Cleaning path determination method, apparatus, and electronic device

Abstract

The present application relates to the technical field of sweeping robots, and discloses a cleaning path determination method, device and electronic equipment, the cleaning path determination method comprising: obtaining a target cleanliness and a current cleanliness corresponding to each grid unit on a map corresponding to a to-be-cleaned area, and determining a current cleanliness degree corresponding to each grid unit according to the target cleanliness and the current cleanliness; and determining a cleaning path according to the current cleanliness degree through a preset cleaning strategy, wherein the preset cleaning strategy is determined based on the principle of preferentially cleaning non-clean grid units with a high cleanliness degree. According to the present application, the cleaning path is determined according to the current cleanliness degree through the preset cleaning strategy, so that when the cleaning device performs a mopping cleaning operation on the to-be-cleaned area according to the cleaning path, the number of times of washing the cleaning module of the cleaning device is reduced, the utilization rate of the cleaning module is improved, the time consumption, power consumption, detergent consumption and water consumption of the cleaning process are reduced, and the wear of the cleaning module is reduced.

Description

Technical Field

[0001] This invention relates to the field of robotic vacuum cleaners, and in particular to a method, apparatus, and electronic device for determining cleaning paths. Background Technology

[0002] Robotic vacuum cleaners have entered countless households. They can automatically create or update indoor maps and perform cleaning tasks (including vacuuming, sweeping, and mopping) based on the map and path algorithms. When carpets are detected, they automatically increase suction power and avoid wet mopping carpets. Some robotic vacuum cleaners also have a powerful mopping function based on high-frequency vibration or rotation to enhance the cleaning effect.

[0003] To address the problem of limited cleaning effectiveness of existing intelligent robotic vacuum cleaners when dealing with stubborn stains on the floor, Chinese invention patent CN114365983A, filed on January 24, 2022, proposes a cleaning method based on cleanliness prediction and real-time detection and analysis. This method enables the robotic vacuum cleaner to analyze and determine the cleanliness of its current location in real time. When the cleanliness is low (i.e., quite dirty), the method repeatedly cleans the location or increases the cleaning intensity, thereby achieving a better cleaning effect than existing methods in the shortest possible time.

[0004] Furthermore, during the cleaning process of a robotic vacuum cleaner, the mop becomes increasingly dirty, eventually reaching a point where it can no longer clean the floor. In some cases, the mop becomes so dirty that it not only fails to clean the floor but also makes some areas dirtier. Therefore, it is necessary to clean the mop regularly to restore its cleaning ability. To address the problem of existing intelligent robotic vacuum cleaners being unable to determine the actual cleaning ability of the mop during operation, Chinese invention patent application dated May 16, 2022, and patent publication number CN114903391A, proposes a method for automatically determining the cleaning ability of a mop.

[0005] However, the existing technology still has the following technical problems: Under normal circumstances, the cleanliness of different locations on the map of the area to be cleaned is not exactly the same. If the floor with very low cleanliness (very dirty) is cleaned first and then the floor with high cleanliness is cleaned, this cleaning sequence will make the mop get dirty quickly, resulting in the need to wash the mop frequently. This will ultimately increase the time, power consumption, detergent usage, and water usage of the cleaning process, and increase the wear and tear on the mop. Summary of the Invention

[0006] To address the above problems, the present invention provides a cleaning path determination method, apparatus, and electronic device.

[0007] This invention provides a method for determining a cleaning path, comprising:

[0008] Obtain the target cleanliness and current cleanliness of each grid cell on the map corresponding to the area to be cleaned, and determine the current cleanliness level of each grid cell based on the target cleanliness and current cleanliness.

[0009] Based on the current level of cleanliness, a cleaning path is determined using a preset cleaning strategy, so that the cleaning device can perform mopping and cleaning operations on the area to be cleaned according to the cleaning path.

[0010] The preset cleaning strategy is determined based on the principle of prioritizing the cleaning of non-clean grid cells with high cleanliness levels.

[0011] Furthermore, before obtaining the target cleanliness and current cleanliness of each grid cell on the map corresponding to the area to be cleaned, the method also includes:

[0012] Perform and complete basic cleaning operations on the area to be cleaned.

[0013] Furthermore, the method also includes:

[0014] Basic cleaning operations are performed on the areas to be cleaned. During the basic cleaning operation, after each grid cell is cleaned, the target cleanliness and current cleanliness of that grid cell are obtained. The current cleanliness level of that grid cell is determined based on the target cleanliness and current cleanliness of that grid cell.

[0015] Furthermore, the preset cleaning strategies include:

[0016] Each grid cell is sorted in descending order of its current cleanliness level to generate a first sorting result, and a cleaning path is determined based on the first sorting result.

[0017] Furthermore, the preset cleaning strategies include:

[0018] The current cleanliness level of each grid unit is determined according to the preset correspondence between cleanliness level and cleanliness level. The grid units are sorted in descending order of their current cleanliness level to generate a second sorting result and the cleaning path is determined based on the second sorting result.

[0019] Among them, the cleanliness level is positively correlated with the cleanliness level.

[0020] Furthermore, the preset cleaning strategies also include:

[0021] The cleaning path is determined based on all non-clean grid cells, so that the cleaning path includes all non-clean grid cells and at least 0 clean grid cells;

[0022] Among them, grid cells whose difference between the target cleanliness and the current cleanliness is greater than a preset difference threshold are designated as non-clean grid cells.

[0023] Furthermore, for any given grid cell, the smaller the difference between the target cleanliness and the current cleanliness of that grid cell, the higher the current cleanliness level of that grid cell.

[0024] Furthermore, when the cleaning device performs a mopping operation on the area to be cleaned according to the cleaning path, the method also includes:

[0025] After completing the mopping and cleaning operation of the area corresponding to a grid cell, the current cleanliness level of that grid cell is retrieved again, and the saved current cleanliness level of that grid cell is updated so that the cleaning path can be re-determined according to the preset cleaning strategy when the preset cleaning path update conditions are met.

[0026] Furthermore, the method also includes:

[0027] After the cleaning module of the cleaning device performs a cleaning operation, it is determined that the preset cleaning path update conditions are met, and the cleaning path is redefined through the preset cleaning strategy to control the cleaning device to perform a mopping cleaning operation on the area to be cleaned according to the redefined cleaning path.

[0028] The present invention also provides a cleaning path determination device, the device comprising:

[0029] The cleanliness level determination module is used to obtain the target cleanliness and current cleanliness of each grid cell on the map corresponding to the area to be cleaned, and to determine the current cleanliness level of each grid cell based on the target cleanliness and current cleanliness.

[0030] The cleaning path determination module, connected to the cleanliness determination module, is used to determine the cleaning path based on the current cleanliness level and a preset cleaning strategy, so that the cleaning device can perform mopping cleaning operations on the area to be cleaned according to the cleaning path.

[0031] The preset cleaning strategy is determined based on the principle of prioritizing the cleaning of non-clean grid cells with high cleanliness levels.

[0032] The present invention also provides a computer-readable storage medium storing a computer program that, when executed by one or more processors, implements the steps of the above-described method.

[0033] The present invention also provides an electronic device, including a memory and one or more processors, wherein a computer program is stored on the memory, and the memory and one or more processors are communicatively connected to each other, and when the computer program is executed by one or more processors, the steps of the above method are performed.

[0034] The cleaning path determination method, apparatus, and electronic device provided by this invention have at least the following beneficial effects:

[0035] When determining the cleaning path, a preset cleaning strategy is used to determine the cleaning path based on the current cleanliness level. The preset cleaning strategy is determined based on the principle of prioritizing the cleaning of non-clean grid cells with high cleanliness levels. This ensures that the cleaning path determined by the preset cleaning strategy conforms as much as possible to the principle of prioritizing the cleaning of non-clean grid cells with high cleanliness levels. When the cleaning device performs mopping operations on the area to be cleaned according to the cleaning path, it maintains the cleanliness level of the cleaning modules in the cleaning device as much as possible, thereby reducing the number of times the cleaning modules (such as the mop) need to be cleaned, increasing the utilization rate of the cleaning modules, and thus reducing the time, power consumption, detergent consumption, water consumption, and wear and tear on the cleaning modules. Attached Figure Description

[0036] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the 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.

[0037] Figure 1 This is a flowchart of the cleaning path determination method provided in one embodiment of the present invention;

[0038] Figure 2 This is a schematic diagram of the grid cell division of the area to be cleaned provided in one embodiment of the present invention;

[0039] Figure 3 This is a flowchart of the target cleanliness determination method provided in one embodiment of the present invention;

[0040] Figure 4 This is a schematic diagram of the cleaning path determination device provided in one embodiment of the present invention;

[0041] Figure 5 This is a schematic diagram of an electronic device structure provided in one embodiment of the present invention;

[0042] Figure label:

[0043] Figure 4 In the middle: 401 - Cleanliness Determination Module, 402 - Cleaning Path Determination Module;

[0044] Figure 5 In Chinese: 500 - Electronic device, 501 - Processor, 502 - Communication bus, 503 - User interface, 504 - Communication interface, 505 - Memory. Detailed Implementation

[0045] The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of the present invention, and not all of them. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the protection scope of the present invention. The terms "first" and "second" used in the claims and specification of the present invention are for ease of distinction only and have no special meaning, and are not intended to limit the present invention.

[0046] In one embodiment of the present invention, a method for determining a cleaning path is provided, such as... Figure 1 As shown, the method includes the following steps:

[0047] Step S101: Obtain the target cleanliness and current cleanliness of each grid cell on the map corresponding to the area to be cleaned, and determine the current cleanliness level of each grid cell based on the target cleanliness and current cleanliness.

[0048] Among them, the cleaning device can collect characteristic data information (such as roughness, color, reflectivity, dust absorption rate, etc.) of the area to be cleaned by its built-in sensors when the cleaning device moves in the area to be cleaned, and further determine the current cleanliness of each grid unit based on the characteristic data information.

[0049] The target cleanliness level corresponding to each grid unit is pre-stored in the memory of the cleaning device. The target cleanliness level can be pre-set by technicians according to the actual situation, or it can be automatically determined by a preset target cleanliness level determination strategy before each cleaning path is determined. This invention does not impose any special restrictions on this.

[0050] Specifically, the current cleanliness level of a grid cell can be determined by comparing the target cleanliness level with the current cleanliness level and based on the degree of deviation of the current cleanliness level from the target cleanliness level. More specifically, the target cleanliness level, the current cleanliness level, and the current cleanliness level can be represented numerically.

[0051] More specifically, once the current cleanliness level of the grid cell is determined, the current cleanliness level of the grid cell can be stored in the memory of the cleaning device.

[0052] Step S102: Determine the cleaning path based on the current cleanliness level using a preset cleaning strategy, so that the cleaning device can perform mopping cleaning operations on the area to be cleaned according to the cleaning path.

[0053] The preset cleaning strategy is determined based on the principle of prioritizing the cleaning of non-clean grid cells with high cleanliness levels.

[0054] Specifically, in one implementation, the cleaning device includes a robotic vacuum cleaner. The cleaning device is equipped with a cleaning module for mopping, and the cleaning module includes a mop.

[0055] More specifically, for any given grid cell, the smaller the difference between the target cleanliness and the current cleanliness of that grid cell, the higher its current cleanliness level; conversely, the higher the current cleanliness level, the cleaner the grid cell. When the difference between the target cleanliness and the current cleanliness of a grid cell exceeds a preset difference threshold, the grid cell is considered a non-clean grid cell. The preset difference threshold can be set by technicians according to actual needs; this invention does not impose any specific limitations on the specific value of the preset difference threshold.

[0056] In this embodiment, the preset cleaning strategy is determined based on the principle of prioritizing the cleaning of non-clean grid cells with high cleanliness. This ensures that the cleaning path determined by the preset cleaning strategy conforms as much as possible to the principle of prioritizing the cleaning of non-clean grid cells with high cleanliness. As a result, when the cleaning device performs mopping cleaning operation on the area to be cleaned according to the cleaning path, it maintains the cleanliness of the cleaning module in the cleaning device as much as possible, thereby maintaining the cleaning capability of the cleaning module in the cleaning device.

[0057] In one implementation, the preset cleaning strategy includes:

[0058] When the cleaning device does not have the function of pausing the cleaning module during operation, the cleaning path is determined based on the current cleanliness and spatial location of each grid unit, so that the determined cleaning path includes an uninterrupted route.

[0059] Understandably, when the cleaning device lacks the function to pause the cleaning module's operation during its journey, it will perform mopping and cleaning operations on all grid cells it passes through. Therefore, when determining the cleaning path, in addition to considering the current cleanliness level of each grid cell, the spatial position of each grid cell is also taken into account, thus ensuring that the determined cleaning path is an uninterrupted route. Simultaneously, to maintain the cleanliness level of the cleaning modules within the cleaning device as much as possible, in this situation, it is necessary to prioritize cleaning non-clean grid cells with higher current cleanliness levels, cleaning these non-clean grid cells first.

[0060] In another implementation, the preset cleaning strategy includes:

[0061] When the cleaning device has the function of pausing the cleaning module during operation, the cleaning path is determined based on the current cleanliness level of each grid unit, so that the determined cleaning path includes several non-connected sub-paths or a continuous route.

[0062] Understandably, when a cleaning device has the function of pausing the cleaning module's operation during its journey, it can selectively pause the cleaning module's operation based on actual needs, thus skipping grid cells in its path that do not require cleaning or will not be cleaned temporarily. In this case, the principle of prioritizing the cleaning of non-clean grid cells with higher cleanliness levels can be fully followed. Therefore, when determining the cleaning path, the spatial position of each grid cell can be temporarily disregarded; instead, the cleaning path can be determined directly according to the current cleanliness level of each grid cell from high to low, in order to maintain the cleanliness level of the cleaning modules within the cleaning device to the greatest extent possible.

[0063] Understandably, in this implementation, the determined cleaning path can include either several disconnected sub-paths or a continuous route, depending on the sorting result of each grid cell according to its current cleanliness level from high to low.

[0064] In this embodiment, a cleaning path is determined based on the current cleanliness level and a preset cleaning strategy. The preset cleaning strategy is determined based on the principle of prioritizing the cleaning of non-clean grid cells with high cleanliness levels. This ensures that the cleaning path determined by the preset cleaning strategy conforms as much as possible to the principle of prioritizing the cleaning of non-clean grid cells with high cleanliness levels. When the cleaning device performs mopping operations on the area to be cleaned according to the cleaning path, it maintains the cleanliness level of the cleaning modules in the cleaning device as much as possible, thereby reducing the number of times the cleaning modules (e.g., mops) of the cleaning device are cleaned, improving the utilization rate of the cleaning modules, and thus reducing the time, power consumption, detergent usage, and water consumption of the cleaning process, and reducing the wear and tear on the cleaning modules.

[0065] Furthermore, prior to step S101, the cleaning path determination method further includes:

[0066] Obtain the grid division information of the map corresponding to the area to be cleaned.

[0067] Specifically, the cleaning device sets up grid cells on the map and then cleans the area to be cleaned according to these grid cells. Therefore, it is necessary to obtain the grid cell division information on the map corresponding to the area to be cleaned. It should be understood that each grid cell corresponds to a portion of the area to be cleaned.

[0068] In another embodiment of the present invention, before obtaining the target cleanliness and current cleanliness corresponding to each grid cell on the map of the area to be cleaned, the cleaning path determination method further includes:

[0069] Perform and complete basic cleaning operations on the area to be cleaned.

[0070] Basic cleaning operations include sweeping and vacuuming the floor to remove easily removable dust and debris.

[0071] Basic cleaning usually does not require mopping. For cleaning devices with automatic mopping attachment or removal functions (generally, cleaning devices with automatic mop cleaning functions also have automatic mopping attachment or removal functions), the device can be set to automatically remove the mopping attachment before performing basic cleaning. For cleaning devices without automatic mopping attachment or removal functions (such as cleaning devices without automatic cleaning modules), the user can choose not to attach the mopping attachment before performing basic cleaning.

[0072] Of course, if a mopping attachment is added to the cleaning device during the basic cleaning operation, mopping can also be performed at this step. However, the mopping mode can be set to normal cleaning mode, without the need for intensive cleaning. Furthermore, intensive cleaning can be achieved by performing repeated cleaning or by increasing the cleaning power of the cleaning tools and then cleaning the current area again. The main ways to increase the cleaning power of the cleaning tools include, but are not limited to: increasing the suction power, the rotation speed of the rotating mop head, and the vibration frequency of the vibrating mop.

[0073] Specifically, in this embodiment, after the basic cleaning operation is performed and completed on the area to be cleaned, the cleaning device can be moved on the area to be cleaned to determine the current cleanliness of each grid unit, and then the current cleanliness of each grid unit can be determined by combining the target cleanliness of each grid unit.

[0074] In another embodiment of the present invention, the cleaning path determination method further includes:

[0075] Basic cleaning operations are performed on the areas to be cleaned. During the basic cleaning operation, after each grid cell is cleaned, the target cleanliness and current cleanliness of that grid cell are obtained. The current cleanliness level of that grid cell is determined based on the target cleanliness and current cleanliness of that grid cell.

[0076] Specifically, after the cleaning device completes basic cleaning of the area corresponding to the current grid unit (the grid unit corresponding to the location of the cleaning device is taken as the current grid unit), the current cleanliness of the area corresponding to the current grid unit is detected by the sensors of the cleaning device, the current cleanliness is obtained, and then combined with the target cleanliness of the current grid unit to determine the current cleanliness level of the current grid unit. In this embodiment, once the basic cleaning operation of the area to be cleaned is completed, the current cleanliness level of all grid units can be determined.

[0077] In another embodiment of the present invention, the preset cleaning strategy in the cleaning path determination method includes:

[0078] Each grid cell is sorted in descending order of its current cleanliness level to generate a first sorting result, and a cleaning path is determined based on the first sorting result.

[0079] For example, refer to Figure 2 There are 6 grid cells on the map of the area to be cleaned: A1, A2, A3, A4, A5, and A6. All 6 grid cells are non-clean grid cells. The 6 grid cells are sorted in order of their current cleanliness level from high to low. The first sorting result is: A3, A2, A5, A6, A4, and A1.

[0080] In one implementation, if the cleaning device has the function of pausing the cleaning module during movement, the cleaning path determined according to the first sorting result can be A3→A2→A5→A6→A4→A1. When performing the mopping operation, the cleaning device first moves to the area corresponding to grid unit A3, mops that area, and then moves sequentially to the areas corresponding to grid units A2, A5, A6, A4, and A1, completing the mopping of the areas corresponding to A2, A5, A6, A4, and A1 in sequence.

[0081] In another implementation, if the cleaning device does not have the function of pausing the cleaning module during the process, since the cleaning path is an uninterrupted route, and in order to make the cleaning path conform as much as possible to the principle of prioritizing the cleaning of non-clean grid cells with high cleanliness, the cleaning path determined according to the first sorting result can be A2→A3→A6→A5→A4→A1.

[0082] In another embodiment of the present invention, the preset cleaning strategy in the cleaning path determination method includes:

[0083] The current cleanliness level of each grid unit is determined based on the preset correspondence between cleanliness level and cleanliness level grade. The grid units are then sorted in descending order of their current cleanliness level to generate a second sorting result. The cleaning path is then determined based on the second sorting result.

[0084] Among them, the cleanliness level is positively correlated with the cleanliness level, and the preset correspondence between the cleanliness level and the cleanliness level is stored in the memory of the cleaning device.

[0085] Furthermore, if a certain cleanliness level corresponds to several grid units, then these grid units can be cleaned in any order; that is, there is no requirement for a specific cleaning order among the grid units within the same cleanliness level. Optionally, the cleaning order of several grid units within the same cleanliness level can be determined according to the principle of minimizing the travel distance of the cleaning device.

[0086] Furthermore, if the area to be cleaned corresponds to several grid cells of the same cleanliness level on the map, forming multiple connected sub-areas, the cleaning device can clean one sub-area before cleaning the next.

[0087] For example, refer to Figure 2 The area to be cleaned on the map contains 6 grid cells: A1, A2, A3, A4, A5, and A6. All 6 grid cells are non-clean. The current cleanliness level of A3 is 5, A2 and A5 are 3, A4 and A6 are 2, and A1 is 1. Therefore, the second ranking based on the current cleanliness level is: first, A3; second, A2 and A5; third, A4 and A6; fourth, A1.

[0088] In one implementation, if the cleaning device has the function of pausing the cleaning module during the process, the cleaning path determined according to the second sorting result can be A3→A2, A5→A4, A6→A1. There is no requirement for the order of cleaning of several grid units of the same cleanliness level. In order to minimize the travel distance of the cleaning path, the cleaning path can be specifically determined as A3→A2→A5→A6→A4→A1.

[0089] In another implementation, if the cleaning device does not have the function of pausing the cleaning module during the process, since the cleaning path is an uninterrupted route, and in order to make the cleaning path conform as much as possible to the principle of prioritizing the cleaning of non-clean grid cells with high cleanliness, the cleaning path determined according to the second sorting result can be A2→A3→A6→A5→A4→A1.

[0090] The preset cleaning strategy in this embodiment determines the cleaning path based on the generated second sorting result. Compared with the preset cleaning strategy in the previous embodiment, which determines the cleaning path based on the generated first sorting result, this method is more flexible and can reduce the distance the cleaning device travels during the cleaning process to a certain extent, thereby reducing power consumption. It can also avoid the problem that the cleaning module's cleaning ability will decline prematurely when the cleaning device moves to the next grid cell in the cleaning path after cleaning one grid cell.

[0091] In another embodiment of the present invention, the preset cleaning strategy further includes:

[0092] The cleaning path is determined based on all non-clean grid cells, so that the cleaning path includes all non-clean grid cells and at least 0 clean grid cells;

[0093] Among them, grid cells whose difference between the target cleanliness and the current cleanliness is greater than a preset difference threshold are designated as non-clean grid cells.

[0094] It is understood that, in this embodiment, a grid cell whose difference between the target cleanliness and the current cleanliness is no greater than a preset difference threshold is a clean grid cell.

[0095] The preset difference threshold can be set by technicians according to actual needs. This embodiment does not impose any special limitation on the specific value of the preset difference threshold.

[0096] Since a clean grid cell is a grid cell whose current cleanliness level is not less than the target cleanliness level or whose current cleanliness level is close to the target cleanliness level, it does not require further mopping. When determining the cleaning path, the cleaning path can include only all non-clean grid cells, or it can include some or all of the clean grid cells. It should be understood that the fewer clean grid cells in the cleaning path, the higher the cleaning efficiency of the cleaning device. Therefore, to improve the cleaning efficiency of the cleaning device, the number of clean grid cells in the cleaning path should be minimized as much as possible when determining the cleaning path.

[0097] In one implementation, if the cleaning device has the function of pausing the cleaning module during its movement, it can skip grid cells that do not need cleaning or are temporarily not cleaned along its path. In this case, the cleaning path can be several disconnected sub-paths or a continuous route. Therefore, when determining the cleaning path, it is not necessary to consider how many clean grid cells are included in the path. To maximize cleaning efficiency, the cleaning path can be made to include all non-clean grid cells and zero clean grid cells; that is, the cleaning path can include only all non-clean grid cells. When the cleaning device performs mopping operations according to this cleaning path, if it passes through a clean grid cell, it can simply pause the cleaning module.

[0098] In another implementation, if the cleaning device lacks the function to pause the cleaning module's operation during its journey, meaning the device performs mopping and cleaning operations on all grid cells it passes through, and the cleaning path is an uninterrupted route, then when all non-clean grid cells are not connected, the cleaning path must include at least one clean grid cell in addition to all non-clean grid cells to form an uninterrupted route. In other words, when determining the cleaning path, it is necessary to include all non-clean grid cells, as well as some or all of the clean grid cells. In this case, to improve cleaning efficiency, the cleaning path can include as few clean grid cells as possible. Of course, to maximize cleaning efficiency, the number of clean grid cells on the cleaning path can be minimized. For example, if there are N possible cleaning paths that include all non-clean grid cells and are uninterrupted, the cleaning path with the fewest clean grid cells can be selected as the final cleaning path determined by the cleaning device. Furthermore, after filtering out all clean grid cells, the method also includes storing the current cleanliness of all clean grid cells as historical cleanliness in the cleanliness history data, so as to determine the target cleanliness of each grid cell according to the historical current cleanliness of each grid cell stored in the cleanliness history data through a preset target cleanliness determination strategy.

[0099] In some embodiments, when the mopping time of a certain grid cell exceeds a preset time threshold under the condition that the cleaning module is clean, the grid cell is removed from the cleaning path, and the current cleanliness of the grid cell is obtained and stored in the cleanliness history data as the historical current cleanliness.

[0100] Furthermore, in one implementation, such as Figure 3 As shown, the preset target cleanliness determination strategy may include the following steps:

[0101] Step S301: Obtain the historical current cleanliness level of each grid cell from the historical cleanliness data.

[0102] Step S302: Determine the target cleanliness level for each grid cell based on the historical current cleanliness level.

[0103] Step S303: Store the target cleanliness level for use when determining the cleaning path in the next round of mopping.

[0104] The historical cleanliness data records the current cleanliness level of each grid cell in each previous round of mopping. By obtaining the historical current cleanliness level of each grid cell, the normal state of the area corresponding to that grid cell can be determined. Therefore, the cleaning device, using a pre-loaded statistical analysis algorithm, can calculate the target cleanliness level for the next round of cleaning based on the historical current cleanliness level. This provides the cleaning device with the target for the next round of mopping, thereby improving the cleaning efficiency and effectiveness.

[0105] Furthermore, when each grid unit has not yet been mopped and cleaned, that is, when each grid unit does not have a historical current cleanliness level, the target cleanliness level of each grid unit can be initialized to a set value. This set value can be set by those skilled in the art according to actual needs, and the present invention does not limit this.

[0106] It is understood that the methods shown in steps S301 to S303 above are only an example of a preset target cleanliness determination strategy. In actual operation, those skilled in the art can also use other methods to determine the target cleanliness, and the present invention does not limit this.

[0107] In another embodiment of the present invention, when the cleaning device performs a mopping operation on the area to be cleaned according to the cleaning path, the cleaning path determination method further includes:

[0108] After completing the mopping and cleaning operation of the area corresponding to a grid cell, the current cleanliness level of that grid cell is retrieved again, and the saved current cleanliness level of that grid cell is updated so that the cleaning path can be re-determined according to the preset cleaning strategy when the preset cleaning path update conditions are met.

[0109] For a given grid cell, after mopping is performed on its corresponding area, the cleanliness level of that area changes. Therefore, after completing the mopping operation, the current cleanliness level of the grid cell can be retrieved again. Based on the target cleanliness level and the retrieved current cleanliness level, the current cleanliness degree of the grid cell can be re-obtained. This updated current cleanliness degree is then used to redetermine the cleaning path using a preset cleaning strategy when the preset cleaning path update conditions are met. The preset cleaning strategy is described in the above embodiments and will not be elaborated further here.

[0110] Furthermore, in this embodiment, the cleaning path determination method further includes: after performing a cleaning operation on the cleaning module of the cleaning device, determining that the preset cleaning path update conditions are met, and re-determining the cleaning path through a preset cleaning strategy to control the cleaning device to perform a mopping cleaning operation on the area to be cleaned according to the re-determined cleaning path.

[0111] Specifically, in one implementation, the cleaning module includes a mop.

[0112] This invention prioritizes cleaning non-clean grid cells with high cleanliness levels when determining the cleaning path. This is because cleaning the areas corresponding to these cells requires relatively clean cleaning modules. However, as the cleaning path progresses, the cleaning modules (e.g., mops) become dirtier and their cleaning ability decreases. When the area to be cleaned is dirty, or when a thorough cleaning is required, multiple cleaning cycles of the cleaning modules (e.g., mops) are often necessary. Before each cleaning cycle, the cleaning module has often just performed a mopping operation on a dirty area or has lost its cleaning ability. After each cleaning cycle, the cleaning module's cleaning ability is restored. Traditional methods typically return the cleaning device to the position before cleaning the cleaning modules (i.e., the position where the cleaning process was interrupted by cleaning the modules) after cleaning the modules and continue cleaning along the original path. Using this traditional method might result in using a freshly cleaned cleaning module to clean a dirty floor, causing the cleaning module's cleaning ability to decline rapidly and failing to meet the principle of prioritizing the cleaning of non-clean grid cells with higher cleanliness levels. Therefore, in this embodiment, after cleaning the cleaning module, a preset cleaning strategy is used to redetermine the cleaning path. This ensures that after cleaning the cleaning module, mopping is performed according to the redetermined cleaning path, which better aligns with the principle of prioritizing the cleaning of non-clean grid cells with higher cleanliness levels.

[0113] In another embodiment of the present invention, a cleaning path determination device is also provided, such as... Figure 4 As shown, the device includes:

[0114] The cleanliness determination module 401 is used to obtain the target cleanliness and current cleanliness of each grid cell on the map corresponding to the area to be cleaned, and to determine the current cleanliness of each grid cell based on the target cleanliness and current cleanliness.

[0115] The cleaning path determination module 402 is connected to the cleanliness level determination module 401 and is used to determine the cleaning path according to the current cleanliness level through a preset cleaning strategy, so that the cleaning device can perform mopping cleaning operation on the area to be cleaned according to the cleaning path; wherein, the preset cleaning strategy is determined based on the principle of prioritizing the cleaning of non-clean grid cells with high cleanliness level.

[0116] In some embodiments, the cleanliness determination module 401 is used to obtain the target cleanliness and current cleanliness of each grid cell on the map corresponding to the area to be cleaned after performing and completing basic cleaning operations on the area to be cleaned, and to determine the current cleanliness of each grid cell based on the target cleanliness and current cleanliness.

[0117] In some embodiments, the cleanliness determination module 401 is used to, during the process of performing basic cleaning operations on the area to be cleaned, after completing the basic cleaning operation on the area corresponding to each grid cell, obtain the target cleanliness and current cleanliness of the grid cell, and determine the current cleanliness of the grid cell based on the target cleanliness and current cleanliness of the grid cell.

[0118] In some embodiments, the cleaning path determination module 402 determines the cleaning path according to the current cleanliness level by a preset cleaning strategy, including: sorting each grid cell in descending order of the current cleanliness level, generating a first sorting result, and determining the cleaning path according to the first sorting result.

[0119] In some embodiments, the cleaning path determination module 402 determines the cleaning path based on the current cleanliness level using a preset cleaning strategy, including: determining the current cleanliness level corresponding to each grid unit according to a preset correspondence between cleanliness level and cleanliness level, sorting each grid unit in descending order of current cleanliness level, generating a second sorting result, and determining the cleaning path based on the second sorting result; wherein the cleanliness level is positively correlated with the cleanliness level. In some embodiments, the cleaning path determination module 402 further determines the cleaning path based on the current cleanliness level using a preset cleaning strategy, including: determining the cleaning path based on all non-clean grid units, so that the cleaning path includes all non-clean grid units and at least 0 clean grid units; wherein grid units where the difference between the target cleanliness level and the current cleanliness level is greater than a preset difference threshold are considered non-clean grid units.

[0120] In some embodiments, when the cleaning device performs a mopping operation on the area to be cleaned according to the cleaning path, the cleanliness determination module 401 is further configured to, after completing the mopping operation on the area corresponding to a grid unit, re-acquire the current cleanliness corresponding to the grid unit and update the saved current cleanliness corresponding to the grid unit, so as to re-determine the cleaning path according to the preset cleaning strategy when the preset cleaning path update conditions are met.

[0121] In some embodiments, the cleaning path determination module 402 is further configured to determine, after performing a cleaning operation on the cleaning module of the cleaning device, that the preset cleaning path update conditions are met, and to redetermine the cleaning path through a preset cleaning strategy so as to control the cleaning device to perform a mopping cleaning operation on the area to be cleaned according to the redetermined cleaning path.

[0122] In another embodiment of the present invention, a computer program product is also provided, which includes a computer program or instructions. When the computer program or instructions are executed by a processor, they implement all or part of the steps of the method in the above method embodiment. This embodiment will not be repeated here.

[0123] Furthermore, the computer program product may include one or more computer-executable components configured to perform embodiments when the program is run; the computer program product may also include a computer program tangibly contained on a readable medium thereof, the computer program containing program code for performing any of the methods in the embodiments of the present invention. In such embodiments, the computer program may be downloaded and installed from a network via a communication component, and / or installed from a removable medium.

[0124] In another embodiment of the present invention, a computer-readable storage medium is also provided, wherein a computer program stored in the computer-readable storage medium, when executed by one or more processors, implements all or part of the steps of the method in the above method embodiment. This embodiment will not be repeated here.

[0125] In another embodiment of the present invention, an electronic device 500 is also provided, which can be a cleaning device. Figure 5 This is a schematic diagram of the composition structure of an electronic device provided in an embodiment of the present invention, such as... Figure 5 As shown, the electronic device 500 includes: at least one processor 501, at least one communication bus 502, a user interface 503, at least one external communication interface 504, and a memory 505. The communication bus 502 is configured to enable communication between these components. The user interface 503 may include a display screen, and the external communication interface 504 may include standard wired and wireless interfaces. The memory 505 stores a computer program, and the memory 505 and one or more processors 501 are communicatively connected. When the computer program is executed by one or more processors, the processor 501 is configured to execute the computer program stored in the memory to implement all or part of the steps of the method in the above-described method embodiments, which will not be repeated here.

[0126] The cleaning path determination method, apparatus, and electronic device provided by this invention determine the cleaning path based on the current cleanliness level through a preset cleaning strategy. The preset cleaning strategy is determined based on the principle of prioritizing the cleaning of non-clean grid cells with higher cleanliness levels (the cleaner the area, the earlier it is cleaned). This ensures that the cleaning path determined by the preset cleaning strategy conforms as much as possible to the principle of prioritizing the cleaning of non-clean grid cells with higher cleanliness levels. When the cleaning device performs mopping operations on the area to be cleaned according to the cleaning path, it maintains the cleanliness level of the cleaning modules in the cleaning device as much as possible, thereby reducing the number of times the cleaning modules (e.g., mops) need to be cleaned, increasing the utilization rate of the cleaning modules, and thus reducing the time, power consumption, detergent usage, and water consumption of the cleaning process, and reducing the wear and tear on the cleaning modules.

[0127] The various embodiments in this invention are described in a progressive manner. For the same or similar parts between the various embodiments, please refer to each other. Each embodiment focuses on describing the differences from other embodiments.

[0128] The scope of protection of this invention is not limited to the embodiments described above. Obviously, those skilled in the art can make various modifications and variations to this invention without departing from its scope and spirit. If these modifications and variations fall within the scope of the claims of this invention and their equivalents, then the intent of this invention also includes these modifications and variations.

Claims

1. A method for determining a cleaning path, characterized in that, The method includes: Obtain the target cleanliness and current cleanliness of each grid cell on the map corresponding to the area to be cleaned, and determine the current cleanliness level of each grid cell based on the target cleanliness and the current cleanliness level; wherein, for any grid cell, the smaller the difference between the target cleanliness and the current cleanliness level of the grid cell, the higher the current cleanliness level of the grid cell. The cleaning path is determined based on all non-clean grid cells, including all non-clean grid cells and at least 0 clean grid cells in the cleaning path; grid cells whose difference between the target cleanliness and the current cleanliness is greater than a preset difference threshold are designated as non-clean grid cells. Based on the current level of cleanliness, a cleaning path is determined using a preset cleaning strategy, so that the cleaning device performs mopping cleaning operations on the area to be cleaned according to the cleaning path. The preset cleaning strategy is determined based on the principle of prioritizing the cleaning of non-clean grid cells with high cleanliness levels. The preset cleaning strategy includes: sorting each grid cell in descending order of its current cleanliness level, generating a first sorting result, and determining a cleaning path based on the first sorting result. After performing a cleaning operation on the cleaning module of the cleaning device, it is determined that the preset cleaning path update conditions are met, and the cleaning path is re-determined through the preset cleaning strategy to control the cleaning device to perform a mopping cleaning operation on the area to be cleaned according to the re-determined cleaning path.

2. The cleaning path determination method according to claim 1, characterized in that, Before obtaining the target cleanliness and current cleanliness corresponding to each grid cell on the map of the area to be cleaned, the method further includes: Perform and complete basic cleaning operations on the area to be cleaned.

3. The cleaning path determination method according to claim 1, characterized in that, The method further includes: Basic cleaning operations are performed on the area to be cleaned. During the basic cleaning operation, after each grid cell is cleaned, the target cleanliness and current cleanliness of the grid cell are obtained, and the current cleanliness level of the grid cell is determined based on the target cleanliness and current cleanliness of the grid cell.

4. The cleaning path determination method according to claim 1, characterized in that, The preset cleaning strategy includes: The current cleanliness level of each grid unit is determined according to the preset correspondence between cleanliness level and cleanliness level grade. The grid units are sorted in descending order of their current cleanliness level to generate a second sorting result and the cleaning path is determined based on the second sorting result. Among them, the cleanliness level is positively correlated with the cleanliness level.

5. The cleaning path determination method according to claim 1, characterized in that, When the cleaning device performs a mopping operation on the area to be cleaned according to the cleaning path, the method further includes: After completing the mopping and cleaning operation of the area corresponding to a grid unit, the current cleanliness level of that grid unit is retrieved again, and the saved current cleanliness level of that grid unit is updated so that the cleaning path can be re-determined through the preset cleaning strategy when the preset cleaning path update conditions are met.

6. A cleaning path determination device, characterized in that, The device includes: A cleanliness level determination module is used to obtain the target cleanliness and current cleanliness of each grid cell on the map corresponding to the area to be cleaned, and to determine the current cleanliness level of each grid cell based on the target cleanliness and the current cleanliness. Specifically, for any grid cell, the smaller the difference between the target cleanliness and the current cleanliness, the higher the current cleanliness level of that grid cell. The cleaning path is determined based on all non-clean grid cells, including all non-clean grid cells and at least 0 clean grid cells. Grid cells where the difference between the target cleanliness and the current cleanliness is greater than a preset difference threshold are designated as non-clean grid cells. A cleaning path determination module, connected to the cleanliness determination module, is used to determine a cleaning path based on the current cleanliness level and a preset cleaning strategy, so that the cleaning device performs a mopping cleaning operation on the area to be cleaned according to the cleaning path. The preset cleaning strategy is determined based on the principle of prioritizing the cleaning of non-clean grid cells with high cleanliness levels. The preset cleaning strategy includes: sorting each grid cell in descending order of its current cleanliness level, generating a first sorting result, and determining a cleaning path based on the first sorting result. After performing a cleaning operation on the cleaning module of the cleaning device, it is determined that the preset cleaning path update conditions are met, and the cleaning path is re-determined through the preset cleaning strategy to control the cleaning device to perform a mopping cleaning operation on the area to be cleaned according to the re-determined cleaning path.

7. A computer-readable storage medium, characterized in that, The computer program stored in the computer-readable storage medium, when executed by one or more processors, implements the steps of the method as described in any one of claims 1 to 5.

8. An electronic device, characterized in that, The method includes a memory and one or more processors, wherein a computer program is stored in the memory, and the memory and the one or more processors are communicatively connected to each other. When the computer program is executed by the one or more processors, the steps of the method as described in any one of claims 1 to 5 are performed.

Images