Dynamic row-cutting method and system of cleaning device, device, and storage medium

Abstract

A dynamic row-cutting method and system of a cleaning device, a device, and a storage medium, relating to the technical field of automatic cleaning devices. The method comprises: on the basis of acquired map information, identifying a boundary of an area to be cleaned, and determining an initial row-cutting edge line on the basis of the boundary; and on the basis of the initial row-cutting edge line, dividing said area defined by the boundary into adjacent cleaning rows with different target widths row by row, wherein the target width of each cleaning row is determined on the basis of the purpose of preferentially cutting a large row. In the method, said area defined by the boundary is divided into adjacent cleaning rows with different widths, the width of a cut row is smaller at a position relating to a complex boundary shape or a complex obstacle, and the width of a cut row is larger at a position relating to a regular boundary shape or no obstacle, thereby ensuring the cleaning effect and also considering the cleaning efficiency.

Description

Dynamic row cutting method, system, device and storage medium of cleaning equipment

[0001] Cross-reference of related disclosures

[0002] The present disclosure claims priority to the Chinese patent publication with the application number 202411045407.6 and the title "Dynamic row cutting method, system, device and storage medium of cleaning equipment", which was filed on July 31, 2024 with the China Patent Office, the entire content of which is incorporated herein by reference. TECHNICAL FIELD

[0003] The present disclosure relates to the technical field of automatic cleaning equipment, in particular to a dynamic row cutting method, system, device and storage medium of cleaning equipment.

[0004] BACKGROUND

[0005] With more and more cleaning robots entering daily life scenes, the intelligent requirement for cleaning robot path planning is getting higher and higher. Only by improving the intelligent path planning ability of the cleaning robot can the cleaning robot efficiently complete the cleaning task.

[0006] At present, the path planning methods of cleaning robots mainly include the following.

[0007] Random coverage method: the random coverage method refers to that the cleaning robot attempts to cover the cleaning range according to a certain movement algorithm, and executes a turning function if an obstacle is encountered. This method is a low-efficiency strategy of trading time for space.

[0008] Template planning method: the template planning method refers to that the cleaning robot positions based on an environment map, and plans a fixed standard path (such as a forward model, an edge turning model, and a backtracking model) to clean the cleaning range. Although this method has a very beautiful cleaning path, it is easy to cause omissions and to cause the cleaning equipment to be trapped.

[0009] Artificial intelligence method: the artificial intelligence method refers to using modern computing intelligent technologies such as fuzzy logic, artificial neural network, and genetic algorithm to solve the path planning problem of cleaning equipment. This method can enable the cleaning equipment to achieve good local collision avoidance and adapt to different cleaning range shapes during cleaning, but it must rely on a large number of training samples, powerful hardware and software computing power, and long-term support and maintenance, which is high in cost.

[0010] Therefore, it is necessary to provide a low-cost path planning method to balance the cleaning effect and cleaning efficiency.

[0011] SUMMARY

[0012] To solve the above problems, the embodiment of the disclosure provides a dynamic row cutting method, system, device and storage medium of a cleaning equipment, which balances cleaning effect and cleaning efficiency, and realizes low-cost development and maintenance.

[0013] The embodiment of the disclosure adopts the following technical solutions:

[0014] In a first aspect, the embodiment of the disclosure provides a dynamic row cutting method of a cleaning equipment, which comprises:

[0015] According to the obtained map information, the boundary of the to-be-cleaned range is recognized, and the initial row cutting boundary is determined according to the boundary;

[0016] Taking the initial row cutting boundary as a reference, the to-be-cleaned range enclosed by the boundary is divided into adjacent cleaning rows row by row;

[0017] The target width of each cleaning row is determined based on the following preset rules:

[0018] The maximum cleaning width of the cleaning equipment is taken as the initial width, and the initial width is sequentially reduced at a fixed interval to obtain a plurality of widths;

[0019] The effective coverage range of the cleaning equipment under each width is calculated respectively;

[0020] The effective coverage range corresponding to each width is sequentially judged from large to small, whether the effective coverage range includes the effective coverage range corresponding to other widths smaller than the width, and if so, the width is taken as the target width.

[0021] In a second aspect, the embodiment of the disclosure provides a dynamic row cutting system of a cleaning equipment, which comprises:

[0022] The boundary determination unit is configured to recognize the boundary of the to-be-cleaned range according to the obtained map information, and determine the initial row cutting boundary according to the boundary;

[0023] The dynamic row cutting division unit is configured to take the initial row cutting boundary as a reference, and divide the to-be-cleaned range into adjacent cleaning rows row by row;

[0024] The row cutting width determination unit is configured to determine the target width of the cleaning row based on the following preset rules:

[0025] The maximum cleaning width of the cleaning equipment is taken as the initial width, and the initial width is sequentially reduced at a fixed interval to obtain a plurality of widths;

[0026] The effective coverage range of the cleaning equipment under each width is calculated respectively;

[0027] The effective coverage range corresponding to each width is sequentially judged from large to small, whether the effective coverage range includes the effective coverage range corresponding to other widths smaller than the width, and if so, the width is taken as the target width.

[0028] In a third aspect, the embodiments of the present disclosure provide a computer device, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, and the processor implements the steps of the dynamic row-cutting method of the cleaning device when executing the computer program.

[0029] In a fourth aspect, the embodiments of the present disclosure provide a computer readable storage medium, which stores a computer program, and the computer program implements the steps of the dynamic row-cutting method of the cleaning device when being instructed by a processor.

[0030] The above at least one technical solution adopted by the embodiments of the present disclosure can achieve the following beneficial effects:

[0031] The dynamic row-cutting method of the cleaning device provided by the present disclosure identifies the boundary of the to-be-cleaned range according to the obtained map information, and determines the initial row-cutting boundary according to the boundary. The to-be-cleaned range enclosed by the boundary is divided into adjacent cleaning rows with different widths based on the initial row-cutting boundary as a reference. The target width of each cleaning row is determined based on the following preset rules: the maximum cleaning width of the cleaning device is taken as the initial width, and the initial width is sequentially reduced at a fixed interval to obtain a plurality of widths. The effective coverage range of the cleaning device under each width is calculated respectively. It is judged in turn from large to small whether the effective coverage range corresponding to the width includes the effective coverage range corresponding to other widths smaller than the width. If yes, the width is taken as the target width. The dynamic row-cutting method of the cleaning device provided by the present disclosure divides the to-be-cleaned range enclosed by the boundary into adjacent cleaning rows with different widths. The cleaning rows divided by the above method have smaller cutting width at positions involving complex boundary shape or complex obstacles, and have larger cutting width at positions involving regular boundary shape or no obstacles, thereby ensuring the cleaning effect and taking into account the cleaning efficiency.

[0032] BRIEF DESCRIPTION OF DRAWINGS

[0033] FIG. 1 shows a flowchart of a dynamic row-cutting method of a cleaning device according to an embodiment of the present disclosure;

[0034] FIG. 2 shows a flowchart of a dynamic row-cutting method of a cleaning device according to another embodiment of the present disclosure;

[0035] FIG. 3 shows a structural diagram of a dynamic row-cutting system of a cleaning device according to an embodiment of the present disclosure;

[0036] FIG. 4 shows a structural diagram of a computer device according to an embodiment of the present disclosure.

[0037] WAYS OF IMPLEMENTING THE PRESENT APPLICATION

[0038] Embodiments of the present disclosure will be described below in greater detail with reference to the accompanying drawings. While certain embodiments of the present disclosure are shown in the drawings, it is understood that the present disclosure can be embodied in various forms and should not be construed as being limited to the embodiments set forth herein, but rather, these embodiments are provided so as to more completely and thoroughly understand the present disclosure. It is understood that the drawings and embodiments of the present disclosure are only for exemplary purposes and are not intended to limit the scope of protection of the present disclosure.

[0039] It should be understood that each of the steps recited in the method embodiments of the present disclosure can be performed in different orders and / or in parallel. In addition, the method embodiments can include additional steps and / or omit the steps shown. The scope of the present disclosure is not limited in this respect.

[0040] The term "comprising" and variations thereof as used herein are open-ended, that is "including but not limited to". The term "based on" is "based, at least in part, on". The term "one embodiment" means "at least one embodiment"; the term "another embodiment" means "at least one additional embodiment"; the term "some embodiments" means "at least some embodiments". Related terms are defined as follows. It should be noted that the concepts mentioned in the present disclosure are illustrative rather than restrictive, and those skilled in the art should understand that "one", "multiple" modification is illustrative rather than restrictive, and unless otherwise explicitly stated in the context, it should be understood as "one or more".

[0041] It should be noted that the modification of "one", "multiple" mentioned in the present disclosure is illustrative rather than restrictive, and those skilled in the art should understand that "one" or "multiple" should be understood as "one or more" unless otherwise explicitly stated in the context.

[0042] The names of the messages or information exchanged between the devices in the embodiments of the present disclosure are only for illustrative purposes, and are not intended to limit the scope of the messages or information.

[0043] The concept of the present disclosure is that in the face of the low efficiency of random coverage, the template planning mode is easy to cause omission, and the artificial intelligence mode has high cost, a dynamic cutting line mode is proposed, which reasonably plans the target width of the cleaning line according to the effective coverage range of the cleaning device, improves the cleaning efficiency under the condition of ensuring the cleaning effect, and reduces the development and maintenance cost.

[0044] In the present disclosure, the cleaning device is equipped with sensors, cameras, gyroscopes, driving and other intelligent modules commonly used in existing cleaning devices (including cleaning robots), so as to realize the sensing of the surrounding environment, the driving of the cleaning device, the interaction with the map information and other functions commonly used in existing cleaning devices. In the embodiments of the present disclosure, no longer be described in detail.

[0045] The present disclosure will be described in detail below with specific embodiments.

[0046] FIG. 1 shows a flowchart of a dynamic cutting method of a cleaning device according to an embodiment of the present disclosure. According to FIG. 1, the embodiment includes steps S110-S120.

[0047] In step S110, a boundary of a to-be-cleaned range is identified according to acquired map information, and an initial cutting edge is determined according to the boundary.

[0048] The present disclosure first acquires map information. The map information can be map range ground information pre-stored through a database, or map information recorded and stored after the cleaning device cleans along the edge (i.e., along the wall of the map range) once. Here, the map range can indicate a room range, a floor range, and the like, which is a full range where the cleaning device can travel.

[0049] Subsequently, the map information is identified and a to-be-cleaned range is determined. The to-be-cleaned range can be a cleaning range demarcated by a user through the map information. The to-be-cleaned range can indicate a cleaning range of a standard room selected by the user autonomously, or a cleaning range of a ground area demarcated by the user autonomously. The to-be-cleaned range can also be a cleaning range automatically calculated by identifying a historical cleaning range.

[0050] Next, a boundary of the to-be-cleaned range is determined. The boundary of the to-be-cleaned range can be determined through the map information, or through sensing information collected by a sensor carried by the cleaning device, or in combination of the map information and the sensing information.

[0051] The boundary of the to-be-cleaned range is used to indicate an outer boundary of a maximum flat ground range that can be cleaned by the cleaning device in the to-be-cleaned range. The boundary of the to-be-cleaned range can be different from an edge of the to-be-cleaned range, and an area enclosed by the boundary of the to-be-cleaned range can be less than or equal to an area enclosed by the edge of the to-be-cleaned range. For example, for a to-be-cleaned range of a standard room demarcated by a user, the edge of the to-be-cleaned range can be a regular rectangle. If the standard room is an open ground, the boundary of the to-be-cleaned range is equivalent to the edge of the to-be-cleaned range. However, along the wall of the standard room, there can be floor furniture, so that the cleaning device cannot clean the ground under the floor furniture, and the boundary of the to-be-cleaned range is taken as an outer edge line of the floor furniture, so that the boundary of the to-be-cleaned range is different from the edge of the to-be-cleaned range.

[0052] After the boundary of the to-be-cleaned range is recognized, an initial cutting line is determined according to the boundary. The initial cutting line is used to indicate the starting straight line of the dynamic cutting line division of the to-be-cleaned range. The dynamic cutting line can be determined to face a direction based on the direction of the geodetic coordinate system, for example, the dynamic cutting line extends in the positive north-south direction or the dynamic cutting line extends in the positive east-west direction. The dynamic cutting line can also be determined to face a direction based on the shape of the boundary, for example, when the boundary includes a straight line segment, a straight line segment is taken as the dynamic cutting line. The dynamic cutting line also needs to satisfy that the to-be-cleaned range within the boundary is located on one side of the dynamic cutting line, that is, the dynamic cutting line provided by the embodiment of the present disclosure is a single-direction advancing type of division method.

[0053] In step S120, the to-be-cleaned range enclosed by the boundary is divided into adjacent cleaning rows based on the initial cutting line. The target width of each cleaning row is determined based on the following preset rules: taking the maximum cleaning width of the cleaning device as the initial width, sequentially reducing the initial width by a fixed interval to obtain a plurality of widths; calculating the effective coverage range of the cleaning device under each width; and sequentially judging whether the effective coverage range corresponding to the width includes the effective coverage range corresponding to other widths smaller than the width from large to small, and if so, taking the width as the target width.

[0054] Since the dynamic cutting line division of the cleaning device is a single-direction advancing type of division method, the embodiment of the present disclosure sequentially determines each cleaning row. That is, after the reference dynamic cutting line is determined, the dynamic cutting line is taken as the first side, and the second side of the first cleaning row is determined according to the target width of the first cleaning row calculated, so as to realize the division of the first cleaning row. The second side of the first cleaning row is taken as the first side of the second cleaning row, and the second side of the second cleaning row is determined according to the target width of the second cleaning row calculated, so as to realize the division of the second cleaning row. In this way, the second side of the N-1 cleaning row is taken as the first side of the N cleaning row, and the second side of the N cleaning row is determined according to the target width of the N cleaning row calculated, so as to realize the division of the N cleaning row. When the remaining area width of the un-divided cleaning row is not greater than the minimum width, the remaining area is determined as the N+1 cleaning row, and the cleaning of the to-be-cleaned range within the boundary enclosed range is completed by the dynamic cutting line division. In the embodiment of the present disclosure, the value of N is not constrained in advance, but is finally obtained during the advancing division process.

[0055] In addition, in the process of sequentially determining each cleaning row, the cleaning device can perform row-by-row cleaning based on the determined cleaning row, and continue to divide the cleaning row in the process of row-by-row cleaning, that is, the process of dividing the cleaning row and the cleaning process can be performed simultaneously.

[0056] In the division of the cleaning row, the embodiment of the present disclosure takes the behavior of preferentially cutting large as the goal, and determines the target width of each cleaning row through the following preset rules.

[0057] The maximum cleaning width of the cleaning device is taken as the initial width, and a series of width values that are reduced in a fixed interval are set. For example, if the maximum cleaning width of the cleaning device is 15 cm, then 10 cm and 5 cm can be set as the width values based on 15 cm.

[0058] The effective coverage range of the cleaning device under each width is calculated respectively. The effective coverage range is used to indicate the coverage range that the cleaning device can achieve within the range enclosed by the two side lines of the cleaning row and the boundary. For example, for any cleaning row whose target width needs to be determined, the second side of the previous cleaning row has been determined as the first side of the cleaning row. The virtual second side of the cleaning row can be determined according to the 15 cm width, and the effective coverage range of the cleaning device within the area enclosed by the first side, the virtual second side and the boundary can be determined. Another virtual second side of the cleaning row can be determined according to the 10 cm width, and the effective coverage range of the cleaning device within the area enclosed by the first side, the virtual second side and the boundary can be determined. Still another virtual second side of the cleaning row can be determined according to the 5 cm width, and the effective coverage range of the cleaning device within the area enclosed by the first side, the virtual second side and the boundary can be determined. The effective coverage ranges of the cleaning device under each width are determined respectively.

[0059] The embodiment of the present disclosure does not limit the specific mode of the cleaning device in any cleaning row. For example, the cleaning device can adopt the forward mode when cleaning in any cleaning row, and choose to avoid along the edge when encountering obstacles, etc. The embodiment of the present disclosure focuses on the coverage range that the cleaning device can achieve when cleaning in any cleaning row. That is, when calculating the effective coverage range of the cleaning device under any width, the coverage ranges of various cleaning modes preset for the cleaning device can be compared to determine the effective coverage range. For example, under the condition of 15 cm width, the coverage ranges that various cleaning modes preset for the cleaning device can clean can be calculated respectively, and the maximum coverage range is taken as the effective coverage range of 15 cm width.

[0060] After the effective coverage range of the cleaning device under each width is determined, the effective coverage ranges under each width are compared to determine which width is the target width of the cleaning row. The comparison is performed in order from large to small. If the effective coverage range corresponding to a width includes the effective coverage range corresponding to other widths smaller than the width, the width is taken as the target width; if the effective coverage range corresponding to a width does not include the effective coverage range corresponding to other widths smaller than the width, the width is excluded, and the next smaller width is taken to repeat the above steps for comparison. If the effective coverage range corresponding to the second smallest width still does not include the effective coverage range corresponding to the smallest width, the smallest width is taken as the target width.

[0061] Still continuing the above example, the effective coverage range of the cleaning device under a width of 15 cm is first determined; then the union of the effective coverage ranges of the cleaning device under widths of 10 cm and 5 cm is determined, i.e., the union includes the effective coverage range under a width of 10 cm and / or the effective coverage range of the cleaning device under a width of 5 cm; then it is determined whether the effective coverage range under a width of 15 cm includes the union; if yes, the width of 15 cm is taken as the target width, and if no, the width of 15 cm is excluded, and the width of 10 cm is continued to be determined. In the continued determination, the effective coverage range of the cleaning device under a width of 10 cm is first determined; then the effective coverage range of the cleaning device under a width of 5 cm is determined; then it is determined whether the effective coverage range under a width of 10 cm includes the effective coverage range under a width of 5 cm; if yes, the width of 10 cm is taken as the target width, and if no, the width of 5 cm is taken as the effective coverage range.

[0062] In the effective coverage range corresponding to a width according to the embodiments of the present disclosure, “includes” can be used to indicate complete coverage, i.e., the effective coverage range corresponding to the width completely covers the effective coverage range corresponding to other widths smaller than the width. In some actual cases, the obstacles are complex or the boundary shapes are complex, “includes” can also be used to indicate partial coverage, i.e., the effective coverage range corresponding to the width can mostly cover the effective coverage range corresponding to other widths smaller than the width; a ratio can be set, and when the coverage area reaches the ratio of the effective coverage range corresponding to other widths, it is determined that the effective coverage range corresponding to the width includes the effective coverage range corresponding to other widths smaller than the width.

[0063] As can be seen from the method shown in FIG. 1, the dynamic row-cutting method of the cleaning device provided by the present disclosure comprises the following steps: identifying a boundary of a to-be-cleaned range according to acquired map information; determining an initial row-cutting boundary according to the boundary; taking the initial row-cutting boundary as a reference, dividing the to-be-cleaned range enclosed by the boundary into adjacent cleaning rows; and determining a target width of each cleaning row based on the following preset rule: taking the maximum cleaning width of the cleaning device as an initial width, sequentially reducing the initial width at a fixed interval to obtain a plurality of widths; calculating the effective coverage range of the cleaning device at each width respectively; and sequentially judging, from large to small, whether the effective coverage range corresponding to the width includes the effective coverage range corresponding to other widths smaller than the width, and if so, taking the width as the target width. The dynamic row-cutting method of the cleaning device provided by the present disclosure divides the to-be-cleaned range enclosed by the boundary into cleaning rows of different widths, and the cleaning rows divided by the above method have smaller cutting widths at positions involving complex boundary shapes or complex obstacles and have larger cutting widths at positions involving regular boundary shapes or no obstacles, thereby ensuring the cleaning effect and taking into account the cleaning efficiency.

[0064] In some optional embodiments, in the above method, the step S110 of identifying the boundary of the to-be-cleaned range according to the acquired map information comprises the following steps: acquiring the map information; identifying the to-be-cleaned range in response to demarcation; and jointly determining the boundary based on the map information and sensor information collected by the sensors carried by the cleaning device.

[0065] In this embodiment, the map information pre-stored in the database can be retrieved. The map information can be displayed on the display module of the cleaning device when the cleaning device is provided with an interactive display module; or the map information can be displayed on the interactive display screen of the external terminal when the cleaning device is connected to the external terminal through wireless or other means. The user specifies and selects or independently demarcates the demarcated range to be cleaned based on the displayed map information, and identifies the to-be-cleaned range based on the demarcated range determined by the user. The to-be-cleaned range can be of any shape or any size, and the edge of the to-be-cleaned range can be a solid fence or a virtual fence.

[0066] Then, the boundary of the to-be-cleaned range is determined in combination of the map information and the sensing information collected by the sensors carried by the cleaning device. The ground shielding condition information of the to-be-cleaned range can be pre-stored in the map information, and the shielding is used to indicate the obstruction that forces the cleaning device to be unable to place, such as the floor obstacle, the step ground and the like. The area information of the region in which the cleaning device can clean in the to-be-cleaned range can be determined through the map information, and then the first boundary enclosing the region can be determined. The sensors carried by the cleaning device can collect the ground environment sensing information of the to-be-cleaned range before the cleaning device starts the cleaning work, and the area information of the region in which the cleaning device can reach in the to-be-cleaned range can be constructed through the sensing information, and then the second boundary enclosing the region can be determined. The first boundary and the second boundary are fused to determine the boundary of the to-be-cleaned range.

[0067] After the boundary of the to-be-cleaned range is determined, the initial cutting edge line is determined according to the boundary. Since the boundary conditions of the to-be-cleaned range are various, the following provides the method for determining the initial cutting edge line in two cases that the boundary includes a straight line segment and the boundary does not include a straight line segment.

[0068] In some optional embodiments, in the above method, the step S110 of determining the initial cutting edge line according to the boundary includes: when the boundary includes a straight line segment, extracting the straight line segment in the boundary; judging in order from long to short in length of the straight line segment, and once it is determined that the to-be-cleaned range in the boundary enclosing range is located on one side of the extension line of the straight line segment, the straight line segment is determined as the initial cutting edge line; if there is no straight line segment such that the to-be-cleaned range in the boundary enclosing range is located on one side of the extension line of the straight line segment, a first tangent line is searched on the boundary as the initial cutting edge line; wherein the first tangent line satisfies that it is parallel to the longest straight line segment and is closest to the longest straight line segment.

[0069] When the boundary includes a straight line segment, the straight line segment peripheral range tends to be a more regular region, and the embodiments of the present disclosure prefer to start dynamic cutting in the more regular region.

[0070] First, the straight line segment in the boundary is extracted. For the boundary of the to-be-cleaned range, it can be entirely connected and enclosed by straight line segments, or it can be connected and enclosed by straight line segments and curved line segments. Regardless of the above cases, the straight line segments included in the boundary are extracted by the embodiments of the present disclosure, and are sorted according to the length from long to short.

[0071] Then, in order of the length of the straight line segment from long to short, it is judged in turn whether the to-be-cleaned range in the boundary enclosing range is located on one side of the extension line of the straight line segment. Once a straight line segment is found such that the to-be-cleaned range in the boundary enclosing range is located on one side of the extension line of the straight line segment, the straight line segment is determined as the initial cutting edge line. For example, the longest straight line segment is first judged. If the to-be-cleaned range in the boundary enclosing range is located on one side of the extension line of the longest straight line segment, the longest straight line segment is taken as the initial cutting edge line. If the to-be-cleaned range in the boundary enclosing range is not located on one side of the extension line of the longest straight line segment, the longest straight line segment is excluded. After the longest straight line segment is excluded, the second longest straight line segment is repeatedly judged by the above steps, and so on, until a straight line segment is found such that the to-be-cleaned range in the boundary enclosing range is located on one side of the extension line of the straight line segment, and the straight line segment is taken as the initial cutting edge line.

[0072] In some cases, although the boundary includes straight line segments, no straight line segment can make the to-be-cleaned range in the boundary enclosing range located on one side of the extension line of the straight line segment. In this case, a point on the boundary is determined, and a first tangent line of the boundary passing through the point is made, and the first tangent line is taken as the initial cutting edge line. The first tangent line of the boundary passing through the point satisfies the following conditions: parallel to the longest straight line segment and closest to the longest straight line segment.

[0073] In some optional embodiments, in the above method, the step S110 of determining the initial cutting edge line according to the boundary includes: when the boundary does not include straight line segments, jointly determining a positioning point of the cleaning device based on map information and sensing information collected by a sensor carried by the cleaning device; making a circle with the positioning point as the center and with radii from small to large at a preset interval, determining an intersection point of the boundary and each circle; and in order of the radius from short to long, once it is determined that the to-be-cleaned range in the boundary enclosing range is located on one side of a second tangent line of the boundary passing through the intersection point, the second tangent line is determined as the initial cutting edge line.

[0074] When the boundary does not include straight line segments, the boundary of the to-be-cleaned range is in irregular form, and the disclosed embodiments prefer to start dynamic cutting in the area closest to the cleaning device.

[0075] First, the positioning point of the cleaning device is determined by jointly using the map information and the sensing information. The positioning point of the cleaning device can be located inside the boundary of the to-be-cleaned range or outside the boundary of the to-be-cleaned range. Regardless of the above cases, a point on the boundary closest to the positioning point is selected, and a second tangent line of the boundary passing through the point is taken as the initial cutting edge line, and meanwhile the point satisfies that the to-be-cleaned range in the boundary enclosing range is located on one side of the second tangent line.

[0076] To determine the point, a series of circles with radii increasing at fixed intervals can be drawn with the positioning point as the center. The radii at fixed intervals can be set in ascending order from 0 to infinity; or, to reduce the amount of calculation, the minimum and maximum values of the radii can be determined first, and then the radii at fixed intervals can be set between the minimum and maximum values. The fixed intervals can be determined according to the accuracy of the map information and / or the sensing information.

[0077] For example, the minimum and maximum values of the radii can be determined as follows. When the positioning point is located within the boundary, there is a circle with the positioning point as the center, such that the circle is tangent to the boundary and the entire boundary enclosing range is located within the circle, and the radius of the circle is the minimum value; and there is another circle with the positioning point as the center, such that the circle is tangent to the boundary and the entire boundary enclosing range is located within the circle, and the radius of the circle is the maximum value. When the positioning point is located outside the boundary, there is a circle with the positioning point as the center, such that the circle is tangent to the boundary and the entire boundary enclosing range is located outside the circle, and the radius of the circle is the minimum value; and there is another circle with the positioning point as the center, such that the circle is tangent to the boundary and the entire boundary enclosing range is located within the circle, and the radius of the circle is the maximum value.

[0078] The intersection points of the boundary and the circles are determined. In ascending order of the radii, it is determined in turn whether the to-be-cleaned range within the boundary enclosing range is located on one side of a second tangent line. Once a second tangent line is found such that the to-be-cleaned range within the boundary enclosing range is located on one side of the second tangent line, the second tangent line is taken as the initial cutting edge line.

[0079] In some optional embodiments, in the above method, the step S120 of dividing the to-be-cleaned range into adjacent cleaning rows based on the initial cutting edge line comprises: determining the target width of each cleaning row in turn based on the initial cutting edge line according to a preset rule; and dividing the to-be-cleaned range into adjacent cleaning rows according to the target width of each cleaning row and the second cutting edge line parallel to the initial cutting edge line.

[0080] In this embodiment, the initial cutting edge line is taken as the first dividing line, the target width of the first cleaning row is determined based on the preset rule, and the second dividing line for dividing the first cleaning row and the second cleaning row is determined; the target width of the second cleaning row is determined based on the preset rule, and the third dividing line for dividing the second cleaning row and the third cleaning row is determined; the target width of the Nth cleaning row is determined based on the preset rule, and the Nth dividing line for dividing the Nth cleaning row and the N+1th cleaning row is determined; and when the Nth dividing line and the remaining boundary enclosing region have a width not greater than the minimum width, the remaining region is determined as the N+1th cleaning row. In this embodiment, the dividing lines are parallel to each other.

[0081] In some optional embodiments, in the above method, the step S120 of calculating the effective coverage range of the cleaning device for each width respectively comprises: for any width, determining a virtual cleaning row according to the map information and the split line of the previous cleaning row; calculating the area edge line that the cleaning device can clean in the virtual cleaning row; determining the range enclosed by the area edge line as the effective coverage range; and calculating the effective coverage range in turn from the largest width to the smallest width.

[0082] Since the division manner of the embodiment of the present disclosure is unidirectional propulsion, the first side of the current cleaning row which needs to be divided by target width determination is determined. Therefore, the virtual cleaning row is determined according to the width to be calculated based on the first side, and the area edge line that the cleaning device can clean in the virtual cleaning row is calculated. In an ideal case where the boundary is regular and there is no obstacle, the area edge line that can be cleaned can coincide with the edge line of the virtual cleaning row; but in the case where the boundary is irregular and / or there is an obstacle, the area enclosed by the area edge line that can be cleaned excludes narrow angle areas, obstacle blocked areas and other areas that the cleaning device cannot clean. The range enclosed by the area edge line is determined as the effective coverage range, and the above same method is used to calculate the corresponding effective coverage range for each width.

[0083] In some optional embodiments, in the above method, the step S120 of judging in turn from the largest width to the smallest width whether the effective coverage range corresponding to the width includes the effective coverage range corresponding to other widths smaller than the width, and if so, taking the width as the target width, comprises: judging in turn from the largest width to the smallest width whether the area edge line corresponding to other widths smaller than the width has a part falling outside the range enclosed by the area edge line corresponding to the width; and if not, taking the width as the target width.

[0084] After determining the effective coverage range of the virtual cleaning row corresponding to each width, the target width is determined based on the purpose of preferentially cutting a large row. The preferentially cutting a large row is used to indicate that if cutting a cleaning row with a larger width can cover the cleaning effect of cutting a cleaning row with a smaller width, the cleaning row with the larger width is preferentially cut to improve the cleaning efficiency.

[0085] In the present embodiment, since the area edge line that the cleaning device can clean in the virtual cleaning row corresponding to each width has been determined, it is preferentially judged whether the range enclosed by the area edge line of the virtual cleaning row with the largest width can include the area edge line corresponding to other widths smaller than the largest width; if so, the largest width is taken as the target width; if there is a part of the area edge line corresponding to other widths falling outside the range enclosed by the area edge line corresponding to the largest width, the largest width is excluded, and the next width smaller than the largest width is taken to repeat the above steps for judgment.

[0086] In some optional embodiments, in the above method, in step S120, the widths are sequentially determined from large to small, and it is determined whether the effective coverage range corresponding to the width includes the effective coverage range corresponding to other widths smaller than the width. If yes, the width is taken as the target width. The method comprises: determining the maximum coverage range corresponding to other widths smaller than the width according to the region boundary corresponding to the other widths; determining whether the ratio of the overlapping range of the effective coverage range corresponding to the width and the maximum coverage range to the maximum coverage range is greater than a preset threshold; and if yes, taking the width as the target width.

[0087] In some cases, the boundary shape is complex or the obstacle is complex, such that the range enclosed by the region boundary of the region with a larger width includes the region boundary corresponding to other regions with smaller widths. The result obtained by determining in this way is that the minimum width is taken as the target width. If the cleaning row is divided according to the minimum width as the target width, the cleaning efficiency of the cleaning device will be greatly reduced. Therefore, in order to balance the cleaning effect and the cleaning efficiency, the target width determination method of the present embodiment is proposed.

[0088] The widths are still determined in the order from large to small. First, the effective coverage range corresponding to the maximum width is determined. Then, the maximum coverage range corresponding to other widths smaller than the maximum width is determined according to the region boundary corresponding to the other widths. The maximum coverage range is used to indicate the union of the effective coverage ranges of the other widths. Then, the overlapping range of the effective coverage range corresponding to the maximum width and the maximum coverage range corresponding to the other widths is determined. Finally, the overlapping range and the maximum coverage range corresponding to the other widths are compared. If the overlapping range can reach the preset ratio of the maximum range, the maximum width is taken as the target width. If the overlapping range cannot reach the preset ratio of the maximum range, the maximum width is excluded, and the next width smaller than the maximum width is taken to repeat the above steps for determination. The ratio can be preset to a threshold value, such as 95%.

[0089] Based on the target width determination method of the present embodiment, the cleaning effect and the cleaning efficiency can be balanced, and the cleaning efficiency is improved without reducing the cleaning efficiency.

[0090] FIG. 2 shows a flowchart of a dynamic row-cutting method of a cleaning device according to another embodiment of the present disclosure. According to FIG. 2, the method can comprise the following steps.

[0091] In step S201, map information is acquired, and a to-be-cleaned range is identified in response to the labeling of the map information. The boundary is determined based on the map information and the sensing information collected by the sensors carried by the cleaning device. The process proceeds to step S202.

[0092] In step S202, it is determined whether the boundary includes a straight line segment. If yes, the process proceeds to step S203; if no, the process proceeds to step S204.

[0093] In step S203, straight line segments in the boundary are extracted, and the straight line segments are sequentially determined from long to short in length. Once it is determined that the to-be-cleaned range within the boundary enclosing range is all located on one side of the extension line of the straight line segment, the straight line segment is determined as the initial cutting row boundary line. If there is no straight line segment such that the to-be-cleaned range within the boundary enclosing range is all located on one side of the extension line of the straight line segment, a first tangent line is searched for on the boundary as the initial cutting row boundary line. The first tangent line satisfies that it is parallel to the longest straight line segment and is closest to the longest straight line segment. Step S205 is turned to.

[0094] In step S204, a positioning point of the cleaning device is jointly determined based on map information and sensing information collected by a sensor carried by the cleaning device. The intersection of the boundary and each circle is determined with the positioning point as the center and a preset interval length from small to large as the radius. The second tangent line is determined as the initial cutting row boundary line once it is determined that the to-be-cleaned range within the boundary enclosing range is all located on one side of the second tangent line of the boundary passing through the intersection. Step S205 is turned to.

[0095] In step S205, the initial cutting row boundary line is taken as a reference, and the target width of each cleaning row is sequentially determined through steps S207-S210.

[0096] In step S206, the to-be-cleaned range is divided into adjacent cleaning rows by a segmentation line parallel to the initial cutting row boundary line according to the target width.

[0097] In step S207, the maximum cleaning width of the cleaning device is taken as an initial width, and a plurality of widths are obtained by sequentially reducing the initial width at a fixed interval. Step S208 is turned to.

[0098] In step S208, for any width, a virtual cleaning row is determined according to the map information and the segmentation line of the previous cleaning row, the area boundary within which the cleaning device can clean in the virtual cleaning row is calculated, and each effective coverage range is sequentially calculated from large to small in width. Step S209 or step S210 is turned to.

[0099] In step S209, the widths are sequentially determined from large to small. Once it is determined that the area boundary corresponding to other widths smaller than the width does not have a part falling outside the range enclosed by the area boundary corresponding to the width, the width is taken as the target width. Step S206 is turned to.

[0100] In step S210, the maximum coverage range corresponding to other widths smaller than the width is determined according to the area boundary corresponding to the other widths. Once it is determined that the ratio of the overlapping range of the effective coverage range corresponding to the width and the maximum coverage range to the maximum coverage range is greater than a preset threshold, the width is taken as the target width. Step S206 is turned to.

[0101] The following introduces a system embodiment of the present disclosure, which can be used to execute the method in the above-mentioned embodiments of the present disclosure. For details not disclosed in the system embodiment of the present disclosure, please refer to the above-mentioned embodiments of the present disclosure.

[0102] FIG. 3 shows a structural schematic diagram of a dynamic row-cutting system of a cleaning device according to one embodiment of the present disclosure. According to FIG. 3, the system 300 includes:

[0103] A boundary determination unit 310 is configured to identify a boundary of a to-be-cleaned range according to acquired map information, and determine an initial row-cutting boundary according to the boundary.

[0104] A dynamic row-cutting division unit 320 is configured to divide the to-be-cleaned range into adjacent cleaning rows row by row based on the initial row-cutting boundary.

[0105] A row-cutting width determination unit 330 is configured to determine a target width of a cleaning row based on the following preset rules:

[0106] The maximum cleaning width of the cleaning device is taken as an initial width, and the initial width is sequentially reduced at a fixed interval to obtain a plurality of widths.

[0107] The effective coverage range of the cleaning device at each width is calculated respectively.

[0108] The widths are sequentially judged from large to small, and it is determined whether the effective coverage range corresponding to the width includes the effective coverage range corresponding to other widths smaller than the width. If yes, the width is taken as the target width.

[0109] In some optional embodiments, in the above-mentioned system 300, the boundary determination unit 310 is specifically configured to: acquire map information; identify the to-be-cleaned range in response to the labeling of the map information; and jointly determine the boundary based on the map information and sensor information collected by a sensor carried by the cleaning device.

[0110] In some optional embodiments, in the above-mentioned system 300, the boundary determination unit 310 is further specifically configured to: when the boundary includes a straight line segment, extract the straight line segment in the boundary; sequentially judge the lengths of the straight line segments from long to short, and once it is determined that the to-be-cleaned range within the boundary-enclosed range is located on one side of the extension line of the straight line segment, the straight line segment is determined as the initial row-cutting boundary; if there is no straight line segment such that the to-be-cleaned range within the boundary-enclosed range is located on one side of the extension line of the straight line segment, a first tangent line is found on the boundary as the initial row-cutting boundary; wherein the first tangent line satisfies that it is parallel to the longest straight line segment and is closest to the longest straight line segment.

[0111] In some optional embodiments, in the system 300, the boundary determination unit 310 is further specifically configured to: when the boundary does not include a straight line segment, jointly determine the positioning point of the cleaning device based on the map information and the sensing information collected by the sensor carried by the cleaning device; determine the intersection of the boundary and each circle by taking the positioning point as the center of the circle and taking the preset interval length from small to large as the radius of the circle; and determine the second tangent line of the boundary passing through the intersection point as the initial cutting row boundary once it is determined that the to-be-cleaned range within the boundary enclosing range is located on one side of the second tangent line.

[0112] In some optional embodiments, in the system 300, the dynamic cutting row division unit 320 is specifically configured to: determine the target width of each cleaning row by a preset rule row by row based on the initial cutting row boundary; and divide the to-be-cleaned range into adjacent cleaning rows by a segmentation line parallel to the initial cutting row boundary according to the target width of each cleaning row.

[0113] In some optional embodiments, in the system 300, the cutting row width determination unit 330 is specifically configured to: for any width, determine a virtual cleaning row according to the map information and the segmentation line of the previous cleaning row; calculate the area boundary within which the cleaning device can clean in the virtual cleaning row; determine the range enclosed by the area boundary as the effective coverage range; and calculate each effective coverage range in turn from large to small in the order of the width.

[0114] In some optional embodiments, in the system 300, the cutting row width determination unit 330 is further specifically configured to: determine, in turn from large to small in the order of the width, whether there is a part of the area boundary corresponding to another width smaller than the width that falls outside the range enclosed by the area boundary corresponding to the width; and if not, take the width as the target width.

[0115] In some optional embodiments, in the system 300, the cutting row width determination unit 330 is further specifically configured to: determine the maximum coverage range corresponding to another width smaller than the width according to the area boundary corresponding to the other width; determine whether the ratio of the overlapping range of the effective coverage range corresponding to the width and the maximum coverage range to the maximum coverage range is greater than a preset threshold; and if so, take the width as the target width.

[0116] The example embodiments of the present disclosure further provide an electronic device, including: at least one processor; and a memory connected with the at least one processor in communication. The memory stores a computer program capable of being executed by the at least one processor, and the computer program, when executed by the at least one processor, is configured to cause the electronic device to perform the method according to the embodiments of the present disclosure.

[0117] The exemplary embodiments of the present disclosure further provide a non-transitory computer readable storage medium storing a computer program, wherein the computer program, when executed by a processor of a computer, causes the computer to perform the method according to the embodiments of the present disclosure.

[0118] It should be understood that the above specific embodiments of the present disclosure are merely used to illustrate or explain the principles of the present disclosure, and do not constitute a limitation on the present disclosure. Therefore, any modification, equivalent replacement, improvement, etc. made without departing from the spirit and scope of the present disclosure shall be included in the protection scope of the present disclosure. In addition, the claims of the present disclosure are intended to cover all variations and modifications falling within the scope and boundary of the appended claims, or the equivalent forms of such scope and boundary.

Claims

1. A dynamic lane-cutting method for a cleaning apparatus, wherein, The method comprises: According to the obtained map information, the boundary of the to-be-cleaned range is recognized, and an initial cutting line is determined according to the boundary; With the initial cutting line as the reference, the to-be-cleaned range enclosed by the boundary is divided into adjacent cleaning rows row by row; Among them, the target width of each cleaning row is determined based on the following preset rules: Take the maximum cleaning width of the cleaning device as the initial width, and sequentially reduce the initial width at a fixed interval to obtain a plurality of widths; The effective coverage range of the cleaning device under each width is calculated respectively; In order to judge in turn from large to small, whether the effective coverage range corresponding to the width includes the effective coverage range corresponding to other widths smaller than the width, if yes, the width is taken as the target width.

2. The dynamic pass-line method of a cleaning apparatus according to claim 1, wherein, According to the obtained map information, the boundary of the to-be-cleaned range is recognized, which comprises: Obtain the map information; In response to the calibration of the map information, the to-be-cleaned range is recognized; The boundary is jointly determined based on the map information and the sensing information collected by the sensor carried by the cleaning device.

3. The dynamic pass-line method of a cleaning apparatus according to claim 1, wherein, The initial cutting line is determined according to the boundary, which comprises: When the boundary includes a straight line segment, the straight line segment in the boundary is extracted; In order to judge in turn from long to short, once it is determined that the to-be-cleaned range in the boundary enclosed range is located on one side of the extension line of the straight line segment, the straight line segment is determined as the initial cutting line; If there is no straight line segment that makes the to-be-cleaned range in the boundary enclosed range located on one side of the extension line of the straight line segment, a first tangent line is found on the boundary as the initial cutting line; wherein the first tangent line satisfies, parallel to the longest straight line segment, and closest to the longest straight line segment.

4. The dynamic pass-line method of cleaning equipment of claim 1, wherein, The initial cutting line is determined according to the boundary, which comprises: When the boundary does not include a straight line segment, the positioning point of the cleaning device is jointly determined based on the map information and the sensing information collected by the sensor carried by the cleaning device; With the positioning point as the center and the preset interval length as the radius from small to large, a circle is drawn to determine the intersection of the boundary and each circle; In order to judge in turn from short to long, once it is determined that the to-be-cleaned range in the boundary enclosed range is located on one side of the second tangent line of the boundary passing through the intersection, the second tangent line is determined as the initial cutting line.

5. The dynamic pass-line method of cleaning equipment of claim 1, wherein, With the initial cutting line as the reference, the to-be-cleaned range is divided into adjacent cleaning rows row by row, which comprises: With the initial cutting line as the reference, the target width of each cleaning row is determined row by row through the preset rules; According to each target width, the to-be-cleaned range is divided into adjacent cleaning rows by a parallel cutting line with the initial cutting line.

6. The dynamic passline method of cleaning equipment according to claim 5, wherein, The effective coverage range of the cleaning device under each width is calculated respectively, which comprises: For any width, a virtual cleaning row is determined according to the map information and the cutting line of the previous cleaning row; The area boundary that can be cleaned by the cleaning device in the virtual cleaning row is calculated; The range enclosed by the area boundary is determined as the effective coverage range; The effective coverage ranges are calculated in descending order of the widths.

7. The dynamic passline method of cleaning equipment according to claim 6, wherein, The effective coverage range corresponding to the width is determined in descending order of the widths. The effective coverage range corresponding to the width is determined in descending order of the widths. The effective coverage range corresponding to the width is determined in descending order of the widths.

8. A dynamic lane-cutting system for a cleaning apparatus, wherein, The system comprises: The boundary determination unit is configured to identify the boundary of the cleaning range according to the obtained map information, and determine an initial cutting line boundary according to the boundary. The dynamic cutting division unit is configured to divide the cleaning range into adjacent cleaning rows based on the initial cutting line boundary. The cutting width determination unit is configured to determine the target width of the cleaning row based on the following preset rule: The maximum cleaning width of the cleaning device is taken as an initial width, and the initial width is sequentially reduced at a fixed interval to obtain a plurality of widths. The effective coverage range of the cleaning device under each width is calculated. The effective coverage range corresponding to the width is determined in descending order of the widths.

9. A computer device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein, The processor executes the computer program to implement the steps of the dynamic cutting method of the cleaning device according to any one of claims 1 to 7.

10. A computer-readable storage medium storing a computer program, wherein, The computer program is executed by the processor to implement the steps of the dynamic cutting method of the cleaning device according to any one of claims 1 to 7.

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