CN116919235A - Control method and device for cleaning area, storage medium and electronic device - Google Patents
Control method and device for cleaning area, storage medium and electronic device Download PDFInfo
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- CN116919235A CN116919235A CN202210340033.5A CN202210340033A CN116919235A CN 116919235 A CN116919235 A CN 116919235A CN 202210340033 A CN202210340033 A CN 202210340033A CN 116919235 A CN116919235 A CN 116919235A
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- 238000004140 cleaning Methods 0.000 title claims abstract description 414
- 238000000034 method Methods 0.000 title claims abstract description 57
- 239000000463 material Substances 0.000 claims abstract description 212
- 238000012549 training Methods 0.000 claims description 8
- 238000012163 sequencing technique Methods 0.000 claims description 7
- 238000004590 computer program Methods 0.000 claims description 4
- 230000008569 process Effects 0.000 abstract description 10
- 238000004891 communication Methods 0.000 description 9
- 230000004044 response Effects 0.000 description 7
- 238000010408 sweeping Methods 0.000 description 6
- 238000010586 diagram Methods 0.000 description 5
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- 238000012545 processing Methods 0.000 description 3
- 238000013473 artificial intelligence Methods 0.000 description 2
- 230000008878 coupling Effects 0.000 description 2
- 238000010168 coupling process Methods 0.000 description 2
- 238000005859 coupling reaction Methods 0.000 description 2
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- 241001417527 Pempheridae Species 0.000 description 1
- 230000005856 abnormality Effects 0.000 description 1
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- 230000000694 effects Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000003993 interaction Effects 0.000 description 1
- 239000004579 marble Substances 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
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- 238000003825 pressing Methods 0.000 description 1
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Classifications
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/24—Floor-sweeping machines, motor-driven
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
- A47L11/4002—Installations of electric equipment
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
- A47L11/4011—Regulation of the cleaning machine by electric means; Control systems and remote control systems therefor
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
- A47L11/4061—Steering means; Means for avoiding obstacles; Details related to the place where the driver is accommodated
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L2201/00—Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L2201/00—Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
- A47L2201/04—Automatic control of the travelling movement; Automatic obstacle detection
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L2201/00—Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
- A47L2201/06—Control of the cleaning action for autonomous devices; Automatic detection of the surface condition before, during or after cleaning
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- Engineering & Computer Science (AREA)
- Aviation & Aerospace Engineering (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Electric Vacuum Cleaner (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The application provides a control method and device for cleaning an area, a storage medium and an electronic device, wherein the method comprises the following steps: determining a floor material for each of a plurality of areas of the cleaning apparatus; determining the cleaning sequence of a plurality of areas according to the ground material of each area, wherein the cleaning sequence of the plurality of areas is the sequence of cleaning each area by cleaning equipment; the control cleaning equipment sequentially cleans each area according to the cleaning sequence of the plurality of areas, and the technical scheme is adopted, so that the problem that the area cleaning efficiency is low due to the fact that the cleaning processes of different areas are different in the control method of the area cleaning in the related art is solved.
Description
[ field of technology ]
The application relates to the field of intelligent home, in particular to a control method and device for cleaning an area, a storage medium and an electronic device.
[ background Art ]
Currently, it is possible to identify position information of a threshold, a wall, or the like within an area map using a sensing sensor on a cleaning apparatus (e.g., a sweeping robot), and divide the area map into a plurality of areas according to the identified position information of the threshold, the wall, or the like. When the cleaning device performs area cleaning, all or part of the area in the area map may be cleaned.
When multiple zones need to be cleaned, different zones can be cleaned at random. However, because the cleaning processes of different areas are different, the dirt residues and the like after cleaning the different areas are also different, and the area cleaning is low in efficiency by adopting a random area cleaning mode, so that the use experience of a user is affected.
As can be seen from the above, the related art control method for cleaning an area has a problem in that the efficiency of cleaning an area is low due to the difference in cleaning processes of different areas.
[ application ]
The application aims to provide a control method and a device for cleaning an area, a storage medium and an electronic device, so as to at least solve the problem that the control method for cleaning the area in the related art has low efficiency caused by different cleaning processes of different areas.
The application aims at realizing the following technical scheme:
according to an aspect of an embodiment of the present application, there is provided a control method for cleaning an area, including: determining a floor material for each of a plurality of areas of the cleaning apparatus; determining the cleaning sequence of the plurality of areas according to the ground material of each area, wherein the cleaning sequence of the plurality of areas is the sequence of the cleaning equipment for cleaning each area; and controlling the cleaning equipment to sequentially clean the areas according to the cleaning sequence of the plurality of areas.
In one exemplary embodiment, the determining the floor quality of each of a plurality of areas to be cleaned by the cleaning apparatus includes: acquiring an area ground image of each area, wherein the area ground image of each area is an image obtained by image acquisition of each area through an image acquisition component; and carrying out ground material identification on the area ground image of each area to obtain the ground material of each area.
In an exemplary embodiment, the performing ground material recognition on the area ground image of each area to obtain the ground material of each area includes: and inputting the regional ground image of each region into a target ground material recognition model to obtain the ground material of each region output by the target ground material recognition model, wherein the ground material recognition model is obtained by training an initial ground material recognition model by using a group of ground image samples marked with the corresponding ground material.
In an exemplary embodiment, the performing ground material recognition on the area ground image of each area to obtain the ground material of each area includes: executing the following steps for the regional ground image of each region, wherein when executing the following steps, each region is a current region, and the regional ground image of each region is a current ground image: extracting features of the current ground image to obtain current image features corresponding to the current ground image; selecting a target ground image from a set of ground images according to the feature similarity between the current image feature and the image feature of each ground image in the set of ground images; and determining the ground material corresponding to the target ground image as the ground material of the current area.
In an exemplary embodiment, the determining the cleaning sequence of the plurality of areas according to the floor material of each area includes: grouping the plurality of areas according to the ground materials of each area to obtain a plurality of groups of areas, wherein each group of areas in the plurality of groups of areas comprises at least one area in the plurality of areas, and each group of areas corresponds to one different ground material; and determining the cleaning sequence of the plurality of areas according to the cleaning priority of the ground material corresponding to each group of areas.
In an exemplary embodiment, the determining the cleaning sequence of the plurality of areas according to the cleaning priority of the floor material corresponding to each group of areas includes: sequencing the multiple groups of areas according to the cleaning priority of the ground material corresponding to each group of areas to obtain the cleaning sequence of the multiple groups of areas; executing the following steps for each group of areas in the plurality of groups of areas to obtain a cleaning sequence of the plurality of areas, wherein each group of areas is a current group of areas when the following steps are executed: in the case that at least two target areas are included in the current group of areas, a cleaning order of the at least two target areas is determined according to an area position of each of the at least two target areas.
In an exemplary embodiment, the controlling the cleaning apparatus to sequentially perform area cleaning on each of the plurality of areas in the cleaning order of the plurality of areas includes: determining the current area to be cleaned in the plurality of areas according to the cleaning sequence of the plurality of areas; determining a target cleaning mode adopted by the cleaning equipment for cleaning the area to be cleaned according to the ground material of the area to be cleaned; and controlling the cleaning equipment to perform area cleaning on the area to be cleaned by adopting the target cleaning mode.
According to another aspect of the embodiment of the present application, there is also provided a control device for cleaning an area, including: a first determining unit for determining a floor material of each of a plurality of areas of the cleaning apparatus; a second determining unit, configured to determine a cleaning sequence of the plurality of areas according to a floor material of each area, where the cleaning sequence of the plurality of areas is a sequence of cleaning each area by the cleaning device; and the control unit is used for controlling the cleaning equipment to sequentially clean the areas according to the cleaning sequence of the plurality of areas.
In an exemplary embodiment, the first determining unit includes: the acquisition module is used for acquiring the area ground image of each area, wherein the area ground image of each area is an image obtained by image acquisition of each area through the image acquisition component; and the identification module is used for carrying out ground material identification on the area ground image of each area to obtain the ground material of each area.
In one exemplary embodiment, the identification module includes: the input sub-module is used for inputting the regional ground image of each region into a target ground material recognition model to obtain the ground material of each region output by the target ground material recognition model, wherein the ground material recognition model is obtained by training an initial ground material recognition model by using a group of ground image samples marked with corresponding ground materials.
In one exemplary embodiment, the identification module includes: the first execution sub-module is configured to execute the following steps for the area ground image of each area, where when the following steps are executed, each area is a current area, and the area ground image of each area is a current ground image: extracting features of the current ground image to obtain current image features corresponding to the current ground image; selecting a target ground image from a set of ground images according to the feature similarity between the current image feature and the image feature of each ground image in the set of ground images; and determining the ground material corresponding to the target ground image as the ground material of the current area.
In one exemplary embodiment, the identification module includes: the first execution submodule is used for executing grouping operation on the plurality of areas according to the ground materials of each area to obtain a plurality of groups of areas, wherein each group of areas in the plurality of groups of areas comprises at least one area in the plurality of areas, and each group of areas corresponds to one ground material which is different from each other; and the first determining module is used for determining the cleaning sequence of the plurality of areas according to the cleaning priority of the ground material corresponding to each group of areas.
In one exemplary embodiment, the first determining module includes: the sequencing sub-module is used for sequencing the multiple groups of areas according to the cleaning priority of the ground material corresponding to each group of areas to obtain the cleaning sequence of the multiple groups of areas; a second execution sub-module, configured to execute the following steps for each of the multiple groups of areas, to obtain a cleaning sequence of the multiple areas, where each group of areas is a current group of areas when the following steps are executed: in the case that at least two target areas are included in the current group of areas, a cleaning order of the at least two target areas is determined according to an area position of each of the at least two target areas.
In an exemplary embodiment, the control unit includes: the second determining module is used for determining the current area to be cleaned in the plurality of areas according to the cleaning sequence of the plurality of areas; a third determining module, configured to determine a target cleaning mode adopted by the cleaning device to clean the area to be cleaned according to a ground material of the area to be cleaned; and the control module is used for controlling the cleaning equipment to conduct regional cleaning on the region to be cleaned by adopting the target cleaning mode.
In the embodiment of the application, the floor material of each of a plurality of areas of the cleaning equipment is determined by determining the cleaning sequence according to the floor material; determining the cleaning sequence of a plurality of areas according to the ground material of each area, wherein the cleaning sequence of the plurality of areas is the sequence of cleaning each area by cleaning equipment; the cleaning equipment is controlled to sequentially clean each area according to the cleaning sequence of the areas, and the cleaning equipment can clean the areas with the same ground material by adopting the same flow because the sequence of cleaning the areas by the cleaning equipment is determined according to the ground materials of the areas, and the cleaning sequence of the different ground materials can be set based on the cleaning difficulty level of the different materials, the dirt residual difficulty level and the like, so that the purpose of reducing the frequency of equipment flow switching can be realized, the technical effect of improving the area cleaning efficiency is achieved, and the problem that the area cleaning efficiency is low due to the different cleaning processes of the different areas in the control method of the area cleaning in the related art is solved.
[ description of the drawings ]
The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the application and together with the description, serve to explain the principles of the application.
In order to more clearly illustrate the embodiments of the application or the technical solutions of the prior art, the drawings which are used in the description of the embodiments or the prior art will be briefly described, and it will be obvious to a person skilled in the art that other drawings can be obtained from these drawings without inventive effort.
FIG. 1 is a schematic diagram of a hardware environment of an alternative method of controlling zone cleaning in accordance with an embodiment of the present application;
FIG. 2 is a flow chart of an alternative method of controlling zone cleaning in accordance with an embodiment of the present application;
FIG. 3 is a flow chart of another alternative method of controlling zone cleaning in accordance with an embodiment of the present application;
FIG. 4 is a block diagram of an alternative area cleaning control device according to an embodiment of the present application;
fig. 5 is a block diagram of an alternative electronic device according to an embodiment of the application.
[ detailed description ] of the application
The application will be described in detail hereinafter with reference to the drawings in conjunction with embodiments. It should be noted that, without conflict, the embodiments of the present application and features of the embodiments may be combined with each other.
It should be noted that the terms "first," "second," and the like in the description and the claims of the present application and the above figures are used for distinguishing between similar objects and not necessarily for describing a particular sequential or chronological order.
According to one aspect of an embodiment of the present application, a method for controlling cleaning of an area is provided. Alternatively, in the present embodiment, the above-described control method of area cleaning may be applied to a hardware environment constituted by the cleaning device 102, the base station 104, and the server 106 as shown in fig. 1. As shown in fig. 1, the cleaning device 102 may be connected to the base station 104 and/or the server 106 via a network to enable interaction between the cleaning device 102 and the base station 104 and/or the server 106.
The network may include, but is not limited to, at least one of: wired network, wireless network. The wired network may include, but is not limited to, at least one of: a wide area network, a metropolitan area network, a local area network, and the wireless network may include, but is not limited to, at least one of: WIFI (Wireless Fidelity ), bluetooth, infrared. The network used by the cleaning device 102 to communicate with the base station 104 and/or the server 106 may be the same as or different from the network used by the base station 104 to communicate with the server 106. The cleaning device 102 may include, but is not limited to: a sweeper, a floor washer, etc.
The method for controlling the cleaning of the area according to the embodiment of the present application may be performed by the cleaning apparatus 102, the base station 104, or the server 106 alone, or may be performed by at least two of the cleaning apparatus 102, the base station 104, and the server 106 together. The control method of the cleaning device 102 or the base station 104 to perform the area cleaning according to the embodiment of the present application may be performed by a client installed thereon.
Taking the control method of the cleaning of the area in the present embodiment performed by the cleaning apparatus 102 as an example, fig. 2 is a schematic flow chart of an alternative control method of the cleaning of the area according to an embodiment of the present application, as shown in fig. 2, the flow chart of the method may include the following steps:
step S202, determining a floor material of each of a plurality of areas of the cleaning apparatus.
The control method for cleaning the area in the embodiment can be applied to a scene of controlling a cleaning device to clean a plurality of areas in a map of a target area, where the cleaning device may be a sweeping robot, a cleaning robot or other devices with cleaning functions. The target area map may be an area that allows the cleaning apparatus to perform area cleaning, for example, a user's home, office, factory shop, etc., but is not limited thereto, and is not limited thereto in the present embodiment.
When the cleaning device is controlled to clean the area, the position information of the wall and the threshold in the target area map can be identified through the perception sensor on the cleaning device, the target area map is partitioned according to the information, and the target area map is divided into a plurality of different areas. When multiple areas need to be cleaned, the cleaning device can be controlled to clean different areas randomly.
However, since cleaning processes of different areas are different, dirt residues and the like after cleaning the different areas are also different, and the area cleaning efficiency is low by adopting a mode of randomly cleaning the areas. In order to solve the above-mentioned problem, in this embodiment, through determining the cleaning sequence according to the ground material, the same process can be used to clean the area of the same ground material, and the cleaning sequence of different ground materials can be set based on the cleaning difficulty level of different materials, the dirt residual difficulty level and the like, so that the frequency of switching the equipment process can be reduced, and the cleaning efficiency of the area can be improved.
Alternatively, in performing area cleaning, the cleaning apparatus may first determine a plurality of areas to be cleaned. The manner in which the cleaning device determines the plurality of areas to be cleaned may be one or more and may include, but is not limited to, at least one of the following: directly determining all areas in the target area map as areas to be cleaned; the plurality of areas to be cleaned may be determined by the obtained indication information sent by the use object of the cleaning device, or may be determined by other manners, which is not limited in this embodiment.
For example, the cleaning device may determine all areas in the target area map as areas to be cleaned in response to detecting a target button (e.g., a one-touch cleaning button, which may be a physical button, or a virtual button) on the cleaning device.
For example, a target area map may be displayed on a display screen of the cleaning device, or a display screen of a smart device (e.g., a smart phone) associated with the cleaning device, where the target area map may include a set of candidate areas. The user (i.e., the object of use of the cleaning apparatus) may perform a selection operation on a plurality of areas (or, a plurality of target areas) in a set of candidate areas, selecting the plurality of areas as the areas to be cleaned. The selection operation may include, but is not limited to, one of the following: the clicking operation, the double clicking operation, the long pressing operation, the sliding operation, and the selecting operation in this embodiment are not limited.
For a scene in which a map of a target area is displayed on a display screen of the cleaning apparatus, the cleaning apparatus may determine that an area to be cleaned is a plurality of areas in response to the detected above-described selection operation. For a scene of displaying a map of a target area on a display screen of the intelligent device, the intelligent device may generate an area selection instruction in response to the detected selection operation, where the area selection instruction is used to instruct selecting a plurality of areas as an area to be cleaned, and send the generated area selection instruction to the cleaning device through the server. The cleaning device can receive the region selection instruction and determine the region to be cleaned as a plurality of regions according to the region selection instruction.
For a plurality of zones, the cleaning device may determine the floor quality of each of the zones. The manner in which the cleaning apparatus determines the floor quality of each zone may be one or more and may include, but is not limited to, at least one of the following: determining the ground material of each area through the history cleaning record; the ground material of each area may be determined by acquiring the indication information sent by the object of use, or may be determined by other manners, which is not limited in this embodiment.
For example, a target area map may be displayed on a display screen of the cleaning device, or on a display screen of a smart device (e.g., a smart phone) associated with the cleaning device. For setting the floor quality of each zone, either simultaneously with, before or after the selection of the zones to be cleaned. For a scene in which a map of a target area is displayed on a display screen of the cleaning apparatus, the cleaning apparatus may determine a floor material of each area in response to the detected setting operation described above. For a scene in which a map of a target area is displayed on a display screen of the smart device, the smart device may generate a floor material setting instruction for indicating a floor material of each area in response to the detected setting operation, and transmit the generated floor material setting instruction to the cleaning device through the server. The cleaning device may receive the floor material setting instruction and determine the floor material of each area according to the floor material setting instruction.
Step S204, determining the cleaning sequence of a plurality of areas according to the ground material of each area, wherein the cleaning sequence of the plurality of areas is the sequence of cleaning each area by the cleaning equipment.
In this embodiment, the cleaning apparatus may determine the cleaning order of the plurality of regions according to the floor material of each of the plurality of regions. The cleaning sequence of the plurality of areas is the sequence of cleaning each area by the cleaning equipment. Determining the cleaning sequence for the plurality of regions may be: according to the floor material of each area and the cleaning priority of each floor material, determining the cleaning sequence of a plurality of areas, wherein the higher the cleaning priority of the floor material is, the earlier the corresponding area is in the cleaning sequence.
Step S206, controlling the cleaning device to sequentially perform area cleaning on each area according to the cleaning sequence of the plurality of areas.
In this embodiment, after determining the cleaning order of the plurality of areas, the cleaning apparatus may sequentially perform area cleaning for each of the plurality of areas in the cleaning order of the plurality of areas. For example, the cleaning apparatus may first determine a current area to be cleaned in a cleaning order of a plurality of areas, then control the cleaning apparatus to move to the current area to be cleaned, acquire area information of the current area to be cleaned through a sensing sensor (e.g., a laser radar sensor, a camera, etc.) configured on the cleaning apparatus, set a cleaning route of the current area to be cleaned according to the area information of the current area to be cleaned, and clean the current area to be cleaned according to the planned cleaning route.
After the current area to be cleaned is cleaned, the cleaning device can determine the next area to be cleaned according to the cleaning sequence of the plurality of areas, then control the cleaning device to move to the next area to be cleaned, acquire the area information of the next area to be cleaned through a sensing sensor configured on the cleaning device, set a cleaning route of the next area to be cleaned according to the area information of the next area to be cleaned, and clean the next area to be cleaned according to the planned cleaning route. And so on until multiple areas are cleaned.
For example, the sweeping robot can sequentially acquire the area information of the current area to be cleaned through cameras arranged on the sweeping robot, set the cleaning path of the current area to be cleaned according to the area information of the current area to be cleaned, and clean the current area to be cleaned according to the set cleaning path.
Determining a floor material of each of a plurality of areas of the cleaning apparatus through the steps S202 to S206; determining the cleaning sequence of a plurality of areas according to the ground material of each area, wherein the cleaning sequence of the plurality of areas is the sequence of cleaning each area by cleaning equipment; the control cleaning equipment sequentially cleans each area according to the cleaning sequence of the plurality of areas, so that the problem that the area cleaning efficiency is low due to the fact that the cleaning processes of different areas are different in the control method for cleaning the areas in the related art is solved, and the area cleaning efficiency is improved.
In one exemplary embodiment, determining a floor quality of each of a plurality of areas to be cleaned by a cleaning device includes:
s11, acquiring an area ground image of each area, wherein the area ground image of each area is an image obtained by image acquisition of each area through an image acquisition component;
and S12, carrying out ground material identification on the regional ground image of each region to obtain the ground material of each region.
In this embodiment, in order to improve accuracy of ground material recognition, an area ground image of each area may be acquired by an image acquisition device (e.g., a camera). The above-mentioned area floor image of each area may be acquired and obtained in real time, or may be acquired and stored in advance in the cleaning apparatus, or after the floor material of each area is acquired and identified in advance, the floor material of each area is pre-acquired.
The image acquisition device can be arranged on the cleaning device, the cleaning device is controlled to move to an area acquisition position (an entrance position or any position capable of acquiring an area ground image of each area) of each area, and the area ground image of each area is acquired through the image acquisition device on the cleaning device.
Alternatively, a set of image acquisition devices corresponding to the plurality of regions may also be determined, the set of image acquisition devices being for acquiring a region floor image of at least one region of the plurality of regions. The cleaning device may receive the area floor image of at least one area of the plurality of areas acquired by each image acquisition device, and obtain an area floor image of each area.
For the regional ground image of each region, the cleaning device can identify the ground material of the regional ground image of each region to obtain the ground material of each region. The ground material of each area may be identified by one or more methods, which may be based on image features, or may be identified by using a neural network model or other types of identification models, which are not limited in this embodiment.
According to the method and the device for identifying the ground material of the area to be cleaned, the ground material of the area to be cleaned is determined through identifying the area ground image of the area to be cleaned, and accuracy of ground material identification can be improved.
In an exemplary embodiment, the ground material recognition is performed on the area ground image of each area to obtain the ground material of each area, including:
S21, inputting the regional ground image of each region into a target ground material recognition model to obtain the ground material of each region output by the target ground material recognition model, wherein the ground material recognition model is obtained by training an initial ground material recognition model by using a group of ground image samples marked with corresponding ground materials.
In this embodiment, the target ground material recognition model may be used to recognize the ground material of each region from the region ground image of each region. The cleaning device may input the region ground image of each region to the target ground material recognition model, the target ground material recognition model may parse the region ground image of each region, determine the ground material of each region, and output the determined ground material, and the cleaning device may obtain the ground material of each region output by the target ground material recognition model.
Here, the target ground material recognition model may be obtained by training the initial ground material recognition model using a set of ground image samples labeled with corresponding ground materials. The model training device may obtain a set of ground image samples labeled with corresponding ground materials, train the initial ground material recognition model with the set of ground image samples as training samples, adjust model parameters of the initial ground material recognition model based on labels (labeled corresponding ground materials) of each ground image sample and model output of the initial ground material recognition model, and obtain a trained target ground material recognition model through multiple iterations.
The trained target ground material recognition model can be distributed to cleaning equipment and a server, so that the region ground image can be recognized by using the distributed target ground material recognition model, and the corresponding ground material is determined.
Through this embodiment, discernment is carried out regional ground image through ground material discernment model, obtains corresponding ground material, can improve ground material discernment's convenience and accuracy.
In an exemplary embodiment, the ground material recognition is performed on the area ground image of each area to obtain the ground material of each area, including:
s31, executing the following steps for the area floor image of each area, wherein when executing the following steps, each area is a current area, and the area floor image of each area is a current floor image:
extracting features of the current ground image to obtain current image features corresponding to the current ground image;
selecting a target ground image from a set of ground images according to the feature similarity between the current image feature and the image feature of each ground image in the set of ground images;
and determining the ground material corresponding to the target ground image as the ground material of the current area.
In this embodiment, in order to improve accuracy of ground material identification, image features of each ground image in a set of ground images may be preset, where each ground image is a reference ground image, and corresponds to a ground material, and ground materials corresponding to different ground images may be the same or different.
For each area, the cleaning device may respectively take each area as a current area, and the area floor image of each area is a current floor image, and perform the following operations on the current floor image to determine the floor material of the current area:
step one, extracting features of a current ground image to obtain current image features corresponding to the current ground image.
The cleaning device performs feature extraction on the current ground image, and the adopted feature extraction algorithm may be any algorithm capable of performing feature extraction, for example, features of the edge, the angle, the area and the like of the current ground image may be extracted to obtain a current image feature corresponding to the current ground image, and the current image feature may be used to represent a ground material corresponding to the current ground image.
And step two, selecting a target ground image from a group of ground images according to the feature similarity between the current image features and the image features of each ground image.
The cleaning apparatus may select a floor image matching the current floor image, i.e., a target floor image, from a group of floor images based on the feature similarity between the current image feature and the image feature of each of the above-described floor images. The mode of selecting the target ground image can be as follows: the ground image with the highest feature similarity is selected as the target ground image, or the ground image with the highest feature similarity and the similarity greater than or equal to the similarity threshold value is selected as the target ground image. For the scene with the highest feature similarity smaller than the similarity threshold, prompt information can be sent out through the cleaning equipment to prompt the ground material to identify abnormality.
And thirdly, determining the ground material corresponding to the target ground image as the ground material of the current area.
After the target ground image is determined, the cleaning device can determine the ground material corresponding to the target ground image as the ground material of the current area, thereby obtaining the ground material of the current area. After the above-described operations are performed on the area floor image of each area, the floor material of each area can be obtained.
According to the embodiment, the ground material of each area is determined based on the similarity between the image characteristics of the area ground image and the image characteristics of the preset ground image, so that the convenience and accuracy of the ground material identification of the area can be improved.
In one exemplary embodiment, determining a cleaning sequence for a plurality of regions based on a floor material of each region includes:
s41, performing grouping operation on the plurality of areas according to the ground material of each area to obtain a plurality of groups of areas, wherein each group of areas in the plurality of groups of areas comprises at least one area in the plurality of areas, and each group of areas corresponds to one different ground material;
s42, determining the cleaning sequence of the plurality of areas according to the cleaning priority of the ground material corresponding to each group of areas.
In this embodiment, in order to improve the efficiency of region sorting, the cleaning device may first perform grouping operation on a plurality of regions according to the floor material of each region, and divide the regions with the same floor material into one group, so as to obtain a plurality of groups of regions. Each of the plurality of sets of regions comprises at least one of the plurality of regions, each set of regions corresponds to a ground material, and the ground materials corresponding to the different sets of regions are different from each other.
The cleaning apparatus may store preset cleaning priority information, which may be used to indicate a preset priority of cleaning each floor material, i.e., cleaning priority of each floor material. After obtaining the plurality of groups of areas, the cleaning device can determine the cleaning sequence of the plurality of areas according to the cleaning priority of the floor material corresponding to each group of areas. The cleaning order of a group of areas is more forward when the cleaning priority of the floor material corresponding to the group of areas is higher, and the cleaning order of a group of areas is more backward when the cleaning priority of the floor material corresponding to the group of areas is lower.
Alternatively, a priority setting interface of cleaning priority of floor materials may be displayed on a display screen of the cleaning device, or a display screen of a smart device (e.g., a smart phone) associated with the cleaning device, and a set of candidate floor materials may be included in the priority setting interface. The user may set a cleaning priority for each candidate floor material in the set of candidate floor materials. The setting operation may include, but is not limited to, at least one of: the click operation, the double click operation, the long press operation, the slide operation, and the setting operation are not limited in this embodiment.
For a scenario in which a priority setting interface is displayed on a display screen of the cleaning apparatus, the cleaning apparatus may determine a cleaning priority for each candidate floor material in response to the detected setting operation described above. For a scenario in which a priority setting interface is displayed on a display screen of the smart device, the smart device may generate a priority setting instruction for indicating a cleaning priority of each candidate floor material in response to the detected setting operation, and transmit the generated priority setting instruction to the cleaning device through the server. The cleaning device may receive the priority setting instructions and determine a cleaning priority for each candidate floor material based on the priority setting instructions. The ground material corresponding to each group of areas belongs to a candidate ground material.
Alternatively, if a group of areas includes at least two areas of a plurality of areas, the cleaning order of the different areas within the same group of areas may be determined in a plurality of ways, for example, the cleaning order of the different areas within the same group of areas may be determined randomly, which is not limited in this embodiment.
Through the embodiment, the areas are grouped, and the cleaning sequence of the plurality of areas is determined based on the cleaning priority of the ground materials corresponding to the areas of different groups, so that the high efficiency and convenience of determining the cleaning sequence of the areas can be improved, and the user experience is improved.
In one exemplary embodiment, determining the cleaning order of the plurality of regions according to the cleaning priority of the floor material corresponding to each set of regions comprises:
s51, sequencing a plurality of groups of areas according to the cleaning priority of the ground material corresponding to each group of areas to obtain the cleaning sequence of the plurality of groups of areas;
s52, executing the following steps for each group of areas in the plurality of groups of areas to obtain a cleaning sequence of the plurality of areas, wherein each group of areas is the current group of areas when the following steps are executed:
in the case where at least two target areas are included in the current group of areas, a cleaning order of the at least two target areas is determined according to an area position of each of the at least two target areas.
In this embodiment, in order to improve the rationality of determining the cleaning sequence of the area, and avoid the situations of resource waste, area pollution and the like caused by long-distance movement of the cleaning color device across the area, the cleaning device may sort the multiple groups of areas according to the cleaning priority of the ground material corresponding to each group of areas, so as to obtain the cleaning sequence of the multiple groups of areas.
After obtaining the cleaning order of the plurality of groups of areas, the cleaning device may sequentially perform the following steps with each group of areas of the plurality of groups of areas as a current group area in order of the corresponding cleaning priority to determine the cleaning order of the plurality of areas;
in case one region is included in the current group of regions, the cleaning device may skip directly;
in the case that at least two target areas are included in the current group of areas, the cleaning apparatus may determine a cleaning order of the at least two target areas according to an area position of each of the at least two target areas.
The cleaning device may acquire the area positions of at least two target areas, and determine the cleaning sequence of the at least two target areas according to the area position of each target area and the area position of the last cleaned area in the corresponding group of areas in the previous cleaning priority, for example, the target area closest to the area position of the last area is used as the first cleaned target area in the current group of areas; the cleaning order of the other target areas is determined based on the area positions of the other target areas except the first cleaned target area. The determining of the cleaning order of the other target areas may be sequentially selecting, as the next target area for cleaning, a target area closest to the last target area of the determined cleaning order.
Alternatively, the cleaning order of at least two target areas may be determined in consideration of the area position of each area in the corresponding group of areas in the next cleaning priority, in addition to the area position of each target area and the area position of the last area to be cleaned in the corresponding group of areas in the previous cleaning priority.
Alternatively, a plurality of candidate cleaning sequences for at least two target areas may also be pre-planned; according to the area position of each target area and the area position of the last area cleaned in a group of areas corresponding to the previous cleaning priority, sequentially determining the distance required to move the cleaning equipment according to each candidate cleaning sequence, determining the cleaning distance corresponding to each candidate cleaning sequence, and selecting the candidate cleaning sequence with the shortest corresponding cleaning distance as the cleaning sequence of at least two target areas.
According to the embodiment, when each group of areas comprises at least two areas, the cleaning sequence of the at least two areas is determined according to the cleaning sequence of the area position areas, so that the area cleaning efficiency can be improved.
In one exemplary embodiment, controlling the cleaning apparatus to sequentially perform area cleaning for each of the plurality of areas in a cleaning sequence of the plurality of areas includes:
S61, determining the current area to be cleaned in the plurality of areas according to the cleaning sequence of the plurality of areas;
s62, determining a target cleaning mode adopted by the cleaning equipment for cleaning the area to be cleaned according to the ground material of the area to be cleaned;
s63, controlling the cleaning device to perform area cleaning on the area to be cleaned by adopting a target cleaning mode.
In this embodiment, in order to improve the cleaning efficiency of the cleaning device, the cleaning device may configure corresponding cleaning modes for different floor materials. The cleaning device may determine a current area to be cleaned in the plurality of areas according to a cleaning sequence of the plurality of areas, and determine a cleaning mode adopted by the cleaning device to clean the area to be cleaned, that is, a target cleaning mode, according to a floor material of the current area to be cleaned.
After determining the target cleaning mode to be used for cleaning the area to be cleaned, the cleaning apparatus may perform area cleaning of the area to be cleaned using the target cleaning mode. For other areas within the same group, the target cleaning mode may be similarly employed for area cleaning. In cleaning areas of other floor materials, the same manner may be used to determine the cleaning mode used by the cleaning device and the determined cleaning mode may be used to perform area cleaning until a plurality of areas are cleaned.
Through this embodiment, through control cleaning equipment adopts the cleaning mode that corresponds with the region of waiting to clean to wait to clean the region, can improve the clear efficiency in region, promote user's use experience.
The control method of the area cleaning in the embodiment of the present application is explained below with reference to an alternative example. In this alternative example, the cleaning device is a sweeping robot.
As shown in fig. 3, fig. 3 is a schematic flow chart of another alternative method for controlling cleaning of an area according to an embodiment of the present application, the flow chart of the method may include the following steps:
step S302, ground image information is collected through a camera on the sweeping robot, the collected ground image information is identified through AI (artificial intelligence ), and the ground material is determined.
Step S304, determining the cleaning sequence according to the identified ground materials, for example, cleaning the ground with marble materials first and then cleaning the ground with ceramic tile materials.
Step S306, cleaning each area in turn according to the determined sequence.
By the alternative example, the sequence of cleaning the area is determined according to the identified ground material, so that the efficiency of cleaning the area can be improved.
It should be noted that, for simplicity of description, the foregoing method embodiments are all described as a series of acts, but it should be understood by those skilled in the art that the present application is not limited by the order of acts described, as some steps may be performed in other orders or concurrently in accordance with the present application. Further, those skilled in the art will also appreciate that the embodiments described in the specification are all preferred embodiments, and that the acts and modules referred to are not necessarily required for the present application.
From the description of the above embodiments, it will be clear to a person skilled in the art that the method according to the above embodiments may be implemented by means of software plus the necessary general hardware platform, but of course also by means of hardware, but in many cases the former is a preferred embodiment. Based on such understanding, the technical solution of the present application may be embodied essentially or in a part contributing to the prior art in the form of a software product stored in a storage medium (e.g. ROM (Read-Only Memory)/RAM (Random Access Memory), magnetic disk, optical disk), comprising instructions for causing a terminal device (which may be a mobile phone, a computer, a server, or a network device, etc.) to perform the method according to the embodiments of the present application.
According to another aspect of the embodiment of the present application, there is also provided a control device for cleaning an area for implementing the above-mentioned control method for cleaning an area. FIG. 4 is a block diagram of an alternative zone cleaning control device according to an embodiment of the present application, as shown in FIG. 4, which may include:
a first determining unit 402 for determining a floor material of each of a plurality of areas of the cleaning device;
a second determining unit 404, connected to the first determining unit 402, configured to determine a cleaning sequence of the plurality of areas according to a floor material of each area, where the cleaning sequence of the plurality of areas is a sequence in which the cleaning device cleans each area;
and a control unit 406 connected to the second determining unit 404, for controlling the cleaning device to sequentially perform area cleaning on each of the plurality of areas according to the cleaning sequence of the plurality of areas.
It should be noted that, the first determining unit 402 in this embodiment may be used to perform the above-mentioned step S202, the second determining unit 404 in this embodiment may be used to perform the above-mentioned step S204, and the control unit 406 in this embodiment may be used to perform the above-mentioned step S206.
Determining, by the module, a floor material for each of a plurality of areas of the cleaning apparatus; determining the cleaning sequence of a plurality of areas according to the ground material of each area, wherein the cleaning sequence of the plurality of areas is the sequence of cleaning each area by cleaning equipment; the control cleaning equipment sequentially cleans each area according to the cleaning sequence of the plurality of areas, so that the problem that the area cleaning efficiency is low due to the fact that the cleaning processes of different areas are different in the control method for cleaning the areas in the related art is solved, and the area cleaning efficiency is improved.
In one exemplary embodiment, the first determining unit includes:
the acquisition module is used for acquiring an area ground image of each area, wherein the area ground image of each area is an image obtained by image acquisition of each area through the image acquisition component;
the recognition module is used for recognizing the ground material of the regional ground image of each region to obtain the ground material of each region.
In one exemplary embodiment, the identification module includes:
the input sub-module is used for inputting the area ground image of each area into the target ground material recognition model to obtain the ground material of each area output by the target ground material recognition model, wherein the ground material recognition model is obtained by training the initial ground material recognition model by using a group of ground image samples marked with the corresponding ground material.
In one exemplary embodiment, the identification module includes:
the first execution sub-module is used for executing the following steps on the regional ground image of each region, wherein when the following steps are executed, each region is a current region, and the regional ground image of each region is the current ground image:
extracting features of the current ground image to obtain current image features corresponding to the current ground image;
Selecting a target ground image from a set of ground images according to the feature similarity between the current image feature and the image feature of each ground image in the set of ground images;
and determining the ground material corresponding to the target ground image as the ground material of the current area.
In one exemplary embodiment, the identification module includes:
the first execution submodule is used for executing grouping operation on the plurality of areas according to the ground material of each area to obtain a plurality of groups of areas, wherein each group of areas in the plurality of groups of areas comprises at least one area in the plurality of areas, and each group of areas corresponds to one different ground material;
the first determining module is used for determining the cleaning sequence of the plurality of areas according to the cleaning priority of the ground material corresponding to each group of areas.
In one exemplary embodiment, the first determination module includes:
the sequencing sub-module is used for sequencing the multiple groups of areas according to the cleaning priority of the ground material corresponding to each group of areas to obtain the cleaning sequence of the multiple groups of areas;
a second execution sub-module, configured to execute the following steps for each of the multiple groups of areas, to obtain a cleaning sequence for the multiple areas, where each group of areas is a current group of areas when the following steps are executed:
In the case where at least two target areas are included in the current group of areas, a cleaning order of the at least two target areas is determined according to an area position of each of the at least two target areas.
In one exemplary embodiment, the control unit includes:
the second determining module is used for determining the current area to be cleaned in the plurality of areas according to the cleaning sequence of the plurality of areas;
the third determining module is used for determining a target cleaning mode adopted by the cleaning equipment for cleaning the area to be cleaned according to the ground material of the area to be cleaned;
and the control module is used for controlling the cleaning equipment to perform regional cleaning on the region to be cleaned by adopting the target cleaning mode.
It should be noted that the above modules are the same as examples and application scenarios implemented by the corresponding steps, but are not limited to what is disclosed in the above embodiments. It should be noted that the above modules may be implemented in software or in hardware as part of the apparatus shown in fig. 1, where the hardware environment includes a network environment.
According to yet another aspect of an embodiment of the present application, there is also provided a storage medium. Alternatively, in the present embodiment, the above-described storage medium may be used for executing the program code of the control method of cleaning any one of the above-described areas in the embodiment of the present application.
Alternatively, in this embodiment, the storage medium may be located on at least one network device of the plurality of network devices in the network shown in the above embodiment.
Alternatively, in the present embodiment, the storage medium is configured to store program code for performing the steps of:
s1, determining the floor material of each of a plurality of areas of the cleaning equipment;
s2, determining the cleaning sequence of a plurality of areas according to the ground material of each area, wherein the cleaning sequence of the plurality of areas is the sequence of cleaning each area by cleaning equipment;
and S3, controlling the cleaning equipment to sequentially clean each area according to the cleaning sequence of the plurality of areas.
Alternatively, specific examples in the present embodiment may refer to examples described in the above embodiments, which are not described in detail in the present embodiment.
Alternatively, in the present embodiment, the storage medium may include, but is not limited to: various media capable of storing program codes, such as a U disk, ROM, RAM, a mobile hard disk, a magnetic disk or an optical disk.
According to still another aspect of the embodiments of the present application, there is also provided an electronic device for implementing the above-mentioned method of controlling area cleaning, which may be a server, a terminal, or a combination thereof.
Fig. 5 is a block diagram of an alternative electronic device, according to an embodiment of the present application, including a processor 502, a communication interface 504, a memory 506, and a communication bus 508, as shown in fig. 5, wherein the processor 502, the communication interface 504, and the memory 506 communicate with each other via the communication bus 508, wherein,
a memory 506 for storing a computer program;
the processor 502 is configured to execute the computer program stored in the memory 506, and implement the following steps:
s1, determining the floor material of each of a plurality of areas of the cleaning equipment;
s2, determining the cleaning sequence of a plurality of areas according to the ground material of each area, wherein the cleaning sequence of the plurality of areas is the sequence of cleaning each area by cleaning equipment;
and S3, controlling the cleaning equipment to sequentially clean each area according to the cleaning sequence of the plurality of areas.
Alternatively, in the present embodiment, the communication bus may be a PCI (Peripheral Component Interconnect, peripheral component interconnect standard) bus, or an EISA (Extended Industry Standard Architecture ) bus, or the like. The communication bus may be classified as an address bus, a data bus, a control bus, or the like. For ease of illustration, only one thick line is shown in fig. 5, but not only one bus or one type of bus. The communication interface is used for communication between the electronic device and other equipment.
The memory may include RAM or nonvolatile memory (non-volatile memory), such as at least one disk memory. Optionally, the memory may also be at least one memory device located remotely from the aforementioned processor.
As an example, the above memory 506 may include, but is not limited to, a first determining unit 402, a second determining unit 404, and a control unit 406 in a control apparatus including the above device. In addition, other module units in the control device of the above apparatus may be included, but are not limited to, and are not described in detail in this example.
The processor may be a general purpose processor and may include, but is not limited to: CPU (Central Processing Unit ), NP (Network Processor, network processor), etc.; but also DSP (Digital Signal Processing, digital signal processor), ASIC (Application Specific Integrated Circuit ), FPGA (Field-Programmable Gate Array, field programmable gate array) or other programmable logic device, discrete gate or transistor logic device, discrete hardware components.
Alternatively, specific examples in this embodiment may refer to examples described in the foregoing embodiments, and this embodiment is not described herein.
It will be understood by those skilled in the art that the structure shown in fig. 5 is only illustrative, and the device implementing the above-mentioned method for controlling the cleaning of the area may be a terminal device, and the terminal device may be a smart phone (such as an Android mobile phone, an iOS mobile phone, etc.), a tablet computer, a palmtop computer, a mobile internet device (Mobile Internet Devices, MID), a PAD, etc. Fig. 5 is not limited to the structure of the electronic device. For example, the electronic device may also include more or fewer components (e.g., network interfaces, display devices, etc.) than shown in FIG. 5, or have a different configuration than shown in FIG. 5.
Those of ordinary skill in the art will appreciate that all or part of the steps in the various methods of the above embodiments may be implemented by a program for instructing a terminal device to execute in association with hardware, the program may be stored in a computer readable storage medium, and the storage medium may include: flash disk, ROM, RAM, magnetic or optical disk, etc.
The foregoing embodiment numbers of the present application are merely for the purpose of description, and do not represent the advantages or disadvantages of the embodiments.
The integrated units in the above embodiments may be stored in the above-described computer-readable storage medium if implemented in the form of software functional units and sold or used as separate products. Based on such understanding, the technical solution of the present application may be embodied in essence or a part contributing to the prior art or all or part of the technical solution in the form of a software product stored in a storage medium, comprising several instructions for causing one or more computer devices (which may be personal computers, servers or network devices, etc.) to perform all or part of the steps of the method described in the embodiments of the present application.
In the foregoing embodiments of the present application, the descriptions of the embodiments are emphasized, and for a portion of this disclosure that is not described in detail in this embodiment, reference is made to the related descriptions of other embodiments.
In several embodiments provided by the present application, it should be understood that the disclosed client may be implemented in other manners. The above-described embodiments of the apparatus are merely exemplary, and the division of the units, such as the division of the units, is merely a logical function division, and may be implemented in another manner, for example, multiple units or components may be combined or may be integrated into another system, or some features may be omitted, or not performed. Alternatively, the coupling or direct coupling or communication connection shown or discussed with each other may be through some interfaces, units or modules, or may be in electrical or other forms.
The units described as separate units may or may not be physically separate, and units shown as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution provided in the present embodiment.
In addition, each functional unit in the embodiments of the present application may be integrated in one processing unit, or each unit may exist alone physically, or two or more units may be integrated in one unit. The integrated units may be implemented in hardware or in software functional units.
The foregoing is merely a preferred embodiment of the present application and it should be noted that modifications and adaptations to those skilled in the art may be made without departing from the principles of the present application, which are intended to be comprehended within the scope of the present application.
Claims (10)
1. A method of controlling cleaning of an area, comprising:
determining a floor material for each of a plurality of areas of the cleaning apparatus;
determining the cleaning sequence of the plurality of areas according to the ground material of each area, wherein the cleaning sequence of the plurality of areas is the sequence of the cleaning equipment for cleaning each area;
and controlling the cleaning equipment to sequentially clean the areas according to the cleaning sequence of the plurality of areas.
2. The method of claim 1, wherein determining the floor quality of each of a plurality of areas to be cleaned by the cleaning apparatus comprises:
Acquiring an area ground image of each area, wherein the area ground image of each area is an image obtained by image acquisition of each area through an image acquisition component;
and carrying out ground material identification on the area ground image of each area to obtain the ground material of each area.
3. The method according to claim 2, wherein the performing ground material recognition on the area ground image of each area to obtain the ground material of each area includes:
and inputting the regional ground image of each region into a target ground material recognition model to obtain the ground material of each region output by the target ground material recognition model, wherein the ground material recognition model is obtained by training an initial ground material recognition model by using a group of ground image samples marked with the corresponding ground material.
4. The method according to claim 2, wherein the performing ground material recognition on the area ground image of each area to obtain the ground material of each area includes:
executing the following steps for the regional ground image of each region, wherein when executing the following steps, each region is a current region, and the regional ground image of each region is a current ground image:
Extracting features of the current ground image to obtain current image features corresponding to the current ground image;
selecting a target ground image from a set of ground images according to the feature similarity between the current image feature and the image feature of each ground image in the set of ground images;
and determining the ground material corresponding to the target ground image as the ground material of the current area.
5. The method of claim 1, wherein determining the cleaning order of the plurality of zones based on the floor quality of each zone comprises:
grouping the plurality of areas according to the ground materials of each area to obtain a plurality of groups of areas, wherein each group of areas in the plurality of groups of areas comprises at least one area in the plurality of areas, and each group of areas corresponds to one different ground material;
and determining the cleaning sequence of the plurality of areas according to the cleaning priority of the ground material corresponding to each group of areas.
6. The method of claim 5, wherein determining the cleaning order of the plurality of regions according to the cleaning priority of the floor material corresponding to each set of regions comprises:
Sequencing the multiple groups of areas according to the cleaning priority of the ground material corresponding to each group of areas to obtain the cleaning sequence of the multiple groups of areas;
executing the following steps for each group of areas in the multiple groups of areas to obtain a cleaning sequence of the multiple areas, wherein each group of areas is a current group of areas when the following steps are executed;
in the case that at least two target areas are included in the current group of areas, a cleaning order of the at least two target areas is determined according to an area position of each of the at least two target areas.
7. The method according to any one of claims 1 to 6, wherein the controlling the cleaning apparatus to sequentially perform area cleaning on each of the plurality of areas in the cleaning order of the plurality of areas comprises:
determining the current area to be cleaned in the plurality of areas according to the cleaning sequence of the plurality of areas;
determining a target cleaning mode adopted by the cleaning equipment for cleaning the area to be cleaned according to the ground material of the area to be cleaned;
and controlling the cleaning equipment to perform area cleaning on the area to be cleaned by adopting the target cleaning mode.
8. A control device for cleaning an area, comprising:
a first determining unit for determining a floor material of each of a plurality of areas of the cleaning apparatus;
a second determining unit, configured to determine a cleaning sequence of the plurality of areas according to a floor material of each area, where the cleaning sequence of the plurality of areas is a sequence of cleaning each area by the cleaning device;
and the control unit is used for controlling the cleaning equipment to sequentially clean the areas according to the cleaning sequence of the plurality of areas.
9. A computer-readable storage medium, characterized in that the computer-readable storage medium comprises a stored program, wherein the program when run performs the method of any one of claims 1 to 7.
10. An electronic device comprising a memory and a processor, characterized in that the memory has stored therein a computer program, the processor being arranged to execute the method according to any of claims 1 to 7 by means of the computer program.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210340033.5A CN116919235A (en) | 2022-04-01 | 2022-04-01 | Control method and device for cleaning area, storage medium and electronic device |
| PCT/CN2023/074246 WO2023185247A1 (en) | 2022-04-01 | 2023-02-02 | Region cleaning control method and apparatus, and storage medium and electronic apparatus |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN202210340033.5A CN116919235A (en) | 2022-04-01 | 2022-04-01 | Control method and device for cleaning area, storage medium and electronic device |
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| CN116919235A true CN116919235A (en) | 2023-10-24 |
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| CN202210340033.5A Pending CN116919235A (en) | 2022-04-01 | 2022-04-01 | Control method and device for cleaning area, storage medium and electronic device |
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| DE102015104244A1 (en) * | 2015-03-20 | 2016-09-22 | Miele & Cie. Kg | Floor care appliance and method of maintaining a floor with a self-propelled floor care appliance |
| US11199853B1 (en) * | 2018-07-11 | 2021-12-14 | AI Incorporated | Versatile mobile platform |
| KR20200069103A (en) * | 2018-12-06 | 2020-06-16 | 삼성전자주식회사 | Robotic vacuum cleaner and method for planning cleaning routes |
| AU2019437767B2 (en) * | 2019-03-28 | 2023-09-28 | Lg Electronics Inc. | Artificial intelligence cleaner and operation method thereof |
| DE102020114660A1 (en) * | 2020-06-02 | 2021-12-02 | Vorwerk & Co. Interholding Gesellschaft mit beschränkter Haftung | Self-moving soil cultivation device with a map of the area |
| CN111657798B (en) * | 2020-06-02 | 2021-09-24 | 深圳市杉川机器人有限公司 | Cleaning robot control method and device based on scene information and cleaning robot |
| CN111643014A (en) * | 2020-06-08 | 2020-09-11 | 深圳市杉川机器人有限公司 | Intelligent cleaning method and device, intelligent cleaning equipment and storage medium |
| CN113854903A (en) * | 2021-09-28 | 2021-12-31 | 追觅创新科技(苏州)有限公司 | Control method and device of cleaning equipment |
| CN114587191B (en) * | 2022-01-26 | 2023-09-05 | 深圳市无限动力发展有限公司 | Method and device for cleaning subareas of sweeper, computer equipment and storage medium |
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