CN111557622A

CN111557622A - Cleaning path generation method and device, computer device and storage device

Info

Publication number: CN111557622A
Application number: CN202010363787.3A
Authority: CN
Inventors: 不公告发明人
Original assignee: Shenzhen Topband Co Ltd
Current assignee: Shenzhen Topband Co Ltd
Priority date: 2020-04-30
Filing date: 2020-04-30
Publication date: 2020-08-21
Anticipated expiration: 2040-04-30
Also published as: CN111557622B

Abstract

The invention provides a cleaning path generation method and device, a computer device and a storage device, wherein the method comprises the following steps: obtaining map information which is scaled in equal proportion to an actual map; outputting map information to a user; receiving a line drawing instruction input by a user on map information, and generating line drawing characteristics in real time according to the line drawing instruction; generating a cleaning path of the cleaning equipment according to the line drawing characteristics; the line drawing instruction comprises moving track information or at least two tracing point information and a line type connecting the tracing point information. Through outputting map information to a user, receiving a line drawing instruction input by the user on the map information, generating a line drawing characteristic in real time according to the line drawing instruction, generating a corresponding cleaning path according to the line drawing characteristic, generating an effect of generating the corresponding cleaning path according to the selection of the user, and determining the cleaning path of cleaning equipment by the user, so that the flexibility of cleaning the path is improved, the cleaning efficiency is improved, and the cleaning path is generated conveniently and efficiently.

Description

Cleaning path generation method and device, computer device and storage device

Technical Field

The invention belongs to the technical field of mobile robots, and particularly relates to a cleaning path generation method and device, a computer device and a storage device.

Background

Along with the development of the internet of things, intelligent household equipment is continuously researched and developed and applied to actual life so as to liberate people from complicated affairs work, for example, ground cleaning equipment such as a floor washing machine and a sweeper can help people clean the ground in various scenes such as houses, offices and public places so as to liberate corresponding manpower.

The existing generation mode of the cleaning path is an autonomous planning mode, wherein the autonomous planning mode is that a map is built according to environment information by generally collecting the environment information through a radar or a sensor, and then the cleaning path is generated according to the autonomous planning of the map. In complex scenarios, however, local coverage planning for real-time map changes can lead to inefficiencies in global coverage. In addition, there is also a problem that the vehicle body model is limited; in particular, executable routes such as a bicycle model, a three-wheel model and a four-wheel automobile model are limited, and global coverage planning can hardly be completed autonomously in complex environments such as a staggered channel environment and a narrow channel environment.

Therefore, how to implement a more convenient and efficient cleaning path generation method is one of the issues that those skilled in the art focus on.

Disclosure of Invention

The embodiment of the invention aims to provide a cleaning path generation method, and aims to solve the problem that the cleaning path cannot be generated conveniently and efficiently in the existing cleaning mode.

The embodiment of the invention is realized in such a way that a cleaning path generating method comprises the following steps:

obtaining map information which is scaled in equal proportion to an actual map;

outputting the map information to a user;

receiving a line drawing instruction input by a user on the map information, and generating line drawing characteristics in real time according to the line drawing instruction;

generating a cleaning path of the cleaning equipment according to the line drawing characteristics;

the line drawing instruction comprises moving track information or at least two tracing point information and a line type connecting the tracing point information.

Another embodiment of the present invention further provides a cleaning path generating apparatus, including:

a map information acquisition unit for acquiring map information scaled in equal proportion to an actual map;

a map information output unit for outputting the map information to a user;

the line drawing feature generation unit is used for receiving a line drawing instruction input by a user on the map information and generating line drawing features in real time according to the line drawing instruction;

a cleaning path generating unit which generates a cleaning path of the cleaning equipment according to the line drawing characteristics;

Another embodiment of the present invention further provides a computer apparatus, which includes a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the computer program to implement the steps of the cleaning path generating method according to any one of the embodiments of the present invention.

Another embodiment of the present invention also provides a storage device, which stores a computer program that can be executed to implement the steps of the cleaning path generation method according to any one of the embodiments of the present invention.

According to the cleaning path generation method provided by the embodiment of the invention, the map information is output to the user, the line drawing instruction input by the user on the map information is received, the line drawing characteristic is generated in real time according to the line drawing instruction, the corresponding cleaning path is generated according to the line drawing characteristic, the effect of generating the corresponding cleaning path according to the selection of the user is realized, and the cleaning path of the cleaning equipment is controlled and determined by the user, so that the flexibility of the cleaning path is improved, the cleaning efficiency is improved, and the cleaning path is conveniently and efficiently generated.

Drawings

Fig. 1 is a schematic flow chart of a cleaning path generation method according to an embodiment of the present invention;

FIG. 2 is a diagram illustrating map information provided in accordance with an embodiment of the present invention;

fig. 3 is a schematic flow chart of a cleaning path generating method according to another embodiment of the present invention;

fig. 4 is a schematic flow chart of a cleaning path generating method according to another embodiment of the present invention;

fig. 5 is a schematic flow chart of a cleaning path generating method according to another embodiment of the present invention;

fig. 6 is a schematic flow chart of a cleaning path generating method according to another embodiment of the present invention;

fig. 7 is a schematic flow chart of a cleaning path generating method according to another embodiment of the present invention;

fig. 8 is a schematic flow chart of a cleaning path generating method according to another embodiment of the present invention;

fig. 9 is a schematic flow chart of a cleaning path generating method according to another embodiment of the present invention;

FIG. 10 is a diagram illustrating a method for deleting a line drawing feature according to an embodiment of the present invention;

fig. 11 is a schematic flow chart of a cleaning path generating method according to another embodiment of the present invention;

fig. 12 is a schematic structural diagram of a cleaning path generating device according to an embodiment of the present invention;

fig. 13 is a schematic structural diagram of a cleaning path generating apparatus according to another embodiment of the present invention;

fig. 14 is a schematic structural diagram of a cleaning path generating apparatus according to another embodiment of the present invention;

fig. 15 is a schematic structural diagram of a cleaning path generating apparatus according to another embodiment of the present invention;

fig. 16 is a schematic structural diagram of a cleaning path generating apparatus according to another embodiment of the present invention;

fig. 17 is a schematic structural diagram of a cleaning path generating apparatus according to another embodiment of the present invention;

fig. 18 is a schematic structural diagram of a cleaning path generating apparatus according to another embodiment of the present invention;

fig. 19 is a schematic structural diagram of a cleaning path generating apparatus according to another embodiment of the present invention;

fig. 20 is a schematic structural view of a cleaning path generating apparatus according to another embodiment of the present invention.

Detailed Description

In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.

In the present invention, unless otherwise expressly specified or limited, the terms "mounted," "connected," "secured," and the like are to be construed broadly and can, for example, be fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations. As used herein, the term "and/or" includes any and all combinations of one or more of the associated listed items.

According to the invention, the map information is output to the user, the line drawing instruction input by the user on the map information is received, the line drawing characteristic is generated in real time according to the line drawing instruction, the corresponding cleaning path is generated according to the line drawing characteristic, the effect of generating the corresponding cleaning path according to the selection of the user is realized, and the cleaning path of the cleaning equipment is controlled and determined by the user, so that the flexibility of the cleaning path is improved, the cleaning efficiency is improved, and the cleaning path is conveniently and efficiently generated.

Example one

Fig. 1 is a schematic flow chart of a cleaning path generating method according to a first embodiment of the present invention, and only the relevant portions of the cleaning path generating method according to the first embodiment of the present invention are shown for convenience of description. The cleaning path generation method comprises the following steps:

in step S11, map information that is scaled in proportion to the actual map is acquired.

The map information may be pre-stored, or may be obtained by scanning the cleaning device in the field.

The actual map refers to an actual map of an area to be cleaned, for example, if a user wants to clean a living room, the actual map is the actual map of the living room; if the user wants to clean the office, the actual map is the actual map of the office; and if the user wants to clean the square, the actual map is the actual map of the square.

The actual map can be obtained through surveying and mapping, visual scanning and the like, and the map information with multiple resolution scales can be obtained through scaling the actual map in an equal proportion so as to adapt to user terminal interfaces with different resolutions.

The user can select corresponding map information, such as a living room map, an office map, a square map, and the like, through the user terminal interface.

In step S12, the map information is output to the user.

In this step, after receiving a map information request sent by the user terminal, the map information is output to the user terminal, wherein the map information is adapted to the interface resolution of the user terminal.

The output map information can be displayed on the user terminal interface, so that a user can operate the map information on the user terminal interface.

Step S13 is to receive a line drawing command input by the user on the map information, and generate a line drawing feature in real time according to the line drawing command.

The line drawing instruction comprises moving track information, or at least two point information and a line type connecting the at least two point information.

The movement trajectory information refers to a trajectory formed by a position moved through in the user terminal interface along with movement of an interface pointer operated by a user. The interface indicator may be a computer-based mouse, or a touch screen-based screen position catcher, etc.

And after the user draws a line through the user terminal interface, generating a corresponding line drawing instruction according to the moving track information during line drawing.

Before the user draws the line through the user terminal interface, the user can select the line type of the line through the user terminal interface.

Or, after the user specifies at least two tracing point information in the user terminal interface and selects the line forming type connecting the tracing point information, the corresponding line drawing instruction is generated according to the tracing point information specified by the user and the line forming type selecting the connecting tracing point information.

When the line drawing feature is generated from the point drawing information, a multipoint connection curve can be drawn using a bezier curve. Thus, smoothness of the curve among the plurality of dot information can be increased.

The above-described line drawing feature is shown in FIG. 2. In fig. 2, a user draws a line in a map 200 through a user terminal interface to obtain corresponding line drawing features 201, 202, and 203, where the line drawing features 201, 202, and 203 may be the same line type or different line types.

In step S14, a cleaning route of the cleaning device is generated based on the line drawing feature.

The line drawing feature can be one or more.

Further, the line drawing feature may be a global line drawing feature based on the map information, or may be a local line drawing feature based on the map information.

Under the condition that the drawing line features are multiple, the multiple drawing line features can be spliced to form a complete drawing line feature, and then a corresponding cleaning path is generated. Alternatively, the corresponding cleaning path may be independently generated for each line drawing feature. Or after the corresponding cleaning path is independently generated in each line drawing characteristic, the cleaning paths are connected to form the whole cleaning path. The cleaning path is used for being issued to corresponding cleaning equipment, so that the cleaning equipment can clean according to the cleaning path. Specifically, the cleaning path is converted by the program, and can be normally identified and normally used by the cleaning equipment (such as a floor cleaning machine, a sweeper and the like), that is, after the cleaning path is stored in the memory of the cleaning equipment, the controller can call the cleaning path from the memory and realize the cleaning work according to the cleaning path.

Furthermore, the line drawing feature may be drawn by the user's hand or may be automatically generated.

Specifically, the cleaning path of the cleaning device may be generated based on the drawn line features by discretizing the drawn line features to obtain discrete points corresponding to the drawn line features, and the cleaning device may arrive at the points one by one with the points as targets to obtain the corresponding cleaning path through the discrete points. For example, a straight line can be discretized into two end points, only two end points are needed, and a straight-line type cleaning path can be obtained when the cleaning equipment moves straight from one end point to the other end point. For another example, when the line drawing feature is a curve, the curve may be dispersed into one or more specific points, and at the specific points, the cleaning path may perform a specific arc, or perform a corresponding motion to the next point after performing a motion of rotating in place (for example, rotating at a specific angular velocity for a specific time), or the like.

In the embodiment of the invention, the map information is output to a user, the line drawing instruction input by the user on the map information is received, the line drawing characteristic is generated in real time according to the line drawing instruction, the corresponding cleaning path is generated according to the line drawing characteristic, the effect of generating the corresponding cleaning path according to the selection of the user is realized, and the cleaning path of the cleaning equipment is controlled and determined by the user, so that the flexibility of the cleaning path is improved, the cleaning efficiency is improved, and the generation of the cleaning path is conveniently and efficiently realized.

Referring to fig. 3, in the embodiment of the present invention, before the step S13 of receiving the line drawing command input by the user on the map information and generating the line drawing feature in real time according to the line drawing command, the method further includes:

in step S15, a first selection cleaning device command input by the user is received.

In the embodiment of the invention, the user terminal interface is provided with a plurality of cleaning equipment models, and the cleaning equipment models can be dragged to a map in the user terminal interface for display.

The cleaning equipment model comprises at least one item of parameter information matched with the cleaning equipment. The parameter information comprises a plurality of items of parameter information such as cleaning effective width, turning radius, cleaning equipment height, collision conflict and the like.

The cleaning device module and the corresponding parameter information may be obtained by model construction and parameter reading and stored when the cleaning device is first connected to the network.

The cleaning equipment models and the corresponding parameter information can also be clustered in advance according to cleaning equipment on the market, model construction and parameter reading are carried out according to clustering results, and the model construction and the parameter reading are obtained and stored; and for the cleaning equipment model which is not matched with the cleaning equipment of the user, locking can be carried out, the user is limited to drag, and the phenomenon that the user drags out the wrong cleaning equipment model to cause line drawing errors is avoided.

The cleaning equipment model can be arranged in a hidden interface of a user terminal interface, and when a user needs to drag the cleaning equipment model, the hidden interface is opened, and the cleaning equipment model is selected and dragged.

When the user selects or drags the cleaning equipment model, the parameter information of the selected or dragged cleaning equipment model can be displayed.

In a possible embodiment, the dragging of the cleaning device model is limited by the parameter information, that is, the corresponding cleaning device model can be dragged only when the parameter information satisfies the condition.

Specifically, when the height of the cleaning device model is greater than the cleaning height of the target area in the actual map, the cleaning device model cannot be dragged out. For example, when the bottom of the sofa is cleaned, the height of the bottom of the sofa is obtained through map information, and at the moment, the user can only drag the cleaning equipment model with the height parameter smaller than the height of the bottom of the sofa.

Further, when the user-drawn cleaning path and the automatically generated cleaning path do not satisfy the kinematic model of the cleaning apparatus, the cleaning apparatus model cannot be dragged out, for example, in the automatically generated cleaning path and the cleaning path generated by manually drawing lines, the cleaning apparatus may cause the cleaning apparatus to be unsmooth in performing the cleaning path due to the constraint of the kinematic model, or even to be unable to perform the cleaning motion according to the cleaning path. For example, when the fluency is ensured, the function corresponding to the cleaning path needs to satisfy that the 3 rd order reciprocal is continuous, and if the cleaning path does not satisfy that the 3 rd order reciprocal is continuous, the corresponding cleaning device model cannot be dragged. For example, if the specified route exceeds the maximum turning radius that can be achieved by the four-wheeled cleaning device, the route cannot be executed by the cleaning device, and the corresponding cleaning device model cannot be dragged.

Further, when there is a conflict between the cleaning path drawn by the user and the automatically generated cleaning path, such as a collision with the environment, for example, the cleaning path and the wall do not have a sufficient space margin, the corresponding cleaning device model cannot be dragged out.

Through the selection of the cleaning equipment model, whether the cleaning path meets the cleaning requirement of the actual cleaning equipment can be verified.

In step S16, a cleaning device model scaled to the same scale is generated on the map information based on the first selected cleaning device command.

When a user selects and drags the cleaning equipment model through the user terminal interface, a corresponding first cleaning equipment selection instruction is generated, and the cleaning equipment model is displayed in a map in the user terminal interface.

In a possible embodiment, the cleaning equipment model can dynamically display according to the cleaning path to simulate the cleaning condition of the cleaning equipment according to the cleaning path, so that a user can more intuitively perform line drawing planning and adjustment on the cleaning path.

In the embodiment of the invention, the map information is output to a user, the line drawing instruction input on the map information by the user is received, the line drawing characteristic is generated in real time according to the line drawing instruction, the corresponding cleaning path is generated according to the line drawing characteristic, the effect of generating the corresponding cleaning path according to the selection of the user is realized, and the cleaning path of the cleaning equipment is controlled and determined by the user, so that the flexibility of the cleaning path is improved, and the cleaning efficiency is improved. In addition, the cleaning condition of the cleaning equipment model in the cleaning path can be simulated by receiving the cleaning equipment selection instruction of the user, so that the user can more intuitively perform line drawing planning and adjustment on the cleaning path.

Referring to fig. 4, in the embodiment of the present invention, after the step S13 of receiving the line drawing instruction input by the user on the map information and generating the line drawing feature in real time according to the line drawing instruction, the method further includes:

in step S17, it is determined in real time whether or not the position ahead of the direction of generating the line drawing feature is an accessible object feature having a high limit.

Wherein the above-mentioned height-limited accessible object feature refers to an object that is accessible by a feature defining a certain height beyond which the object is not accessible. The object features refer to the representation of the object on the map, and the accessible objects with different heights can be represented by different colors or lines.

Such height-limited accessible objects as sofas, tables, chairs, beds, etc.

In a possible embodiment, the line type may correspond to different height limits, for example, the thickest line type may indicate that the area does not limit the height of the cleaning device, and the thinner line type may indicate that the height of the cleaning device entering the area is smaller.

Step S18, if yes, after receiving the entry instruction input by the user, outputting the accessible region corresponding to the accessible object feature to the user, and after receiving the avoidance instruction input by the user, continuing to generate the line drawing feature according to the line drawing instruction.

The entry command is a command to enter the accessible area, and the avoidance command is a command to avoid the accessible area.

The above-mentioned entering instruction may be generated when the user draws a line across the boundary of the accessible area, and the above-mentioned avoiding instruction may be generated when the user draws a line across the boundary of the accessible area.

It should be noted that, the position of the cleaning device model entering the accessible area is determined according to the line drawing instruction generated by the user, the user can continue drawing a line in the accessible area through the above-mentioned line drawing instruction, the end of the line drawing must be the edge of the accessible area, and the end is the position of the cleaning device model exiting the accessible area. In this way, it is ensured that the cleaning path has an entrance at the accessible area, thereby ensuring the entry and exit of the cleaning device, as shown in fig. 2.

In the embodiment of the invention, the map information is output to a user, the line drawing instruction input on the map information by the user is received, the line drawing characteristic is generated in real time according to the line drawing instruction, the corresponding cleaning path is generated according to the line drawing characteristic, the effect of generating the corresponding cleaning path according to the selection of the user is realized, and the cleaning path of the cleaning equipment is controlled and determined by the user, so that the flexibility of the cleaning path is improved, and the cleaning efficiency is improved. In addition, the height limit area is judged, and the drawing line of the height limit area is limited, so that a user can more intuitively plan and adjust the drawing line of the cleaning path.

Referring to fig. 5, in the embodiment of the present invention, the parameter information includes a height of the cleaning apparatus, and before the step of outputting the accessible area corresponding to the characteristic of the accessible object to the user in step S18, the method further includes:

and step S19, judging whether the height of the cleaning equipment is higher than the height limit of the accessible area in real time.

Cleaning conditions are simulated by using a cleaning equipment model in a user terminal interface, and whether the height of the cleaning equipment is higher than the height limit of an accessible area or not is judged in real time in the simulation process. Therefore, the user can be helped to perform line drawing planning in real time.

And step S20, if yes, judging that the cleaning equipment can not enter the accessible object characteristic, and outputting a first reminding signal to the user.

And when the height of the cleaning equipment is judged to be higher than the height limit of the accessible area, the current cleaning equipment model cannot enter the accessible area. The method comprises the steps of outputting a first reminding signal to a user, reminding the user of replacing a cleaning equipment model, or reminding the user that an accessible area cannot be cleaned, or reminding the user that the accessible area needs to be cleaned manually, and the like.

In the embodiment of the invention, the map information is output to a user, the line drawing instruction input on the map information by the user is received, the line drawing characteristic is generated in real time according to the line drawing instruction, the corresponding cleaning path is generated according to the line drawing characteristic, the effect of generating the corresponding cleaning path according to the selection of the user is realized, and the cleaning path of the cleaning equipment is controlled and determined by the user, so that the flexibility of the cleaning path is improved, and the cleaning efficiency is improved. In addition, the height limit area is judged, the drawn line of the height limit area is limited, and the user is prompted under the condition that the height limit is not met, so that the user is prevented from performing ineffective line drawing in the height limit area.

Referring to fig. 6, in the embodiment of the present invention, in step S11, the parameter information includes a height of the cleaning device, and after the step of obtaining the map information scaled with the actual map, the method further includes:

in step S21, it is determined whether there is a high limit in the map information on the characteristics of the accessible object.

In step S22, if yes, the accessible object feature is deleted from the map information when the height of the cleaning device is lower than the height limit.

Further, the accessible object feature may be deleted from the map information or modified to be a non-accessible object feature when all of the sweeping devices are below the limit height for the accessible feature.

In the embodiment of the invention, the map information is output to a user, the line drawing instruction input on the map information by the user is received, the line drawing characteristic is generated in real time according to the line drawing instruction, the corresponding cleaning path is generated according to the line drawing characteristic, the effect of generating the corresponding cleaning path according to the selection of the user is realized, and the cleaning path of the cleaning equipment is controlled and determined by the user, so that the flexibility of the cleaning path is improved, and the cleaning efficiency is improved. In addition, the corresponding height limit area is deleted when the cleaning equipment does not meet the height limit condition, so that the user is prevented from performing ineffective line drawing in the height limit area.

Referring to fig. 7, in the embodiment of the present invention, after the step of receiving the line drawing instruction input by the user on the map information and generating the line drawing feature in real time according to the line drawing instruction in step S13, the method further includes:

in step S23, it is determined in real time whether or not an obstacle is present at a position ahead of the direction in which the line drawing feature is generated.

The obstacle object can be furniture, household appliances or structural bodies, and the like, wherein the furniture is a cabinet, a table, a sofa, a bed and the like, and the household appliances are refrigerators, washing machines, fans and the like; structures such as walls, columns, etc.

The obstacle is represented in the map information, as shown in fig. 2.

In step S24, if yes, the receiving of the line drawing command is stopped, and a second reminding signal is output to the user.

In the process of generating the line drawing feature, if an obstacle exists in the front position of the generating direction, the line drawing feature is affected, so that the line drawing feature is inaccurate, or the generated line drawing feature is not the line drawing feature required by the user.

Therefore, when an obstacle exists in the front position of the generating direction, the user is prompted through the second prompting signal, and the user is prompted to change and adjust the drawing line.

In the embodiment of the invention, the map information is output to a user, the line drawing instruction input on the map information by the user is received, the line drawing characteristic is generated in real time according to the line drawing instruction, the corresponding cleaning path is generated according to the line drawing characteristic, the effect of generating the corresponding cleaning path according to the selection of the user is realized, and the cleaning path of the cleaning equipment is controlled and determined by the user, so that the flexibility of the cleaning path is improved, and the cleaning efficiency is improved. In addition, when an obstacle exists in the front position of the generating direction, the user is prompted through the second prompting signal, and the user is prompted to change and adjust the drawing line.

Referring to fig. 8, in the embodiment of the present invention, after the step of generating the line drawing feature in real time according to the line drawing instruction in step S13, the method further includes:

in step S25, a selection line drawing feature command input by the user and a second selection cleaning device command corresponding to the selection line drawing feature command are received.

The line drawing feature selecting instruction refers to a line drawing feature selecting instruction generated when a user selects a corresponding line drawing feature, and the second cleaning device selecting instruction refers to a cleaning device selecting instruction generated when the user selects cleaning equipment to execute a cleaning path corresponding to the line drawing feature.

And step S26, issuing each generated cleaning path to each corresponding cleaning device according to the selection line drawing characteristic instruction and the second selection cleaning device instruction.

Furthermore, the number of the cleaning devices may be one or more, when the number of the cleaning devices is multiple, a line drawing selection characteristic instruction input by a user and a second cleaning device selection instruction corresponding to the line drawing selection characteristic instruction are received, a cleaning path corresponding to each line drawing characteristic can be issued to each corresponding cleaning device according to the line drawing selection characteristic instruction and the second cleaning device selection instruction corresponding to the line drawing selection characteristic instruction, and a complete cleaning path is generated for the cleaning paths of all the cleaning devices.

Furthermore, in the case that the number of the cleaning devices is multiple, each cleaning device executes the cleaning task corresponding to one or more drawing characteristics.

In one possible embodiment, the individual cleaning tasks can be assigned to the corresponding cleaning devices on a near basis depending on the position of the individual cleaning devices, so that the cleaning devices can carry out the cleaning tasks nearby.

In the embodiment of the invention, the map information is output to a user, the line drawing instruction input on the map information by the user is received, the line drawing characteristic is generated in real time according to the line drawing instruction, the corresponding cleaning path is generated according to the line drawing characteristic, the effect of generating the corresponding cleaning path according to the selection of the user is realized, and the cleaning path of the cleaning equipment is controlled and determined by the user, so that the flexibility of the cleaning path is improved, and the cleaning efficiency is improved. In addition, the cleaning equipment is selected to issue the corresponding cleaning path, so that the cleaning equipment executes the corresponding cleaning task, and the cleaning efficiency can be improved by selecting the optimal cleaning equipment.

Referring to fig. 9, in the embodiment of the present invention, after the step of receiving the line drawing instruction input by the user on the map information and generating the line drawing feature in real time according to the line drawing instruction in step S13, the method further includes:

step S27, receiving a deletion instruction input by a user, and deleting the corresponding line drawing feature in real time according to the deletion instruction.

And the user selects all the characteristics or part of the characteristics of the line drawing characteristics through the user terminal interface, deletes or erases all the characteristics or part of the characteristics through the deleting or erasing function of the user terminal interface, and updates the line drawing characteristics and the corresponding cleaning path in the user terminal interface in real time according to the deleting or erasing result.

As shown in fig. 10, the first cleaning path 101 is selected for deletion or erasure. Drawing a new cleaning path, and generating a second cleaning path 102 according to the new cleaning path, wherein the second cleaning path 102 is a first cleaning path; or a new location point is selected to generate a second cleaning path 102 to the new location point.

In the embodiment of the invention, the map information is output to a user, the line drawing instruction input on the map information by the user is received, the line drawing characteristic is generated in real time according to the line drawing instruction, the corresponding cleaning path is generated according to the line drawing characteristic, the effect of generating the corresponding cleaning path according to the selection of the user is realized, and the cleaning path of the cleaning equipment is controlled and determined by the user, so that the flexibility of the cleaning path is improved, and the cleaning efficiency is improved. In addition, by selecting all or part of the line drawing features for deleting or erasing, the line drawing of the user on the user terminal interface can be more efficient.

Referring to fig. 11, in the embodiment of the present invention, after the step of receiving the line drawing instruction input by the user on the map information and generating the line drawing feature in real time according to the line drawing instruction in step S13, the method further includes:

step S28, outputting the coverage of the line drawing feature in the map information, the line drawing length of the line drawing feature, and the repetition rate of the line drawing feature to the user.

When the cleaning path is generated according to the drawing characteristics, the coverage rate of the corresponding cleaning path in the map information, the path length of the cleaning path and the repetition rate of the cleaning path are calculated according to the drawing characteristics selected by the user, so that the user can conveniently adjust the cleaning path according to the coverage rate of the cleaning path in the map information, the path length of the cleaning path, the expected cleaning time of the cleaning path and the repetition rate of the cleaning path.

The path is composed of points in a map, each point is expanded according to the effective cleaning area (the brush disc coverage area of the cleaning equipment), so that the whole path is expanded to form a covered area, the cleanable area can be calculated according to the brush disc coverage area and the cleaning path length of the cleaning equipment, and the cleanable area is divided by the total area needing to be covered, so that the coverage rate is obtained.

The path length can be obtained by calculating from the number of points in the path or the cleaning path length and from the ratio of the burst.

And calculating to obtain the estimated cleaning time according to the motion characteristics of the cleaning equipment and the parameters of acceleration, deceleration and turning acceleration and deceleration of the vehicle body model.

The repetition rate may be obtained by calculating a repeated cleaning area from the brush disk coverage area and the cleaning path of the cleaning device, and dividing the repeated cleaning area by the cleanable area.

The coverage rate of the cleaning path in the map information, the path length of the cleaning path, and the repetition rate of the cleaning path may be displayed on the user terminal interface in real time in the process of generating the line drawing feature, or may be displayed on the user terminal interface after the line drawing feature is generated into the corresponding cleaning path according to the selection of the user.

In the embodiment of the invention, the map information and the database containing a plurality of planned path modes are output to the user, the planned path mode selected by the user is received, the corresponding cleaning path is generated, the reconstructed path area of the cleaning path and the cleaning path in the reconstructed path area are received by the user, so that the complete cleaning path is generated, the effect of generating the corresponding cleaning path according to the selection of the user is realized, the flexibility of the cleaning path is improved, and the cleaning efficiency is improved. In addition, the coverage rate of the cleaning path in the map information, the path length of the cleaning path and the repetition rate of the cleaning path corresponding to the drawing characteristics can be displayed, so that the user can conveniently adjust the cleaning path according to the coverage rate of the cleaning path in the map information, the path length of the cleaning path, the expected cleaning time of the cleaning path and the repetition rate of the cleaning path.

Example two

Fig. 12 is a schematic structural diagram of a cleaning path generating device according to a second embodiment of the present invention, and only the parts related to the embodiment of the present invention are shown for convenience of description.

The cleaning path generation device 1200 includes: map information acquisition section 1201, map information output section 1202, line drawing feature generation section 1203, and cleaning route generation section 1204.

The map information acquisition unit 1201 is used to acquire map information scaled in equal proportion to an actual map.

The map information output unit 1202 is for outputting map information to the user.

The method comprises the steps of outputting map information to a user terminal after receiving a map information request sent by the user terminal, wherein the map information is the map information adaptive to the interface resolution of the user terminal.

The line drawing feature generating unit 1203 is configured to receive a line drawing instruction input by a user on the map information, and generate a line drawing feature in real time according to the line drawing instruction.

The cleaning path generation unit 1204 is configured to generate a cleaning path of the cleaning device according to the line drawing feature.

The line drawing feature can be one or more.

Referring to fig. 13, in the embodiment of the present invention, the cleaning path generating apparatus 1200 further includes: a first instruction receiving unit 1205, and a model generating unit 1206.

The first instruction receiving unit 1205 is configured to receive a first selected cleaning device instruction input by a user.

The cleaning equipment models and the corresponding parameter information can also be clustered in advance according to cleaning equipment on the market, model construction and parameter reading are carried out according to clustering results, and the model construction and the parameter reading are obtained and stored; and for the cleaning equipment model which is not in the area with the cleaning equipment of the user, locking is carried out, the dragging of the user is limited, and the phenomenon that the user drags out the wrong cleaning equipment model to cause line drawing errors is avoided.

In a possible embodiment, the dragging of the cleaning device model is limited by the parameter information, that is, the corresponding cleaning device model can be dragged only when the parameter information satisfies the condition. Specifically, when the height of the cleaning device model is greater than the cleaning height of the target area in the actual map, the cleaning device model cannot be dragged out. For example, when the bottom of the sofa is cleaned, the height of the bottom of the sofa is obtained through map information, and at the moment, the user can only drag the cleaning equipment model with the height parameter smaller than the height of the bottom of the sofa.

The model generation unit 1206 is configured to generate a scaled cleaning apparatus model on the map information according to the first selected cleaning apparatus instruction.

Referring to fig. 14, in the embodiment of the present invention, the cleaning path generating apparatus 1200 further includes: a first judgment unit 1207.

The first determination unit 1207 is configured to determine in real time whether or not the position ahead of the line drawing feature in the direction of generation is an accessible object feature having a limited height.

Such height-limited accessible objects as sofas, tables, chairs, beds, etc.

If yes, outputting an accessible area corresponding to the accessible object feature to the user after receiving an access instruction input by the user, and continuing to generate a line drawing feature according to the line drawing instruction after receiving an avoidance instruction input by the user.

Referring to fig. 15, in the embodiment of the invention, the parameter information includes a height of the cleaning apparatus, and the first determining unit 1207 includes: a decision block 12071.

The determining module 12071 is configured to determine whether the height of the cleaning apparatus is higher than the height limit of the accessible area in real time.

If yes, the cleaning equipment is judged to be incapable of entering the accessible object feature, and a first reminding signal is output to the user.

Referring to fig. 16, in the embodiment of the present invention, the cleaning path generating apparatus 1200 further includes: a second judgment unit 1208.

The second determination unit 1208 is configured to determine whether there is a high-limit feature of the accessible object in the map information.

And if so, deleting the accessible object characteristics in the map information when the height of the cleaning equipment is lower than the height limit.

Referring to fig. 17, in the embodiment of the present invention, in step S13, the cleaning path generating apparatus 1200 further includes: a third judging unit 1209.

The third determining unit 1209 is configured to determine in real time whether an obstacle is present at a position ahead of the direction in which the line drawing feature is generated.

The obstacle can be furniture, household appliances or structural bodies, and the like, wherein the furniture comprises a cabinet, a table, a sofa, a bed and the like; home appliances such as refrigerators, washing machines, fans, and the like; structures such as walls, columns, etc.

The obstacle is represented in the map information, as shown in fig. 2.

If yes, stopping receiving the line drawing instruction and outputting a second reminding signal to the user.

Referring to fig. 18, in the embodiment of the present invention, the cleaning path generating apparatus 1200 further includes: a second instruction receiving unit 1211 and a sending-down unit 1212.

The second instruction receiving unit 1211 is configured to receive a selection line drawing feature instruction input by a user and a second selection cleaning device instruction corresponding to the selection line drawing feature instruction.

The issuing unit 1212 is configured to issue each generated cleaning path to each corresponding cleaning device according to the line drawing feature selecting instruction and the second cleaning device selecting instruction.

Referring to fig. 19, in the embodiment of the present invention, the cleaning path generating apparatus 1200 further includes: a deletion unit 1213.

The deleting unit 1213 is configured to receive a deleting instruction input by a user, and delete the corresponding line drawing feature in real time according to the deleting instruction.

Referring to fig. 20, in the embodiment of the present invention, the cleaning path generating apparatus 1200 further includes: a parameter output unit 1214.

The parameter output unit 1214 is configured to output, to the user, the coverage rate of the line drawing feature in the map information, the line drawing length of the line drawing feature, and the repetition rate of the line drawing feature.

EXAMPLE III

A third embodiment of the present invention provides a computer device, where the computer device includes a processor, and the processor is configured to implement the steps of the cleaning path generation method as described above when executing a computer program stored in a memory.

An embodiment of the present invention further provides a computer-readable storage medium, on which a computer program (instructions) is stored, where the computer program (instructions) is implemented to implement the steps of the cleaning path generation method as described above when executed by a processor.

Illustratively, a computer program can be partitioned into one or more modules, which are stored in memory and executed by a processor to implement the present invention. One or more of the modules may be a sequence of computer program instruction segments for describing the execution of a computer program in a computer device that is capable of performing certain functions. For example, the computer program may be divided into the steps of the cleaning path generation method provided by the above-described respective method embodiments.

Those skilled in the art will appreciate that the above description of a computer apparatus is by way of example only and is not intended to be limiting of computer apparatus, and that the apparatus may include more or less components than those described, or some of the components may be combined, or different components may be included, such as input output devices, network access devices, buses, etc.

The Processor may be a Central Processing Unit (CPU), other general purpose Processor, a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), an off-the-shelf Programmable Gate Array (FPGA) or other Programmable logic device, discrete Gate or transistor logic, discrete hardware components, etc. The general purpose processor may be a microprocessor or the processor may be any conventional processor or the like which is the control center for the computer device and which connects the various parts of the overall computer device using various interfaces and lines.

The memory may be used to store the computer programs and/or modules, and the processor may implement various functions of the computer device by running or executing the computer programs and/or modules stored in the memory and invoking data stored in the memory. The memory may mainly include a program storage area and a data storage area, wherein the program storage area may store an operating system, an application program required by at least one function (such as an interface display function, an interface interaction function, etc.), and the like; the storage data area can store data (such as a map interface, a selection interface and the like) created according to the use of the mobile phone. In addition, the memory may include high speed random access memory, and may also include non-volatile memory, such as a hard disk, a memory, a plug-in hard disk, a Smart Media Card (SMC), a Secure Digital (SD) Card, a Flash memory Card (Flash Card), at least one magnetic disk storage device, a Flash memory device, or other volatile solid state storage device.

The modules/units integrated by the computer device may be stored in a computer-readable storage medium if they are implemented in the form of software functional units and sold or used as separate products. Based on such understanding, all or part of the flow of the method according to the embodiments of the present invention may also be implemented by a computer program, which may be stored in a computer-readable storage medium, and when the computer program is executed by a processor, the steps of the method embodiments may be implemented. Wherein the computer program comprises computer program code, which may be in the form of source code, object code, an executable file or some intermediate form, etc. The computer-readable medium may include: any entity or device capable of carrying the computer program code, recording medium, usb disk, removable hard disk, magnetic disk, optical disk, computer Memory, Read-Only Memory (ROM), Random Access Memory (RAM), electrical carrier wave signals, electrical signals, software distribution medium, and the like.

The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents and improvements made within the spirit and principle of the present invention are intended to be included within the scope of the present invention.

Claims

1. A cleaning path generation method is characterized by comprising the following steps:

obtaining map information which is scaled in equal proportion to an actual map;

outputting the map information to a user;

2. The cleaning route generation method according to claim 1, wherein before the step of receiving a line drawing command input by a user on the map information and generating a line drawing feature in real time according to the line drawing command, the method further comprises:

receiving a first cleaning equipment selection instruction input by a user;

generating a cleaning equipment model which is scaled in an equal way on the map information according to the first selection cleaning equipment instruction;

the cleaning equipment model comprises at least one item of parameter information matched with the cleaning equipment.

3. The cleaning route generation method according to claim 2, wherein after the step of receiving a line drawing command input by a user on the map information and generating a line drawing feature in real time according to the line drawing command, the method further comprises:

judging whether the front position of the generating direction of the line drawing feature is limited to be high and can enter the object feature in real time;

if yes, outputting the accessible area corresponding to the accessible object feature to the user after receiving an access instruction input by the user, and continuing to generate the line drawing feature according to the line drawing instruction after receiving an avoidance instruction input by the user.

4. The cleaning path generation method according to claim 3, wherein the parameter information includes a height of the cleaning device, and before the step of outputting the accessible area corresponding to the feature of the accessible object to the user, the method further includes:

judging whether the height of the cleaning equipment is higher than the height limit in real time;

if yes, the cleaning equipment is judged to be incapable of entering the accessible object characteristic, and a first reminding signal is output to a user.

5. The cleaning route generation method according to claim 2, wherein the parameter information includes the cleaning device height, and the step of obtaining map information scaled in proportion to an actual map further includes:

judging whether the map information has the characteristics of the accessible objects with limited height;

and if so, deleting the accessible object feature in the map information when the height of the cleaning equipment is lower than the limit height.

6. The cleaning route generation method according to claim 1, wherein after the step of receiving a line drawing command input by a user on the map information and generating a line drawing feature in real time according to the line drawing command, the method further comprises:

judging whether an obstacle exists at the front position of the generating direction of the line drawing characteristics in real time;

if yes, stopping receiving the line drawing instruction, and outputting a second reminding signal to the user.

7. The cleaning route generation method according to claim 1, further comprising, after the step of generating the line drawing feature in real time based on the line drawing instruction:

receiving a line drawing selection characteristic instruction input by a user and a second line drawing selection cleaning equipment instruction corresponding to the line drawing selection characteristic instruction;

and issuing each generated cleaning path to each corresponding cleaning device according to the selection line drawing characteristic instruction and the second selection cleaning device instruction.

8. The cleaning route generation method according to claim 1, wherein after the step of receiving a line drawing command input by a user on the map information and generating a line drawing feature in real time according to the line drawing command, the method further comprises:

and receiving a deleting instruction input by a user, and deleting the corresponding line drawing characteristics in real time according to the deleting instruction.

9. The cleaning route generation method according to claim 1, wherein after the step of receiving a line drawing command input by a user on the map information and generating a line drawing feature in real time according to the line drawing command, the method further comprises:

and outputting the coverage rate of the line drawing feature in the map information, the line drawing length of the line drawing feature and the repetition rate of the line drawing feature to a user.

10. A cleaning path generation device is characterized by comprising:

a map information output unit for outputting the map information to a user;

11. The cleaning path generating apparatus according to claim 10, further comprising:

the first instruction receiving unit is used for receiving a first selected cleaning equipment instruction input by a user;

a model generation unit for generating a cleaning device model scaled in equal proportion on the map information according to the first selected cleaning device instruction;

12. The cleaning path generating apparatus according to claim 11, further comprising:

a first judgment unit for judging in real time whether the position ahead of the generation direction of the line drawing feature is an accessible object feature of limited height;

13. The cleaning route generation device according to claim 12, wherein the first determination unit includes:

the judging module is used for judging whether the height of the cleaning equipment is higher than the height limit in real time;

14. The cleaning path generating apparatus according to claim 11, wherein the parameter information includes the cleaning device height, the cleaning path generating apparatus further comprising:

a second judgment unit, configured to judge whether there is a high-limit feature of an accessible object in the map information;

15. The cleaning path generating apparatus according to claim 10, further comprising:

a third judging unit, configured to judge whether there is an obstacle in a position ahead of a generation direction of the line drawing feature in real time;

16. The cleaning path generating apparatus according to claim 10, further comprising:

the second instruction receiving unit is used for receiving a line drawing selection characteristic instruction input by a user and a cleaning selection equipment instruction corresponding to the line drawing selection characteristic instruction;

and the issuing unit is used for issuing each generated cleaning path to each corresponding cleaning device according to the selection line drawing characteristic instruction and the selection cleaning device instruction.

17. The cleaning path generating apparatus according to claim 10, further comprising:

and the deleting unit is used for receiving a deleting instruction input by a user and deleting the corresponding line drawing characteristics in real time according to the deleting instruction.

18. The cleaning path generating apparatus according to claim 10, further comprising:

and the parameter output unit is used for outputting the coverage rate of the line drawing feature in the map information and the line drawing length of the line drawing feature to a user.

19. A computer device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor implements the steps of the cleaning path generation method according to any one of claims 1 to 9 when executing the computer program.

20. A storage device storing a computer program executable to implement the steps of the cleaning path generating method according to any one of claims 1 to 9.