Location determination method and device for fixed-point purification, electronic equipment and storage medium

Abstract

The invention discloses a fixed-point purification position determination method and device, electronic equipment and a storage medium, and the method comprises the steps: obtaining a region map of a to-be-purified region, and determining a target range from the region map; n target living objects located in the target range and the position of each target living object are determined, the living objects in the to-be-purified area comprise human bodies, household appliances and / or furniture, and N is a positive integer; and based on the position of each target living object, determining a target purification position for executing fixed-point purification in the to-be-purified area. According to the scheme, the fixed-point purification position can be rapidly determined, and energy of the mobile purification robot is saved.

Description

Technical Field

[0001] The present invention belongs to the field of computer technology, and in particular relates to a method, device, electronic equipment and storage medium for determining the position of a fixed-point purification. Background Art

[0002] With the continuous development of science and technology, mobile purification robots have been used more and more widely. Mobile purification robots usually have the following modes: whole house purification, regional purification and fixed-point purification. Whole house purification means moving throughout the house according to the pre-built whole house map to achieve purification, and the purification range covers every corner of the house; regional purification means moving within a certain area to achieve purification, such as moving in the bedroom, and purifying the bedroom during the movement, and the purification range covers every corner of the bedroom; fixed-point purification means purification at a specific point to meet the purification needs of only that point.

[0003] In the related art, when a mobile purification robot performs fixed-point purification, the location of the fixed-point purification is generally selected manually by the user, or the mobile robot performs multiple traversal cruises in a certain area to determine the location with the worst air quality as the fixed-point purification location. The method of manually selecting the fixed-point purification location by the user depends on the user's operation and has a low degree of intelligence. The method of determining the fixed-point purification location by multiple cruises in the area is time-consuming and consumes a lot of energy of the mobile robot. Summary of the invention

[0004] In view of the above-mentioned technical problems in the related art, the embodiments of the present invention provide a method, device, electronic device and storage medium for determining the position of fixed-point purification, so as to quickly determine the position of fixed-point purification and save the energy of the mobile robot.

[0005] In a first aspect, an embodiment of the present invention provides a method for determining a location of a fixed-point purification, comprising:

[0006] Obtaining an area map of the area to be purified, and determining a target range from the area map;

[0007] Determine N target living objects within the target range, and the position of each target living object, wherein the living objects in the area to be purified include human bodies, household appliances and / or furniture, and N is a positive integer;

[0008] Based on the position of each target living object, a target purification position for performing spot purification in the area to be purified is determined.

[0009] In some embodiments, determining N target living objects within the target range includes:

[0010] Identify all living objects within the target range;

[0011] If the number of all the living objects is less than or equal to the preset number, taking all the living objects as the N target living objects;

[0012] If the number of all living objects is greater than the preset number, all living objects are sorted in order from near to far from the reference position, and the first N living objects in the sorting result are selected as the N living objects.

[0013] In some embodiments, determining a target purification position for performing spot purification in the area to be purified based on the position of each target living object includes:

[0014] Determining an initial purification position based on the position of each target living object;

[0015] The target purification position is determined based on the shielding state of the initial purification position.

[0016] In some embodiments, if N is 1, the N target living objects include a first target living object, and determining the initial purification position based on the position of each target living object includes:

[0017] Based on the first position of the first target living object and the reference position, a first midpoint on a line connecting the first position and the reference position is determined, and the first midpoint is used as the initial purification position.

[0018] In some embodiments, if N is 2, the N target living objects include a second target living object and a third target living object, and determining the initial purification position based on the position of each target living object includes:

[0019] Based on the second position of the second target living object and the third position of the third target living object, a second midpoint on the line connecting the second position and the third position is determined, and the second midpoint is used as the initial purification position.

[0020] In some embodiments, if N is 3, the N target living objects include a fourth target living object, a fifth target living object, and a sixth target living object, and determining the initial purification position based on the position of each target living object includes:

[0021] Based on the fourth position of the fourth target life object, the fifth position of the fifth target life object and the sixth position of the sixth target life object, the circumcenter position of the triangle formed by the fourth position, the fifth position and the sixth position is determined, and the circumcenter position is used as the initial purification position.

[0022] In some embodiments, determining the target purification position based on the occlusion state of the initial purification position includes:

[0023] If the shielding state of the initial purification position is an unshielded state, the initial purification position is used as the target purification position.

[0024] In some embodiments, determining the target purification position based on the occlusion state of the initial purification position includes:

[0025] If the shielding state of the initial purification position is the shielded state, determining whether there is a human body among the N target living objects;

[0026] If there are M human bodies among the N target life objects, take the initial purification position as the starting point, perform position searches along M directions respectively, and take the searched position that is closest to the initial purification position and is unobstructed as the target purification position, wherein the M directions are the directions from the initial purification position to the positions of the M human bodies, and M is a positive integer.

[0027] In some embodiments, after determining whether a human body exists among the N target living objects, the method further includes:

[0028] If there is no human body among the N target life objects, the initial purification position is used as the starting point, and position searches are performed along N directions respectively, and the searched position that is closest to the initial purification position and is unobstructed is used as the target purification position, wherein the N directions are the directions from the initial purification position to the positions of the N target life objects respectively.

[0029] In some embodiments, after determining a target purification position for performing spot purification in the area to be purified, the method further includes:

[0030] If an adjustment operation for the target purification position is received, the adjusted purification position is determined, and the adjusted purification position is used as the final position for performing fixed-point purification.

[0031] In a second aspect, an embodiment of the present invention provides a device for determining a position of a fixed-point purification, comprising:

[0032] An acquisition module, used to acquire a regional map of the area to be purified and determine a target range from the regional map;

[0033] a target living object determination module, used to determine N target living objects within the target range, and the position of each target living object, wherein the living objects in the area to be purified include human bodies, household appliances and / or furniture, and N is a positive integer;

[0034] The purification position determination module is used to determine the target purification position for performing fixed-point purification in the area to be purified based on the position of each target living object.

[0035] In a third aspect, an embodiment of the present invention provides an electronic device, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor implements the method described in any embodiment of the first aspect when executing the program.

[0036] In a fourth aspect, an embodiment of the present invention provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the steps of the method described in any embodiment of the first aspect.

[0037] One or more technical solutions provided by the embodiments of the present invention achieve at least the following technical effects or advantages:

[0038] The method for determining the location of a fixed-point purification provided in the embodiment of this specification obtains a regional map of the area to be purified, determines the target range from the regional map, and determines N target life objects within the target range, as well as the location of each target life object, wherein the life object may be a human body, a household appliance, or furniture, and N is a positive integer. Further, based on the location of each target life object, the target purification location for performing fixed-point purification in the area to be purified is determined. The above scheme can comprehensively determine the location of the fixed-point purification through the location of the target life objects including the human body, household appliances, and furniture in the area to be purified, without the need for a mobile purification robot to cruise the area to be purified. Therefore, it is possible to quickly determine the location of the fixed-point purification and save the energy of the mobile purification robot. At the same time, since the locations of target life objects such as the human body, household appliances, and / or furniture can reflect areas with high user activity frequencies, the target purification location determined by the target life objects can ensure that the air quality of areas where users frequently move is purified first, effectively improving the user experience. BRIEF DESCRIPTION OF THE DRAWINGS

[0039] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0040] Figure 1 A flow chart of a method for determining a location of a fixed-point purification provided in an embodiment of this specification;

[0041] Figure 2 A schematic diagram of a device for determining a position of a fixed-point purification provided in an embodiment of this specification;

[0042] Figure 3 A schematic diagram of an electronic device provided in an embodiment of this specification. DETAILED DESCRIPTION

[0043] The embodiments of this specification provide a method, device, electronic device and storage medium for determining the position of a fixed-point purification, the method comprising: obtaining an area map of the area to be purified, and determining a target range from the area map; determining N target life objects within the target range, and the position of each target life object, wherein the life objects in the area to be purified include human bodies, household appliances and / or furniture, and N is a positive integer; based on the position of each target life object, determining a target purification position for performing fixed-point purification in the area to be purified.

[0044] The scheme in the embodiments of this specification can comprehensively determine the location of the fixed-point purification through the location of the target life objects including human body, household appliances, and furniture in the area to be purified, without the need for the mobile purification robot to cruise the area to be purified. Therefore, it is possible to quickly determine the location of the fixed-point purification and save the energy of the mobile purification robot. At the same time, since the location of the target life objects such as human body, household appliances and / or furniture can reflect the area with high frequency of user activities, the target purification location determined by the target life objects can ensure that the air quality of the area where the user frequently moves is purified first, effectively improving the user experience.

[0045] In order to make the purpose, technical solution and advantages of the present invention clearer, the technical solution in the embodiment of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiment of the present invention. Obviously, the described embodiment is only a part of the embodiment of the present invention, not all the embodiments. Based on the embodiment of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0046] It should be noted that the terms "first", "second", etc. in the specification and claims of the present invention and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchanged where appropriate, so that the embodiments of the present invention described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions, for example, a process, method, system, product or device that includes a series of steps or units is not necessarily limited to those steps or units that are clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0047] like Figure 1 FIG. 1 is a flow chart of a method for determining a location of a fixed-point purification provided by an embodiment of the present specification, the method comprising the following steps:

[0048] Step S101: obtaining a region map of the area to be purified, and determining a target range from the region map;

[0049] Step S102: determining N target living objects within the target range and the position of each target living object, wherein the living objects within the area to be purified include human bodies, household appliances and / or furniture, and N is a positive integer;

[0050] Step S103: Based on the position of each target living object, a target purification position for performing fixed-point purification in the area to be purified is determined.

[0051] The solution provided in the embodiments of this specification can be applied to a mobile purification robot, which is used to purify the air in the environment. The mobile purification robot can perform fixed-point purification, that is, perform air purification at a specific point. This solution can also be applied to a server. After determining the target purification position, the server can send the target purification position to the mobile purification robot so that the mobile purification robot moves to the target purification position to perform fixed-point purification. In addition, this solution can also be applied to a system consisting of a mobile purification robot and a server, which is not limited here.

[0052] In step S101, the area to be purified may be an area where fixed-point purification is performed. For example, when the user issues a "fixed-point purification of the bedroom" instruction to the mobile purification robot through voice control, the area to be purified is the bedroom. The regional map can be obtained in a variety of ways. For example, the mobile purification robot has a mapping function. When the mobile purification robot is used for the first time or receives a mapping instruction, it can cruise the whole house to build a whole house map. Among them, the whole house map contains maps of various areas of the whole house. Taking the user's living place as an example, the whole house map constructed by the mobile purification robot may include areas such as bedrooms, living rooms, dining rooms, bathrooms, and kitchens. Then, when obtaining the regional map of the purification area, the regional map of the area to be purified can be directly extracted from the whole house map. Taking the bedroom as an example, the bedroom map can be extracted from the whole house map as a regional map. In other embodiments, the mobile purification robot can also be used to separately map the area to be purified to obtain a regional map of the area to be purified. For example, when the area to be purified is a bedroom, the mobile purification robot can perform mobile scanning in the bedroom and construct a bedroom map.

[0053] In the embodiments of this specification, the target range may be any position in the area to be purified. In some embodiments, the center point of the area to be purified may be determined first, and the range near the center point may be used as the target range. For example, the range formed by the center point as the center and the preset radius may be used as the target range. In other embodiments, the target range may be the entire area of ​​the area to be purified.

[0054] In step S102, living objects may include human bodies, household appliances and / or furniture in the area to be purified. The human body may be a user active in the area to be purified. Household appliances may include but are not limited to televisions, refrigerators, air conditioners, and water dispensers. Furniture may include but are not limited to beds, sofas, coffee tables, tables and chairs. Living objects can be determined in a variety of ways. In some embodiments, one or more sensors, such as cameras, laser radars and other sensors, may be provided in the area to be purified. The sensors can be used to identify household appliances, furniture, and human bodies in the area to be purified. In other embodiments, the mobile purification robot may also be provided with sensors, and the mobile robot completes the identification of household appliances and furniture in each area during the process of mapping. Furthermore, after the living objects are identified, the position of each living object is recorded.

[0055] It should be noted that, considering that the positions of home appliances and furniture are usually fixed, and the position of the human body changes frequently, after identifying the positions of home appliances and furniture, the positions of home appliances and furniture can be saved. For example, based on the positions of home appliances and furniture, the whole house map is marked, and a whole house map with the positions of home appliances and furniture is generated. When the position of a certain furniture or appliance needs to be obtained, the position of the corresponding furniture or appliance can be obtained by reading the marked position in the map. As for the human body, the human body position can be detected in real time by sensors in the area to be purified, and the detected human body position is sent to the mobile purification robot or server.

[0056] In the embodiments of this specification, the target life objects may be all life objects within the target range, or may be part of the life objects within the target range. In some embodiments, the determination of the target life objects may be achieved by: determining all life objects within the target range; if the number of all life objects is less than or equal to a preset number, taking all life objects as the N target life objects; if the number of all life objects is greater than the preset number, sorting all life objects in order from near to far from the reference position, and selecting the first N life objects in the sorting result as the N life objects.

[0057] Specifically, the preset number can be set according to actual needs, for example, the preset number can be 3, 4, etc. Taking the preset number of 3 as an example, when the number of all life objects within the target range is less than or equal to 3, all life objects are taken as target life objects. When the number of all life objects within the target range is greater than 3, for example, when the target range contains 5 life objects, the distance of each life object from the reference position can be calculated, wherein the reference position can be selected according to actual needs. In some embodiments, the reference position can be the location of the center point of the area to be purified. Arrange the distances between the life objects and the reference positions in order from large to small, and take the first N life objects as the screened target life objects. It should be noted that when the number of life objects is greater than the preset number, the value of N can be set according to actual needs. In the embodiment of this specification, in this case, the value of N can be a preset number.

[0058] It should be noted that when determining the target life objects, it can also be determined based on the frequency of use of furniture and household appliances. For example, the frequency of use of furniture and household appliances is counted, and furniture and household appliances with a usage frequency greater than a preset frequency are taken as alternative life objects. Then, for each alternative life object, the target life object is further screened out based on the distance between the candidate life object and the reference position.

[0059] In the embodiments of the present specification, after the target life object is determined, if the target life object is furniture and / or household appliances, the location of the target life object can be determined through the above-mentioned map with location marks; if the target life object is a human body, the current location of the human body can be obtained through sensors as the location of the target life object.

[0060] In some embodiments, the user can issue a fixed-point purification instruction to the mobile purification robot through language control or a terminal. When the mobile robot receives the instruction, it can interact with the sensor in the area to be purified. If the sensor detects the presence of a human body in the area to be purified, the position of the human body at the current moment is recorded. When the human body is taken as the target living object, the recorded position of the human body is used as the corresponding position information to calculate the target purification position for performing fixed-point purification.

[0061] In step S103, after the position of each target life object is determined, the target purification position for performing fixed-point purification is determined based on the position of the target life object. In the embodiment of this specification, since the position of the target life object can reflect the scope of user activities to a certain extent, the target purification position determined based on the position of the target life object can take the area where user activities are more frequent as the location of the fixed-point purification, thereby giving priority to meeting user needs and improving user experience.

[0062] Determining the target purification position based on the position of the target living object can be achieved in a variety of ways. For example, based on the position of the target living object, determining the minimum range including the position of each target living object, and taking the center of the minimum range as the target purification position.

[0063] In the embodiments of the present specification, in order to ensure the accuracy of the target purification position, the target purification position can be determined by the following steps: based on the position of each target life object, an initial purification position is determined; based on the occlusion state of the initial purification position, the target purification position is determined.

[0064] The initial purification position can be determined in a variety of ways. In the embodiments of this specification, the number of target life objects is different, and the method of determining the initial purification position may also be different. Below, the number of target life objects is 1, 2, and 3 as examples for explanation.

[0065] 1. The number of target life objects is 1

[0066] The number of target life objects is 1, that is, N is 1. If the target life object is the first target life object, the initial purification position can be obtained by the following steps: based on the first position of the first target life object and the reference position, determine the first midpoint on the line connecting the first position and the reference position, and use the first midpoint as the initial purification position.

[0067] Specifically, the reference position is the center point A of the area to be purified. The coordinates of the center point A are (x 1 ,y 1 ), the first position of the first target living object is represented by coordinates (x 2 ,y 2 ), then the midpoint on the line between the center point A and the first position can be used as the initial purification position B, and the coordinates of point B are (x, y), where x = (x 1 +x 2 ) / 2,y=(y 1 +y 2 ) / 2.

[0068] 2. The number of target life objects is 2

[0069] The number of target life objects is 2, that is, N is 2. If the two target life objects are the second target life object and the third target life object, the initial purification position can be obtained by the following steps: based on the second position of the second target life object and the third position of the third target life object, determine the second midpoint on the line connecting the second position and the third position, and use the second midpoint as the initial purification position.

[0070] Specifically, taking the reference position as the center point A of the area to be purified as an example, the coordinates of the center point A are (x 1 ,y 1 ), the second position of the second target living object is represented by coordinates (x 3 ,y 3 ) is used to represent the third position of the third target life object, and the third position of the third target life object is represented by the coordinate (x 4 ,y 4 ), then the midpoint of the line connecting the second position and the third position can be used as the initial purification position B, and the coordinates of point B are (x, y), where x = (x 3 +x 4 ) / 2,y=(y 3 +y 4 ) / 2.

[0071] 3. The number of target life objects is 3

[0072] The number of target life objects is 3, that is, N is 3. If these three target life objects are the fourth target life object, the fifth target life object and the sixth target life object, the initial purification position can be obtained by the following steps: based on the fourth position of the fourth target life object, the fifth position of the fifth target life object and the sixth position of the sixth target life object, determine the circumcenter position of the triangle formed by the fourth position, the fifth position and the sixth position, and use the circumcenter position as the initial purification position.

[0073] Specifically, taking the reference position as the center point A of the area to be purified as an example, the coordinates of the center point A are (x 1 ,y 1 ), the fourth position of the fourth target life object is represented by coordinates (x 5 ,y 5 ) is used to represent the fifth position of the fifth target life object, and the fifth position of the fifth target life object is represented by the coordinate (x 6 ,y 6 ) is used to represent the sixth position of the sixth target life object, and the sixth position of the sixth target life object is represented by the coordinate (x 7 ,y 7 ), when determining the initial purification position, the fourth position, the fifth position and the sixth position can be connected into a triangle, and the circumcenter of the triangle is calculated, and the circumcenter of the triangle is used as the initial purification position B, and the coordinates of point B are (x, y), where the coordinates of point B are calculated as follows:

[0074] According to the circumcenter to three fixed points (x 5 ,y 5 )、(x 6 ,y 6 )、(x 7 ,y 7 ) example, establish the equation and eliminate the variables to get the following system of equations:

[0075]

[0076] make:

[0077]

[0078] fm=2{(x 6 -x 5 )×(y 7 -y 6 )-(y 6 -y 5 )×(x 7 -x 6 )}

[0079] Then we have: x=(d1×(y 7 -y6 )-(y 6 -y 5 )×d2) / fm;

[0080] y=((x 6 -x 5 )×d2-d1×(x 7 -x 6 )) / fm

[0081] After determining the initial purification position, the shielding state of the initial position can be further determined. If an obstacle is detected at the initial position, the mobile purification robot will be unable to move to the initial purification position. In this case, the shielding state of the initial purification position can be determined to be shielded. If there is no obstacle at the initial position, the mobile purification robot can move to the initial purification position smoothly, and the shielding state of the initial purification position can be determined to be unshielded.

[0082] In the embodiment of this specification, if the shielding state of the initial purification position is an unshielded state, the initial purification position can be used as the target purification position. If the shielding state of the initial purification position is an obstructed state, when determining the target purification position, it can be achieved in a variety of ways, and two of them are used as examples for description below.

[0083] The first implementation method:

[0084] The target purification position can be determined by the following steps: if the occlusion state of the initial purification position is an occluded state, determine whether there is a human body among the N target life objects; if there are M human bodies among the N target life objects, take the initial purification position as the starting point, perform position searches along M directions respectively, and take the searched position that is closest to the initial purification position and is unobstructed as the target purification position, wherein the M directions are directions from the initial purification position to the positions of the M human bodies, and M is a positive integer.

[0085] Specifically, if the initial purification position is in an obstructed state, the initial purification position cannot be used as the final target purification position and needs to be adjusted. In the embodiment of this specification, if there is a human body among the N target life objects, in order to give priority to the air quality of the area where the human body is located, the purification position can be moved closer to the human body.

[0086] In some embodiments, if there is a human body among the N target life objects, that is, M is 1, the initial purification position can be connected with the position of the human body, and the position closest to the initial purification position and without obstruction can be found along the direction of the connection as the target purification position.

[0087] In other embodiments, if there are multiple human bodies among the N target life objects, that is, M is greater than 1, taking M as 2 as an example, a search is performed in a first direction pointing from the initial purification position to the first human body, and a search is performed in a second direction pointing from the initial purification position to the second human body, that is, taking the initial purification position as the starting point, moving on the line between the initial purification position and the first human body, and on the line between the initial purification position and the second human body, respectively, and taking the first unobstructed position searched as the target purification position, wherein the target purification position is the position that is closest to the initial purification position in these two directions and is unobstructed.

[0088] The second implementation method:

[0089] The target purification position can be determined by the following steps: if there is no human body among the N target life objects, take the initial purification position as the starting point, perform position searches along N directions respectively, and take the searched position that is closest to the initial purification position and is unobstructed as the target purification position, wherein the N directions are the directions from the initial purification position to the positions of the N target life objects respectively.

[0090] Specifically, if the occlusion state of the initial purification position is an obstructed state, the initial purification position cannot be used as the final target purification position and needs to be adjusted. In the embodiment of the present specification, if there is no human body among the N target life objects, that is, the N target life objects are all home appliances and furniture. Then you can move from the initial purification position to the N target life objects respectively. For example, connect the initial purification position with the N target life objects respectively, take the initial purification position as the starting point, move and search on the N connecting lines, and use the first unobstructed position searched as the target purification position. That is, the target purification position is the position that is closest to the initial purification position and is unobstructed in the N directions corresponding to the N connecting lines.

[0091] In the embodiments of the present specification, after the target purification position is determined, the target purification position can be displayed on the regional map, so that after the user issues a fixed-point scanning instruction, the target purification position can be clearly seen from the regional map or the fixed-point scanning is performed.

[0092] In some embodiments, if an adjustment operation is received for the target purification position, the adjusted purification position is determined, and the adjusted purification position is used as the final position for performing fixed-point purification. Specifically, the embodiments of this specification support users to modify the target purification position. Following the above example, after the target purification position is displayed on the regional map, if the user wants to modify the target purification position, the target purification position can be adjusted by dragging or inputting coordinates, etc., so as to obtain the adjusted purification position, and the mobile purification robot will perform fixed-point purification based on the adjusted purification position.

[0093] In the above scheme, when the user wants to move the purification robot to a certain area to perform a fixed-point purification function, the user can issue instructions to the robot through a mobile terminal, voice control, etc. to go to a certain area to perform a fixed-point purification function. This scheme can automatically generate the location of the fixed-point purification without the user having to manually set the fixed-point location in advance, and there is no need for the mobile purification robot to cruise the area to be purified and then determine the purification potential. Therefore, the fixed-point purification can be completed quickly and efficiently, and the robot's energy can also be saved.

[0094] Based on the same inventive concept, the embodiment of the present invention provides a device for determining the position of a fixed-point purification, referring to Figure 2 As shown, the device comprises:

[0095] An acquisition module 201 is used to acquire a region map of the area to be purified and determine a target range from the region map;

[0096] A target living object determination module 202 is used to determine N target living objects located within the target range, and the position of each target living object, wherein the living objects in the area to be purified include human bodies, household appliances and / or furniture, and N is a positive integer;

[0097] The purification position determination module 203 is used to determine the target purification position for performing fixed-point purification in the area to be purified based on the position of each target living object.

[0098] In some implementations, the target life object determination module 202 is used to:

[0099] Identify all living objects within the target range;

[0100] If the number of all the living objects is less than or equal to the preset number, taking all the living objects as the N target living objects;

[0101] If the number of all living objects is greater than the preset number, all living objects are sorted in order from near to far from the reference position, and the first N living objects in the sorting result are selected as the N living objects.

[0102] In some implementations, the purification location determination module 203 is configured to:

[0103] Determining an initial purification position based on the position of each target living object;

[0104] The target purification position is determined based on the shielding state of the initial purification position.

[0105] In some implementations, if N is 1, the N target living objects include the first target living object, and the purification location determination module 203 is used to:

[0106] Based on the first position of the first target living object and the reference position, a first midpoint on a line connecting the first position and the reference position is determined, and the first midpoint is used as the initial purification position.

[0107] In some implementations, if N is 2, the N target living objects include the second target living object and the third target living object, and the purification location determination module 203 is used to:

[0108] Based on the second position of the second target living object and the third position of the third target living object, a second midpoint on the line connecting the second position and the third position is determined, and the second midpoint is used as the initial purification position.

[0109] In some implementations, if N is 3, the N target living objects include a fourth target living object, a fifth target living object, and a sixth target living object, the purification location determination module 203 is used to:

[0110] Based on the fourth position of the fourth target life object, the fifth position of the fifth target life object and the sixth position of the sixth target life object, the circumcenter position of the triangle formed by the fourth position, the fifth position and the sixth position is determined, and the circumcenter position is used as the initial purification position.

[0111] In some implementations, the purification location determination module 203 is configured to:

[0112] If the shielding state of the initial purification position is an unshielded state, the initial purification position is used as the target purification position.

[0113] In some implementations, the purification location determination module 203 is configured to:

[0114] If the shielding state of the initial purification position is the shielded state, determining whether there is a human body among the N target living objects;

[0115] If there are M human bodies among the N target life objects, take the initial purification position as the starting point, perform position searches along M directions respectively, and take the searched position that is closest to the initial purification position and is unobstructed as the target purification position, wherein the M directions are the directions from the initial purification position to the positions of the M human bodies, and M is a positive integer.

[0116] In some embodiments, the device further comprises:

[0117] A processing module is used for, if there is no human body among the N target life objects, starting from the initial purification position, performing position searches along N directions respectively, and taking the searched position closest to the initial purification position and without obstruction as the target purification position, wherein the N directions are directions from the initial purification position to the positions of the N target life objects respectively.

[0118] In some embodiments, the device further comprises:

[0119] The adjustment module is used to determine the adjusted purification position if an adjustment operation for the target purification position is received, and use the adjusted purification position as the final position for performing fixed-point purification.

[0120] Regarding the above-mentioned device, the specific functions of each module therein have been described in detail in the embodiment of the method for determining the position of the fixed-point purification provided in the embodiment of this specification, and will not be elaborated here.

[0121] Based on the same inventive concept, an embodiment of the present invention provides an electronic device, referring to Figure 3 As shown, it includes: a memory 304, a processor 302, and a computer program stored in the memory 304 and executable on the processor 302. When the processor 302 executes the program, any implementation method of the method for determining the position of the fixed-point purification is implemented.

[0122] Among them, Figure 3 In the embodiment of the present invention, a bus architecture (represented by bus 300) is shown, which may include any number of interconnected buses and bridges, and bus 300 links various circuits including one or more processors represented by processor 302 and memory represented by memory 304. Bus 300 may also link various other circuits such as peripherals, voltage regulators, and power management circuits, which are well known in the art and are therefore not further described herein. Bus interface 305 provides an interface between bus 300 and receiver 301 and transmitter 303. Receiver 301 and transmitter 303 may be the same element, namely a transceiver, providing a unit for communicating with various other devices over a transmission medium. Processor 302 is responsible for managing bus 300 and general processing, while memory 304 may be used to store data used by processor 302 when performing operations.

[0123] The functions described herein may be implemented in hardware, software executed by a processor, firmware, or any combination thereof. If implemented in software executed by a processor, the functions may be stored as one or more instructions or codes on a computer-readable medium or transmitted via a computer-readable medium. Other examples and implementations are within the scope and spirit of the present invention and the appended claims. For example, due to the nature of software, the functions described above may be implemented using software executed by a processor, hardware, firmware, hard wiring, or a combination of any of these. In addition, each functional unit may be integrated into a processing unit, each unit may exist physically separately, or two or more units may be integrated into one unit.

[0124] In the several embodiments provided in this application, it should be understood that the disclosed technical content can be implemented in other ways. Among them, the device embodiments described above are only schematic. For example, the division of the units can be a logical function division. There may be other division methods in actual implementation. For example, multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of units or modules, which can be electrical or other forms.

[0125] The units described as separate components may or may not be physically separated, and the components of the control device may or may not be physical units, that is, they may be located in one place or distributed in multiple units. Some or all of the units may be selected according to actual needs to achieve the purpose of the present embodiment.

[0126] If the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention, in essence, or the part that contributes to the prior art, or all or part of the technical solution can be embodied in the form of a software product, and the computer software product is stored in a storage medium, including a number of instructions for a computer device (which can be a personal computer, a server or a network device, etc.) to perform all or part of the steps of the method described in each embodiment of the present invention. The aforementioned storage medium includes: U disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), mobile hard disk, magnetic disk or optical disk and other media that can store program codes.

[0127] The above description is only an embodiment of the present invention and is not intended to limit the present invention. For those skilled in the art, the present invention may have various modifications and variations. Any modification, equivalent substitution, improvement, etc. made within the spirit and principle of the present invention shall be included in the scope of the claims of the present invention.

Claims

1. A method for determining the position of a fixed-point purification, characterized in that: include: Obtaining an area map of the area to be purified, and determining a target range from the area map; Determine N target living objects within the target range, and the position of each target living object, wherein the living objects in the area to be purified include human bodies, household appliances and / or furniture, and N is a positive integer; Based on the position of each target living object, a target purification position for performing spot purification in the area to be purified is determined.

2. The method according to claim 1, characterized in that The determining of N target living objects within the target range includes: Identify all living objects within the target range; If the number of all the living objects is less than or equal to the preset number, taking all the living objects as the N target living objects; If the number of all living objects is greater than the preset number, all living objects are sorted in order from near to far from the reference position, and the first N living objects in the sorting result are selected as the N living objects.

3. The method according to claim 2, characterized in that The determining of a target purification position for performing spot purification in the area to be purified based on the position of each target living object includes: Determining an initial purification position based on the position of each target living object; The target purification position is determined based on the shielding state of the initial purification position.

4. The method according to claim 3, characterized in that If N is 1, the N target living objects include a first target living object, and determining an initial purification position based on the position of each target living object includes: Based on the first position of the first target living object and the reference position, a first midpoint on a line connecting the first position and the reference position is determined, and the first midpoint is used as the initial purification position.

5. The method according to claim 3, characterized in that If N is 2, the N target living objects include a second target living object and a third target living object, and determining the initial purification position based on the position of each target living object includes: Based on the second position of the second target living object and the third position of the third target living object, a second midpoint on the line connecting the second position and the third position is determined, and the second midpoint is used as the initial purification position.

6. The method according to claim 3, characterized in that If N is 3, the N target life objects include a fourth target life object, a fifth target life object, and a sixth target life object, and determining the initial purification position based on the position of each target life object includes: Based on the fourth position of the fourth target life object, the fifth position of the fifth target life object and the sixth position of the sixth target life object, the circumcenter position of the triangle formed by the fourth position, the fifth position and the sixth position is determined, and the circumcenter position is used as the initial purification position.

7. The method according to any one of claims 3 to 6, characterized in that: The determining the target purification position based on the shielding state of the initial purification position includes: If the shielding state of the initial purification position is an unshielded state, the initial purification position is used as the target purification position.

8. The method according to any one of claims 3 to 6, characterized in that: The determining the target purification position based on the shielding state of the initial purification position includes: If the shielding state of the initial purification position is the shielded state, determining whether there is a human body among the N target living objects; If there are M human bodies among the N target life objects, take the initial purification position as the starting point, perform position searches along M directions respectively, and take the searched position that is closest to the initial purification position and is unobstructed as the target purification position, wherein the M directions are the directions from the initial purification position to the positions of the M human bodies, and M is a positive integer.

9. The method according to claim 8, characterized in that After determining whether there is a human body among the N target living objects, the method further includes: If there is no human body among the N target life objects, the initial purification position is used as the starting point, and position searches are performed along N directions respectively, and the searched position that is closest to the initial purification position and is unobstructed is used as the target purification position, wherein the N directions are the directions from the initial purification position to the positions of the N target life objects respectively.

10. The method according to claim 1, characterized in that After determining the target purification position for performing spot purification in the area to be purified, the method further includes: If an adjustment operation for the target purification position is received, the adjusted purification position is determined, and the adjusted purification position is used as the final position for performing fixed-point purification.

11. A device for determining the position of a fixed-point purification, characterized in that: include: An acquisition module, used to acquire a regional map of the area to be purified and determine a target range from the regional map; a target living object determination module, used to determine N target living objects within the target range, and the position of each target living object, wherein the living objects in the area to be purified include human bodies, household appliances and / or furniture, and N is a positive integer; The purification position determination module is used to determine the target purification position for performing fixed-point purification in the area to be purified based on the position of each target living object.

12. An electronic device, characterized in that: include: A memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor implements the method according to any one of claims 1 to 10 when executing the program.

13. A computer-readable storage medium, characterized in that: A computer program is stored thereon, and when the program is executed by a processor, the steps of the method according to any one of claims 1 to 10 are implemented.

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