CN112862199B - 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
- Publication number
- CN112862199B CN112862199B CN202110194458.5A CN202110194458A CN112862199B CN 112862199 B CN112862199 B CN 112862199B CN 202110194458 A CN202110194458 A CN 202110194458A CN 112862199 B CN112862199 B CN 112862199B
- Authority
- CN
- China
- Prior art keywords
- cleaning
- sequence
- sub
- working area
- recommended
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
- 238000004140 cleaning Methods 0.000 title claims abstract description 337
- 238000000034 method Methods 0.000 title claims abstract description 42
- 230000003993 interaction Effects 0.000 claims description 7
- 230000000694 effects Effects 0.000 abstract description 3
- 238000012163 sequencing technique Methods 0.000 description 9
- 230000002093 peripheral effect Effects 0.000 description 6
- 238000010586 diagram Methods 0.000 description 5
- 230000006870 function Effects 0.000 description 3
- 238000005192 partition Methods 0.000 description 3
- 230000008569 process Effects 0.000 description 3
- 238000013473 artificial intelligence Methods 0.000 description 2
- 238000010408 sweeping Methods 0.000 description 2
- 230000009471 action Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000010801 machine learning Methods 0.000 description 1
- 230000005055 memory storage Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000009877 rendering Methods 0.000 description 1
Classifications
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06Q—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES; SYSTEMS OR METHODS SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES, NOT OTHERWISE PROVIDED FOR
- G06Q10/00—Administration; Management
- G06Q10/04—Forecasting or optimisation specially adapted for administrative or management purposes, e.g. linear programming or "cutting stock problem"
- G06Q10/047—Optimisation of routes or paths, e.g. travelling salesman problem
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/10—Segmentation; Edge detection
- G06T7/187—Segmentation; Edge detection involving region growing; involving region merging; involving connected component labelling
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/60—Analysis of geometric attributes
- G06T7/62—Analysis of geometric attributes of area, perimeter, diameter or volume
Landscapes
- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Business, Economics & Management (AREA)
- Human Resources & Organizations (AREA)
- Theoretical Computer Science (AREA)
- General Physics & Mathematics (AREA)
- Computer Vision & Pattern Recognition (AREA)
- Economics (AREA)
- Strategic Management (AREA)
- Game Theory and Decision Science (AREA)
- Quality & Reliability (AREA)
- Tourism & Hospitality (AREA)
- Operations Research (AREA)
- General Business, Economics & Management (AREA)
- Marketing (AREA)
- Entrepreneurship & Innovation (AREA)
- Development Economics (AREA)
- Geometry (AREA)
- Electric Vacuum Cleaner (AREA)
- Management, Administration, Business Operations System, And Electronic Commerce (AREA)
- Studio Devices (AREA)
- Telephone Function (AREA)
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 working area image of the cleaning device, the working area image comprising a plurality of sub-working area images; receiving an area selection operation acting on the sub-work area 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; receiving a sequence selection operation acting on a target cleaning sequence among 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 the cleaning equipment can be solved; since the cleaning order can be recommended to the user and the cleaning path can be generated in accordance with the cleaning order selected by the user, the effect of providing the path for the cleaning device to clean the room can be achieved.
Description
The present application is a divisional application of patent application No. 202010391796.3, application date 2020, 05, 11, and patent name "cleaning path acquisition method and apparatus of cleaning device and storage medium".
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 devices (e.g., sweeping robots, etc.) are primarily used for cleaning floors, and are typically used in indoor scene cleaning environments. The cleaning device comprises a cleaning module and a driving module, and the cleaning device moves and controls the cleaning module to clean the ground under the action of the driving module.
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 acquisition method and device of cleaning equipment and a storage medium, which can solve the problem that a mobile terminal cannot provide a path for cleaning a room by the cleaning equipment. The application provides the following technical scheme:
in a first aspect, there is provided a cleaning path acquisition method of a cleaning apparatus, the method comprising:
displaying a working area image of the cleaning device, the working area image comprising a plurality of sub-working area images;
receiving an area selection operation acting on the sub-work area 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;
displaying a cleaning path corresponding to the target cleaning sequence to control the cleaning device 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 area based on a preset sequence generation strategy.
Optionally, the generating n recommended cleaning orders of the target sub-working area based on a preset order generating policy includes:
determining the cleaning time length of the target sub-working area under different cleaning sequences;
and determining a cleaning sequence with the shortest cleaning duration in each cleaning sequence as a recommended cleaning sequence, wherein a is a positive integer, and a is less than or equal to n.
Optionally, the generating n recommended cleaning orders of the target sub-working area based on a preset order generating policy includes:
determining cleaning paths of the target sub-working area under different cleaning sequences;
determining the shortest b cleaning sequences of the cleaning paths in each cleaning sequence as recommended cleaning sequences; b is a positive integer, and b is less than or equal to n.
Optionally, the generating n recommended cleaning orders of the target sub-working area based on a preset order generating policy includes:
determining a historical cleaning sequence and historical cleaning times of the target sub-working area;
the recommended cleaning order is generated based on the historical cleaning order and the historical number of cleaning.
Optionally, the generating the recommended cleaning sequence based on the historical cleaning sequence and the historical cleaning times includes:
acquiring the forefront cleaning sequence in the historical cleaning sequences of the target sub-working areas;
sequencing the forefront cleaning sequence from front to back;
for the target sub-working areas with the same ordering sequence, ordering according to the order of the historical cleaning times from more to less;
and 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 path shortest strategy, a time consuming shortest strategy, or a randomly generated strategy.
In a second aspect, there is provided a cleaning path acquisition apparatus of a cleaning device, the apparatus comprising:
the display module is used for displaying a working area image of the cleaning equipment, wherein the working area image comprises a plurality of sub-working area images;
the man-machine interaction module is used for receiving region selection operation acting 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 the target sub-working area indicated by the area selection operation, and n is a positive integer;
the man-machine interaction module is further used for receiving sequence selection operation acting on a target cleaning sequence in the n recommended cleaning sequences;
the display module is also used for displaying the cleaning paths corresponding to the target cleaning sequence so as to control the cleaning equipment to clean in the working area according to the cleaning paths.
In a third aspect, there is provided a cleaning path acquisition apparatus of a cleaning device, the apparatus comprising a processor and a memory; the memory stores therein a program loaded and executed by the processor to realize 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 having stored 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.
The beneficial effects of this application lie in: displaying a working area image of the cleaning device, the working area image including a plurality of sub-working area images; receiving an area selection operation acting on the sub-work area 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; receiving a sequence selection operation acting on a target cleaning sequence among 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 the cleaning equipment can be solved; since the cleaning order can be recommended to the user and the cleaning path can be generated in accordance with the cleaning order selected by the user, the effect of providing the path for the cleaning device 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 means of the present application more clearly understood, it can be implemented according to the content of the specification, and the following detailed description of the preferred embodiments of the present application will be given with reference to the accompanying drawings.
Drawings
FIG. 1 is a flow chart of a cleaning path acquisition method of a cleaning apparatus provided in one embodiment of the present application;
FIG. 2 is a schematic diagram of a process for displaying n recommended cleaning sequences provided in one embodiment of the present application;
FIG. 3 is a schematic illustration of a process for selecting a target cleaning sequence provided in one embodiment of the present application;
FIG. 4 is a block diagram of a cleaning path acquisition device of a cleaning apparatus provided in one embodiment of the present application;
fig. 5 is a block diagram of a cleaning path acquisition device of the cleaning apparatus according to an embodiment of the present application.
Description of the embodiments
The detailed description of the present application is further described in detail below with reference to the drawings and examples. The following examples are illustrative of the present application, but are not intended to limit the scope of the present application.
Alternatively, the present application describes the execution subject of each embodiment as an electronic device that controls the cleaning device. The cleaning device can be a device 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, etc., 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 acquisition method of a cleaning apparatus according to an embodiment of the present application. The method at least comprises the following steps:
step 101, displaying a working area image of the cleaning device, the working area image comprising a plurality of sub-working area images.
The working area image means: the cleaning device controlled by the electronic device requires an image of the work area to be cleaned. The working 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 present embodiment does not limit the name of the work area image.
In the application, the working area image comprises a plurality of sub-working area images, and each sub-working area image is an image corresponding to a part of areas in the working area. Such as: the work area image is a room, and the sub-work area image may include bedroom 1, bedroom 2, dining room, balcony, etc. in the room.
The sub-work areas in the work area may be user-divided; or the electronic device automatically generates, and the embodiment does not limit the division manner of the sub-working area.
In addition, the working area image may be a two-dimensional image (for example, a top view of a room) or a three-dimensional image, and the present embodiment does not limit the expression form of the working area image.
Optionally, the electronic device displays a partition display control of the working area image on the display interface; and when receiving a triggering operation acted on the partition display control, displaying the sub-work area image in the work area image in a partition mode.
Step 102, receiving an area selection operation for the sub-work area image.
Optionally, the region selection operation acting on the plurality of sub-work region images includes, but is not limited to: a single click operation, a double click operation, a long press operation, or the like, the present embodiment does not limit the manner of the region selection operation.
Optionally, when the electronic device allows the user to operate the sub-working area image, the sub-working area image is displayed in a first display mode to prompt that the corresponding sub-working area image support is operated, for example: the sub-operation area image shown in the hatched portion in fig. 2. Optionally, the first display manner includes, but is not limited to: the first display mode is not limited by the present embodiment, and the first display mode is displayed in a specific color and/or a specific pattern. If the electronic device receives the region selection operation acting on the sub-working region image, the corresponding sub-working region image is updated to not allow the user to operate the sub-working region image, and at this time, the sub-working region image is not displayed in the first display mode.
Referring to fig. 2, a room image 21 is taken as an example of a work area image. The respective sub-work area images 22, 23, 24, and 25 are displayed in a partitioned manner in the room image 21. The electronic device receives a region selection operation from the user on the sub-work region images 22, 23, and 24 to obtain a target sub-work region, which is no longer displayed in the first display mode.
Step 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: and the region selection operation is performed on the sub-working region corresponding to the sub-working region image acted by the region selection operation.
The value of n is determined based on the number of target sub-working 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 greater 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: n has the values of 3, 4, 5, etc. Of course, in other embodiments, the setting manner of the n value may be other manners, which are not listed here.
Before displaying the n recommended cleaning sequences, the electronic device needs to generate the n recommended cleaning sequences for the target sub-work area based on a preset sequence generation policy.
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:
first kind: determining the cleaning time length of the target sub-working area under different cleaning sequences; and determining a cleaning sequence with the shortest cleaning duration in each cleaning sequence as a recommended cleaning sequence, wherein a is a positive integer, and a is less than or equal to n.
Such as: the target sub-working area is a sub-working area a corresponding to the sub-working area image 22, a sub-working area B corresponding to the sub-working area image 23, and a sub-working area C corresponding to the sub-working area image 24 in fig. 2, and the cleaning sequence of the target sub-working area includes 6 kinds:
sub-working area a- > sub-working area B- > sub-working area C;
sub-working area a- > sub-working area C- > sub-working area B;
sub-working area B- > sub-working area C- > sub-working area a;
sub-working area B- > sub-working area a- > sub-working area C;
a sub-working area C- > a sub-working area B- > a sub-working area A;
sub-working area C- > sub-working area a- > sub-working area B.
The electronic equipment stores moving parameters such as the moving speed, the turning speed and the like of the cleaning equipment; generating a cleaning path corresponding to each cleaning sequence; calculating the cleaning time length corresponding to each cleaning sequence by combining the moving parameters and the cleaning paths, and sequencing the cleaning time lengths according to the sequence from short to long; the cleaning order ordered in the first a bits is determined as the recommended cleaning order.
Second kind: determining cleaning paths of the target sub-working area under different cleaning sequences; determining the shortest b cleaning sequences of the cleaning paths in each cleaning sequence as recommended cleaning sequences; b is a positive integer, and b is less than or equal to n.
Such as: the target sub-working area is a sub-working area a corresponding to the sub-working area image 22, a sub-working area B corresponding to the sub-working area image 23, and a sub-working area C corresponding to the sub-working area image 24 in fig. 2, and the cleaning sequence of the target sub-working area includes 6 kinds:
sub-working area a- > sub-working area B- > sub-working area C;
sub-working area a- > sub-working area C- > sub-working area B;
sub-working area B- > sub-working area C- > sub-working area a;
sub-working area B- > sub-working area a- > sub-working area C;
a sub-working area C- > a sub-working area B- > a sub-working area A;
sub-working area C- > sub-working area a- > sub-working area B.
The electronic equipment generates a cleaning path corresponding to each cleaning sequence based on a path shortest principle; sequencing the cleaning paths in the order from short to long; the cleaning order sorted in the first b bits is determined as the recommended cleaning order.
Third kind: determining a historical cleaning sequence and historical cleaning times of a target sub-working area; a recommended cleaning order is generated based on the historical cleaning order and the historical number of cleaning times.
In one example, a top cleaning order of the historical cleaning orders of the target sub-work area is obtained; sequencing the target sub-working areas according to the sequence from front to back of the forefront cleaning sequence; for the target sub-working areas with the same ordering sequence, ordering according to the order of the historical cleaning times from more to less; the resulting sort order is determined as the recommended cleaning order.
Such as: the target sub-working areas are a sub-working area a corresponding to the sub-working area image 22, a sub-working area B corresponding to the sub-working area image 23 and a sub-working area C corresponding to the sub-working area image 24 in fig. 2, and the history cleaning sequence and the history cleaning times of each target sub-working area are shown in reference table one. As can be seen from table one, the front cleaning sequence of the sub-working area a and the front cleaning sequence of the sub-working area C are both 1, and the front cleaning sequence of the sub-working area B is 2, and the sequencing result is (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 larger than the historical cleaning times of the sub-working area C, and the sequencing result is A- > C- > B. At this time, the recommended cleaning sequence includes a- > C- > B.
Table one:
of course, the electronic device may also generate the recommended cleaning sequence based on the historical cleaning sequence and the historical number of cleaning times in other ways, such as: acquiring an average sequence value of a historical cleaning sequence of the target sub-working area; and sequencing the average sequence values according to the sequence from front to back to obtain the recommended cleaning sequence.
In addition, the electronic device may also generate the recommended cleaning sequence by randomly selecting the cleaning sequence, and the embodiment does not limit the manner in which the electronic device generates the recommended cleaning sequence.
Referring to fig. 2, description will be given taking n=3 as an example. Upon receiving the region selection operation on the sub-work region images 22, 23, and 24, the electronic device displays 3 recommended cleaning sequences 26.
Step 104, receiving a sequence selection operation for a target cleaning sequence of the n recommended cleaning sequences.
Optionally, when the electronic device allows the user to operate the recommended cleaning sequence, displaying the recommended cleaning sequence in a second display mode to prompt that the corresponding recommended cleaning sequence support is operated. Such as: the vertical hatched portion in fig. 2 shows the sub-work area image. Optionally, the second display mode is the same as or different from the first display mode, and includes, but is not limited to: the second display mode is not limited in this embodiment, and the second display mode is displayed in a specific color and/or a specific pattern. If the electronic device receives a sequence selection operation for recommending the cleaning sequence, the recommended cleaning sequence is not displayed in the second display mode.
Referring to fig. 3, description will be given taking n=3 as an example. The electronic device displays 3 recommended cleaning sequences 31, 32 and 33. Then, the electronic apparatus receives a sequence selection operation for 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, a ranking value of each target sub-working area in the target cleaning sequence may also be displayed based on the position of the target sub-working 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 sequencing value 1 of the sub-working area A is displayed in the sub-working area image; the ranking value 2 of the sub-working area A is displayed in the sub-working area image; the ranking value 3 of the sub-working area a is displayed within the sub-working area image.
Step 105, 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 cleaning paths sequentially pass through the corresponding sub-working areas in a 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 policy. Wherein, the path generation policy is: the path shortest policy, the time consuming shortest policy, or the random generation policy, the type of the path generation policy is not limited in this embodiment.
After the electronic device acquires the cleaning path, the cleaning path is sent to the cleaning device so that the cleaning device cleans in the working area according to the cleaning path. At this time, the cleaning apparatus also operates in the cleaning order.
In summary, in the cleaning path acquiring method of the cleaning device provided in the present embodiment, by displaying the working area image of the cleaning device, the working area image includes a plurality of sub-working area images; receiving an area selection operation acting on the sub-work area 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; receiving a sequence selection operation acting on a target cleaning sequence among 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 the cleaning equipment can be solved; since the cleaning order can be recommended to the user and the cleaning path can be generated in accordance with the cleaning order selected by the user, the effect of providing the path for the cleaning device to clean the room can be achieved.
In addition, n recommended cleaning sequences of the target sub-working area are generated based on a preset sequence generation strategy, so that the recommended cleaning sequences which meet the requirements of users can be generated, the users do not need to manually input the cleaning sequences, and the generation efficiency of the cleaning sequences is improved.
Fig. 4 is a block diagram of a cleaning path acquisition device of the 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 working area image of the cleaning device, the working area image including a plurality of sub-working area images;
a man-machine interaction module 420, configured to receive an area selection operation acting on the sub-work area image;
the display module 410 is further configured to display n recommended cleaning sequences, where each recommended cleaning sequence is a cleaning sequence of the target sub-working area indicated by the area selection operation, and n is a positive integer;
the man-machine interaction module 420 is 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 perform cleaning in the working area according to the cleaning path.
For relevant details reference is made to the method embodiments described above.
It should be noted that: the cleaning path acquiring device of the cleaning apparatus provided in the above embodiment is only exemplified by the above-described division of each functional module when performing cleaning path acquisition of the cleaning apparatus, and in practical application, the above-described function allocation may be performed by different functional modules according to needs, that is, the internal structure of the cleaning path acquiring device of the cleaning apparatus is divided into different functional modules to perform all or part of the functions described above. In addition, the cleaning path acquiring device of the cleaning device and the cleaning path acquiring method of the cleaning device provided in the foregoing embodiments belong to the same concept, and detailed implementation processes of the cleaning path acquiring device and the cleaning path acquiring method of the cleaning device 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 the cleaning apparatus according to an embodiment of the present application. The apparatus comprises at least a processor 501 and a memory 502.
The 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 DSP (Digital Signal Processing ), FPGA (Field-Programmable Gate Array, field programmable gate array), PLA (Programmable Logic Array ). The processor 501 may also include a main processor and a coprocessor, the main processor being a processor for processing data in an awake state, also referred to as a CPU (Central Processing Unit ); a coprocessor is a low-power processor for processing data in a standby state. In some embodiments, the processor 501 may integrate a GPU (Graphics Processing Unit, image processor) for rendering and drawing of content required to be displayed by the display screen. In some embodiments, the processor 501 may also include an AI (Artificial Intelligence ) processor for processing computing 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 acquisition 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. The individual peripheral devices may be connected to the peripheral device interface via buses, signal lines or circuit boards. Illustratively, peripheral devices include, but are not limited to: radio frequency circuitry, touch display screens, audio circuitry, and power supplies, among others.
Of course, the cleaning path acquisition device of the cleaning apparatus may also include fewer or more components, which is not limited in this embodiment.
Optionally, the present application further provides a computer readable storage medium having a program stored therein, the program being loaded and executed by a processor to implement the cleaning path acquisition method of the cleaning device of the above method embodiment.
Optionally, the application further provides a computer product, which includes a computer readable storage medium, where a program is stored, and the program is loaded and executed by a processor to implement the cleaning path acquisition method of the cleaning device of the above method embodiment.
The technical features of the above-described embodiments may be arbitrarily combined, and all possible combinations of the technical features in the above-described embodiments are not described for brevity of description, however, as long as there is no contradiction between the combinations of the technical features, they should be considered as the scope of the description.
The above examples merely represent a few embodiments of the present application, which are described in more detail and are not to be construed as limiting the scope of the invention. It should be noted that it would be apparent to those skilled in the art that various modifications and improvements could be made without departing from the spirit of the present application, which would be within the scope of the present application. Accordingly, the scope of protection of the present application is to be determined by the claims appended hereto.
Claims (10)
1. A cleaning path acquisition method of a cleaning apparatus, the method comprising:
displaying a working area image of the cleaning device, the working area image comprising a plurality of sub-working area images;
receiving an area selection operation acting on the sub-work area 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;
displaying a cleaning path corresponding to the target cleaning sequence to control the cleaning device to clean in a working area according to the cleaning path;
before the n recommended cleaning sequences are displayed, the method further comprises:
acquiring an average sequence value of a historical cleaning sequence of the target sub-working area; sorting the average sequence values in the order from front to back; and determining the obtained sorting order as the recommended cleaning order.
2. The method of claim 1, wherein said receiving, after a sequence selection operation that acts on a target cleaning sequence of said n recommended cleaning sequences, further comprises:
based on the location of the target sub-work area images, a ranking value of each target sub-work area in the target cleaning order is displayed.
3. The method of claim 1, wherein said receiving, after a sequence selection operation that acts on a target cleaning sequence of said n recommended cleaning sequences, further comprises:
the display of n recommended cleaning sequences is changed.
4. The method of claim 1, wherein said receiving, after said region selection operation applied to said sub-work region image, further comprises:
changing the display mode of the sub-work area image.
5. The method according to claim 3 or 4, wherein the displaying means comprises: in a particular color, and/or in a particular pattern.
6. The method as recited in claim 1, further comprising:
for the target sub-working areas with the same ordering sequence, ordering according to the order of the historical cleaning times from more to less;
and determining the obtained sorting order as the recommended cleaning order.
7. The method of any one of claims 1 to 4, 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 path shortest strategy, a time consuming shortest strategy, or a randomly generated strategy.
8. A cleaning path acquisition device of a cleaning apparatus, the device comprising:
the display module is used for displaying a working area image of the cleaning equipment, wherein the working area image comprises a plurality of sub-working area images;
the man-machine interaction module is used for receiving region selection operation acting 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 the target sub-working area indicated by the area selection operation, and n is a positive integer;
the man-machine interaction module is further used for receiving sequence selection operation acting on a target cleaning sequence in the n recommended cleaning sequences;
the display module is further used for displaying a cleaning path corresponding to the target cleaning sequence so as to control the cleaning equipment to clean in a working area according to the cleaning path;
the apparatus further comprises:
means for obtaining an average sequence value of historical cleaning sequences for the target sub-work area prior to the displaying of the n recommended cleaning sequences;
the method comprises the steps of ordering the average sequence values in a front-to-back order.
9. A cleaning path acquisition device of a cleaning apparatus, the device comprising a processor and a memory; the memory has stored therein a program that is loaded and executed by the processor to realize the cleaning path acquisition 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 has stored therein a program for realizing the cleaning path acquisition method of the cleaning apparatus according to any one of claims 1 to 7 when executed by a processor.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110194458.5A CN112862199B (en) | 2020-05-11 | 2020-05-11 | Cleaning path acquisition method and device for cleaning equipment and storage medium |
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110194458.5A CN112862199B (en) | 2020-05-11 | 2020-05-11 | Cleaning path acquisition method and device for cleaning equipment and storage medium |
| CN202010391796.3A CN111563461B (en) | 2020-05-11 | 2020-05-11 | Cleaning path acquisition method and device for cleaning equipment and storage medium |
Related Parent Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202010391796.3A Division CN111563461B (en) | 2020-05-11 | 2020-05-11 | Cleaning path acquisition method and device for cleaning equipment and storage medium |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN112862199A CN112862199A (en) | 2021-05-28 |
| CN112862199B true CN112862199B (en) | 2023-08-08 |
Family
ID=72070879
Family Applications (4)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202110193848.0A Active CN112836981B (en) | 2020-05-11 | 2020-05-11 | Cleaning path acquisition method and device for cleaning equipment and storage medium |
| CN202110194458.5A Active CN112862199B (en) | 2020-05-11 | 2020-05-11 | Cleaning path acquisition method and device for cleaning equipment and storage medium |
| CN202010391796.3A Active CN111563461B (en) | 2020-05-11 | 2020-05-11 | Cleaning path acquisition method and device for cleaning equipment and storage medium |
| CN202110194339.XA Withdrawn CN112862198A (en) | 2020-05-11 | 2020-05-11 | Cleaning path acquisition method and device for cleaning equipment and storage medium |
Family Applications Before (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202110193848.0A Active CN112836981B (en) | 2020-05-11 | 2020-05-11 | Cleaning path acquisition method and device for cleaning equipment and storage medium |
Family Applications After (2)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202010391796.3A Active CN111563461B (en) | 2020-05-11 | 2020-05-11 | Cleaning path acquisition method and device for cleaning equipment and storage medium |
| CN202110194339.XA Withdrawn CN112862198A (en) | 2020-05-11 | 2020-05-11 | Cleaning path acquisition method and device for cleaning equipment and storage medium |
Country Status (1)
| Country | Link |
|---|---|
| CN (4) | CN112836981B (en) |
Families Citing this family (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR20220163421A (en) * | 2020-05-11 | 2022-12-09 | 드림 이노베이션 테크놀로지 (쑤저우) 컴퍼니 리미티드 | Method and apparatus for obtaining a cleaning path of a cleaning device |
| CN114098515B (en) * | 2020-08-26 | 2022-11-25 | 宁波方太厨具有限公司 | Cleaning strategy control method of cleaning robot and cleaning robot |
| EP4211257A1 (en) * | 2020-09-10 | 2023-07-19 | The Procter & Gamble Company | Systems and methods of determining hygiene condition of interior space |
| CN112842149B (en) * | 2021-02-03 | 2023-03-21 | 追觅创新科技(苏州)有限公司 | Control method of intelligent cleaning equipment and intelligent cleaning equipment |
Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101436115A (en) * | 2007-11-13 | 2009-05-20 | 夏普株式会社 | Information display apparatus, method for displaying information |
| CN106793905A (en) * | 2014-08-19 | 2017-05-31 | 三星电子株式会社 | Clean robot and the control device for clean robot, control system and control method |
| WO2017116131A1 (en) * | 2015-12-28 | 2017-07-06 | 삼성전자주식회사 | Cleaning robot and method for controlling cleaning robot |
| CN109195751A (en) * | 2016-09-14 | 2019-01-11 | 艾罗伯特公司 | System and method for the configurable operations based on the robot for distinguishing class |
| CN109521769A (en) * | 2018-11-19 | 2019-03-26 | 云鲸智能科技（东莞）有限公司 | A kind of setting method of cleaning solution, system and computer readable storage medium |
| CN109993382A (en) * | 2017-12-29 | 2019-07-09 | 顺丰科技有限公司 | Courier sends sequence recommended method and system with charge free |
| CN110833361A (en) * | 2018-08-17 | 2020-02-25 | 速感科技（北京）有限公司 | Cleaning robot and multi-zone cleaning method thereof |
| CN111035328A (en) * | 2018-10-12 | 2020-04-21 | 科沃斯机器人股份有限公司 | Robot cleaning method and robot |
| CN111178646A (en) * | 2018-10-23 | 2020-05-19 | 广达电脑股份有限公司 | Task area allocation method for a plurality of cleaning devices and system thereof |
Family Cites Families (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR20090077547A (en) * | 2008-01-11 | 2009-07-15 | 삼성전자주식회사 | Method and apparatus of path planning for a mobile robot |
| EP2764812B1 (en) * | 2013-02-12 | 2015-07-08 | Hako GmbH | Cleaning robot |
| KR102158690B1 (en) * | 2013-12-27 | 2020-10-23 | 엘지전자 주식회사 | robot cleaner, robot cleaner system and a control method of the same |
| CN111685664A (en) * | 2017-02-17 | 2020-09-22 | 科沃斯机器人股份有限公司 | Cleaning robot |
| CN108064025A (en) * | 2017-11-23 | 2018-05-22 | 努比亚技术有限公司 | A kind of route planning method, mobile terminal and computer readable storage medium |
| CN108209750B (en) * | 2017-12-29 | 2021-01-05 | 美的集团电子商务有限公司 | Sweeping method of sweeper, sweeper and computer readable storage medium |
| CN108606728B (en) * | 2018-05-08 | 2020-12-25 | 平安科技（深圳）有限公司 | Sweeping robot control method and equipment, sweeping robot and storage medium |
| CN108436921B (en) * | 2018-06-14 | 2020-04-24 | 广东盈科机器人产业有限公司 | Intelligent control method for sweeping robot |
| US11272823B2 (en) * | 2018-08-31 | 2022-03-15 | Neato Robotics, Inc. | Zone cleaning apparatus and method |
| CN110928282A (en) * | 2018-09-17 | 2020-03-27 | 格力电器（武汉）有限公司 | Control method and device for cleaning robot |
-
2020
- 2020-05-11 CN CN202110193848.0A patent/CN112836981B/en active Active
- 2020-05-11 CN CN202110194458.5A patent/CN112862199B/en active Active
- 2020-05-11 CN CN202010391796.3A patent/CN111563461B/en active Active
- 2020-05-11 CN CN202110194339.XA patent/CN112862198A/en not_active Withdrawn
Patent Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101436115A (en) * | 2007-11-13 | 2009-05-20 | 夏普株式会社 | Information display apparatus, method for displaying information |
| CN106793905A (en) * | 2014-08-19 | 2017-05-31 | 三星电子株式会社 | Clean robot and the control device for clean robot, control system and control method |
| WO2017116131A1 (en) * | 2015-12-28 | 2017-07-06 | 삼성전자주식회사 | Cleaning robot and method for controlling cleaning robot |
| CN109195751A (en) * | 2016-09-14 | 2019-01-11 | 艾罗伯特公司 | System and method for the configurable operations based on the robot for distinguishing class |
| CN109993382A (en) * | 2017-12-29 | 2019-07-09 | 顺丰科技有限公司 | Courier sends sequence recommended method and system with charge free |
| CN110833361A (en) * | 2018-08-17 | 2020-02-25 | 速感科技（北京）有限公司 | Cleaning robot and multi-zone cleaning method thereof |
| CN111035328A (en) * | 2018-10-12 | 2020-04-21 | 科沃斯机器人股份有限公司 | Robot cleaning method and robot |
| CN111178646A (en) * | 2018-10-23 | 2020-05-19 | 广达电脑股份有限公司 | Task area allocation method for a plurality of cleaning devices and system thereof |
| CN109521769A (en) * | 2018-11-19 | 2019-03-26 | 云鲸智能科技（东莞）有限公司 | A kind of setting method of cleaning solution, system and computer readable storage medium |
Also Published As
| Publication number | Publication date |
|---|---|
| CN112862199A (en) | 2021-05-28 |
| CN112862198A (en) | 2021-05-28 |
| CN111563461A (en) | 2020-08-21 |
| CN112836981B (en) | 2023-08-08 |
| CN112836981A (en) | 2021-05-25 |
| CN111563461B (en) | 2021-03-12 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN112862199B (en) | Cleaning path acquisition method and device for cleaning equipment and storage medium | |
| CN103337086B (en) | picture editing method and device for mobile terminal | |
| CN107508961A (en) | A kind of active window starts method, terminal and computer-readable recording medium | |
| JP2004537877A5 (en) | ||
| CN103605804A (en) | Method and system for ranking desktop objects | |
| CN112348954A (en) | Building model processing method and device, computer equipment and storage medium | |
| CN106780401A (en) | The method and mobile terminal of a kind of picture processing | |
| CN111563460A (en) | Cleaning path acquisition method and device for cleaning equipment and storage medium | |
| CN111767012A (en) | Screen projection method and device | |
| CN106775394B (en) | Content revealing method, device and electronic equipment, storage medium | |
| CN107329650A (en) | Exchange method, interactive device, terminal device and computer-readable recording medium | |
| CN111857507A (en) | Desktop image processing method and device and electronic equipment | |
| CN104123062B (en) | A kind of information processing method and electronic equipment | |
| EP4120120A1 (en) | Method and apparatus for obtaining cleaning path of cleaning device, and storage medium | |
| CN106776749A (en) | Modes to open a file method to set up and system | |
| CN116084131A (en) | Washing machine control method and device, washing machine and storage medium thereof | |
| CN110413167A (en) | Screen capturing method of terminal equipment and terminal equipment | |
| CN115857751A (en) | Icon management method and device and electronic equipment | |
| CN112966484B (en) | Chart typesetting method, device, electronic equipment and readable storage medium | |
| TW201537315A (en) | Apparatus for assisting the construction of a system, method, and a recording medium | |
| CN115145444A (en) | Icon moving method and device, electronic equipment and storage medium | |
| CN114995706A (en) | Element display method, device, equipment and storage medium | |
| JP6097256B2 (en) | Computer program that smoothly transitions the screen display between multiple images | |
| CN112732394A (en) | Intelligent control method and device for interface display, electronic equipment and storage medium | |
| CN113872849A (en) | Message interaction method and device and electronic equipment |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| CB02 | Change of applicant information |
Address after: 215104 E3, building 16, No. 2288, Wuzhong Avenue, Yuexi, Wuzhong District, Suzhou City, Jiangsu Province Applicant after: Dreame technology (Suzhou) Co.,Ltd. Address before: 215104 E3, building 16, No. 2288, Wuzhong Avenue, Yuexi, Wuzhong District, Suzhou City, Jiangsu Province Applicant before: ZHUICHUANG TECHNOLOGY (SUZHOU) Co.,Ltd. |
|
| CB02 | Change of applicant information | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |