Cleaning robot cleaning method and device, electronic equipment and medium

Abstract

The invention relates to the technical field of cleaning robot cleaning, and provides a cleaning robot cleaning method and device, electronic equipment and a medium. The method comprises the steps that real-time information of a to-be-cleaned area is received, and the real-time information comprises cleaning area attribute information and obstacle information; according to the real-time information, performing region division on the to-be-cleaned region to obtain at least one sub-region; performing path planning on each sub-region to obtain at least one to-be-cleaned path; generating a target cleaning path corresponding to the cleaning robot according to the at least one to-be-cleaned path; and controlling the cleaning robot to execute a cleaning task based on the target cleaning path. According to the embodiment, the automatic cleaning task of the cleaning robot on the to-be-cleaned area is achieved, and the to-be-cleaned area is divided according to the real-time information of the to-be-cleaned area, so that the cleaning task is efficiently completed.

Description

Technical Field

[0001] The present disclosure relates to the technical field of cleaning robots, and in particular to cleaning methods, devices, electronic devices and media of cleaning robots. Background Art

[0002] As people's living standards continue to improve, robot cleaning has become an important technical application to improve efficiency and reduce the burden of manpower. Especially in the hotel industry, a large amount of manpower is needed to complete the cleaning tasks of various areas in the hotel. The current robot cleaning system still has some problems in area division and path optimization. Traditional division methods are often based on static area division and cannot adapt to changes in dynamic environments; and path planning often uses simple rules or instant adjustments based on sensor feedback, lacking global optimization of the overall cleaning process.

[0003] Therefore, how to perform global and efficient cleaning of the cleaning area, thereby improving the cleaning efficiency and accuracy of the robot, is a technical problem that technical personnel in this field urgently need to solve. Summary of the invention

[0004] In view of this, the embodiments of the present disclosure provide a cleaning robot cleaning method, device, electronic device and medium to solve the problem of how to efficiently clean the cleaning area in the prior art.

[0005] According to a first aspect of an embodiment of the present disclosure, a cleaning method of a cleaning robot is provided, comprising: receiving real-time information of an area to be cleaned, wherein the real-time information includes attribute information of the cleaning area and obstacle information; dividing the area to be cleaned according to the real-time information to obtain at least one sub-area; performing path planning for each sub-area to obtain at least one path to be cleaned; generating a target cleaning path corresponding to the cleaning robot according to the at least one path to be cleaned; and controlling the cleaning robot to perform a cleaning task based on the target cleaning path.

[0006] According to a second aspect of an embodiment of the present disclosure, a cleaning robot cleaning device is provided, comprising: an information receiving unit, configured to receive real-time information of an area to be cleaned, wherein the real-time information includes cleaning area attribute information and obstacle information; an area division unit, configured to divide the area to be cleaned according to the real-time information to obtain at least one sub-area; a path planning unit, configured to perform path planning for each sub-area to obtain at least one path to be cleaned; a path generation unit, configured to generate a target cleaning path corresponding to the cleaning robot according to the at least one path to be cleaned; and a task execution unit, configured to control the cleaning robot to perform a cleaning task based on the target cleaning path.

[0007] According to a third aspect of an embodiment of the present disclosure, an electronic device is provided, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor implements the steps of the above method when executing the computer program.

[0008] According to a fourth aspect of the embodiments of the present disclosure, a computer-readable storage medium is provided, which stores a computer program, and when the computer program is executed by a processor, the steps of the above method are implemented.

[0009] Compared with the prior art, the embodiments of the present disclosure have the following beneficial effects: first, receiving real-time information of the area to be cleaned, wherein the real-time information includes the property information of the cleaning area and the obstacle information; then, dividing the area to be cleaned according to the real-time information to obtain at least one sub-area; then, performing path planning for each sub-area to obtain at least one path to be cleaned, and generating the target cleaning path corresponding to the cleaning robot according to the at least one path to be cleaned; finally, based on the target cleaning path, controlling the cleaning robot to perform the cleaning task. The method provided by the embodiments of the present disclosure can divide the area to be cleaned according to the received real-time information of the area to be cleaned, and perform path planning for each divided sub-area to obtain the corresponding path to be cleaned, so as to generate the target cleaning path of the entire area to be cleaned, and control the cleaning robot to complete the cleaning task. First, the global and efficient cleaning of the area to be cleaned is achieved; second, the manpower work is reduced and the waste of human resources is avoided; finally, the cleaning quality can be improved and the duplication or omission can be avoided. BRIEF DESCRIPTION OF THE DRAWINGS

[0010] In order to more clearly illustrate the technical solutions in the embodiments of the present disclosure, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present disclosure. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0011] Figure 1 is a schematic diagram of an application scenario of a cleaning method of a cleaning robot according to some embodiments of the present disclosure;

[0012] Figure 2 is a flow chart of some embodiments of the cleaning robot cleaning method according to the present disclosure;

[0013] Figure 3 is a flow chart of dynamic area division of the cleaning robot cleaning method according to the present disclosure;

[0014] Figure 4 is a flow chart of path planning of the cleaning method of the cleaning robot according to the present disclosure;

[0015] Figure 5 is a flow chart of path optimization of the cleaning method of the cleaning robot according to the present disclosure;

[0016] Figure 6 is a schematic diagram of the structure of some embodiments of the cleaning robot cleaning device according to the present disclosure;

[0017] Figure 7 It is a schematic diagram of the structure of an electronic device suitable for implementing some embodiments of the present disclosure. DETAILED DESCRIPTION

[0018] Embodiments of the present disclosure will be described in more detail below with reference to the accompanying drawings. Although certain embodiments of the present disclosure are shown in the accompanying drawings, it should be understood that the present disclosure can be implemented in various forms and should not be construed as being limited to the embodiments set forth herein. On the contrary, these embodiments are provided to provide a more thorough and complete understanding of the present disclosure. It should be understood that the drawings and embodiments of the present disclosure are only for exemplary purposes and are not intended to limit the scope of protection of the present disclosure.

[0019] It should also be noted that, for ease of description, only the parts related to the invention are shown in the drawings. In the absence of conflict, the embodiments and features in the embodiments of the present disclosure can be combined with each other.

[0020] It should be noted that the concepts such as "first" and "second" mentioned in the present disclosure are only used to distinguish different devices, modules or units, and are not used to limit the order or interdependence of the functions performed by these devices, modules or units.

[0021] It should be noted that the modifications of "one" and "plurality" mentioned in the present disclosure are illustrative rather than restrictive, and those skilled in the art should understand that unless otherwise clearly indicated in the context, it should be understood as "one or more".

[0022] The names of the messages or information exchanged between multiple devices in the embodiments of the present disclosure are only used for illustrative purposes and are not used to limit the scope of these messages or information.

[0023] The present disclosure will be described in detail below with reference to the accompanying drawings and in conjunction with embodiments.

[0024] Figure 1 It is a schematic diagram of an application scenario of a cleaning method of a cleaning robot according to some embodiments of the present disclosure.

[0025] exist Figure 1In the application scenario, first, the computing device 101 can divide the area to be cleaned according to the real-time information 102 of the area to be cleaned to obtain at least one sub-area 103. Then, the computing device 101 can perform path planning on the sub-area 103 to obtain a path to be cleaned 104. The computing device 101 can also determine to optimize the path to be cleaned 104 to obtain a target cleaning path 105. Finally, the computing device 101 can control the cleaning robot to complete the cleaning task 106 based on the target cleaning path 105.

[0026] It should be noted that the above-mentioned computing device 101 can be hardware or software. When the computing device 101 is hardware, it can be implemented as a distributed cluster consisting of multiple servers or terminal devices, or it can be implemented as a single server or a single terminal device. When the computing device 101 is embodied as software (for example, a supervision platform responsible for the supervision of each container robot in the target local area network), it can be installed in the hardware devices listed above. It can be implemented as multiple software or software modules for providing distributed services, for example, or it can be implemented as a single software or software module. No specific limitation is made here.

[0027] It should be understood that Figure 1 The number of computing devices in the embodiment is only illustrative. Any number of computing devices may be provided according to implementation requirements.

[0028] Figure 2 It is a flow chart of some embodiments of the cleaning method of the cleaning robot according to the present disclosure. Figure 2 The cleaning method of the cleaning robot can be Figure 1 The computing device 101 executes. Figure 2 As shown, the cleaning robot cleaning method includes:

[0029] Step S201, receiving real-time information of the area to be cleaned, wherein the real-time information includes property information of the cleaning area and obstacle information.

[0030] In some embodiments, the execution body of the cleaning robot cleaning method (such as Figure 1 The computing device 101 shown in the figure can receive real-time information of the area to be cleaned, wherein the real-time information includes the cleaning area attribute information, obstacle information, etc. Here, the area to be cleaned can be the area to be cleaned in the hotel area, the area to be cleaned in the office space, etc., which is not limited to this. The cleaning area attribute information can be the area shape and size information of the cleaning area, the obstacle information contained in the cleaning area, etc., such as the location information of the walls, tables and chairs in the cleaning area, etc.

[0031] Furthermore, the execution subject may receive real-time information of the area to be cleaned through an information collection device, including: receiving real-time information of the area to be cleaned based on the information collection device; wherein the information collection device includes a sensor, a camera sensing device. According to the information collection device, such as a sensor, a camera or other sensing device, real-time information of the cleaning area is obtained. As an example, the real-time information may include the location of obstacles, the size and shape of the area, etc.

[0032] Step S202: divide the area to be cleaned into regions according to the real-time information to obtain at least one sub-region.

[0033] In some embodiments, the above-mentioned execution subject can determine the area division strategy through the cleaning area attribute information to divide the area to be cleaned into regions and obtain at least one sub-region; specifically, the area division strategy is determined according to the cleaning area attribute information, wherein the cleaning area attribute information includes the cleaning area shape information, the cleaning area moving distance, and the cleaning area estimated consumption time; based on the area division strategy, the area to be cleaned is divided into regions to obtain at least one sub-region. The above-mentioned execution subject can determine the area division strategy according to the cleaning area shape information, the cleaning area moving distance, the cleaning area estimated consumption time, etc. Different shapes of areas to be cleaned may use different division strategies. For example, a rectangular area can be divided into a grid, and a circular area can be divided into a sector. According to the different shapes of the areas to be cleaned, select a suitable division algorithm and division basis.

[0034] In some embodiments, the above-mentioned execution subject can determine the obstacle distribution division strategy through obstacle information; specifically, according to the real-time information, the area to be cleaned is divided into regions to obtain at least one sub-region, including: determining the obstacle distribution division strategy according to the obstacle information, wherein the obstacle information includes the location of the obstacle and the number of obstacles; based on the obstacle distribution division strategy, the area to be cleaned is divided into regions to obtain at least one sub-region. The distribution of obstacles can affect the cleaning path planning and efficiency. Different division strategies can be adopted according to the location and number of obstacles. For example, if there are fewer obstacles and they are more evenly distributed, a division strategy based on the number of obstacles can be used to divide the area to be cleaned into an equal number of sub-regions. If obstacles are concentrated in certain areas, these areas can be divided into smaller sub-regions to ensure that the robot can clean more accurately.

[0035] It should be noted that when dividing the cleaning area, it is necessary to consider the cleaning efficiency and the complexity of path planning. The principle of division can be to try to maintain the relative balance of the sub-areas to avoid areas that are too large or too small. At the same time, the robot's movement ability and cleaning effect can also be considered to ensure that each sub-area has good cleaning accessibility.

[0036] In some embodiments, Figure 3 The steps to complete the area division are as follows: Figure 3 It is a flow chart of dynamic area division according to the cleaning robot cleaning method disclosed in the present invention.

[0037] The specific steps are as follows: Step 302: receiving real-time information. Step 304: dynamically dividing regions. Step 306: determining whether there are regions that have not been divided, if so, executing step 308, if not, ending. Step 308: dividing sub-regions.

[0038] Step S203: perform path planning for each sub-area to obtain at least one path to be cleaned.

[0039] In some embodiments, the above-mentioned execution subject can also complete the path planning of each sub-area by determining the path planning strategy corresponding to each sub-area. Specifically, path planning is performed for each sub-area to obtain at least one path to be cleaned, including: determining the path planning strategy corresponding to each sub-area; based on the path planning strategy, path planning is performed for each sub-area to obtain at least one path to be cleaned. The above-mentioned execution subject performs path planning for each sub-area to ensure that the robot can clean each sub-area efficiently. The path planning algorithm can be based on graph theory, heuristic search and other technologies, taking into account factors such as area shape, cleaning time and moving distance, which is not limited in this embodiment.

[0040] In some embodiments, the execution subject may also consider the shape of the sub-region, the cleaning time and the moving distance of the sub-region when determining the path planning strategy; specifically, determining the path planning strategy corresponding to each sub-region includes: obtaining the shape of each sub-region, the cleaning time and the moving distance of the cleaning robot in the sub-region; determining the path planning strategy corresponding to each sub-region according to the shape of the region, the cleaning time and the moving distance. In specific implementation, the execution subject may perform path planning according to the shape characteristics of the region. For example, for a long and narrow area, the heuristic search algorithm may determine an effective search strategy according to the length and width of the region, so that the robot can minimize the moving distance while ensuring the cleaning efficiency. The cleaning area may also be divided into multiple sub-tasks according to the time limit of the cleaning task, and path planning may be performed in each sub-task. By reasonably arranging the order and path of the cleaning area, the robot can clean each sub-task in the optimal order to reduce the cleaning time. Path planning is also guided by estimating the cost (e.g., moving distance) of the robot reaching the target point. During the search process, the heuristic function may provide heuristic information for the search algorithm by calculating the distance or path length between the current position of the robot and the position of the target point. In this way, the robot can prioritize paths with shorter moving distances.

[0041] In some embodiments, Figure 4 The path planning is completed in the following steps. Figure 4 It is a flow chart of path planning of the cleaning method of the cleaning robot according to the present disclosure.

[0042] The specific steps are as follows: Step 402: Receive sub-region information. Step 404: Determine whether there are sub-regions that have not been planned for a path. If so, execute step 406. If not, end. Step 406: Plan a path. Step 408: Update sub-region information.

[0043] Step S204: generating a target cleaning path corresponding to the cleaning robot according to at least one path to be cleaned.

[0044] In some embodiments, the above-mentioned execution subject may also construct an initial cleaning path according to each path to be cleaned, and optimize the initial cleaning path to improve the working efficiency of the cleaning robot; specifically, according to at least one path to be cleaned, a target cleaning path corresponding to the cleaning robot is generated, including: constructing an initial cleaning path according to at least one path to be cleaned; determining the path length of the initial cleaning path, and determining the cleaning time of the cleaning robot based on the path length; optimizing the initial cleaning path according to the cleaning time, and generating a target cleaning path corresponding to the cleaning robot. The above-mentioned execution subject constructs an initial cleaning path according to the paths to be cleaned corresponding to each sub-area, and determines the cleaning time of the cleaning robot by obtaining the path length of the initial cleaning path to optimize the initial cleaning path.

[0045] It should be noted that cleaning efficiency is a predicted cleaning efficiency based on real-time information, not a statistical cleaning efficiency based on historical data. Cleaning efficiency is affected by the time it takes to complete a cleaning task. If the robot takes more time to clean certain areas, you may need to divide these areas into smaller sub-areas so that the robot can complete the cleaning faster. Cleaning efficiency is also related to the distance the robot moves during the cleaning process. If the robot needs to move long distances during the cleaning process, you may need to divide the cleaning area into smaller sub-areas to reduce the distance the robot moves.

[0046] In some embodiments, the execution subject can also complete the path optimization task according to the cleaning time; specifically, according to the cleaning time, the initial cleaning path is optimized, and the target cleaning path corresponding to the cleaning robot is generated, including: when it is determined that the cleaning time is greater than a preset threshold, at least one path to be cleaned in the initial cleaning path is adjusted; based on the adjusted initial cleaning path, the target cleaning path corresponding to the cleaning robot is generated. As an example, if the cleaning time is too long, it is possible to traverse the paths to be cleaned corresponding to each sub-area to see whether they can continue to be optimized, and select a more optimal path with a shorter distance to avoid repeated cleaning of some areas, which wastes time and resources, and then the target cleaning path corresponding to the cleaning robot can be generated.

[0047] In some embodiments, Figure 5 The steps to complete the path optimization are as follows: Figure 5 It is a flow chart of path optimization of the cleaning method of the cleaning robot according to the present disclosure.

[0048] The specific steps are as follows: Step 502: Receive all sub-region path information. Step 504: Generate an initial path. Step 506: Determine whether the optimization iteration number has not reached the upper limit. If so, execute step 508. If not, end. Step 508: Path optimization. Step 510: Update the optimized path.

[0049] Step S205, based on the target cleaning path, controlling the cleaning robot to perform the cleaning task.

[0050] In some embodiments, when the above-mentioned execution subject controls the cleaning robot to perform a cleaning task, it is also necessary to consider the current remaining power value of the cleaning robot to avoid the cleaning robot being unable to complete the cleaning task due to the cleaning robot's power value being too low; specifically, based on the target cleaning path, controlling the cleaning robot to perform a cleaning task includes: obtaining the current remaining power value of the cleaning robot; when the current remaining power value is greater than a first preset power threshold, controlling the cleaning robot to perform the cleaning task. When controlling the cleaning robot to perform a task, the above-mentioned execution subject can also obtain the current remaining power value of the cleaning robot, and when the current remaining power value is greater than the first preset power threshold, it indicates that the remaining power of the cleaning robot can support the completion of the cleaning task, and the cleaning robot can be controlled to start performing the task. As an example, the cleaning task is allowed to be issued only when the power is higher than 30%, and the supported cleaning time is prompted according to the current power.

[0051] In some embodiments, when the above-mentioned execution subject determines that the real-time power of the cleaning robot is too low, it can directly control the cleaning robot to complete the charging task; specifically, controlling the cleaning robot to perform the cleaning task includes: obtaining the real-time power of the cleaning robot; when the real-time power is lower than the second preset power threshold, controlling the cleaning robot to suspend the cleaning task, and displaying the charging alarm information on the display panel of the cleaning robot. When the above-mentioned execution subject determines that the power of the cleaning robot is too low, for example, when it is lower than 5%, the robot issues an alarm prompt and recharges, and then suspends the current cleaning task.

[0052] In some embodiments, the execution subject can control the cleaning robot to move to the charging area to complete charging; specifically, after the charging warning information is displayed on the display panel of the cleaning robot, it also includes: controlling the cleaning robot to move to the charging area and completing the charging task. The execution subject can control the cleaning robot to move to the charging area, and the charging area can be an area dedicated to charging the robot, which is not limited in this embodiment.

[0053] In some embodiments, the above-mentioned execution subject can also complete the monitoring of the cleaning task through the monitoring module, and when it is determined that the cleaning task is not completed, it can also control the cleaning robot to continue to complete the unfinished cleaning task; specifically, based on the target cleaning path, after controlling the cleaning robot to perform the cleaning task, it also includes: monitoring the execution of the cleaning task; when it is determined that the cleaning task is not completed, controlling the cleaning robot to continue to complete the cleaning task. In addition, the above-mentioned execution subject also includes a monitoring module, and when it is determined that the current cleaning task is not completed, it can also control the cleaning robot that has completed charging to continue to complete the unfinished cleaning task.

[0054] Compared with the prior art, the beneficial effects of the embodiments of the present disclosure are as follows: first, the area to be cleaned is divided according to the real-time information of the area to be cleaned to obtain at least one sub-area; then, path planning is performed for each of the above sub-areas to obtain the corresponding path to be cleaned; thereafter, if the above path to be cleaned is optimized to generate a target cleaning path; finally, the cleaning robot is controlled to complete the cleaning task based on the target cleaning path. The method provided by the embodiments of the present disclosure can adopt a dynamic area division method to divide the cleaning area according to real-time information, and divide a large area into smaller sub-areas. Through dynamic division, the cleaning task can be decomposed into multiple sub-tasks and executed in parallel or sequentially, thereby improving the cleaning efficiency. At the same time, the optimal cleaning path is generated for each sub-area by comprehensively considering factors such as area shape, cleaning time and moving distance. Through reasonable path planning, the robot can cover the entire cleaning area with the shortest path, reduce repeated cleaning and missed areas, and improve the accuracy and efficiency of cleaning; not only can the cleaning robot complete the cleaning task efficiently, reducing dependence on manual labor, thereby reducing labor costs in places such as hotels, but it also avoids repeated or missed areas, improving the accuracy and completeness of cleaning.

[0055] All the above optional technical solutions can be arbitrarily combined to form optional embodiments of the present application, which will not be described one by one here.

[0056] The following are embodiments of the device disclosed herein, which can be used to execute the method embodiments disclosed herein. For details not disclosed in the device embodiments disclosed herein, please refer to the method embodiments disclosed herein.

[0057] Figure 6 Schematic diagram of the structure of some embodiments of the cleaning robot cleaning device according to the present disclosure. Figure 6 As shown, the cleaning robot cleaning device includes: an information receiving unit 601, an area division unit 602, a path planning unit 603, a path generation unit 604 and a task execution unit 605. The information receiving unit 601 is configured to receive real-time information of the area to be cleaned, wherein the real-time information includes cleaning area attribute information and obstacle information; the area division unit 602 is configured to divide the area to be cleaned according to the real-time information to obtain at least one sub-area; the path planning unit 603 is configured to perform path planning for each sub-area to obtain at least one path to be cleaned; the path generation unit 604 is configured to generate a target cleaning path corresponding to the cleaning robot according to the at least one path to be cleaned; and the task execution unit 604 is configured to control the cleaning robot to perform a cleaning task based on the target cleaning path.

[0058] In some optional implementations of some embodiments, the area division unit 602 of the cleaning robot cleaning device is further configured to: determine an area division strategy based on the cleaning area attribute information, wherein the cleaning area attribute information includes the cleaning area shape information, the cleaning area moving distance, and the estimated time consumed in the cleaning area; based on the area division strategy, divide the area to be cleaned into areas to obtain at least one sub-area.

[0059] In some optional implementations of some embodiments, the area division unit 602 of the cleaning robot cleaning device is further configured to: determine an obstacle distribution division strategy based on the obstacle information, wherein the obstacle information includes the location of the obstacle and the number of obstacles; based on the obstacle distribution division strategy, divide the area to be cleaned into areas to obtain at least one sub-area.

[0060] In some optional implementations of some embodiments, the path planning unit 603 of the cleaning robot cleaning device is further configured to: determine the path planning strategy corresponding to each sub-area; based on the path planning strategy, perform path planning for each sub-area to obtain at least one path to be cleaned.

[0061] In some optional implementations of some embodiments, the path planning unit 603 of the cleaning robot cleaning device is further configured to: obtain the area shape, cleaning time and moving distance of the cleaning robot in the sub-area of ​​each sub-area; and determine the path planning strategy corresponding to each sub-area based on the area shape, the cleaning time and the moving distance.

[0062] In some optional implementations of some embodiments, the path generation unit 604 of the cleaning device of the cleaning robot is further configured to: construct an initial cleaning path based on the at least one path to be cleaned; determine the path length of the initial cleaning path, and determine the cleaning time of the cleaning robot based on the path length; optimize the initial cleaning path according to the cleaning time, and generate a target cleaning path corresponding to the cleaning robot.

[0063] In some optional implementations of some embodiments, the path generation unit 604 of the cleaning device of the cleaning robot is further configured to: when it is determined that the cleaning time is greater than a preset threshold, adjust at least one path to be cleaned in the initial cleaning path; based on the adjusted initial cleaning path, generate a target cleaning path corresponding to the cleaning robot.

[0064] In some optional implementations of some embodiments, the task execution unit 605 of the cleaning robot cleaning device is further configured to: obtain the current remaining power value of the cleaning robot; and control the cleaning robot to perform the cleaning task when the current remaining power value is greater than a first preset power threshold.

[0065] In some optional implementations of some embodiments, the task execution unit 605 of the cleaning robot cleaning device is further configured to: obtain the real-time power level of the cleaning robot; when the real-time power level is lower than a second preset power threshold, control the cleaning robot to pause the cleaning task, and display charging alarm information on the display panel of the cleaning robot.

[0066] In some optional implementations of some embodiments, the cleaning robot cleaning device also includes: a charging unit, configured to: control the cleaning robot to move to a charging area and complete a charging task.

[0067] In some optional implementations of some embodiments, the cleaning robot cleaning device also includes: a monitoring unit, configured to: monitor the execution status of the cleaning task; and when it is determined that the cleaning task is not completed, control the cleaning robot to continue to complete the cleaning task.

[0068] In some optional implementations of some embodiments, the information receiving 601 of the cleaning device of the cleaning robot is further configured to: based on the information collection device, receive real-time information of the area to be cleaned; wherein the information collection device includes a sensor and a camera sensing device.

[0069] Reference below Figure 7 , which shows an electronic device (eg, Figure 1 Schematic diagram of the structure of the computing device 101)700. Figure 7 The server shown is only an example and should not bring any limitation to the functions and scope of use of the embodiments of the present disclosure.

[0070] like Figure 7 As shown, the electronic device 700 may include a processing device (e.g., a central processing unit, a graphics processing unit, etc.) 701, which can perform various appropriate actions and processes according to a program stored in a read-only memory (ROM) 702 or a program loaded from a storage device 708 into a random access memory (RAM) 703. In the RAM 703, various programs and data required for the operation of the electronic device 700 are also stored. The processing device 701, the ROM 702, and the RAM 703 are connected to each other via a bus 704. An input / output (I / O) interface 705 is also connected to the bus 704.

[0071] Typically, the following devices may be connected to the I / O interface 705: an input device 706 including, for example, a touch screen, a touch pad, a keyboard, a mouse, a camera, a microphone, an accelerometer, a gyroscope, etc.; an output device 707 including, for example, a liquid crystal display (LCD), a speaker, a vibrator, etc.; a storage device 708 including, for example, a magnetic tape, a hard disk, etc.; and a communication device 709. The communication device 709 may allow the electronic device 700 to communicate with other devices wirelessly or by wire to exchange data. Although Figure 7 The electronic device 700 is shown with various devices, but it should be understood that it is not required to implement or possess all the devices shown. More or fewer devices may be implemented or possessed instead. Figure 7 Each block shown in the figure may represent one device, or may represent multiple devices as required.

[0072] In particular, according to some embodiments of the present disclosure, the process described above with reference to the flowchart can be implemented as a computer software program. For example, some embodiments of the present disclosure include a computer program product, which includes a computer program carried on a computer-readable medium, and the computer program includes a program code for executing the method shown in the flowchart. In some such embodiments, the computer program can be downloaded and installed from the network through the communication device 709, or installed from the storage device 708, or installed from the ROM 702. When the computer program is executed by the processing device 701, the above-mentioned functions defined in the method of some embodiments of the present disclosure are executed.

[0073] It should be noted that the computer-readable medium in some embodiments of the present disclosure may be a computer-readable signal medium or a computer-readable storage medium or any combination of the two. The computer-readable storage medium may be, for example, but not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, device or device, or any combination of the above. More specific examples of computer-readable storage media may include, but are not limited to: an electrical connection with one or more wires, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the above. In some embodiments of the present disclosure, the computer-readable storage medium may be any tangible medium containing or storing a program that can be used by or in combination with an instruction execution system, device or device. In some embodiments of the present disclosure, the computer-readable signal medium may include a data signal propagated in a baseband or as part of a carrier wave, in which a computer-readable program code is carried. This propagated data signal may take a variety of forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination of the above. The computer readable signal medium may also be any computer readable medium other than a computer readable storage medium, which may send, propagate or transmit a program for use by or in conjunction with an instruction execution system, apparatus or device. The program code contained on the computer readable medium may be transmitted using any suitable medium, including but not limited to: wires, optical cables, RF (radio frequency), etc., or any suitable combination of the above.

[0074] In some embodiments, the client and the server may communicate using any currently known or future developed network protocol such as HTTP (HyperText Transfer Protocol), and may be interconnected with any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include a local area network ("LAN"), a wide area network ("WAN"), an internet (e.g., the Internet), and a peer-to-peer network (e.g., an ad hoc peer-to-peer network), as well as any currently known or future developed network.

[0075] The computer-readable medium may be included in the device; or it may exist independently without being installed in the electronic device. The computer-readable medium carries one or more programs. When the one or more programs are executed by the electronic device, the electronic device: receives real-time information of the area to be cleaned, wherein the real-time information includes cleaning area attribute information and obstacle information; divides the area to be cleaned according to the real-time information to obtain at least one sub-area; performs path planning for each sub-area to obtain at least one path to be cleaned; generates a target cleaning path corresponding to the cleaning robot according to the at least one path to be cleaned; and controls the cleaning robot to perform a cleaning task based on the target cleaning path.

[0076] Computer program code for performing the operations of some embodiments of the present disclosure may be written in one or more programming languages ​​or a combination thereof, including object-oriented programming languages ​​such as Java, Smalltalk, C++, and conventional procedural programming languages ​​such as "C" or similar programming languages. The program code may be executed entirely on the user's computer, partially on the user's computer, as a separate software package, partially on the user's computer and partially on a remote computer, or entirely on a remote computer or server. In cases involving a remote computer, the remote computer may be connected to the user's computer via any type of network, including a local area network (LAN) or a wide area network (WAN), or may be connected to an external computer (e.g., via the Internet using an Internet service provider).

[0077] The flow chart and block diagram in the accompanying drawings illustrate the possible architecture, function and operation of the system, method and computer program product according to various embodiments of the present disclosure. In this regard, each square box in the flow chart or block diagram can represent a module, a program segment or a part of a code, and the module, the program segment or a part of the code contains one or more executable instructions for realizing the specified logical function. It should also be noted that in some implementations as replacements, the functions marked in the square box can also occur in a sequence different from that marked in the accompanying drawings. For example, two square boxes represented in succession can actually be executed substantially in parallel, and they can sometimes be executed in the opposite order, depending on the functions involved. It should also be noted that each square box in the block diagram and / or flow chart, and the combination of the square boxes in the block diagram and / or flow chart can be implemented with a dedicated hardware-based system that performs a specified function or operation, or can be implemented with a combination of dedicated hardware and computer instructions.

[0078] The units described in some embodiments of the present disclosure may be implemented by software or by hardware. The described units may also be provided in a processor, for example, may be described as: a processor including an information receiving unit, an area division unit, a path planning unit, a path generation unit and a task execution unit. The names of these units do not constitute limitations on the units themselves in certain circumstances, for example, the information receiving unit may also be described as "receiving real-time information of the area to be cleaned, wherein the real-time information includes cleaning area attribute information and obstacle information".

[0079] The functions described above herein may be performed at least in part by one or more hardware logic components. For example, without limitation, exemplary types of hardware logic components that may be used include: field programmable gate arrays (FPGAs), application specific integrated circuits (ASICs), application specific standard products (ASSPs), systems on chips (SOCs), complex programmable logic devices (CPLDs), and the like.

[0080] The above descriptions are only some preferred embodiments of the present disclosure and an explanation of the technical principles used. Those skilled in the art should understand that the scope of the invention involved in the embodiments of the present disclosure is not limited to the technical solutions formed by a specific combination of the above-mentioned technical features, but should also cover other technical solutions formed by any combination of the above-mentioned technical features or their equivalent features without departing from the above-mentioned inventive concept. For example, the above-mentioned features are replaced with the technical features with similar functions disclosed in the embodiments of the present disclosure (but not limited to) and the technical solutions formed.

Claims

1. A cleaning method using a cleaning robot, characterized in that: include: Receive real-time information of the area to be cleaned, wherein the real-time information includes property information of the cleaning area and obstacle information; Divide the area to be cleaned according to the real-time information to obtain at least one sub-area; Perform path planning for each sub-area to obtain at least one path to be cleaned; Generating a target cleaning path corresponding to the cleaning robot according to the at least one path to be cleaned; Based on the target cleaning path, the cleaning robot is controlled to perform a cleaning task.

2. The cleaning method of the cleaning robot according to claim 1, characterized in that: The step of dividing the area to be cleaned according to the real-time information to obtain at least one sub-area includes: Determine the area division strategy according to the cleaning area attribute information, wherein the cleaning area attribute information includes the shape information of the cleaning area, the moving distance of the cleaning area, and the estimated time consumed for cleaning the area; Based on the area division strategy, the area to be cleaned is divided into areas to obtain at least one sub-area.

3. The cleaning method of the cleaning robot according to claim 1, characterized in that: The step of dividing the area to be cleaned according to the real-time information to obtain at least one sub-area includes: Determining an obstacle distribution division strategy according to the obstacle information, wherein the obstacle information includes the location of the obstacle and the number of obstacles; Based on the obstacle distribution division strategy, the area to be cleaned is divided into regions to obtain at least one sub-region.

4. The cleaning method of the cleaning robot according to claim 1, characterized in that: The step of performing path planning for each sub-area to obtain at least one path to be cleaned includes: Determine the path planning strategy corresponding to each sub-area; Based on the path planning strategy, path planning is performed on each sub-area to obtain at least one path to be cleaned.

5. The cleaning method of the cleaning robot according to claim 4, characterized in that: The determining of the path planning strategy corresponding to each sub-area includes: Obtaining the area shape, cleaning time and moving distance of the cleaning robot in each sub-area; A path planning strategy corresponding to each sub-area is determined according to the area shape, the cleaning time and the moving distance.

6. The cleaning method of the cleaning robot according to claim 1, characterized in that: The step of generating a target cleaning path corresponding to the cleaning robot according to the at least one path to be cleaned includes: constructing an initial cleaning path according to the at least one path to be cleaned; Determining a path length of the initial cleaning path, and determining a cleaning time of the cleaning robot based on the path length; According to the cleaning time, the initial cleaning path is optimized and a target cleaning path corresponding to the cleaning robot is generated.

7. The cleaning method of the cleaning robot according to claim 6, characterized in that: The step of optimizing the initial cleaning path according to the cleaning duration and generating a target cleaning path corresponding to the cleaning robot includes: When it is determined that the cleaning time is greater than a preset threshold, adjusting at least one path to be cleaned in the initial cleaning path; Based on the adjusted initial cleaning path, a target cleaning path corresponding to the cleaning robot is generated.

8. The cleaning method of the cleaning robot according to claim 1, characterized in that: The controlling the cleaning robot to perform the cleaning task based on the target cleaning path includes: Obtaining the current remaining power value of the cleaning robot; When the current remaining power value is greater than a first preset power threshold, the cleaning robot is controlled to perform a cleaning task.

9. The cleaning method of the cleaning robot according to claim 8, characterized in that: The controlling the cleaning robot to perform a cleaning task comprises: Obtaining the real-time power of the cleaning robot; When the real-time power level is lower than a second preset power threshold, the cleaning robot is controlled to suspend the cleaning task, and a charging alarm message is displayed on the display panel of the cleaning robot.

10. The cleaning method of the cleaning robot according to claim 9, characterized in that: After the charging warning information is displayed on the display panel of the cleaning robot, the method further includes: The cleaning robot is controlled to move to a charging area and complete a charging task.

11. The cleaning method of the cleaning robot according to claim 1, characterized in that: After controlling the cleaning robot to perform the cleaning task based on the target cleaning path, the method further includes: Monitoring the performance of the cleaning task; When it is determined that the cleaning task is not completed, the cleaning robot is controlled to continue to complete the cleaning task.

12. The cleaning method of the cleaning robot according to claim 1, characterized in that: The receiving real-time information of the area to be cleaned includes: Based on the information collection device, receive real-time information of the area to be cleaned; Among them, the information collection device includes sensors and camera sensing equipment.

13. A cleaning robot cleaning device, characterized in that: include: An information receiving unit is configured to receive real-time information of the area to be cleaned, wherein the real-time information includes property information of the cleaning area and obstacle information; An area division unit is configured to divide the area to be cleaned into areas according to the real-time information to obtain at least one sub-area; A path planning unit is configured to perform path planning for each sub-area to obtain at least one path to be cleaned; a path generating unit, configured to generate a target cleaning path corresponding to the cleaning robot according to the at least one path to be cleaned; The task execution unit is configured to control the cleaning robot to perform a cleaning task based on the target cleaning path.

14. An electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that: When the processor executes the computer program, the steps of the method according to any one of claims 1 to 12 are implemented.

15. A computer-readable storage medium storing a computer program, characterized in that: When the computer program is executed by a processor, the steps of the method according to any one of claims 1 to 12 are implemented.

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