WO2023185247A1

WO2023185247A1 - Region cleaning control method and apparatus, and storage medium and electronic apparatus

Info

Publication number: WO2023185247A1
Application number: PCT/CN2023/074246
Authority: WO
Inventors: 耿文峰; 孙佳佳
Original assignee: 追觅创新科技(苏州)有限公司
Priority date: 2022-04-01
Filing date: 2023-02-02
Publication date: 2023-10-05
Also published as: CN116919235A

Abstract

A region cleaning control method and apparatus, and a storage medium and an electronic apparatus. The control method comprises: determining a ground material of each of a plurality of regions of a cleaning device (S202); determining a cleaning order of the plurality of regions according to the ground materials of the regions, wherein the cleaning order of the plurality of regions is a sequential order in which the cleaning device cleans the regions (S204); and controlling the cleaning device to sequentially perform region cleaning on the regions according to the cleaning order of the plurality of regions (S206). The problem of a low region cleaning efficiency occurring in region cleaning control methods in the relevant art due to different cleaning processes for different regions is solved.

Description

Control methods and devices, storage media and electronic devices for area cleaning

This disclosure requires the priority of the following patent application: a Chinese patent application submitted to the China Patent Office on April 1, 2022, with the application number: 202210340033.5, and the invention name is "Control method and device, storage medium and electronic device for area cleaning" ; The entire contents of the above patent applications are incorporated into this disclosure by reference.

【Technical field】

The present application relates to the field of smart home, specifically, to an area cleaning control method and device, a storage medium and an electronic device.

【Background technique】

Currently, perception sensors on cleaning equipment (for example, sweeping robots) can be used to identify the location information of thresholds, walls, etc. in the area map, and the area map is divided into multiple areas based on the identified location information of thresholds, walls, etc. When the cleaning equipment performs area cleaning, all or part of the area in the area map can be cleaned.

When multiple areas need to be cleaned, different areas can be cleaned randomly. However, due to the different cleaning processes in different areas, the stain residues after cleaning different areas are also different. If the area cleaning method is used randomly, the efficiency of area cleaning is low, which affects the user experience.

It can be seen from this that the control method of area cleaning in the related art has the problem of low efficiency of area cleaning due to different cleaning processes in different areas.

[Content of the invention]

The purpose of this application is to provide an area cleaning control method and device, a storage medium and an electronic device, so as to at least solve the problem that the area cleaning control method in the related art has low efficiency in area cleaning due to different cleaning processes in different areas. question.

The purpose of this application is achieved through the following technical solutions:

According to one aspect of the embodiment of the present application, a method for controlling area cleaning is provided, which is characterized by including: determining the ground material of each area in multiple areas of the cleaning equipment; according to the ground material of each area , determine the cleaning order of the multiple areas, wherein the cleaning order of the multiple areas is the order in which the cleaning equipment cleans each area; control the cleaning equipment to follow the cleaning order of the multiple areas Region each of the regions described in turn clean.

In an exemplary embodiment, determining the ground material of each of the plurality of areas to be cleaned by the cleaning device includes: obtaining an area ground image of each area, wherein the area of each area The ground image is an image obtained by collecting images of each area through an image acquisition component; performing ground material identification on the regional ground image of each area to obtain the ground material of each area.

In an exemplary embodiment, performing ground material identification on the regional ground image of each region to obtain the ground material of each region includes: inputting the regional ground image of each region into the target ground A material recognition model is used to obtain the ground material of each area output by the target ground material recognition model, wherein the ground material recognition model is an initial ground material recognition model using a set of ground image samples marked with corresponding ground materials. obtained through training.

In an exemplary embodiment, performing ground material identification on the regional ground image of each area to obtain the ground material of each area includes: performing the following steps on the regional ground image of each area. , wherein, when performing the following steps, each area is the current area, and the regional ground image of each area is the current ground image: feature extraction is performed on the current ground image to obtain the corresponding The current image features; according to the feature similarity between the current image features and the image features of each ground image in a set of ground images, select a target ground image from the set of ground images; and combine the The ground material corresponding to the target ground image is determined as the ground material of the current area.

In an exemplary embodiment, determining the cleaning order of the multiple areas according to the ground material of each area includes: performing a grouping operation on the multiple areas according to the ground material of each area. , obtaining multiple groups of areas, wherein each group of areas in the multiple groups of areas includes at least one area among the multiple areas, and each group of areas corresponds to a different ground material; according to each group of areas The cleaning priority of the floor material corresponding to the group area determines the cleaning order of the multiple areas.

In an exemplary embodiment, determining the cleaning order of the multiple areas according to the cleaning priority of the floor material corresponding to each group of areas includes: according to the cleaning priority of the floor material corresponding to each group of areas. Sort the multiple groups of areas step by step to obtain the cleaning order of the multiple groups of areas; perform the following steps for each group of areas in the multiple groups of areas to obtain the A cleaning sequence for multiple areas, wherein each group of areas is a current group area when performing the following steps: in the case where the current group area contains at least two target areas, according to the at least two target areas The area position of each target area in the cleaning sequence is determined to determine the cleaning sequence of the at least two target areas.

In an exemplary embodiment, controlling the cleaning equipment to perform regional cleaning on each of the areas in sequence according to the cleaning order of the multiple areas includes: determining the The current area to be cleaned in multiple areas; determining the target cleaning mode used by the cleaning equipment to clean the area to be cleaned according to the floor material of the area to be cleaned; controlling the cleaning equipment to use the target cleaning mode to clean the area; The area to be cleaned is subjected to area cleaning.

According to another aspect of the embodiment of the present application, a control device for area cleaning is also provided, including: a first determination unit for determining the floor material of each area in multiple areas of the cleaning equipment; a second determination unit , used to determine the cleaning order of the multiple areas according to the ground material of each area, wherein the cleaning order of the multiple areas is the order in which the cleaning equipment cleans each area; the control unit , used to control the cleaning equipment to sequentially clean each area according to the cleaning order of the multiple areas.

In an exemplary embodiment, the first determining unit includes: an acquisition module, configured to acquire a regional ground image of each region, wherein the regional ground image of each region is obtained by an image acquisition component. An image obtained by image collection of each area is provided; a recognition module is used to perform ground material identification on the regional ground image of each area to obtain the ground material of each area.

In an exemplary embodiment, the identification module includes: an input submodule, used to input the regional ground image of each area into a target ground material identification model to obtain the each output of the target ground material identification model. The ground material recognition model is obtained by training an initial ground material recognition model using a set of ground image samples labeled with corresponding ground materials.

In an exemplary embodiment, the identification module includes: a first execution sub-module configured to perform the following steps for the regional ground image of each region, wherein when performing the following steps, the each region is Current area, the regional ground image of each area is the current ground image: perform feature extraction on the current ground image to obtain the corresponding The current image features; according to the feature similarity between the current image features and the image features of each ground image in a set of ground images, select a target ground image from the set of ground images; and combine the The ground material corresponding to the target ground image is determined as the ground material of the current area.

In an exemplary embodiment, the identification module includes: a first execution sub-module, configured to perform a grouping operation on the multiple areas according to the ground material of each area to obtain multiple groups of areas, wherein: Each group of regions in the plurality of regions includes at least one region among the plurality of regions, and each group of regions corresponds to a different ground material; a first determination module, configured to correspond to each group of regions according to the The cleaning priority of the floor material determines the cleaning order of the multiple areas.

In an exemplary embodiment, the first determination module includes: a sorting sub-module, used to sort the multiple groups of areas according to the cleaning priority of the floor material corresponding to each group of areas, to obtain the multiple groups of areas. The cleaning order of the areas; the second execution sub-module is used to perform the following steps for each group of areas in the multiple groups of areas to obtain the cleaning order of the multiple areas, wherein when performing the following steps, the Each group of areas is a current group area: in the case that the current group area contains at least two target areas, the at least two targets are determined according to the area position of each target area in the at least two target areas. The order in which areas should be cleaned.

In an exemplary embodiment, the control unit includes: a second determination module, configured to determine the current area to be cleaned in the multiple areas according to the cleaning order of the multiple areas; a third determination module, using Determine the target cleaning mode used by the cleaning equipment to clean the area to be cleaned according to the ground material of the area to be cleaned; a control module for controlling the cleaning equipment to use the target cleaning mode to clean the area to be cleaned area for area cleaning.

In the embodiment of the present application, the cleaning order is determined according to the ground material, by determining the ground material of each area in the multiple areas of the cleaning equipment; according to the ground material of each area, the cleaning order of the multiple areas is determined, Among them, the cleaning order of multiple areas is the order in which the cleaning equipment cleans each area; the cleaning equipment is controlled to perform regional cleaning of each area in sequence according to the cleaning order of multiple areas. Since the cleaning equipment is determined according to the floor material of multiple areas, In the order of multiple areas, the same process can be used to clean areas of the same floor material, and the cleaning order of different floor materials can be set based on the ease of cleaning of different materials and the difficulty of dirt residue, which can reduce The purpose of frequency of equipment process switching is to improve The technical effect of regional cleaning efficiency further solves the problem of low regional cleaning efficiency due to different cleaning processes in different regions in the regional cleaning control methods in related technologies.

[Picture description]

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 explain the embodiments of the present application or the technical solutions in the prior art, the following will briefly introduce the drawings needed to describe the embodiments or the prior art. Obviously, for those of ordinary skill in the art, It is said that other drawings can be obtained based on these drawings without exerting creative labor.

Figure 1 is a schematic diagram of the hardware environment of an optional area cleaning control method according to an embodiment of the present application;

Figure 2 is a schematic flowchart of an optional area cleaning control method according to an embodiment of the present application;

Figure 3 is a schematic flowchart of another optional area cleaning control method according to an embodiment of the present application;

Figure 4 is a structural block diagram of an optional area cleaning control device according to an embodiment of the present application;

Figure 5 is a structural block diagram of an optional electronic device according to an embodiment of the present application.

【Detailed ways】

The present application will be described in detail below with reference to the accompanying drawings and embodiments. It should be noted that, as long as there is no conflict, the embodiments and features in the embodiments of this application can be combined with each other.

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

According to one aspect of the embodiments of the present application, a method for controlling area cleaning is provided. Optionally, in this embodiment, the above-mentioned area cleaning control method can be applied to a hardware environment composed of a cleaning device 102, a base station 104 and a server 106 as shown in FIG. 1 . As shown in FIG. 1 , the cleaning device 102 can be connected to the base station 104 and/or the server 106 through a network to implement interaction between the cleaning device 102 and the base station 104 and/or the server 106 .

The above-mentioned network may include but is not limited to at least one of the following: wired network, wireless network. superior The wired network may include but is not limited to at least one of the following: wide area network, metropolitan area network, and local area network. The wireless network may include but is not limited to at least one of the following: WIFI (Wireless Fidelity, Wireless Fidelity), Bluetooth, and 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 the network used by the base station 104 and the server 106, or may be different. The cleaning equipment 102 may include but is not limited to: a sweeper, a floor washer, etc.

The area cleaning control method in the embodiment of the present application can be executed individually by the cleaning device 102, the base station 104, or the server 106, or can be executed jointly by at least two of the cleaning device 102, the base station 104, and the server 106. Wherein, the cleaning device 102 or the base station 104 may also execute the control method for area cleaning according to the embodiment of the present application by a client installed thereon.

Taking the area cleaning control method performed by the cleaning device 102 in this embodiment as an example, FIG. 2 is a schematic flowchart of an optional area cleaning control method according to an embodiment of the present application. As shown in FIG. 2, the The method flow may include the following steps:

Step S202: Determine the ground material of each area in multiple areas of the cleaning equipment.

The control method for area cleaning in this embodiment can be applied in a scenario where the cleaning equipment is controlled to perform area cleaning on multiple areas in the target area map. The above-mentioned cleaning equipment can be a sweeping robot, a floor washing robot, or other equipment with cleaning functions. . The above target area map may be an area that allows cleaning equipment to perform area cleaning, such as a user's home, office, factory workshop, etc., but is not limited thereto, and is not limited in this embodiment.

When controlling the cleaning equipment for area cleaning, the location information of the walls and thresholds in the target area map can be identified through the sensing sensors on the cleaning equipment, and the target area map can be divided into multiple different areas based on this information. Area. When multiple areas need to be cleaned, the cleaning equipment can be controlled to clean different areas randomly.

However, since the cleaning processes of different areas are different, and the stain residues after cleaning different areas are also different, the efficiency of regional cleaning is low if the area cleaning is performed randomly. In order to solve the above problem, in this embodiment, by determining the cleaning sequence according to the floor material, the same process can be used to clean areas of the same floor material, and the cleaning difficulty of different materials and the difficulty of residual dirt can be used Setting the cleaning sequence for different floor materials can reduce the frequency of equipment process switching and improve the efficiency of regional cleaning.

Optionally, when performing area cleaning, the cleaning device may first determine multiple areas to be cleaned. There may be one or more ways for the cleaning equipment to determine the multiple areas to be cleaned, which may include But it is not limited to at least one of the following: directly determining all areas in the target area map as areas to be cleaned; determining multiple areas to be cleaned through the obtained instruction information issued by the users of the cleaning equipment, or it can also be Multiple areas to be cleaned are determined in other ways, which is not limited in this embodiment.

For example, the cleaning device may respond to a detected target button on the cleaning device (for example, a one-touch cleaning button, which may be a physical button or a virtual button), and determine all areas in the target area map as the target areas to be cleaned. Clean area.

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 (eg, a smartphone) associated with the cleaning device, and the target area map may include a set of candidate areas. The user (that is, the user of the cleaning device) can perform a selection operation on multiple areas (or multiple target areas) in a set of candidate areas, and select multiple areas as areas to be cleaned. The above selection operation may include but is not limited to one of the following: a click operation, a double-click operation, a long press operation, and a sliding operation. In this embodiment, the selection operation is not limited.

For a scenario where a target area map is displayed on the display screen of the cleaning device, the cleaning device may determine that the areas to be cleaned are multiple areas in response to the detected selection operation. For a scenario where a map of a target area is displayed on the display screen of a smart device, the smart device can generate an area selection instruction in response to the detected selection operation. The area selection instruction is used to instruct multiple areas to be selected as areas to be cleaned, and The generated area selection instructions are sent to the cleaning equipment through the server. The cleaning equipment can receive the area selection instruction, and determine the areas to be cleaned as multiple areas according to the above area selection instruction.

For multiple areas, the cleaning device can determine the floor material for each of the areas. There may be one or more ways for the cleaning equipment to determine the ground material of each area, which may include but are not limited to at least one of the following: determining the ground material of each area through historical cleaning records; by obtaining instruction information issued by the use object , determine the ground material of each area, or determine the ground material of each area through other methods, 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 (eg, a smartphone) associated with the cleaning device. Used to set the floor material of each area while, before, or after selecting multiple areas to be cleaned. For a scenario where a target area map is displayed on the display screen of the cleaning device, the cleaning device may determine the ground material of each area in response to the detected setting operation. For displays on smart devices A scene showing a map of the target area is displayed on the display screen. The smart device can generate a ground material setting instruction in response to the detected setting operation. The ground material setting instruction is used to indicate the ground material of each area, and the generated ground material setting instruction is Sent to the cleaning device through the server. The cleaning equipment can receive the ground material setting instructions and determine the ground material of each area according to the above ground material setting instructions.

Step S204: Determine the cleaning order of multiple areas based on the floor material of each area, where the cleaning order of multiple areas is the order in which the cleaning equipment cleans each area.

In this embodiment, the cleaning equipment can determine the cleaning order of the multiple areas based on the ground material of each area of the multiple areas. The cleaning order of the above multiple areas is the order in which the cleaning equipment cleans each area. Determining the cleaning order of multiple areas can be: determining the cleaning order of multiple areas based on the floor material of each area and the cleaning priority of each floor material. The higher the cleaning priority of the floor material, the corresponding area is being cleaned. The earlier the order.

Step S206: Control the cleaning equipment to perform area cleaning on each area in sequence according to the cleaning order of multiple areas.

In this embodiment, after determining the cleaning order of multiple areas, the cleaning device may perform area cleaning on each area in sequence according to the cleaning order of the multiple areas. For example, the cleaning equipment can first determine the current area to be cleaned according to the cleaning order of multiple areas, and then control the cleaning equipment to move to the current area to be cleaned through sensing sensors (for example, lidar sensors, cameras, etc.) configured on the cleaning equipment. ) obtains the area information of the current area to be cleaned, sets the cleaning route of the current area to be cleaned based on the area information of the current area to be cleaned, and cleans the current area to be cleaned according to the planned cleaning route.

After cleaning the current area to be cleaned, the cleaning equipment can determine the next area to be cleaned according to the cleaning sequence of multiple areas, and then control the cleaning equipment to move to the next area to be cleaned, and obtain the next area through the sensing sensor configured on the cleaning equipment. The area information of the area to be cleaned is set, and the cleaning route of the next area to be cleaned is set based on the area information of the next area to be cleaned, and the next area to be cleaned is cleaned according to the planned cleaning route. Repeat this process until multiple areas have been cleaned.

For example, the sweeping robot can sequentially obtain the area information of the current area to be cleaned through the camera installed on it, and set the cleaning path of the current area to be cleaned based on the area information of the current area to be cleaned, and clean the current area to be cleaned according to the set cleaning path. area.

Through the above-mentioned steps S202 to step S206, the ground material of each area of the multiple areas of the cleaning equipment is determined; according to the ground material of each area, the cleaning order of the multiple areas is determined, wherein the cleaning order of the multiple areas is cleaning The order in which the equipment cleans each area; the cleaning equipment is controlled to perform area cleaning on each area in sequence according to the cleaning order of multiple areas, which solves the problem that the area cleaning control method in related technologies has areas caused by different cleaning processes in different areas. The problem of low cleaning efficiency improves the efficiency of regional cleaning.

In an exemplary embodiment, determining the floor material of each of multiple areas to be cleaned by the cleaning device includes:

S11, obtain the regional ground image of each area, where the regional ground image of each area is an image obtained by collecting images of each area through the image acquisition component;

S12: Perform ground material identification on the regional ground images of each area to obtain the ground material of each area.

In this embodiment, in order to improve the accuracy of ground material recognition, the regional ground image of each area can be acquired through an image acquisition device (for example, a camera). The regional ground images of each of the above areas can be collected and obtained in real time, or they can be obtained and saved in the cleaning equipment in advance. Alternatively, after the ground materials of each area are obtained and identified in advance, the ground images of each area can be pre-acquired and stored in the cleaning equipment. Ground material The ground material of each area.

The image collection equipment can be arranged on the cleaning equipment, and the cleaning equipment can be controlled to move to the regional collection position of each area (it can be the entrance position, or any position that can collect the regional ground images of each area), and the image collection equipment can be used to collect the regional ground images of each area through the cleaning equipment. The image acquisition equipment collects the regional ground of each area to obtain the regional ground image of each area.

Optionally, a group of image acquisition devices corresponding to multiple areas may also be determined, and the group of image acquisition devices is used to acquire regional ground images of at least one area among the multiple areas. The cleaning device may receive a regional ground image of at least one of the multiple regions collected by each image acquisition device, and obtain a regional ground image of each region.

For the regional ground image of each area, the cleaning equipment can perform ground material recognition on the regional ground image of each area to obtain the ground material of each area. There can be one or more ways to identify the ground material in each area, which can be based on image features, or can be done using a neural network model or other types of recognition models. This is not limited in this embodiment. .

Through this embodiment, by identifying the regional ground image of the area to be cleaned and determining the ground material of the area to be cleaned, the accuracy of ground material identification can be improved.

In an exemplary embodiment, ground material recognition is performed on the regional ground images of each area to obtain the ground material of each area, including:

S21, input the regional ground image of each area into the target ground material identification model to obtain the ground material of each area output by the target ground material identification model. The ground material identification model uses a set of ground images marked with corresponding ground materials. The samples are obtained by training the initial ground material recognition model.

In this embodiment, the target ground material recognition model can be used to identify the ground material of each area according to the regional ground image of each area. The cleaning equipment can input the regional ground image of each area to the target ground material identification model. The target ground material identification model can analyze the regional ground image of each area, determine the ground material of each area, and output , the cleaning equipment can obtain the ground material of each area output by the target ground material recognition model.

Here, the target ground material recognition model can 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 can obtain a set of ground image samples marked with corresponding ground materials, and use a set of ground image samples as training samples to train the initial ground material recognition model, based on the annotation of each ground image sample (the marked corresponding ground material ) and the model output of the initial ground material recognition model adjust the model parameters of the initial ground material recognition model. After multiple rounds of iterations, the trained target ground material recognition model can be obtained.

The trained target ground material recognition model can be deployed to the cleaning equipment or to the server, so that the deployed target ground material recognition model can be used to identify the regional ground image and determine the corresponding ground material.

Through this embodiment, the regional ground image is recognized through the ground material recognition model and the corresponding ground material is obtained, which can improve the convenience and accuracy of ground material recognition.

S31, perform the following steps for the regional ground image of each area, where, when performing the following steps, each area is the current area, and the regional ground image of each area is the current ground image:

Extract features from the current ground image to obtain the current image corresponding to the current ground image. feature;

Select the target ground image from the set of ground images based on the feature similarity between the current image feature and the image feature of each ground image in the set of ground images;

Determine the ground material corresponding to the target ground image as the ground material of the current area.

In this embodiment, in order to improve the accuracy of ground material recognition, the image characteristics of each ground image in a set of ground images can be preset. Each ground image here is a reference ground image, corresponding to a ground material. , the ground materials corresponding to different ground images can be the same or different.

For each area, the cleaning equipment can regard each area as the current area, the regional ground image of each area as the current ground image, and perform the following operations on the current ground image to determine the ground material of the current area:

Step 1: Extract features from the current ground image to obtain current image features corresponding to the current ground image.

The cleaning equipment extracts features from the current ground image. The feature extraction algorithm used can be any algorithm capable of feature extraction. For example, the features of the edges, corners, areas, etc. of the current ground image can be extracted to obtain the features related to the current ground image. The current image feature corresponding to the image. The above current image feature can be used to represent the ground material corresponding to the current ground image.

Step 2: Select the target ground image from a set of ground images based on the feature similarity between the current image features and the image features of each of the above ground images.

The cleaning device can select a ground image that matches the current ground image, that is, the target ground image, from a set of ground images based on the feature similarity between the current image features and the image features of each of the above ground images. The method of selecting the target ground image may be: select the ground image with the highest feature similarity as the target ground image, or select the ground image with the highest feature similarity and the similarity is greater than or equal to the similarity threshold as the target ground image. For scenes where the highest feature similarity is less than the similarity threshold, a prompt message can be sent through the cleaning equipment to prompt abnormal ground material recognition.

Step three: determine the ground material corresponding to the target ground image as the ground material of the current area.

After determining the target ground image, 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. exist After performing the above operations on the regional ground image of each area, the ground material of each area can be obtained.

Through this embodiment, the ground material of each region is determined based on the similarity between the image features of the regional ground image and the image features of the preset ground image, which can improve the convenience and accuracy of identifying the ground material of the region.

In an exemplary embodiment, the cleaning order of multiple areas is determined according to the floor material of each area, including:

S41, perform a grouping operation on multiple areas according to the ground material of each area to obtain multiple groups of areas, wherein each group of areas in the multiple groups of areas contains at least one area among the multiple areas, and each group of areas corresponds to different A ground material;

S42: Determine the cleaning order of multiple areas according to the cleaning priority of the floor material corresponding to each group of areas.

In this embodiment, in order to improve the efficiency of area sorting, the cleaning equipment can first perform a grouping operation on multiple areas according to the ground material of each area, and divide areas with the same ground material into one group to obtain multiple groups of areas. Each group of areas in the multiple groups of areas includes at least one area among the multiple areas. Each group of areas corresponds to a ground material, and the corresponding ground materials between different groups of areas are different from each other.

The cleaning equipment can store preset cleaning priority information, and the cleaning priority information can be used to indicate the preset priority of cleaning each floor material, that is, the cleaning priority of each floor material. After obtaining multiple groups of areas, the cleaning equipment can determine the cleaning order of the multiple areas based on the cleaning priority of the floor material corresponding to each group of areas. When the cleaning priority of the floor material corresponding to a group of areas is higher, the cleaning order of the group of areas is higher. When the cleaning priority of the floor material corresponding to a group of areas is lower, the cleaning order of the group of areas is higher. back.

Optionally, a priority setting interface for the cleaning priority of the floor material may be displayed on the display screen of the cleaning device or on the display screen of a smart device (for example, a smartphone) associated with the cleaning device. In the priority setting interface can contain a set of candidate ground materials. The user can set the cleaning priority for each candidate floor material in a set of candidate floor materials. The above setting operation may include but is not limited to at least one of the following: a click operation, a double-click operation, a long press operation, and a sliding operation. In this embodiment, the setting operation is not limited.

For scenarios where the priority setting interface is displayed on the display of the cleaning device, the cleaning device can Determine a cleaning priority for each candidate floor material in response to detecting the above setting operation. For a scenario where the priority setting interface is displayed on the display screen of the smart device, the smart device can generate a priority setting instruction in response to the detected setting operation. The priority setting instruction is used to indicate the cleaning priority of each candidate floor material. , and sends the generated priority setting instructions to the cleaning equipment through the server. The cleaning equipment can receive the priority setting instruction and determine the cleaning priority of each candidate floor material according to the above priority setting instruction. The ground material corresponding to each group of areas belongs to a candidate ground material.

Optionally, if a group of areas contains at least two areas among a plurality of areas, multiple ways can be used to determine the cleaning order of different areas within the same group of areas. For example, the cleaning order of different areas within the same group of areas can be determined randomly. The order is not limited in this embodiment.

Through this embodiment, by grouping areas and determining the cleaning order of multiple areas based on the cleaning priorities of the floor materials corresponding to different groups of areas, the efficiency and convenience of determining the area cleaning order can be improved, and the user experience can be improved.

In an exemplary embodiment, the cleaning order of multiple areas is determined according to the cleaning priority of the floor material corresponding to each group of areas, including:

S51, sort multiple groups of areas according to the cleaning priority of the floor material corresponding to each group of areas, and obtain the cleaning order of the multiple groups of areas;

S52, perform the following steps for each group of areas in the multiple groups of areas to obtain the cleaning order of the multiple areas, where, when performing the following steps, each group of areas is the current group area:

In the case where the current group of areas contains at least two target areas, the cleaning sequence of the at least two target areas is determined based on the area position of each of the at least two target areas.

In this embodiment, in order to improve the rationality of determining the order of regional cleaning and avoid resource waste and regional pollution caused by long-distance movement of cleaning equipment across regions, the cleaning equipment can first clean the floor materials corresponding to each group of regions. Priority sorts multiple groups of areas to obtain the cleaning order of multiple groups of areas.

After obtaining the cleaning order of multiple groups of areas, the cleaning equipment can sequentially use each group of areas in the multiple groups of areas as the current group of areas to perform the following steps in accordance with the order of the corresponding cleaning priorities to determine the cleaning order of the multiple areas;

If the current group area contains an area, the cleaning equipment can be skipped directly;

In the case where the current group of areas contains at least two target areas, the cleaning device can A zone position of each of the at least two target zones determines a cleaning sequence of the at least two target zones.

The cleaning equipment can obtain the regional positions of at least two target areas, and determine at least two based on the regional position of each target area and the regional position of the last area to be cleaned in a group of areas corresponding to the previous cleaning priority. The cleaning order of the target area, 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 area; according to the area of other target areas except the first cleaned target area location to determine the order in which other target areas should be cleaned. Determining the cleaning order of other target areas may be to sequentially select the target area closest to the previous target area in the determined cleaning order as the next target area for cleaning.

Optionally, in addition to the area position of each target area and the area position of the last area cleaned in the corresponding group of areas in the previous cleaning priority, a corresponding group of areas in the next cleaning priority may also be considered Determine the cleaning sequence of at least two target areas based on the area location of each area.

Optionally, multiple candidate cleaning sequences for at least two target areas can also be planned in advance; based on 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. , determine in turn the distance that the cleaning equipment needs to move for cleaning according to each candidate cleaning sequence, determine the cleaning distance corresponding to each candidate cleaning sequence, and select the candidate cleaning sequence with the shortest corresponding cleaning distance as at least two targets The order in which areas should be cleaned.

Through this embodiment, when each group of areas includes at least two areas, the cleaning order of the at least two areas is determined based on the cleaning order of the area positions, which can improve the efficiency of area cleaning.

In an exemplary embodiment, the cleaning equipment is controlled to perform area cleaning on each area in sequence according to the cleaning order of multiple areas, including:

S61, determine the current areas to be cleaned in the multiple areas according to the cleaning order of the multiple areas;

S62: Determine the target cleaning mode used by the cleaning equipment to clean the area to be cleaned according to the floor material of the area to be cleaned;

S63, control the cleaning equipment to use the target cleaning mode to perform regional cleaning of the area to be cleaned.

In this embodiment, in order to improve the cleaning efficiency of the cleaning equipment, the cleaning equipment can configure corresponding cleaning modes for different floor materials. Cleaning equipment can be used to clean multiple areas in sequence, The current area to be cleaned among the multiple areas is determined, and based on the floor material of the current area to be cleaned, a cleaning mode used by the cleaning equipment to clean the area to be cleaned is determined, that is, the target cleaning mode.

After determining the target cleaning mode used to clean the area to be cleaned, the cleaning equipment can use the target cleaning mode to perform area cleaning of the area to be cleaned. For other areas in the same group, the target cleaning mode can also be used for area cleaning. When cleaning areas with other floor materials, you can use the same method to determine the cleaning mode used by the cleaning equipment, and use the determined cleaning mode to clean the area until multiple areas are cleaned.

Through this embodiment, by controlling the cleaning equipment to use a cleaning mode corresponding to the area to be cleaned to clean the area to be cleaned, the efficiency of area cleaning can be improved and the user experience can be improved.

The method for controlling area cleaning in the embodiment of the present application will be explained below in combination with optional examples. In this optional example, the cleaning device is a sweeping robot.

As shown in Figure 3, Figure 3 is a schematic flowchart of another optional area cleaning control method according to an embodiment of the present application. The process of this method may include the following steps:

Step S302, collect ground image information through the camera on the sweeping robot, identify the collected ground image information through AI (artificial intelligence, artificial intelligence), and determine the ground material.

Step S304: Determine the order of cleaning based on the identified floor material. For example, clean the floor made of marble first, and then clean the floor made of ceramic tiles.

Step S306: Clean each area sequentially according to the determined order.

Through this optional example, the order of area cleaning is determined based on the identified floor material, which can improve the efficiency of area cleaning.

It should be noted that for the sake of simple description, the foregoing method embodiments are expressed as a series of action combinations. However, those skilled in the art should know that the present application is not limited by the described action sequence. Because in accordance with this application, certain steps may be performed in other orders or simultaneously. Secondly, those skilled in the art should also know that the embodiments described in the specification are preferred embodiments, and the actions and modules involved are not necessarily necessary for this application.

Through the description of the above embodiments, those skilled in the art can clearly understand that the method according to the above embodiments can be implemented by means of software plus the necessary general hardware platform. Of course, it can also be implemented by hardware, but in many cases the former is Better implementation. Based on this understanding, the technical solution of the present application essentially or the part that contributes to the existing technology can be implemented as software It is reflected in the form of a software product. The computer software product is stored in a storage medium (such as ROM (Read-Only Memory)/RAM (Random Access Memory), magnetic disk, optical disk), including Several instructions are used to cause a terminal device (which can be a mobile phone, a computer, a server, or a network device, etc.) to execute the methods described in various embodiments of this application.

According to another aspect of the embodiment of the present application, an area cleaning control device for implementing the above area cleaning control method is also provided. Figure 4 is a structural block diagram of an optional area cleaning control device according to an embodiment of the present application. As shown in Figure 4, the device may include:

The first determining unit 402 is used to determine the floor material of each area in multiple areas of the cleaning equipment;

The second determination unit 404 is connected to the first determination unit 402 and is used to determine the cleaning order of multiple areas according to the floor material of each area, where the cleaning order of multiple areas is the order in which the cleaning equipment cleans each area. ;

The control unit 406 is connected to the second determination unit 404 and is used to control the cleaning equipment to sequentially clean each area according to the cleaning sequence of multiple areas.

It should be noted that the first determination unit 402 in this embodiment can be used to perform the above step S202, the second determination unit 404 in this embodiment can be used to perform the above step S204, and the control unit 406 in this embodiment can Used to perform the above step S206.

Through the above module, the floor material of each area of the cleaning equipment is determined; according to the ground material of each area, the cleaning order of the multiple areas is determined, where the cleaning order of the multiple areas is that the cleaning equipment cleans each area The order of areas; the cleaning equipment is controlled to perform area cleaning on each area in sequence according to the cleaning order of multiple areas, which solves the problem of low efficiency of area cleaning due to different cleaning processes in different areas in the area cleaning control method in related technologies. problems and improve the efficiency of area cleaning.

In an exemplary embodiment, the first determining unit includes:

The acquisition module is used to obtain the regional ground image of each area, where the regional ground image of each area is an image obtained by collecting images of each area through the image acquisition component;

The identification module is used to identify the ground material of the regional ground image in each area to obtain the ground material of each area.

In an exemplary embodiment, the identification module includes:

The input sub-module will also input the regional ground image of each area into the target ground material identification model to obtain the ground material of each area output by the target ground material identification model. Among them, the ground material identification model uses the corresponding ground material labeled It is obtained by training the initial ground material recognition model with a set of ground image samples.

In an exemplary embodiment, the identification module includes:

The first execution sub-module is used to perform the following steps for the regional ground image of each area, where, when performing the following steps, each area is the current area, and the regional ground image of each area is the current ground image:

Perform feature extraction on the current ground image to obtain current image features corresponding to the current ground image;

In an exemplary embodiment, the identification module includes:

The first execution sub-module is used to perform a grouping operation on multiple areas according to the ground material of each area to obtain multiple groups of areas, where each group of areas in the multiple groups of areas contains at least one area among the multiple areas, and each group Areas correspond to different ground materials;

The first determination module is used to determine the cleaning order of multiple areas according to the cleaning priority of the floor material corresponding to each group of areas.

In an exemplary embodiment, the first determining module includes:

The sorting sub-module is used to sort multiple groups of areas according to the cleaning priority of the floor material corresponding to each group of areas, and obtain the cleaning order of multiple groups of areas;

The second execution sub-module is used to perform the following steps for each group of areas in the multiple groups of areas to obtain the cleaning order of the multiple areas, wherein each group of areas is the current group of areas when performing the following steps:

In an exemplary embodiment, the control unit includes:

The second determination module is used to determine the current cleaning sequence in multiple areas according to the cleaning order of multiple areas. the area to be cleaned;

The third determination module is used to determine the target cleaning mode used by the cleaning equipment to clean the area to be cleaned based on the floor material of the area to be cleaned;

The control module is used to control the cleaning equipment to use the target cleaning mode to perform regional cleaning of the area to be cleaned.

It should be noted here that the examples and application scenarios implemented by the above modules and corresponding steps are the same, but are not limited to the contents disclosed in the above embodiments. It should be noted that the above module, as part of the device, can run in the hardware environment as shown in Figure 1, and can be implemented by software or hardware, where the hardware environment includes a network environment.

According to yet another aspect of the embodiment of the present application, a storage medium is also provided. Optionally, in this embodiment, the above-mentioned storage medium can be used to execute the program code of any of the above-mentioned area cleaning control methods in the embodiment of the present application.

Optionally, in this embodiment, the above storage medium may be located on at least one network device among multiple network devices in the network shown in the above embodiment.

Optionally, in this embodiment, the storage medium is configured to store program codes for performing the following steps:

S1, determine the floor material of each of the multiple areas of the cleaning equipment;

S2, determine the cleaning order of multiple areas according to the ground material of each area, where the cleaning order of multiple areas is the order in which the cleaning equipment cleans each area;

S3: Control the cleaning equipment to perform regional cleaning on each area in sequence according to the cleaning order of multiple areas.

Optionally, for specific examples in this embodiment, reference may be made to the examples described in the above embodiments, which will not be described again in this embodiment.

Optionally, in this embodiment, the above-mentioned storage medium may include but is not limited to: U disk, ROM, RAM, mobile hard disk, magnetic disk or optical disk and other various media that can store program codes.

According to yet another aspect of the embodiment of the present application, an electronic device for implementing the above control method for area cleaning is also provided. The electronic device may be a server, a terminal, or a combination thereof.

Figure 5 is a structural block diagram of an optional electronic device according to an embodiment of the present application. As shown in Figure 5 shown, including a processor 502, a communication interface 504, a memory 506 and a communication bus 508, wherein the processor 502, the communication interface 504 and the memory 506 complete communication with each other through the communication bus 508, where,

Memory 506 for storing computer programs;

The processor 502 is used to implement the following steps when executing the computer program stored on the memory 506:

Optionally, in this embodiment, the communication bus may be a PCI (Peripheral Component Interconnect, Peripheral Component Interconnect Standard) bus, or an EISA (Extended Industry Standard Architecture, Extended Industry Standard Architecture) bus, etc. The communication bus can be divided into address bus, data bus, control bus, etc. For ease of presentation, only one thick line is used in Figure 5, but it does not mean that there is only one bus or one type of bus. The communication interface is used for communication between the above-mentioned electronic device and other equipment.

The above-mentioned memory may include RAM or non-volatile memory (non-volatile memory), for example, at least one disk memory. Optionally, the memory may also be at least one storage device located remotely from the aforementioned processor.

As an example, the above-mentioned memory 506 may include, but is not limited to, the first determination unit 402, the second determination unit 404, and the control unit 406 in the control device of the above-mentioned device. In addition, it may also include but is not limited to other modular units in the control device of the above equipment, which will not be described again in this example.

The above-mentioned processor can be a general-purpose processor, which can include but is not limited to: CPU (Central Processing Unit, central processing unit), NP (Network Processor, network processor), etc.; it can also be a DSP (Digital Signal Processing, digital signal processor) ), ASIC (Application Specific Integrated Circuit, application specific integrated circuit), FPGA (Field-Programmable Gate Array, field programmable gate array) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components.

Those of ordinary skill in the art can understand that the structure shown in Figure 5 is only illustrative. The device that implements the above-mentioned area cleaning control method can be a terminal device. The terminal device can be a smart phone (such as an Android phone, an iOS phone, etc.), a tablet Computers, handheld computers, and mobile Internet devices (Mobile Internet Devices, MID), PAD and other terminal equipment. FIG. 5 does not limit the structure of the above-mentioned electronic device. For example, the electronic device may also include more or fewer components (such as network interfaces, display devices, etc.) than shown in FIG. 5 , or have a different configuration than that shown in FIG. 5 .

Those of ordinary skill in the art can understand that all or part of the steps in the various methods of the above embodiments can be completed by instructing the hardware related to the terminal device through a program. The program can be stored in a computer-readable storage medium, and the storage medium can Including: flash disk, ROM, RAM, magnetic disk or optical disk, etc.

The above serial numbers of the embodiments of the present application are only for description and do not represent the advantages or disadvantages of the embodiments.

If the integrated units in the above embodiments are implemented in the form of software functional units and sold or used as independent products, they can be stored in the above computer-readable storage medium. Based on this understanding, the technical solution of the present application is essentially or contributes to the existing technology, or all or part of the technical solution can be embodied in the form of a software product, and the computer software product is stored in a storage medium, It includes several instructions to cause one or more computer devices (which can be personal computers, servers or network devices, etc.) to execute all or part of the steps of the methods described in various embodiments of this application.

In the above-mentioned embodiments of the present application, each embodiment is described with its own emphasis. For parts that are not described in detail in a certain embodiment, please refer to the relevant descriptions of other embodiments.

In the several embodiments provided in this application, it should be understood that the disclosed client can be implemented in other ways. Among them, the device embodiments described above are only illustrative. For example, the division of the units is only a logical function division. In actual implementation, there may be other division methods. For example, multiple units or components may be combined or may be Integrated into another system, or some features can be ignored, or not implemented. On the other hand, the coupling or direct coupling or communication connection between each other shown or discussed may be through some interfaces, and the indirect coupling or communication connection of the units or modules may be in electrical or other forms.

The units described as separate components may or may not be physically separate, A component shown as a unit may or may not be a physical unit, that is, it may be located in one place, or it may be distributed across multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution provided in this embodiment.

In addition, each functional unit in each embodiment of the present application can be integrated into one processing unit, each unit can exist physically alone, or two or more units can be integrated into one unit. The above integrated units can be implemented in the form of hardware or software functional units.

The above are only the preferred embodiments of the present application. It should be pointed out that for those of ordinary skill in the art, several improvements and modifications can be made without departing from the principles of the present application. These improvements and modifications can also be made. should be regarded as the scope of protection of this application.

Claims

A method for controlling area cleaning, which is characterized by including:

Determine the floor material for each of the multiple areas of the cleaning equipment;

Determine the cleaning order of the multiple areas according to the floor material of each area, wherein the cleaning order of the multiple areas is the order in which the cleaning equipment cleans each area;

The cleaning equipment is controlled to perform area cleaning on each area in sequence according to the cleaning order of the multiple areas.
The method of claim 1, wherein determining the floor material of each of the multiple areas to be cleaned by the cleaning equipment includes:

Obtain the regional ground image of each region, wherein the regional ground image of each region is an image obtained by collecting images of each region through an image acquisition component;

Perform ground material identification on the regional ground image of each area to obtain the ground material of each area.
The method according to claim 2, characterized in that, performing ground material identification on the regional ground image of each area to obtain the ground material of each area includes:

Input the regional ground image of each area into the target ground material identification model to obtain the ground material of each area output by the target ground material identification model, wherein the ground material identification model is constructed using the corresponding ground surface marked with A set of ground image samples of the material are obtained by training the initial ground material recognition model.
The method according to claim 2, characterized in that, performing ground material identification on the regional ground image of each area to obtain the ground material of each area includes:

The following steps are performed for the regional ground image of each region, wherein when performing the following steps, each region is the current region, and the regional ground image of each region is the current ground image:

Perform feature extraction on the current ground image to obtain current image features corresponding to the current ground image;

Select a target ground image from the set of ground images based on the feature similarity between the current image feature and the image feature of each ground image in a set of ground images;

The ground material corresponding to the target ground image is determined as the ground material of the current area.
The method according to any one of claims 1 to 4, characterized in that determining the cleaning sequence of the multiple areas according to the ground material of each area includes:

Perform a grouping operation on the multiple areas according to the ground material of each area to obtain multiple groups of areas, wherein each group of areas in the multiple groups of areas includes at least one area among the multiple areas, and the Each group of areas corresponds to a different ground material;

The cleaning order of the multiple areas is determined according to the cleaning priority of the floor material corresponding to each group of areas.
The method according to claim 5, characterized in that the display screen of the cleaning equipment displays a priority setting interface related to the cleaning priority of ground materials, and the priority setting interface contains a group of candidate ground materials, and the The ground material corresponding to each group of areas belongs to a candidate ground material. Determining the cleaning order of the multiple areas according to the cleaning priority of the ground material corresponding to each group of areas includes:

The cleaning device determines the cleaning priority of each candidate floor material in response to detecting the cleaning priority operation of each candidate floor material;

The cleaning equipment determines the cleaning priority of each candidate floor material as the cleaning order of the multiple areas.
The method according to claim 5, characterized in that a priority setting interface related to the floor material cleaning priority is displayed on the display screen of the smart device associated with the cleaning equipment, and the priority setting interface includes a group of candidates. Ground material, the ground material corresponding to each group of areas belongs to a candidate ground material, and the cleaning order of the multiple areas is determined according to the cleaning priority of the ground material corresponding to each group of areas, including:

The smart device generates a priority setting instruction in response to the detected cleaning priority operation of each candidate floor material; wherein the priority setting instruction is used to indicate the cleaning priority of each candidate floor material. ;

The smart device sends the priority setting instruction to the cleaning device through the server;

The cleaning equipment determines the cleaning priority of each candidate floor material according to the priority setting instruction;

The cleaning equipment determines the cleaning priority of each candidate floor material as the cleaning order of the multiple areas.
The method of claim 5, wherein determining the cleaning order of the multiple areas according to the cleaning priority of the floor material corresponding to each group of areas includes:

Sort the multiple groups of areas according to the cleaning priority of the floor material corresponding to each group of areas to obtain the cleaning order of the multiple groups of areas;

Perform the following steps for each group of areas in the multiple groups of areas to obtain the cleaning order of the multiple areas, wherein when performing the following steps, each group of areas is the current group of areas;

In the case that the current group of areas includes at least two target areas, the cleaning order of the at least two target areas is determined according to the area position of each of the at least two target areas.
The method according to claim 8, characterized in that, when the current group of areas contains at least two target areas, according to the area position of each target area in the at least two target areas, Determine the cleaning sequence of the at least two target areas, including:

The cleaning equipment obtains the regional positions of at least two of the target areas;

Determine the cleaning order of the at least two target areas according to the area position of each of the target areas and the area position of the last area to be cleaned in the corresponding group of areas in the previous cleaning priority; or,

According to the area position of each target area, the area position of the last area cleaned in the corresponding group of areas in the previous cleaning priority, and the area position of each area in the corresponding group of areas in the next cleaning priority. The location of the area determines the cleaning sequence of the at least two target areas.
The method according to claim 8, characterized in that, when the current group of areas contains at least two target areas, according to the area position of each target area in the at least two target areas, Determine the cleaning sequence of the at least two target areas, including:

According to the regional position of each target area and the regional position of the last area to be cleaned in the corresponding group of areas in the previous cleaning priority, the required movement distance of the cleaning equipment for cleaning according to each candidate cleaning order is determined in turn. distance;

The cleaning distance corresponding to each of the candidate cleaning sequences is determined, and the candidate cleaning sequence with the shortest corresponding cleaning distance is selected as the cleaning sequence for at least two target areas.
The method according to any one of claims 1 to 10, characterized in that the control The cleaning equipment performs area cleaning on each area in sequence according to the cleaning order of the multiple areas, including:

Determine the current area to be cleaned in the multiple areas according to the cleaning order of the multiple areas;

Determine the target cleaning mode used by the cleaning equipment to clean the area to be cleaned according to the floor material of the area to be cleaned;

The cleaning equipment is controlled to use the target cleaning mode to perform area cleaning on the area to be cleaned.
A control device for area cleaning, characterized by including:

a first determination unit configured to determine the floor material of each of the plurality of areas of the cleaning equipment;

The second determination unit is configured to determine the cleaning order of the multiple areas according to the floor material of each area, wherein the cleaning order of the multiple areas is the order in which the cleaning equipment cleans each area. order;

A control unit configured to control the cleaning equipment to sequentially clean each area in accordance with the cleaning order of the multiple areas.
A computer-readable storage medium, characterized in that the computer-readable storage medium includes a stored program, wherein the method of any one of claims 1 to 11 is executed when the program is run.
An electronic device, including a memory and a processor, characterized in that a computer program is stored in the memory, and the processor is configured to execute the method according to any one of claims 1 to 11 through the computer program. .