CN106737709B

CN106737709B - Cleaning method and device

Info

Publication number: CN106737709B
Application number: CN201611056431.5A
Authority: CN
Inventors: 林形省
Original assignee: Beijing Xiaomi Mobile Software Co Ltd
Current assignee: Beijing Xiaomi Mobile Software Co Ltd
Priority date: 2016-11-25
Filing date: 2016-11-25
Publication date: 2019-10-15
Anticipated expiration: 2036-11-25
Also published as: CN106737709A

Abstract

The disclosure is directed to cleaning methods and device.This method comprises: obtaining the pre-set cleaning range cleaned；According to the cleaning range, planning cleans path.The technical solution can be cleaned in cleaning range set by user, do not allow the place cleaned that will not clean, in this way, user does not have to delimit cleaning range in the room of oneself again, no longer influence indoor beauty, and this method can easily change the cleaning range that can be cleaned, without changing indoor environment.

Description

Cleaning method and device

Technical field

This disclosure relates to field of electronic device more particularly to cleaning method and device.

Background technique

Sweep the floor machine fuselage be radio equipment, based on collar plate shape.It is operated using rechargeable battery, mode of operation is to be remotely controlled Operation panel on device or machine.Generally the reservation of energy setting time is swept, and is voluntarily charged.There is setting inductor in front, can detect Barrier is surveyed, wall or other barriers is such as encountered, can voluntarily turn, and is set according to every different vendor, and walks different roads Line has planning to clean area.Because the function and convenience of its simple operations, are slowly popularized now, become office worker or The common electrical home appliances of Modern Family.

Summary of the invention

The embodiment of the present disclosure provides cleaning method and device.The technical solution is as follows:

According to the first aspect of the embodiments of the present disclosure, a kind of cleaning method is provided, comprising:

Obtain the pre-set cleaning range cleaned；

According to the cleaning range, planning cleans path.

The technical scheme provided by this disclosed embodiment can include the following benefits: can be in cleaning set by user It is cleaned in range, is not allowed the place cleaned that will not clean, cleaned in this way, user does not have to delimit in the room of oneself again Range, no longer influence indoor beauty, and this method can easily change the cleaning range that can be cleaned, without changing indoor ring Border.

In one embodiment, before the pre-set cleaning range cleaned of acquisition, the method also includes:

Show the first plan view by luv space scale smaller of storage；

Receive the modification operation of user；

It is operated according to the modification, it, will be in addition to the specified region in the selected specified region of first plan view First plan view is as the cleaning range.

The technical scheme provided by this disclosed embodiment can include the following benefits: cooking up on plan view can not The region of cleaning, in this way, user simplifies the operation of user without marking the range that can not be cleaned in the room.

In one embodiment, the method also includes:

In history cleaning process, the luv space that can be cleaned is identified.

The technical scheme provided by this disclosed embodiment can include the following benefits: automatic identification room-size, this Sample, user are not necessarily to input the floor plan in room, simplify the operation of user.

It shows the second plan view by luv space scale smaller of storage, is shown on second plan view each small Name in a name space claims；

Receive the clicking operation of user；

When the clicking operation, which falls in the first small name in a name space, to be claimed, using the described first small space as the cleaning model It encloses.

The technical scheme provided by this disclosed embodiment can include the following benefits: carry out for different spaces clear It sweeps, in this way, cleaning is more targeted, without once all sweeping in all spaces, has saved electricity.

In one embodiment, the method also includes:

In history cleaning process, the luv space that can be cleaned is identified；

Show the first plan view by luv space scale smaller of storage；

It receives and the name that space small each of on the luv space is named is instructed for user；

It is instructed according to the name, adds title for each small space.

The technical scheme provided by this disclosed embodiment can include the following benefits: user is on the first plan view A name identical with real space is played in each space, in this way, user directly can determine which is cleaned according to these names User experience is improved in space.

According to the second aspect of an embodiment of the present disclosure, a kind of clearing apparatus is provided, comprising:

Module is obtained, for obtaining the pre-set cleaning range cleaned；

Planning module, for according to the cleaning range, planning to clean path.

In one embodiment, described device further include:

First display module, for showing the first plan view by luv space scale smaller of storage；

First receiving module, the modification for receiving user operate；

Chosen module, in the selected specified region of first plan view, will remove the finger for operating according to the modification The first plan view except region is determined as the cleaning range.

In one embodiment, described device further include:

Identification module, for identifying the luv space that can be cleaned in history cleaning process.

In one embodiment, described device further include:

Second display module, for showing the second plan view by luv space scale smaller of storage, described second is flat Each small name in a name space is shown on the figure of face to claim；

Second receiving module, for receiving the clicking operation of user；

Determining module, for when the clicking operation falls in the first small name in a name space and claims, the described first small space to be made For the cleaning range.

In one embodiment, described device further include:

The identification module is also used to: in history cleaning process, identifying the luv space that can be cleaned；

First display module is also used to: showing the first plan view by luv space scale smaller of storage；

Third receiving module refers to for receiving the name named for user space small each of on the luv space It enables；

Module is named, for instructing according to the name, adds title for each small space.

According to the third aspect of an embodiment of the present disclosure, a kind of clearing apparatus is provided, comprising:

Processor；

Memory for storage processor executable instruction；

Wherein, the processor is configured to:

Obtain the pre-set cleaning range cleaned；

According to the cleaning range, planning cleans path.

It should be understood that above general description and following detailed description be only it is exemplary and explanatory, not The disclosure can be limited.

Detailed description of the invention

The drawings herein are incorporated into the specification and forms part of this specification, and shows the implementation for meeting the disclosure Example, and together with specification for explaining the principles of this disclosure.

Fig. 1 is the flow chart of cleaning method shown according to an exemplary embodiment.

Fig. 2-a is the schematic diagram of luv space shown according to an exemplary embodiment.

Fig. 2-b is the schematic diagram of the first plan view shown according to an exemplary embodiment.

Fig. 3 is the schematic diagram of the second plan view shown according to an exemplary embodiment.

Fig. 4 is the flow chart of cleaning method shown according to an exemplary embodiment.

Fig. 5 is the flow chart of cleaning method shown according to an exemplary embodiment.

Fig. 6 is the block diagram of clearing apparatus shown according to an exemplary embodiment.

Fig. 7 is the block diagram of clearing apparatus shown according to an exemplary embodiment.

Fig. 8 is the block diagram of clearing apparatus shown according to an exemplary embodiment.

Fig. 9 is the block diagram of clearing apparatus shown according to an exemplary embodiment.

Figure 10 is the block diagram of clearing apparatus shown according to an exemplary embodiment.

Figure 11 is the block diagram of clearing apparatus shown according to an exemplary embodiment.

Specific embodiment

Example embodiments are described in detail here, and the example is illustrated in the accompanying drawings.Following description is related to When attached drawing, unless otherwise indicated, the same numbers in different drawings indicate the same or similar elements.Following exemplary embodiment Described in embodiment do not represent all implementations consistent with this disclosure.On the contrary, they be only with it is such as appended The example of the consistent device and method of some aspects be described in detail in claims, the disclosure.

In the related technology, sweeping robot (robotcleaner) is also known as automatic sweeps machine, intelligent dust suction, robot dust suction Device etc. is one kind of controlling intelligent household appliances, can rely on certain artificial intelligence, complete floor cleaning work in the room automatically.

When user wishes that some places of sweeping robot not swept, since current sweeping robot is not support to draw Surely forbid zone of action, therefore, it is necessary to correct sweeping robot by some operations of user, such as rice man sweeps the floor machine People can avoid going to the region of formulation by pasting the adhesive tape of black.Forbid zone of action in this way, cannot specify, can cause Unnecessary trouble, such as to pet activity region, the region of mess therein thing all can cause sweeping robot that cannot walk Or the activity of sweeping the floor is interfered；And user needs the physical unit outside purchase volume to be isolated to do, and increases user cost, and Also change the appearance in room.

Current embodiment require that solving the problems, such as are as follows: can be cleaned, not allowed clear in cleaning range set by user The place swept will not clean, in this way, user does not have to delimit cleaning range in the room of oneself again, no longer influence indoor beauty, And this method can easily change the cleaning range that can be cleaned, without changing indoor environment.

Fig. 1 is a kind of flow chart of cleaning method shown according to an exemplary embodiment, as shown in Figure 1, cleaning method For in clearing apparatus, which to can be a part of sweeping robot, this approach includes the following steps S101-S102:

In step s101, the pre-set cleaning range cleaned is obtained.

Purging zone in the present embodiment is pre-set, is not the range that clearing apparatus is incuded, and cleaning range makes User plans the range that can be cleaned, and can be the region of user's selection, is also possible to other than the region that user selects Region.

In step s 102, according to cleaning range, planning cleans path.

Path planning can be divided into two kinds according to the difference of its purpose, and one is the path plannings of point-to-point, and another kind is just It is complete traverse path planning.

The path planning of point-to-point is a kind of Motion from starting point to terminal, it require find one from initial point to Optimal (such as cost minimum, path is most short, the time is most short) and the reasonable path of terminal, enable smooth in working space Ground it is current and without impinging on any barrier.Complete traverse path planning is a kind of path rule special in two-dimensional working space Draw, refer to meet certain performance indicator it is optimal or quasi- excellent under the premise of, find one in setting regions from initial point to terminal and By all continuous paths that can reach a little.

Most common complete traverse path planing method includes random cladding process and path planning formula.

Random cladding process, someone is also referred to as the navigation of random collision formula, but this does not mean that robot really and in environment Object generates collision, nor has no the random movement on floor of the art of composition, and in other words " random " in Engineering operation is also one It is difficult to reach requirement, random cladding process refers to robot according to certain moving algorithm, as triangle, pentagon track are tentative Overwrite job area execute corresponding steering function if encountering obstacle.This method is a kind of to change the low of space with the time Cost strategy, as time-out can achieve 100% coverage rate.Random cladding process does not have to positioning, without environmental map yet, also without Method plans path, so its movement routine relies on substantially built-in algorithm, the superiority and inferiority of algorithm also determines its cleaning The height of quality and efficiency.

In the present embodiment, it can be cleaned in cleaning range set by user, not allow the place cleaned will not It can clean, in this way, user does not have to delimit cleaning range in the room of oneself again, no longer influence indoor beauty, and this method can be with Easily change the cleaning range that can be cleaned, without changing indoor environment.

In one embodiment, before step S101, the method also includes:

Show the first plan view by luv space scale smaller of storage；Receive the modification operation of user；According to modification Operation, in the selected specified region of the first plan view, using the first plan view in addition to specified region as cleaning range.

First plan view is that plan view, the figure can be passed through in cleaning process before by device within doors shown in Fig. 2-a With the collision of wall, identify wall, glass, be also possible to user and input floor plan, the present embodiment to this with no restriction.

In this way, the region that can not be cleaned is cooked up on plan view, in this way, user is without marking can not clean in the room Range, simplify the operation of user.

In one embodiment, the method also includes:

In history cleaning process, the luv space that can be cleaned is identified.

History cleaning process refers to the cleaning process before this cleaning.Luv space can be room house type space, It is also possible to increase the space that can be cleaned after furniture.

Here, it in cleaning process, can recorde motion profile, the outermost frame of all motion profiles connected Come, the as interior space in house, that is, the luv space that the present embodiment is said.

In one embodiment, before step S101, the method also includes:

It shows the second plan view by luv space scale smaller of storage, is shown on second plan view each small Name in a name space claims；Receive the clicking operation of user；When clicking operation, which falls in the first small name in a name space, to be claimed, the first small space is made For the cleaning range.

In this way, being cleaned for different spaces, in this way, cleaning is more targeted, without once by all skies Between all swept, saved electricity.

Second plan view is plan view within doors shown in Fig. 3, and each space corresponds to the plan view in a room, in this way, The space of second plan view mark is consistent with real space, for example, the space in the corresponding room in space in mark kitchen is Kitchen.In this way, user click where can clean where.

In one embodiment, the method also includes:

In history cleaning process, the luv space that can be cleaned is identified；What display stored presses luv space scale smaller First plan view；It receives and the name that space small each of on the luv space is named is instructed for user；According to the life Name instruction adds title for each small space.

Here, it inputs each name in a name space to claim, which can be the purposes title in the space or the ownership in the space People, the present embodiment to this with no restriction.

Embodiment two

Fig. 4 is a kind of flow chart of cleaning method shown according to an exemplary embodiment, as shown in figure 4, cleaning method For including the following steps S201-S206 in sweeping robot,

In step s 201, in history cleaning process, the luv space that can be cleaned is identified.

In step S202, the first plan view by luv space scale smaller of storage is shown.

In step S203, the modification operation of user is received.

In step S204, operated according to modification, it, will be in addition to specified region in the selected specified region of the first plan view First plan view is as cleaning range.

In step S205, the pre-set cleaning range cleaned is obtained.

In step S206, according to cleaning range, planning cleans path.

In the present embodiment, user can modify cleaning range on the first plan view that sweeping robot is shown, in this way, nothing Interior decoration need to be changed, it will be able to reach part and be cleaned.

Embodiment three

Fig. 5 is a kind of flow chart of cleaning method shown according to an exemplary embodiment, as shown in figure 5, cleaning method For including the following steps S301-S309 in sweeping robot,

In step S301, in history cleaning process, the luv space that can be cleaned is identified.

In step s 302, the first plan view by luv space scale smaller of storage is shown.

First plan view can be the area drawing (such as floor plan) in house, and each room in floor plan is this reality Apply the small space in example.

In step S303, receives and the name that space small each of on luv space is named is instructed for user.

In step s 304, it is instructed according to name, adds title for each small space.

In step S305, the second plan view by luv space scale smaller of storage is shown.

Here, each small name in a name space is shown on second plan view to claim.

In step S306, the clicking operation of user is received.

In step S307, when clicking operation, which falls in the first small name in a name space, to be claimed, using the first small space as cleaning model It encloses.

In step S308, the pre-set cleaning range cleaned is obtained.

In step S309, according to cleaning range, planning cleans path.

It is each small space name in the second plan view in the present embodiment, in this way, user is by clicking small name in a name space Title is assured which space cleaned.

Following is embodiment of the present disclosure, can be used for executing embodiments of the present disclosure.

Example IV

Fig. 6 is a kind of block diagram of clearing apparatus shown according to an exemplary embodiment, which can be by software, hard Part or both is implemented in combination with as some or all of of electronic equipment.As shown in fig. 6, the clearing apparatus includes:

Module 401 is obtained, for obtaining the pre-set cleaning range cleaned.

Planning module 402, for according to the cleaning range, planning to clean path.

In one embodiment, as shown in fig. 7, described device further include:

First display module 403, for showing the first plan view by luv space scale smaller of storage；

First receiving module 404, the modification for receiving user operate；

Chosen module 405, in the selected specified region of first plan view, will remove institute for operating according to the modification The first plan view except specified region is stated as the cleaning range.

In one embodiment, as shown in figure 8, described device further include:

Identification module 406, for identifying the luv space that can be cleaned in history cleaning process.

In one embodiment, as shown in figure 9, described device further include:

Second display module 407, for show storage the second plan view by luv space scale smaller, described second Each small name in a name space is shown on plan view to claim；

Second receiving module 408, for receiving the clicking operation of user；

Determining module 409, for when the clicking operation falls in the first small name in a name space and claims, by the described first small space As the cleaning range.

In one embodiment, as shown in Figure 10, described device further include:

The identification module 406 is also used to: in history cleaning process, identifying the luv space that can be cleaned；

First display module 403 is also used to: showing the first plan view by luv space scale smaller of storage；

Third receiving module 410, for receiving the life for being used for user and naming space small each of on the luv space Name instruction；

Module 411 is named, for instructing according to the name, adds title for each small space.

Embodiment five

Processor；

Memory for storage processor executable instruction；

Wherein, processor is configured as:

Obtain the pre-set cleaning range cleaned；

According to the cleaning range, planning cleans path.

Above-mentioned processor is also configured to:

Before the pre-set cleaning range cleaned of acquisition, the method also includes:

Show the first plan view by luv space scale smaller of storage；

Receive the modification operation of user；

The method also includes:

In history cleaning process, the luv space that can be cleaned is identified.

Receive the clicking operation of user；

The method also includes:

In history cleaning process, the luv space that can be cleaned is identified；

Show the first plan view by luv space scale smaller of storage；

It is instructed according to the name, adds title for each small space.

About the device in above-described embodiment, wherein modules execute the concrete mode of operation in related this method Embodiment in be described in detail, no detailed explanation will be given here.

Figure 11 is a kind of block diagram for clearing apparatus shown according to an exemplary embodiment, which is suitable for sweeping the floor Robot.For example, device 500 can be mobile phone, computer, digital broadcasting terminal, messaging device, game control Platform, tablet device, Medical Devices, body-building equipment, personal digital assistant etc..

Device 500 may include following one or more components: processing component 502, memory 504, power supply module 506, Multimedia component 508, audio component 510, input/output (I/O) interface 512, sensor module 514 and communication component 516。

The integrated operation of the usual control device 500 of processing component 502, such as with display, telephone call, data communication, phase Machine operation and record operate associated operation.Processing component 502 may include that one or more processors 520 refer to execute It enables, to perform all or part of the steps of the methods described above.In addition, processing component 502 may include one or more modules, just Interaction between processing component 502 and other assemblies.For example, processing component 502 may include multi-media module, it is more to facilitate Interaction between media component 508 and processing component 502.

Memory 504 is configured as storing various types of data to support the operation in device 500.These data are shown Example includes the instruction of any application or method for operating on device 500, contact data, and telephone book data disappears Breath, picture, video etc..Memory 504 can be by any kind of volatibility or non-volatile memory device or their group It closes and realizes, such as static random access memory (SRAM), electrically erasable programmable read-only memory (EEPROM) is erasable to compile Journey read-only memory (EPROM), programmable read only memory (PROM), read-only memory (ROM), magnetic memory, flash Device, disk or CD.

Power supply module 506 provides electric power for the various assemblies of device 500.Power supply module 506 may include power management system System, one or more power supplys and other with for device 500 generate, manage, and distribute the associated component of electric power.

Multimedia component 508 includes the screen of one output interface of offer between described device 500 and user.One In a little embodiments, screen may include liquid crystal display (LCD) and touch panel (TP).If screen includes touch panel, screen Curtain may be implemented as touch screen, to receive input signal from the user.Touch panel includes one or more touch sensings Device is to sense the gesture on touch, slide, and touch panel.The touch sensor can not only sense touch or sliding action Boundary, but also detect duration and pressure associated with the touch or slide operation.In some embodiments, more matchmakers Body component 508 includes a front camera and/or rear camera.When device 500 is in operation mode, such as screening-mode or When video mode, front camera and/or rear camera can receive external multi-medium data.Each front camera and Rear camera can be a fixed optical lens system or have focusing and optical zoom capabilities.

Audio component 510 is configured as output and/or input audio signal.For example, audio component 510 includes a Mike Wind (MIC), when device 500 is in operation mode, when such as call mode, recording mode, and voice recognition mode, microphone is matched It is set to reception external audio signal.The received audio signal can be further stored in memory 504 or via communication set Part 516 is sent.In some embodiments, audio component 510 further includes a loudspeaker, is used for output audio signal.

I/O interface 512 provides interface between processing component 502 and peripheral interface module, and above-mentioned peripheral interface module can To be keyboard, click wheel, button etc..These buttons may include, but are not limited to: home button, volume button, start button and lock Determine button.

Sensor module 514 includes one or more sensors, and the state for providing various aspects for device 500 is commented Estimate.For example, sensor module 514 can detecte the state that opens/closes of device 500, and the relative positioning of component, for example, it is described Component is the display and keypad of device 500, and sensor module 514 can be with 500 1 components of detection device 500 or device Position change, the existence or non-existence that user contacts with device 500,500 orientation of device or acceleration/deceleration and device 500 Temperature change.Sensor module 514 may include proximity sensor, be configured to detect without any physical contact Presence of nearby objects.Sensor module 514 can also include optical sensor, such as CMOS or ccd image sensor, at As being used in application.In some embodiments, which can also include acceleration transducer, gyro sensors Device, Magnetic Sensor, pressure sensor or temperature sensor.

Communication component 516 is configured to facilitate the communication of wired or wireless way between device 500 and other equipment.Device 500 can access the wireless network based on communication standard, such as WiFi, 2G or 3G or their combination.In an exemplary implementation In example, communication component 516 receives broadcast singal or broadcast related information from external broadcasting management system via broadcast channel. In one exemplary embodiment, the communication component 516 further includes near-field communication (NFC) module, to promote short range communication.Example Such as, NFC module can be based on radio frequency identification (RFID) technology, Infrared Data Association (IrDA) technology, ultra wide band (UWB) technology, Bluetooth (BT) technology and other technologies are realized.

In the exemplary embodiment, device 500 can be believed by one or more application specific integrated circuit (ASIC), number Number processor (DSP), digital signal processing appts (DSPD), programmable logic device (PLD), field programmable gate array (FPGA), controller, microcontroller, microprocessor or other electronic building bricks are realized, for executing the above method.

In the exemplary embodiment, a kind of non-transitorycomputer readable storage medium including instruction, example are additionally provided It such as include the memory 504 of instruction, above-metioned instruction can be executed by the processor 520 of device 500 to complete the above method.For example, The non-transitorycomputer readable storage medium can be ROM, random access memory (RAM), CD-ROM, tape, floppy disk With optical data storage devices etc..

A kind of non-transitorycomputer readable storage medium, when the instruction in the storage medium is by the processing of device 500 Device execute when so that device 500 be able to carry out it is above-mentioned ... the method for, which comprises

Obtain the pre-set cleaning range cleaned；

According to the cleaning range, planning cleans path.

Show the first plan view by luv space scale smaller of storage；

Receive the modification operation of user；

The method also includes:

In history cleaning process, the luv space that can be cleaned is identified.

Receive the clicking operation of user；

The method also includes:

In history cleaning process, the luv space that can be cleaned is identified；

Show the first plan view by luv space scale smaller of storage；

It is instructed according to the name, adds title for each small space.

Those skilled in the art will readily occur to its of the disclosure after considering specification and practicing disclosure disclosed herein Its embodiment.This application is intended to cover any variations, uses, or adaptations of the disclosure, these modifications, purposes or Person's adaptive change follows the general principles of this disclosure and including the undocumented common knowledge in the art of the disclosure Or conventional techniques.The description and examples are only to be considered as illustrative, and the true scope and spirit of the disclosure are by following Claim is pointed out.

It should be understood that the present disclosure is not limited to the precise structures that have been described above and shown in the drawings, and And various modifications and changes may be made without departing from the scope thereof.The scope of the present disclosure is only limited by the accompanying claims.

Claims

1. a kind of cleaning method characterized by comprising

Obtain the pre-set cleaning range cleaned；

According to the cleaning range, planning cleans path；

Wherein, before the pre-set cleaning range cleaned of acquisition, the method also includes:

Show the first plan view by luv space scale smaller of storage；

It will be in addition to the specified region in the selected specified region of first plan view according to the modification operation received Region is as the cleaning range.

2. the method according to claim 1, wherein the method also includes:

In history cleaning process, the luv space that can be cleaned is identified.

3. the method according to claim 1, wherein it is described obtain the pre-set cleaning range cleaned it Before, the method also includes:

It shows the second plan view by luv space scale smaller of storage, shows each small space on second plan view Title；

When receive selection the first small name in a name space claim when, using the described first small space as the cleaning range.

4. according to the method described in claim 3, it is characterized in that, the method also includes:

In history cleaning process, the luv space that can be cleaned is identified；

Show the first plan view by the luv space scale smaller of storage；

It receives for naming the name in each small space on the luv space to instruct；

It is instructed according to the name, adds title for each small space.

5. a kind of clearing apparatus characterized by comprising

Module is obtained, for obtaining the pre-set cleaning range cleaned；

Planning module, for according to the cleaning range, planning to clean path；

First receiving module, the modification for receiving user operate；

Chosen module, in the selected specified region of first plan view, will remove the specified area for operating according to the modification The first plan view except domain is as the cleaning range.

6. device according to claim 5, which is characterized in that described device further include:

7. device according to claim 5, which is characterized in that described device further include:

Second display module, for showing the second plan view by luv space scale smaller of storage, second plan view On show each small name in a name space and claim；

Second receiving module, for receiving the clicking operation of user；

Determining module, for when the clicking operation falls in the first small name in a name space and claims, using the described first small space as institute State cleaning range.

8. device according to claim 6, which is characterized in that described device further include:

First display module is also used to: showing the first plan view by the luv space scale smaller of storage；

Third receiving module, for receiving the name instruction for being used for user and naming space small each of on the luv space；

9. a kind of clearing apparatus characterized by comprising

Processor；

Memory for storage processor executable instruction；

Wherein, the processor is configured to:

Show the first plan view by luv space scale smaller of storage；

It will be in addition to the specified region in the selected specified region of first plan view according to the modification operation received Region is as cleaning range；

Obtain the pre-set cleaning range cleaned；

According to the cleaning range, planning cleans path.