CN111722624A - Cleaning method, device, equipment and computer readable storage medium - Google Patents
Cleaning method, device, equipment and computer readable storage medium Download PDFInfo
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- CN111722624A CN111722624A CN201910205291.0A CN201910205291A CN111722624A CN 111722624 A CN111722624 A CN 111722624A CN 201910205291 A CN201910205291 A CN 201910205291A CN 111722624 A CN111722624 A CN 111722624A
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- 238000004140 cleaning Methods 0.000 title claims abstract description 179
- 238000000034 method Methods 0.000 title claims abstract description 31
- 238000010408 sweeping Methods 0.000 claims abstract description 184
- 230000015654 memory Effects 0.000 claims description 14
- 238000004590 computer program Methods 0.000 claims description 6
- 238000010586 diagram Methods 0.000 description 9
- 230000002035 prolonged effect Effects 0.000 description 6
- 230000009286 beneficial effect Effects 0.000 description 5
- 238000005034 decoration Methods 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0217—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory in accordance with energy consumption, time reduction or distance reduction criteria
Abstract
The embodiment of the application provides a cleaning method, a cleaning device, equipment and a computer readable storage medium, wherein the method comprises the following steps: determining a candidate list containing each area to be cleaned according to a first cleaning map corresponding to the cleaned area, wherein the candidate list comprises an identifier of a first cleaning inlet of each area to be cleaned; determining second cleaning maps corresponding to the cleaned areas and the areas to be cleaned according to the first cleaning map and the candidate list; according to the second cleaning map, respectively determining a first path between a first cleaning inlet of each area to be cleaned and the sweeping equipment; and determining a second cleaning inlet according to the shortest distance path in the first paths so as to control the sweeping equipment to select and clean the area to be cleaned corresponding to the second cleaning inlet. The method realizes that the optimal area to be cleaned is selected from the plurality of areas to be cleaned so as to lead the traveling path of the sweeping equipment to be shortest, thereby reducing the loss of the sweeping equipment and prolonging the service life of the sweeping equipment.
Description
Technical Field
The present application relates to the field of computer technologies, and in particular, to a cleaning method, apparatus, device, and computer-readable storage medium.
Background
With the rapid development of science and technology, more and more intelligent living electrical appliances enter thousands of households, and the living comfort and convenience of people are greatly improved. The floor sweeping equipment is used as an electric appliance capable of automatically sweeping, can replace people to sweep the ground, reduces the housework burden of people, and is more and more accepted by people.
The sweeping equipment initially cleans without a map, the map needs to be built again, the sweeping equipment creates a local map while cleaning, a plurality of areas to be cleaned are possible at present, when the sweeping equipment cleans an area, one area to be cleaned is randomly selected from the plurality of areas to be cleaned for cleaning, the traveling path of the sweeping equipment is often overlong and is not the shortest traveling path, therefore, the loss of the sweeping equipment is accelerated, and the service life of the sweeping equipment is shortened.
Disclosure of Invention
The present application provides a cleaning method, apparatus, device and computer readable storage medium to solve the problem of how to select the optimal cleaning area among a plurality of areas to be cleaned to minimize the travel path.
In a first aspect, the present application provides a sweeping method applied to a sweeping device, including:
determining a candidate list containing each area to be cleaned according to a first cleaning map corresponding to the cleaned area, wherein the candidate list comprises an identifier of a first cleaning inlet of each area to be cleaned;
determining second cleaning maps corresponding to the cleaned areas and the areas to be cleaned according to the first cleaning map and the candidate list;
according to the second cleaning map, respectively determining a first path between a first cleaning inlet of each area to be cleaned and the sweeping equipment;
and determining a second cleaning inlet according to the shortest distance path in the first paths so as to control the sweeping equipment to select and clean the area to be cleaned corresponding to the second cleaning inlet.
Optionally, determining a candidate list including each to-be-cleaned area according to a first cleaning map corresponding to the cleaned area includes:
determining each area to be cleaned and a first cleaning inlet of each area to be cleaned according to border crossing information and obstacle encountering information of the cleaning equipment in the cleaned area, wherein the first cleaning inlet of each area to be cleaned is used for enabling the cleaning equipment to enter each area to be cleaned from the border of the cleaned area;
and determining a candidate list containing each area to be cleaned according to each area to be cleaned and the first cleaning inlet of each area to be cleaned, wherein the candidate list also comprises the identification of each area to be cleaned.
Optionally, determining a second cleaning map corresponding to the cleaned area and each area to be cleaned according to the first cleaning map and the candidate list, including:
and determining a second cleaning map according to the cleaned area, the identification of each area to be cleaned and the identification of the first cleaning inlet of each area to be cleaned, wherein the second cleaning map comprises the cleaned area and each area to be cleaned.
Optionally, determining, according to the second cleaning map, a first path between the first cleaning inlet of each to-be-cleaned area and the cleaning device respectively includes:
determining N paths of a first cleaning inlet of the Mth area to be cleaned communicated with the sweeping equipment according to the second cleaning map; m and N are both positive integers;
and determining a first path between the Mth area to be cleaned and the sweeping equipment from the N paths, wherein the first path is the shortest distance path in the N paths.
Optionally, determining a second sweeping inlet according to the shortest distance path in each first path includes:
determining a first path with the shortest distance in the H first paths according to the H first paths between the first cleaning inlets of the areas to be cleaned and the sweeping equipment; m is less than or equal to H, and H is a positive integer;
and determining a second cleaning inlet according to the first path with the shortest distance, wherein the second cleaning inlet is the first cleaning inlet corresponding to the first path with the shortest distance.
In a second aspect, the present application provides a cleaning device for sweeping a floor, including:
the first processing module is used for determining a candidate list of each to-be-cleaned area according to a first cleaning map corresponding to the cleaned area, wherein the candidate list comprises an identifier of a first cleaning inlet of each to-be-cleaned area;
the second processing module is used for determining a second cleaning map corresponding to the cleaned area and each area to be cleaned according to the first cleaning map and the candidate list;
the third processing module is used for respectively determining a first path between the first cleaning inlet of each area to be cleaned and the sweeping equipment according to the second cleaning map;
and the fourth processing module is used for determining a second cleaning inlet according to the shortest distance path in the first paths so as to control the sweeping equipment to select to clean the area to be cleaned corresponding to the second cleaning inlet.
Optionally, the first processing module is configured to determine, according to the border-crossing information and the obstacle-encountering information of the sweeping apparatus in the swept area, each area to be swept and a first sweeping inlet of each area to be swept, where the first sweeping inlet of each area to be swept is used for the sweeping apparatus to enter each area to be swept from the border of the swept area; and determining a candidate list containing each area to be cleaned according to each area to be cleaned and the first cleaning inlet of each area to be cleaned, wherein the candidate list also comprises the identification of each area to be cleaned.
Optionally, the second processing module is configured to determine a second cleaning map according to the cleaned area, the identifier of each area to be cleaned, and the identifier of the first cleaning entrance of each area to be cleaned, where the second cleaning map includes the cleaned area and each area to be cleaned.
Optionally, the third processing module is configured to determine, according to the second cleaning map, N paths where the first cleaning inlet of the mth area to be cleaned is communicated with the cleaning device; m and N are both positive integers; and determining a first path between the Mth area to be cleaned and the sweeping equipment from the N paths, wherein the first path is the shortest distance path in the N paths.
Optionally, the fourth processing module is configured to determine, according to H first paths between the first cleaning inlet of each area to be cleaned and the cleaning device, a first path of a shortest distance among the H first paths; m is less than or equal to H, and H is a positive integer; and determining a second cleaning inlet according to the first path with the shortest distance, wherein the second cleaning inlet is the first cleaning inlet corresponding to the first path with the shortest distance.
In a third aspect, the present application provides an electronic device, comprising: a processor, a memory, and a bus;
a bus for connecting the processor and the memory;
a memory for storing operating instructions;
and the processor is used for executing the cleaning method of the first aspect of the application by calling the operation instruction.
In a fourth aspect, the present application provides a computer-readable storage medium storing a computer program for executing the cleaning method of the first aspect of the present application.
The technical scheme provided by the embodiment of the application at least has the following beneficial effects:
the sweeping equipment determines a candidate list containing each area to be swept according to a first sweeping map corresponding to the swept area, wherein the candidate list comprises an identifier of a first sweeping inlet of each area to be swept; the sweeping equipment determines second sweeping maps corresponding to the swept areas and the areas to be swept according to the first sweeping map and the candidate list; the sweeping equipment respectively determines a first path between a first sweeping inlet of each area to be swept and the sweeping equipment according to the second sweeping map; and the sweeping equipment determines a second sweeping inlet according to the shortest distance path in the first paths so as to control the sweeping equipment to select and sweep the area to be swept corresponding to the second sweeping inlet. Therefore, the optimal area to be cleaned is selected from the multiple areas to be cleaned, so that the traveling path of the sweeping equipment is shortest, the loss of the sweeping equipment is reduced, and the service life of the sweeping equipment is prolonged.
Additional aspects and advantages of the present application will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the present application.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings used in the description of the embodiments of the present application will be briefly described below.
Fig. 1 is a schematic flow chart of a cleaning method according to an embodiment of the present disclosure;
FIG. 2 is a schematic diagram of a first path provided by an embodiment of the present application;
fig. 3 is a schematic structural diagram of a cleaning device according to an embodiment of the present disclosure;
fig. 4 is a schematic structural diagram of an electronic device according to an embodiment of the present application.
Detailed Description
Reference will now be made in detail to embodiments of the present application, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the drawings are exemplary only for the purpose of explaining the present application and are not to be construed as limiting the present invention.
As used herein, the singular forms "a", "an", "the" and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise. It will be further understood that the terms "comprises" and/or "comprising," when used in this specification, specify the presence of stated features, integers, steps, operations, elements, and/or components, but do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and/or groups thereof. It will be understood that when an element is referred to as being "connected" or "coupled" to another element, it can be directly connected or coupled to the other element or intervening elements may also be present. Further, "connected" or "coupled" as used herein may include wirelessly connected or wirelessly coupled. As used herein, the term "and/or" includes all or any element and all combinations of one or more of the associated listed items.
It will be understood by those skilled in the art that, unless otherwise defined, all terms (including technical and scientific terms) used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. It will be further understood that terms, such as those defined in commonly used dictionaries, should be interpreted as having a meaning that is consistent with their meaning in the context of the prior art and will not be interpreted in an idealized or overly formal sense unless expressly so defined herein.
The following describes the technical solutions of the present application and how to solve the above technical problems with specific embodiments. The following several specific embodiments may be combined with each other, and details of the same or similar concepts or processes may not be repeated in some embodiments. Embodiments of the present application will be described below with reference to the accompanying drawings.
Example one
The embodiment of the application provides a sweeping method applied to sweeping equipment, a flow schematic diagram of the method is shown in fig. 1, and the method comprises the following steps:
s101, determining a candidate list containing each area to be cleaned according to a first cleaning map corresponding to the cleaned area, wherein the candidate list comprises the identification of the first cleaning inlet of each area to be cleaned.
And S102, determining second cleaning maps corresponding to the cleaned areas and the areas to be cleaned according to the first cleaning map and the candidate list.
S103, respectively determining a first path between the first cleaning inlet of each area to be cleaned and the sweeping equipment according to the second cleaning map.
And S104, determining a second cleaning inlet according to the shortest distance path in the first paths so as to control the sweeping equipment to select and clean the area to be cleaned corresponding to the second cleaning inlet.
In the embodiment of the application, the sweeping equipment determines a candidate list containing each area to be swept according to a first sweeping map corresponding to the swept area, wherein the candidate list comprises the identification of a first sweeping inlet of each area to be swept; the sweeping equipment determines second sweeping maps corresponding to the swept areas and the areas to be swept according to the first sweeping map and the candidate list; the sweeping equipment respectively determines a first path between a first sweeping inlet of each area to be swept and the sweeping equipment according to the second sweeping map; and the sweeping equipment determines a second sweeping inlet according to the shortest distance path in the first paths so as to control the sweeping equipment to select and sweep the area to be swept corresponding to the second sweeping inlet. Therefore, the optimal area to be cleaned is selected from the multiple areas to be cleaned, so that the traveling path of the sweeping equipment is shortest, the loss of the sweeping equipment is reduced, and the service life of the sweeping equipment is prolonged.
Optionally, determining a candidate list including each to-be-cleaned area according to a first cleaning map corresponding to the cleaned area includes:
determining each area to be cleaned and a first cleaning inlet of each area to be cleaned according to border crossing information and obstacle encountering information of the cleaning equipment in the cleaned area, wherein the first cleaning inlet of each area to be cleaned is used for enabling the cleaning equipment to enter each area to be cleaned from the border of the cleaned area;
and determining a candidate list containing each area to be cleaned according to each area to be cleaned and the first cleaning inlet of each area to be cleaned, wherein the candidate list also comprises the identification of each area to be cleaned.
Optionally, the sweeping device initially sweeps no map, re-maps the map, finds a first obstacle collision point, such as a wall, and as shown in fig. 2, plans a first sweeping map 201 with a length of 4 m × 4 m, where the first sweeping map 201 is composed of 16 square grids, each square grid has a length of 1 m × 1 m, an obstacle is located at a position of a grid numbered 8, and the sweeping device is currently located at a position numbered 0. The sweeping equipment sweeps while walking along the boundary of the area corresponding to the first sweeping map 201, and when the sweeping equipment exceeds the boundary 203 during traveling, the sweeping equipment obtains that the first sweeping inlet of the area to be swept corresponding to the area to be swept map 202 is located at the position with the number of 9. When the sweeping equipment finishes sweeping along the area boundary corresponding to the first sweeping map 201, the sweeping equipment obtains the position of the first sweeping inlet of each area to be swept, and stores the identifier corresponding to the position of the first sweeping inlet of each area to be swept into the candidate list containing each area to be swept.
Optionally, determining a second cleaning map corresponding to the cleaned area and each area to be cleaned according to the first cleaning map and the candidate list, including:
and determining a second cleaning map according to the cleaned area, the identification of each area to be cleaned and the identification of the first cleaning inlet of each area to be cleaned, wherein the second cleaning map comprises the cleaned area and each area to be cleaned.
Alternatively, as shown in fig. 2, a second cleaning map is determined according to the first cleaning map 201 and the candidate list, the second cleaning map includes the first cleaning map 201 and the area map 202 to be cleaned, and the boundary between the first cleaning map 201 and the area map 202 to be cleaned is the boundary 203.
Optionally, determining, according to the second cleaning map, a first path between the first cleaning inlet of each to-be-cleaned area and the cleaning device respectively includes:
determining N paths of a first cleaning inlet of the Mth area to be cleaned communicated with the sweeping equipment according to the second cleaning map; m and N are both positive integers;
and determining a first path between the Mth area to be cleaned and the sweeping equipment from the N paths, wherein the first path is the shortest distance path in the N paths.
Alternatively, as shown in fig. 2, the sweeping device is currently at position number 0, and there are 8 adjacent positions, which are position number 1, position number 2, position number 3, and position number 4, the position numbered 5, the position numbered 6, the position numbered 7 and the position numbered 8 are obstacles at the position numbered 8, the first cleaning inlet of the area to be cleaned is positioned at the position numbered 9, the length of all paths of the sweeping equipment from the position numbered 0 to the position numbered 9 is calculated by adopting a breadth-first search algorithm (a double BFS algorithm) and a heuristic search algorithm (A-Star algorithm), the path with the shortest length in all paths is a first path, the first path is a path from the position numbered 0 to the position numbered 1, and then the path from the position numbered 1 to the position numbered 9.
Optionally, determining a second sweeping inlet according to the shortest distance path in each first path includes:
determining a first path with the shortest distance in the H first paths according to the H first paths between the first cleaning inlets of the areas to be cleaned and the sweeping equipment; m is less than or equal to H, and H is a positive integer;
and determining a second cleaning inlet according to the first path with the shortest distance, wherein the second cleaning inlet is the first cleaning inlet corresponding to the first path with the shortest distance.
Optionally, the sweeping device obtains a plurality of first paths, each first path corresponds to one first sweeping inlet, the first path with the shortest length is selected from all the first paths, the first sweeping inlet corresponding to the first path with the shortest length is used as a sweeping inlet for the sweeping device to enter the area to be swept, and the first sweeping inlet corresponding to the first path with the shortest length is used as a second sweeping inlet.
In the embodiment of the application, the sweeping equipment determines a candidate list containing each area to be swept according to a first sweeping map corresponding to the swept area, wherein the candidate list comprises the identification of a first sweeping inlet of each area to be swept; the sweeping equipment determines second sweeping maps corresponding to the swept areas and the areas to be swept according to the first sweeping map and the candidate list; the sweeping equipment respectively determines a first path between a first sweeping inlet of each area to be swept and the sweeping equipment according to the second sweeping map; and the sweeping equipment determines a second sweeping inlet according to the shortest distance path in the first paths so as to control the sweeping equipment to select and sweep the area to be swept corresponding to the second sweeping inlet. Therefore, the optimal area to be cleaned is selected from the multiple areas to be cleaned, so that the traveling path of the sweeping equipment is shortest, the loss of the sweeping equipment is reduced, and the service life of the sweeping equipment is prolonged.
Example two
Based on the same inventive concept, an embodiment of the present application further provides a cleaning device, a schematic structural diagram of the cleaning device is shown in fig. 3, the cleaning device 30 is applied to a floor sweeping apparatus, and the cleaning device 30 includes a first processing module 301, a second processing module 302, a third processing module 303, and a fourth processing module 304.
The first processing module 301 is configured to include a candidate list for determining each to-be-cleaned area according to a first cleaning map corresponding to a cleaned area, where the candidate list includes an identifier of a first cleaning entry of each to-be-cleaned area;
a second processing module 302, configured to determine a second cleaning map corresponding to the cleaned area and each area to be cleaned according to the first cleaning map and the candidate list;
the third processing module 303 is configured to determine, according to the second cleaning map, first paths between the first cleaning inlets of the areas to be cleaned and the cleaning device, respectively;
the fourth processing module 304 is configured to determine a second cleaning inlet according to the shortest distance route in the first routes, so as to control the cleaning device to select to clean the area to be cleaned corresponding to the second cleaning inlet.
Optionally, the first processing module 301 is specifically configured to determine, according to the border-crossing information and the obstacle-encountering information of the sweeping apparatus in the swept area, each area to be swept and a first sweeping inlet of each area to be swept, where the first sweeping inlet of each area to be swept is used for the sweeping apparatus to enter each area to be swept from the border of the swept area; and determining a candidate list containing each area to be cleaned according to each area to be cleaned and the first cleaning inlet of each area to be cleaned, wherein the candidate list also comprises the identification of each area to be cleaned.
Optionally, the second processing module 302 is specifically configured to determine a second cleaning map according to the cleaned area, the identifier of each area to be cleaned, and the identifier of the first cleaning entrance of each area to be cleaned, where the second cleaning map includes the cleaned area and each area to be cleaned.
Optionally, the third processing module 303 is specifically configured to determine, according to the second cleaning map, N paths where the first cleaning inlet of the mth area to be cleaned is communicated with the cleaning device; m and N are both positive integers; and determining a first path between the Mth area to be cleaned and the sweeping equipment from the N paths, wherein the first path is the shortest distance path in the N paths.
Optionally, the fourth processing module 304 is specifically configured to determine, according to H first paths between the first cleaning inlet of each area to be cleaned and the cleaning device, a first path with a shortest distance in the H first paths; m is less than or equal to H, and H is a positive integer; and determining a second cleaning inlet according to the first path with the shortest distance, wherein the second cleaning inlet is the first cleaning inlet corresponding to the first path with the shortest distance.
The application of the embodiment of the application has at least the following beneficial effects:
the sweeping equipment determines a candidate list containing each area to be swept according to a first sweeping map corresponding to the swept area, wherein the candidate list comprises an identifier of a first sweeping inlet of each area to be swept; the sweeping equipment determines second sweeping maps corresponding to the swept areas and the areas to be swept according to the first sweeping map and the candidate list; the sweeping equipment respectively determines a first path between a first sweeping inlet of each area to be swept and the sweeping equipment according to the second sweeping map; and the sweeping equipment determines a second sweeping inlet according to the shortest distance path in the first paths so as to control the sweeping equipment to select and sweep the area to be swept corresponding to the second sweeping inlet. Therefore, the optimal area to be cleaned is selected from the multiple areas to be cleaned, so that the traveling path of the sweeping equipment is shortest, the loss of the sweeping equipment is reduced, and the service life of the sweeping equipment is prolonged.
For the content that is not described in detail in the cleaning device provided in the embodiment of the present application, reference may be made to the cleaning method provided in the first embodiment, and the beneficial effects that can be achieved by the cleaning device provided in the embodiment of the present application are the same as the cleaning method provided in the first embodiment, and are not described herein again.
EXAMPLE III
Based on the same inventive concept, the embodiment of the present application further provides an electronic device, a schematic structural diagram of the electronic device is shown in fig. 4, the electronic device 4000 includes at least one processor 4001, a memory 4002, and a bus 4003, and the at least one processor 4001 is electrically connected to the memory 4002; the memory 4002 is configured to store at least one computer executable instruction, and the processor 4001 is configured to execute the at least one computer executable instruction to perform the steps of any one of the cleaning methods as provided in any one of the embodiments or any one of the alternative embodiments of the present application.
Further, the processor 4001 may be an FPGA (Field-Programmable Gate Array) or other devices with logic processing capability, such as an MCU (micro controller Unit) and a CPU (Central processing Unit).
The application of the embodiment of the application has at least the following beneficial effects:
the sweeping equipment determines a candidate list containing each area to be swept according to a first sweeping map corresponding to the swept area, wherein the candidate list comprises an identifier of a first sweeping inlet of each area to be swept; the sweeping equipment determines second sweeping maps corresponding to the swept areas and the areas to be swept according to the first sweeping map and the candidate list; the sweeping equipment respectively determines a first path between a first sweeping inlet of each area to be swept and the sweeping equipment according to the second sweeping map; and the sweeping equipment determines a second sweeping inlet according to the shortest distance path in the first paths so as to control the sweeping equipment to select and sweep the area to be swept corresponding to the second sweeping inlet. Therefore, the optimal area to be cleaned is selected from the multiple areas to be cleaned, so that the traveling path of the sweeping equipment is shortest, the loss of the sweeping equipment is reduced, and the service life of the sweeping equipment is prolonged.
Example four
Based on the same inventive concept, the present application further provides a computer-readable storage medium storing a computer program, where the computer program is used to implement, when executed by a processor, any one of the embodiments of the present application or any one of the steps of the cleaning method.
The computer-readable storage medium provided by the embodiments of the present application includes, but is not limited to, any type of disk (including floppy disks, hard disks, optical disks, CD-ROMs, and magneto-optical disks), ROMs (Read-Only memories), RAMs (random access memories), EPROMs (Erasable Programmable Read-Only memories), EEPROMs (Electrically Erasable Programmable Read-Only memories), flash memories, magnetic cards, or optical cards. That is, a readable storage medium includes any medium that stores or transmits information in a form readable by a device (e.g., a computer).
The application of the embodiment of the application has at least the following beneficial effects:
the sweeping equipment determines a candidate list containing each area to be swept according to a first sweeping map corresponding to the swept area, wherein the candidate list comprises an identifier of a first sweeping inlet of each area to be swept; the sweeping equipment determines second sweeping maps corresponding to the swept areas and the areas to be swept according to the first sweeping map and the candidate list; the sweeping equipment respectively determines a first path between a first sweeping inlet of each area to be swept and the sweeping equipment according to the second sweeping map; and the sweeping equipment determines a second sweeping inlet according to the shortest distance path in the first paths so as to control the sweeping equipment to select and sweep the area to be swept corresponding to the second sweeping inlet. Therefore, the optimal area to be cleaned is selected from the multiple areas to be cleaned, so that the traveling path of the sweeping equipment is shortest, the loss of the sweeping equipment is reduced, and the service life of the sweeping equipment is prolonged.
It will be understood by those within the art that each block of the block diagrams and/or flowchart illustrations, and combinations of blocks in the block diagrams and/or flowchart illustrations, can be implemented by computer program instructions. Those skilled in the art will appreciate that the computer program instructions may be implemented by a processor of a general purpose computer, special purpose computer, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, implement the aspects specified in the block or blocks of the block diagrams and/or flowchart illustrations disclosed herein.
Those of skill in the art will appreciate that the various operations, methods, steps in the processes, acts, or solutions discussed in this application can be interchanged, modified, combined, or eliminated. Further, other steps, measures, or schemes in various operations, methods, or flows that have been discussed in this application can be alternated, altered, rearranged, broken down, combined, or deleted. Further, steps, measures, schemes in the prior art having various operations, methods, procedures disclosed in the present application may also be alternated, modified, rearranged, decomposed, combined, or deleted.
The foregoing is only a partial embodiment of the present application, and it should be noted that, for those skilled in the art, several modifications and decorations can be made without departing from the principle of the present application, and these modifications and decorations should also be regarded as the protection scope of the present application.
Claims (10)
1. A sweeping method is applied to sweeping equipment and is characterized by comprising the following steps:
determining a candidate list containing each area to be cleaned according to a first cleaning map corresponding to the cleaned area, wherein the candidate list comprises an identifier of a first cleaning inlet of each area to be cleaned;
determining second cleaning maps corresponding to the cleaned areas and the areas to be cleaned according to the first cleaning map and the candidate list;
according to the second cleaning map, respectively determining a first path between a first cleaning inlet of each area to be cleaned and the sweeping equipment;
and determining a second cleaning inlet according to the shortest distance path in the first paths so as to control the sweeping equipment to select to clean the area to be cleaned corresponding to the second cleaning inlet.
2. The method of claim 1, wherein determining a candidate list containing each area to be cleaned according to the first cleaning map corresponding to the cleaned area comprises:
determining the areas to be cleaned and first cleaning inlets of the areas to be cleaned according to border-crossing information and obstacle-encountering information of the cleaning equipment in the cleaned areas, wherein the first cleaning inlets of the areas to be cleaned are used for enabling the cleaning equipment to enter the areas to be cleaned from the borders of the cleaned areas;
and determining a candidate list containing each area to be cleaned according to each area to be cleaned and the first cleaning inlet of each area to be cleaned, wherein the candidate list also comprises the identification of each area to be cleaned.
3. The method of claim 2, wherein determining a second cleaning map corresponding to the cleaned area and each area to be cleaned according to the first cleaning map and the candidate list comprises:
and determining the second cleaning map according to the cleaned area, the identification of each area to be cleaned and the identification of the first cleaning inlet of each area to be cleaned, wherein the second cleaning map comprises the cleaned area and each area to be cleaned.
4. The method according to claim 3, wherein the determining the first path between the first sweeping inlet of each area to be swept and the sweeping device respectively according to the second sweeping map comprises:
determining N paths of a first cleaning inlet of the Mth area to be cleaned communicated with the sweeping equipment according to the second cleaning map; m and N are both positive integers;
and determining a first path between the Mth area to be cleaned and the sweeping equipment from the N paths, wherein the first path is the shortest distance path in the N paths.
5. The method of claim 4, wherein said determining a second scavenge inlet based on a shortest distance path of the first paths comprises:
determining a first path with the shortest distance in the H first paths according to the H first paths between the first cleaning inlets of the areas to be cleaned and the cleaning equipment; m is less than or equal to H, and H is a positive integer;
and determining the second cleaning inlet according to the first path with the shortest distance, wherein the second cleaning inlet is a first cleaning inlet corresponding to the first path with the shortest distance.
6. The utility model provides a cleaning device is applied to equipment of sweeping the floor, its characterized in that includes:
the first processing module is used for determining a candidate list of each to-be-cleaned area according to a first cleaning map corresponding to the cleaned area, wherein the candidate list comprises an identifier of a first cleaning inlet of each to-be-cleaned area;
the second processing module is used for determining a second cleaning map corresponding to the cleaned area and each area to be cleaned according to the first cleaning map and the candidate list;
the third processing module is used for respectively determining a first path between the first cleaning inlet of each area to be cleaned and the sweeping equipment according to the second cleaning map;
and the fourth processing module is used for determining a second cleaning inlet according to the shortest distance path in the first paths so as to control the sweeping equipment to select to clean the area to be cleaned corresponding to the second cleaning inlet.
7. The apparatus of claim 6, comprising:
the first processing module is used for determining the areas to be cleaned and first cleaning inlets of the areas to be cleaned according to border-crossing information and obstacle-encountering information of the sweeping equipment in the cleaned areas, wherein the first cleaning inlets of the areas to be cleaned are used for enabling the sweeping equipment to enter the areas to be cleaned from the borders of the cleaned areas; and determining a candidate list containing each area to be cleaned according to each area to be cleaned and the first cleaning inlet of each area to be cleaned, wherein the candidate list also comprises the identification of each area to be cleaned.
8. The apparatus of claim 7, comprising:
the second processing module is configured to determine the second cleaning map according to the cleaned area, the identifier of each area to be cleaned, and the identifier of the first cleaning entrance of each area to be cleaned, where the second cleaning map includes the cleaned area and each area to be cleaned.
9. A floor sweeping apparatus, comprising: a processor, a memory, and a bus;
the bus is used for connecting the processor and the memory;
the memory is used for storing operation instructions;
the processor is used for executing the cleaning method of any one of the claims 1 to 5 by calling the operation instruction.
10. A computer-readable storage medium, characterized in that a computer program is stored, which, when being executed by a processor, is adapted to carry out the cleaning method according to any one of claims 1-5.
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| CN201910205291.0A CN111722624A (en) | 2019-03-18 | 2019-03-18 | Cleaning method, device, equipment and computer readable storage medium |
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| CN201910205291.0A CN111722624A (en) | 2019-03-18 | 2019-03-18 | Cleaning method, device, equipment and computer readable storage medium |
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