Cleaning path planning method, system and automatic cleaning device

Abstract

The present application relates to a kind of cleaning path planning method, system and automatic cleaning equipment.The method comprises: in the process that automatic cleaning equipment cleans to be cleaned area, the area contour shape of current working area in the area to be cleaned of automatic cleaning equipment is acquired in real time;According to the area contour shape of current working area obtained, current working area is divided according to different directions respectively to obtain multiple working area sets;From multiple working area sets, the number of the least one working area set of sub working area is selected, and set as the work area to be cleaned of automatic cleaning equipment;According to the work area to be cleaned obtained, the cleaning path of work area to be cleaned is generated.The present application can solve the problem that in traditional technology, due to the shape of the area to be cleaned is sometimes relatively complex, automatic cleaning equipment will appear when walking according to preset path needs multiple turns, leading to low coverage efficiency, affecting cleaning effect and efficiency.

Description

Technical Field

[0001] This invention relates to the field of cleaning equipment technology, and in particular to a cleaning path planning method, system and automatic cleaning equipment. Background Technology

[0002] With the continuous development of automation and artificial intelligence technologies, the application of various automatic cleaning equipment such as floor scrubbers and sweepers is becoming increasingly widespread, bringing great convenience to people's lives. In traditional technology, automatic cleaning equipment such as sweepers typically move in a bow-shaped covering pattern when working. When using this pattern, the automatic cleaning equipment follows a preset path, turning as it encounters obstacles, with the bow-shaped travel lines being parallel. However, because the shape of the area to be cleaned can sometimes be complex, the automatic cleaning equipment may need to make multiple turns while following the preset path, resulting in low covering efficiency and affecting cleaning effectiveness and efficiency. Summary of the Invention

[0003] Therefore, the technical problem to be solved by the present invention is that in the traditional technology, the shape of the area to be cleaned is sometimes complicated, and the automatic cleaning equipment needs to make multiple turns when walking along the preset path, resulting in low coverage efficiency and affecting the cleaning effect and efficiency.

[0004] To address the aforementioned technical problems, this invention provides a cleaning path planning method applied to automated cleaning equipment, the method comprising:

[0005] During the cleaning process of the automatic cleaning equipment, the region outline shape of the current working area of ​​the automatic cleaning equipment in the area to be cleaned is acquired in real time.

[0006] Based on the obtained region outline shape of the current working region, the current working region is divided into multiple working region sets according to different directions; wherein each working region set includes at least one sub-working region;

[0007] The set of work areas with the fewest number of sub-work areas is selected from the multiple work area sets and set as the work area to be cleaned by the automatic cleaning equipment.

[0008] Based on the obtained work area to be cleaned, a cleaning path is generated for the work area to be cleaned.

[0009] Optionally, the real-time acquisition of the shape of the current working area of ​​the automatic cleaning device in the area to be cleaned includes:

[0010] The automatic cleaning device is controlled to move forward in the area to be cleaned, and the obstacles around the direction of movement of the automatic cleaning device are detected in real time, and an obstacle map of the current working area is created.

[0011] Based on the obstacle map of the current working area, obtain the region outline shape of the current working area.

[0012] Optionally, the step of dividing the current working area into multiple working area sets according to different directions based on the obtained region outline shape includes:

[0013] Based on the obtained outline shape of the current working area, the current working area is divided into multiple sets of working areas according to the horizontal, vertical, and diagonal directions.

[0014] Each set of work areas includes multiple sub-work areas, and each sub-work area is a regular square area.

[0015] Optionally, the current working area is divided according to the horizontal, vertical, and diagonal directions to obtain multiple corresponding working area sets, including:

[0016] Using the ox-plowing method for covering, the current working area is divided according to the horizontal division method to obtain a corresponding set of working areas;

[0017] Using the ox-plowing method for covering, the current working area is divided according to the vertical division method to obtain a corresponding set of working areas;

[0018] Using the ox-plowing method for covering, the current working area is divided into a set of working areas by a diagonal division method.

[0019] Optionally, dividing the current working area according to a diagonal division method includes:

[0020] The current working area is divided according to the following methods: southeast, northeast, southwest, or northwest.

[0021] Optionally, selecting the work area set with the fewest sub-work areas from the multiple work area sets includes:

[0022] The number of sub-work areas in each of the multiple work area sets is detected, and the multiple work area sets are sequentially sorted according to the number of sub-work areas contained in each set.

[0023] Based on the sequential sorting of the multiple work area sets, obtain the work area set that contains the fewest number of the sub-work areas.

[0024] Optionally, the area to be cleaned by the automatic cleaning equipment includes:

[0025] The set of work areas containing the fewest sub-work areas is designated as the work area to be cleaned by the automatic cleaning device.

[0026] Optionally, generating a cleaning path for the work area to be cleaned based on the obtained work area to be cleaned includes:

[0027] Based on the obtained cleaning area, all cleaning lines are generated in the cleaning area using a bow-shaped covering method;

[0028] Based on the obtained cleaning lines of the entire area to be cleaned, the cleaning path of the automatic cleaning equipment in the work area to be cleaned is formed;

[0029] Based on the obtained cleaning path, the automatic cleaning equipment is controlled to clean the work area to be cleaned according to the cleaning path.

[0030] Furthermore, this invention also proposes a cleaning path planning system for use in automated cleaning equipment, comprising:

[0031] The working area shape acquisition module is used to acquire the area outline shape of the current working area of ​​the automatic cleaning device in the area to be cleaned in real time during the cleaning process of the automatic cleaning device.

[0032] The work area division module is communicatively connected to the work area shape acquisition module, and is used to divide the current work area according to different directions based on the obtained area outline shape of the current work area to obtain multiple work area sets; wherein each work area set includes at least one sub-work area;

[0033] The cleaning area selection module is communicatively connected to the work area division module and is used to select the work area set with the fewest number of sub-work areas from multiple work area sets, and set it as the work area to be cleaned by the automatic cleaning equipment.

[0034] The cleaning path generation module is communicatively connected to the cleaning area selection module and is used to generate a cleaning path for the cleaning area based on the obtained cleaning area.

[0035] Furthermore, the present invention also proposes an automatic cleaning device, comprising:

[0036] Equipment body;

[0037] The work area detection mechanism is located on the main body of the equipment; and,

[0038] A control processor is located on the device body and is communicatively connected to multiple working area detection mechanisms.

[0039] The control processor is used for:

[0040] During the cleaning process of the automatic cleaning equipment, the region outline shape of the current working area of ​​the automatic cleaning equipment in the area to be cleaned is acquired in real time.

[0041] Based on the obtained region outline shape of the current working region, the current working region is divided into multiple working region sets according to different directions; wherein each working region set includes at least one sub-working region;

[0042] The set of work areas with the fewest number of sub-work areas is selected from the multiple work area sets and set as the work area to be cleaned by the automatic cleaning equipment.

[0043] Based on the obtained work area to be cleaned, a cleaning path is generated for the work area to be cleaned.

[0044] The technical solution provided by this invention has the following advantages:

[0045] The cleaning path planning method provided by this invention monitors the outline shape of the current working area of ​​an automatic cleaning device in real time. Based on this outline shape, the area can be divided in various ways to obtain a set of working areas containing at least one sub-working area. The set of working areas with the fewest sub-working areas is selected as the working area to be cleaned by the automatic cleaning device, and a cleaning path is generated for this working area. This allows the automatic cleaning device to set and select an appropriate cleaning path based on the outline shape of the current working area, minimizing the number of sub-working areas traversed during cleaning and reducing the number of turns. By minimizing turns and the cleaning path, comprehensive cleaning coverage can be achieved, improving coverage and cleaning efficiency, and resulting in excellent cleaning performance. Attached Figure Description

[0046] To more clearly illustrate the technical solutions in the embodiments of the present invention, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0047] Figure 1 This is a schematic diagram of the steps of the cleaning path planning method described in an embodiment of the present invention;

[0048] Figure 2 This is a simplified structural diagram of the cleaning path planning system described in an embodiment of the present invention;

[0049] Figure 3 This is a simplified structural diagram of the automatic cleaning equipment described in an embodiment of the present invention;

[0050] Figure 4 This is a three-dimensional structural diagram of the automatic cleaning equipment described in an embodiment of the present invention. Detailed Implementation

[0051] The technical solution of the present invention will now be clearly and completely described with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of the present invention. The present invention will be described in detail below with reference to the accompanying drawings and embodiments. It should be noted that, unless otherwise specified, the embodiments and features in the embodiments of the present invention can be combined with each other.

[0052] It should be noted that the terms "first," "second," etc., in the specification, claims, and drawings of this invention are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence.

[0053] In this invention, unless otherwise stated, directional terms such as "upper," "lower," "top," and "bottom" are generally used in relation to the direction shown in the accompanying drawings, or in relation to the vertical, perpendicular, or gravitational direction of the component itself; similarly, for ease of understanding and description, "inner" and "outer" refer to the inner and outer contours of each component itself, but the above directional terms are not intended to limit this invention.

[0054] In traditional technologies, automated cleaning equipment such as sweepers move in a bow-shaped covering pattern across the area to be cleaned. However, due to the sometimes complex shape of the area, the automated cleaning equipment needs to make multiple turns while following the preset path, resulting in low covering efficiency and affecting cleaning effect and efficiency. To solve the above technical problems, this invention proposes a cleaning path planning method, system, and automated cleaning equipment.

[0055] The cleaning path planning method and system proposed in this invention can be applied not only to automatic cleaning equipment such as sweepers, but also to other self-moving machines and equipment that require path planning (such as autonomous vehicles and autonomous navigation vehicles). In the following embodiments, this invention is illustrated using an application to an automatic cleaning equipment as an example.

[0056] Example 1

[0057] This embodiment provides a cleaning path planning method applied to automated cleaning equipment. For example... Figure 1 As shown, the cleaning path planning method may include the following steps:

[0058] S100. During the cleaning process of the automatic cleaning equipment, the outline shape of the current working area of ​​the automatic cleaning equipment in the area to be cleaned is acquired in real time.

[0059] S200. Based on the obtained outline shape of the current working area, the current working area is divided into multiple working area sets according to different directions; wherein each working area set includes at least one sub-working area.

[0060] S300: Select the work area set with the fewest number of sub-work areas from multiple work areas and set it as the work area to be cleaned by the automatic cleaning equipment.

[0061] S400: Based on the obtained work area to be cleaned, generate a cleaning path for the work area to be cleaned.

[0062] By monitoring the outline shape of the current working area of ​​the automatic cleaning equipment in real time, the area can be divided in various ways according to its outline shape, resulting in a set of working areas containing at least one sub-working area. The set of working areas with the fewest sub-working areas can be selected as the area to be cleaned by the automatic cleaning equipment, and a cleaning path can be generated for this area. This allows the automatic cleaning equipment to set and select an appropriate cleaning path based on the outline shape of the current working area, minimizing the number of sub-working areas traversed during cleaning and reducing the number of turns. With fewer turns and a smaller cleaning path, comprehensive cleaning coverage can be achieved, improving coverage and cleaning efficiency and resulting in excellent cleaning performance.

[0063] Specifically, in step S100, the shape of the current working area of ​​the automatic cleaning device in the area to be cleaned is acquired in real time, which may include the following steps:

[0064] S110. Control the automatic cleaning equipment to move forward in the area to be cleaned, detect the obstacles around the direction of the automatic cleaning equipment in real time, and create an obstacle map of the current work area.

[0065] Before dividing the current working area of ​​the automatic cleaning equipment into zones during the cleaning process, it is necessary to obtain a cleaning map of the current working area within the area to be cleaned. This requires obtaining an obstacle map of the current working area to understand the distribution of obstacles.

[0066] Therefore, the automated cleaning equipment can be controlled to detect the current working area within the area to be cleaned, obtain information about obstacles in the current working area, and thus create an obstacle map of the current working area. Specifically, a laser detection sensor can be used to detect the current working area and obtain information such as the distribution, size, and location of obstacles in the current working area, thereby obtaining an obstacle map (also known as a cleaning map) of the current working area.

[0067] S120. Based on the obstacle map of the current working area, obtain the region outline shape of the current working area.

[0068] Based on the obstacle map of the current work area, the distribution, size, and location of obstacles can be obtained. This allows for the determination of the area within the work area that needs to be cleared of obstacles (obstacles that must be avoided during cleaning). Thus, the outline shape of the area that the automatic cleaning equipment can clean within the current work area can be determined. Furthermore, when there are no obstacles within the current work area, the outline shape can include the outer contour of the current work area, with the area within this contour being the cleaning area. When obstacles exist within the current work area, the outline shape can include both the outer contour of the current work area and the outer contours of the obstacles within it, with the area between them being the cleaning area.

[0069] Furthermore, in step S200, based on the obtained region outline shape of the current working region, the current working region is divided into multiple working region sets according to different directions, which may specifically include the following steps:

[0070] Based on the obtained outline shape of the current working area, the current working area is divided into multiple working area sets according to the horizontal, vertical and diagonal directions; each working area set includes multiple sub-working areas, and each sub-working area is a regular square area.

[0071] After obtaining the outline shape of the current work area, the shape of the entire area to be cleaned can be determined. Depending on the required area shape, it can be divided horizontally (east-west), vertically (north-south), or diagonally, creating multiple work area sets for each division direction. Each work area set can include one or more square sub-work areas. Furthermore, each sub-work area can also be rectangular. Dividing the current work area into one or more square or rectangular sub-work areas facilitates subsequent cleaning path planning.

[0072] Furthermore, for the same area to be cleaned (i.e., the current work area), it can be divided into multiple sets of sub-work areas (i.e., work area sets) according to different division methods. Each work area set contains a different number of sub-work areas; some work area sets contain a large number of sub-work areas, while others contain a small number of sub-work areas.

[0073] Furthermore, the current work area is divided horizontally, vertically, and diagonally to obtain multiple corresponding work area sets. Specifically, this may include the following steps:

[0074] S210. Using the ox-plowing method for covering, the current work area is divided according to the horizontal division method to obtain a corresponding work area set;

[0075] The ox-plowing method can be used to divide the area that needs to be cleaned in the current work area into east-west directions, resulting in an east-west work area set containing one or more square sub-work areas.

[0076] S220. Using the ox-plowing method for covering, the current work area is divided according to the vertical division method to obtain a corresponding work area set;

[0077] Similarly, the ox-plowing method can be used to divide the area that needs to be cleaned in the current work area into a north-south direction, resulting in a north-south work area set containing one or more square sub-work areas.

[0078] S230. Using the ox-plowing method for covering, the current work area is divided according to the oblique division method to obtain a corresponding work area set.

[0079] Similarly, the ox-plowing method can be used to diagonally divide the area that needs to be cleaned in the current work area, resulting in a diagonal work area set containing one or more square sub-work areas.

[0080] Furthermore, in step S230, the current working area is divided according to a diagonal division method, which may specifically include the following steps:

[0081] The current work area can be divided according to a southeast, northeast, southwest, or northwest direction. This means the current work area can be divided in various directions, resulting in a diagonal set of work areas containing one or more square sub-work areas.

[0082] In addition to dividing the current work area according to southeast, northeast, southwest, and northwest directions, it can also be divided diagonally according to other angles between north-south and east-west directions. The specific division method of the current work area can be set according to the specific outline shape of the current work area.

[0083] Furthermore, in step S300, selecting the work area set with the fewest sub-work areas from multiple work area sets may specifically include the following steps:

[0084] S310. Detect the number of sub-work areas in each work area set of multiple work area sets, and sort the multiple work area sets in sequence according to the number of sub-work areas contained.

[0085] After dividing the current work area into multiple work area sets through the above steps, these work area sets can be sorted according to the number of sub-work areas contained in each set. Specifically, they can be sorted in ascending or descending order. For example, if the current work area can be divided vertically into a first work area set containing 5 sub-work areas, horizontally into a second work area set containing 3 sub-work areas, and diagonally into a third work area set containing 4 sub-work areas, then they can be arranged in descending order as the first work area set, the third work area set, and the second work area set.

[0086] S320. Based on the sequential sorting of multiple work area sets, obtain the work area set that contains the fewest sub-work areas.

[0087] In other words, after sorting multiple work area sets according to the number of sub-work areas they contain, the work area set with the fewest sub-work areas is selected. When multiple work area sets are sorted in ascending order, the work area set at the top of the list can be selected; when multiple work area sets are sorted in descending order, the work area set at the bottom of the list can be selected.

[0088] Furthermore, in step S300, the work area to be cleaned by the automatic cleaning equipment may specifically include:

[0089] S330. Set the set of work areas containing the fewest sub-work areas as the cleaning work area to be cleaned by the automatic cleaning equipment.

[0090] The set of work areas with the fewest sub-work areas selected from multiple work areas will be set as the current work area to be cleaned by the automatic cleaning equipment, so that the automatic cleaning equipment can be controlled to clean the work area to be cleaned in the future.

[0091] In addition, step S400 above generates a cleaning path for the work area to be cleaned based on the obtained work area to be cleaned, which may specifically include the following steps:

[0092] S410. Based on the obtained work area to be cleaned, generate all cleaning lines in the work area to be cleaned using a bow-shaped covering method;

[0093] After obtaining the set of work areas with the fewest sub-work areas (i.e., the work areas to be cleaned), it is necessary to generate cleaning lines for this set of work areas (the work areas to be cleaned). Specifically, a bow-shaped coverage method can be used to generate cleaning lines in the work area, so that the cleaning lines completely cover the set of work areas.

[0094] S420. Based on all the cleaning lines of the area to be cleaned, form the cleaning path of the automatic cleaning equipment in the work area to be cleaned;

[0095] After generating the cleaning lines for the set of work areas (the areas to be cleaned), a cleaning path is formed for the automatic cleaning equipment within that set of work areas. That is, when the automatic cleaning equipment needs to clean the set of work areas, it can follow the pre-generated cleaning lines (i.e., the cleaning path) to cover and clean the entire set of work areas.

[0096] S430. Based on the cleaning path of the work area to be cleaned, control the automatic cleaning equipment to clean the work area according to the cleaning path.

[0097] In this way, during the cleaning process, the automatic cleaning equipment can automatically detect and analyze the current working area within that area, dividing it into a set of working areas with the fewest sub-working areas. This set of working areas is then designated as the area to be cleaned. A cleaning path is generated within this set of sub-working areas, allowing the automatic cleaning equipment to clean the area according to the generated path. Because the number of sub-working areas is minimized, the automatic cleaning equipment makes fewer turns while cleaning within these sub-working areas, thus improving cleaning and coverage efficiency.

[0098] Example 2

[0099] This embodiment provides a cleaning path planning system applied to automated cleaning equipment. For example... Figure 2 As shown, the cleaning path planning system 100 may include:

[0100] The working area shape acquisition module 102 is used to acquire the current working area outline shape of the automatic cleaning equipment in the area to be cleaned in real time during the cleaning process of the automatic cleaning equipment.

[0101] The work area division module 104 is communicatively connected to the work area shape acquisition module 102. It is used to divide the current work area according to different directions based on the obtained area outline shape of the current work area to obtain multiple work area sets; wherein each work area set includes at least one sub-work area.

[0102] The cleaning area selection module 106 is communicatively connected to the work area division module 104. It is used to select the work area set with the fewest number of sub-work areas from multiple work areas and set it as the work area to be cleaned by the automatic cleaning equipment.

[0103] The cleaning path generation module 108 is communicatively connected to the cleaning area selection module 106 and is used to generate a cleaning path for the cleaning area based on the obtained cleaning area.

[0104] The cleaning path planning system 100 described in this embodiment corresponds to the cleaning path planning method described above. The functions of each module in the cleaning path planning system 100 in this embodiment are described in detail in the corresponding method embodiments, and will not be repeated here.

[0105] Example 3

[0106] This embodiment provides an automatic cleaning device, such as... Figure 3 and Figure 4 As shown, the automatic cleaning device 10 may include a device body, a work area detection mechanism disposed on the device body, and a control processor disposed on the device body and communicatively connected to multiple work area detection mechanisms. The control processor can control the device body to clean the area to be cleaned, and can control the work area detection mechanisms to detect the area to be cleaned and obtain a cleaning map of the area to be cleaned. Moreover, the work area detection mechanism may be a laser detection sensor, a vision detection sensor, etc.

[0107] Furthermore, the aforementioned control processor can be used to: acquire in real time the region outline shape of the current working area of ​​the automatic cleaning device in the region to be cleaned during the cleaning process of the automatic cleaning device; divide the current working area into multiple working area sets according to different directions based on the obtained region outline shape of the current working area; wherein each working area set includes at least one sub-working area; select the working area set with the fewest sub-working areas from the multiple working area sets and set it as the working area to be cleaned by the automatic cleaning device; and generate a cleaning path for the working area to be cleaned based on the obtained working area to be cleaned.

[0108] Similarly, in this embodiment, the control processor can be used to control the automatic cleaning equipment to implement each step in the above-mentioned cleaning path planning method. The specific implementation method can be referred to the specific content of the above-mentioned cleaning path planning method, which will not be repeated here.

[0109] Furthermore, in this embodiment, the automatic cleaning device can be a sweeper. Alternatively, the automatic cleaning device can also be a floor scrubber with path planning capabilities, a vacuum cleaner, etc.

[0110] Furthermore, the present invention also proposes a computer-readable storage medium storing computer-executable instructions, which, when executed by a processor, are used to implement all or part of the method steps of the clean path planning method as described above.

[0111] The present invention can implement all or part of the processes in the above methods, or it can be accomplished by a computer program instructing related hardware. The computer program can be stored in a computer-readable storage medium, and when executed by a processor, it can implement the steps of the various method embodiments described above. The computer program includes computer program code, which can be in the form of source code, object code, executable file, or some intermediate form. The computer-readable medium can include: any entity or device capable of carrying computer program code, recording media, USB flash drive, portable hard drive, magnetic disk, optical disk, computer memory, read-only memory (ROM), random access memory (RAM), electrical carrier signals, telecommunication signals, and software distribution media, etc. It should be noted that the content included in the computer-readable medium can be appropriately added or removed according to the requirements of legislation and patent practice in the jurisdiction. For example, in some jurisdictions, according to legislation and patent practice, the computer-readable medium does not include electrical carrier signals and telecommunication signals.

[0112] Based on the same inventive concept, embodiments of this application also provide an electronic device, including a memory and a processor, wherein the memory stores a computer program that runs on the processor, and the processor executes the computer program to implement all or part of the method steps of the above-described clean path planning method.

[0113] The processor can be a Central Processing Unit (CPU), or other general-purpose processors, digital signal processors (DSPs), application-specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. A general-purpose processor can be a microprocessor or any conventional processor. The processor is the control center of the computer device, connecting all parts of the computer device through various interfaces and lines.

[0114] Memory can be used to store computer programs and / or models. The processor performs various functions of the computer device by running or executing the computer programs and / or models stored in the memory, and by accessing data stored in the memory. Memory can primarily include a program storage area and a data storage area. The program storage area can store the operating system and at least one application program required for a function (e.g., sound playback, image playback, etc.); the data storage area can store data created based on the use of the mobile phone (e.g., audio data, video data, etc.). Furthermore, memory can include high-speed random access memory, and can also include non-volatile memory, such as hard disks, RAM, plug-in hard disks, smart media cards (SMC), secure digital cards (SD cards), flash cards, at least one disk storage device, flash memory device, or other volatile solid-state storage devices.

[0115] Those skilled in the art will understand that embodiments of the present invention can be provided as methods, systems, servers, or computer program products. Therefore, the present invention can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, the present invention can take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage and optical storage) containing computer-usable program code.

[0116] This invention is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), servers, and computer program products according to embodiments of the invention. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, generate instructions for implementing the flowchart... Figure 1 One or more processes and / or boxes Figure 1 A device that provides the functions specified in one or more boxes.

[0117] These computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing device to function in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means, which are implemented in a process Figure 1 One or more processes and / or boxes Figure 1 The function specified in one or more boxes.

[0118] These computer program instructions may also be loaded onto a computer or other programmable data processing equipment to cause a series of operational steps to be performed on the computer or other programmable equipment to produce a computer-implemented process, thereby providing instructions that execute on the computer or other programmable equipment for implementing the process. Figure 1 One or more processes and / or boxes Figure 1 The steps of the function specified in one or more boxes.

[0119] Obviously, those skilled in the art can make various modifications and variations to this invention without departing from its spirit and scope. Therefore, if these modifications and variations fall within the scope of the claims of this invention and their equivalents, this invention also intends to include these modifications and variations.

Claims

1. A cleaning path planning method applied to an automatic cleaning device, characterized in that, The method comprises: In the process of cleaning the to-be-cleaned area by the automatic cleaning device, the area contour shape of a current working area of the automatic cleaning device in the to-be-cleaned area is acquired in real time; According to the obtained area contour shape of the current working area, the current working area is divided in different directions respectively to obtain a plurality of working area sets; each working area set comprises at least one sub-working area; One of the working area sets with the least number of sub-working areas is selected from the plurality of working area sets as a to-be-cleaned working area of the automatic cleaning device; According to the obtained to-be-cleaned working area, a cleaning path of the to-be-cleaned working area is generated; The real-time acquisition of the shape of the current working area of the automatic cleaning device in the to-be-cleaned area comprises: The automatic cleaning device is controlled to advance in the to-be-cleaned area, the obstacle situation around the advancing direction of the automatic cleaning device is detected in real time, and an obstacle map of the current working area is established; According to the obtained obstacle map of the current working area, the area contour shape of the current working area is acquired; According to the obtained area contour shape of the current working area, the current working area is divided in different directions respectively to obtain a plurality of working area sets, comprising: According to the obtained area contour shape of the current working area, the current working area is divided in different directions respectively to obtain a plurality of working area sets, comprising: Each working area set comprises a plurality of sub-working areas, and each sub-working area is a regular square area.

2. The cleaning path planning method of claim 1, wherein, The current working area is divided in different directions respectively to obtain a plurality of working area sets, comprising: The current working area is divided in different directions respectively to obtain a plurality of working area sets, comprising: The current working area is divided in different directions respectively to obtain a plurality of working area sets, comprising: The current working area is divided in different directions respectively to obtain a plurality of working area sets, comprising:

3. The cleaning path planning method according to claim 2, characterized in that, The current working area is divided in different directions respectively to obtain a plurality of working area sets, comprising: The current working area is divided in different directions respectively to obtain a plurality of working area sets, comprising:

4. The cleaning path planning method of claim 1, wherein, The current working area is divided in different directions respectively to obtain a plurality of working area sets, comprising: The current working area is divided in different directions respectively to obtain a plurality of working area sets, comprising: The current working area is divided in different directions respectively to obtain a plurality of working area sets, comprising:

5. The cleaning path planning method of claim 4, wherein, The current working area is divided in different directions respectively to obtain a plurality of working area sets, comprising: The current working area is divided in different directions respectively to obtain a plurality of working area sets, comprising: The current working area is divided in different directions respectively to obtain a plurality of working area sets, comprising: The current working area is divided in different directions respectively to obtain a plurality of working area sets, comprising: The current working area is divided in different directions respectively to obtain a plurality of working area sets, comprising: The current working area is divided in different directions respectively to obtain a plurality of working area sets, comprising: The current working area is divided in different directions respectively to obtain a plurality of working area sets, comprising: The current working area is divided in different directions respectively to obtain a plurality of working area sets, comprising: The current working area is divided in different directions respectively to obtain a plurality of working area sets, comprising: The current working area is divided in different directions respectively to obtain a plurality of working area sets, comprising: The current working area is divided in different directions respectively to obtain a plurality of working area sets, comprising: The current working area is divided in different directions respectively to obtain a plurality of working area sets, comprising: The current working area is divided in different directions respectively to obtain a plurality of working area sets, comprising: The current working area is divided in different directions respectively to obtain a plurality of working area sets, comprising: The current working area is divided in different directions respectively to obtain a plurality of working area sets, comprising: The current working area is divided in different directions respectively to obtain a plurality of working area sets, comprising: The current working area is divided in different directions respectively to obtain a plurality of working area sets, comprising: The current working area is divided in different directions respectively to obtain a plurality of working area sets, comprising: The current working area is divided in different directions respectively to obtain a plurality of working area sets, comprising: The current working area is divided in different directions respectively to obtain a plurality of working area sets, comprising: The current working area is divided in different directions respectively to obtain a plurality of working area sets, comprising: The current working area is divided in different directions respectively to obtain a plurality of working area sets, comprising: The current working area is divided in different directions respectively to obtain a plurality of working area sets, comprising: The current working area is divided in different directions respectively to obtain a plurality of working area sets, comprising: The current working area is divided in different directions respectively to obtain a plurality of working area sets, comprising: The current working area is divided in different directions respectively to obtain a plurality of working area sets, comprising: The current working area is divided in different directions respectively to obtain a plurality of working area sets, comprising: The current working area is divided in different directions respectively to obtain a plurality of working area sets, comprising: The current working area is divided in different directions respectively to obtain a plurality of working area sets, comprising: The current working area is divided in different directions respectively to obtain a plurality of working area sets, comprising: The current working area is divided in different directions respectively to obtain a plurality of working area sets, comprising: The current working area is divided in different directions respectively to obtain a plurality of working area sets, comprising: The current working area is divided in different directions respectively to obtain a plurality of working area sets, comprising: The current working area is divided in different directions respectively to obtain a plurality of working area sets, comprising: The current working area is divided in different directions respectively to obtain a plurality of working area sets, comprising: The current working area is divided in different directions respectively to obtain a plurality of working area sets, comprising: The current working area is divided in different directions respectively to obtain a plurality of working area sets, comprising: The current working area is divided in different directions respectively to obtain a plurality of working area sets, comprising: The current working area is divided in different directions respectively to obtain a plurality of working area sets, comprising: The current working area is divided in different directions respectively to obtain a plurality of working area sets, comprising: The current working area is divided in different directions respectively to obtain a plurality of working area sets, comprising: The current working area is divided in different directions respectively to obtain a plurality of working area sets, comprising: The current working area is divided in different directions respectively to obtain a plurality of working area sets, comprising: The current working area is divided in different directions respectively to obtain a plurality of working area sets, comprising: The current working area is divided in different directions respectively to obtain a plurality of working area sets, comprising: The current working area is divided in different directions respectively to obtain a plurality of working area sets, comprising: The current working area is divided in different directions respectively to obtain a plurality of working area sets, comprising: The current working area is divided in different directions respectively to obtain a plurality of working area sets, comprising: The current working area is divided in different directions respectively to obtain a plurality of working area sets, comprising: The current working area is divided in different directions respectively to obtain a plurality of working area sets, comprising: The current working area is divided in different directions respectively to obtain a plurality of working area sets, comprising: The current working area is divided in different directions respectively to obtain a plurality of working area sets, comprising: The current working area is divided in different directions respectively to obtain a plurality of working area sets, comprising: The current working area is divided in different directions respectively to obtain a plurality of working area sets, comprising: The current working area is divided in different directions respectively to obtain a plurality of working area sets, comprising: The current working area is divided in different directions respectively to obtain a plurality of working area sets, comprising: The current working area is divided in different directions respectively to obtain a plurality of working area sets, comprising: The current working area is divided in different directions respectively to obtain a plurality of working area sets, comprising: The current working area is divided in different directions respectively to obtain a plurality of working area sets, comprising: The current working area is divided in different directions respectively to obtain a plurality of working area sets, comprising: The current working area is divided in different directions respectively to obtain a plurality of working area sets, comprising: The current working area is divided in different directions respectively to obtain a plurality of working area sets, comprising: The current working area is divided in different directions respectively to obtain a plurality of working area sets, comprising: The current working area is divided in different directions respectively to obtain a plurality of working area sets, comprising: The current working area is divided in different directions respectively to obtain a plurality of working area sets, comprising: The current working area is divided in different directions respectively to obtain a plurality of working area sets, comprising: The current working area is divided in different directions respectively to obtain a plurality of working area sets, comprising: The current working area is divided in different directions respectively to obtain a plurality of working area sets, comprising: The current working area is divided in different directions respectively to obtain a plurality of working area sets, comprising: The current working area is divided in different directions respectively to obtain a plurality of working area sets, comprising: The current working area is divided in different directions respectively to obtain a plurality of working area sets, comprising: The current working area is divided in different directions respectively to obtain a plurality of working area sets, comprising: The current working area is divided Set the work area set containing the least number of sub work areas as the to-be-cleaned work area of the automatic cleaning device.

6. The cleaning path planning method according to any one of claims 1 to 5, characterized in that, The generating the cleaning path of the to-be-cleaned work area according to the obtained to-be-cleaned work area comprises: Generating all cleaning lines in the to-be-cleaned work area in an arch-shaped coverage manner according to the obtained to-be-cleaned work area; Forming the cleaning path of the automatic cleaning device in the to-be-cleaned work area according to all the cleaning lines of the to-be-cleaned work area; Controlling the automatic cleaning device to clean the to-be-cleaned work area according to the cleaning path according to the obtained cleaning path. 7.A cleaning path planning system applied to an automatic cleaning device, characterized in that, Comprise: A work area shape acquisition module, configured to acquire the area contour shape of the current work area of the automatic cleaning device in the to-be-cleaned area in real time during the cleaning of the to-be-cleaned area by the automatic cleaning device; A work area division module, in communication connection with the work area shape acquisition module, configured to divide the current work area according to different directions respectively to obtain a plurality of work area sets according to the obtained area contour shape of the current work area; wherein each work area set comprises at least one sub work area; A cleaning area selection module, in communication connection with the work area division module, configured to select a work area set containing the least number of sub work areas from a plurality of work area sets as the to-be-cleaned work area of the automatic cleaning device; A cleaning path generation module, in communication connection with the cleaning area selection module, configured to generate the cleaning path of the to-be-cleaned work area according to the obtained to-be-cleaned work area; Wherein, the real-time acquisition of the shape of the current work area of the automatic cleaning device in the to-be-cleaned area comprises: Controlling the automatic cleaning device to advance in the to-be-cleaned area, detecting the obstacle situation around the advancing direction of the automatic cleaning device in real time, and establishing an obstacle map of the current work area; According to the obtained obstacle map of the current work area, the area contour shape of the current work area is obtained; According to the obtained area contour shape of the current work area, the current work area is divided according to different directions respectively to obtain a plurality of work area sets, comprising: According to the obtained area contour shape of the current work area, the current work area is divided according to horizontal, vertical and diagonal directions respectively to obtain a plurality of corresponding work area sets; Wherein, each work area set comprises a plurality of sub work areas, and each sub work area is a regular square area. 8.An automatic cleaning apparatus, characterized by, Comprise: A device body; A work area detection mechanism provided on the device body; and A control processor provided on the device body and in communication connection with a plurality of work area detection mechanisms; Wherein, the control processor is configured to: Acquire the area contour shape of the current work area of the automatic cleaning device in the to-be-cleaned area in real time during the cleaning of the to-be-cleaned area by the automatic cleaning device; According to the obtained region contour shape of the current working area, the current working area is divided in different directions respectively to obtain a plurality of working area sets; wherein each working area set comprises at least one sub-working area; From the plurality of working area sets, a working area set with the least number of sub-working areas is selected as the to-be-cleaned working area of the automatic cleaning device; According to the obtained to-be-cleaned working area, a cleaning path of the to-be-cleaned working area is generated; The real-time acquisition of the shape of the current working area of the automatic cleaning device in the to-be-cleaned area comprises: Controlling the automatic cleaning device to advance in the to-be-cleaned area, detecting the obstacle situation around the advancing direction of the automatic cleaning device in real time, and establishing an obstacle map of the current working area; According to the obtained obstacle map of the current working area, the region contour shape of the current working area is obtained; According to the obtained region contour shape of the current working area, the current working area is divided in different directions respectively to obtain a plurality of working area sets, comprising: According to the obtained region contour shape of the current working area, the current working area is divided in different directions respectively to obtain a plurality of working area sets; wherein each working area set comprises at least one sub-working area; According to the obtained region contour shape of the current working area, the current working area is divided in different directions respectively to obtain a plurality of working area sets; wherein each working area set comprises at least one sub-working area; According to the obtained region contour shape of the current working area, the current working area is divided in different directions respectively to obtain a plurality of working area sets; wherein each working area set comprises at least one sub-working area; According to the obtained region contour shape of the current working area, the current working area is divided in different directions respectively to obtain a plurality of working area sets; wherein each working area set comprises at least one sub-working area; According to the obtained region contour shape of the current working area, the current working area is divided in different directions respectively to obtain a plurality of working area sets; wherein each working area set comprises at least one sub-working area; According to the obtained region contour shape of the current working area, the current working area is divided in different directions respectively to obtain a plurality of working area sets; wherein each working area set comprises at least one sub-working area; According to the obtained region contour shape of the current working area, the current working area is divided in different directions respectively to obtain a plurality of working area sets; wherein each working area set comprises at least one sub-working area; According to the obtained region contour shape of the current working area, the current working area is divided in different directions respectively to obtain a plurality of working area sets; wherein each working area set comprises at least one sub-working area; According to the obtained region contour shape of the current working area, the current working area is divided in different directions respectively to obtain a plurality of working area sets; wherein each working area set comprises at least one sub-working area; According to the obtained region contour shape of the current working area, the current working area is divided in different directions respectively to obtain a plurality of working area sets; wherein each working area set comprises at least one sub-working area; According to the obtained region contour shape of the current working area, the current working area is divided in different directions respectively to obtain a plurality of working area sets; wherein each

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