Path planning method and system for cleaning apparatus, apparatus and storage medium

Abstract

A path planning method and system for a cleaning apparatus, an apparatus and a storage medium. The method comprises: on the basis of acquired map information, recognizing a first boundary of a range to traverse; and controlling a cleaning apparatus to move within the first boundary on the basis of a boundary-following model (S110); during the process of the cleaning apparatus moving within the first boundary on the basis of the boundary-following model, in response to there being a discontinuity at the first boundary, sensing an unknown region outside the first boundary corresponding to the discontinuity (S120); if the unknown region meets a preset condition, controlling the cleaning apparatus to switch to move in the unknown region (S130); and after the unknown region has been completely traversed, controlling the cleaning apparatus to switch back to continue to move in the first boundary (S140). The path planning method can preferentially ensure the cleaning effect of small regions, and prevent the cleaning apparatus from being trapped in the small regions or missing the small regions, thereby ensuring the cleaning effect and improving the cleaning efficiency.

Description

Path planning 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 202411087777.6 and the title "Path planning method, system, device and storage medium of cleaning equipment", which was filed on August 08, 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 path planning method, system, device and storage medium of cleaning equipment.

[0004] BACKGROUND

[0005] With the progress of science and technology, the research on intelligent cleaning robots is becoming more and more in-depth. Intelligent cleaning robots gradually replace traditional manual cleaning work due to their functions such as automatic cleaning, intelligent planning, and map building.

[0006] One of the research focuses of intelligent cleaning robots is the intelligent planning of cleaning paths. In the prior art, the path planning method of intelligent cleaning robots mainly determines a fixed cleaning mode according to the shape of the to-be-traveled range. Common cleaning modes include cutting straight-line cleaning or spiral circle cleaning, etc. However, when an unknown area is first perceived outside the to-be-traveled range, the cleaning robot breaks the to-be-traveled range it has determined. How to travel in different unknown areas without affecting the travel of the to-be-traveled range determined is a problem to be solved.

[0007] Therefore, it is necessary to provide a path planning method that can adopt appropriate cleaning modes to travel in the unknown area first perceived, so as to ensure the cleaning process and cleaning effect, thereby improving the cleaning efficiency.

[0008] SUMMARY

[0009] To solve the above problems, the embodiments of the present disclosure provide a path planning method, system, device and storage medium of cleaning equipment, which adopts the form of preferentially traveling in small areas to plan the path for the to-be-traveled range of the unknown area first discovered, so as to ensure the cleaning process and cleaning effect, thereby improving the cleaning efficiency.

[0010] The embodiments of the present disclosure adopt the following technical solutions:

[0011] In a first aspect, the embodiments of the present disclosure provide a path planning method of cleaning equipment, which comprises:

[0012] The first boundary of a range to be walked is identified according to acquired map information, and the cleaning device is controlled to walk in an edge-following mode within the first boundary;

[0013] During walking of the cleaning device in the edge-following mode within the first boundary, an unknown region outside the first boundary corresponding to an interruption of the first boundary is perceived in response to the interruption of the first boundary;

[0014] If the unknown region meets a preset condition, the cleaning device is controlled to walk into the unknown region;

[0015] After walking in the unknown region is completed, the cleaning device is controlled to continue walking within the first boundary.

[0016] In a second aspect, the embodiments of the present disclosure provide a path planning system of a cleaning device, which comprises:

[0017] A boundary identification unit is configured to identify a first boundary of a range to be walked according to acquired map information, and control the cleaning device to walk in an edge-following mode within the first boundary;

[0018] A region perception unit is configured to perceive an unknown region outside the first boundary corresponding to an interruption of the first boundary in response to the interruption of the first boundary during walking of the cleaning device in the edge-following mode within the first boundary;

[0019] A cut-off control unit is configured to control the cleaning device to walk into the unknown region when the unknown region meets a preset condition.

[0020] The cut-off control unit is further configured to control the cleaning device to continue walking within the first boundary after walking in the unknown region is completed.

[0021] In a third aspect, the embodiments of the present disclosure provide a computer device, which comprises 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 path planning method of the cleaning device when executing the computer program.

[0022] 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 path planning method of the cleaning device when being instructed by the processor.

[0023] The above at least one technical solution adopted by the embodiments of the present disclosure can achieve the following beneficial effects:

[0024] The path planning method of the cleaning device provided by the present disclosure comprises the following steps: identifying a first boundary of a to-be-traveled range according to obtained map information, and controlling the cleaning device to travel in an edge-following model within the first boundary; in the process of the cleaning device traveling in the edge-following model within the first boundary, in response to the existence of an interruption in the first boundary, perceiving an unknown region outside the first boundary corresponding to the interruption; if the unknown region meets a preset condition, controlling the cleaning device to switch to travel in the unknown region; and after the travel in the unknown region is completed, controlling the cleaning device to switch back to continue traveling within the first boundary. The path planning method of the cleaning device provided by the present disclosure can perceive an unknown region outside the first boundary of the to-be-traveled range in time in the process of the cleaning device traveling in the edge-following cleaning model, and preferentially travel in the unknown region when the unknown region meets a preset condition. The method provided by the present disclosure can preferentially ensure the cleaning effect of a newly discovered small region, avoid the cleaning device being trapped in the small region or missing the small region, ensure the cleaning effect, and improve the cleaning efficiency.

[0025] BRIEF DESCRIPTION OF DRAWINGS

[0026] FIG. 1 shows a flowchart of a path planning method of a cleaning device according to an embodiment of the present disclosure;

[0027] FIG. 2 shows a flowchart of a path planning method of a cleaning device according to another embodiment of the present disclosure;

[0028] FIG. 3 shows a structural diagram of a path planning system of a cleaning device according to an embodiment of the present disclosure;

[0029] FIG. 4 shows a structural diagram of a computer device according to an embodiment of the present disclosure.

[0030] WAYS OF IMPLEMENTING THE PRESENT APPLICATION

[0031] Embodiments of the present disclosure will be described in more detail below with reference to the accompanying drawings. Although certain embodiments of the present disclosure are shown in the drawings, it should be understood that the present disclosure can be implemented in various forms, and should not be interpreted as being limited to the embodiments set forth herein, but rather, these embodiments are provided to make the present disclosure more thorough and complete. It should be understood that the drawings and embodiments of the present disclosure are only for exemplary purposes, and are not intended to limit the scope of protection of the present disclosure.

[0032] It should be understood that each step described in the method embodiments of the present disclosure can be executed in different orders and / or in parallel. In addition, the method embodiments can include additional steps and / or omit the execution of the steps shown. The scope of the present disclosure is not limited in this respect.

[0033] The term "include" and variations thereof, as used in this document, mean "to include, without limitation." The term "based on" means "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 shall be construed accordingly. It should be noted that "a" or "an" entity as used in this document refers to one or more than one entity. The terms "first," "second," and the like as used in this document do not have any specific meaning.

[0034] It should be noted that the terms "one" and "a" or "an" as used in this document refer to "one or more" or "at least one," unless the context clearly indicates otherwise. Throughout this document, the term "comprising" or variations thereof mean "comprising, without limitation."

[0035] The names of the messages or information exchanged between the plurality of 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.

[0036] The concept of the present disclosure is that, for an unknown area first discovered outside the first boundary of the to-be-traveled range, when the unknown area is a small area, the unknown area is preferentially cleaned to prevent omission of the unknown area; when the unknown area is a large area, the unknown area is recorded to ensure the integrity of the cleaning device in the to-be-traveled range. Thus, the cleaning effect and the cleaning efficiency are taken into account.

[0037] In the present disclosure, the cleaning device is equipped with sensors, cameras, gyroscopes, drives, and other intelligent modules commonly used in existing cleaning devices (including cleaning robots), so as to realize the functions commonly used in existing cleaning devices, such as sensing of the surrounding environment, driving of the cleaning device, and interaction with map information. The embodiments of the present disclosure will not be described in detail.

[0038] The present disclosure will be described in detail below through specific embodiments.

[0039] FIG. 1 shows a flowchart of a path planning method of a cleaning device according to one embodiment of the present disclosure. According to FIG. 1, the embodiment includes steps S110-S140:

[0040] In step S110, the first boundary of the to-be-traveled range is identified according to the obtained map information, and the cleaning device is controlled to travel in an edge-following model within the first boundary.

[0041] The present disclosure first acquires map information. The map information can be map range ground information pre-stored through a database, or map information drawn and stored through historical walking results of the cleaning device. Here, the range of the map information can indicate a room range, a floor range, and the like, which are all ranges in which the cleaning device can travel.

[0042] Subsequently, the map information is identified and a to-be-traveled range is determined. The to-be-traveled range can be a to-be-traveled range demarcated by a user marking the map information. The to-be-traveled range can indicate a to-be-traveled range of a standard room autonomously selected by the user, or a cleaning range of a ground area autonomously demarcated by the user. The to-be-traveled range can also be a to-be-traveled range automatically calculated by identifying a historical traveling range.

[0043] Next, a first boundary of the to-be-traveled range is determined. The first boundary of the to-be-traveled range can be determined through the map information, or through historical sensing information collected by a sensor carried by the cleaning device, or in combination with the map information and the historical sensing information.

[0044] The first boundary of the to-be-traveled range is used to indicate an outer boundary of a maximum flat ground range in which the cleaning device can travel in the to-be-traveled range. The first boundary of the to-be-traveled range can be different from an edge of the to-be-traveled range, and an area enclosed by the first boundary of the to-be-traveled range can be less than or equal to an area enclosed by the edge of the to-be-traveled range. For example, for a to-be-traveled range of a standard room autonomously demarcated by the user, the edge of the to-be-traveled range can be a regular rectangle. If the standard room has an obstacle such as floor furniture placed along the wall, so that the cleaning device cannot clean the ground under the obstacle, the first boundary of the to-be-traveled range is taken as the outer edge line excluding the obstacle, so that the first boundary of the to-be-traveled range is different from the edge of the to-be-traveled range.

[0045] Subsequently, the cleaning device is controlled to travel in an edge-following model within the first boundary. After the first boundary of the to-be-traveled range is determined, the cleaning device is caused to travel in an edge-following model within the first boundary, so as to further determine whether the first boundary is accurate.

[0046] In step S120, in response to an interruption existing in the first boundary, an unknown area outside the first boundary corresponding to the interruption is perceived, during the traveling of the cleaning device in the edge-following model within the first boundary.

[0047] During the traveling of the cleaning device in the edge-following model within the first boundary, the first boundary can change, thereby causing an interruption. The interruption is used to indicate that the original reference boundary that can be provided to the cleaning device to travel in the edge-following model no longer exists.

[0048] In an actual scenario, a new obstacle can be placed by a person at a position within the first boundary, so that the updated first boundary presents a discontinuity. That is, the first boundary is originally determined, and after a new obstacle is placed at a position within the first boundary, a segment of the original first boundary that can provide a reference boundary for the cleaning device to walk along is covered by the new obstacle, so that the cleaning device cannot walk. In this case, the cleaning device can perceive a new boundary after the "contraction" within the range enclosed by the original first boundary, and as long as the cleaning device continues to walk along the new boundary, it will still return to the original first boundary. Therefore, the present disclosure is not directed to this case.

[0049] In another actual scenario, an obstacle originally placed outside the first boundary can be moved by a person, so that the updated first boundary presents a discontinuity. That is, the first boundary is originally determined, and after the obstacle placed outside the first boundary is moved, a segment of the original first boundary that can provide a reference boundary for the cleaning device to walk along is lost, so that the cleaning device cannot determine how to walk along the boundary. That is, the ground area corresponding to the moved obstacle constitutes a new unknown area within the to-be-walked range outside the first boundary.

[0050] For the unknown area, since it is discovered for the first time, the cleaning device detects the shape, area, boundary, etc. of the unknown area after perceiving the unknown area.

[0051] In step S130, if the unknown area meets the preset condition, the cleaning device is controlled to walk in the unknown area.

[0052] During the walking of the cleaning device, it is always desirable to balance walking efficiency and walking effect. After discovering the unknown area, the cleaning device can be controlled to preferentially walk in the unknown area or perform recording, etc. according to the situation of the unknown area.

[0053] If the length of the discontinuity is too small to allow the cleaning device to pass smoothly, once the cleaning device is switched to the unknown area, the cleaning device will be stuck at the discontinuity and thus cannot continue to walk. Therefore, in this case, regardless of the area and boundary of the perceived unknown area, only the unknown area is recorded without walking.

[0054] In the case where the length of the discontinuity is sufficient, if the area of the unknown area is large, the unknown area can be regarded as a new independent area. The cleaning device can be controlled to preferentially walk in the to-be-walked range within the original first boundary completely, and then walk in the independent area, so as to improve the regularity of walking. Therefore, in this case, the unknown area can be recorded first, and then the cleaning device is switched to walk in the unknown area after the to-be-walked range within the first boundary is walked completely.

[0055] In the case that the length of the interval is sufficient, if the area of the position region is small or the shape of the position region is irregular, the unknown region can be regarded as a "derived region" outside the original first boundary. The cleaning device is caused to preferentially walk through the "derived region" and then continue to walk along the first boundary, so that the back-and-forth movement of the cleaning device is reduced and the cleaning efficiency is improved. Therefore, in this case, the unknown region can be walked through first.

[0056] That is, by means of the preset condition, the situation of the unknown region is divided, and when the situation of the unknown region meets the preset condition, the cleaning device is controlled to walk through the unknown region, so that the cleaning efficiency and the cleaning effect are balanced.

[0057] In step S140, when the unknown region is walked through, the cleaning device is controlled to continue to walk in the first boundary.

[0058] The cleaning device can walk through the unknown region in a suitable walking model, such as a straight-line walking model, an edge-following walking model, a spiral circle walking model, etc. The suitable walking model can be determined according to the area and shape of the unknown region, and the unknown region is walked through. The unknown region is not necessarily empty, and can include obstacles, etc. The cleaning device can interleave other walking models such as obstacle-avoiding walking on the basis of maintaining the walking model, so as to ensure that the cleaning process of the cleaning device on the unknown region is not interrupted. The unknown region can have different degrees of dirtiness, and the cleaning device can interleave other walking models such as intensive walking on the basis of maintaining the walking model, so as to ensure the cleaning effect of the cleaning device on the unknown region. For the way in which the cleaning device walks through the unknown region in the walking model, reference can be made to the prior art, and the present disclosure will not be described in detail.

[0059] The sensor carried by the cleaning device collects the walked-through situation of the unknown region in real time, and compares the accumulated walked-through situation with the unknown region in the process of walking through the unknown region, to analyze whether the walked-through area can completely cover the unknown region. If the walked-through area completely covers the unknown region, it indicates that the unknown region is walked through completely, and the cleaning device is controlled to end the walking through the unknown region and continue to walk in the first boundary.

[0060] When the cleaning device is switched from the first boundary to the unknown region, the pose of the cleaning device at the time of stopping in the first boundary can be recorded, and the pose can include the positioning and orientation of the cleaning device. When the cleaning device is switched from the unknown region back to the first boundary, the cleaning device can be caused to return to the recorded pose.

[0061] In the process of walking along the edge model within the first boundary, the cleaning device can successively perceive multiple unknown regions, and the walking model adopted for each unknown region can be different. In the process of walking along the edge model within the first boundary, multiple discontinuities can successively point to the same unknown region, and when a subsequent discontinuity corresponding to the unknown region is responded to, if the cleaning device perceives that the unknown region has been walked, the cleaning device continues to walk along the first boundary; if the cleaning device perceives that the unknown region has not been walked, it is determined whether the unknown region meets the preset condition, and when the unknown region meets the preset condition, the unknown region is preferentially walked, and when the unknown region does not meet the preset condition, the unknown region is recorded.

[0062] As can be seen from the method shown in FIG. 1, the path planning method of the cleaning device provided by the present disclosure comprises the following steps: identifying a first boundary of a to-be-walked range according to obtained map information, and controlling the cleaning device to walk along an edge model within the first boundary; in the process of walking along the edge model within the first boundary, in response to a discontinuity existing in the first boundary, perceiving an unknown region outside the first boundary corresponding to the discontinuity; if the unknown region meets a preset condition, controlling the cleaning device to walk into the unknown region; and after the unknown region is completely walked, controlling the cleaning device to return to the first boundary to continue walking. The path planning method of the cleaning device provided by the present disclosure can timely perceive an unknown region outside the first boundary of the to-be-walked range in the process of walking along the edge cleaning model, and preferentially walk the unknown region when the unknown region meets the preset condition. The method provided by the present disclosure can preferentially ensure the cleaning effect of a newly discovered small region, avoid the cleaning device being trapped in the small region or the small region being missed, and thus ensures the cleaning effect and improves the cleaning efficiency.

[0063] In some optional embodiments, in the above method, the step S110 of identifying a first boundary of a to-be-walked range according to obtained map information, and controlling the cleaning device to walk along an edge model within the first boundary comprises: obtaining the map information, identifying the to-be-walked range in response to demarcation of the map information; determining the first boundary of the to-be-walked range according to the map information and historical sensing information collected by a sensor carried by the cleaning device; and controlling the cleaning device to walk along the edge model within the first boundary.

[0064] In this embodiment, the map information pre-stored in the database can be called. The map information can be displayed on a display module of the cleaning device when the display module is interactive; or the map information can be displayed on an interactive display screen of an external terminal when the cleaning device is connected to the external terminal through wireless or other means. A user specifies, selects or independently demarcates a demarcated range to be cleaned based on the displayed map information, and identifies the to-be-walked range based on the demarcated range determined by the user. The to-be-walked range can be of any shape or any size.

[0065] Then, a first boundary of the to-be-traveled range is determined in combination of the map information and historical sensing information collected by the sensors carried by the cleaning device. The map information can pre-store ground obstacle situation information of the to-be-traveled range, and the obstacle is used to indicate an obstruction that forces the cleaning device to be unable to place, such as a fallen obstacle, a stepped ground, etc. Through the map information, region information of an area in which the cleaning device can travel in the to-be-traveled range can be determined, and then a boundary circumscribing the area can be determined. In a historical traveling process, the cleaning device can record sensing information collected by the sensors, so as to construct region information of an area that the cleaning device can reach in the to-be-traveled range, and then a boundary circumscribing the area can be determined. The boundary determined based on the map information and the boundary determined based on the historical sensing information are fused, so as to determine the first boundary of the to-be-traveled range.

[0066] The cleaning device travels in the first boundary in an edge-following mode, so as to further determine the accuracy of the first boundary.

[0067] In some optional embodiments, in the above method, in the step S120, in response to the existence of an interval in the first boundary, the unknown area outside the first boundary corresponding to the interval is perceived, including: in the process that the cleaning device travels in the first boundary in the edge-following mode, the first boundary that has not been traveled is perceived based on the sensors carried by the cleaning device; if it is perceived that there is an interval in the first boundary, a second boundary outside the first boundary corresponding to the interval is perceived based on the sensors; and the unknown area is determined according to the first boundary and the second boundary.

[0068] In the process that the cleaning device travels along the edge of the first boundary, the first boundary that has not been traveled is perceived in real time by the sensors carried by the cleaning device. If the situation that the originally existing first boundary is changed by moving away the obstacle placed outside the first boundary by a person or the like occurs, the sensors cannot perceive the originally existing obstacle on the first boundary that has not been traveled, so that it is perceived that there is an interval in the first boundary.

[0069] The sensors can continue to perceive the originally existing first boundary, and when the sensors perceive the obstacle on the first boundary again, it indicates that the interval ends. The length from the occurrence of the interval to the end of the interval is the length of the interval.

[0070] For the interval existing in the first boundary, the sensors continue to perceive the second boundary outside the first boundary corresponding to the interval. The detection accuracy of the sensors is generally sufficient to perceive the new obstacle boundary outside the first boundary, at this time, the new obstacle boundary is taken as the second boundary, and the area circumscribed by the first boundary and the second boundary is determined as the unknown area.

[0071] In some special cases, the sensor can not be able to perceive the new obstacle boundary, which usually occurs in the case of a large unknown area. In this case, the maximum boundary that the sensor can perceive can be taken as the second boundary, and the area enclosed by the second boundary and the second boundary is determined as the unknown area.

[0072] In some special cases, the sensor can not be able to perceive all new obstacle boundaries. In this case, the maximum boundary that the sensor can perceive and the actually perceived new obstacle boundary can be fused to form the second boundary, and the area enclosed by the first boundary and the second boundary is determined as the unknown area.

[0073] In some embodiments of the present disclosure, in the above method, in step S130, if the unknown area meets the preset condition, the cleaning device is controlled to walk into the unknown area, including: if the discontinuity is greater than the preset length, the area of the unknown area is less than the preset area, and the unknown area is not walked based on the sensor carried by the cleaning device, the cleaning device is controlled to walk into the unknown area.

[0074] The condition of preferentially walking into the unknown area needs to meet the preset condition, which is used to constrain the unknown area to be able to enter, not cleaned, and small in area.

[0075] First, the preset condition constrains the length of the discontinuity, which needs to be greater than the preset length. The preset length can be used to indicate the minimum length that allows the cleaning device to pass smoothly. That is, if the length of the discontinuity is not greater than the preset length, the cleaning device cannot smoothly enter the unknown area and will be stuck at the discontinuity to interrupt the walking. In order to ensure the continuity of walking, the length of the discontinuity is first greater than the preset length.

[0076] Second, the preset condition constrains the area of the unknown area, which needs to be less than the preset area. The preset length can be used to indicate the area that can be regarded as a "derived area". Referring to the perception of the new obstacle boundary by the sensor. If the sensor can perceive all the new obstacle boundaries and take them as the second boundary, the unknown area is regarded as a "derived area" when the area enclosed by the first boundary and the second boundary is less than the preset area; if the sensor cannot perceive the new obstacle boundary and take the maximum boundary that can be perceived as the second boundary, the area of the unknown area is certainly greater than the preset area; if the sensor cannot perceive all the new obstacle boundaries and take the maximum boundary that can be perceived and the actually perceived new obstacle boundary to form the second boundary, the unknown area is regarded as a "derived area" when the area enclosed by the first boundary and the second boundary is less than the preset area.

[0077] The preset condition again restricts whether the unknown area has been walked. The unknown area needs to be an unwalked area. During the process of walking in the edge model in the first boundary, the cleaning device may successively perceive multiple discontinuities pointing to the same unknown area. When the cleaning device responds to the discontinuity corresponding to the unknown area subsequently, if the cleaning device perceives that the unknown area has been walked, the preset condition is no longer met.

[0078] When the above preset conditions are all met, that is, the discontinuity can ensure the cleaning device to pass through smoothly, the unknown area is small in area, and the unknown area is unwalked, the cleaning device is controlled to cut to the unknown area to walk.

[0079] In some embodiments of the present disclosure, in the above method, the step S130 of controlling the cleaning device to cut to the unknown area to walk includes: recording a positioning point of the cleaning device in the range to be walked; and controlling the cleaning device to cut to the unknown area from the positioning point and making the cleaning device walk in the unknown area in the target model.

[0080] When it is necessary to preferentially walk the unknown area, the positioning point of the cleaning device in the first boundary is recorded. In addition to the positioning point, the positioning orientation of the cleaning device can also be recorded to perfect the pose information of the cleaning device in the first boundary.

[0081] The cleaning device is controlled to switch from the edge model to the target model to enter the unknown area to walk.

[0082] The walking process of the cleaning device in the unknown area is continuous and uninterrupted until the unknown area is completely walked. That is, during the walking process of the cleaning device in the unknown area, the specific walking mode of the target model can be switched according to the specific ground situation of the unknown area, but as long as it is judged based on the sensing information that the unknown area is not completely walked, the cleaning device will not drive out of the unknown area and will continue to walk in the unknown area.

[0083] In some embodiments of the present disclosure, in the above method, the step S140 of controlling the cleaning device to cut back to the first boundary to continue walking after the unknown area is completely walked includes: if it is perceived based on the sensor carried by the cleaning device that there is no unwalked area in the unknown area, determining a regression path according to the finish point of the cleaning device, the second boundary of the unknown area, and the recorded positioning point of the cleaning device before cutting to the unknown area to walk; and controlling the cleaning device to cut back to the first boundary according to the regression path and making the cleaning device continue to walk in the first boundary in the edge model.

[0084] If the sensor perceives that there is no unwalked area in the unknown area, the unknown area is completely walked. The finish point of the cleaning device when the unknown area is completely walked is recorded. The finish orientation of the cleaning device can also be recorded to perfect the pose information of the cleaning device in the unknown area.

[0085] According to the finish point, the positioning point and the second boundary of the cleaning device, a return path for the cleaning device to return into the first boundary is determined. The return path can be the shortest path connecting the positioning point and the finish point and falling within the second boundary. The cleaning device is controlled to return to the positioning point along the return path, and then switch back to the edge-following model to continue walking within the first boundary.

[0086] In some embodiments of the present disclosure, after the step S120 of perceiving the unknown region outside the first boundary corresponding to the discontinuity, the method further comprises: if the unknown region does not meet the preset condition, recording the unknown region and controlling the cleaning device to continue walking along the first boundary.

[0087] The unknown region not meeting the preset condition is used to indicate that the length of the discontinuity is not greater than a preset length, or the area of the position region is not less than a preset area, or the unknown region has been walked. When any of the above points is met, the unknown region does not meet the preset condition. At this time, the unknown region is recorded.

[0088] When recording, the reason for not meeting the preset condition can also be classified to determine whether the unknown region needs to be walked after the cleaning device walks completely within the first boundary.

[0089] When the discontinuity length constraint is not met, the reason is recorded and it is determined that the unknown region cannot be walked. Then, when the cleaning device walks completely within the first boundary, a prompt can be sent to the user to indicate that the unknown region has not been walked and the unknown region does not have an entry condition.

[0090] When the area size constraint is not met, the reason is recorded and the unknown region is determined to be an "independent region". Then, when the cleaning device walks completely within the first boundary, the cleaning device is directly switched to the unknown region for walking.

[0091] When the non-walk constraint is not met, the reason is recorded and it is determined that the unknown region has been walked. Then, when the cleaning device walks completely within the first boundary, the walking is ended.

[0092] FIG. 2 shows a flowchart of a path planning method of a cleaning device according to another embodiment of the present disclosure. According to FIG. 2, the method can include the following steps.

[0093] In step S201, map information is obtained, a to-be-walked range is identified in response to the labeling of the map information, a first boundary of the to-be-walked range is determined according to the map information and historical sensing information collected by a sensor carried by the cleaning device, and the cleaning device is controlled to walk within the first boundary in an edge-following model. Step S202 is turned to.

[0094] In step S202, during the cleaning device walking along the edge model in the first boundary, the sensor senses the first boundary which is not walked, and if the first boundary has an interruption, the sensor senses the second boundary outside the first boundary corresponding to the interruption, and determines the unknown region according to the first boundary and the second boundary. Go to step S203.

[0095] In step S203, it is determined whether the interruption is greater than a preset length. If yes, go to step S204; if no, go to step S205.

[0096] In step S204, it is determined whether the area of the unknown region is less than a preset area. If yes, go to step S206; if no, go to step S207.

[0097] In step S205, the unknown region is prompted for recording. Go to step S212.

[0098] In step S206, it is determined whether the unknown region is not walked. If yes, go to step S308; if no, go to step S212.

[0099] In step S207, the unknown region is recorded as not walked. Go to step S212.

[0100] In step S208, the positioning point of the cleaning device in the to-be-walked range is recorded. Go to step S209.

[0101] In step S209, the cleaning device is controlled to cut to the unknown region from the positioning point, and the cleaning device walks in the unknown region in a target model. Go to step S210.

[0102] In step S210, if the sensor senses that the unknown region has no not-walked region, a regression path is determined according to the finish point of the cleaning device, the second boundary of the unknown region, and the positioning point. Go to step S211.

[0103] In step S211, the cleaning device is controlled to cut back to the first boundary according to the regression path. Go to step S212.

[0104] In step S212, the cleaning device continues to walk in the first boundary in the edge model. Go to step S213.

[0105] In step S213, when the cleaning device walks completely in the first boundary, the corresponding unknown region is cut to according to the not-walked record, or a prompt is given according to the prompt record.

[0106] 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, refer to the above-mentioned embodiments of the present disclosure.

[0107] FIG. 3 shows a structural schematic diagram of a path planning system of a cleaning device according to one embodiment of the present disclosure. According to FIG. 3, the system 300 includes:

[0108] a boundary identifying unit 310 configured to identify a first boundary of a to-be-traveled range according to the obtained map information, and control the cleaning device to travel in an edge-following model within the first boundary;

[0109] a region perceiving unit 320 configured to, in a process in which the cleaning device travels in the edge-following model within the first boundary, perceive an unknown region outside the first boundary corresponding to an interruption of the first boundary in response to the interruption existing;

[0110] a cut-in control unit 330 configured to, when the unknown region meets a preset condition, control the cleaning device to cut in to travel in the unknown region;

[0111] The cut-in control unit 330 is further configured to, after the cleaning device travels completely in the unknown region, control the cleaning device to cut back to continue traveling within the first boundary.

[0112] In some optional embodiments, in the system 300 described above, the boundary identifying unit 310 is specifically configured to: obtain the map information; determine the to-be-traveled range in response to a labeling of the map information; determine the first boundary of the to-be-traveled range according to the map information and historical sensing information collected by a sensor carried by the cleaning device; and control the cleaning device to travel in the edge-following model within the first boundary.

[0113] In some optional embodiments, in the system 300 described above, the region perceiving unit 320 is specifically configured to: in a process in which the cleaning device travels in the edge-following model within the first boundary, perceive a second boundary outside the first boundary corresponding to the interruption based on the sensor; and determine the unknown region according to the first boundary and the second boundary if it is perceived that the first boundary has the interruption.

[0114] In some optional embodiments, in the system 300 described above, the cut-in control unit 330 is specifically configured to: control the cleaning device to cut in to travel in the unknown region if the interruption is greater than a preset length, the area of the unknown region is less than a preset area, and the unknown region is not traveled based on the sensor.

[0115] In some optional embodiments, in the system 300 described above, the cut-in control unit 330 is further specifically configured to: record a positioning point of the cleaning device in the to-be-traveled range; control the cleaning device to cut in to the unknown region from the positioning point, and cause the cleaning device to travel in the unknown region in a target model.

[0116] In some optional embodiments, in the system 300, the row-cutting control unit 330 is further configured to: if no non-walked area is sensed in the unknown area based on the sensor carried by the cleaning device, determine a return path according to the finish point of the cleaning device, the second boundary of the unknown area, and the recorded positioning point before the cleaning device cuts into the unknown area to walk in the unknown area; control the cleaning device to cut back into the first boundary according to the return path, and control the cleaning device to continue to walk in the first boundary according to the edge-following model.

[0117] In some optional embodiments, the system 300 further includes a calibration recording unit configured to: if the unknown area does not meet the preset condition, perform calibration recording on the unknown area, and control the cleaning device to continue to walk along the first boundary.

[0118] It should be noted that the path planning system 300 of the cleaning device can implement the path planning method of the cleaning device as described above, and thus will not be described again.

[0119] 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.

[0120] The example 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, is configured to cause the computer to perform the method according to the embodiments of the present disclosure.

[0121] It should be understood that the above specific embodiments of the present disclosure are merely used for illustrative or explanatory purposes, 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 appended 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 path planning method of a cleaning device, wherein, The method comprises: According to the obtained map information, a first boundary of a to-be-traveled range is identified, and a cleaning device is controlled to travel in an edge-following model within the first boundary; During the traveling of the cleaning device in the edge-following model within the first boundary, in response to the existence of an interval in the first boundary, an unknown area outside the first boundary corresponding to the interval is perceived; If the unknown area meets a preset condition, the cleaning device is controlled to travel to the unknown area; After the unknown area is completely traveled, the cleaning device is controlled to return to the first boundary to continue traveling.

2. The path planning method of a cleaning device according to claim 1, wherein, The method comprises: The map information is obtained; The to-be-traveled range is determined in response to the calibration of the map information; The first boundary of the to-be-traveled range is determined according to the map information and historical sensing information collected by a sensor carried by the cleaning device; The cleaning device is controlled to travel in the edge-following model within the first boundary.

3. The path planning method of a cleaning device according to claim 1, wherein, The method comprises: During the traveling of the cleaning device in the edge-following model within the first boundary, the first boundary that has not been traveled is perceived based on a sensor carried by the cleaning device; If it is perceived that the first boundary has an interval, a second boundary outside the first boundary corresponding to the interval is perceived based on the sensor; The unknown area is determined according to the first boundary and the second boundary.

4. The path planning method of a cleaning device according to claim 1, wherein, The method comprises: If the interval is greater than a preset length, the area of the unknown area is less than a preset area, and it is perceived based on the sensor carried by the cleaning device that the unknown area has not been traveled, the cleaning device is controlled to travel to the unknown area. 5.The method of claim 1, wherein, The method comprises: A positioning point of the cleaning device in the to-be-traveled range is recorded; The cleaning device is controlled to travel to the unknown area from the positioning point, and the cleaning device is caused to travel in the unknown area in a target model. 6.The method of claim 1, wherein, The method comprises: If it is perceived based on the sensor carried by the cleaning device that the unknown area has no untraveled area, a return path is determined according to a completion point of the cleaning device, a second boundary of the unknown area, and the recorded positioning point of the cleaning device before traveling to the unknown area; The cleaning device is controlled to return to the first boundary along the return path, and the cleaning device is caused to continue traveling in the edge-following model within the first boundary. 7.The method of claim 1, wherein, After the step of perceiving the unknown area outside the first boundary corresponding to the interval, the method further comprises: If the unknown region does not meet the preset condition, the unknown region is recorded and the cleaning device is controlled to continue walking along the first boundary.

8. A path planning system for a cleaning device, wherein, The system comprises: a boundary identification unit configured to identify a first boundary of a to-be-walked range according to the obtained map information, and control the cleaning device to walk in an edge-following mode within the first boundary; a region perception unit configured to, in response to an existence of a discontinuity in the first boundary during the walking of the cleaning device in the edge-following mode within the first boundary, perceive an unknown region outside the first boundary corresponding to the discontinuity; a cutting control unit configured to, when the unknown region meets a preset condition, control the cleaning device to cut to the unknown region to walk; the cutting control unit is further configured to, after the walking in the unknown region is completed, control the cleaning device to cut back to the first boundary to continue walking.

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 path planning 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 path planning method of the cleaning device according to any one of claims 1 to 7.

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