleaning tasks which can end the historical unfinished cleaning information to the greatest extent are executed in the future according to the task sequence, so that a more reasonable and intelligent cleaning strategy can be determined to improve the cleaning efficiency of the cleaning device.

[0176] In an optional embodiment, the step 204 of calculating the task adaptation degree of the future cleaning task according to the future task information and the historical unfinished cleaning information comprises:

[0177] calculating a first similarity between the future cleaning area and the unfinished cleaning area to determine the task adaptation degree of the future cleaning task.

[0178] Optionally, the first similarity can be a position similarity or a shape similarity between regions, for example, the degree of overlap between two regions, such as the overlap ratio or the overlap area.

[0179] In an optional embodiment, the step 204 of calculating the task adaptation degree of the future cleaning task according to the future task information and the historical unfinished cleaning information comprises:

[0180] The second similarity of the future cleaning object and the to-be-completed cleaning object is calculated to determine the task adaptation degree of the future cleaning task.

[0181] Optionally, the second similarity can be a chemical composition similarity or a text similarity between the two cleaning objects.

[0182] In an optional embodiment, the task adaptation degree of the future cleaning task is calculated according to the future task information and the historical uncompleted cleaning information in the step 204, including:

[0183] The weighted sum value of the first similarity and the second similarity is calculated to determine the task adaptation degree of the future cleaning task.

[0184] Optionally, the sum of the weights corresponding to the first similarity and the second similarity is 1, and the weights are respectively proportional to the importance of different similarities. Specifically, since the cleaning objects are relatively single in actual home cleaning, and the cleaning device needs to have multiple cleaning functions, the importance of the cleaning area is higher than that of the cleaning object, so the weight corresponding to the first similarity is higher than the weight corresponding to the second similarity.

[0185] It can be seen that by implementing the above optional embodiments, the task adaptation degree of the future cleaning task can be effectively determined according to the future task information and the historical uncompleted cleaning information, so as to subsequently determine the multiple cleaning tasks that can most effectively complete the historical uncompleted cleaning information to be executed in the future, thereby achieving more reasonable and intelligent determination of the cleaning strategy, and improving the cleaning efficiency of the cleaning device.

[0186] Embodiment three

[0187] Please refer to Figure 3 , Figure 3 is a structural schematic diagram of a cleaning planning device based on breakpoint records disclosed by an embodiment of the present application. Wherein, Figure 3 The described device can be applied to a corresponding cleaning planning device, which can be a planning device, a planning terminal or a planning server, and the server can be a cloud server or a local server, which is not limited by the present application. As Figure 3 indicated, the device can include:

[0188] The first determination module 301 is used to determine the historical breakpoint records of the target cleaning device.

[0189] Specifically, the historical breakpoint record is used to indicate a breakpoint record of the target cleaning device interrupting at least one historical cleaning task in the target area in a historical time period. Optionally, the target cleaning device can be a vacuum cleaner, a sweeping robot, a mopping robot, and other cleaning devices with a control device, which is not limited by the present application. Optionally, the historical breakpoint record can be obtained by communicating with the controller of the target cleaning device to obtain the historical breakpoint record stored therein, or by communicating with a cloud server storing the historical breakpoint record to obtain the historical breakpoint record. The historical breakpoint record can be generated by monitoring the operation information of the target cleaning device in real time and executing other tasks when the target cleaning device pauses the cleaning task. The monitoring of the operation information can be monitoring the running route of the target cleaning device (obtained by a positioning device) or monitoring the component running parameters of the target cleaning device. Optionally, the breakpoint information of the breakpoint record can include at least one of a breakpoint position, a breakpoint time, a breakpoint number, and a breakpoint task progress.

[0190] The second determination module 302 is configured to obtain historical task information of a historical cleaning task of the target cleaning device, and determine historical unfinished cleaning information of the target cleaning device according to the historical task information and the historical breakpoint record.

[0191] Optionally, the historical task information includes a task cleaning object and / or a task cleaning route. Optionally, the determined historical unfinished cleaning information includes a to-be-completed cleaning object and / or an unfinished cleaning area. The cleaning object can be different stains, such as oil stains, water stains, dust, or specific chemical types. The task cleaning route is used to indicate positions that the target cleaning device needs to pass through in the historical cleaning task, which can be a specific line segment or a sequence of multiple position points, such as ABCDE, which is used to indicate that the target cleaning device needs to pass through A point (area), B point (area), C point (area), D point (area), and E point (area) in sequence in the historical cleaning task. The unfinished cleaning area can be a preset divided area in the target area or an area composed of unfinished task areas.

[0192] The third determination module 303 is configured to determine a future cleaning plan of the target cleaning device for the target area, and determine a cleaning strategy of the target cleaning device for the target area according to the historical unfinished cleaning information and the future cleaning plan.

[0193] Optionally, the cleaning strategy is used to control the target cleaning device to clean the target area, which can include one or more control instructions to determine one or more cleaning task parameters of the target cleaning device. Optionally, the future cleaning plan includes future task information of a plurality of future cleaning tasks, wherein the future task information can include a future cleaning area and / or a future cleaning object.

[0194] It can be seen that the device described in the embodiments of the present application can utilize the historical breakpoint records and historical task information of the cleaning device to determine the unfinished task information thereof, and determine the cleaning strategy according to the future cleaning plan of the cleaning device in combination with the unfinished task information, so that the cleaning strategy can be determined more reasonably and intelligently, and the previous unfinished work is comprehensively considered, so as to improve the cleaning efficiency of the cleaning device.

[0195] As an optional implementation, as shown in Figure 4 The first determining module 301 comprises:

[0196] The acquisition unit 3011 is configured to acquire a plurality of breakpoint records of the target cleaning device in interrupting a plurality of historical cleaning tasks in the target area in a plurality of historical time periods.

[0197] The determining unit 3012 is configured to determine, for any one breakpoint record, whether the breakpoint record is an unimportant breakpoint or a device fault breakpoint according to the breakpoint information.

[0198] The deletion unit 3013 is configured to delete the breakpoint record from the historical breakpoint records when the determining unit 3012 determines that the breakpoint record is an unimportant breakpoint or a device fault breakpoint.

[0199] It can be seen that through the optional implementation, whether any one breakpoint record is an unimportant breakpoint or a device fault breakpoint can be determined according to the breakpoint information, so as to realize the screening of the breakpoint records, to realize the exclusion of the breakpoints caused by device faults or the breakpoints with low importance from the historical breakpoint records, so as to reduce the calculation amount of the subsequent determination of the cleaning strategy, so that the cleaning strategy can be determined more reasonably and intelligently, and the previous important unfinished work is comprehensively considered, so as to improve the cleaning efficiency of the cleaning device.

[0200] As an optional implementation, the specific manner in which the determining unit 3012 determines whether the breakpoint record is an unimportant breakpoint or a device fault breakpoint according to the breakpoint information comprises:

[0201] determining whether the breakpoint position of the breakpoint record is located in a preset edge position area.

[0202] If yes, it is determined that the breakpoint record is an unimportant breakpoint.

[0203] Optionally, the edge position area can be an edge area in the preset target area, for example, an area close to the boundary, or an area defined as having a distance from the geometric center or human activity center or cleaning activity center of the target area higher than a preset threshold. The human activity center of the target area can be calculated based on multiple human activity trajectories of the target area, wherein the human activity trajectories can be determined based on a positioning device or an image analysis device. The cleaning activity center can be calculated based on multiple historical cleaning routes of the target area, wherein the historical cleaning routes can be determined by obtaining information of cleaning tasks of the target area by multiple cleaning devices.

[0204] It can be seen that, by the optional implementation, the breakpoint record can be determined as an unimportant breakpoint when the breakpoint position of the breakpoint record is located in the preset edge position area, so as to realize screening of the breakpoint record, and to realize elimination of the breakpoint with low importance from the historical breakpoint record, so as to reduce the calculation amount of subsequent determination of the cleaning strategy, and to realize more reasonable and intelligent determination of the cleaning strategy, and to comprehensively consider the important work not completed previously, so as to improve the cleaning efficiency of the cleaning device.

[0205] As an optional implementation, the specific manner in which the determining unit 3012 determines, according to the breakpoint information, whether the breakpoint record is an unimportant breakpoint or a device fault breakpoint includes:

[0206] determining whether a distance between the breakpoint position of the breakpoint record and an activity center position of the target area is greater than a preset first distance threshold;

[0207] The activity center position is calculated based on multiple human activity trajectories of the target area.

[0208] If yes, the breakpoint record is determined as an unimportant breakpoint.

[0209] Specifically, the activity center position is similar to the human activity center, and is calculated based on a convergence point of the multiple human activity trajectories, or a geometric center of an enclosed area formed by the multiple human activity trajectories, or a geometric center of an area with the most passes of the multiple human activity trajectories.

[0210] Optionally, the first distance threshold can be determined by a technician based on experience values or experimental results, and can be adjusted in practice according to the effect, so as to achieve the best screening effect.

[0211] It can be seen that, by the optional implementation, the breakpoint record can be determined as an unimportant breakpoint when the distance between the breakpoint position of the breakpoint record and the activity center position of the target region is greater than the preset first distance threshold, so as to realize the screening of the breakpoint record, to realize the elimination of the breakpoint with low importance from the historical breakpoint record, so as to reduce the calculation amount of subsequent determination of the cleaning strategy, so that the cleaning strategy can be determined more reasonably and intelligently, and the important work not completed previously is comprehensively considered, so as to improve the cleaning efficiency of the cleaning device.

[0212] As an optional implementation, the specific manner in which the determination unit 3012 determines, according to the breakpoint information, whether the breakpoint record is an unimportant breakpoint or a device fault breakpoint includes:

[0213] determining whether the time difference between the breakpoint time of the breakpoint record and the end time of the corresponding historical cleaning task is greater than a preset first time threshold;

[0214] If yes, the breakpoint record is determined as an unimportant breakpoint.

[0215] Optionally, the first time threshold can be determined by a technician according to an empirical value or an experimental result, and adjusted according to the effect in practice, to achieve the best screening effect.

[0216] It can be seen that, by the optional implementation, the breakpoint record can be determined as an unimportant breakpoint when the time difference between the breakpoint time of the breakpoint record and the end time of the corresponding historical cleaning task is greater than the preset first time threshold, so as to realize the screening of the breakpoint record, to realize the elimination of the breakpoint with low importance from the historical breakpoint record, so as to reduce the calculation amount of subsequent determination of the cleaning strategy, so that the cleaning strategy can be determined more reasonably and intelligently, and the important work not completed previously is comprehensively considered, so as to improve the cleaning efficiency of the cleaning device.

[0217] As an optional implementation, the specific manner in which the determination unit 3012 determines, according to the breakpoint information, whether the breakpoint record is an unimportant breakpoint or a device fault breakpoint includes:

[0218] calculating the frequency average of the breakpoint frequencies of all the breakpoint records;

[0219] determining whether the frequency difference between the breakpoint frequency of the breakpoint record and the frequency average is greater than a preset frequency difference threshold;

[0220] If yes, the breakpoint record is determined as a device fault breakpoint.

[0221] Optionally, the frequency difference threshold can be determined by a technician according to an empirical value or an experimental result, and adjusted according to the effect in practice, to achieve the best screening effect.

[0222] It can be seen that, through the optional implementation, the number difference between the breakpoint times of the breakpoint record and the average number of times is greater than the preset number difference threshold, and the device fault breakpoint is determined, so as to realize the screening of the breakpoint record, and to realize the elimination of the breakpoint caused by the device fault from the historical breakpoint record. Such breakpoint is difficult to repair and subsequent repair condition position, and after elimination, the calculation amount of subsequent determination of cleaning strategy is reduced, so that more reasonable and intelligent determination of cleaning strategy can be realized, and the important work not completed previously is comprehensively considered, so as to improve the cleaning efficiency of the cleaning device.

[0223] As an optional implementation, the specific manner in which the determination unit 3012 determines, according to the breakpoint information, whether the breakpoint record is an unimportant breakpoint or a device fault breakpoint includes:

[0224] determining whether the task progress at the breakpoint of the breakpoint record is greater than a preset progress threshold;

[0225] If yes, the breakpoint record is determined as an unimportant breakpoint.

[0226] Optionally, the progress threshold can be determined by a technician according to experience values or experimental results, and adjusted according to the effect in practice to achieve the best screening effect.

[0227] It can be seen that, through the optional implementation, the task progress at the breakpoint of the breakpoint record is greater than the preset progress threshold, and the unimportant breakpoint is determined, so as to realize the screening of the breakpoint record, and to realize the elimination of the breakpoint with low importance from the historical breakpoint record, so as to reduce the calculation amount of subsequent determination of cleaning strategy, so that more reasonable and intelligent determination of cleaning strategy can be realized, and the important work not completed previously is comprehensively considered, so as to improve the cleaning efficiency of the cleaning device.

[0228] As an optional implementation, the specific manner in which the second determination module 302 determines, according to the historical task information and the historical breakpoint record, the historical unfinished cleaning information of the target cleaning device includes:

[0229] For any one historical cleaning task, according to the task cleaning route of the historical cleaning task and the breakpoint position of the breakpoint record, the unfinished route corresponding to the historical cleaning task is determined;

[0230] determining the starting point and the ending point of the unfinished route in the target area;

[0231] draw two first lines through the starting point; wherein the size of the angle formed by the two first lines with the starting point as the vertex and facing the ending point is proportional to the cleaning area of the target cleaning device;

[0232] Two second lines are drawn to the end point; wherein the angle formed by the two second lines towards the start point with the end point as the vertex is proportional to the cleaning area of the target cleaning device;

[0233] The area surrounded by the two first lines and the two second lines in the target area is determined as the unfinished cleaning area of the target cleaning device.

[0234] Optionally, the cleaning area of the target cleaning device can be determined according to the area of the cleaning component thereof, for example, according to the area of the chassis of the robot cleaner, or can be determined according to the experimental cleaning area result of the cleaning device. Here, the cleaning area is generally used to indicate the area that can be involved in one-time static cleaning at a fixed position.

[0235] It can be seen that, through the optional embodiment, the unfinished cleaning area of the target cleaning device can be determined according to the unfinished route, so as to determine the cleaning strategy according to the unfinished cleaning area subsequently, thereby the cleaning strategy can be determined more reasonably and intelligently, and the important work previously unfinished is comprehensively considered, so as to improve the cleaning efficiency of the cleaning device.

[0236] As an optional embodiment, the specific manner in which the second determination module 302 determines the historical unfinished cleaning information of the target cleaning device according to the historical task information and the historical breakpoint record includes:

[0237] For any one historical cleaning task, it is judged whether the breakpoint time of the breakpoint record of the historical cleaning task is less than 100%, and if so, the task cleaning object of the historical cleaning task is determined as the to-be-completed cleaning object of the target cleaning device.

[0238] It can be seen that, through the optional embodiment, the to-be-completed cleaning object of the target cleaning device can be determined, so as to determine the cleaning strategy according to the to-be-completed cleaning object subsequently, thereby the cleaning strategy can be determined more reasonably and intelligently, and the important work previously unfinished is comprehensively considered, so as to improve the cleaning efficiency of the cleaning device.

[0239] As an optional embodiment, the specific manner in which the third determination module 303 determines the cleaning strategy of the target cleaning device for the target area according to the historical unfinished cleaning information and the future cleaning plan includes:

[0240] For any one future cleaning task, the task adaptation degree of the future cleaning task is calculated according to the future task information and the historical unfinished cleaning information;

[0241] All future cleaning tasks are sorted according to the task adaptation degree from large to small to obtain a task sequence;

[0242] The cleaning strategy of the target cleaning device for the target area is determined as performing all future cleaning tasks in sequence from beginning to end according to the task sequence.

[0243] Specifically, the task adaptation degree is used to indicate the matching degree of the task element of the future cleaning task and the historical unfinished cleaning information, so as to subsequently filter out the future cleaning task which can end the historical unfinished cleaning information to the greatest extent when being performed.

[0244] It can be seen that the optional embodiment can sort all future cleaning tasks according to the task adaptation degrees of the future task information from large to small, obtain a task sequence, and determine the multiple cleaning tasks which can end the historical unfinished cleaning information to the greatest extent in the future according to the task sequence, so that a more reasonable and intelligent cleaning strategy can be determined to improve the cleaning efficiency of the cleaning device.

[0245] As an optional embodiment, the third determining module 303 calculates the task adaptation degree of the future cleaning task according to the future task information and the historical unfinished cleaning information in the following specific manner:

[0246] The first similarity between the future cleaning area and the unfinished cleaning area is calculated to determine the task adaptation degree of the future cleaning task.

[0247] Optionally, the first similarity can be a position similarity or a shape similarity between regions, for example, the degree of overlap, such as the overlap ratio or the overlap area, between two regions.

[0248] As an optional embodiment, the third determining module 303 calculates the task adaptation degree of the future cleaning task according to the future task information and the historical unfinished cleaning information in the following specific manner:

[0249] The second similarity between the future cleaning object and the to-be-completed cleaning object is calculated to determine the task adaptation degree of the future cleaning task.

[0250] Optionally, the second similarity can be a chemical composition similarity or a text similarity between two cleaning objects.

[0251] As an optional embodiment, the third determining module 303 calculates the task adaptation degree of the future cleaning task according to the future task information and the historical unfinished cleaning information in the following specific manner:

[0252] The weighted sum value of the first similarity and the second similarity is calculated to determine the task adaptation degree of the future cleaning task.

[0253] Optionally, the sum of the weights corresponding to the first similarity and the second similarity is 1, and the weights are respectively proportional to the importance of different similarities. Specifically, in actual home cleaning, the cleaning object is relatively single, and the cleaning device needs to have multiple cleaning functions, so the importance of the cleaning area is higher than that of the cleaning object, and thus the weight corresponding to the first similarity is higher than the weight corresponding to the second similarity.

[0254] It can be seen that by implementing the optional embodiments described above, the task adaptation degree of the future cleaning task can be effectively determined according to the future task information and the historical unfinished cleaning information, so as to subsequently determine a plurality of cleaning tasks that can end the historical unfinished cleaning information to the greatest extent to be executed in the future, thereby achieving a more reasonable and intelligent determination of the cleaning strategy, and improving the cleaning efficiency of the cleaning device.

[0255] Embodiment four

[0256] Please refer to Figure 5 , Figure 5 is another structure diagram of the cleaning planning device based on breakpoint recording disclosed by the embodiments of the present application. As shown in Figure 5 , the device can include:

[0257] a memory 401 storing executable program codes;

[0258] a processor 402 coupled with the memory 401;

[0259] The processor 402 invokes the executable program codes stored in the memory 401 to execute part or all of the steps of the cleaning planning method based on breakpoint recording disclosed in the embodiments one or two of the present application.

[0260] Embodiment five

[0261] The embodiments of the present application disclose a computer storage medium storing computer instructions, which when invoked, are used to execute part or all of the steps of the cleaning planning method based on breakpoint recording disclosed in the embodiments one or two of the present application.

[0262] The device embodiments described above are only schematic, wherein the modules described as separate components can or can not be physically separated, and the components displayed as modules can or can not be physical modules, i.e., they can be located in one place, or distributed on multiple network modules. Part or all of the modules can be selected to achieve the purpose of the present embodiment scheme according to actual needs. Those skilled in the art can understand and implement it without creative labor.

[0263] Those skilled in the art can clearly understand the implementation of the various embodiments by means of software and necessary general hardware platforms through the above specific description of the embodiments, and of course, the embodiments can also be implemented by hardware. Based on such understanding, the above technical solutions, essentially or in other words, the part of the prior art that makes a contribution, can be embodied in the form of a software product. The computer software product can be stored in a computer readable storage medium, and the storage medium includes a read-only memory (ROM), a random access memory (RAM), a programmable read-only memory (PROM), an erasable programmable read-only memory (EPROM), a one-time programmable read-only memory (OTPROM), an electrically erasable programmable read-only memory (EEPROM), a compact disc read-only memory (CD-ROM) or other optical disk storage, a magnetic disk storage, a magnetic tape storage, or any other computer readable medium that can be used to carry or store data.

[0264] Finally, it should be noted that: the cleaning planning method and device based on breakpoint recording disclosed by the embodiments of the present application are only the preferred embodiments of the present application, and are used to illustrate the technical solutions of the present application, but not to limit them; although the present application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that: the technical solutions recorded in the foregoing embodiments can still be modified, or some technical features can be replaced by equivalents; and these modifications or replacements do not make the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the present application.

Claims

1. A method for cleaning planning based on breakpoint recording, characterized by, The method comprises: determining a historical breakpoint record of a target cleaning device; the historical breakpoint record is used to indicate a breakpoint record of the target cleaning device interrupting at least one historical cleaning task in a target area in a historical time period; obtaining historical task information of the historical cleaning task of the target cleaning device, and determining historical unfinished cleaning information of the target cleaning device according to the historical task information and the historical breakpoint record; the historical unfinished cleaning information comprises a to-be-completed cleaning object and / or an unfinished cleaning area; determining a future cleaning plan of the target cleaning device for the target area, and determining a cleaning strategy of the target cleaning device for the target area according to the historical unfinished cleaning information and the future cleaning plan; the cleaning strategy is used to control the target cleaning device to clean the target area; the future cleaning plan comprises future task information of a plurality of future cleaning tasks; the future task information comprises a future cleaning area and / or a future cleaning object; wherein, the determining of the cleaning strategy of the target cleaning device for the target area according to the historical unfinished cleaning information and the future cleaning plan comprises: for any future cleaning task, calculating a task adaptation degree of the future cleaning task according to the future task information and the historical unfinished cleaning information; sequencing all the future cleaning tasks according to the task adaptation degrees from large to small to obtain a task sequence; determining the cleaning strategy of the target cleaning device for the target area as sequentially executing all the future cleaning tasks according to the task sequence from beginning to end; and, the calculating of the task adaptation degree of the future cleaning task according to the future task information and the historical unfinished cleaning information comprises: calculating a first similarity between the future cleaning area and the unfinished cleaning area to determine the task adaptation degree of the future cleaning task; and / or, calculating a second similarity between the future cleaning object and the to-be-completed cleaning object to determine the task adaptation degree of the future cleaning task; and / or, calculating a weighted sum value of the first similarity and the second similarity to determine the task adaptation degree of the future cleaning task.

2. The breakpoint record-based cleaning planning method of claim 1, wherein, The breakpoint information of the breakpoint record comprises at least one of a breakpoint position, a breakpoint time, a breakpoint number and a breakpoint task progress.

3. The breakpoint record-based cleaning planning method according to claim 2, characterized by, The determining of the historical breakpoint record of the target cleaning device comprises: obtaining a plurality of breakpoint records of the target cleaning device interrupting a plurality of historical cleaning tasks in the target area in a plurality of historical time periods; for any one of the breakpoint records, judging whether the breakpoint record is an unimportant breakpoint or a device fault breakpoint according to the breakpoint information; when judging that the breakpoint record is an unimportant breakpoint or a device fault breakpoint, deleting the breakpoint record from the historical breakpoint record.

4. The breakpoint record-based cleaning planning method according to claim 3, wherein, The judging of whether the breakpoint record is an unimportant breakpoint or a device fault breakpoint according to the breakpoint information comprises: judging whether the breakpoint position of the breakpoint record is located in a preset edge position area; if yes, judging that the breakpoint record is an unimportant breakpoint; and / or, determining whether a distance between the breakpoint position of the breakpoint record and a center position of an activity of the target area is greater than a preset first distance threshold value, the center position of the activity being calculated according to a plurality of human activity trajectories of the target area; if yes, determining that the breakpoint record is an unimportant breakpoint; and / or, calculating a time average of the breakpoint times of all the breakpoint records; determining whether a time difference between the breakpoint time of the breakpoint record and the time average is greater than a preset time difference threshold value; if yes, determining that the breakpoint record is a device fault breakpoint; and / or, determining whether the task progress at the breakpoint of the breakpoint record is greater than a preset progress threshold value; if yes, determining that the breakpoint record is an unimportant breakpoint.

5. The breakpoint record-based cleaning planning method of claim 1, wherein, The historical task information includes a task cleaning object and / or a task cleaning route.

6. The breakpoint record-based cleaning planning method of claim 5, wherein, The determining, according to the historical task information and the historical breakpoint record, of the historical unfinished cleaning information of the target cleaning device includes: for any one of the historical cleaning tasks, determining whether the task progress at the breakpoint of the breakpoint record of the historical cleaning task is less than 100%, and if yes, determining a task cleaning object of the historical cleaning task as a to-be-completed cleaning object of the target cleaning device.

7. A breakpoint record-based cleaning planning apparatus characterized by comprising: The device is configured to perform the breakpoint record-based cleaning planning method according to any one of claims 1-6, and the device includes: a first determining module configured to determine historical breakpoint records of a target cleaning device, the historical breakpoint records being used to indicate breakpoint records of the target cleaning device when interrupting at least one historical cleaning task in a target area in a historical time period; a second determining module configured to acquire historical task information of the historical cleaning task of the target cleaning device, and determine historical unfinished cleaning information of the target cleaning device according to the historical task information and the historical breakpoint records; a third determining module configured to determine a future cleaning plan of the target cleaning device for the target area, and determine a cleaning strategy of the target cleaning device for the target area according to the historical unfinished cleaning information and the future cleaning plan, the cleaning strategy being used to control the target cleaning device to clean the target area.

8. A breakpoint record-based cleaning planning apparatus characterized by comprising: The device includes: a memory storing executable program codes; a processor coupled with the memory; the processor invokes the executable program codes stored in the memory to perform the breakpoint record-based cleaning planning method according to any one of claims 1-6.

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