CN114066917A - Cleaning method, cleaning device, electronic equipment and storage medium - Google Patents
Cleaning method, cleaning device, electronic equipment and storage medium Download PDFInfo
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- CN114066917A CN114066917A CN202111332072.2A CN202111332072A CN114066917A CN 114066917 A CN114066917 A CN 114066917A CN 202111332072 A CN202111332072 A CN 202111332072A CN 114066917 A CN114066917 A CN 114066917A
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/10—Segmentation; Edge detection
- G06T7/13—Edge detection
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
- A47L11/4061—Steering means; Means for avoiding obstacles; Details related to the place where the driver is accommodated
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/10—Segmentation; Edge detection
- G06T7/181—Segmentation; Edge detection involving edge growing; involving edge linking
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- 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
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- 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
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L2201/00—Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
- A47L2201/04—Automatic control of the travelling movement; Automatic obstacle detection
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Abstract
The invention discloses a cleaning method, a cleaning device, electronic equipment and a storage medium, wherein the method comprises the following steps: after an environment map of an area to be cleaned is obtained, processing the environment map to obtain a contour map of the area to be cleaned; determining angular points based on the contour map, and performing contour fusion on the contour map after connecting the angular points to obtain a sub-region to be cleaned; determining the number information and the corner information of each subarea to be cleaned as subarea information, and receiving a cleaning instruction triggered by a user based on the subareas to be cleaned and the subarea information; and determining a cleaning plan according to the cleaning instruction, and cleaning the area to be cleaned based on the cleaning plan. According to the technical scheme, the subarea cleaning of the area to be cleaned is realized, the cleaning efficiency is improved, and the user experience is improved.
Description
Technical Field
The invention relates to an intelligent home technology, in particular to a cleaning method, a cleaning device, electronic equipment and a storage medium.
Background
Along with the improvement of the living standard and the progress of science and technology of people, people gradually use various machines so as to improve the working efficiency and the life quality of people and further improve the happiness index of people. In order to solve the problem of floor cleaning, a sweeping robot is born. The sweeping robot is strongly pursued by users since the market comes, and more families adopt the sweeping robot to sweep the ground.
Reasonable cleaning is carried out in a large environment, the sweeping robot is often required to have the ability of independent partition, namely the sweeping robot is required to independently divide a to-be-cleaned area into a plurality of partitions and gradually clean each partition, so that the machine can be cleaned more orderly, the efficiency is higher, and the user experience is improved.
However, in the prior art, the sweeping robot can only perform partitioning according to limited information, which causes unreasonable partitioning, and if the problems of cross-room sweeping, division of a room into multiple blocks, and the like are caused, the partitioning sweeping experience is poor, and the efficiency is also reduced.
Disclosure of Invention
The invention provides a cleaning method, a cleaning device, electronic equipment and a storage medium, which are used for partitioning an area to be cleaned quickly and improving user experience.
In a first aspect, an embodiment of the present invention provides a cleaning method, where the method includes:
after an environment map of an area to be cleaned is obtained, processing the environment map to obtain a contour map of the area to be cleaned;
determining angular points based on the contour map, and performing contour fusion on the contour map after connecting the angular points to obtain a sub-region to be cleaned;
determining the number information and the corner information of each subarea to be cleaned as subarea information, and receiving a cleaning instruction triggered by a user based on the subareas to be cleaned and the subarea information;
and determining a cleaning plan according to the cleaning instruction, and cleaning the area to be cleaned based on the cleaning plan.
The embodiment of the invention provides a cleaning method, which comprises the following steps: after an environment map of an area to be cleaned is obtained, processing the environment map to obtain a contour map of the area to be cleaned; determining angular points based on the contour map, and performing contour fusion on the contour map after connecting the angular points to obtain a sub-region to be cleaned; determining the number information and the corner information of each subarea to be cleaned as subarea information, and receiving a cleaning instruction triggered by a user based on the subareas to be cleaned and the subarea information; and determining a cleaning plan according to the cleaning instruction, and cleaning the area to be cleaned based on the cleaning plan. According to the technical scheme, the electronic equipment can divide the area to be cleaned into the sub-areas to be cleaned based on the environment map of the area to be cleaned, so that the divided sub-areas to be cleaned are more accurate. And sub-area information of each sub-area to be cleaned can be determined, a cleaning instruction triggered by a user is received based on the sub-areas to be cleaned and the sub-area information, and after a cleaning plan is determined according to the cleaning instruction, the area to be cleaned is cleaned based on the cleaning plan. The subarea cleaning of the area to be cleaned is realized under the cleaning instruction triggered by the user, the cleaning efficiency is improved, and the user experience is further improved.
Further, processing the environment map to obtain an outline map of the area to be cleaned, including:
carrying out binarization processing on the environment map to obtain a binarization image corresponding to the environment map;
and processing the binary image based on a contour detection algorithm to obtain a contour map of the area to be cleaned.
Further, determining corner points based on the contour map, performing contour fusion on the contour map after connecting the corner points to obtain a sub-area to be cleaned, including:
after corner detection is carried out on the contour map to determine corners, the corners are connected, and a contour area is determined based on contour detection;
and if the area of the outline area is larger than the area threshold, determining the outline area as a target area, and carrying out outline fusion on the target area to obtain the sub-area to be cleaned.
Further, determining a cleaning plan according to the cleaning instruction, and cleaning the area to be cleaned based on the cleaning plan, including:
determining a cleaning sequence of each subarea to be cleaned according to the cleaning sequence contained in the cleaning instruction, and determining the cleaning sequence and the subarea information as the cleaning plan;
and cleaning the area to be cleaned based on the cleaning sequence and the information of each subarea.
Further, before sweeping the area to be swept based on the sweeping plan, the method further comprises the following steps:
if the number of the corner points contained in the sub-region information is larger than a preset threshold value, dividing the sub-region to be cleaned corresponding to the sub-region information into at least two units to be cleaned based on the corner points;
correspondingly, cleaning the area to be cleaned based on the cleaning sequence and the information of each subarea comprises the following steps:
and respectively cleaning the units to be cleaned based on the sub-area information.
Further, before the environment map of the area to be cleaned is acquired, the method further comprises the following steps:
and (4) mapping the area to be cleaned to obtain an environment map of the area to be cleaned.
Further, before the mapping of the area to be cleaned, the method further comprises the following steps:
and receiving a mapping instruction triggered by a user, and determining the area to be cleaned according to the mapping instruction.
In a second aspect, an embodiment of the present invention further provides a cleaning device, where the cleaning device includes:
the processing module is used for processing the environment map after the environment map of the area to be cleaned is obtained, so as to obtain a contour map of the area to be cleaned;
the fusion module is used for determining angular points based on the contour map, connecting the angular points and then performing contour fusion on the contour map to obtain a sub-area to be cleaned;
the determining module is used for determining the number information and the corner information of each subarea to be cleaned as subarea information and receiving a cleaning instruction triggered by a user based on the subareas to be cleaned and the subarea information;
and the cleaning module is used for determining a cleaning plan according to the cleaning instruction and cleaning the area to be cleaned based on the cleaning plan.
In a third aspect, an embodiment of the present invention further provides an electronic device, where the electronic device includes: one or more processors; a storage device for storing one or more programs which, when executed by the one or more processors, cause the one or more processors to implement the sweeping method according to any one of the first aspects.
In a fourth aspect, embodiments of the present invention also provide a storage medium containing computer-executable instructions, which when executed by a computer processor, are configured to perform the cleaning method according to any one of the first aspect.
In a fifth aspect, the present application provides a computer program product comprising computer instructions which, when run on a computer, cause the computer to perform the cleaning method as provided in the first aspect.
It should be noted that all or part of the computer instructions may be stored on the computer readable storage medium. The computer readable storage medium may be packaged with the processor of the cleaning device, or may be packaged separately from the processor of the cleaning device, which is not limited in this application.
For the description of the second to fifth aspects in the present application, reference may be made to the detailed description of the first aspect; in addition, for the beneficial effects described in the second aspect to the fifth aspect, reference may be made to the beneficial effect analysis of the first aspect, and details are not described here.
In the present application, the names of the above-mentioned cleaning devices do not limit the devices or functional modules themselves, and in actual implementation, these devices or functional modules may appear by other names. Insofar as the functions of the respective devices or functional modules are similar to those of the present application, they fall within the scope of the claims of the present application and their equivalents.
These and other aspects of the present application will be more readily apparent from the following description.
Drawings
Fig. 1 is a schematic flow chart of a cleaning method according to an embodiment of the present invention;
fig. 2 is a schematic flow chart of a cleaning method according to a second embodiment of the present invention;
fig. 3a is a binarized image corresponding to an area to be cleaned in a cleaning method according to a second embodiment of the present invention, fig. 3b is a contour map corresponding to the area to be cleaned in the cleaning method according to the second embodiment of the present invention, fig. 3c is a schematic view of a contour area corresponding to the area to be cleaned in the cleaning method according to the second embodiment of the present invention, and fig. 3d is a schematic view of a sub-area to be cleaned in the cleaning method according to the second embodiment of the present invention;
fig. 4 is a schematic flow chart of a cleaning method according to a third embodiment of the present invention;
fig. 5 is a schematic structural diagram of a cleaning device according to a fourth embodiment of the present invention;
fig. 6 is a schematic structural diagram of an electronic device according to a fifth embodiment of the present invention.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings and examples. It is to be understood that the specific embodiments described herein are merely illustrative of the invention and are not limiting of the invention. It should be further noted that, for the convenience of description, only some of the structures related to the present invention are shown in the drawings, not all of the structures.
The term "and/or" herein is merely an association describing an associated object, meaning that three relationships may exist, e.g., a and/or B, may mean: a exists alone, A and B exist simultaneously, and B exists alone.
The terms "first" and "second" and the like in the description and drawings of the present application are used for distinguishing different objects or for distinguishing different processes for the same object, and are not used for describing a specific order of the objects.
Furthermore, the terms "including" and "having," and any variations thereof, as referred to in the description of the present application, are intended to cover non-exclusive inclusions. For example, a process, method, system, article, or apparatus that comprises a list of steps or elements is not limited to only those steps or elements listed, but may alternatively include other steps or elements not listed, or inherent to such process, method, article, or apparatus.
Before discussing exemplary embodiments in more detail, it should be noted that some exemplary embodiments are described as processes or methods depicted as flowcharts. Although a flowchart may describe the operations (or steps) as a sequential process, many of the operations can be performed in parallel, concurrently or simultaneously. In addition, the order of the operations may be re-arranged. The process may be terminated when its operations are completed, but may have additional steps not included in the figure. The processes may correspond to methods, functions, procedures, subroutines, and the like. In addition, the embodiments and features of the embodiments in the present invention may be combined with each other without conflict.
It should be noted that in the embodiments of the present application, words such as "exemplary" or "for example" are used to indicate examples, illustrations or explanations. Any embodiment or design described herein as "exemplary" or "e.g.," is not necessarily to be construed as preferred or advantageous over other embodiments or designs. Rather, use of the word "exemplary" or "such as" is intended to present concepts related in a concrete fashion.
In the description of the present application, the meaning of "a plurality" means two or more unless otherwise specified.
Example one
Fig. 1 is a schematic flow chart of a cleaning method according to an embodiment of the present invention, which is applicable to a situation where a to-be-cleaned area is cleaned in a partitioned manner. As shown in fig. 1, the method specifically includes the following steps:
and 110, after an environment map of the area to be cleaned is obtained, processing the environment map to obtain an outline map of the area to be cleaned.
The electronic device may acquire an environment map of an area to be cleaned, and the electronic device may be a cleaning device, such as a sweeping robot.
Specifically, after the electronic device acquires the environment map of the area to be cleaned, the electronic device may perform image processing on the environment map, specifically perform binarization processing on the environment map to obtain a binarized image, and may further continue to perform contour detection on the binarized image to extract contour information included in the environment map to obtain the contour map of the area to be cleaned.
In the embodiment of the invention, the electronic equipment can carry out binarization processing and contour extraction on the environment map of the area to be cleaned to obtain the contour map corresponding to the environment map, so that the contour map of the area to be cleaned is obtained, and the contour construction of the area to be cleaned is realized.
And 120, determining corner points based on the contour map, and performing contour fusion on the contour map after connecting the corner points to obtain the sub-area to be cleaned.
The Harris corner point detection operator can extract point features, namely corner points, in the contour map.
Specifically, the corner points in the contour map may be determined based on a Harris corner point detection operator, and then each corner point is connected in two perpendicular directions, and the corner point connecting lines are stored in the map data of the contour map. And carrying out contour detection on the contour map comprising the corner connecting lines again so as to carry out contour fusion on the determined contour and the corner connecting lines. Specifically, the determined contour and the corner connecting line may be determined as a contour set, and similar contours in the contour set are fused to realize contour fusion. After the contours are fused with similar contours, the remaining contours in the contour set and corner connecting lines can divide the area to be cleaned into a plurality of sub-areas to be cleaned.
In the embodiment of the invention, the corner points of the contour map are determined and connected to obtain the corner point connecting lines, the contour map containing the corner point connecting lines is subjected to contour detection again, repeated contours in the contour map and the corner point connecting lines are fused, and the region to be cleaned is divided based on the remaining contours and the corner point connecting lines to obtain the sub-region to be cleaned, so that the division of the region to be cleaned is realized, and the divided sub-region to be cleaned is more convenient for cleaning equipment to clean the sub-region to be cleaned.
After the area to be cleaned is divided into a plurality of sub-areas to be cleaned, the sub-areas to be cleaned can be numbered based on natural numbers, so that the number information of each sub-area to be cleaned can be obtained. Of course, each sub-area to be cleaned may also include an angular point, and the position information of the angular point in the sub-area to be cleaned may be determined as angular point information.
Specifically, after the area to be cleaned is divided to obtain a plurality of sub-areas to be cleaned, the number information of the sub-areas to be cleaned and the position information of the corner points in the sub-areas to be cleaned, that is, the corner point information, may be determined as the sub-area information corresponding to the sub-areas to be cleaned. The electronic device may display each sweeping sub-region and corresponding sub-region information based on the user interaction interface.
In practical application, a user can trigger a sweeping instruction based on the user interaction interface, and the sweeping instruction can be used for determining a sweeping sequence of each subarea to be swept.
In the embodiment of the invention, the subareas to be cleaned and the corresponding subarea information can be displayed on the user interaction interface, and the cleaning instruction which is triggered by the user and used for determining the cleaning sequence of each subarea to be cleaned can be received on the basis of the user interaction interface, so that the cleaning sequence planning of the subareas to be cleaned is realized, and a data basis is further provided for determining the cleaning plan of the cleaning equipment.
And 140, determining a cleaning plan according to the cleaning instruction, and cleaning the area to be cleaned based on the cleaning plan.
The cleaning instruction is used for determining the cleaning sequence of each subarea to be cleaned.
In the embodiment of the invention, the electronic device can determine the cleaning plan according to the cleaning instruction triggered by the user, and determine the cleaning sequence of the sub-areas to be cleaned in the area to be cleaned according to the cleaning sequence included in the cleaning plan, and certainly, the electronic device can also determine the cleaning path of the cleaning device in each sub-area to be cleaned according to the sub-area information of each sub-area to be cleaned included in the cleaning plan, and clean each sub-area to be cleaned included in the cleaning plan based on the cleaning path, thereby realizing accurate cleaning of the area to be cleaned.
The cleaning method provided by the first embodiment of the invention comprises the following steps: after an environment map of an area to be cleaned is obtained, processing the environment map to obtain a contour map of the area to be cleaned; determining angular points based on the contour map, and performing contour fusion on the contour map after connecting the angular points to obtain a sub-region to be cleaned; determining the number information and the corner information of each subarea to be cleaned as subarea information, and receiving a cleaning instruction triggered by a user based on the subareas to be cleaned and the subarea information; and determining a cleaning plan according to the cleaning instruction, and cleaning the area to be cleaned based on the cleaning plan. According to the technical scheme, the electronic equipment can divide the area to be cleaned into the sub-areas to be cleaned based on the environment map of the area to be cleaned, so that the divided sub-areas to be cleaned are more accurate. And sub-area information of each sub-area to be cleaned can be determined, a cleaning instruction triggered by a user is received based on the sub-areas to be cleaned and the sub-area information, and after a cleaning plan is determined according to the cleaning instruction, the area to be cleaned is cleaned based on the cleaning plan. The subarea cleaning of the area to be cleaned is realized under the cleaning instruction triggered by the user, the cleaning efficiency is improved, and the user experience is further improved.
Example two
Fig. 2 is a schematic flow chart of a cleaning method according to a second embodiment of the present invention, which is embodied on the basis of the second embodiment. As shown in fig. 2, in this embodiment, the method may further include:
The electronic device can receive a drawing instruction triggered by a user based on an interactive interface of the electronic device, and can also receive the drawing instruction triggered by the user through a terminal device in communication connection with the electronic device.
Specifically, after monitoring the electronic device, a user inputs a mapping instruction based on an interactive interface of the electronic device, and the mapping instruction determines a current area where the electronic device is located as an area to be cleaned.
Of course, in practical applications, after the user inputs the mapping instruction based on the terminal device in communication connection with the electronic device, the terminal device may send the mapping instruction to the electronic device.
In the embodiment of the invention, the electronic equipment can determine the area to be cleaned according to the user requirement, so that the electronic equipment can flexibly determine the area to be cleaned and better meet the diversified requirements of the user.
And step 220, drawing the area to be cleaned to obtain an environment map of the area to be cleaned.
The electronic device may be a cleaning device, such as a sweeping robot, and the sweeping robot may include a mapping module.
Specifically, after entering the area to be cleaned, the sweeping robot can build a map of the area to be cleaned based on the mapping module, so as to obtain an environment map corresponding to the area to be cleaned.
In the embodiment of the invention, the mapping module loaded on the electronic equipment maps the area to be cleaned, so that the environment map of the area to be cleaned can be obtained, the electronic equipment can conveniently clean the area to be cleaned according to the environment map, and the cleaning efficiency is improved.
And step 230, after the environment map of the area to be cleaned is obtained, processing the environment map to obtain the outline map of the area to be cleaned.
In one embodiment, processing the environment map to obtain a contour map of the area to be cleaned includes:
carrying out binarization processing on the environment map to obtain a binarization image corresponding to the environment map; and processing the binary image based on a contour detection algorithm to obtain a contour map of the area to be cleaned.
Fig. 3a is a binarized image corresponding to an area to be cleaned in a cleaning method according to a second embodiment of the present invention, and fig. 3b is a contour map corresponding to the area to be cleaned in the cleaning method according to the second embodiment of the present invention, specifically, the electronic device may perform image processing on an environment map corresponding to the area to be cleaned and the environment map, and specifically, may perform binarized processing on the environment map to obtain a binarized image, so as to obtain the binarized image shown in fig. 3 a. Of course, the contour detection of the binarized image may also be continued to extract the contour information included in the environment map, so as to obtain the contour map of the area to be cleaned as shown in fig. 3 b.
In practical application, the contour detection is performed on the binarized image, and an initial contour region included in the binarized image may be extracted based on a contour detection algorithm, and specifically, the initial contour region may be determined based on a findcontour function. And then calculating the outline area of each initial outline region, and if the outline area is smaller than a preset value, determining the initial outline region corresponding to the outline area as a noise region. And assigning the contour of the noise region in the binary image as a blank region, namely eliminating all the noise regions in the binary image, and simultaneously filling the remaining initial contour region to better separate contour data and obtain a clearer contour map. Of course, the preset value is not particularly limited, and may be determined according to actual requirements.
In the embodiment of the invention, the environment map corresponding to the area to be cleaned is subjected to binarization processing and contour extraction, so that the contour map corresponding to the environment map can be obtained, the contour map of the area to be cleaned is further obtained, and the contour construction of the area to be cleaned is realized.
And 240, determining corner points based on the contour map, and performing contour fusion on the contour map after connecting the corner points to obtain the sub-area to be cleaned.
In one embodiment, step 240 may specifically include:
after corner detection is carried out on the contour map to determine corners, the corners are connected, and a contour area is determined based on contour detection; and if the area of the outline area is larger than the area threshold, determining the outline area as a target area, and carrying out outline fusion on the target area to obtain the sub-area to be cleaned.
Likewise, point features, i.e. corners, in the contour map may be extracted based on the Harris corner detection operator.
Fig. 3c is a schematic diagram of a contour region corresponding to a region to be cleaned in the cleaning method according to the second embodiment of the present invention, specifically, angular points in a contour map are determined based on a Harris angular point detection operator, then two angular points are connected in the vertical direction to obtain angular point connecting lines, and the angular point connecting lines are stored in map data of the contour map. Contour detection is performed on the contour map containing the corner connecting lines, and a contour region as shown in fig. 3c is determined. The contour regions at this time can form regions to be cleaned, the region areas of the contour regions are calculated, the region areas are compared with a preset area threshold, and if the region areas are larger than the area threshold, the contour regions corresponding to the region areas are determined as target regions; and if the area of the region is smaller than or equal to the area threshold value, rejecting the contour region corresponding to the area of the region. After the contour region with the region area smaller than or equal to the area threshold is removed, the target region can be obtained, and at this time, contour fusion can be performed on the target region.
As described in the first embodiment, the contour of the target region and the corner connecting lines may also be determined as a contour set, and similar contours in the contour set may be subjected to a fusion process to implement contour fusion. Fig. 3d is a schematic diagram of a sub-region to be cleaned in the cleaning method according to the second embodiment of the present invention, and after the contours are fused with similar contours, the remaining contours and corner connecting lines in the contour set may divide the region to be cleaned into a plurality of sub-regions to be cleaned, so as to obtain the sub-regions to be cleaned shown in fig. 3 d.
In the embodiment of the invention, the corner points of the contour map are determined and connected to obtain the connecting lines including the corner points, and the contour map containing the connecting lines of the corner points is subjected to contour detection again to determine the contour area. And then carrying out contour fusion on the contour region based on the determined contour and the corner connecting line to obtain a sub-region to be cleaned. The secondary contour detection and contour fusion in the process can divide the region to be cleaned to obtain the sub-regions to be cleaned, the division of the sub-regions to be cleaned is more reasonable, the cleaning equipment can clean the sub-regions to be cleaned more conveniently, the cleaning efficiency is improved, and the accident rate of the cleaning equipment is reduced.
As previously described, the electronic device may display each sweeping sub-region and corresponding sub-region information based on the interactive interface.
In the embodiment of the invention, the interactive interface based on the electronic equipment can receive the cleaning instruction which is triggered by the user and used for determining the cleaning sequence of each subarea to be cleaned, so that the cleaning sequence planning of the subareas to be cleaned is realized, and a data basis is further provided for determining the cleaning plan of the cleaning equipment.
And step 260, if the number of the corner points included in the sub-area information is greater than a preset threshold value, dividing the sub-area to be cleaned corresponding to the sub-area information into at least two units to be cleaned based on the corner points.
If the edge angle of the sub-area to be cleaned is more, the path planning of the sweeping robot in the sub-area to be cleaned is possibly more difficult, and the automatic cleaning is difficult to realize. Therefore, if the number of the angular points of the sub-area to be cleaned is greater than the preset threshold value, two of the angular points can be connected to divide the sub-area to be cleaned, and the sub-area to be cleaned is divided into at least two units to be cleaned, wherein the units to be cleaned are easy to clean by the sweeping robot. The preset threshold may not be specifically limited, and may be determined according to actual requirements, for example, the preset threshold may be five.
And 270, determining a cleaning plan according to the cleaning instruction, and cleaning the area to be cleaned based on the cleaning plan.
In one embodiment, determining a cleaning plan according to the cleaning instruction and cleaning the area to be cleaned based on the cleaning plan includes:
determining a cleaning sequence of each subarea to be cleaned according to the cleaning sequence contained in the cleaning instruction, and determining the cleaning sequence and the subarea information as the cleaning plan; and cleaning the area to be cleaned based on the cleaning sequence and the sub-area information.
Specifically, the cleaning instruction received by the electronic device includes number information of sequentially ordered sub-areas to be cleaned, for example, "2, 4, 1, 3", and it can be determined that the cleaning sequence of the sub-areas to be cleaned is sequentially cleaning the sub-area to be cleaned numbered 2, the sub-area to be cleaned numbered 4, the sub-area to be cleaned numbered 1, and the sub-area to be cleaned numbered 3. And determining the cleaning sequence of the area to be cleaned and the sub-area information of the sub-area to be cleaned contained in the cleaning command as a cleaning plan.
Of course, after the cleaning plan is determined, the cleaning sequence of each sub-area to be cleaned in the area to be cleaned may be determined based on the cleaning sequence included in the cleaning plan, and of course, the cleaning path in each sub-area to be cleaned may also be determined according to the sub-area information included in the cleaning plan, and the sub-area to be cleaned included in the cleaning plan is cleaned based on the cleaning equipment.
In one embodiment, sweeping the area to be swept based on the sweeping sequence and the information of each sub-area includes:
and respectively cleaning the units to be cleaned based on the sub-area information.
Specifically, the cleaning path in each cleaning subarea can be determined according to the subarea information included in the cleaning plan, and the cleaning of the subarea to be cleaned included in the cleaning plan is realized based on the cleaning equipment. The cleaning method provided by the second embodiment of the invention comprises the following steps: after an environment map of an area to be cleaned is obtained, processing the environment map to obtain a contour map of the area to be cleaned; determining angular points based on the contour map, and performing contour fusion on the contour map after connecting the angular points to obtain a sub-region to be cleaned; determining the number information and the corner information of each subarea to be cleaned as subarea information, and receiving a cleaning instruction triggered by a user based on the subareas to be cleaned and the subarea information; and determining a cleaning plan according to the cleaning instruction, and cleaning the area to be cleaned based on the cleaning plan. According to the technical scheme, the electronic equipment can divide the area to be cleaned into the sub-areas to be cleaned based on the environment map of the area to be cleaned, so that the divided sub-areas to be cleaned are more accurate. And sub-area information of each sub-area to be cleaned can be determined, a cleaning instruction triggered by a user is received based on the sub-areas to be cleaned and the sub-area information, and after a cleaning plan is determined according to the cleaning instruction, the area to be cleaned is cleaned based on the cleaning plan. The subarea cleaning of the area to be cleaned is realized under the cleaning instruction triggered by the user, the cleaning efficiency is improved, and the user experience is further improved.
In addition, the subareas to be cleaned are divided more reasonably, so that the cleaning equipment can clean the subareas to be cleaned more conveniently, the cleaning efficiency is improved, and the accident rate of the cleaning equipment is reduced.
EXAMPLE III
Fig. 4 is a schematic flow chart of a cleaning method according to a third embodiment of the present invention, and the third embodiment of the present invention is applicable to a situation of performing a zone cleaning on an area to be cleaned. On the basis of the above embodiments, the cleaning method is applied to the server, the cleaning device and the client, and mainly embodies the interactive process of the server, the cleaning device and the client in the cleaning method. As shown in fig. 4, the method specifically includes the following steps:
and step 410, the client sends the received drawing establishing instruction triggered by the user to the cleaning equipment.
And 411, drawing the area to be cleaned by the cleaning equipment to obtain an environment map of the area to be cleaned.
At step 412, the cleaning device sends the environment map to the server.
And 413, processing the environment map by the server to obtain an outline map of the area to be cleaned.
And step 414, the server determines angular points based on the contour map, and performs contour fusion on the contour map after connecting the angular points to obtain the sub-region to be cleaned.
And step 416, the server sends the information of each subarea to be cleaned and each subarea to the client.
And step 417, the client displays each sub-area to be cleaned and each sub-area information based on the display interface.
And 418, the client receives a cleaning instruction triggered by the user and sends the cleaning instruction to the server.
And step 419, the server determines the cleaning sequence of each sub-area to be cleaned according to the cleaning instruction, and determines the cleaning sequence and the sub-area information as a cleaning plan.
At step 420, the server sends the cleaning plan to the cleaning device.
In the cleaning method provided by the third embodiment of the invention, the drawing establishment instruction triggered by the user and received by the client is sent to the cleaning equipment; the cleaning equipment builds a map of an area to be cleaned to obtain an environment map of the area to be cleaned; the cleaning equipment sends the environment map to a server; the server processes the environment map to obtain a contour map of the area to be cleaned; the server determines angular points based on the contour map, and performs contour fusion on the contour map after connecting the angular points to obtain a sub-region to be cleaned; the server determines the number information and the corner information of each subarea to be cleaned as subarea information; the server sends the information of each subarea to be cleaned and each subarea to the client; the client displays each subarea to be cleaned and information of each subarea on the basis of a display interface; the method comprises the steps that a client receives a cleaning instruction triggered by a user and sends the cleaning instruction to a server; the server determines the cleaning sequence of each subarea to be cleaned according to the cleaning instruction, and determines the cleaning sequence and the subarea information as a cleaning plan; the server sends the cleaning plan to the cleaning equipment; the cleaning apparatus cleans an area to be cleaned based on the cleaning plan. According to the technical scheme, the cleaning plan can be determined based on the cleaning instruction triggered by the user, the cleaning equipment can clean the area to be cleaned based on the cleaning plan after receiving the cleaning plan, the cleaning efficiency is improved, and the user experience is further improved.
Example four
Fig. 5 is a schematic structural diagram of a cleaning device according to a fourth embodiment of the present invention. The cleaning device and the cleaning method of the embodiments belong to the same inventive concept, and details which are not described in detail in the embodiments of the cleaning device can be referred to the embodiments of the cleaning method.
As shown in fig. 5, the cleaning device includes:
as shown in fig. 5, the apparatus includes:
the processing module 510 is configured to, after obtaining an environment map of an area to be cleaned, process the environment map to obtain an outline map of the area to be cleaned;
the fusion module 520 is configured to determine corner points based on the contour map, and perform contour fusion on the contour map after connecting the corner points to obtain a sub-region to be cleaned;
a determining module 530, configured to determine, as sub-region information, number information and corner point information of each sub-region to be cleaned, and receive a cleaning instruction triggered by a user based on the sub-region to be cleaned and each sub-region information;
and the cleaning module 540 is used for determining a cleaning plan according to the cleaning instruction and cleaning the area to be cleaned based on the cleaning plan.
On the basis of the foregoing embodiment, the processing module 510 is specifically configured to:
after an environment map of an area to be cleaned is obtained, carrying out binarization processing on the environment map to obtain a binarization image corresponding to the environment map;
and processing the binary image based on a contour detection algorithm to obtain a contour map of the area to be cleaned.
On the basis of the foregoing embodiment, the fusion module 520 is specifically configured to:
after corner detection is carried out on the contour map to determine corners, the corners are connected, and a contour area is determined based on contour detection;
and if the area of the outline area is larger than the area threshold, determining the outline area as a target area, and carrying out outline fusion on the target area to obtain the sub-area to be cleaned.
On the basis of the above embodiment, the cleaning module 540 is specifically configured to:
determining a cleaning sequence of each subarea to be cleaned according to the cleaning sequence contained in the cleaning instruction, and determining the cleaning sequence and the subarea information as the cleaning plan;
and cleaning the area to be cleaned based on the cleaning sequence and the information of each subarea.
On the basis of the above embodiment, the apparatus further includes:
the dividing module is used for dividing the subarea to be cleaned corresponding to the subarea information into at least two units to be cleaned based on the corner points if the number of the corner points contained in the subarea information is greater than a preset threshold value;
accordingly, the cleaning module 540 is further configured to:
and respectively cleaning the units to be cleaned based on the sub-area information.
On the basis of the above embodiment, the apparatus further includes:
and the mapping module is used for mapping the area to be cleaned to obtain an environment map of the area to be cleaned.
On the basis of the above embodiment, the apparatus further includes:
and the instruction receiving module is used for receiving a mapping instruction triggered by a user and determining the area to be cleaned according to the mapping instruction.
The cleaning device provided by the embodiment of the invention can execute the cleaning method provided by any embodiment of the invention, and has the corresponding functional modules and beneficial effects of the execution method.
It should be noted that, in the embodiment of the cleaning device, the included units and modules are merely divided according to the functional logic, but are not limited to the above division, as long as the corresponding functions can be realized; in addition, specific names of the functional units are only for convenience of distinguishing from each other, and are not used for limiting the protection scope of the present invention.
EXAMPLE five
Fig. 6 is a schematic structural diagram of an electronic device according to a fifth embodiment of the present invention, and fig. 6 shows a block diagram of an exemplary electronic device 6 suitable for implementing an embodiment of the present invention. The electronic device 6 shown in fig. 6 is only an example, and should not bring any limitation to the functions and the scope of use of the embodiment of the present invention.
As shown in fig. 6, the electronic device 6 is in the form of a general purpose computing electronic device. The components of the electronic device 6 may include, but are not limited to: one or more processors or processing units 16, a system memory 28, and a bus 18 that couples various system components including the system memory 28 and the processing unit 16.
The system memory 28 may include computer system readable media in the form of volatile memory, such as Random Access Memory (RAM)30 and/or cache memory 32. The electronic device 6 may further include other removable/non-removable, volatile/nonvolatile computer system storage media. By way of example only, storage system 34 may be used to read from and write to non-removable, nonvolatile magnetic media (not shown in FIG. 6, and commonly referred to as a "hard drive"). Although not shown in FIG. 6, a magnetic disk drive for reading from and writing to a removable, nonvolatile magnetic disk (e.g., a "floppy disk") and an optical disk drive for reading from or writing to a removable, nonvolatile optical disk (e.g., a CD-ROM, DVD-ROM, or other optical media) may be provided. In these cases, each drive may be connected to bus 18 by one or more data media interfaces. System memory 28 may include at least one program product having a set (e.g., at least one) of program modules that are configured to carry out the functions of embodiments of the invention.
A program/utility 40 having a set (at least one) of program modules 42 may be stored, for example, in system memory 28, such program modules 42 including, but not limited to, an operating system, one or more application programs, other program modules, and program data, each of which examples or some combination thereof may comprise an implementation of a network environment. Program modules 42 generally carry out the functions and/or methodologies of the described embodiments of the invention.
The processing unit 16 executes various functional applications and page displays by running programs stored in the system memory 28, for example, implementing the cleaning method provided by the embodiment, wherein the method includes:
after an environment map of an area to be cleaned is obtained, processing the environment map to obtain a contour map of the area to be cleaned;
determining angular points based on the contour map, and performing contour fusion on the contour map after connecting the angular points to obtain a sub-region to be cleaned;
determining the number information and the corner information of each subarea to be cleaned as subarea information, and receiving a cleaning instruction triggered by a user based on the subareas to be cleaned and the subarea information;
and determining a cleaning plan according to the cleaning instruction, and cleaning the area to be cleaned based on the cleaning plan.
Of course, those skilled in the art will understand that the processor may also implement the solution of the cleaning method provided by any embodiment of the present invention.
EXAMPLE six
A sixth embodiment of the present invention provides a computer-readable storage medium, on which a computer program is stored, where the computer program, when executed by a processor, implements a cleaning method provided in the sixth embodiment of the present invention, where the method includes:
after an environment map of an area to be cleaned is obtained, processing the environment map to obtain a contour map of the area to be cleaned;
determining angular points based on the contour map, and performing contour fusion on the contour map after connecting the angular points to obtain a sub-region to be cleaned;
determining the number information and the corner information of each subarea to be cleaned as subarea information, and receiving a cleaning instruction triggered by a user based on the subareas to be cleaned and the subarea information;
and determining a cleaning plan according to the cleaning instruction, and cleaning the area to be cleaned based on the cleaning plan.
Computer storage media for embodiments of the invention may employ any combination of one or more computer-readable media. The computer readable medium may be a computer readable signal medium or a computer readable storage medium. The computer-readable storage medium may be, for example but not limited to: an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination thereof. More specific examples (a non-exhaustive list) of the computer readable storage medium would include the following: an electrical connection having one or more wires, a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing. In the context of this document, a computer readable storage medium may be any tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, apparatus, or device.
A computer readable signal medium may include a propagated data signal with computer readable program code embodied therein, for example, in baseband or as part of a carrier wave. Such a propagated data signal may take many forms, including, but not limited to, electro-magnetic, optical, or any suitable combination thereof. A computer readable signal medium may also be any computer readable medium that is not a computer readable storage medium and that can communicate, propagate, or transport a program for use by or in connection with an instruction execution system, apparatus, or device.
Program code embodied on a computer readable medium may be transmitted using any appropriate medium, including but not limited to: wireless, wire, fiber optic cable, RF, etc., or any suitable combination of the foregoing.
Computer program code for carrying out operations for aspects of the present invention may be written in any combination of one or more programming languages, including an object oriented programming language such as Java, Smalltalk, C + +, or the like, as well as conventional procedural programming languages, such as the "C" programming language or similar programming languages. The program code may execute entirely on the user's computer, partly on the user's computer, as a stand-alone software package, partly on the user's computer and partly on a remote computer or entirely on the remote computer or server. In the case of a remote computer, the remote computer may be connected to the user's computer through any type of network, including a Local Area Network (LAN) or a Wide Area Network (WAN), or the connection may be made to an external computer (for example, through the Internet using an Internet service provider).
It will be understood by those skilled in the art that the modules or steps of the invention described above may be implemented by a general purpose computing device, they may be centralized on a single computing device or distributed across a network of computing devices, and optionally they may be implemented by program code executable by a computing device, such that it may be stored in a memory device and executed by a computing device, or it may be separately fabricated into various integrated circuit modules, or it may be fabricated by fabricating a plurality of modules or steps thereof into a single integrated circuit module. Thus, the present invention is not limited to any specific combination of hardware and software.
It is to be noted that the foregoing is only illustrative of the preferred embodiments of the present invention and the technical principles employed. It will be understood by those skilled in the art that the present invention is not limited to the particular embodiments illustrated herein, but is capable of various obvious changes, rearrangements and substitutions as will now become apparent to those skilled in the art without departing from the scope of the invention. Therefore, although the present invention has been described in greater detail by the above embodiments, the present invention is not limited to the above embodiments, and may include other equivalent embodiments without departing from the spirit of the present invention, and the scope of the present invention is determined by the scope of the appended claims.
Claims (10)
1. A method of sweeping, the method comprising:
after an environment map of an area to be cleaned is obtained, processing the environment map to obtain a contour map of the area to be cleaned;
determining angular points based on the contour map, and performing contour fusion on the contour map after connecting the angular points to obtain a sub-region to be cleaned;
determining the number information and the corner information of each subarea to be cleaned as subarea information, and receiving a cleaning instruction triggered by a user based on the subareas to be cleaned and the subarea information;
and determining a cleaning plan according to the cleaning instruction, and cleaning the area to be cleaned based on the cleaning plan.
2. The sweeping method according to claim 1, wherein the processing the environment map to obtain a contour map of the area to be swept comprises:
carrying out binarization processing on the environment map to obtain a binarization image corresponding to the environment map;
and processing the binary image based on a contour detection algorithm to obtain a contour map of the area to be cleaned.
3. The cleaning method according to claim 1, wherein the determining of the corner points based on the contour map, and the performing of contour fusion on the contour map after connecting the corner points to obtain the sub-region to be cleaned comprises:
after corner detection is carried out on the contour map to determine corners, the corners are connected, and a contour area is determined based on contour detection;
and if the area of the outline area is larger than the area threshold, determining the outline area as a target area, and carrying out outline fusion on the target area to obtain the sub-area to be cleaned.
4. The sweeping method according to claim 1, wherein determining a sweeping plan according to the sweeping instruction and sweeping the area to be swept based on the sweeping plan includes:
determining a cleaning sequence of each subarea to be cleaned according to the cleaning sequence contained in the cleaning instruction, and determining the cleaning sequence and the subarea information as the cleaning plan;
and cleaning the area to be cleaned based on the cleaning sequence and the information of each subarea.
5. The sweeping method according to claim 4, further comprising, before sweeping the area to be swept based on the sweeping plan:
if the number of the corner points contained in the sub-region information is larger than a preset threshold value, dividing the sub-region to be cleaned corresponding to the sub-region information into at least two units to be cleaned based on the corner points;
correspondingly, cleaning the area to be cleaned based on the cleaning sequence and the information of each subarea comprises the following steps:
and respectively cleaning the units to be cleaned based on the sub-area information.
6. The cleaning method according to claim 1, before acquiring the environment map of the area to be cleaned, further comprising:
and (4) mapping the area to be cleaned to obtain an environment map of the area to be cleaned.
7. The sweeping method according to claim 6, further comprising, before mapping the area to be swept:
and receiving a mapping instruction triggered by a user, and determining the area to be cleaned according to the mapping instruction.
8. A sweeping device, characterized in that the device comprises:
the processing module is used for processing the environment map after the environment map of the area to be cleaned is obtained, so as to obtain a contour map of the area to be cleaned;
the fusion module is used for determining angular points based on the contour map, connecting the angular points and then performing contour fusion on the contour map to obtain a sub-area to be cleaned;
the determining module is used for determining the number information and the corner information of each subarea to be cleaned as subarea information and receiving a cleaning instruction triggered by a user based on the subareas to be cleaned and the subarea information;
and the cleaning module is used for determining a cleaning plan according to the cleaning instruction and cleaning the area to be cleaned based on the cleaning plan.
9. An electronic device, characterized in that the device comprises:
one or more processors;
a storage device for storing one or more programs,
when executed by the one or more processors, cause the one or more processors to implement the sweeping method of any one of claims 1-7.
10. A storage medium containing computer executable instructions for performing the cleaning method of any one of claims 1-7 when executed by a computer processor.
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