Gap determination method and apparatus, storage medium, and electronic device

Abstract

The application discloses a gap determination method and device, a storage medium and an electronic device, and comprises the following steps: identifying the material of a to-be-cleaned area to obtain an identification result; and in the case that the identification result indicates that at least two different materials exist in a first cleaning area in the to-be-cleaned area, determining that a gap exists in the first cleaning area. By using the technical scheme, the problem that a cleaning device cannot effectively clean due to the fact that the cleaning device cannot accurately identify the gap in the ground area in the prior art is solved.

Description

[Technical Field]

[0001] This invention relates to the field of communications, and more specifically, to a method and apparatus for determining gaps, a storage medium, and an electronic device. [Background Technology]

[0002] With the development of technology, cleaning equipment (such as robotic vacuum cleaners) has been widely used. These cleaning devices can autonomously clean indoor spaces, bringing great convenience to people's lives.

[0003] However, during the use of cleaning equipment, uneven ground areas are often encountered, especially areas with gaps to be cleaned. Because the cleaning equipment cannot accurately identify the gaps in the ground area, it cannot effectively clean the area.

[0004] There is currently no effective solution to the problem that cleaning equipment cannot accurately identify gaps in the ground area, thus failing to achieve effective cleaning. [Summary of the Invention]

[0005] This invention provides a gap determination method and apparatus, a storage medium and an electronic device, to at least solve the problem in the prior art that cleaning equipment cannot effectively clean because it cannot accurately identify gaps in the ground area.

[0006] According to one aspect of the present invention, a gap determination method is provided, comprising: identifying the material of a region to be cleaned to obtain an identification result; and determining that a gap exists in the first cleaning region when the identification result indicates that a first cleaning region in the region to be cleaned contains at least two different materials.

[0007] In an exemplary embodiment, after identifying the material of the area to be cleaned and obtaining the identification result, the method further includes: when the identification result indicates that a second cleaning area in the area to be cleaned contains a material, collecting point cloud data of the second cleaning area; performing a clustering operation on the point cloud data to obtain multiple point cloud sets; determining a local cleaning map corresponding to each point cloud set in the multiple point cloud sets; and determining a gap map corresponding to the gap based on the local cleaning map.

[0008] In one exemplary embodiment, determining the gap map corresponding to the gap based on the local cleaning map includes at least one of the following: in the local cleaning map, a map with a map area greater than a first preset value is determined as a board map; and the position connecting different board maps is determined as the gap map; and a map in the local cleaning map with a map area less than a second preset value is determined as the gap map.

[0009] In an exemplary embodiment, after determining the gap map corresponding to the gap based on the local cleaning map, the method further includes: determining at least one cleaning path of the cleaning device from the gap map according to preset conditions, wherein the preset conditions include: the running direction of the cleaning device is consistent in each cleaning path; and cleaning the gap in the at least one cleaning path according to preset cleaning parameters.

[0010] In one exemplary embodiment, cleaning the gaps in the at least one cleaning path according to preset cleaning parameters includes: reducing the distance parameter when the preset cleaning parameters include at least the distance parameter between the cleaning component of the cleaning device and the ground, so as to clean the gaps in the at least one cleaning path by means of the cleaning component; and controlling the cleaning direction of the cleaning device to be consistent with the extension direction of the gap when the preset cleaning parameters include at least the cleaning direction and cleaning intensity of the cleaning device, and controlling the cleaning intensity of the cleaning device to be greater than the preset cleaning intensity of the board corresponding to the gap.

[0011] In an exemplary embodiment, after cleaning the gaps in the at least one cleaning path according to preset cleaning parameters, the method further includes: generating multiple recharge paths for the cleaning device based on the current position of the cleaning device and the position information of the base; determining the confidence level of each recharge path based on the recharge distance of the multiple recharge paths and the gaps on the paths; and determining a target recharge path from the multiple recharge paths based on the multiple confidence levels corresponding to the multiple recharge paths.

[0012] In an exemplary embodiment, determining the confidence level of each charging path based on the charging distance and gaps in the multiple charging paths includes: for each charging path among the multiple charging paths, obtaining the number of gaps and the charging distance of each charging path; and determining the confidence level of each charging path based on a first weight of the gaps, the number of gaps, the charging distance, and a second weight of the charging distance.

[0013] In an exemplary embodiment, determining the confidence level of each recharge path based on a first weight of the gap, the number of gaps, the recharge distance, and a second weight of the recharge distance includes: performing the following steps for each recharge path: determining the intersection angle between each recharge path and the gap it passes through, the intersection angle being the angle at which the cleaning device moves through the gap; determining a first number of gaps whose intersection angle exceeds a preset angle, and a second number of gaps whose intersection angle does not exceed the preset angle; determining the confidence level of each recharge path based on a third weight and a first number of gaps whose intersection angle exceeds the preset angle, a fourth weight and a second number of gaps whose intersection angle does not exceed the preset angle, and the recharge distance and a second weight, wherein the third weight is greater than the fourth weight, and the first weight includes the third weight and the fourth weight.

[0014] In an exemplary embodiment, determining the confidence level of each recharge path based on a first weight of the gap, the number of gaps, the recharge distance, and a second weight of the recharge distance further includes: performing the following steps for each recharge path: obtaining the intersection angle between the recharge path and the gaps it passes through; determining the calculated weight of each gap based on the correspondence between the intersection angle and the weight; calculating the confidence level of each recharge path based on the calculated weight of each gap, the number of gaps, the recharge path, and the second weight, wherein the first weight includes the calculated weight.

[0015] According to another embodiment of the present invention, a gap determination device is also provided, comprising: an identification module for identifying the material of the area to be cleaned and obtaining an identification result; and a determination module for determining that a gap exists in the first cleaning area when the identification result indicates that a first cleaning area in the area to be cleaned contains at least two different materials.

[0016] According to another aspect of the present invention, a computer-readable storage medium is also provided, wherein a computer program is stored therein, wherein the computer program is configured to execute the above-described gap determination method at runtime.

[0017] According to another aspect of the present invention, an electronic device is also provided, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the gap determination method by means of the computer program.

[0018] In this embodiment of the invention, the material of the area to be cleaned is identified to obtain an identification result; if the identification result indicates that at least two different materials exist in the first cleaning area of ​​the area to be cleaned, it is determined that a gap exists in the first cleaning area, that is, the gap in the first cleaning area is determined based on at least two different materials in the area to be cleaned. By adopting the above technical solution, the problem in the prior art that the cleaning equipment cannot accurately identify gaps in the ground area, thus preventing effective cleaning, is solved, enabling accurate identification of gaps in the area to be cleaned. [Attached Image Description]

[0019] The accompanying drawings, which are included to provide a further understanding of the invention and form part of this invention, illustrate exemplary embodiments of the invention and, together with the description thereof, serve to explain the invention and do not constitute an undue limitation thereof. In the drawings:

[0020] Figure 1 This is a hardware structure block diagram of a cleaning device applied to a gap determination method according to an embodiment of the present invention;

[0021] Figure 2 This is a flowchart of an optional gap determination method according to an embodiment of the present invention;

[0022] Figure 3 This is a structural block diagram of an optional gap determining device according to an embodiment of the present invention;

[0023] Figure 4 This is another structural block diagram of an optional gap determination device according to an embodiment of the present invention.

Detailed Implementation Methods

[0024] To enable those skilled in the art to better understand the present invention, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort should fall within the scope of protection of the present invention.

[0025] It should be noted that the terms "first," "second," etc., in the specification, claims, and accompanying drawings of this invention are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that the embodiments of the invention described herein can be implemented in orders other than those illustrated or described herein. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover a non-exclusive inclusion; for example, a process, method, system, product, or apparatus that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or apparatus.

[0026] The methods and embodiments provided in this invention can be executed in a floor cleaning device or a similar computing device. Taking operation on a cleaning device as an example, Figure 1 This is a hardware structure block diagram of a cleaning device applied to a gap determination method according to an embodiment of the present invention. Figure 1 As shown, the cleaning equipment may include one or more ( Figure 1 Only one is shown in the image. A processor 102 (which may include, but is not limited to, a microprocessor (MPU) or a programmable logic device (PLD)) and a memory 104 for storing data are also shown. In one exemplary embodiment, the cleaning device may further include a transmission device 106 for communication functions and an input / output device 108. Those skilled in the art will understand that... Figure 1 The structure shown is for illustrative purposes only and does not limit the structure of the cleaning equipment described above. For example, the cleaning equipment may also include components that are more... Figure 1 The more or fewer components shown, or having the same Figure 1 Equivalent functions or ratios shown Figure 1 The functions shown have more different configurations.

[0027] The memory 104 can be used to store computer programs, such as application software programs and modules, like the gap determination computer program in this embodiment of the invention. The processor 102 executes various functional applications and data processing by running the computer programs stored in the memory 104, thereby implementing the above-described method. The memory 104 may include high-speed random access memory and may also include non-volatile memory, such as one or more magnetic storage devices, flash memory, or other non-volatile solid-state memory. In some instances, the memory 104 may further include memory remotely located relative to the processor 102, and these remote memories can be connected to the cleaning equipment via a network. Examples of such networks include, but are not limited to, the Internet, corporate intranets, local area networks, mobile communication networks, and combinations thereof.

[0028] The transmission device 106 is used to receive or send data via a network. Specific examples of the network described above may include a wireless network provided by a communication provider for the cleaning equipment. In one example, the transmission device 106 includes a Network Interface Controller (NIC), which can connect to other network devices via a base station to communicate with the Internet. In another example, the transmission device 106 may be a Radio Frequency (RF) module used for wireless communication with the Internet.

[0029] This embodiment provides a gap determination method, applied to the aforementioned cleaning equipment. Figure 2 This is a flowchart of an optional gap determination method according to an embodiment of the present invention, the process including the following steps:

[0030] Step S202: Identify the material of the area to be cleaned and obtain the identification result;

[0031] Step S204: If the identification result indicates that there are at least two different materials in the first cleaning area of ​​the area to be cleaned, it is determined that there is a gap in the first cleaning area.

[0032] The above technical solution identifies the material of the area to be cleaned, obtaining an identification result. If the identification result indicates that at least two different materials exist in the first cleaning area of ​​the area to be cleaned, then a gap is determined to exist in the first cleaning area; that is, the gap in the first cleaning area is determined based on at least two different materials in the area to be cleaned. This technical solution solves the problem in existing technologies where cleaning equipment cannot accurately identify gaps in the floor area, thus hindering effective cleaning. It enables accurate identification of gaps in the area to be cleaned.

[0033] In one optional embodiment, step S202 can be implemented by using a material recognition sensor mounted on the cleaning equipment to identify the area to be cleaned. This means the sensor utilizes its inherent material recognition function to identify the area. Alternatively, an image acquisition device mounted on the cleaning equipment can acquire images of the area to be cleaned. These images are then input into a material recognition model, which analyzes the images to determine whether the area to be cleaned contains one or more materials. The specific material recognition process is not limited in this embodiment; optionally, the material type can be flooring, floor tiles, etc.

[0034] In one optional embodiment, a material recognition mode can be set for the implementation of step S204 above. That is, step S204 will only be executed when the material recognition model is started. When the material recognition mode is started, if at least two materials are identified in front of the running direction of the cleaning equipment, it is determined that there is a gap in the first cleaning area of ​​the current cleaning area, that is, the gap corresponding to the joint area between two adjacent materials.

[0035] During the operation of the cleaning equipment, a first cleaning area may be encountered where at least two materials exist; a second cleaning area may also be encountered where only one material exists. If the identification result indicates that the second cleaning area in the area to be cleaned contains only one material, point cloud data of the second cleaning area is collected; the point cloud data is clustered to obtain multiple point cloud sets; a local cleaning map is determined for each point cloud set; and a gap map is determined based on the local cleaning map.

[0036] Understandably, for cleaning equipment equipped with laser point cloud acquisition capabilities, the laser point cloud acquisition function of the cleaning equipment is activated to collect point cloud data of the second cleaning area. After collecting the point cloud data, a clustering operation is performed on the point cloud data according to a certain threshold to obtain multiple point cloud sets. A local cleaning map corresponding to each of the multiple point cloud sets is determined, where the local cleaning map can be understood as a map including the board material and gaps. Based on the local cleaning map, a gap map corresponding to the gap is determined.

[0037] In one exemplary embodiment, determining the gap map corresponding to the gap based on the local cleaning map includes at least one of the following:

[0038] 1) Considering that there is also point cloud data at the gap, in order to remove the point cloud data corresponding to the gap from the local cleaning map, the board map in the local cleaning map is filtered out, which can realize the removal process of the point cloud data corresponding to the gap. Specifically, in the local cleaning map, the map with a map area greater than a first preset value is determined as the board map; and the connection position between different board maps is determined as the gap map.

[0039] 2) Maps with a map area smaller than the second preset value in the local cleaning map are identified as the gap map.

[0040] The above technical solution provides a method for determining gaps in a first cleaning area containing at least two materials, and also provides a method for determining gaps in a second cleaning area containing only one material. Furthermore, after determining the gap map corresponding to the gap, this embodiment of the invention also provides an application scheme for the gap map:

[0041] In an exemplary embodiment, after determining the gap map corresponding to the gap based on the local cleaning map, the method further includes: determining at least one cleaning path of the cleaning device from the gap map according to preset conditions, wherein the preset conditions include: the running direction of the cleaning device is consistent in each cleaning path; and cleaning the gap in the at least one cleaning path according to preset cleaning parameters.

[0042] In the embodiments of this specification, each cleaning path corresponds to at least some gaps, so the set of all cleaning paths can constitute the cleaning path of the gap map. Furthermore, when multiple cleaning paths exist, the execution order of multiple cleaning paths can be generated according to the location of the cleaning equipment and the principle of shortest path. Optionally, multiple path sequences containing all cleaning paths can be obtained using a directed graph algorithm, the movement distance of the cleaning equipment corresponding to each path sequence can be counted, and the path sequence with the shortest movement distance can be used as the cleaning order of the cleaning equipment, thereby improving cleaning efficiency.

[0043] Once the gap map is determined, at least one cleaning path for the cleaning equipment can be determined based on the direction of the gaps in the gap map. This cleaning path can be understood as a cleaning path generated only for the gaps and may not include cleaning of the board material. Optionally, while controlling the cleaning equipment to travel the minimum distance, all gaps in the gap map are cleaned, and the running direction of the cleaning equipment in each cleaning path is consistent. After the cleaning path is determined, the gaps in the at least one determined cleaning path can be cleaned according to preset cleaning parameters. In this embodiment of the invention, since gaps are generally arranged horizontally and vertically, the cleaning path is mainly generated based on the horizontal or vertical arrangement of the gaps.

[0044] It should be noted that for the crevices in the area to be cleaned, they can be cleaned once using the first cleaning path, and then cleaned using the second cleaning path. Simultaneously, the cleanliness of the crevices can be monitored in real time during the cleaning process. If the crevices are not clean enough, cleaning can continue using the third cleaning path until all crevices in the area to be cleaned are cleaned. The first, second, and third cleaning paths can be cleaning paths for all crevices (i.e., a set of multiple cleaning paths). The cleaning order of the cleaning equipment corresponding to the first, second, and third cleaning paths can be the same or different; this specification does not limit this.

[0045] In one exemplary embodiment, cleaning the gaps in the at least one cleaning path according to preset cleaning parameters includes:

[0046] 1) When the preset cleaning parameters include at least the distance parameter between the cleaning component of the cleaning device and the ground, the distance parameter is reduced so that the cleaning component can clean the gaps in the at least one cleaning path; in this embodiment of the invention, the cleaning component is lowered to the extent that it makes interference contact with the gap, thereby achieving deep cleaning;

[0047] This can be understood as reducing the distance parameter by making the distance between the cleaning component and the ground smaller than the distance during normal operation (i.e., the distance between the cleaning component and the ground during the cleaning of the board), thereby enabling the cleaning component to maintain a high interference contact with the gaps and achieving targeted cleaning treatment of the gaps.

[0048] 2) When the preset cleaning parameters include at least the cleaning direction and cleaning intensity of the cleaning equipment, the cleaning direction of the cleaning equipment is controlled to be consistent with the extension direction of the gap, and the cleaning intensity of the cleaning equipment is controlled to be greater than the preset cleaning intensity of the board corresponding to the gap, thereby enabling targeted cleaning of the gap.

[0049] It should be noted that the above-mentioned preset cleaning parameters can simultaneously include: the distance parameter between the cleaning component of the cleaning device and the ground, the cleaning direction of the cleaning device, and the cleaning intensity. In this case, the distance parameter can be reduced so that the cleaning component can clean the gaps in the at least one cleaning path, and the cleaning direction of the cleaning device can be controlled to be consistent with the extension direction of the gap (for example, the rotation direction of the roller brush is consistent with the extension direction of the gap), and the cleaning intensity of the cleaning device can be controlled to be greater than the preset cleaning intensity of the board corresponding to the gap. Since the dust or solid particles in the gap are difficult to clean, a larger cleaning intensity can achieve targeted and efficient cleaning, thereby improving cleaning efficiency. The adoption of the above-mentioned preset cleaning parameters is not limited in the embodiments of the present invention.

[0050] After the cleaning equipment completes the cleaning process in the crevices, it needs to be charged or returned to its base. The presence of crevices may affect the return process; for example, the hollow environment of the crevices may cause the equipment to slip, affecting its recharging efficiency. In more serious cases, it may even change the direction of movement, reducing its intelligence and thus lowering the user experience. To reduce the time cost of returning the cleaning equipment to charge and to avoid slippage caused by crevices, this embodiment of the invention also provides a solution for the cleaning equipment's return to charging:

[0051] Multiple recharge paths for the cleaning device are generated based on the current location of the cleaning device and the location information of the base. The confidence level of each recharge path is determined based on its recharge distance and the gaps in the paths. A target recharge path is determined from the multiple recharge paths based on the corresponding confidence levels. In this embodiment, the confidence level can be understood as the recharge reliability of the cleaning device returning to the base for charging, used to characterize the efficiency (i.e., time efficiency and movement stability) of the cleaning device returning to the base.

[0052] In an exemplary embodiment, a technical solution for determining the aforementioned confidence level is provided. The confidence level of each charging path is determined based on the charging distance and gaps in the multiple charging paths. This can be achieved through the following method: For each charging path among the multiple charging paths, the number of gaps and the charging distance of each charging path are obtained; the confidence level of each charging path is determined based on a first weight of the gaps, the number of gaps, the charging distance, and a second weight of the charging distance.

[0053] By employing the above technical solution, since the cleaning equipment may slip when passing through gaps, both the gap and the recharge distance are used as reference factors in the recharge process, thus improving the reliability of the judgment. The determination process for the first weight can be flexibly set; for example, different materials may have different first weights, and gaps of different widths may also correspond to different first weights. This embodiment of the invention does not limit this.

[0054] In this embodiment of the invention, the first product of the first weight and the number of gaps and the second product of the refill distance and the second weight can be calculated first. The sum of the first product and the second product is used as the confidence level. The specific value of the first weight can be fixed or flexibly set according to different gap conditions.

[0055] In one optional embodiment, since the intersection angle between different gaps and the recharge path may vary, i.e., the angle between the cleaning device's recharge path and different gaps will differ, the degree of slippage of the cleaning device will vary. In practical applications, the smaller the angle, the higher the probability of slippage, i.e., the greater the calculation weight. In this embodiment of the specification, the intersection angle can be a non-obtuse angle. The specific implementation scheme is as follows:

[0056] Determine the intersection angle between each gap and each recharge path, wherein the intersection angle is the angle at which the cleaning device moves through the gap; determine a first number of gaps whose intersection angle exceeds a preset angle (which may be 45 degrees), and a second number of gaps whose intersection angle does not exceed the preset angle; set the weight of the first number of gaps as a third weight, and set the weight of the second number of gaps as a fourth weight, wherein the third weight is greater than the fourth weight.

[0057] Then, the confidence level of each recharge path is determined based on the third weight of the gap, the first quantity, the fourth weight, the second quantity, the recharge distance, and the second weight of the recharge distance.

[0058] In another optional embodiment, determining the confidence level of each recharge path based on a first weight of the gap, the number of gaps, the recharge distance, and a second weight of the recharge distance can be achieved through the following scheme: For each recharge path, perform the following steps: obtain the intersection angle between the recharge path and the gaps it passes through; determine the calculated weight of each gap based on the correspondence between the intersection angle and the weight; calculate the confidence level of each recharge path based on the calculated weight of each gap, the number of gaps, the recharge path, and the second weight, wherein the first weight includes the calculated weight.

[0059] The above technical solution provides a relationship between a first weight and the intersection angle. For example, a functional relationship can be established between the first weight and the intersection angle. This relationship can be a linear function or a functional relationship between different intersection angles, friction, and the first weight, determined experimentally. In this functional relationship, the greater the friction, the less impact the gap has, meaning a smaller calculated weight. Then, the first weight of each gap traversed in each recharge path is calculated using this functional relationship, and the recharge reliability of each recharge path is obtained through weighted calculation.

[0060] It should be noted that the above steps are mainly applied to cleaning equipment, such as portable cleaning equipment and robot vacuum cleaners, and this invention does not limit them.

[0061] Through the above description of the embodiments, those skilled in the art can clearly understand that the methods according to the above embodiments can be implemented by means of software plus necessary general-purpose hardware platforms. Of course, they can also be implemented by hardware, but in many cases the former is a better implementation method. Based on this understanding, the technical solution of the present invention, in essence, or the part that contributes to the prior art, can be embodied in the form of a software product. This computer software product is stored in a storage medium (such as ROM / RAM, magnetic disk, optical disk) and includes several instructions to cause a terminal device (which may be a mobile phone, computer, server, or network device, etc.) to execute the methods of the various embodiments of the present invention.

[0062] This embodiment also provides a gap determining device for implementing the above embodiments and preferred embodiments; details already described will not be repeated. As used below, the term "module" can refer to a combination of software and / or hardware that implements a predetermined function. Although the devices described in the following embodiments are preferably implemented in software, hardware implementations, or a combination of software and hardware, are also possible and contemplated.

[0063] Figure 3 This is a structural block diagram of an optional gap determining device according to an embodiment of the present invention, the device comprising:

[0064] The identification module 30 is used to identify the material of the area to be cleaned and obtain the identification result;

[0065] The first determining module 32 is used to determine that there is a gap in the first cleaning area when the identification result indicates that there are at least two different materials in the first cleaning area of ​​the area to be cleaned.

[0066] The above technical solution identifies the material of the area to be cleaned, obtaining an identification result. If the identification result indicates that at least two different materials exist in the first cleaning area of ​​the area to be cleaned, then a gap is determined to exist in the first cleaning area; that is, the gap in the first cleaning area is determined based on at least two different materials in the area to be cleaned. This technical solution solves the problem in existing technologies where cleaning equipment cannot accurately identify gaps in the floor area, thus hindering effective cleaning. It enables accurate identification of gaps in the area to be cleaned.

[0067] In an optional embodiment, the identification module 30 is further configured to identify the area to be cleaned using a material identification sensor mounted on the cleaning equipment, that is, to identify the area to be cleaned using the inherent material identification function of the material identification sensor. The identification module 30 is also configured to acquire images of the area to be cleaned using an image acquisition device mounted on the cleaning equipment. The acquired images are input into a material identification model, and the material identification model analyzes the images to determine whether the area to be cleaned contains one or more material types. The specific material identification process is not limited in this embodiment of the specification; optionally, the material type can be flooring, floor tiles, etc.

[0068] In an optional embodiment, the first determining module 32 is further configured to, when the material recognition mode has been activated, determine that there is a gap in the first cleaning area of ​​the current cleaning area if at least two materials are identified in front of the running direction of the cleaning equipment, that is, the gap corresponding to the seam area between two adjacent materials.

[0069] Figure 4 This is another structural block diagram of an optional gap determining device according to an embodiment of the present invention, such as... Figure 4 As shown, it includes: a data acquisition module 34, a clustering module 36 connected to the data acquisition module 34, and a second determination module 38 connected to the clustering module 36, wherein...

[0070] During the operation of the cleaning equipment, a first cleaning area may be encountered where at least two materials exist; a second cleaning area may also be encountered where only one material exists. If the identification result indicates that the second cleaning area in the area to be cleaned contains only one material, the acquisition module is used to acquire point cloud data of the second cleaning area; the clustering module 36 is used to perform clustering operations on the point cloud data to obtain multiple point cloud sets; the second determination module 38 is used to determine the local cleaning map corresponding to each of the multiple point cloud sets; and the gap map corresponding to the gap is determined based on the local cleaning map.

[0071] Understandably, for cleaning equipment equipped with laser point cloud acquisition capabilities, the laser point cloud acquisition function of the cleaning equipment is activated to collect point cloud data of the second cleaning area. After collecting the point cloud data, a clustering operation is performed on the point cloud data according to a certain threshold to obtain multiple point cloud sets. A local cleaning map corresponding to each of the multiple point cloud sets is determined, where the local cleaning map can be understood as a map including the board material and gaps. Based on the local cleaning map, a gap map corresponding to the gap is determined.

[0072] In one exemplary embodiment, the second determining module 38 is further configured to perform at least one of the following:

[0073] 1) Considering that there is also point cloud data at the gap, in order to remove the point cloud data corresponding to the gap from the local cleaning map, the board map in the local cleaning map is filtered out, which can realize the removal process of the point cloud data corresponding to the gap. Specifically, in the local cleaning map, the map with a map area greater than a first preset value is determined as the board map; and the connection position between different board maps is determined as the gap map.

[0074] 2) Maps with a map area smaller than the second preset value in the local cleaning map are identified as the gap map.

[0075] The above technical solution provides a method for determining gaps in a first cleaning area containing at least two materials, and also provides a method for determining gaps in a second cleaning area containing only one material. Furthermore, after determining the gap map corresponding to the gap, this embodiment of the invention also provides an application scheme for the gap map:

[0076] In one exemplary embodiment, the second determining module 38 is further configured to determine at least one cleaning path of the cleaning device from the gap map according to preset conditions, wherein the preset conditions include: the running direction of the cleaning device is consistent in each cleaning path; the device further includes: a cleaning module 40, configured to clean the gaps in the at least one cleaning path according to preset cleaning parameters.

[0077] Once the gap map is determined, at least one cleaning path for the cleaning equipment can be determined based on the direction of the gaps in the gap map. This cleaning path can be understood as a cleaning path generated only for the gaps and may not include cleaning of the board material. Optionally, while controlling the cleaning equipment to travel the minimum distance, all gaps in the gap map are cleaned, and the running direction of the cleaning equipment in each cleaning path is consistent. After the cleaning path is determined, the gaps in the at least one determined cleaning path can be cleaned according to preset cleaning parameters. In this embodiment of the invention, since gaps are generally arranged horizontally and vertically, the cleaning path is mainly generated based on the horizontal or vertical arrangement of the gaps.

[0078] It should be noted that for crevices in the area to be cleaned, the first cleaning path can be used to clean them once, followed by the second cleaning path. Simultaneously, the cleanliness of the crevices can be monitored in real time during the cleaning process. If the crevices are not clean enough, the third cleaning path can be used to continue cleaning until all crevices in the area to be cleaned are thoroughly cleaned.

[0079] In one exemplary embodiment, the cleaning module 40 is further configured to perform at least one of the following:

[0080] 1) When the preset cleaning parameters include at least the distance parameter between the cleaning component of the cleaning device and the ground, the distance parameter is reduced so that the cleaning component can clean the gaps in the at least one cleaning path; in this embodiment of the invention, the cleaning component is lowered to the extent that it makes interference contact with the gap, thereby achieving deep cleaning;

[0081] This can be understood as reducing the distance parameter by making the distance between the cleaning component and the ground smaller than the distance during normal operation (i.e., the distance between the cleaning component and the ground during the cleaning of the board), thereby enabling the cleaning component to maintain a high interference contact with the gaps and achieving targeted cleaning treatment of the gaps.

[0082] 2) When the preset cleaning parameters include at least the cleaning direction and cleaning intensity of the cleaning equipment, the cleaning direction of the cleaning equipment is controlled to be consistent with the extension direction of the gap, and the cleaning intensity of the cleaning equipment is controlled to be greater than the preset cleaning intensity of the board corresponding to the gap, thereby enabling targeted cleaning of the gap.

[0083] It should be noted that the above-mentioned preset cleaning parameters can simultaneously include: the distance parameter between the cleaning component of the cleaning device and the ground, the cleaning direction of the cleaning device, and the cleaning intensity. In this case, the distance parameter can be reduced so that the cleaning component can clean the gaps in the at least one cleaning path, and the cleaning direction of the cleaning device can be controlled to be consistent with the extension direction of the gap (for example, the rotation direction of the roller brush is consistent with the extension direction of the gap), and the cleaning intensity of the cleaning device can be controlled to be greater than the preset cleaning intensity of the board corresponding to the gap. Since the dust or solid particles in the gap are difficult to clean, a larger cleaning intensity can achieve targeted and efficient cleaning, thereby improving cleaning efficiency. The adoption of the above-mentioned preset cleaning parameters is not limited in the embodiments of the present invention.

[0084] After the cleaning equipment completes the cleaning process in the crevices, it needs to be charged or returned to its base. The presence of crevices may affect the return process; for example, the hollow environment of the crevices may cause the equipment to slip, affecting its recharging efficiency. In more serious cases, it may even change the direction of movement, reducing its intelligence and thus lowering the user experience. To reduce the time cost of returning the cleaning equipment to charge and to avoid slippage caused by crevices, this embodiment of the invention also provides a solution for the cleaning equipment's return to charging:

[0085] The second determining module 38 is further configured to generate multiple recharge paths for the cleaning device based on the current position of the cleaning device and the position information of the base; determine the confidence level of each recharge path based on the recharge distance of the multiple recharge paths and the gaps in the paths; and determine a target recharge path from the multiple recharge paths based on the multiple confidence levels corresponding to the multiple recharge paths. In this embodiment of the invention, the confidence level can be understood as the recharge reliability of the cleaning device returning to the base for charging, used to characterize the efficiency of the cleaning device returning to the base (i.e., time efficiency and movement stability).

[0086] In an exemplary embodiment, a technical solution for determining the aforementioned confidence level is provided. The second determining module 38 is further configured to, for each of the plurality of charging paths, obtain the number of gaps and the charging distance of each charging path; and determine the confidence level of each charging path based on a first weight of the gaps, the number of gaps, the charging distance, and a second weight of the charging distance.

[0087] By employing the above technical solution, since the cleaning equipment may slip when passing through gaps, both the gap and the recharge distance are used as reference factors in the recharge process, thus improving the reliability of the judgment. The determination process for the first weight can be flexibly set; for example, different materials may have different first weights, and gaps of different widths may also correspond to different first weights. This embodiment of the invention does not limit this.

[0088] In this embodiment of the invention, the first product of the first weight and the number of gaps and the second product of the refill distance and the second weight can be calculated first. The sum of the first product and the second product is used as the confidence level. The specific value of the first weight can be fixed or flexibly set according to different gap conditions.

[0089] In one optional embodiment, since the intersection angle between different gaps and the recharge path may vary, i.e., the angle between the cleaning device's recharge path and different gaps will differ, the degree of slippage of the cleaning device will vary. In practical applications, the smaller the angle, the higher the probability of slippage, i.e., the greater the calculation weight. In this embodiment of the specification, the intersection angle can be a non-obtuse angle. The specific implementation scheme is as follows:

[0090] The second determining module 38 is further configured to determine the intersection angle between each gap and each recharge path, wherein the intersection angle is the angle at which the cleaning device moves through the gap; determine a first number of gaps whose intersection angle exceeds a preset angle (which may be 45 degrees), and a second number of gaps whose intersection angle does not exceed the preset angle; set the weight of the first number of gaps as a third weight, and set the weight of the second number of gaps as a fourth weight, wherein the first weight includes the third weight and the fourth weight, and the third weight is greater than the fourth weight.

[0091] Then, the confidence level of each recharge path is determined based on the third weight of the gap, the first quantity, the fourth weight, the second quantity, the recharge distance, and the second weight of the recharge distance.

[0092] In another optional embodiment, the second determining module 38 is further configured to perform the following steps for each recharge path: obtain the intersection angle between the recharge path and the gap it passes through; determine the calculated weight of each gap according to the correspondence between the intersection angle and the weight; calculate the confidence level of each recharge path according to the calculated weight of each gap, the number of gaps, the recharge path and the second weight, wherein the first weight includes the calculated weight.

[0093] The above technical solution provides a relationship between a first weight and the intersection angle. For example, a functional relationship can be established between the first weight and the intersection angle. This relationship can be a linear function or a functional relationship between different intersection angles, friction, and the first weight, determined experimentally. In this functional relationship, the greater the friction, the less impact the gap has, meaning a smaller calculated weight. Then, the first weight of each gap traversed in each recharge path is calculated using this functional relationship, and the recharge reliability of each recharge path is obtained through weighted calculation.

[0094] Embodiments of the present invention also provide a computer-readable storage medium storing a computer program, wherein the computer program is configured to perform the steps in any of the above method embodiments when executed.

[0095] Optionally, in this embodiment, the storage medium may be configured to store a computer program for performing the following steps:

[0096] S1, identify the material of the area to be cleaned and obtain the identification result;

[0097] S2, if the identification result indicates that there are at least two different materials in the first cleaning area of ​​the area to be cleaned, then it is determined that there is a gap in the first cleaning area.

[0098] In one exemplary embodiment, the aforementioned computer-readable storage medium may include, but is not limited to, various media capable of storing computer programs, such as a USB flash drive, read-only memory (ROM), random access memory (RAM), portable hard disk, magnetic disk, or optical disk.

[0099] Specific examples in this embodiment can be found in the examples described in the above embodiments and exemplary implementations, and will not be repeated here.

[0100] Embodiments of the present invention also provide an electronic device including a memory and a processor, the memory storing a computer program and the processor being configured to run the computer program to perform the steps in any of the above method embodiments.

[0101] Optionally, in this embodiment, the processor can be configured to perform the following steps via a computer program:

[0102] S1, identify the material of the area to be cleaned and obtain the identification result;

[0103] S2, if the identification result indicates that there are at least two different materials in the first cleaning area of ​​the area to be cleaned, then it is determined that there is a gap in the first cleaning area.

[0104] In one exemplary embodiment, the electronic device may further include a transmission device and an input / output device, wherein the transmission device is connected to the processor and the input / output device is connected to the processor.

[0105] Specific examples in this embodiment can be found in the examples described in the above embodiments and exemplary implementations, and will not be repeated here.

[0106] It is obvious to those skilled in the art that the modules or steps of the present invention described above can be implemented using general-purpose computing devices. They can be centralized on a single computing device or distributed across a network of multiple computing devices. They can be implemented using computer-executable program code, and thus can be stored in a storage device for execution by a computing device. In some cases, the steps shown or described can be performed in a different order than those described herein, or they can be fabricated as separate integrated circuit modules, or multiple modules or steps can be fabricated as a single integrated circuit module. Thus, the present invention is not limited to any particular combination of hardware and software.

[0107] The above description is merely a preferred embodiment of the present invention and is not intended to limit the invention. Various modifications and variations can be made to the present invention by those skilled in the art. Any modifications, equivalent substitutions, or improvements made within the principles of the present invention should be included within the scope of protection of the present invention.

Claims

1. A method for determining a gap, characterized in that, include: The material of the area to be cleaned is identified, and the identification results are obtained. If the identification result indicates that there are at least two different materials in the first cleaning area of ​​the area to be cleaned, it is determined that there is a gap in the first cleaning area.

2. The gap determination method according to claim 1, characterized in that, After identifying the material of the area to be cleaned and obtaining the identification result, the method further includes: When the identification result indicates that a material exists in the second cleaning area of ​​the area to be cleaned, point cloud data of the second cleaning area is collected. Clustering is performed on the point cloud data to obtain multiple point cloud sets; Determine the local clean map corresponding to each of the plurality of point cloud sets; The gap map corresponding to the gap is determined based on the local cleaning map.

3. The gap determination method according to claim 2, characterized in that, The gap map corresponding to the gap is determined based on the local cleaning map, and includes at least one of the following: In the local cleaning map, maps with an area larger than a first preset value are defined as board maps; and the locations where different board maps are connected are defined as gap maps. Maps with a map area smaller than a second preset value in the local cleaning map are identified as the gap map.

4. The gap determination method according to claim 2, characterized in that, After determining the gap map corresponding to the gap based on the local cleaning map, the method further includes: At least one cleaning path for the cleaning equipment is determined from the gap map according to preset conditions, wherein the preset conditions include: the running direction of the cleaning equipment is consistent in each cleaning path; Clean the gaps in the at least one cleaning path according to preset cleaning parameters.

5. The gap determination method according to claim 4, characterized in that, Cleaning the gaps in at least one cleaning path according to preset cleaning parameters includes: When the preset cleaning parameters include at least the distance parameter between the cleaning component of the cleaning device and the ground, the distance parameter is reduced so that the cleaning component can clean the gaps in the at least one cleaning path. When the preset cleaning parameters include at least the cleaning direction and cleaning intensity of the cleaning equipment, the cleaning direction of the cleaning equipment is controlled to be consistent with the extension direction of the gap, and the cleaning intensity of the cleaning equipment is controlled to be greater than the preset cleaning intensity of the board corresponding to the gap.

6. The gap determination method according to claim 4, characterized in that, After cleaning the gaps in at least one cleaning path according to preset cleaning parameters, the method further includes: Multiple recharge paths for the cleaning equipment are generated based on the current location of the cleaning equipment and the location information of the base. The confidence level of each charging path is determined based on the charging distance of the multiple charging paths and the gaps in the charging paths; The target charging path is determined from the multiple charging paths based on the multiple confidence levels corresponding to the multiple charging paths.

7. The gap determination method according to claim 6, characterized in that, The confidence level of each charging path is determined based on the charging distance and gaps in the multiple charging paths, including: For each of the multiple charging paths, obtain the number of gaps and the charging distance of each charging path. The confidence level of each recharge path is determined based on a first weight of the gap, the number of gaps, the recharge distance, and a second weight of the recharge distance.

8. The gap determination method according to claim 7, characterized in that, The confidence level of each recharge path is determined based on a first weight for the gap, the number of gaps, the recharge distance, and a second weight for the recharge distance, including: Perform the following steps for each recharge path: Determine the intersection angle between each recharge path and the gap it passes through, where the intersection angle is the angle at which the cleaning device moves through the gap; Determine a first number of gaps whose intersection angle exceeds a preset angle, and a second number of gaps whose intersection angle does not exceed the preset angle; The confidence level of each recharge path is determined based on the third weight and first number of gaps whose intersection angle exceeds the preset angle, the fourth weight and second number of gaps whose intersection angle does not exceed the preset angle, and the recharge distance and second weight, wherein the third weight is greater than the fourth weight, and the first weight includes the third weight and the fourth weight.

9. The gap determination method according to claim 7, characterized in that, The confidence level of each recharge path is determined based on a first weight for the gap, the number of gaps, the recharge distance, and a second weight for the recharge distance, and further includes: Perform the following steps for each recharge path: Obtain the intersection angle between the recharge path and the gap it passes through; Based on the correspondence between the intersection angle and the weight, the calculation weight of each gap is determined; Based on the calculated weight of each gap, the number of gaps, the recharge path, and the second weight, the confidence level of each recharge path is calculated, wherein the first weight includes the calculated weight.

10. A gap determining device, characterized in that, include: The identification module is used to identify the material of the area to be cleaned and obtain the identification result; The determination module is used to determine that there is a gap in the first cleaning area when the identification result indicates that there are at least two different materials in the first cleaning area of ​​the area to be cleaned.

11. A computer-readable storage medium, characterized in that, The storage medium stores a computer program, wherein the computer program is configured to execute the method described in any one of claims 1 to 9 when it is run.

12. An electronic device comprising a memory and a processor, characterized in that, The memory stores a computer program, and the processor is configured to run the computer program to perform the method as described in any one of claims 1 to 9.

Images