CN111563461A - Cleaning path acquisition method and device for cleaning equipment and storage medium - Google Patents
Cleaning path acquisition method and device for cleaning equipment and storage medium Download PDFInfo
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Abstract
The application relates to a cleaning path acquisition method, a cleaning path acquisition device and a storage medium of cleaning equipment, belonging to the technical field of computers, wherein the method comprises the following steps: displaying a work area image of the cleaning device, the work area image including a plurality of sub-work area images; receiving a region selection operation acting on the sub-work region image; displaying n recommended cleaning sequences, each recommended cleaning sequence being a cleaning sequence of a target sub-work area indicated by the area selection operation; receiving a sequence selection operation acting on a target cleaning sequence of the n recommended cleaning sequences; displaying a cleaning path corresponding to the target cleaning sequence to control the cleaning device to clean in the working area according to the cleaning path; the problem that the mobile terminal cannot provide a sequential path for cleaning rooms by cleaning equipment can be solved; since the cleaning sequence can be recommended to the user and the cleaning path can be generated according to the cleaning sequence selected by the user, an effect of providing the user with a path for the cleaning apparatus to clean the room can be achieved.
Description
Technical Field
The application relates to a cleaning path acquisition method and device of cleaning equipment and a storage medium, and belongs to the technical field of computers.
Background
Cleaning equipment (such as sweeping robots and the like) is mainly applied to cleaning the ground, and is generally applied to indoor scene cleaning environments. The cleaning device comprises a cleaning module and a driving module, and under the working of the driving module, the cleaning device moves and controls the cleaning module to clean the ground.
In the prior art, a user can set a specific cleaning scheme of a room to be cleaned through a mobile terminal. Such as: the user selects a room to be cleaned through the mobile terminal. However, the mobile terminal cannot provide a path for the cleaning device to clean the room.
Disclosure of Invention
The application provides a cleaning path obtaining method and device of a cleaning device and a storage medium, which can solve the problem that a mobile terminal cannot provide a path for cleaning a room by the cleaning device. The application provides the following technical scheme:
in a first aspect, a cleaning path acquisition method of a cleaning apparatus is provided, the method including:
displaying a work area image of the cleaning device, the work area image including a plurality of sub-work area images;
receiving a region selection operation acting on the sub-working region image;
displaying n recommended cleaning sequences, wherein each recommended cleaning sequence is the cleaning sequence of the target sub-working area indicated by the area selection operation, and n is a positive integer;
receiving a sequence selection operation acting on a target cleaning sequence of the n recommended cleaning sequences;
and displaying a cleaning path corresponding to the target cleaning sequence to control the cleaning equipment to clean in a working area according to the cleaning path.
Optionally, before displaying the n recommended cleaning sequences, the method further includes:
and generating n recommended cleaning sequences of the target sub-working areas based on a preset sequence generation strategy.
Optionally, the generating n recommended cleaning sequences of the target sub-work area based on a preset sequence generation strategy includes:
determining the cleaning duration of the target sub-working area under different cleaning sequences;
and determining a cleaning sequences with the shortest cleaning time length in each cleaning sequence as a recommended cleaning sequence, wherein a is a positive integer and is less than or equal to n.
Optionally, the generating n recommended cleaning sequences of the target sub-work area based on a preset sequence generation strategy includes:
determining cleaning paths of the target sub-working area under different cleaning sequences;
determining b cleaning sequences with shortest cleaning paths in the cleaning sequences as recommended cleaning sequences; b is a positive integer, and b is not more than n.
Optionally, the generating n recommended cleaning sequences of the target sub-work area based on a preset sequence generation strategy includes:
determining a historical cleaning sequence and historical cleaning times of the target sub-working area;
generating the recommended cleaning order based on the historical cleaning order and the historical cleaning times.
Optionally, the generating the recommended cleaning order based on the historical cleaning order and the historical cleaning times comprises:
acquiring the most front cleaning sequence in the historical cleaning sequences of the target sub-working areas;
sequencing the front-most cleaning sequence from front to back;
for target sub-working areas with the same sorting sequence, sorting the target sub-working areas according to the sequence of the historical cleaning times from more to less;
determining the obtained sorting order as the recommended cleaning order.
Optionally, before displaying the cleaning path corresponding to the target cleaning sequence, the method further includes:
generating a cleaning path corresponding to the target cleaning sequence based on a path generation strategy;
wherein the path generation policy is: a shortest path policy, a shortest time consuming policy, or a randomly generated policy.
In a second aspect, there is provided a cleaning path acquiring device of a cleaning apparatus, the device including:
a display module for displaying a work area image of the cleaning device, the work area image comprising a plurality of sub-work area images;
the man-machine interaction module is used for receiving the region selection operation acted on the sub-working region image;
the display module is further configured to display n recommended cleaning sequences, each recommended cleaning sequence is a cleaning sequence of a target sub-working area indicated by the area selection operation, and n is a positive integer;
the human-computer interaction module is also used for receiving sequence selection operation acting on a target cleaning sequence in the n recommended cleaning sequences;
the display module is further configured to display a cleaning path corresponding to the target cleaning sequence, so as to control the cleaning device to clean in a working area according to the cleaning path.
In a third aspect, a cleaning path acquisition device for a cleaning apparatus is provided, the device comprising a processor and a memory; the memory stores therein a program that is loaded and executed by the processor to implement the cleaning path acquisition method of the cleaning apparatus of the first aspect.
In a fourth aspect, there is provided a computer-readable storage medium in which a program is stored, the program being loaded and executed by the processor to implement the cleaning path acquisition method of the cleaning apparatus of the first aspect.
The beneficial effect of this application lies in: displaying a work area image of the cleaning device, the work area image including a plurality of sub-work area images; receiving a region selection operation acting on the sub-work region image; displaying n recommended cleaning sequences, each recommended cleaning sequence being a cleaning sequence of a target sub-work area indicated by the area selection operation; receiving a sequence selection operation acting on a target cleaning sequence of the n recommended cleaning sequences; displaying a cleaning path corresponding to the target cleaning sequence to control the cleaning device to clean in the working area according to the cleaning path; the problem that the mobile terminal cannot provide a sequential path for cleaning rooms by cleaning equipment can be solved; since the cleaning sequence can be recommended to the user and the cleaning path can be generated according to the cleaning sequence selected by the user, an effect of providing the user with a path for the cleaning apparatus to clean the room can be achieved.
The foregoing description is only an overview of the technical solutions of the present application, and in order to make the technical solutions of the present application more clear and clear, and to implement the technical solutions according to the content of the description, the following detailed description is made with reference to the preferred embodiments of the present application and the accompanying drawings.
Drawings
Fig. 1 is a flowchart of a cleaning path acquisition method of a cleaning apparatus according to an embodiment of the present application;
FIG. 2 is a schematic diagram of a process for displaying n recommended cleaning sequences provided by one embodiment of the present application;
FIG. 3 is a schematic illustration of a process for selecting a target cleaning sequence as provided by one embodiment of the present application;
FIG. 4 is a block diagram of a cleaning path acquisition device of a cleaning apparatus provided in an embodiment of the present application;
fig. 5 is a block diagram of a cleaning path acquisition device of a cleaning apparatus according to an embodiment of the present application.
Detailed Description
The following detailed description of embodiments of the present application will be described in conjunction with the accompanying drawings and examples. The following examples are intended to illustrate the present application but are not intended to limit the scope of the present application.
Optionally, the present application takes the execution subject of each embodiment as an example of an electronic device, and the electronic device controls the cleaning device. The cleaning equipment can be equipment with an automatic cleaning function, such as a sweeping robot; the electronic device may be a mobile phone, a tablet computer, a wearable device, a computer, a notebook computer, or the like, and the application does not limit the types of the electronic device and the cleaning device.
Fig. 1 is a flowchart of a cleaning path obtaining method of a cleaning device according to an embodiment of the present application. The method at least comprises the following steps:
The work area image means: an electronic device controlled cleaning device requires an image of a work area to be cleaned. The work area image is pre-stored in the electronic device. In other embodiments, the work area image may also be referred to as a work map, a room map, or the like, and the name of the work area image is not limited in this embodiment.
In this application, the work area image includes a plurality of sub-work area images, and each sub-work area image is an image corresponding to a part of the work area. Such as: the work area image is a room, and the sub-work area image may include a bedroom 1, a bedroom 2, a dining room, a balcony, etc. in the room.
Sub-work areas in a work area may be user-divided; or, the electronic device automatically generates the sub-work area, and the division manner of the sub-work area is not limited in this embodiment.
In addition, the working area image may be a two-dimensional image (e.g., a top view of a room) or a three-dimensional image, and the embodiment does not limit the representation form of the working area image.
Optionally, the electronic device displays a partition display control of the work area image on a display interface; and when a trigger operation acting on the partition display control is received, displaying the sub-work area image in the work area image in a partition mode.
Optionally, the region selection operations applied to the plurality of sub-work region images include, but are not limited to: a single-click operation, a double-click operation, a long-press operation, and the like, and the manner of the region selection operation is not limited in this embodiment.
Optionally, when the electronic device allows a user to operate on the sub-work area image, the sub-work area image is displayed in the first display manner to prompt that the corresponding sub-work area image supports being operated, for example: the sub-work area image shown in fig. 2 by diagonally shaded portions. Optionally, the first display mode includes but is not limited to: the display is performed in a specific color and/or a specific pattern, and the first display mode is not limited in this embodiment. And if the electronic equipment receives the area selection operation acting on the sub-working area image, updating the corresponding sub-working area image to be not allowed to be operated by the user on the sub-working area image, and at the moment, displaying the sub-working area image in a first display mode.
Referring to fig. 2, the working area image is taken as a room image 21 as an example. The respective sub-work area images 22, 23, 24 and 25 are displayed in sections in the room image 21. The electronic equipment receives the region selection operation of the user on the sub-working region images 22, 23 and 24, and obtains a target sub-working region which is not displayed in the first display mode any more.
And 103, displaying n recommended cleaning sequences, wherein each recommended cleaning sequence is the cleaning sequence of the target sub-working area indicated by the area selection operation. n is a positive integer.
The target sub-working area indicated by the area selection operation is as follows: and selecting the sub-working area corresponding to the sub-working area image acted by the area selection operation.
The value of n is determined based on the number of target sub-work areas. In one example, if the number of target sub-work areas is 1, then the value of n is 1; if the number of the target sub-working areas is 2, the value of n is 2; if the number of the target sub-working areas is larger than 2, the value of n is a preset value, and the value of the preset value is smaller than or equal to the maximum number of the cleaning sequences of the target sub-working areas. Such as: the value of n is 3, 4, 5 and the like. Of course, in other embodiments, the setting manner of the value of n may also be other manners, and this embodiment is not listed here one by one.
Before displaying the n recommended cleaning sequences, the electronic device needs to generate the n recommended cleaning sequences of the target sub-work areas based on a preset sequence generation strategy.
Optionally, the manner in which the electronic device generates the n recommended cleaning sequences includes, but is not limited to, at least one of the following manners:
the first method comprises the following steps: determining the cleaning duration of the target sub-working area under different cleaning sequences; and determining a cleaning sequences with the shortest cleaning time length in each cleaning sequence as a recommended cleaning sequence, wherein a is a positive integer and is less than or equal to n.
Such as: the target sub-working areas are the sub-working area a corresponding to the sub-working area image 22, the sub-working area B corresponding to the sub-working area image 23, and the sub-working area C corresponding to the sub-working area image 24 in fig. 2, and the cleaning sequence of the target sub-working areas includes 6 types:
a sub-working area A- > a sub-working area B- > a sub-working area C;
the sub-working area A- > the sub-working area C- > the sub-working area B;
a sub-working area B- > a sub-working area C- > a sub-working area A;
a sub-working area B- > a sub-working area A- > a sub-working area C;
a sub-working area C- > a sub-working area B- > a sub-working area A;
sub-work area C- > sub-work area A- > sub-work area B.
The electronic equipment stores the moving parameters of the cleaning equipment, such as moving speed, turning speed and the like; generating a cleaning path corresponding to each cleaning sequence; calculating the cleaning duration corresponding to each cleaning sequence by combining the moving parameters and the cleaning paths, and sequencing the cleaning durations from short to long; the cleaning order ranked in the top a bits is determined as the recommended cleaning order.
And the second method comprises the following steps: determining cleaning paths of the target sub-working area under different cleaning sequences; determining b cleaning sequences with shortest cleaning paths in the cleaning sequences as recommended cleaning sequences; b is a positive integer, and b is not more than n.
Such as: the target sub-working areas are the sub-working area a corresponding to the sub-working area image 22, the sub-working area B corresponding to the sub-working area image 23, and the sub-working area C corresponding to the sub-working area image 24 in fig. 2, and the cleaning sequence of the target sub-working areas includes 6 types:
a sub-working area A- > a sub-working area B- > a sub-working area C;
the sub-working area A- > the sub-working area C- > the sub-working area B;
a sub-working area B- > a sub-working area C- > a sub-working area A;
a sub-working area B- > a sub-working area A- > a sub-working area C;
a sub-working area C- > a sub-working area B- > a sub-working area A;
sub-work area C- > sub-work area A- > sub-work area B.
The electronic equipment generates a cleaning path corresponding to each cleaning sequence based on the shortest path principle; sequencing the cleaning paths in the order from short to long; the cleaning order ranked at the top b bits is determined as the recommended cleaning order.
And the third is that: determining a historical cleaning sequence and historical cleaning times of a target sub-working area; a recommended cleaning sequence is generated based on the historical cleaning sequence and the historical cleaning times.
In one example, the most forward cleaning sequence in the historical cleaning sequences of the target sub-work areas is obtained; sequencing the target sub-working areas from front to back according to the cleaning sequence which is the most front; for target sub-working areas with the same sorting sequence, sorting the target sub-working areas according to the sequence of the historical cleaning times from more to less; the resulting sort order is determined as a recommended cleaning order.
Such as: the target sub-work areas are a sub-work area a corresponding to the sub-work area image 22, a sub-work area B corresponding to the sub-work area image 23, and a sub-work area C corresponding to the sub-work area image 24 in fig. 2, and the historical cleaning sequence and the historical cleaning frequency of each target sub-work area are shown in the first reference table. As can be seen from table one, the foremost cleaning sequences of the sub-working areas a and C are both 1, and the foremost cleaning sequence of the sub-working area B is 2, and the sequence results are (a, C) - > B. And then, sequencing the sub-working area A and the sub-working area C again according to the historical cleaning times, wherein the historical cleaning times of the sub-working area A are greater than the historical cleaning times of the sub-working area C, and the sequencing result is A- > C- > B. At this time, it is recommended that the cleaning order include A- > C- > B.
Table one:
of course, the electronic device may also generate the recommended cleaning order based on the historical cleaning order and the historical cleaning times in other ways, such as: acquiring an average sequence value of historical cleaning sequences of the target sub-working areas; and sequencing the average sequence values from front to back to obtain a recommended cleaning sequence.
In addition, the electronic device may generate the recommended cleaning order by randomly selecting the cleaning order, and the embodiment does not limit the manner in which the electronic device generates the recommended cleaning order.
With reference to fig. 2, n =3 is described as an example. Upon receiving the region selection operation applied to the sub-work region images 22, 23, and 24, the electronic apparatus displays 3 recommended cleaning sequences 26.
Optionally, when the electronic device allows the user to operate the recommended cleaning sequence, the recommended cleaning sequence is displayed in a second display manner to prompt that the corresponding recommended cleaning sequence supports being operated. Such as: the sub-work area image shown in fig. 2 with vertical line hatching. Optionally, the second display mode is the same as or different from the first display mode, and the second display mode includes but is not limited to: the display is performed in a specific color and/or a specific pattern, and the second display mode is not limited in this embodiment. If the electronic device receives a sequence selection operation acting on the recommended cleaning sequence, the recommended cleaning sequence is not displayed in the second display mode.
With reference to fig. 3, n =3 is described as an example. The electronic device displays 3 recommended cleaning sequences 31, 32 and 33. Thereafter, the electronic apparatus receives a sequence selection operation that acts on the recommended cleaning sequence 31, the recommended cleaning sequence 31 being the target cleaning sequence, at which time the recommended cleaning sequence 31 is no longer displayed in the second display manner.
Optionally, after the electronic device receives the sequence selection operation, the ranking value of each target sub-work area in the target cleaning sequence may also be displayed based on the position of the target sub-work area image. Such as: in fig. 3, the target cleaning order is sub-work area a- > sub-work area B- > sub-work area C; the sorting value 1 of the sub-working area A is displayed in the sub-working area image; the sorting value 2 of the sub-working area A is displayed in the sub-working area image; the sorting value 3 of the sub-work area a is displayed in the sub-work area image.
And 105, displaying a cleaning path corresponding to the target cleaning sequence so as to control the cleaning equipment to clean in the working area according to the cleaning path.
The cleaning path sequentially passes through the corresponding sub-working areas according to the cleaning sequence. Before displaying the cleaning path corresponding to the target cleaning order, the electronic device needs to generate the cleaning path corresponding to the target cleaning order based on the path generation strategy. Wherein, the path generation strategy is as follows: the path-shortest policy, the time-consuming shortest policy, or the random generation policy, where the present embodiment does not limit the type of the path generation policy.
After the electronic equipment acquires the cleaning path, the cleaning path is sent to the cleaning equipment, so that the cleaning equipment can clean the working area according to the cleaning path. At this time, the cleaning apparatus also operates in the cleaning sequence.
In summary, according to the cleaning path obtaining method of the cleaning device provided by the embodiment, the working area image of the cleaning device is displayed, and the working area image includes a plurality of sub-working area images; receiving a region selection operation acting on the sub-work region image; displaying n recommended cleaning sequences, each recommended cleaning sequence being a cleaning sequence of a target sub-work area indicated by the area selection operation; receiving a sequence selection operation acting on a target cleaning sequence of the n recommended cleaning sequences; displaying a cleaning path corresponding to the target cleaning sequence to control the cleaning device to clean in the working area according to the cleaning path; the problem that the mobile terminal cannot provide a sequential path for cleaning rooms by cleaning equipment can be solved; since the cleaning sequence can be recommended to the user and the cleaning path can be generated according to the cleaning sequence selected by the user, an effect of providing the user with a path for the cleaning apparatus to clean the room can be achieved.
In addition, n recommended cleaning sequences of the target sub-working area are generated based on the preset sequence generation strategy, the recommended cleaning sequences meeting the user expectation can be generated, the user does not need to input the cleaning sequences manually, and the generation efficiency of the cleaning sequences is improved.
Fig. 4 is a block diagram of a cleaning path acquisition device of a cleaning apparatus according to an embodiment of the present application. The device at least comprises the following modules: a display module 410 and a human-machine interaction module 420.
A display module 410 for displaying a work area image of the cleaning device, the work area image comprising a plurality of sub-work area images;
a human-computer interaction module 420, configured to receive a region selection operation applied to the sub-work region image;
the display module 410 is further configured to display n recommended cleaning sequences, where each recommended cleaning sequence is a cleaning sequence of a target sub-working area indicated by the area selection operation, and n is a positive integer;
a human-machine interaction module 420, further configured to receive a sequence selection operation acting on a target cleaning sequence of the n recommended cleaning sequences;
the display module 410 is further configured to display a cleaning path corresponding to the target cleaning sequence, so as to control the cleaning device to clean in a working area according to the cleaning path.
For relevant details reference is made to the above-described method embodiments.
It should be noted that: in the cleaning path acquiring device of the cleaning device provided in the above embodiment, when the cleaning path of the cleaning device is acquired, only the division of the above functional modules is taken as an example, and in practical applications, the above function distribution may be completed by different functional modules according to needs, that is, the internal structure of the cleaning path acquiring device of the cleaning device is divided into different functional modules, so as to complete all or part of the above described functions. In addition, the cleaning path obtaining device of the cleaning device and the cleaning path obtaining method of the cleaning device provided by the above embodiments belong to the same concept, and specific implementation processes thereof are detailed in the method embodiments and are not described herein again.
Fig. 5 is a block diagram of a cleaning path acquisition device of a cleaning apparatus according to an embodiment of the present application. The apparatus comprises at least a processor 501 and a memory 502.
Processor 501 may include one or more processing cores such as: 4 core processors, 8 core processors, etc. The processor 501 may be implemented in at least one hardware form of a DSP (Digital Signal Processing), an FPGA (Field-Programmable Gate Array), and a PLA (Programmable Logic Array). The processor 501 may also include a main processor and a coprocessor, where the main processor is a processor for processing data in an awake state, and is also called a Central Processing Unit (CPU); a coprocessor is a low power processor for processing data in a standby state. In some embodiments, the processor 501 may be integrated with a GPU (Graphics Processing Unit), which is responsible for rendering and drawing the content required to be displayed on the display screen. In some embodiments, processor 501 may also include an AI (Artificial Intelligence) processor for processing computational operations related to machine learning.
Memory 502 may include one or more computer-readable storage media, which may be non-transitory. Memory 502 may also include high-speed random access memory, as well as non-volatile memory, such as one or more magnetic disk storage devices, flash memory storage devices. In some embodiments, a non-transitory computer readable storage medium in memory 502 is used to store at least one instruction for execution by processor 501 to implement the cleaning path acquisition method of the cleaning device provided by the method embodiments herein.
In some embodiments, the cleaning path acquiring device of the cleaning apparatus may further include: a peripheral interface and at least one peripheral. The processor 501, memory 502 and peripheral interfaces may be connected by buses or signal lines. Each peripheral may be connected to the peripheral interface via a bus, signal line, or circuit board. Illustratively, peripheral devices include, but are not limited to: radio frequency circuit, touch display screen, audio circuit, power supply, etc.
Of course, the cleaning path acquiring device of the cleaning apparatus may further include fewer or more components, which is not limited in this embodiment.
Optionally, the present application also provides a computer-readable storage medium, in which a program is stored, and the program is loaded and executed by a processor to implement the cleaning path obtaining method of the cleaning device of the above-described method embodiment.
Optionally, the present application further provides a computer product, which includes a computer-readable storage medium, in which a program is stored, and the program is loaded and executed by a processor to implement the cleaning path acquiring method of the cleaning device of the above-mentioned method embodiment.
The technical features of the embodiments described above may be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the embodiments described above are not described, but should be considered as being within the scope of the present specification as long as there is no contradiction between the combinations of the technical features.
The above-mentioned embodiments only express several embodiments of the present application, and the description thereof is more specific and detailed, but not construed as limiting the scope of the invention. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the concept of the present application, which falls within the scope of protection of the present application. Therefore, the protection scope of the present patent shall be subject to the appended claims.
Claims (10)
1. A cleaning path acquisition method of a cleaning apparatus, characterized by comprising:
displaying a work area image of the cleaning device, the work area image including a plurality of sub-work area images;
receiving a region selection operation acting on the sub-working region image;
displaying n recommended cleaning sequences, wherein each recommended cleaning sequence is the cleaning sequence of the target sub-working area indicated by the area selection operation, and n is a positive integer;
receiving a sequence selection operation acting on a target cleaning sequence of the n recommended cleaning sequences;
and displaying a cleaning path corresponding to the target cleaning sequence to control the cleaning equipment to clean in a working area according to the cleaning path.
2. The method of claim 1, wherein prior to displaying the n recommended cleaning sequences, further comprising:
and generating n recommended cleaning sequences of the target sub-working areas based on a preset sequence generation strategy.
3. The method of claim 2, wherein the generating n recommended cleaning sequences for the target sub-work area based on a preset sequence generation strategy comprises:
determining the cleaning duration of the target sub-working area under different cleaning sequences;
and determining a cleaning sequences with the shortest cleaning time length in each cleaning sequence as a recommended cleaning sequence, wherein a is a positive integer and is less than or equal to n.
4. The method of claim 2, wherein the generating n recommended cleaning sequences for the target sub-work area based on a preset sequence generation strategy comprises:
determining cleaning paths of the target sub-working area under different cleaning sequences;
determining b cleaning sequences with shortest cleaning paths in the cleaning sequences as recommended cleaning sequences; b is a positive integer, and b is not more than n.
5. The method of claim 2, wherein the generating n recommended cleaning sequences for the target sub-work area based on a preset sequence generation strategy comprises:
determining a historical cleaning sequence and historical cleaning times of the target sub-working area;
generating the recommended cleaning order based on the historical cleaning order and the historical cleaning times.
6. The method of claim 5, wherein generating the recommended cleaning order based on the historical cleaning order and the historical number of cleans comprises:
acquiring the most front cleaning sequence in the historical cleaning sequences of the target sub-working areas;
sequencing the target sub-working areas from front to back according to the most front cleaning sequence;
for target sub-working areas with the same sorting sequence, sorting the target sub-working areas according to the sequence of the historical cleaning times from more to less;
determining the obtained sorting order as the recommended cleaning order.
7. The method of any of claims 1 to 6, wherein prior to displaying the cleaning path corresponding to the target cleaning sequence, further comprising:
generating a cleaning path corresponding to the target cleaning sequence based on a path generation strategy;
wherein the path generation policy is: a shortest path policy, a shortest time consuming policy, or a randomly generated policy.
8. A cleaning path acquisition device of a cleaning apparatus, characterized by comprising:
a display module for displaying a work area image of the cleaning device, the work area image comprising a plurality of sub-work area images;
the man-machine interaction module is used for receiving the region selection operation acted on the sub-working region image;
the display module is further configured to display n recommended cleaning sequences, each recommended cleaning sequence is a cleaning sequence of a target sub-working area indicated by the area selection operation, and n is a positive integer;
the human-computer interaction module is also used for receiving sequence selection operation acting on a target cleaning sequence in the n recommended cleaning sequences;
the display module is further configured to display a cleaning path corresponding to the target cleaning sequence, so as to control the cleaning device to clean in a working area according to the cleaning path.
9. A cleaning path acquisition device of a cleaning apparatus, characterized in that the device comprises a processor and a memory; the memory stores therein a program that is loaded and executed by the processor to implement the cleaning path acquiring method of the cleaning apparatus according to any one of claims 1 to 7.
10. A computer-readable storage medium, characterized in that the storage medium stores therein a program for implementing a cleaning path acquisition method of a cleaning apparatus according to any one of claims 1 to 7 when the program is executed by a processor.
Priority Applications (9)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010391796.3A CN111563461B (en) | 2020-05-11 | 2020-05-11 | Cleaning path acquisition method and device for cleaning equipment and storage medium |
| CN202110194339.XA CN112862198A (en) | 2020-05-11 | 2020-05-11 | Cleaning path acquisition method and device for cleaning equipment and storage medium |
| CN202110194458.5A CN112862199B (en) | 2020-05-11 | 2020-05-11 | Cleaning path acquisition method and device for cleaning equipment and storage medium |
| CN202110193848.0A CN112836981B (en) | 2020-05-11 | 2020-05-11 | Cleaning path acquisition method and device for cleaning equipment and storage medium |
| EP21802924.7A EP4120120A4 (en) | 2020-05-11 | 2021-04-16 | Method and apparatus for obtaining cleaning path of cleaning device, and storage medium |
| PCT/CN2021/087890 WO2021227777A1 (en) | 2020-05-11 | 2021-04-16 | Method and apparatus for obtaining cleaning path of cleaning device, and storage medium |
| US17/791,883 US20230090776A1 (en) | 2020-05-11 | 2021-04-16 | Method, device and storage medium for obtaining cleaning path of cleaning device |
| KR1020227038110A KR20220163421A (en) | 2020-05-11 | 2021-04-16 | Method and apparatus for obtaining a cleaning path of a cleaning device |
| JP2022563240A JP2023516818A (en) | 2020-05-11 | 2021-04-16 | Cleaning route acquisition method, device, and storage medium for cleaning equipment |
Applications Claiming Priority (1)
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| CN112842149A (en) * | 2021-02-03 | 2021-05-28 | 追创科技(苏州)有限公司 | Control method of intelligent cleaning equipment and intelligent cleaning equipment |
| WO2021227777A1 (en) * | 2020-05-11 | 2021-11-18 | 追觅创新科技(苏州)有限公司 | Method and apparatus for obtaining cleaning path of cleaning device, and storage medium |
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Also Published As
| Publication number | Publication date |
|---|---|
| CN112862199A (en) | 2021-05-28 |
| CN112862199B (en) | 2023-08-08 |
| CN111563461B (en) | 2021-03-12 |
| CN112836981B (en) | 2023-08-08 |
| CN112836981A (en) | 2021-05-25 |
| CN112862198A (en) | 2021-05-28 |
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