CN110801183A

CN110801183A - Cleaning task execution method and device, intelligent robot and storage medium

Info

Publication number: CN110801183A
Application number: CN202010016036.4A
Authority: CN
Inventors: 叶婵峰; 霍峰; 陈侃; 卜大鹏; 秦宝星; 程昊天
Original assignee: Shanghai Gaoxian Automation Technology Co Ltd
Current assignee: Shanghai Gaoxian Automation Technology Co Ltd; Shanghai Gaussian Automation Technology Development Co Ltd
Priority date: 2020-01-08
Filing date: 2020-01-08
Publication date: 2020-02-18
Anticipated expiration: 2040-01-08
Also published as: CN110801183B

Abstract

The application discloses a method for performing a cleaning task. The cleaning task execution method comprises the following steps: acquiring a cleaning task group, wherein the cleaning task group comprises a plurality of cleaning tasks, and each cleaning task is associated with a closed outer ring path and an inner ring path surrounded by the outer ring path; a pre-cleaning step: controlling the intelligent robot to clean along the outer ring path of the current cleaning task, and detecting the proportion of the area of a preset object in the area surrounded by the outer ring path of the current task in real time; when the proportion is smaller than a preset proportion threshold value, controlling the intelligent robot to clean along an inner ring path of the current cleaning task so as to complete the current cleaning task; and when the proportion is larger than a preset proportion threshold value, controlling the intelligent robot to select another cleaning task as the current cleaning task and executing a pre-cleaning step. The application also discloses an execution device of the cleaning task, the intelligent robot and a computer readable storage medium.

Description

Cleaning task execution method and device, intelligent robot and storage medium

Technical Field

The present disclosure relates to the field of automatic cleaning technologies, and in particular, to a method for executing a cleaning task, an apparatus for executing a cleaning task, an intelligent robot, and a computer-readable storage medium.

Background

When a cleaning robot cleans a plurality of areas, the cleaning robot generally cleans the areas in a certain sequence, for example, a clockwise sequence, a counterclockwise sequence, etc., and after the cleaning robot performs a cleaning task in one area, the cleaning robot sequentially moves to another area to clean the areas and performs cleaning of the areas in this sequence.

Disclosure of Invention

Embodiments of the present application provide a cleaning task execution method, a cleaning task execution device, an intelligent robot, and a computer-readable storage medium.

The execution method of the cleaning task is used for the intelligent robot and comprises the following steps: acquiring a cleaning task group, wherein the cleaning task group comprises a plurality of cleaning tasks, and each cleaning task is associated with a closed outer ring path and an inner ring path surrounded by the outer ring path; a pre-cleaning step: controlling the intelligent robot to clean along an outer ring path of a current cleaning task, and detecting the proportion of the area of a preset object in the area surrounded by the outer ring path of the current task in real time; when the proportion is smaller than a preset proportion threshold value, controlling the intelligent robot to clean along an inner ring path of the current cleaning task so as to complete the current cleaning task; and when the proportion is larger than a preset proportion threshold value, controlling the intelligent robot to select another cleaning task as the current cleaning task and executing the pre-cleaning step.

In the method for executing the cleaning task, when the current cleaning task is executed, whether the proportion of the area of the preset object in the area surrounded by the outer ring path of the cleaning task is greater than a proportion threshold value or not is detected in real time, and when the proportion is less than the proportion threshold value, the current cleaning task is executed; when the proportion is larger than the proportion threshold value, the preset objects in the area surrounded by the outer ring path of the current cleaning task are too many, and the current cleaning task can not be efficiently completed at the current time node, so that the current cleaning task can be skipped first, another cleaning task is selected to be executed, too much time cannot be wasted in the current cleaning task, the efficiency of the intelligent robot in completing the cleaning task group is improved, and the cleaning effect is improved.

In some embodiments, after controlling the intelligent robot to clean along the inner circle path of the current cleaning task to complete the current cleaning task, the method for executing the cleaning task further includes: after the pre-cleaning step is executed for the previous time, taking an unfinished cleaning task as a current cleaning task, and executing the pre-cleaning step; and when the times of executing the pre-cleaning step by taking the same cleaning task as the current cleaning task are larger than a time threshold value and the ratios are all larger than the ratio threshold value, giving up executing the same cleaning task.

In the embodiment, after a cleaning task is executed, the pre-cleaning step is performed again on the cleaning task which is not completed by the pre-cleaning step before, so that the cleaning task which is not completed can be completed in time when the proportion is smaller than the proportion threshold value.

In some embodiments, the method of performing a cleaning task further comprises: the method comprises the steps of obtaining a detail map of a complex public area to be cleaned corresponding to a cleaning task, wherein the detail map comprises a boundary line and an object area, the boundary line corresponds to the boundary of the complex public area to be cleaned, the object area corresponds to a preset object in the complex public area to be cleaned, and the detail map further comprises shape information of the object area and identification information of the object area; dividing the detail map into a plurality of clean areas without the object area according to the boundary line and the object area; generating a full coverage sub-path within each of the cleaning zones; generating a full-coverage path according to the plurality of full-coverage sub-paths; and taking the boundary line as an outer ring path of the cleaning task, and taking the full coverage path as an inner ring path of the cleaning task.

In the embodiment, the detail map of the complex public area to be cleaned corresponding to the cleaning task is obtained, the detail map is divided into a plurality of cleaning areas according to the boundary line and the object area of the detail map, the full-coverage sub-path in each cleaning area is generated, the full-coverage path is generated according to the full-coverage sub-paths, after the detail map is divided into the cleaning areas, the full-coverage sub-path with high coverage rate is easy to plan in the cleaning areas, meanwhile, the full-coverage sub-paths cannot be crossed with each other, when the intelligent robot cleans the complex public area according to the full-coverage path, the coverage rate is high, the number of repeatedly cleaned areas is small, and the efficiency of cleaning task execution is further improved.

In some embodiments, the obtaining a detail map of a complex public area to be cleaned corresponding to the cleaning task includes: acquiring a global map of the complex public area to be cleaned, wherein the global map comprises the object area; acquiring feature points on the global map; and determining the boundary line and the detail map corresponding to the cleaning task according to the feature points.

In the embodiment, the detailed map can be determined in the global map according to the feature points, so that a user can clean all or part of a complex public area conveniently according to requirements, and the individual requirements of the user are met.

In some embodiments, the obtaining a global map of the complex public area to be cleaned includes: controlling the intelligent robot to move in the complex public area, and detecting a preset object of the complex public area to obtain the global map; or acquiring the global map prestored and transmitted by the external device.

In the embodiment, when the global map is detected by controlling the current intelligent robot to move in a complex public area, the accuracy of the global map is higher; when the global map is acquired from the external equipment, the global map is acquired more quickly, and the efficiency of generating the full-coverage path is improved.

In some embodiments, the dividing the detail map into a plurality of clean areas not including the object area according to the boundary line and the object area includes: identifying a dividing point according to the boundary line, wherein the internal angle of the detail map at the dividing point is more than 180 degrees; dividing the detail map into a plurality of detail sub-maps according to the division points, wherein the internal angle of any point of the detail sub-maps on the boundary is less than or equal to 180 degrees; and dividing the detail sub-map into a plurality of the cleaning areas according to the object areas.

In the embodiment, the dividing points are identified to divide the detail map into the plurality of detail sub-maps, and further divide the detail sub-maps into the clean area, so that the full-coverage sub-path is prevented from exceeding the range of the detail map when the full-coverage sub-path is generated in the clean area.

In some embodiments, the generating a full coverage sub-path within each of the cleaning regions comprises: generating a plurality of linear paths in the cleaning area along a length direction of the cleaning area in a straight line of a preset width; and sequentially connecting the plurality of linear paths end to end through a Bezier curve to generate the full-coverage sub-path.

In the present embodiment, the straight path is generated in the longitudinal direction of the cleaning region, the number of turns in the full coverage sub-path can be reduced, and the transition between the plurality of straight paths can be made smooth by connecting the plurality of straight paths by the bezier curve.

The execution device of the cleaning task is used for the intelligent robot and comprises a first acquisition module, a pre-cleaning module and a control module; the first acquisition module is used for acquiring a cleaning task group, the cleaning task group comprises a plurality of cleaning tasks, and each cleaning task is associated with a closed outer ring path and an inner ring path surrounded by the outer ring path; the pre-cleaning module is configured to perform a pre-cleaning step, the pre-cleaning step comprising: controlling the intelligent robot to clean along an outer ring path of a current cleaning task, and detecting the proportion of the area of a preset object in the area surrounded by the outer ring path of the current task in real time; the control module is used for controlling the intelligent robot to clean along an inner ring path of the current cleaning task to complete the current cleaning task when the proportion is smaller than a preset proportion threshold; and when the proportion is larger than a preset proportion threshold value, controlling the intelligent robot to select another cleaning task as the current cleaning task, and executing the pre-cleaning step by the pre-cleaning module.

In the execution device of the cleaning task in the embodiment of the application, when the current cleaning task is executed, whether the proportion occupied by the area of the preset object in the area surrounded by the outer ring path of the cleaning task is greater than a proportion threshold value or not is detected in real time, and when the proportion is less than the proportion threshold value, the current cleaning task is executed; when the proportion is larger than the proportion threshold value, the preset objects in the area surrounded by the outer ring path of the current cleaning task are too many, and the current cleaning task can not be efficiently completed at the current time node, so that the current cleaning task can be skipped first, another cleaning task is selected to be executed, too much time cannot be wasted in the current cleaning task, the efficiency of the intelligent robot in completing the cleaning task group is improved, and the cleaning effect is improved.

The intelligent robot of the embodiment of the application comprises one or more processors and a memory; and one or more programs, wherein the one or more programs are stored in the memory and executed by the one or more processors, the programs comprising instructions for performing the method of performing a cleaning task of any of the embodiments described above.

In the intelligent robot of the embodiment of the application, when the current cleaning task is executed, whether the proportion occupied by the area of the preset object in the area surrounded by the outer ring path of the cleaning task is greater than a proportion threshold value or not is detected in real time, and when the proportion is less than the proportion threshold value, the current cleaning task is executed; when the proportion is larger than the proportion threshold value, the preset objects in the area surrounded by the outer ring path of the current cleaning task are too many, and the current cleaning task can not be efficiently completed at the current time node, so that the current cleaning task can be skipped first, another cleaning task is selected to be executed, too much time cannot be wasted in the current cleaning task, the efficiency of the intelligent robot in completing the cleaning task group is improved, and the cleaning effect is improved.

The non-transitory computer-readable storage medium of the embodiments of the present application, containing computer-executable instructions that, when executed by one or more processors, cause the processors to perform the method of cleaning task described in any of the above embodiments.

In the computer-readable storage medium of the embodiment of the application, when a current cleaning task is executed, whether the proportion of the area of a preset object in an area surrounded by an outer ring path of the cleaning task is greater than a proportion threshold value or not is detected in real time, and when the proportion is less than the proportion threshold value, the current cleaning task is executed; when the proportion is larger than the proportion threshold value, the preset objects in the area surrounded by the outer ring path of the current cleaning task are too many, and the current cleaning task can not be efficiently completed at the current time node, so that the current cleaning task can be skipped first, another cleaning task is selected to be executed, too much time cannot be wasted in the current cleaning task, the efficiency of the intelligent robot in completing the cleaning task group is improved, and the cleaning effect is improved.

Additional aspects and advantages of the present application will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the present application.

Drawings

The foregoing and/or additional aspects and advantages of the present application will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings of which:

FIG. 1 is a schematic flow chart diagram of a method of performing a cleaning task according to certain embodiments of the present application;

FIG. 2 is a schematic diagram of a smart robot module according to some embodiments of the present application;

FIG. 3 is a block schematic diagram of an apparatus for performing a cleaning task according to certain embodiments of the present application;

FIG. 4 is a schematic view of a scenario illustrating a method of performing a cleaning task according to some embodiments of the present application;

FIG. 5 is a schematic flow chart diagram of a method of performing a cleaning task according to certain embodiments of the present application;

FIG. 6 is a schematic flow chart diagram of a method of performing a cleaning task according to certain embodiments of the present application;

FIG. 7 is a block schematic diagram of an apparatus for performing a cleaning task according to certain embodiments of the present application;

FIG. 8 is a schematic flow chart diagram of a method of performing a cleaning task according to certain embodiments of the present application;

FIG. 9 is a schematic view of a scenario illustrating a method of performing a cleaning task according to some embodiments of the present application;

FIG. 10 is a schematic flow chart diagram of a method of performing a cleaning task according to certain embodiments of the present application;

FIG. 11 is a schematic flow chart diagram of a method of performing a cleaning task according to certain embodiments of the present application;

FIG. 12 is a schematic view of a scenario illustrating a method of performing a cleaning task according to some embodiments of the present application;

FIG. 13 is a schematic view of a scenario illustrating a method of performing a cleaning task according to some embodiments of the present application;

FIG. 14 is a schematic flow chart diagram of a method of performing a cleaning task according to certain embodiments of the present application;

FIG. 15 is a schematic view of a scenario illustrating a method of performing a cleaning task according to some embodiments of the present application;

FIG. 16 is a block diagram of a computer-readable storage medium of some embodiments of the present application.

Detailed Description

Reference will now be made in detail to embodiments of the present application, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below by referring to the drawings are exemplary only for the purpose of explaining the embodiments of the present application, and are not to be construed as limiting the embodiments of the present application.

Referring to fig. 1 and 2, the method for executing the cleaning task according to the embodiment of the present disclosure may be applied to the intelligent robot 100, and the method for executing the cleaning task includes the steps of:

06: acquiring a cleaning task group, wherein the cleaning task group comprises a plurality of cleaning tasks, and each cleaning task is associated with a closed outer ring path and an inner ring path surrounded by the outer ring path;

07: a pre-cleaning step: controlling the intelligent robot 100 to clean along the outer path of the current cleaning task, and detecting the proportion of the area of a preset object in the area surrounded by the outer path of the current task in real time;

08: when the proportion is smaller than a preset proportion threshold value, controlling the intelligent robot 100 to clean along an inner ring path of the current cleaning task so as to complete the current cleaning task; and

09: when the ratio is greater than the preset ratio threshold, controlling the intelligent robot 100 to select another cleaning task as the current cleaning task, and executing a pre-cleaning step.

The intelligent robot 100 of the present embodiment includes one or more processors 10, a memory 20, and one or more programs, wherein the one or more programs are stored in the memory 20 and executed by the one or more processors 10, the programs including instructions for performing the execution method of the cleaning task of the present embodiment. When the processor 10 executes the program, the processor 10 may be configured to implement the method for performing a cleaning task according to any of the embodiments of the present application. When the processor 10 executes the program, the processor 10 can be configured to perform step 06, step 07, step 08 and step 09. That is, the processor 10 may be configured to obtain a cleaning task group, implement a pre-cleaning step, control the intelligent robot 100 to clean along an inner path of the current cleaning task to complete the current cleaning task when the ratio is smaller than a preset ratio threshold, and control the intelligent robot 100 to select another cleaning task as the current cleaning task and implement the pre-cleaning step when the ratio is larger than the preset ratio threshold.

Referring to fig. 3, the apparatus 200 for performing a cleaning task according to the embodiment of the present disclosure includes a first obtaining module 206, a pre-cleaning module 207, and a control module 208. The first acquisition module 206 may be used to implement step 06, the pre-cleaning module 207 may be used to implement step 07, and the control module 208 may be used to implement

steps

08 and 09. That is, the first obtaining module 206 may be configured to obtain a cleaning task group, the pre-cleaning module 207 may be configured to perform a pre-cleaning step, and the control module 208 may be configured to control the intelligent robot 100 to clean along an inner path of the current cleaning task to complete the current cleaning task when the ratio is smaller than a preset ratio threshold, and control the intelligent robot 100 to select another cleaning task as the current cleaning task when the ratio is larger than the preset ratio threshold, and the pre-cleaning module 207 performs the pre-cleaning step.

In the method for executing the cleaning task, the device 200 for executing the cleaning task, and the intelligent robot 100 according to the embodiment of the present invention, when the current cleaning task is executed, it is first detected in real time whether the proportion of the area of the preset object in the area surrounded by the outer path of the cleaning task is greater than the proportion threshold value, and when the proportion is less than the proportion threshold value, the current cleaning task is executed; when the proportion is greater than the proportion threshold value, the number of preset objects in the area surrounded by the outer ring path of the current cleaning task is too many, and the current cleaning task can not be efficiently completed at the current time node, so that the current cleaning task can be skipped first, another cleaning task is selected to be executed, too much time cannot be wasted in the current cleaning task, the efficiency of completing the cleaning task group by the intelligent robot 100 is improved, and the cleaning effect is improved.

The intelligent robot 100 may be a robot such as a sweeper, a scrubber, a vacuum cleaner, or the like. The smart robot 100 may also include elements such as a communication interface 30, a cleaning implement, and the like. The intelligent robot 100 may be used to clean surfaces such as floors, floor tiles, pavements, or cement grounds.

In step 06, a cleaning task group is obtained, where the cleaning task group includes a plurality of cleaning tasks, the plurality of cleaning tasks may be cleaning tasks that need to be performed in different areas, and the plurality of cleaning tasks may also be cleaning tasks that need to be performed in different sub-areas within the same area. Each cleaning task is associated with a closed outer path and an inner path surrounded by the outer path. In the example shown in fig. 4, there is one cleaning task group in the area M, the cleaning task group including three cleaning tasks, each cleaning task being associated with an outer-circle path and an inner-circle path, specifically, one cleaning task being associated with a closed outer-circle path P1, another cleaning task being associated with a closed outer-circle path P2, and another cleaning task being associated with a closed outer-circle path P3, and of course, each closed outer-circle path P1, P2, P3 further includes a corresponding inner-circle path therein. When executing the cleaning task group, one cleaning task may be selected as the current cleaning task to be implemented.

In step 07: in the pre-cleaning step, the intelligent robot 100 is controlled to clean along the outer path of the current cleaning task, and the proportion of the area of the preset object in the area surrounded by the outer path of the current task to the area surrounded by the outer path of the current task is detected in real time. The intelligent robot 100 may be mounted with a detection device such as a camera or a laser radar, and when the intelligent robot 100 cleans along the outer path of the current cleaning task, the detection device detects in real time the area surrounded by the outer path of the current task, and presets the floor area of the object. The preset object may be all objects higher than the ground by a certain height in an area surrounded by the outer circle path, such as a table, a stool, a counter, a person, and the like, and the certain height may be any height, such as 1 cm, 5 cm, 10 cm, and the like. The area enclosed by the outer circle path can be directly calculated from the map, and the proportion is obtained by dividing the floor area of the preset object by the area enclosed by the outer circle path, and the proportion can be used for representing the difficulty degree of cleaning the area enclosed by the outer circle path.

In step 08, when the ratio is smaller than a preset ratio threshold, the intelligent robot 100 is controlled to clean along the inner circle path of the current cleaning task to complete the current cleaning task. The ratio threshold may be an experience value set manually, for example, 0.4, 0.5, 0.6, 0.7, and the like, and may also be set according to a type of an area where the current cleaning task needs to be performed, for example, the type of the area where the current cleaning task needs to be performed is quotient overtime, one ratio threshold is set, and when the type of the area where the current cleaning task needs to be performed is square, another ratio threshold is set, which is not limited herein. When the ratio is smaller than the ratio threshold, it is indicated that the area surrounded by the outer path of the current task is easy to clean, and the current time node can quickly complete the current cleaning task, so that the intelligent robot 100 is controlled to clean along the inner path to complete the current cleaning task.

In step 09, when the ratio is greater than the preset ratio threshold, the intelligent robot 100 is controlled to select another cleaning task as the current cleaning task, and the pre-cleaning step is performed. When the ratio is greater than the ratio threshold, it is indicated that the area surrounded by the outer path of the current task is not easily cleaned, for example, more people move in the area, and the current time node is not suitable for cleaning the area, so that the intelligent robot 100 is controlled to temporarily skip the current cleaning task, and first search and execute the cleaning task that is easily executed, so as to improve the efficiency of executing the cleaning task group, specifically, the intelligent robot 100 is controlled to select another cleaning task as a new current cleaning task and execute the pre-cleaning step.

In addition, when the ratio is equal to the preset ratio threshold, in one example, the intelligent robot 100 may be controlled to clean along the inner circle path of the current cleaning task to complete the current cleaning task, and in another example, the intelligent robot 100 may also be controlled to select another cleaning task as a new current cleaning task and perform the pre-cleaning step, which is not limited herein.

Referring to fig. 5, in some embodiments, after performing step 08, the method for performing the cleaning task further includes the steps of:

0 a: after the previous pre-cleaning step is executed, the unfinished cleaning task is taken as the current cleaning task, and the pre-cleaning step is executed; and

0 b: and when the number of times that the same cleaning task is used as the current cleaning task to execute the pre-cleaning step is larger than the number threshold and the proportion is larger than the proportion threshold, giving up executing the same cleaning task.

Referring to fig. 2, in some embodiments, the processor 10 may be further configured to perform steps 0a and 0b, that is, after performing the pre-cleaning step for the previous time, the processor 10 may be configured to perform the pre-cleaning step as the current cleaning task and perform the same cleaning task when the number of times that the pre-cleaning step is performed for the same cleaning task as the current cleaning task is greater than the number threshold and the ratio is greater than the ratio threshold.

Referring to fig. 3, in some embodiments, the pre-cleaning module 207 may be further configured to perform steps 0a and 0b, that is, the pre-cleaning module 207 may be configured to perform the pre-cleaning step after performing the pre-cleaning step for the previous time, perform the pre-cleaning step with an unfinished cleaning task as the current cleaning task, and abandon performing the same cleaning task when the number of times of performing the pre-cleaning step with the same cleaning task as the current cleaning task is greater than the number threshold and the ratio is greater than the ratio threshold.

In steps 0a and 0b, after a cleaning task is executed, the cleaning task which is not completed after the previous pre-cleaning step is performed again, so that the cleaning task which is not completed can be completed in time when the proportion is smaller than the proportion threshold value.

In step 0a, after step 08 is performed, a cleaning task is performed, and at this time, a cleaning task that was performed in the previous pre-cleaning step and failed to be performed due to the proportion being greater than the proportion threshold is preferably selected as the current cleaning task, and the pre-cleaning step is performed, and whether the current time node is suitable for performing the cleaning task that was skipped before is timely determined again, so that the cleaning task is prevented from being omitted.

In step 0b, when the same cleaning task is skipped for multiple times and the number of skipping times is greater than the number threshold, it indicates that the same cleaning task cannot be rapidly executed and completed in a short time, at this time, the execution of the same cleaning task may be abandoned, and after step 08 is implemented in the process of executing the subsequent cleaning task execution method, the same cleaning task is not selected again as the current cleaning task to execute the pre-cleaning step, so that excessive time spent on the same cleaning task is avoided, and the efficiency of completing the cleaning task group is improved. The number threshold may be set by a user, and may be, for example, three times, four times, five times, six times, and the like, which is not limited herein.

An embodiment of the cleaning task associated with the outer ring path and the inner ring path will be described below, and it is understood that the specific form of the outer ring path and the inner ring path associated with the cleaning task is not limited to the following examples, and other specific forms are possible, and are not limited herein.

Referring to fig. 2 and 6, in some embodiments, before step 06, the method for performing the cleaning task further includes the steps of:

01: the method comprises the steps that a detail map of a complex public area to be cleaned corresponding to a cleaning task is obtained, the detail map comprises a boundary line and an object area, the boundary line corresponds to the boundary of the complex public area to be cleaned, the object area corresponds to a preset object in the complex public area to be cleaned, and the detail map further comprises shape information of the object area and identification information of the object area;

02: dividing the detail map into a plurality of clean areas without the object area according to the boundary line and the object area;

03: generating a full coverage sub-path within each cleaning zone;

04: generating a full-coverage path according to the plurality of full-coverage sub-paths; and

05: the boundary line is used as an outer ring path of the cleaning task, and the full coverage path is used as an inner ring path of the cleaning task.

In some embodiments, when the processor 10 executes the program, the processor 10 may be configured to perform step 01, step 02, step 03, step 04, and step 05. That is, the processor 10 may be used to obtain a detailed map of a complex public area to be cleaned; dividing the detail map into a plurality of clean areas without the object area according to the boundary line and the object area; generating a full coverage sub-path within each cleaning zone; generating a full-coverage path according to the plurality of full-coverage sub-paths; and taking the boundary line as an outer ring path of the cleaning task and taking the full coverage path as an inner ring path of the cleaning task.

Referring to fig. 7, the device 200 for executing a cleaning task according to the embodiment of the present disclosure further includes a second obtaining module 201, a dividing module 202, a first generating module 203, a second generating module 204, and a third generating module 205. The second obtaining module 201, the dividing module 202, the first generating module 203, the second generating module 204, and the third generating module 205 may be configured to perform

steps

01, 02, 03, 04, and 05, respectively. That is, the second obtaining module 201 may be used to obtain a detail map of a complex public area to be cleaned; the dividing module 202 may be configured to divide the detail map into a plurality of clean areas without the object area according to the boundary line and the object area; the first generation module 203 may be used to generate a full coverage sub-path within each cleaning region; the second generating module 204 may be configured to generate a full-coverage path according to a plurality of full-coverage sub-paths; the third generation module 205 may be configured to use the boundary line as an outer path for the cleaning task and the full coverage path as an inner path for the cleaning task.

In the embodiment, a detail map of a complex public area to be cleaned corresponding to a cleaning task is obtained, the detail map is divided into a plurality of cleaning areas according to boundary lines and object areas of the detail map, full-coverage sub-paths in each cleaning area are generated, full-coverage paths are generated according to the full-coverage sub-paths, the boundary lines are used as outer-circle paths and are associated with the cleaning task, and the full-coverage paths are used as inner-circle paths and are associated with the cleaning task. After the cleaning areas are divided into the plurality of cleaning areas, the full-coverage sub-paths with high coverage rate can be easily planned in the cleaning areas, meanwhile, the full-coverage sub-paths cannot be crossed with each other, when the intelligent robot 100 cleans the complex public areas according to the full-coverage paths, the coverage rate is high, the number of repeatedly cleaned areas is small, and the efficiency of cleaning task execution is further improved.

In step 01, a detail map of a complex public area to be cleaned corresponding to the cleaning task is obtained, where the complex public area to be cleaned may be a public area such as a business super, a warehouse, an office building, a road surface, a square, a park, a green road, a school, a library, and the like, and is not limited herein. The detail map may refer to a plan map of an area to be cleaned in a complex public area to be cleaned, the boundary line on the detail map may refer to the representation of the boundary of the area to be cleaned on the detail map, and the object area on the detail map may refer to an area occupied by a preset object in the area to be cleaned on the detail map. The preset objects can be objects such as obstacles, lawns, blind roads, people streams and the like in a complex public area to be cleaned. The obstacle may be a street lamp, a ground socket, a road sign, a tree, a table and a chair, etc. in a complex public area to be cleaned, and when the preset object is an obstacle, the object area may also be referred to as an obstacle area. The detail map further comprises shape information of the object area and identification information of the object area, wherein the shape information comprises the shape of the object area, such as rectangle, ellipse, circle and the like, the identification information comprises the type of the object, such as lawn, or street lamp, tree, table foot and the like, the external contour of the object can be reflected through the shape information, and the type of the object can be reflected through the identification information. Different cleaning tasks may correspond to different complex public areas to be cleaned.

In step 02, the detail map is divided into a plurality of cleaning areas without the object area according to the boundary line and the object area, so that a specific full-coverage sub-path can be conveniently planned according to the shape and the like of the specific cleaning area. The manner of dividing the detail map into the plurality of cleaning areas may be, without limitation, dividing a protruding portion of the detail map into independent cleaning areas according to a boundary line, and dividing an area of the detail map farther from a preset object into independent cleaning areas. The divided cleaning area does not contain the object area, so that the influence of the object area is avoided when the full-coverage sub-path is planned in the cleaning area, the calculation amount for generating the full-coverage sub-path is reduced, and the full-coverage sub-path can be planned quickly. It should be noted that the division of the cleaning area is performed according to the features in the detail map, and when the cleaning task is actually performed, the preset objects may be newly present in the cleaning area.

In step 03, generating a full-coverage sub-path in each cleaning region, so that the full-coverage sub-paths can be planned in different cleaning regions in different planning manners, and the different full-coverage sub-paths do not intersect with each other, so that the full-coverage sub-paths with high coverage rate can be easily planned in the cleaning regions.

In step 04, a full-coverage path is generated according to the multiple full-coverage sub-paths, specifically, the adjacent full-coverage sub-paths may be connected end to end through a smooth curve, for example, a bezier curve (bezier curve) or a local path planner is used to connect the full-coverage sub-paths end to end, so as to form a complete full-coverage path.

In step 05, the boundary line is used as an outer ring path of the cleaning task, and the full coverage path is used as an inner ring path of the cleaning task, so that the corresponding outer ring path and inner ring path can be conveniently obtained when the cleaning task needs to be executed subsequently.

After step 05 is implemented, the intelligent robot 100 may clean the complex public area to be cleaned according to the full coverage path, and in the cleaning process, the intelligent robot 100 may not touch the preset object, and the intelligent robot 100 may not need to perform the operation of calculating the full coverage path, and only needs to perform cleaning according to the pre-generated full coverage path. In addition, in practical use, a plurality of intelligent robots 100 can be used simultaneously to clean along different full coverage sub-paths, so as to further improve the efficiency of cleaning complex public areas.

After the step 01, the step 02, the step 03, the step 04 and the step 05 are executed for one cleaning task, it can be considered that the setting for one cleaning task is finished, another cleaning task can be set subsequently, and a plurality of set cleaning tasks are selected and included in the cleaning task group until all the cleaning tasks are set.

Referring to fig. 8, in some embodiments, step 01 includes the steps of:

011: acquiring a global map of a complex public area to be cleaned, wherein the global map comprises an object area;

012: acquiring feature points on the global map; and

013: and determining a boundary line and a detail map corresponding to the cleaning task according to the characteristic points.

Referring to fig. 2, in some embodiments, the processor 10 may further be configured to perform step 011, step 012, and step 013. That is, the processor 10 may also be used to obtain a global map of the complex public area to be cleaned; acquiring feature points on the global map; and determining a boundary line and a detail map corresponding to the cleaning task according to the characteristic points.

Referring to fig. 7, in some embodiments, the second obtaining module 201 can be further configured to perform step 011, step 012, and step 013. That is, the second obtaining module 201 may also be configured to obtain a global map of the complex public area to be cleaned; acquiring feature points on the global map; and determining a boundary line and a detail map corresponding to the cleaning task according to the characteristic points.

In step 011, a global map of the complex public area to be cleaned is obtained, the global map refers to a planar map of the complex public area to be cleaned, the detail map may be a part of the global map, and the detail map may also be a whole global map. The global map includes an object region. Referring to fig. 9, in the example shown in fig. 9, the global map is M, the global map M is surrounded by a closed contour line L, an object area in the global map M is S, and the object area S can be used to represent the position and the floor area of a preset object in the complex public area to be cleaned.

In step 012, feature points on the global map are obtained, where the feature points may be points that are obtained by a user according to user input and are arbitrarily selected in the global map, the number of the feature points may be multiple, the user input may be touch input of the user or coordinates of the feature points input by the user, for example, the global map may be displayed on a terminal through an APP, the user may sequentially select (for example, select clockwise or select counterclockwise) a plurality of points in the displayed global map, and the selected points may be used as the feature points, so as to meet a personalized cleaning requirement of the user. Referring to fig. 4, in the example shown in fig. 4, the user may sequentially select a point a, a point b, a point c, a point d, and a point e in the global map M, and the point a, the point b, the point c, the point d, and the point e may be used as feature points. Of course, the feature points may be obtained in other manners, which are not limited herein, for example, the user may first select a plurality of points that can enclose a default graph (e.g., a rectangle, a regular hexagon, an isosceles triangle, a circle, etc.), and then determine the positions of the plurality of points by moving, rotating, and scaling the default graph, and the determined plurality of points may be used as the feature points.

In step 013, a boundary line and a detail map corresponding to the cleaning task are determined according to the feature points. Specifically, the plurality of feature points may be connected in a predetermined order to determine the boundary line, for example, the plurality of feature points may be connected in order according to the order of the feature points input by the user, the connected line may be a line segment, and a closed graph may be formed after the connection, and a part of the map included in the closed graph may be used as a detail map. Furthermore, the user can also drag the positions of the characteristic points to change and look up the change condition of the boundary line in real time, so that the interestingness and the adjustability of the boundary line are improved. In the example shown in fig. 4, according to the position information of the point a, the point b, the point c, the point d, and the point e on the global map M, the point a, the point b, the point c, the point d, the point e, and the point a are sequentially connected to obtain a closed graph a-b-c-d-e (i.e., an outer circle path P1), a contour line of the graph a-b-c-d-e may be used as a boundary line, and a map surrounded by the graph a-b-c-d-e may be used as a detail map, which indicates that a user needs to clean an area corresponding to the detail map, and then needs to plan a full coverage path in the detail map, and an area corresponding to the map outside the detail map is not used as a cleaning target of the cleaning task.

Referring to FIG. 10, in some embodiments, step 011 includes the steps of:

0111: controlling the intelligent robot 100 to move in the complex public area, and detecting a preset object in the complex public area to obtain a global map; or

0112: a global map pre-stored and transmitted by an external device is acquired.

Referring to fig. 2, in some embodiments, the processor 10 may be configured to implement step 0111 or step 0112. That is, the processor 10 may be configured to control the intelligent robot 100 to move in the complex public area, and detect a preset object of the complex public area to obtain a global map; or the processor 10 may be used to retrieve a global map pre-stored and transmitted by an external device.

Referring to fig. 7, in some embodiments, the second obtaining module 201 may be configured to implement step 0111 or step 0112. That is, the second obtaining module 201 may be configured to control the intelligent robot 100 to move in the complex public area, and detect a preset object in the complex public area to obtain the global map; or the second obtaining module 201 may be configured to obtain the global map pre-stored and transmitted by the external device.

When the global map is detected by controlling the current intelligent robot 100 to move in the complex public area to be cleaned, the accuracy of the global map is higher. Specifically, the intelligent robot 100 may be controlled to move along the boundary of the complex public area to be cleaned, and the movement track of the intelligent robot 100 may be used as the boundary line of the global map. After the boundary line of the global map is determined, the intelligent robot 100 may be controlled to move inside the complex public area to be cleaned, and simultaneously detect a preset object on the ground. Taking the preset object as an example, when an object higher than the ground by a certain distance is detected by a laser, a camera and the like, the object is considered as an obstacle, that is, the obstacle can be all objects higher than the ground by a certain height detected by the laser, the camera and the like, wherein the certain height can be any height of one centimeter, two centimeters, three centimeters and the like, and the certain height can be selected to be different for different complex public areas to be cleaned. The shape information of the target area may be confirmed on the global map according to the shape of the obstacle detected by the intelligent robot 100, and the identification information of the target area may be determined according to the shape information, the size of the obstacle, the position where the obstacle is located, and the like.

When the global map is acquired from the external equipment, the global map is acquired more quickly, and the efficiency of generating the full-coverage path is improved. Specifically, the external device may be a server, a storage device, the rest of the intelligent robot 100, and the like, and for the same or the same layout of the complex public area to be cleaned, the global map prestored in the external device may be shared with the intelligent robot 100, and the intelligent robot 100 does not need to be controlled to detect the complex public area to be cleaned, so that the cleaning efficiency is improved.

Referring to fig. 11, in some embodiments, step 02 includes the steps of:

021: identifying a dividing point according to the boundary line, wherein the internal angle of the detail map at the dividing point is more than 180 degrees;

022: dividing the detail map into a plurality of detail sub-maps according to the division points, wherein the internal angle of any point of the detail sub-maps on the boundary is less than or equal to 180 degrees; and

023: the detail sub-map is divided into a plurality of clean areas according to the object area.

Referring to fig. 2, in some embodiments, the processor 10 may be configured to perform

steps

021, 022, and 023. That is, the processor 10 may be configured to identify a segmentation point according to the boundary line, where an interior angle of the detail map at the segmentation point is greater than 180 degrees; dividing the detail map into a plurality of detail sub-maps according to the division points, wherein the internal angle of any point of the detail sub-maps on the boundary is less than or equal to 180 degrees; and dividing the detail sub-map into a plurality of clean areas according to the object area.

Referring to fig. 7, in some embodiments, the dividing module 202 can be used to implement step 021, step 022 and step 023. That is, the dividing module 202 may be configured to identify a dividing point according to the boundary line, where an internal angle of the detail map at the dividing point is greater than 180 degrees; dividing the detail map into a plurality of detail sub-maps according to the division points, wherein the internal angle of any point of the detail sub-maps on the boundary is less than or equal to 180 degrees; and dividing the detail sub-map into a plurality of clean areas according to the object area.

In step 021, the dividing points are identified according to the boundary lines, and the internal angle of the detail map at the dividing points is greater than 180 degrees. When the boundaries of the detail map are all line segments, whether the intersection point in the boundaries meets the condition that the interior angle is larger than 180 degrees or not can be judged, and therefore the segmentation point can be quickly identified; when the boundary of the detail map includes a curve, it is necessary to determine whether or not the internal angle is satisfied at a plurality of points on the curve is greater than 180 degrees. Referring to fig. 12, in the example shown in fig. 12, the boundary line of the detail map is the contour line of the graph a-b-c-d-e, and if the interior angle of the graph a-b-c-d-e at the point c is greater than 180 degrees, it is recognized that the point c is a division point, and the rest of the points are not division points.

In step 022, the detail map is divided into a plurality of detail sub-maps according to the division points, and an internal angle of any point of the detail sub-maps on the boundary is less than or equal to 180 degrees. When the detail sub-map is obtained through division, the detail sub-map can be divided through one or more dividing lines, the dividing lines can penetrate through the dividing points, and the dividing lines can be line segments or curves or lines consisting of line segments and curves. The divided detail sub-map is required to satisfy that the internal angle of any point on the boundary is less than or equal to 180 degrees. Referring to fig. 12, in the example shown in fig. 12, a point c is a dividing point, and the detail map is divided into two detail sub-maps, namely a detail sub-map a and a detail sub-map B, by a dividing line cf, where the boundary of the detail sub-map a is a-B-c-f, and the boundary of the detail sub-map B is c-d-e-f. The internal angle of any point on the boundary of the detail sub-map A is less than or equal to 180 degrees, and the internal angle of any point on the boundary of the detail sub-map B is less than or equal to 180 degrees.

In step 023, the detail sub-map is divided into a plurality of clean areas according to the object areas. The detail sub-map may include an object area, the object area indicates that a preset object exists in the area to be cleaned, and when the full-coverage path is planned, the area except the object area in the detail sub-map can be planned, so that the finally obtained full-coverage path does not pass through the object area. When the detail sub-map is divided into a plurality of cleaning areas according to the object area, the detail sub-map can be divided into a plurality of cleaning areas through dividing lines, wherein the boundary of the object area is used as a part of the dividing lines, so that all the cleaning areas which do not contain the preset object can be completely embodied by the divided cleaning areas, and the cleaning areas do not intersect with the object area. The dividing line may be a straight line or a curved line, or may include both a straight line and a curved line. Referring to fig. 13, in the example shown in fig. 13, the object area is an area (shaded area) surrounded by h-i-m-l, the detail sub-map a is divided into a plurality of clean areas by a line segment gj, a line segment hl, a line segment kn, and a line segment im, the line segment gj, the line segment hl, and the line segment kn are dividing lines, a boundary line segment hi of the preset object is a part of the dividing line segment gj, the boundary line segment hl is a part of the dividing line segment hl, the boundary line segment lm is a part of the dividing line segment kn, and the boundary line segment im is a part of the dividing line segment im. The plurality of cleaning regions are cleaning region A1 (e-f-g-j), cleaning region A2 (i-j-n-m), cleaning region A3 (g-h-l-k), and cleaning region A4 (c-d-n-k), respectively. Since the detail sub-map B does not include the object region, the detail sub-map B may not need to be divided. Of course, the specific dividing manner is not limited to the example shown in fig. 13, and the cleaning region may be divided in any feasible manner.

Referring to fig. 14, in some embodiments, step 03 includes the steps of:

031: generating a plurality of linear paths in the cleaning area along the length direction of the cleaning area by using straight lines with preset widths; and

032: and sequentially connecting a plurality of straight-line paths end to end through a Bezier curve to generate a full-coverage sub-path.

Referring to fig. 2, in some embodiments, the processor 10 may be configured to perform step 031 and step 032. That is, the processor 10 may be configured to generate a plurality of linear paths within the cleaning region in a straight line of a preset width along the length direction of the cleaning region; and sequentially connecting a plurality of linear paths end to end through Bezier curves to generate a full-coverage sub-path.

Referring to fig. 7, in some embodiments, the first generation module 203 can be used to perform step 031 and step 032. That is, the first generating module 203 may be configured to generate a plurality of linear paths in a straight line of a preset width in the cleaning region along the length direction of the cleaning region; and sequentially connecting a plurality of linear paths end to end through Bezier curves to generate a full-coverage sub-path.

In step 031, a plurality of straight paths are generated in the cleaning region along a length direction of the cleaning region with a straight line of a predetermined width. The preset width may be determined by an actual width of a cleaning execution device of the intelligent robot 100, the cleaning execution device may be, for example, a rolling brush, a cleaning cloth, a water absorption rake, and the like, and the width of the cleaning execution device on the map on the detail map may be obtained by combining a scale of the detail map and the actual width of the cleaning execution device, and the preset width may be a value of the width on the map. Preferentially, a plurality of linear paths are generated along the length direction of the cleaning area, the linear paths are convenient for the intelligent robot 100 to execute cleaning operation, the linear paths are planned along the length direction, the length of curves in the full-coverage sub-paths is reduced, the turning operation of the intelligent robot 100 during cleaning is reduced, and the cleaning efficiency is improved. In the example shown in fig. 15, a schematic diagram of generating a full-coverage sub-path (shown by a dotted line in fig. 15) in the cleaning region a1 (e-f-g-j) and the cleaning region a2 (i-j-n-m) is shown, and taking the full-coverage sub-path in the cleaning region a1 as an example, a plurality of straight-line paths T1 are first generated along the length direction of the cleaning region a1, and the distance between two adjacent straight-line paths T1 is a preset width.

In step 032, a plurality of linear paths are sequentially connected end to end through bezier curves to generate a full coverage sub-path. Specifically, the end point of the previous straight line path and the start point of the next straight line path may be connected by a bezier curve, and if necessary, an auxiliary point may be selected to assist in using the bezier curve. The transition among the plurality of linear paths can be smooth by connecting the plurality of linear paths through the bezier curve, the intelligent robot 100 can move relatively continuously during actual cleaning, and the cleaning efficiency is improved. In the example shown in fig. 15, two adjacent straight paths T1 may be connected by a bezier curve T2, so that the resulting full coverage sub-path has only one start point and one end point, and the coverage of the cleaning area by the full coverage sub-path is high.

Further, in step 04, the multiple full-coverage sub-paths of the multiple cleaning regions generated in step 03 may be connected to obtain a complete full-coverage path, specifically, two multiple full-coverage sub-paths may be connected end to end by using a bezier curve or a local path planner, where the local path planner may be a local path planner that adopts an a-x algorithm. In the example shown in fig. 15, the full coverage sub-path of cleaning area a1 and the full coverage sub-path of cleaning area a2 may be connected by a curve T3.

Referring to fig. 2 again, the memory 20 is used for storing a computer program that can be executed on the processor 10, and the processor 10 executes the computer program to implement the method for performing the cleaning task in any of the above embodiments.

The memory 20 may comprise high-speed RAM memory and may also include non-volatile memory (non-volatile memory), such as at least one disk memory. Further, the intelligent robot 100 may further include a communication interface 30, and the communication interface 30 is used for communication between the memory 20 and the processor 10.

If the memory 20, the processor 10 and the communication interface 30 are implemented independently, the communication interface 30, the memory 20 and the processor 10 may be connected to each other through a bus and perform communication with each other. The bus may be an Industry Standard Architecture (ISA) bus, a Peripheral Component Interconnect (PCI) bus, an Extended ISA (enhanced Industry Standard Architecture) bus, or the like. The bus may be divided into an address bus, a data bus, a control bus, etc. For ease of illustration, only one thick line is shown in FIG. 2, but it is not intended that there be only one bus or one type of bus.

Optionally, in a specific implementation, if the memory 20, the processor 10, and the communication interface 30 are integrated on a chip, the memory 20, the processor 10, and the communication interface 30 may complete communication with each other through an internal interface.

The processor 10 may be a Central Processing Unit (CPU), an Application Specific Integrated Circuit (ASIC), or one or more Integrated circuits configured to implement embodiments of the present Application.

Referring to fig. 16, a non-transitory computer-readable storage medium of an embodiment of the present application includes computer-executable instructions that, when executed by one or more processors 400, cause the processors 400 to perform a method of performing a cleaning task of any embodiment of the present application.

For example, when the computer-executable instructions are executed by the processor 400, the processor 400 is configured to perform the steps of:

07: a pre-cleaning step: controlling the intelligent robot to clean along the outer ring path of the current cleaning task, and detecting the proportion of the area of a preset object in the area surrounded by the outer ring path of the current task in real time;

08: when the proportion is smaller than a preset proportion threshold value, controlling the intelligent robot to clean along an inner ring path of the current cleaning task so as to complete the current cleaning task; and

09: and when the proportion is larger than a preset proportion threshold value, controlling the intelligent robot to select another cleaning task as the current cleaning task and executing a pre-cleaning step.

On which a computer program is stored which, when executed by the processor 10, carries out the method of performing the cleaning task as described above.

Any process or method descriptions in flow charts or otherwise described herein may be understood as representing modules, segments, or portions of code which include one or more executable instructions for implementing steps of a custom logic function or process, and alternate implementations are included within the scope of the preferred embodiment of the present application in which functions may be executed out of order from that shown or discussed, including substantially concurrently or in reverse order, depending on the functionality involved, as would be understood by those reasonably skilled in the art of the present application.

The logic and/or steps represented in the flowcharts or otherwise described herein, e.g., an ordered listing of executable instructions that can be considered to implement logical functions, can be embodied in any computer-readable medium for use by or in connection with an instruction execution system, apparatus, or device, such as a computer-based system, processor-containing system, or other system that can fetch the instructions from the instruction execution system, apparatus, or device and execute the instructions. For the purposes of this description, a "computer-readable medium" can be any means that can contain, store, communicate, propagate, or transport the program for use by or in connection with the instruction execution system, apparatus, or device. More specific examples (a non-exhaustive list) of the computer-readable medium would include the following: an electrical connection (electronic device) having one or more wires, a portable computer diskette (magnetic device), a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber device, and a portable compact disc read-only memory (CDROM). Additionally, the computer-readable medium could even be paper or another suitable medium upon which the program is printed, as the program can be electronically captured, via for instance optical scanning of the paper or other medium, then compiled, interpreted or otherwise processed in a suitable manner if necessary, and then stored in a computer memory.

It should be understood that portions of the present application may be implemented in hardware, software, firmware, or a combination thereof. In the above embodiments, the various steps or methods may be implemented in software or firmware stored in memory and executed by a suitable instruction execution system. If implemented in hardware, as in another embodiment, any one or combination of the following techniques, which are known in the art, may be used: a discrete logic circuit having a logic gate circuit for implementing a logic function on a data signal, an application specific integrated circuit having an appropriate combinational logic gate circuit, a Programmable Gate Array (PGA), a Field Programmable Gate Array (FPGA), or the like.

It will be understood by those skilled in the art that all or part of the steps carried by the method for implementing the above embodiments may be implemented by hardware related to instructions of a program, which may be stored in a computer readable storage medium, and when the program is executed, the program includes one or a combination of the steps of the method embodiments.

In addition, functional units in the embodiments of the present application may be integrated into one processing module, or each unit may exist alone physically, or two or more units are integrated into one module. The integrated module can be realized in a hardware mode, and can also be realized in a software functional module mode. The integrated module, if implemented in the form of a software functional module and sold or used as a stand-alone product, may also be stored in a computer readable storage medium. The storage medium mentioned above may be a read-only memory, a magnetic or optical disk, etc.

In the description herein, reference to the description of the terms "certain embodiments," "one embodiment," "some embodiments," "illustrative embodiments," "examples," "specific examples," or "some examples" means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the application. In this specification, schematic representations of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.

Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of the feature. In the description of the present application, "a plurality" means at least two, e.g., two, three, unless specifically limited otherwise.

Although embodiments of the present application have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present application, and that variations, modifications, substitutions and alterations of the above embodiments may be made by those of ordinary skill in the art within the scope of the present application, which is defined by the claims and their equivalents.

Claims

1. A method for executing a cleaning task, which is used for an intelligent robot, is characterized by comprising the following steps:

acquiring a cleaning task group, wherein the cleaning task group comprises a plurality of cleaning tasks, and each cleaning task is associated with a closed outer ring path and an inner ring path surrounded by the outer ring path;

a pre-cleaning step: controlling the intelligent robot to clean along an outer ring path of a current cleaning task, and detecting the proportion of the area of a preset object in the area surrounded by the outer ring path of the current task in real time;

when the proportion is smaller than a preset proportion threshold value, controlling the intelligent robot to clean along an inner ring path of the current cleaning task so as to complete the current cleaning task; and

and when the proportion is larger than a preset proportion threshold value, controlling the intelligent robot to select another cleaning task as the current cleaning task and executing the pre-cleaning step.

2. The method of claim 1, wherein after controlling the intelligent robot to clean along the inner circle path of the current cleaning task to complete the current cleaning task, the method further comprises:

after the pre-cleaning step is executed for the previous time, taking an unfinished cleaning task as a current cleaning task, and executing the pre-cleaning step; and

and when the times of executing the pre-cleaning step by taking the same cleaning task as the current cleaning task are larger than a time threshold value and the ratios are all larger than the ratio threshold value, giving up executing the same cleaning task.

3. The method of performing a cleaning task of claim 1, further comprising:

the method comprises the steps of obtaining a detail map of a complex public area to be cleaned corresponding to a cleaning task, wherein the detail map comprises a boundary line and an object area, the boundary line corresponds to the boundary of the complex public area to be cleaned, the object area corresponds to a preset object in the complex public area to be cleaned, and the detail map further comprises shape information of the object area and identification information of the object area;

dividing the detail map into a plurality of clean areas without the object area according to the boundary line and the object area;

generating a full coverage sub-path within each of the cleaning zones;

generating a full-coverage path according to the plurality of full-coverage sub-paths; and

and taking the boundary line as an outer ring path of the cleaning task, and taking the full coverage path as an inner ring path of the cleaning task.

4. The method for executing the cleaning task according to claim 3, wherein the obtaining of the detail map of the complex public area to be cleaned corresponding to the cleaning task comprises:

acquiring a global map of the complex public area to be cleaned, wherein the global map comprises the object area;

acquiring feature points on the global map; and

and determining the boundary line and the detail map corresponding to the cleaning task according to the characteristic points.

5. The method for performing a cleaning task according to claim 4, wherein the obtaining a global map of the complex public area to be cleaned comprises:

controlling the intelligent robot to move in the complex public area, and detecting a preset object of the complex public area to obtain the global map; or

And acquiring the global map prestored and transmitted by the external equipment.

6. The method according to any one of claims 3 to 5, wherein the dividing the detail map into a plurality of cleaning areas not including the object area according to the boundary line and the object area comprises:

identifying a dividing point according to the boundary line, wherein the internal angle of the detail map at the dividing point is more than 180 degrees;

dividing the detail map into a plurality of detail sub-maps according to the division points, wherein the internal angle of any point of the detail sub-maps on the boundary is less than or equal to 180 degrees; and

dividing the detail sub-map into a plurality of the cleaning areas in accordance with the object area.

7. The method of any one of claims 3 to 5, wherein the generating a full coverage sub-path within each of the cleaning zones comprises:

generating a plurality of linear paths in the cleaning area along a length direction of the cleaning area in a straight line of a preset width; and

and sequentially connecting the straight-line paths end to end through a Bezier curve to generate the full-coverage sub-path.

8. An execution device of a cleaning task for an intelligent robot, the execution device of the cleaning task comprising:

the cleaning system comprises a first acquisition module, a second acquisition module and a cleaning module, wherein the first acquisition module is used for acquiring a cleaning task group, the cleaning task group comprises a plurality of cleaning tasks, and each cleaning task is associated with a closed outer ring path and an inner ring path surrounded by the outer ring path;

a pre-cleaning module for performing a pre-cleaning step, the pre-cleaning step comprising: controlling the intelligent robot to clean along an outer ring path of a current cleaning task, and detecting the proportion of the area of a preset object in the area surrounded by the outer ring path of the current task in real time; and

the control module is used for controlling the intelligent robot to clean along an inner ring path of the current cleaning task to complete the current cleaning task when the proportion is smaller than a preset proportion threshold; and when the proportion is larger than a preset proportion threshold value, controlling the intelligent robot to select another cleaning task as the current cleaning task, and executing the pre-cleaning step by the pre-cleaning module.

9. An intelligent robot, comprising:

one or more processors, memory; and

one or more programs, wherein the one or more programs are stored in the memory and executed by the one or more processors, the programs comprising instructions for performing the method of performing a cleaning task of any of claims 1-7.

10. A non-transitory computer-readable storage medium containing computer-executable instructions that, when executed by one or more processors, cause the processors to perform a method of performing a cleaning task as recited in any one of claims 1-7.