Cleaning path generation method, device, medium and cleaning equipment

Abstract

The invention discloses a cleaning path generation method and device, a medium and cleaning equipment, and the method comprises the steps: obtaining an obstacle point cloud corresponding to an obstacle and boundary information corresponding to a virtual boundary when the cleaning equipment operates along the virtual boundary and the obstacle appears in front of the cleaning equipment; determining an initial channel between the obstacle and the virtual boundary based on the obstacle point cloud and the boundary information; and generating a target cleaning path between the obstacle and the virtual boundary under the condition that the cleaning equipment cannot pass through the initial channel. The cleaning equipment runs based on the target cleaning path generated by the method, the channel between the obstacle and the virtual boundary is cleaned, missing cleaning of the channel between the obstacle and the virtual boundary is avoided, and the cleaning coverage rate of the cleaning equipment is increased.

Description

(19) State Intellectual Property Office (12) Invention Patent Application (10) Application Publication Number (43) Application Publication Date (21) Application Number 202511658104.6 (22) Application Date 2023.04.13 (62) Divisional Application Data 202310395418.6 2023.04.13 (71) Applicant: Chase Innovation Technology (Suzhou) Co., Ltd. Address: Units 1, 2, and 3, Building 8, No. 1688, Songwei Road, Guoxiang Street, Wuzhong Economic Development Zone, Suzhou City, Jiangsu Province, 215000 (72) Inventors: Yang Donghao, Li Qiang, Gao Xiangxiang, Yu Hao (74) Patent Agency: Huajin United Patent & Trademark Agency Co., Ltd. 44224 Patent Attorney: Zuo Bangsheng (51) Int.Cl. G05D 1 / 43 (2024.01) A47L 11 / 24 (2006.01) A47L 11 / 28 (2006.01) A47L 11 / 40 (2006.01) G05D 1 / 242 (2024.01) G05D 1 / 243 (2024.01) G05D 1 / 246 (2024.01) G05D 1 / 633 (2024.01) G05D 1 / 648 (2024.01) G05D 105 / 10 (2024.01) (54) Invention Title: Cleaning Path Generation Method, Apparatus, Medium, and Cleaning Equipment (57) Abstract: This application discloses a cleaning path generation method, apparatus, medium, and cleaning equipment. A cleaning method is provided, comprising: when the cleaning equipment runs along a virtual boundary and an obstacle appears in front of the cleaning equipment, acquiring obstacle point cloud corresponding to the obstacle and boundary information corresponding to the virtual boundary; determining an initial channel between the obstacle and the virtual boundary based on the obstacle point cloud and boundary information; and generating a target cleaning path between the obstacle and the virtual boundary if the cleaning equipment cannot pass through the initial channel. The cleaning equipment runs based on the target cleaning path generated by the above method, cleaning the channel between the obstacle and the virtual boundary, avoiding missed cleaning of the channel between the obstacle and the virtual boundary, and improving the cleaning coverage of the cleaning equipment. Claims 2 pages, Description 15 pages, Drawings 7 pages, CN 121635305 A 2026.03.10 CN 1 21 63 53 05 A 1. A cleaning path generation method, characterized in that the method includes: when a cleaning device runs along a virtual boundary and an obstacle appears in front of the cleaning device, acquiring an obstacle point cloud corresponding to the obstacle and boundary information corresponding to the virtual boundary; determining an initial channel between the obstacle and the virtual boundary based on the obstacle point cloud and the boundary information; when the cleaning device cannot pass through the initial channel, acquiring the obstacle point cloud and the boundary information...The method according to claim 1, wherein the method further comprises: calculating the interval distance between the obstacle and the virtual boundary based on the obstacle point cloud and the boundary information, as the width information of the initial channel; and determining, based on the width information of the initial channel, that the initial channel meets the preset cleaning conditions and that the cleaning device cannot pass through the initial channel. 2. The method according to claim 2, wherein if the minimum interval distance in the width information is less than the width of the cleaning device, it is determined that the cleaning device cannot pass through the initial channel. 4. The method according to claim 2, wherein if the minimum interval distance in the width information is greater than a first preset width threshold and / or the average interval distance of the width information is greater than a second preset width threshold, it is determined that the initial channel meets the preset cleaning conditions. 5. The method according to claim 1, wherein generating the target cleaning path between the obstacle and the virtual boundary comprises: obtaining an envelope surrounding the obstacle based on the obstacle point cloud and the width of the cleaning device; updating the boundary information based on the envelope to obtain updated boundary information; and generating the target cleaning path between the virtual boundary and the obstacle based on the updated boundary information. 6. The method according to claim 1, further comprising: during the operation of the cleaning device based on the target cleaning path, when the cleaning device does not overlap with the virtual boundary, generating a new target cleaning path along the virtual boundary based on the boundary information. 7. The method according to claim 1, further comprising: during the operation of the cleaning device based on the target cleaning path, acquiring the device curve corresponding to the cleaning device and the boundary curve corresponding to the virtual boundary; determining whether there is an intersection point between the device curve and the boundary curve; if there is no intersection point between the device curve and the boundary curve, determining that the cleaning device and the virtual boundary do not overlap, and generating a new target cleaning path along the virtual boundary based on the boundary information. 8. A cleaning path generation device, characterized in that the device comprises: an acquisition module, configured to acquire an obstacle point cloud corresponding to the obstacle and boundary information corresponding to the virtual boundary when the cleaning device is running along a virtual boundary and an obstacle appears in front of the cleaning device; and a determination module, configured to determine an initial channel between the obstacle and the virtual boundary based on the obstacle point cloud and the boundary information.A generation module is configured to, when the cleaning device cannot pass through the initial channel, acquire obstacle point clouds and virtual point clouds corresponding to the boundary information, as well as obstacle attributes corresponding to the obstacle point clouds and boundary attributes corresponding to the virtual point clouds; if the boundary attributes are virtual, then based on the obstacle point clouds, generate a target cleaning path between the obstacles and the virtual boundaries. 9. A computer-readable storage medium storing a computer program thereon, characterized in that, when the computer program is executed by a processor, it implements the steps of the method according to any one of claims 1 to 7. 10. A cleaning device, comprising a memory and a processor, the memory storing a computer program, characterized in that, when the processor executes the computer program, it implements the steps of the method according to any one of claims 1 to 7. Claims 2 / 2 Page 3 CN 121635305 A Cleaning Path Generation Method, Apparatus, Medium and Cleaning Equipment

[0001] This application is a divisional application of the invention patent with application number 2023103954186, application date 2023.04.13, and invention title "Cleaning Path Generation Method, Apparatus, Medium and Cleaning Equipment". Technical Field

[0002] This application belongs to the field of intelligent device technology, specifically relating to a cleaning path generation method, apparatus, medium and cleaning equipment. Background Art

[0003] With the rapid development of science and technology, various intelligent devices have emerged, bringing great convenience to people's lives and work. Cleaning equipment is one of the most important intelligent devices. People only need to run the cleaning equipment, and the cleaning equipment can automatically perform cleaning work.

[0004] In traditional methods, when a cleaning device runs along a virtual boundary, if an obstacle is detected in front of it, it will bypass the channel between the virtual boundary and the obstacle to avoid collision with the obstacle. However, this will result in missed cleaning of the channel between the virtual boundary and the obstacle, causing a low cleaning coverage rate. Therefore, there is an urgent need to propose a solution to the problem of low cleaning coverage rate in traditional methods. Summary of the Invention

[0005] Therefore, the technical problem to be solved by this application is how to improve the cleaning coverage rate of the cleaning device.

[0006] To solve the above technical problem, this application provides a cleaning path generation method, including:

[0007] When the cleaning device runs along a virtual boundary and an obstacle appears in front of the cleaning device, obtaining the obstacle point cloud corresponding to the obstacle and the boundary information corresponding to the virtual boundary;

[0008] Based on the obstacle point cloud and the boundary information, determining an initial channel between the obstacle and the virtual boundary;

[0009] When the cleaning device cannot pass through the initial channel, generating the obstacle and the virtual boundary.

[0010] Optionally, when the initial channel meets the preset cleaning conditions and the cleaning device cannot pass through the initial channel, a target cleaning path is generated between the obstacle and the virtual boundary; wherein, the preset cleaning conditions refer to the pre-set conditions for determining that the cleaning device needs to clean the initial channel between the obstacle and the virtual boundary.

[0011] Optionally, when the cleaning device cannot pass through the initial channel, generating a target cleaning path between the obstacle and the virtual boundary further includes:

[0012] Calculating the interval distance between the obstacle and the virtual boundary based on the obstacle point cloud and the boundary information, as the width information of the initial channel;

[0013] Determining, based on the width information of the initial channel, that the initial channel meets the preset cleaning conditions and the cleaning device cannot pass through the initial channel.

[0014] Optionally, when the minimum interval distance in the width information is less than the width of the cleaning device, it is determined that the cleaning device cannot pass through the initial channel.

[0015] Optionally, if the minimum interval distance in the width information is greater than a first preset width threshold and / or the average interval distance of the width information is greater than a second preset width threshold, the initial channel is determined to meet the preset cleaning condition.

[0016] Optionally, generating the target cleaning path between the obstacle and the virtual boundary includes:

[0017] Obtaining an envelope surrounding the obstacle based on the obstacle point cloud and the width of the cleaning device;

[0018] Updating the boundary information based on the envelope to obtain updated boundary information;

[0019] Generating the target cleaning path between the virtual boundary and the obstacle based on the updated boundary information.

[0020] Optionally, obtaining the envelope surrounding the obstacle based on the obstacle point cloud and the width of the cleaning device includes:

[0021] Expanding the obstacle points in the obstacle point cloud based on the width of the cleaning device to obtain multiple expansion curves;

[0022] Obtaining the envelope surrounding the obstacle based on the multiple expansion curves.

[0023] Optionally, updating the boundary information based on the envelope to obtain updated boundary information includes:

[0024] Determining a portion of the envelope located on the other side of the virtual boundary as a target envelope relative to the cleaning device located on one side of the virtual boundary;

[0025] Updating the boundary information based on the target envelope to obtain updated boundary information.

[0026] Optionally, if the boundary information is a virtual point cloud; the step of updating the boundary information based on the target envelope...The update process to obtain updated boundary information includes:

[0027] Determining a straight line passing through the center point of the cleaning equipment and a virtual point in the virtual point cloud, and calculating the intersection of the straight line and the envelope;

[0028] Calculating a first distance between the center point of the equipment and the intersection, and a second distance between the center point of the equipment and the virtual point;

[0029] Based on the relationship between the first distance and the second distance, determining an inner virtual point in the virtual point cloud located within the envelope;

[0030] Moving the inner virtual point based on the target envelope to obtain a target virtual point;

[0031] Replacing the inner virtual point in the virtual point cloud with the target virtual point to obtain an updated virtual point cloud, and using the updated virtual point cloud as updated boundary information.

[0032] Optionally, if the boundary information is a curve; updating the boundary information based on the target envelope to obtain updated boundary information includes:

[0033] calculating the intersection point between the curve and the envelope;

[0034] determining the curve to be replaced based on the curve and the intersection point between the curve and the envelope;

[0035] replacing the curve to be replaced in the curve with the target envelope to obtain an updated curve, and using the updated curve as the updated boundary information.

[0036] Optionally, generating the target cleaning path between the obstacle and the virtual boundary includes:

[0037] ignoring the boundary information, generating the target cleaning path between the virtual boundary and the obstacle based on the obstacle point cloud.

[0038] Optionally, ignoring the boundary information and generating a target cleaning path between the virtual boundary and the obstacle based on the obstacle point cloud further includes:

[0039] During the operation of the cleaning device based on the target cleaning path, when the cleaning device does not overlap with the virtual boundary, a new target cleaning path is generated along the virtual boundary based on the boundary information.

[0040] This application also provides a cleaning path generation device, including:

[0041] an acquisition module, used to acquire the obstacle point cloud corresponding to the obstacle and the boundary information corresponding to the virtual boundary when the cleaning device is running along the virtual boundary and an obstacle appears in front of the cleaning device.

[0042] a determination module, used to determine an initial channel between the obstacle and the virtual boundary based on the obstacle point cloud and the boundary information.

[0043] a generation module, used to generate a target cleaning path between the obstacle and the virtual boundary when the cleaning device cannot pass through the initial channel.

[0044] This application also provides a computer-readable storage medium. The computer-readable storage medium stores thereon...A computer program is provided, which, when executed by a processor, implements the steps in the cleaning path generation method provided by the above aspects.

[0045] This application also provides a computer program product. The computer program product includes a computer program, which, when executed by a processor, implements the steps in the cleaning path generation method provided by the above aspects.

[0046] This application also provides a cleaning device, including a memory and a processor, wherein the memory stores a computer program, characterized in that, when the processor executes the computer program, it implements the steps in the cleaning path generation method provided by the above aspects.

[0047] The technical solution provided by this application has the following advantages:

[0048] When the cleaning device runs along the virtual boundary and detects an obstacle in front, it determines the initial channel between the obstacle and the virtual boundary based on the acquired obstacle point cloud and boundary information. If the cleaning device can pass through the initial channel, it continues to run along the virtual boundary and cleans the channel between the obstacle and the virtual boundary. If the cleaning device cannot pass through the initial channel, it generates a target cleaning path between the virtual boundary and the obstacle. The cleaning device cleans the channel between the obstacle and the virtual boundary based on the target cleaning path, avoiding missed cleaning of the channel between the obstacle and the virtual boundary and improving the cleaning coverage of the cleaning device. Brief Description of the Drawings

[0049] In order to more clearly illustrate the technical solutions in the specific embodiments of this application or the prior art, the drawings used in the description of the specific embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0050] Figure 1 is a flowchart illustrating a cleaning path generation method in one embodiment of this application;

[0051] Figure 2 is a flowchart illustrating a cleaning path generation step in one embodiment of this application;

[0052] Figure 3 is a flowchart illustrating a boundary information generation step in one embodiment of this application;

[0053] Figure 4 is a scene diagram illustrating a cleaning path generation method in one embodiment of this application;

[0054] Figure 5 is a flowchart illustrating a cleaning path generation step in one embodiment of this application;

[0055] Figure 6 is a flowchart illustrating a cleaning path generation step in another embodiment of this application;

[0056] Figure 7 is a schematic diagram of a target cleaning path in one embodiment of this application;

[0057] Figure 8 is a flowchart illustrating a cleaning path generation step in another embodiment of this application; Specification 3 / 15 pages 6 CN 121635305 A

[0058] Figure 9 is a schematic diagram of a target cleaning path in another embodiment of this application;

[0059] Figure 10 is a structural block diagram of a cleaning path generation device in one embodiment of this application;

[0060] Figure 11 is an internal structural diagram of a cleaning device in one embodiment of this application. Detailed Description

[0061] The technical solution of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are some embodiments of this application, but not all embodiments. The application will be described in detail below with reference to the accompanying drawings and embodiments. It should be noted that, in the absence of conflict, the embodiments and features in the embodiments of this application can be combined with each other.

[0062] It should be noted that the terms "first", "second", etc. in the specification and claims of this application and the above-mentioned drawings are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence.

[0063] In one embodiment, as shown in Figure 1, a cleaning path generation method is provided. Taking the application of this method to a cleaning device as an example, it includes the following steps:

[0064] Step 102: When the cleaning device runs along a virtual boundary and an obstacle appears in front of the cleaning device, the obstacle point cloud corresponding to the obstacle and the boundary information corresponding to the virtual boundary are obtained.

[0065] Wherein, the cleaning device refers to an intelligent device that automatically realizes the cleaning task. Cleaning equipment includes, but is not limited to, robotic vacuum cleaners for smart home devices, or large intelligent devices for autonomously performing cleaning tasks in public places. Virtual boundary refers to the boundary set by the operator in the cleaning map. It can be understood as a set of lines or points used to divide the cleaning map into multiple areas, or a set of lines or points used to represent the cleaning area that is restricted in the cleaning map, i.e., a boundary set by the operator in the cleaning map that does not exist in the cleaning area. Obstacle refers to something that hinders the operation of the cleaning equipment. Obstacle point cloud refers to the set of point data on the surface of the obstacle obtained by measuring instruments. The obstacle point cloud includes, but is not limited to, information such as the coordinates, laser reflection intensity, and color of multiple obstacle points. The obstacle point cloud can be obtained by sensors on the cleaning equipment, including, but not limited to, laser sensors and infrared sensors. Boundary information refers to information that represents the virtual boundary. Boundary information can be a set of points or a point cloud formed by the coordinates of multiple virtual points that make up the virtual boundary, or a curve representing the virtual boundary.

[0066] For example, during the operation of the cleaning equipment along the virtual boundary, it detects obstacles in front. If an obstacle is detected in front, it obtains the obstacle point cloud corresponding to the obstacle and the boundary information corresponding to the virtual boundary.

[0067] Step 104: Determine the initial channel between the obstacle and the virtual boundary based on the obstacle point cloud and boundary information.

[0068] Wherein, the initial channel refers to the channel formed between the obstacle and the virtual boundary. It can be understood that the initial channel consists of the boundary formed by the obstacle point cloud and the boundary formed by the boundary information.

[0069] For example, the cleaning device obtains the initial channel between the obstacle and the virtual boundary based on the obstacle point cloud and boundary information.

[0070] Step 106: If the cleaning device cannot pass through the initial channel, generate a target cleaning path between the obstacle and the virtual boundary.

[0071] For example, first determine whether the cleaning device can pass through the initial channel. If the cleaning device can pass through the initial channel, the cleaning device continues to run along the virtual boundary. If the cleaning device cannot pass through the initial channel, generate a target cleaning path between the obstacle and the virtual boundary. The target cleaning path is located between the obstacle and the virtual boundary and is used by the cleaning device to clean the channel between the obstacle and the virtual boundary.

[0072] In some embodiments, if the cleaning device cannot pass through the initial channel, update the initial cleaning path between the obstacle and the virtual boundary to obtain the target cleaning path between the obstacle and the virtual boundary.

[0073] In one embodiment, if the cleaning device cannot pass through the initial channel, adjust the virtual boundary based on the width of the cleaning device to obtain an adjusted virtual boundary. Based on the adjusted boundary information corresponding to the adjusted virtual boundary, generate a target cleaning path between the obstacle and the virtual boundary.

[0074] In one embodiment, if the cleaning device cannot pass through the initial channel, the virtual boundary is ignored, and a target cleaning path between the obstacle and the virtual boundary is generated based on the obstacle point cloud corresponding to the obstacle.

[0075] In the above cleaning path generation method, when the cleaning device runs along the virtual boundary and detects an obstacle in front, the initial channel between the obstacle and the virtual boundary is determined according to the acquired obstacle point cloud and boundary information. If the cleaning device can pass through the initial channel, the cleaning device continues to run along the virtual boundary and cleans the channel between the obstacle and the virtual boundary. If the cleaning device cannot pass through the initial channel, a target cleaning path between the virtual boundary and the obstacle is generated. The cleaning device cleans the channel between the obstacle and the virtual boundary based on the target cleaning path, avoiding missed cleaning of the channel between the obstacle and the virtual boundary and improving the cleaning coverage of the cleaning device.

[0076] In some embodiments, if the initial channel meets the preset cleaning conditions and the cleaning device cannot pass through the initial channel, a target cleaning path between the obstacle and the virtual boundary is generated; wherein, the preset cleaning conditions refer to the pre-set conditions for determining that the cleaning device needs to clean the initial channel between the obstacle and the virtual boundary.

[0077] The preset cleaning conditions can be set according to actual needs. For example, the preset cleaning conditions can be configured with reference to the interval between obstacles and virtual boundaries. For instance, the preset cleaning condition can be that the minimum interval distance in the initial channel is greater than zero. If the obstacles and virtual boundaries are always adjacent, there will be virtually no missed scans.The initial channel between the obstacle and the virtual boundary does not need to be cleaned. Of course, other methods can be used to set preset cleaning conditions, such as setting preset cleaning conditions based on obstacle type, obstacle shape, and other obstacle information, etc. If the initial channel between the obstacle and the virtual boundary does not meet the preset cleaning conditions, then there is no need to generate a target cleaning path between the obstacle and the virtual boundary. This can make the cleaning path of the sweeping robot more suitable for complex application scenarios while ensuring cleaning coverage.

[0078] The method of generating the target cleaning path between the obstacle and the virtual boundary is not limited. For example, the virtual boundary can be adjusted so that the cleaning device can pass between the obstacle and the virtual boundary.

[0079] For example, the cleaning device determines whether the initial channel meets the preset cleaning conditions and whether the cleaning device can pass through the initial channel. If the initial channel meets the preset cleaning conditions and the cleaning device cannot pass through the initial channel, the virtual boundary is adjusted to obtain an adjusted virtual boundary, and then a target cleaning path along the adjusted virtual boundary is generated. In this case, the initial channel is adjusted based on the adjusted virtual boundary to obtain an adjusted channel through which the cleaning device can pass.

[0080] In some embodiments, when the initial channel meets the preset cleaning conditions and the cleaning device cannot pass through the initial channel, the virtual boundary is adjusted based on the width of the cleaning device to obtain an adjusted virtual boundary, and a target cleaning path is generated based on the adjusted virtual boundary.

[0081] In this embodiment, by adjusting the virtual boundary, the adjusted channel between the obstacle and the adjusted virtual boundary allows the cleaning device to run between the obstacle and the adjusted virtual boundary. The cleaning device runs along the target cleaning path and can clean the channel between the obstacle and the virtual boundary, avoiding missed cleaning of the channel between the obstacle and the virtual boundary, and improving the cleaning coverage of the cleaning device.

[0082] In some embodiments, when the initial channel meets the preset cleaning conditions and the cleaning device cannot pass through the initial channel, adjusting the virtual boundary to obtain an adjusted virtual boundary further includes:

[0083] Calculating the interval distance between the obstacle and the virtual boundary based on the obstacle point cloud and boundary information, as the width information of the channel; determining, based on the width information of the initial channel, that the initial channel meets the preset cleaning conditions and the cleaning device cannot pass through the initial channel.

[0084] Wherein, the interval distance refers to the straight-line distance between the obstacle and the virtual boundary. Width information refers to data characterizing the initial channel width. The width information can be a single data point characterizing the initial channel width, for example, 50 cm, or it can be a data set containing multiple interval distances, for example, {2 cm, 12 cm, 30 cm…52 cm}.

[0085] For example, the cleaning device calculates the distance between the obstacle and the virtual boundary based on the obstacle point cloud and boundary information, uses the distance as the width information of the initial channel, and then determines whether the initial channel meets the preset cleaning conditions based on the width information of the initial channel and the preset cleaning conditions. Based on the width information of the initial channel and the width of the cleaning device, it determines whether the cleaning device can pass through the initial channel.

[0086] In some embodiments, the cleaning device calculates the vertical distance from each obstacle point in the obstacle point cloud to the virtual boundary, uses the vertical distance as the distance between the obstacle and the virtual boundary, uses the set of distances composed of multiple vertical distances as the width information of the initial channel, and determines whether the initial channel meets the preset cleaning conditions and whether the cleaning device cannot pass through the initial channel based on the width information of the initial channel.

[0087] In some embodiments, the cleaning device calculates the vertical distance from each obstacle point in the obstacle point cloud to the virtual boundary, uses the average distance of multiple vertical distances as the distance between the obstacle and the virtual boundary, uses the distance as the width information of the initial channel, and determines whether the initial channel meets the preset cleaning conditions and whether the cleaning device cannot pass through the initial channel based on the width information of the initial channel.

[0088] In this embodiment, by using the width information of the initial channel, it is determined that the initial channel meets the preset cleaning conditions and the cleaning device cannot pass through the initial channel. This can be understood as using the width information of the initial channel to determine whether the virtual boundary needs to be adjusted. Only if the initial channel meets the preset cleaning conditions and the cleaning device cannot pass through the initial channel does the virtual boundary need to be adjusted, thus avoiding unnecessary adjustments and improving the computational efficiency of the cleaning device.

[0089] In some embodiments, if the minimum interval distance in the width information is less than the width of the cleaning device, it is determined that the cleaning device cannot pass through the initial channel.

[0090] Wherein, the minimum interval distance refers to the smallest interval distance among the multiple interval distances included in the width information. The width of the cleaning device refers to the length of the widest part of the cleaning device. For example, if the cleaning device is circular, the width is the diameter of the cleaning device; if the cleaning device is rectangular, the width is the length of the long side of the cleaning device; if the cleaning device is square, the width is the side length of the cleaning device.

[0091] For example, the cleaning device compares multiple interval distances in the width information to obtain the minimum interval distance. The minimum interval distance is then compared with the width of the cleaning device. If the minimum interval distance is less than the width of the cleaning device, it is determined that the cleaning device cannot pass through the initial channel. If the minimum interval distance is greater than or equal to the width of the cleaning device, it is determined that the cleaning device can pass through the initial channel.

[0092] In this embodiment, the accuracy of the determination result is improved by using the relationship between the minimum interval distance and the width of the cleaning device to determine whether the cleaning device can pass through the initial channel.

[0093] In some embodiments, if the minimum interval distance in the width information is greater than a first preset width threshold and / or the average interval distance of the width information is greater than a second preset width threshold, it is determined that the initial channel meets the preset cleaning conditions.

[0094] Wherein, the first preset width threshold refers to a preset minimum distance that meets the preset cleaning conditions. The second preset width threshold refers to a preset minimum distance that meets the preset cleaning conditions. The first preset width threshold and the second preset width threshold may be the same or different. If the first preset width threshold and the second preset width threshold are different, generally, in the case of page 6 / 15 of the specification 9 CN 121635305 A, the second preset width threshold is greater than the first preset width threshold.

[0095] For example, the cleaning device compares multiple interval distances in the width information to obtain the minimum interval distance, and compares the minimum interval distance with a first preset width threshold. If the minimum interval distance is greater than the first preset width threshold, it is determined that the initial channel meets the preset cleaning conditions; or, the cleaning device averages multiple interval distances in the width information to obtain an average interval distance, and compares the average interval distance with a second preset width threshold. If the average interval distance is greater than the second preset width threshold, it is determined that the initial channel meets the preset cleaning conditions; or, if the minimum interval distance is greater than the first preset width threshold and the average interval distance is greater than the second preset width threshold, it is determined that the initial channel meets the preset cleaning conditions.

[0096] In this embodiment, the initial channel is determined to meet the preset cleaning conditions by comparing the minimum interval distance with the first preset width threshold and / or the average interval distance with the second preset width threshold. If the initial channel does not meet the preset cleaning conditions, the virtual boundary does not need to be conditional, thus avoiding the initial channel between the obstacle and the virtual boundary being too narrow. Adjusting the virtual boundary is still necessary. This can be understood as follows: if the initial channel between the obstacle and the virtual boundary is particularly small, even without cleaning the initial channel, the impact on the cleaning coverage is very small, so there is no need to adjust the virtual boundary, thereby reducing unnecessary calculations by the cleaning equipment and improving the computational efficiency of the cleaning equipment.

[0097] In some embodiments, as shown in FIG2, generating the target cleaning path between the obstacle and the virtual boundary includes:

[0098] Step 202: Based on the obstacle point cloud and the width of the cleaning equipment, obtain the envelope line surrounding the obstacle.

[0099] Wherein, the envelope line refers to the curve surrounding the target object. It can be understood as the curve surrounding the obstacle.

[0100] For example, the cleaning equipment generates an envelope line surrounding the obstacle based on the obstacle point cloud and the width of the cleaning equipment.

[0101] Step 204: Update the boundary information based on the envelope to obtain updated boundary information.

[0102] For example, the cleaning device determines the information to be updated in the boundary information based on the envelope, and updates the boundary information based on the envelope.The update information is updated to obtain target information. The information to be updated in the boundary information is replaced with the target information to obtain updated boundary information.

[0103] Step 206: Based on the updated boundary information, a target cleaning path between the virtual boundary and the obstacle is generated.

[0104] For example, the cleaning device calculates the updated boundary information to obtain the target cleaning path between the virtual boundary and the obstacle.

[0105] In some embodiments, if the updated boundary information is an updated boundary point cloud, the coordinates of the path points are determined based on the coordinates of the updated boundary points in the updated boundary point cloud and the width of the cleaning device. Based on the coordinates of multiple path points, the target cleaning path is obtained.

[0106] In some embodiments, if the updated boundary information is an updated curve, the updated curve is collected to obtain an updated boundary point cloud. Based on the coordinates of the updated boundary points in the updated boundary point cloud and the width of the cleaning device, the coordinates of the path points are determined. Based on the coordinates of multiple path points, the target cleaning path is obtained.

[0107] In this embodiment, an envelope is generated based on the obstacle point cloud and the width of the cleaning device. The envelope surrounds the obstacle. The boundary information is updated based on the envelope. This ensures that the distance between the obstacle and the adjusted virtual boundary corresponding to the updated boundary information is greater than the width of the device, providing a sufficient channel for the cleaning device to operate normally. However, it does not cause the distance between the obstacle and the adjusted virtual boundary to be too large, resulting in a large area of ​​uncleaned area between the obstacle and the adjusted virtual boundary. The cleaning device cleans based on the target cleaning path, which not only avoids missed cleaning between the obstacle and the virtual boundary, but also minimizes the area of ​​uncleaned area between the obstacle and the virtual boundary, thus improving the cleaning coverage of the cleaning device. Specification 7 / 15 pages 10 CN 121635305 A

[0108] In some embodiments, obtaining the envelope surrounding the obstacle based on the obstacle point cloud and the width includes:

[0109] Based on the width of the cleaning device, the obstacle points in the obstacle point cloud are expanded to obtain multiple expansion curves; Based on the multiple expansion curves, the envelope surrounding the obstacle is obtained.

[0110] Here, dilation refers to the process of generating a curve that surrounds the obstacle point. An dilation curve is a curve that surrounds the obstacle point. The dilation curve can be a circle, square, polygon, etc. The dilation curve can be represented by a curve expression.

[0111] For example, for each obstacle point in the obstacle point cloud, the cleaning device generates a dilation curve surrounding the obstacle point based on the obstacle point and the width of the cleaning device, resulting in multiple dilation curves. Based on these multiple dilation curves, an envelope surrounding the obstacle is obtained.

[0112] In some embodiments, the cleaning device generates a circular dilation curve with the obstacle point in the obstacle point cloud as the center and the width of the cleaning device as the radius. The outermost curve segments of the multiple dilation curves form an envelope.

[0113] In some embodiments, the cleaning device selects multiple target obstacle points from the obstacle point cloud, generates an expansion curve corresponding to the target obstacle point with the target obstacle point as the center and the width as the radius, and generates multiple outer envelopes of the expansion curves based on the multiple expansion curves.

[0114] In this embodiment, the obstacle points in the obstacle point cloud are expanded, and the expansion curves surround the obstacle points. The envelopes obtained from the multiple expansion curves surround all obstacle points in the obstacle point cloud. It can be understood that the expansion curves surround the obstacles, providing accurate basic data for subsequent adjustment of the boundary information based on the envelopes.

[0115] In some embodiments, updating the boundary information based on the envelopes to obtain updated boundary information includes:

[0116] Relative to the cleaning device located on one side of the virtual boundary, a portion of the envelope located on the other side of the virtual boundary is determined as the target envelope; the boundary information is updated based on the target envelopes to obtain updated boundary information.

[0117] For example, the cleaning device uses a virtual boundary to divide the envelope into two partial envelopes. One partial envelope is located on one side of the virtual boundary with the cleaning device, and the other partial envelope is located on the other side of the virtual boundary. The partial envelope located on the other side of the virtual boundary is determined as the target envelope. Then, the boundary information is updated based on the target envelope to obtain the updated boundary information.

[0118] In this embodiment, the envelope can be understood as the path formed by the cleaning device running along the obstacle point cloud. If the virtual boundary crosses the envelope, it means that the cleaning device will collide with the obstacle while running along the virtual boundary. The part of the envelope on the other side of the virtual boundary is the narrowest channel required for the cleaning device to run along the obstacle. It can be understood as the narrowest channel required for the cleaning device not to collide with the obstacle. The part of the envelope on the other side of the virtual boundary is determined as the target envelope. The boundary information is updated according to the target envelope. The adjusted virtual boundary corresponding to the updated boundary information not only ensures that the distance between the obstacle and the adjusted virtual boundary is greater than the width of the device, so that the cleaning device can run normally, but also prevents the distance between the obstacle and the adjusted virtual boundary from being too large, resulting in a large area of ​​uncleaned area between the obstacle and the adjusted virtual boundary, thereby improving the cleaning coverage of the cleaning device.

[0119] In some embodiments, as shown in FIG3, if the boundary information is a virtual point cloud; based on the target envelope, the boundary information is updated to obtain the updated boundary information, including:

[0120] Step 302, determining the straight line passing through the equipment center point of the cleaning equipment and the virtual point in the virtual point cloud, and calculating the intersection point of the straight line and the envelope.

[0121] Wherein, the equipment center point refers to the center of the cleaning equipment. The equipment center point can be represented by two-dimensional coordinates, three-dimensional coordinates, etc.A virtual point is a point that makes up a virtual point cloud. A virtual point can be represented by two-dimensional coordinates, three-dimensional coordinates, etc. An intersection point is a point where lines intersect with each other or a line intersects with a surface. Specification 8 / 15 pages 11 CN 121635305 A

[0122] For example, the cleaning device calculates a straight line passing through the device center point and the virtual point in the virtual point cloud based on the device center point and the virtual point, and then calculates the intersection point of the straight line and the envelope.

[0123] Step 304, calculate the first distance between the device center point and the intersection point, and the second distance between the device center point and the virtual point.

[0124] Wherein, the first distance is the distance from the device center point to the intersection point. The second distance is the distance from the device center point to the virtual point.

[0125] For example, the cleaning device calculates the first distance between the device center point and each intersection point, and the second distance between the device center point and the virtual point.

[0126] Step 306, based on the size relationship between the first distance and the second distance, determine the inner virtual point located within the envelope in the virtual point cloud.

[0127] Wherein, an inner virtual point refers to a virtual point located within the envelope.

[0128] For example, the cleaning device compares the first distance and the second distance, and determines whether the virtual point is located within the envelope based on the size relationship obtained from the comparison. If the virtual point is located within the envelope, it is determined as an inner virtual point; if the virtual point is located outside the envelope, it is determined as a non-inner virtual point. The next virtual point in the virtual point cloud is obtained, and steps 302, 304, and 306 are repeated until the last virtual point in the virtual point cloud, thus obtaining an inner virtual point located within the envelope.

[0129] Step 308: Based on the target envelope, the inner virtual point is moved to obtain the target virtual point.

[0130] For example, the cleaning device moves the inner virtual point based on the target envelope, and the moved inner virtual point is used as the target virtual point.

[0131] In some embodiments, the cleaning device moves the inner virtual point to the target envelope based on a preset moving method to obtain the target virtual point.

[0132] In some embodiments, the cleaning device moves the inner virtual point outside the target envelope based on a preset movement method to obtain the target virtual point.

[0133] Step 310: Replace the inner virtual point in the virtual point cloud with the target virtual point to obtain an updated virtual point cloud, and use the updated virtual point cloud as updated boundary information.

[0134] For example, the cleaning device replaces the inner virtual point in the virtual point cloud with the target virtual point to obtain an updated virtual point cloud, and uses the updated virtual point cloud as updated boundary information.

[0135] In this embodiment, the inner virtual point can be understood as a virtual point along which running will cause the cleaning device to collide with an obstacle, and the target envelope can be understood as a virtual point along which running will not cause the cleaning device to collide with an obstacle.The curve of the collision between the equipment and the obstacle is moved according to the target envelope. It can be understood that the inner virtual point located within the envelope is moved, which may cause the cleaning equipment to collide. The target virtual point obtained by the movement will not cause the cleaning equipment and the obstacle to collide, and the distance between the cleaning equipment and the obstacle is kept as small as possible. The target virtual point replaces the inner virtual point in the virtual point cloud to obtain the updated virtual point cloud. The updated virtual point cloud provides accurate basic data for the subsequent generation of the target cleaning path.

[0136] In some embodiments, if the boundary information is a curve; the boundary information is updated based on the target envelope to obtain the updated boundary information, including:

[0137] Calculating the intersection between the curve and the envelope; determining the curve to be replaced based on the curve and the intersection between the curve and the envelope; replacing the curve to be replaced in the curve with the target envelope to obtain the updated curve, and using the updated curve as the updated boundary information. Specification 9 / 15 pages 12 CN 121635305 A

[0138] Wherein, the curve refers to a continuous line. Curves include straight lines, broken lines, line segments, arcs, etc.

[0139] For example, the cleaning equipment calculates the intersection point between the curve and the envelope, determines the value range of the curve to be replaced based on the intersection point, obtains the curve to be replaced based on the curve and the value range, replaces the curve to be replaced in the curve with the target envelope, obtains the updated curve, and uses the updated curve as the update boundary information.

[0140] In some embodiments, the cleaning equipment calculates the intersection point between the curve and the envelope, determines the non-replacement curve based on the intersection point, determines the target envelope based on the intersection point, and obtains the updated curve based on the non-replacement curve and the target envelope, using the updated curve as the update boundary information.

[0141] In some embodiments, the cleaning equipment calculates the intersection point between the curve and the envelope, determines the first value range of the non-replacement curve and the second value range of the target envelope based on the intersection point, determines the curve and the first value range as the non-replacement curve, determines the envelope and the second value range as the target envelope, and obtains the updated curve based on the non-replacement curve and the target envelope, using the updated curve as the update boundary information.

[0142] In this embodiment, the curve to be replaced can be understood as a curve that will cause the cleaning equipment and the obstacle to collide, and the target envelope can be understood as a curve that will not cause the cleaning equipment and the obstacle to collide when running along the target envelope. Replacing the curve to be replaced with the target envelope in the curve will result in an updated curve that will not cause the cleaning equipment and the obstacle to collide. The updated curve provides accurate basic data for the subsequent generation of the target cleaning path.

[0143] In some embodiments, generating the target cleaning path between the obstacle and the virtual boundary includes:

[0144] Ignoring boundary information, generating the target cleaning path between the virtual boundary and the obstacle based on the obstacle point cloud.

[0145] For example, the cleaning device acquires an obstacle point cloud and generates a target cleaning path along the obstacle based on the obstacle point cloud.

[0146] In some embodiments, the cleaning device acquires an obstacle point cloud and a virtual point cloud, as well as obstacle attributes corresponding to the obstacle point cloud and boundary attributes corresponding to the virtual point cloud. If the boundary attribute is virtual, a target cleaning path between the virtual boundary and the obstacle is generated based on the obstacle point cloud.

[0147] In this embodiment, when the cleaning device runs along the virtual boundary and an obstacle appears in front, and the cleaning device cannot pass through the initial channel, the cleaning device generates a target cleaning path along the obstacle based on the obstacle point cloud. This can be understood as the cleaning device running along the virtual boundary knowing that the virtual boundary is a virtual boundary. When the cleaning device acquires the obstacle point cloud, the cleaning device knows that the obstacle is a real obstacle. The updated cleaning path generated by the cleaning device based on the obstacle point cloud can avoid collisions between the cleaning device and the obstacle, and clean the channel between the obstacle and the virtual boundary, reducing the uncleaned area and improving the cleaning coverage.

[0148] In some embodiments, ignoring boundary information and generating a target cleaning path between a virtual boundary and an obstacle based on obstacle point clouds further includes:

[0149] During the operation of the cleaning device based on the target cleaning path, when the cleaning device does not overlap with the virtual boundary, a new target cleaning path is generated along the virtual boundary based on the boundary information.

[0150] For example, during the operation of the cleaning device based on the target cleaning path, it is determined whether the cleaning device covers part of the virtual boundary. If the cleaning device does not cover the virtual boundary, the cleaning device generates a new target cleaning path along the virtual boundary based on the boundary information.

[0151] In some embodiments, during the operation of the cleaning device based on the target cleaning path, the device curve corresponding to the cleaning device and the boundary curve corresponding to the virtual boundary are obtained, and it is determined whether there is an intersection between the device curve and the boundary curve. If there is no intersection between the device curve and the boundary curve, it is determined that the cleaning device and the virtual boundary do not overlap, and then a new target cleaning path is generated along the virtual boundary based on the boundary information. Instruction manual, pages 10 / 15, 13 CN 121635305 A

[0152] In this embodiment, when there is no overlap between the cleaning device and the virtual boundary, it indicates that the cleaning device has cleaned the channel between the obstacle and the virtual boundary. Based on the boundary information, a new target cleaning path is generated along the virtual boundary, allowing the cleaning device to continue running along the virtual boundary and clean the area near the virtual boundary, avoiding missed cleaning of the area near the virtual boundary and improving the cleaning coverage of the device.

[0153] In a specific embodiment, the cleaning area of ​​the cleaning device is shown in Figure 4, and the real boundary can be the cleaning area.To improve the cleaning effect of the cleaning equipment, the cleaning area is divided into two areas using virtual boundaries. When the cleaning equipment runs along the virtual boundary and detects an obstacle in front, the cleaning equipment generates a cleaning path as shown in Figure 4. The cleaning equipment runs along the cleaning path, causing missed cleaning of the channel between the obstacle and the virtual boundary, increasing the uncleaned area and reducing the cleaning coverage.

[0154] In one embodiment, to improve the cleaning coverage of the cleaning equipment, a target cleaning path is generated using the flowchart shown in Figure 5, specifically including the following steps:

[0155] Step 502: When the cleaning equipment runs along the virtual boundary and an obstacle appears in front of the cleaning equipment, the obstacle point cloud corresponding to the obstacle and the virtual point cloud corresponding to the virtual boundary are obtained.

[0156] Step 504: Based on the obstacle point cloud and boundary information, the distance between the obstacle and the virtual boundary is calculated as the width information of the initial channel.

[0157] Step 506: Based on the width information of the initial channel, it is determined that the initial channel meets the preset cleaning conditions and the cleaning equipment cannot pass through the initial channel.

[0158] Step 508: Based on the width of the cleaning equipment, dilate the obstacle points in the obstacle point cloud to obtain multiple dilation curves; based on the multiple dilation curves, obtain the envelope line surrounding the obstacle; relative to the cleaning equipment located on one side of the virtual boundary, determine the portion of the envelope line located on the other side of the virtual boundary as the target envelope line.

[0159] Step 510: Determine the straight line passing through the equipment center point of the cleaning equipment and the virtual point in the virtual point cloud, and calculate the intersection point of the straight line and the envelope line.

[0160] Step 512: Calculate the first distance between the equipment center point and the intersection point, and the second distance between the equipment center point and the virtual point; based on the size relationship between the first distance and the second distance, determine the inner virtual point in the virtual point cloud located within the envelope line.

[0161] Step 514: Based on the target envelope line, move the inner virtual point to obtain the target virtual point, replace the inner virtual point in the virtual point cloud with the target virtual point, and obtain the updated virtual point cloud.

[0162] Step 516: Based on the updated virtual point cloud, update the cleaning path between the virtual boundary and the obstacle to obtain the target cleaning path.

[0163] In one embodiment, to improve the cleaning coverage of the cleaning equipment, the target cleaning path is generated using the flowchart shown in FIG6, specifically including the following steps:

[0164] Step 602: When the cleaning equipment runs along the virtual boundary and an obstacle appears in front of the cleaning equipment, obtain the obstacle point cloud corresponding to the obstacle and the curve corresponding to the virtual boundary.

[0165] Step 604: Based on the obstacle point cloud and boundary information, calculate the interval distance between the obstacle and the virtual boundary as the width information of the initial channel.

[0166] Step 606: Based on the width information of the initial channel, determine that the initial channel meets the preset cleaning conditions and that the cleaning equipment cannot pass through the initial channel.

[0167] Step 608: Based on the width of the cleaning equipment, dilate the obstacle points in the obstacle point cloud to obtain multiple dilation curves; based on the multiple dilation curves, obtain the envelope line surrounding the obstacle; relative to the cleaning equipment located on one side of the virtual boundary, determine the part of the envelope line located on the other side of the virtual boundary as the target envelope line.

[0168] Step 610: Calculate the intersection point between the curve and the envelope line, and based on the curve and the intersection point between the curve and the envelope line, determine the curve to be replaced.

[0169] Step 612: Replace the curve to be replaced in the curve with the target envelope line to obtain the updated curve, as shown in the updated curve in Figure 7.

[0170] Step 614: Based on the updated curve, generate the target cleaning path between the virtual boundary and the obstacle, as shown in the target cleaning path in Figure 7.

[0171] In one embodiment, to improve the cleaning coverage of the cleaning equipment, a target cleaning path is generated using the flowchart shown in FIG8, specifically including the following steps:

[0172] Step 802: When the cleaning equipment runs along the virtual boundary and an obstacle appears in front of the cleaning equipment, the obstacle point cloud corresponding to the obstacle and the boundary information corresponding to the virtual boundary are obtained.

[0173] Step 804: Based on the obstacle point cloud and the boundary information, the distance between the obstacle and the virtual boundary is calculated as the width information of the initial channel.

[0174] Step 806: Based on the width information of the initial channel, it is determined that the initial channel meets the preset cleaning conditions and the cleaning equipment cannot pass through the initial channel.

[0175] Step 808: Ignoring the boundary information, a target cleaning path along the obstacle is generated based on the obstacle point cloud, as shown in FIG9. The cleaning equipment runs along the obstacle based on the target cleaning path. When the cleaning equipment does not overlap with the virtual boundary, the cleaning equipment generates a new target cleaning path based on the virtual information, and the cleaning equipment runs along the virtual boundary based on the new target cleaning path.

[0176] In the above-described cleaning device path generation method, when the cleaning device runs along the virtual boundary and detects an obstacle ahead, an initial channel between the obstacle and the virtual boundary is determined based on the acquired obstacle point cloud and boundary information. If the cleaning device can pass through the initial channel, it continues to run along the virtual boundary and cleans the channel between the obstacle and the virtual boundary. If the cleaning device cannot pass through the initial channel, a target cleaning path is generated between the virtual boundary and the obstacle. The cleaning device cleans the channel between the obstacle and the virtual boundary based on the target cleaning path, avoiding missed cleaning of the channel between the obstacle and the virtual boundary and improving the cleaning coverage of the cleaning device.

[0177] It should be understood that although the steps in the flowcharts of the embodiments described above are shown sequentially according to the arrows, these steps are not necessarily executed in the order indicated by the arrows. Unless otherwise expressly stated herein, there is no strict order restriction on the execution of these steps, and these steps can be executed in other orders. Moreover, at least some of the steps in the flowcharts of the embodiments described above may include multiple steps or multiple stages. These steps or stages are not necessarily completed at the same time, but can be executed at different times. The execution order of these steps or stages is not necessarily sequential, but can be executed alternately or in turn with other steps or at least some of the steps or stages in other steps.

[0178] Based on the same inventive concept, the embodiments of this application also provide a cleaning path generation apparatus for implementing the cleaning path generation method described above. The solution to the problem provided by this apparatus is similar to the solution described in the above method. Therefore, the specific limitations of one or more cleaning path generation apparatus embodiments provided below can be found in the limitations of the cleaning path generation method above, and will not be repeated here.

[0179] In one embodiment, as shown in FIG10, a cleaning path generation device is provided, including: an acquisition module 1002, a determination module 1004, and a generation module 1006, wherein:

[0180] The acquisition module 1002 is used to acquire the obstacle point cloud corresponding to the obstacle and the boundary information corresponding to the virtual boundary when the cleaning device is running along the virtual boundary and an obstacle appears in front of the cleaning device.

[0181] The determination module 1004 is used to determine the initial channel between the obstacle and the virtual boundary based on the obstacle point cloud and the boundary information.

[0182] The generation module 1006 is used to generate a target cleaning path between the obstacle and the virtual boundary when the cleaning device cannot pass through the initial channel.

[0183] In some embodiments, the generation module 1006 is specifically used to generate a target cleaning path between an obstacle and a virtual boundary when the initial channel meets preset cleaning conditions and the cleaning device cannot pass through the initial channel; wherein, the preset cleaning conditions refer to pre-set conditions for determining that the cleaning device needs to clean the initial channel between the obstacle and the virtual boundary.

[0184] In some embodiments, the generation module 1006 is specifically used to calculate the interval distance between the obstacle and the virtual boundary based on the obstacle point cloud and boundary information, as the width information of the initial channel; and determine, based on the width information of the initial channel, that the initial channel meets the preset cleaning conditions and the cleaning device cannot pass through the initial channel.

[0185] In some embodiments, the generation module 1006 is specifically used to ensure that the minimum interval distance in the width information is less than the cleaning path.Given the width of the device, it is determined that the cleaning device cannot pass through the initial channel.

[0186] In some embodiments, the generation module 1006 is specifically used to determine that the initial channel meets the preset cleaning conditions when the minimum interval distance in the width information is greater than a first preset width threshold and / or the average interval distance of the width information is greater than a second preset width threshold.

[0187] In some embodiments, the generation module 1006 is specifically used to obtain the envelope line surrounding the obstacle based on the obstacle point cloud and the width of the cleaning device; update the boundary information based on the envelope line to obtain updated boundary information; and generate the target cleaning path between the virtual boundary and the obstacle based on the updated boundary information.

[0188] In some embodiments, the generation module 1006 is specifically used to expand the obstacle points in the obstacle point cloud based on the width of the cleaning device to obtain multiple expansion curves; and obtain the envelope line surrounding the obstacle based on the multiple expansion curves.

[0189] In some embodiments, the generation module 1006 is specifically used to determine the portion of the envelope line located on the other side of the virtual boundary relative to the cleaning device located on one side of the virtual boundary as the target envelope line; and update the boundary information based on the target envelope line to obtain updated boundary information.

[0190] In some embodiments, the generation module 1006 is specifically used to determine a straight line between the center point of the cleaning equipment and the virtual points in the virtual point cloud, calculate the intersection of the straight line and the envelope; calculate a first distance between the center point of the equipment and the intersection, and a second distance between the center point of the equipment and the virtual points; based on the relationship between the first distance and the second distance, determine an inner virtual point in the virtual point cloud located within the envelope; based on the target envelope, move the inner virtual point to obtain a target virtual point; replace the inner virtual point in the virtual point cloud with the target virtual point to obtain an updated virtual point cloud, and use the updated virtual point cloud as updated boundary information.

[0191] In some embodiments, the generation module 1006 is specifically used to calculate the intersection between the curve and the envelope; based on the curve and the intersection between the curve and the envelope, determine the curve to be replaced; replace the curve to be replaced in the curve with the target envelope to obtain an updated curve, and use the updated curve as updated boundary information.

[0192] In some embodiments, the generation module 1006 is specifically used to ignore the boundary information and generate a target cleaning path between the virtual boundary and the obstacle based on the obstacle point cloud.

[0193] In some embodiments, the generation module 1006 is specifically used to generate a new target cleaning path along the virtual boundary based on boundary information when the cleaning device does not overlap with the virtual boundary during the operation of the cleaning device based on the target cleaning path. Specification 13 / 15 pages 16 CN 121635305 A

[0194] When the above-mentioned cleaning path generation device runs along the virtual boundary and detects an obstacle in front, it generates a new target cleaning path along the virtual boundary based on the acquired information.The obstacle point cloud and boundary information are used to determine the initial channel between the obstacle and the virtual boundary. If the cleaning device can pass through the initial channel, it continues to run along the virtual boundary to clean the channel between the obstacle and the virtual boundary. If the cleaning device cannot pass through the initial channel, a target cleaning path is generated between the virtual boundary and the obstacle. The cleaning device cleans the channel between the obstacle and the virtual boundary based on the target cleaning path, avoiding missed cleaning of the channel between the obstacle and the virtual boundary and improving the cleaning coverage of the cleaning device.

[0195] Each module in the above cleaning path generation device can be implemented in whole or in part by software, hardware and their combination. Each module can be embedded in the processor of the computer device in hardware form or independent of the processor, or stored in the memory of the computer device in software form, so that the processor can call and execute the operations corresponding to each module.

[0196] In one embodiment, a computer device is provided, which can be a cleaning device, and its internal structure diagram can be as shown in Figure 11. The computer device includes a processor, a memory, an input / output interface and a communication interface. The processor, memory and input / output interface are connected through a system bus, and the communication interface is connected to the system bus through the input / output interface. The processor of the computer device provides computing and control capabilities. The memory of the computer device includes a non-volatile storage medium and internal memory. The non-volatile storage medium stores the operating system and computer programs. The internal memory provides an environment for the operation of the operating system and computer programs in the non-volatile storage medium. The input / output interface of the computer device is used for exchanging information between the processor and external devices. The communication interface of the computer device is used for wired or wireless communication with external terminals. Wireless communication can be achieved through WIFI, mobile cellular networks, NFC (Near Field Communication), or other technologies. When the computer program is executed by the processor, it implements a clean path generation method.

[0197] Those skilled in the art will understand that the structure shown in FIG11 is merely a block diagram of a portion of the structure related to the present application and does not constitute a limitation on the computer device to which the present application is applied. A specific computer device may include more or fewer components than shown in the figure, or combine certain components, or have different component arrangements.

[0198] In one embodiment, a computer device is provided, including a memory and a processor. The memory stores a computer program, and the processor executes the computer program to implement the steps in the methods provided in the various embodiments of the present application.

[0199] In one embodiment, a computer-readable storage medium is provided, on which a computer program is stored, which, when executed by a processor, implements the steps of the methods provided in the embodiments of this application.

[0200] In one embodiment, a computer program product is provided, including a computer program that, when executed by a processor, implements the steps of the methods provided in the embodiments of this application.

[0201] It should be noted that the user information (including but not limited to user device information, user personal information, etc.) and data (including but not limited to data used for analysis, stored data, displayed data, etc.) involved in this application are all information and data authorized by the user or fully authorized by all parties, and the collection, use and processing of related data need to comply with the relevant laws, regulations and standards of relevant countries and regions.

[0202] Those skilled in the art can understand that all or part of the processes in the methods of the above embodiments can be implemented by a computer program instructing related hardware. The computer program can be stored in a non-volatile computer-readable storage medium. When the computer program is executed, it can include the processes of the embodiments of the above methods. Any reference to memory, database or other media used in the embodiments provided in this application can include at least one of non-volatile and volatile memory. Non-volatile memory may include read-only memory (ROM), magnetic tape, floppy disk, flash memory, optical memory, high-density embedded non-volatile memory, resistive random access memory (ReRAM), magnetic random access memory (MRAM), ferroelectric random access memory (FRAM), phase change memory (PCM), graphene memory, etc. Volatile memory may include random access memory (RAM) or external cache memory, etc. By way of illustration and not limitation, RAM can be in various forms, such as static random access memory (SRAM) or dynamic random access memory (DRAM), etc. The databases involved in the various embodiments provided in this application may include at least one of relational databases and non-relational databases. Non-relational databases may include distributed databases based on blockchain, etc., but are not limited thereto. The processors involved in the various embodiments provided in this application may be general-purpose processors, central processing units, graphics processing units, digital signal processors, programmable logic devices, quantum computing-based data processing logic devices, etc., and are not limited thereto.

[0203] The technical features of the above embodiments can be combined in any way. For the sake of brevity, the above embodiments are not described in detail.All possible combinations of the various technical features described herein are described; however, as long as there is no contradiction in the combination of these technical features, they should all be considered within the scope of this specification.

[0204] The embodiments described above only illustrate several implementation methods of this application, and their descriptions are relatively specific and detailed, but they should not be construed as limiting the scope of this application. It should be noted that for those skilled in the art, several modifications and improvements can be made without departing from the concept of this application, and these all fall within the protection scope of this application. Therefore, the protection scope of this application should be determined by the appended claims. Instruction manual, page 15 / 15, 18 CN 121635305 A, Figure 1, Figure 2; Instruction manual, Figure 1 / 7, page 19 CN 121635305 A, Figure 3, Figure 4; Instruction manual, Figure 2 / 7, page 20 CN 121635305 A, Figure 5; Instruction manual, Figure 3 / 7, page 21 CN 121635305 A, Figure 6; Instruction manual, Figure 4 / 7, page 22 CN 121635305 A, Figure 7, Figure 8; Instruction manual, Figure 5 / 7, page 23 CN 121635305 A, Figure 9, Figure 10; Instruction manual, Figure 6 / 7, page 24 CN 121635305 A, Figure 11; Instruction manual, Figure 7 / 7, page 25 CN 121635305 A CLEANING PATH GENERATION METHOD, DEVICE, MEDIUM AND CLEANING EQUIPMENT Abstract: The present application discloses a cleaning path generation method, apparatus, medium, and cleaning device. The method includes: when the cleaning device travels along a virtual boundary and an obstacle appears in front of the cleaning device, acquiring obstacle point cloud corresponding to the obstacle and boundary information corresponding to the virtual boundary; determining an initialchannel between the obstacle and the virtual boundary based on the obstacle point cloud and the boundary information; and generating a target cleaning path between the obstacle and the virtual boundary in a case that the cleaning device cannot pass through the initial channel. The cleaning device travels based on the target cleaning path generated by the above method to clean the channel between the obstacle and the virtual boundary, thereby avoiding missing cleaning of the channel between the obstacle and the virtual boundary and improving the cleaning coverage rate of the cleaning device.

Claims

1. A cleaning path generation method characterized by, The method comprises: When the cleaning device runs along the virtual boundary and an obstacle appears in front of the cleaning device, an obstacle point cloud corresponding to the obstacle and boundary information corresponding to the virtual boundary are acquired; Based on the obstacle point cloud and the boundary information, an initial channel between the obstacle and the virtual boundary is determined; In the case that the cleaning device cannot pass through the initial channel, a virtual point cloud corresponding to the obstacle point cloud and the boundary information, and an obstacle attribute corresponding to the obstacle point cloud and a boundary attribute corresponding to the virtual point cloud are acquired, and if the boundary attribute is virtual, a target cleaning path between the obstacle and the virtual boundary is generated based on the obstacle point cloud.

2. The method of claim 1, wherein, The method further comprises: Based on the obstacle point cloud and the boundary information, an interval distance between the obstacle and the virtual boundary is calculated as width information of the initial channel; According to the width information of the initial channel, it is determined that the initial channel meets a preset cleaning condition and the cleaning device cannot pass through the initial channel.

3. The method of claim 2, wherein, In the case that the minimum interval distance in the width information is less than the width of the cleaning device, it is determined that the cleaning device cannot pass through the initial channel.

4. The method of claim 2, wherein, In the case that the minimum interval distance in the width information is greater than a first preset width threshold and / or the average interval distance of the width information is greater than a second preset width threshold, it is determined that the initial channel meets the preset cleaning condition.

5. The method of claim 1, wherein, The generation of the target cleaning path between the obstacle and the virtual boundary comprises: Based on the obstacle point cloud and the width of the cleaning device, an envelope line surrounding the obstacle is obtained; Based on the envelope line, the boundary information is updated to obtain updated boundary information; Based on the updated boundary information, a target cleaning path between the virtual boundary and the obstacle is generated.

6. The method of claim 1, wherein, The method further comprises: In the process that the cleaning device runs based on the target cleaning path, when the cleaning device has no overlap with the virtual boundary, a new target cleaning path along the virtual boundary is generated based on the boundary information.

7. The method of claim 1, wherein, The method further comprises: In the process that the cleaning device runs based on the target cleaning path, a device curve corresponding to the cleaning device and a boundary curve corresponding to the virtual boundary are acquired; It is judged whether there is an intersection between the device curve and the boundary curve; If there is no intersection between the device curve and the boundary curve, it is judged that the cleaning device has no overlap with the virtual boundary, and a new target cleaning path along the virtual boundary is generated based on the boundary information.

8. A cleaning path generating apparatus characterized by comprising: The device comprises: An acquisition module is configured to acquire an obstacle point cloud corresponding to an obstacle and boundary information corresponding to a virtual boundary when a cleaning device runs along the virtual boundary and the obstacle appears in front of the cleaning device; A determination module is configured to determine an initial channel between the obstacle and the virtual boundary based on the obstacle point cloud and the boundary information; An acquisition module is configured to acquire an obstacle point cloud corresponding to an obstacle and boundary information corresponding to a virtual boundary when a cleaning device runs along the virtual boundary and the obstacle appears in front of the cleaning device; The generating module is configured to, in a case where the cleaning device is unable to pass through the initial channel, acquire an obstacle point cloud and a virtual point cloud corresponding to the boundary information, and an obstacle attribute corresponding to the obstacle point cloud and a boundary attribute corresponding to the virtual point cloud, and generate a target cleaning path between the obstacle and the virtual boundary based on the obstacle point cloud if the boundary attribute is virtual.

9. A computer-readable storage medium having stored thereon a computer program, characterized in that, The computer program, when executed by a processor, implements the steps of the method of any one of claims 1 to 7.

10. A cleaning device comprising a memory and a processor, the memory storing a computer program, characterized in that, The processor, when executing the computer program, implements the steps of the method of any one of claims 1 to 7.

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