CN116350134A

CN116350134A - Cleaning planning method and device based on breakpoint record

Info

Publication number: CN116350134A
Application number: CN202111610681.XA
Authority: CN
Inventors: 陈小平; 朱付营
Original assignee: Guangdong Lizi Technology Co Ltd
Current assignee: Guangdong Lizi Technology Co Ltd
Priority date: 2021-12-27
Filing date: 2021-12-27
Publication date: 2023-06-30

Abstract

The invention discloses a cleaning planning method and device based on breakpoint records, wherein the method comprises the following steps: determining a historical breakpoint record of the target cleaning device; acquiring historical task information of the historical cleaning task of the target cleaning equipment, and determining historical incomplete cleaning information of the target cleaning equipment according to the historical task information and the historical breakpoint record; and determining a future cleaning plan of the target cleaning equipment on the target area, and determining a cleaning strategy of the target cleaning equipment on the target area according to the historical incomplete cleaning information and the future cleaning plan. It can be seen that the present invention enables a more rational and intelligent determination of the cleaning strategy, taking into account previously incomplete work in combination, to improve the cleaning efficiency of the cleaning device.

Description

Cleaning planning method and device based on breakpoint record

Technical Field

The invention relates to the technical field of the Internet of things, in particular to a cleaning planning method and device based on breakpoint records.

Background

With the development of cleaning equipment research and development technology and intelligent algorithm technology, the intelligent degree of household cleaning equipment is also higher and higher, and more families select intelligent cleaning equipment such as sweeping robots as household cleaning equipment. The existing cleaning equipment can interrupt cleaning when encountering obstruction in cleaning, but the cleaning situation when the cleaning planning is carried out again is rarely considered, so that the cleaning strategy cannot be fully and reasonably redetermined, the defects of the prior art are overcome, and the problem is to be solved.

Disclosure of Invention

The invention aims to solve the technical problem of providing a cleaning planning method and device based on breakpoint records, which can realize more reasonable and intelligent determination of a cleaning strategy and comprehensively consider the prior incomplete work so as to improve the cleaning efficiency of cleaning equipment.

In order to solve the technical problem, the first aspect of the invention discloses a cleaning planning method based on breakpoint records, which comprises the following steps:

determining a historical breakpoint record of the target cleaning device; the historical breakpoint record is used for indicating the breakpoint record of the target cleaning device when the target area is interrupted at least once in a historical time period;

acquiring historical task information of the historical cleaning task of the target cleaning equipment, and determining historical incomplete cleaning information of the target cleaning equipment according to the historical task information and the historical breakpoint record;

determining a future cleaning plan of the target cleaning equipment on the target area, and determining a cleaning strategy of the target cleaning equipment on the target area according to the historical incomplete cleaning information and the future cleaning plan; the cleaning strategy is used for controlling the target cleaning equipment to clean the target area.

As an optional implementation manner, in the first aspect of the present invention, the breakpoint information of the breakpoint record includes at least one of a breakpoint position, a breakpoint time, a breakpoint number, and a task progress at a breakpoint.

As an optional implementation manner, in the first aspect of the present invention, the determining a historical breakpoint record of the target cleaning device includes:

acquiring a plurality of breakpoint records of the target cleaning device when the target cleaning device interrupts a plurality of historical cleaning tasks in a target area in a plurality of historical time periods;

for any breakpoint record, judging whether the breakpoint record is an unimportant breakpoint or a device fault breakpoint according to the breakpoint information;

and deleting the breakpoint record from the historical breakpoint record when judging that the breakpoint record is an unimportant breakpoint or a device fault breakpoint.

In an optional implementation manner, in the first aspect of the present invention, the determining, according to the breakpoint information, whether the breakpoint record is an unimportant breakpoint or a device failure breakpoint includes:

judging whether the breakpoint position of the breakpoint record is positioned in a preset edge position area or not;

if yes, judging the breakpoint record as an unimportant breakpoint;

And/or the number of the groups of groups,

judging whether the distance between the breakpoint position of the breakpoint record and the active center position of the target area is larger than a preset first distance threshold value or not; the activity center position is calculated according to a plurality of human activity tracks of the target area;

if yes, judging the breakpoint record as an unimportant breakpoint;

and/or the number of the groups of groups,

judging whether the time difference between the breakpoint time of the breakpoint record and the corresponding ending time of the historical cleaning task is larger than a preset first time threshold value or not;

if yes, judging the breakpoint record as an unimportant breakpoint;

and/or the number of the groups of groups,

calculating the average value of the times of the break points recorded by all the break points;

judging whether the frequency difference value between the breakpoint frequency and the frequency average value recorded by the breakpoint is larger than a preset frequency difference value threshold value or not;

if yes, judging the breakpoint record as the equipment fault breakpoint;

and/or the number of the groups of groups,

judging whether the task progress is greater than a preset progress threshold value or not when the breakpoint is recorded by the breakpoint;

if yes, judging the breakpoint record as an unimportant breakpoint.

As an optional implementation manner, in the first aspect of the present invention, the historical task information includes a task cleaning object and/or a task cleaning route; and/or, the historical incomplete cleaning information includes a cleaning object to be completed and/or an incomplete cleaning area.

As an optional implementation manner, in the first aspect of the present invention, the determining, according to the historical task information and the historical breakpoint record, historical incomplete cleaning information of the target cleaning device includes:

for any one of the historical cleaning tasks, determining an incomplete route corresponding to the historical cleaning task according to a task cleaning route of the historical cleaning task and the breakpoint position of the breakpoint record;

determining a starting point and an ending point of the incomplete route in the target area;

making two first lines through the starting point; the magnitude of the angle formed by the two first lines with the starting point as the vertex and facing the end point is proportional to the cleaning area of the target cleaning device;

making two second lines across the end point; the size of the angle formed by the two second lines taking the end point as the vertex and facing the starting point is proportional to the cleaning area of the target cleaning equipment;

determining an area surrounded by the two first lines and the two second lines in the target area as an unfinished cleaning area of the target cleaning apparatus;

and/or the number of the groups of groups,

and judging whether the task progress of any one of the historical cleaning tasks is less than 100% when the breakpoint of the breakpoint record of the historical cleaning task is the breakpoint, if so, determining the task cleaning object of the historical cleaning task as the cleaning object to be completed of the target cleaning equipment.

As an optional implementation manner, in the first aspect of the present invention, the future cleaning plan includes future task information of a plurality of future cleaning tasks; the future task information includes a future cleaning area and/or a future cleaning object.

As an optional implementation manner, in the first aspect of the present invention, the determining, according to the history incomplete cleaning information and a future cleaning plan, a cleaning policy of the target cleaning device on the target area includes:

for any future cleaning task, calculating task fitness of the future cleaning task according to the future task information and the historical incomplete cleaning information;

sequencing all the future cleaning tasks according to the task adaptation degree from large to small to obtain a task sequence;

determining a cleaning strategy of the target cleaning equipment on the target area to sequentially execute all the future cleaning tasks from beginning to end according to the task sequence;

and calculating a task fitness of the future cleaning task according to the future task information and the historical incomplete cleaning information, wherein the task fitness comprises the following steps:

calculating a first similarity of the future cleaning area and the unfinished cleaning area to determine a task fitness for the future cleaning task;

And/or the number of the groups of groups,

calculating a second similarity of the future cleaning object and the cleaning object to be completed to determine a task fitness of the future cleaning task;

and/or the number of the groups of groups,

and calculating a weighted sum value of the first similarity and the second similarity to determine the task fitness of the future cleaning task.

The second aspect of the invention discloses a cleaning planning device based on breakpoint recording, which comprises:

a first determining module for determining a historical breakpoint record of the target cleaning device; the historical breakpoint record is used for indicating the breakpoint record of the target cleaning device when the target area is interrupted at least once in a historical time period;

the second determining module is used for acquiring historical task information of the historical cleaning task of the target cleaning equipment and determining historical incomplete cleaning information of the target cleaning equipment according to the historical task information and the historical breakpoint record;

a third determining module, configured to determine a future cleaning plan of the target cleaning device for the target area, and determine a cleaning strategy of the target cleaning device for the target area according to the historical incomplete cleaning information and the future cleaning plan; the cleaning strategy is used for controlling the target cleaning equipment to clean the target area.

As an optional implementation manner, in the second aspect of the present invention, the breakpoint information of the breakpoint record includes at least one of a breakpoint position, a breakpoint time, a breakpoint number, and a task progress at a breakpoint.

As an optional implementation manner, in the second aspect of the present invention, the first determining module includes:

an acquisition unit, configured to acquire a plurality of breakpoint records of the target cleaning device when a plurality of historical cleaning tasks are interrupted in a target area in a plurality of historical time periods;

the judging unit is used for judging whether any breakpoint record is an unimportant breakpoint or a device fault breakpoint according to the breakpoint information;

and the deleting unit is used for deleting the breakpoint record from the historical breakpoint record when the judging unit judges that the breakpoint record is an unimportant breakpoint or a device fault breakpoint.

In a second aspect of the present invention, as an optional implementation manner, the determining unit determines, according to the breakpoint information, whether the breakpoint record is a unimportant breakpoint or a specific manner of a device failure breakpoint, including:

If yes, judging the breakpoint record as an unimportant breakpoint;

and/or the number of the groups of groups,

if yes, judging the breakpoint record as an unimportant breakpoint;

and/or the number of the groups of groups,

if yes, judging the breakpoint record as an unimportant breakpoint;

and/or the number of the groups of groups,

if yes, judging the breakpoint record as the equipment fault breakpoint;

and/or the number of the groups of groups,

if yes, judging the breakpoint record as an unimportant breakpoint.

As an optional implementation manner, in the second aspect of the present invention, the historical task information includes a task cleaning object and/or a task cleaning route; and/or, the historical incomplete cleaning information includes a cleaning object to be completed and/or an incomplete cleaning area.

As an optional implementation manner, in the second aspect of the present invention, the second determining module determines, according to the historical task information and the historical breakpoint record, a specific manner of the historical incomplete cleaning information of the target cleaning device, including:

and/or the number of the groups of groups,

As an alternative embodiment, in the second aspect of the present invention, the future cleaning plan includes future task information of a plurality of future cleaning tasks; the future task information includes a future cleaning area and/or a future cleaning object.

As an optional implementation manner, in the second aspect of the present invention, the third determining module determines, according to the historical incomplete cleaning information and the future cleaning plan, a specific manner of the cleaning policy of the target cleaning device on the target area, including:

and the third determining module calculates a specific mode of task adaptation degree of the future cleaning task according to the future task information and the historical incomplete cleaning information, and the specific mode comprises the following steps:

and/or the number of the groups of groups,

In a third aspect, the present invention discloses another cleaning and planning device based on breakpoint recording, the device includes:

a memory storing executable program code;

a processor coupled to the memory;

the processor invokes the executable program code stored in the memory to execute some or all of the steps in the breakpoint record-based cleaning planning method disclosed in the first aspect of the embodiment of the present invention.

Compared with the prior art, the embodiment of the invention has the following beneficial effects:

in the embodiment of the invention, a historical breakpoint record of the target cleaning equipment is determined; acquiring historical task information of the historical cleaning task of the target cleaning equipment, and determining historical incomplete cleaning information of the target cleaning equipment according to the historical task information and the historical breakpoint record; and determining a future cleaning plan of the target cleaning equipment on the target area, and determining a cleaning strategy of the target cleaning equipment on the target area according to the historical incomplete cleaning information and the future cleaning plan. Therefore, the invention can determine the incomplete task information by utilizing the historical breakpoint record and the historical task information of the cleaning equipment, and then determine the cleaning strategy according to the future cleaning plan and combining the incomplete task information, thereby realizing more reasonable and intelligent determination of the cleaning strategy, and comprehensively considering the previous incomplete work so as to improve the cleaning efficiency of the cleaning equipment.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required for the description of the embodiments will be briefly described below, and it is apparent that the drawings in the following description are only some embodiments of the present invention, and other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.

Fig. 1 is a schematic flow chart of a cleaning planning method based on breakpoint recording according to an embodiment of the present invention;

FIG. 2 is a flow chart of another cleaning planning method based on breakpoint recording according to an embodiment of the present invention;

fig. 3 is a schematic structural diagram of a cleaning planning device based on breakpoint recording according to an embodiment of the present invention;

FIG. 4 is a schematic diagram of another cleaning planning apparatus based on breakpoint recording according to an embodiment of the present invention;

FIG. 5 is a schematic diagram of a cleaning planning apparatus based on breakpoint recording according to an embodiment of the present invention;

fig. 6 is a schematic view of a cleaning plan according to an embodiment of the present invention.

Detailed Description

In order that those skilled in the art will better understand the present invention, a technical solution in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in which it is apparent that the described embodiments are only some embodiments of the present invention, not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.

The terms first, second and the like in the description and in the claims and in the above-described figures are used for distinguishing between different objects and not necessarily for describing a sequential or chronological order. Furthermore, the terms "comprise" and "have," as well as any variations thereof, are intended to cover a non-exclusive inclusion. For example, a process, method, apparatus, article, or article that comprises a list of steps or elements is not limited to only those listed but may optionally include other steps or elements not listed or inherent to such process, method, article, or article.

Reference herein to "an embodiment" means that a particular feature, structure, or characteristic described in connection with the embodiment may be included in at least one embodiment of the invention. The appearances of such phrases in various places in the specification are not necessarily all referring to the same embodiment, nor are separate or alternative embodiments mutually exclusive of other embodiments. Those of skill in the art will explicitly and implicitly appreciate that the embodiments described herein may be combined with other embodiments.

The invention discloses a cleaning planning method and a device based on breakpoint records, which can determine incomplete task information of cleaning equipment by utilizing historical breakpoint records and historical task information of the cleaning equipment, and then determine a cleaning strategy according to future cleaning plans of the cleaning equipment and combining the incomplete task information, so that the cleaning strategy can be determined more reasonably and intelligently, and the previous incomplete work is comprehensively considered to improve the cleaning efficiency of the cleaning equipment. The following will describe in detail.

Example 1

Referring to fig. 1, fig. 1 is a flow chart of a cleaning planning method based on breakpoint recording according to an embodiment of the present invention. The method described in fig. 1 may be applied to a corresponding cleaning planning device, where the cleaning planning device may be a planning device, a planning terminal, or a planning server, and the server may be a cloud server or a local server, which is not limited by the present invention. As shown in fig. 1, the breakpoint record-based cleaning planning method may include the following operations:

101. a historical breakpoint record of the target cleaning device is determined.

In particular, the historical breakpoint record is used to indicate a breakpoint record of the target cleaning device when the target area is interrupted at least once during the historical period of time. Alternatively, the target cleaning device may be a dust collection device, a floor sweeping robot, a floor mopping robot, or other cleaning devices with control devices, which is not limited by the present invention. Alternatively, the historical breakpoint record may be obtained by communicating with the controller of the target cleaning device to obtain the historical breakpoint record stored therein, or communicating with the cloud server storing the historical breakpoint record, where the historical breakpoint record may be obtained by monitoring operation information of the target cleaning device in real time and generating the operation information when the target cleaning device pauses the cleaning task to perform other tasks, where the monitoring of the operation information may be performed by monitoring an operation route of the target cleaning device (obtained by the positioning device), or monitoring a component operation parameter of the target cleaning device. Optionally, the breakpoint information of the breakpoint record may include at least one of a breakpoint position, a breakpoint time, a breakpoint number, and a task progress at the breakpoint.

102. Historical task information of a historical cleaning task of the target cleaning equipment is obtained, and historical incomplete cleaning information of the target cleaning equipment is determined according to the historical task information and the historical breakpoint record.

Optionally, the historical task information includes task cleaning objects and/or task cleaning routes. Optionally, the determined historical incomplete cleaning information includes an object to be cleaned and/or an incomplete cleaning area. Wherein the cleaning objects may be different stains, such as oil stains, water stains, dust or specific chemical species. The task cleaning route is used to refer to a position of the target cleaning device, which needs to pass through in the historical cleaning task, and may be a specific line segment, or may be a sequence identified by a plurality of position points, for example ABCDE, which is used to identify that the target cleaning device needs to pass through a point a (area), a point B (area), a point C (area), a point D (area) and a point E (area) in sequence in the historical cleaning task. The incomplete cleaning area may be a preset dividing area in the target area, or may be an area formed according to an area of the incomplete task.

103. Determining a future cleaning plan of the target cleaning device for the target area, and determining a cleaning strategy of the target cleaning device for the target area according to the historical incomplete cleaning information and the future cleaning plan.

Optionally, the cleaning strategy is for controlling the target cleaning device to clean the target area, and may include one or more control instructions to determine one or more cleaning task parameters of the target cleaning device. Optionally, the future cleaning plan includes future task information for a plurality of future cleaning tasks, wherein the future task information may include future cleaning areas and/or future cleaning objects.

Specifically, an implementation scenario of the cleaning planning technical scheme of the present invention may refer to fig. 6, where a cleaning device in a target area sends information such as a history breakpoint record and a future cleaning plan to a cloud server to calculate according to the above method steps to obtain a cleaning policy.

Therefore, the method described by the embodiment of the invention can utilize the historical breakpoint record and the historical task information of the cleaning equipment to determine the incomplete task information, and then determine the cleaning strategy according to the future cleaning plan and combining the incomplete task information, so that the cleaning strategy can be determined more reasonably and intelligently, and the previous incomplete work is comprehensively considered to improve the cleaning efficiency of the cleaning equipment.

As an optional implementation manner, in the step 101, determining the historical breakpoint record of the target cleaning device includes:

when the breakpoint record is judged to be an unimportant breakpoint or a device failure breakpoint, the breakpoint record is deleted from the historical breakpoint record.

Therefore, according to the alternative implementation mode, whether any breakpoint record is an unimportant breakpoint or a device fault breakpoint can be judged according to the breakpoint information, so that screening of the breakpoint records is achieved, historical breakpoint records can be eliminated due to the breakpoint of the device fault or the breakpoint with low importance, the calculated amount of a follow-up determined cleaning strategy is reduced conveniently, the cleaning strategy can be determined more reasonably and intelligently, and important work which is not completed before is comprehensively considered, so that the cleaning efficiency of the cleaning device is improved.

As an optional implementation manner, in the step, according to the breakpoint information, determining whether the breakpoint record is an unimportant breakpoint or a device failure breakpoint includes:

if yes, judging the breakpoint record as an unimportant breakpoint.

Alternatively, the edge location area may be an edge area in a predetermined target area, such as an area near a boundary, or an area defined as a distance from a geometric center or a human activity center or a sweeping activity center of the target area that is higher than a predetermined threshold. The human activity center of the target area can be calculated through a plurality of human activity tracks of the target area, wherein the human activity tracks can be determined according to a positioning device or an image analysis device. Wherein the cleaning activity center can be calculated by a plurality of historical cleaning routes of the target area, and the historical cleaning routes can be determined by acquiring information of cleaning tasks of a plurality of cleaning devices aiming at the target area.

Therefore, according to the alternative implementation mode, when the breakpoint position of the breakpoint record is judged to be located in the preset edge position area, the unimportant breakpoint can be judged, so that screening of the breakpoint record is realized, historical breakpoint records can be eliminated due to the fact that the breakpoint with low importance is eliminated, the calculated amount of a follow-up determined cleaning strategy is reduced, the cleaning strategy can be determined more reasonably and intelligently, and important work which is not completed before is comprehensively considered, so that the cleaning efficiency of the cleaning equipment is improved.

judging whether the distance between the breakpoint position of the breakpoint record and the active center position of the target area is larger than a preset first distance threshold value or not;

the activity center position is calculated according to a plurality of human activity tracks of the target area;

if yes, judging the breakpoint record as an unimportant breakpoint.

Specifically, the activity center position is similar to the above-mentioned human activity center, and is obtained by calculating the junction of a plurality of human activity tracks, or may be determined by calculating the geometric center of an enclosed area enclosed by a plurality of human activity tracks, or may be determined by calculating the geometric center of an area through which a plurality of human activity tracks pass the largest number of times.

Alternatively, the first distance threshold may be determined by a skilled person based on empirical values or experimental results and in practice adjusted based on the effect to achieve the best screening effect.

Therefore, according to the alternative implementation mode, when the distance between the breakpoint position of the breakpoint record and the active center position of the target area is larger than the preset first distance threshold, the unimportant breakpoint can be judged, so that screening of the breakpoint record is realized, historical breakpoint records can be removed from the breakpoint records due to low importance, the calculation amount of a follow-up determined cleaning strategy is reduced, the cleaning strategy can be determined more reasonably and intelligently, and important work which is not completed before is comprehensively considered, so that the cleaning efficiency of the cleaning equipment is improved.

judging whether the time difference between the breakpoint time of the breakpoint record and the corresponding end time of the historical cleaning task is larger than a preset first time threshold value or not;

if yes, judging the breakpoint record as an unimportant breakpoint.

Alternatively, the first time threshold may be determined by a skilled person based on empirical values or experimental results and adjusted in practice based on the effect to achieve the best screening effect.

Therefore, according to the alternative implementation mode, when the time difference between the breakpoint time of the breakpoint record and the corresponding ending time of the historical cleaning task is larger than the preset first time threshold, the non-important breakpoint can be judged, so that screening of the breakpoint record is realized, the historical breakpoint record is eliminated due to the fact that the breakpoint with low importance is eliminated, the calculated amount of a follow-up determined cleaning strategy is reduced, the cleaning strategy can be determined more reasonably and intelligently, and important work which is not completed before is comprehensively considered, so that the cleaning efficiency of the cleaning equipment is improved.

calculating the average value of the times of breakpoint times of all breakpoint records;

judging whether the number difference value between the breakpoint times of the breakpoint record and the average value of the times is larger than a preset number difference value threshold value or not;

if yes, judging the breakpoint record as the equipment fault breakpoint.

Alternatively, the number difference threshold may be determined by a skilled person based on empirical values or experimental results and adjusted in practice based on the effect to achieve the best screening effect.

Therefore, according to the alternative implementation mode, when the difference value of the times between the times of the break points of the break point record and the times average value is larger than the preset times difference value threshold value, the break points of the break points can be judged, so that screening of the break points records is realized, historical break points of the break points caused by the equipment faults are eliminated, the break points are difficult to repair and the positions of the subsequent repair conditions are convenient to reduce the calculated amount of the subsequent determined cleaning strategy after elimination, the cleaning strategy can be determined more reasonably and intelligently, and important work which is not completed before is comprehensively considered, so that the cleaning efficiency of the cleaning equipment is improved.

if yes, judging the breakpoint record as an unimportant breakpoint.

Alternatively, the progress threshold may be determined by a technician based on empirical values or experimental results and adjusted in practice based on the effect to achieve the best screening effect.

Therefore, according to the alternative implementation mode, when the task progress is larger than the preset progress threshold value when the breakpoint of the breakpoint record is judged, the unimportant breakpoint can be judged, so that screening of the breakpoint record is realized, historical breakpoint records are eliminated due to the fact that the breakpoint with low importance is eliminated, the calculated amount of a follow-up determined cleaning strategy is reduced, the cleaning strategy can be determined more reasonably and intelligently, and important work which is not completed before is comprehensively considered, so that the cleaning efficiency of the cleaning equipment is improved.

As an optional implementation manner, in the step 102, determining the historical incomplete cleaning information of the target cleaning device according to the historical task information and the historical breakpoint record includes:

For any one historical cleaning task, determining an incomplete route corresponding to the historical cleaning task according to a task cleaning route of the historical cleaning task and a breakpoint position of a breakpoint record;

determining a starting point and an ending point of the unfinished route in the target area;

making two first lines at the starting point; wherein the size of the angle formed by the two first lines taking the starting point as the vertex and facing to the end point is in direct proportion to the cleaning area of the target cleaning equipment;

making two second lines at the over-terminal point; wherein the size of the angle formed by the two second lines taking the end point as the vertex and facing the starting point is in direct proportion to the cleaning area of the target cleaning equipment;

the area surrounded by the two first lines and the two second lines within the target area is determined as an unfinished cleaning area of the target cleaning apparatus.

Alternatively, the cleaning area of the target cleaning apparatus may be determined based on the area of its cleaning elements, for example, the area of the chassis of the sweeping robot, or based on the results of experimental cleaning areas of the cleaning apparatus, where the cleaning area is generally the area that can be used to indicate that it is capable of achieving a stationary cleaning at a fixed location.

It can be seen that, by this alternative embodiment, the incomplete cleaning area of the target cleaning device may be determined according to the incomplete route, so that the cleaning strategy may be determined according to the incomplete cleaning area later, so that a more reasonable and intelligent determination of the cleaning strategy may be achieved, and the important work that has not been completed before is comprehensively considered, so as to improve the cleaning efficiency of the cleaning device.

and judging whether the task progress of any one historical cleaning task is less than 100% when the breakpoint of the breakpoint record of the historical cleaning task is the breakpoint, and if so, determining the task cleaning object of the historical cleaning task as the cleaning object to be completed of the target cleaning equipment.

It can be seen that, through this alternative embodiment, the cleaning object to be completed of the target cleaning device can be determined, so that the cleaning strategy can be determined according to the cleaning object to be completed later, and thus, the cleaning strategy can be determined more reasonably and intelligently, and the important work which is not completed before is comprehensively considered, so as to improve the cleaning efficiency of the cleaning device.

Example two

Referring to fig. 2, fig. 2 is a flow chart of another cleaning planning method based on breakpoint recording according to an embodiment of the invention. The method described in fig. 2 is applied to a corresponding cleaning planning device, which may be a planning device, a planning terminal or a planning server, and the server may be a cloud server or a local server, which is not limited in the present invention. As shown in fig. 2, the breakpoint record-based cleaning planning method may include the following operations:

201. a historical breakpoint record of the target cleaning device is determined.

202. Historical task information of a historical cleaning task of the target cleaning equipment is obtained, and historical incomplete cleaning information of the target cleaning equipment is determined according to the historical task information and the historical breakpoint record.

203. A future cleaning plan of the target area by the target cleaning device is determined.

In the embodiment of the present invention, specific technical details and technical terms of steps 201 to 203 may refer to the description of steps 101 to 103 in the implementation of the first embodiment, and are not described herein again.

204. For any future cleaning task, calculating the task fitness of the future cleaning task according to the future task information and the historical incomplete cleaning information.

Specifically, the task fitness is used for indicating the matching degree of task elements of the future cleaning task and the historical incomplete cleaning information, so that the future cleaning task which can end the historical incomplete cleaning information to the greatest extent when being executed can be screened out later.

205. And sequencing all future cleaning tasks according to the task adaptation degree from large to small to obtain a task sequence.

206. The cleaning strategy of the target cleaning device for the target area is determined to sequentially execute all future cleaning tasks from beginning to end according to the task sequence.

Therefore, the embodiment of the invention can sort all future cleaning tasks according to the task adaptation degree of the future task information from large to small to obtain the task sequence, and determine a plurality of cleaning tasks which are used for ending the history incomplete cleaning information to the greatest extent according to the task sequence to execute in the future, so that a more reasonable and intelligent determination of the cleaning strategy can be realized, and the cleaning efficiency of the cleaning equipment is improved.

In an optional embodiment, in step 204, calculating the task fitness of the future cleaning task according to the future task information and the historical incomplete cleaning information includes:

A first similarity of the future cleaning area and the unfinished cleaning area is calculated to determine a task fitness for the future cleaning task.

Alternatively, the first similarity may be a position similarity or a shape similarity between the regions, for example, a degree of coincidence between the two regions, for example, a coincidence ratio or a coincidence area.

a second similarity of the future cleaning object and the cleaning object to be completed is calculated to determine a task fitness for the future cleaning task.

Alternatively, the second similarity may be a chemical composition similarity or a text similarity between the two cleaning objects.

a weighted sum of the first similarity and the second similarity is calculated to determine a task fitness for the future cleaning task.

Optionally, the sum of the weights corresponding to the first similarity and the second similarity is 1, and the weights are respectively proportional to the importance of the different similarities, specifically, because in actual home cleaning, the cleaning object is relatively single, and the cleaning device is required to have multiple cleaning functions, the importance of the cleaning area is higher than that of the cleaning object, and therefore the weight corresponding to the first similarity is higher than that corresponding to the second similarity.

Therefore, by implementing the optional implementation manner, the task adaptation degree of the future cleaning task can be effectively determined according to the future task information and the historical incomplete cleaning information, so that a plurality of cleaning tasks which are used for ending the historical incomplete cleaning information to the greatest extent can be determined to be executed in the future, and therefore a more reasonable and intelligent determination of the cleaning strategy can be achieved, and the cleaning efficiency of the cleaning equipment can be improved.

Example III

Referring to fig. 3, fig. 3 is a schematic structural diagram of a cleaning planning apparatus based on breakpoint recording according to an embodiment of the present invention. The apparatus described in fig. 3 may be applied to a corresponding cleaning planning apparatus, where the cleaning planning apparatus may be a planning device, a planning terminal, or a planning server, and the server may be a cloud server or a local server, which is not limited by the present invention. As shown in fig. 3, the apparatus may include:

the first determination module 301 is configured to determine a historical breakpoint record for the target cleaning device.

The second determining module 302 is configured to obtain historical task information of a historical cleaning task of the target cleaning device, and determine historical incomplete cleaning information of the target cleaning device according to the historical task information and the historical breakpoint record.

A third determining module 303, configured to determine a future cleaning plan of the target cleaning device for the target area, and determine a cleaning strategy of the target cleaning device for the target area according to the historical incomplete cleaning information and the future cleaning plan.

Therefore, the device described by the embodiment of the invention can determine the incomplete task information by utilizing the historical breakpoint record and the historical task information of the cleaning equipment, and then determine the cleaning strategy by combining the incomplete task information according to the future cleaning plan, so that the cleaning strategy can be determined more reasonably and intelligently, and the previous incomplete work is comprehensively considered, so that the cleaning efficiency of the cleaning equipment is improved.

As an alternative embodiment, as shown in fig. 4, the first determining module 301 includes:

an acquisition unit 3011 for acquiring a plurality of breakpoint records when the target cleaning device interrupts a plurality of historical cleaning tasks at a target area in a plurality of historical periods;

a judging unit 3012, configured to judge, for any breakpoint record, according to the breakpoint information, whether the breakpoint record is an unimportant breakpoint or a device failure breakpoint;

And a deleting unit 3013, configured to delete the breakpoint record from the historical breakpoint record when the judging unit 3012 judges that the breakpoint record is an unimportant breakpoint or a device failure breakpoint.

As an optional implementation manner, the determining unit 3012 determines, according to the breakpoint information, whether the breakpoint record is a unimportant breakpoint or a specific manner of a device failure breakpoint, including:

if yes, judging the breakpoint record as an unimportant breakpoint.

If yes, judging the breakpoint record as the equipment fault breakpoint.

If yes, judging the breakpoint record as an unimportant breakpoint.

As an alternative embodiment, the second determining module 302 determines, according to the historical task information and the historical breakpoint record, a specific manner of determining the historical incomplete cleaning information of the target cleaning device, including:

As an alternative embodiment, the third determining module 303 determines a specific mode of the cleaning strategy of the target cleaning device for the target area according to the historical incomplete cleaning information and the future cleaning plan, including:

Sequencing all future cleaning tasks according to the task adaptation degree from large to small to obtain a task sequence;

the cleaning strategy of the target cleaning device for the target area is determined to sequentially execute all future cleaning tasks from beginning to end according to the task sequence.

Therefore, according to the optional implementation manner, all future cleaning tasks can be sequenced according to the task adaptation degree of the future task information from large to small to obtain a task sequence, and a plurality of cleaning tasks which are used for ending the history incomplete cleaning information to the greatest extent are determined according to the task sequence to be executed in the future, so that a more reasonable and intelligent determination of a cleaning strategy can be realized, and the cleaning efficiency of the cleaning equipment is improved.

As an alternative embodiment, the third determining module 303 calculates a specific manner of task fitness of the future cleaning task according to the future task information and the historical incomplete cleaning information, including:

Example IV

Referring to fig. 5, fig. 5 is a schematic structural diagram of a cleaning planning apparatus based on breakpoint recording according to an embodiment of the present invention. As shown in fig. 5, the apparatus may include:

a memory 401 storing executable program codes;

a processor 402 coupled with the memory 401;

the processor 402 invokes executable program codes stored in the memory 401 to perform some or all of the steps in the breakpoint record-based cleaning planning method disclosed in the first or second embodiment of the present invention.

Example five

The embodiment of the invention discloses a computer storage medium which stores computer instructions for executing part or all of the steps in the cleaning planning method based on breakpoint recording disclosed in the first or second embodiment of the invention when the computer instructions are called.

The apparatus embodiments described above are merely illustrative, wherein the modules illustrated as separate components may or may not be physically separate, and the components shown as modules may or may not be physical, i.e., may be located in one place, or may be distributed over a plurality of network modules. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of this embodiment. Those of ordinary skill in the art will understand and implement the present invention without undue burden.

From the above detailed description of the embodiments, it will be apparent to those skilled in the art that the embodiments may be implemented by means of software plus necessary general hardware platforms, or of course by means of hardware. Based on such understanding, the foregoing technical solutions may be embodied essentially or in part in the form of a software product that may be stored in a computer-readable storage medium including Read-Only Memory (ROM), random-access Memory (Random Access Memory, RAM), programmable Read-Only Memory (Programmable Read-Only Memory, PROM), erasable programmable Read-Only Memory (Erasable Programmable Read Only Memory, EPROM), one-time programmable Read-Only Memory (OTPROM), electrically erasable programmable Read-Only Memory (EEPROM), compact disc Read-Only Memory (Compact Disc Read-Only Memory, CD-ROM) or other optical disc Memory, magnetic disc Memory, tape Memory, or any other medium that can be used for computer-readable carrying or storing data.

Finally, it should be noted that: the embodiment of the invention discloses a cleaning planning method and device based on breakpoint records, which are disclosed as preferred embodiments of the invention, and are only used for illustrating the technical scheme of the invention, but not limiting the technical scheme; although the invention has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art will understand that; the technical scheme recorded in the various embodiments can be modified or part of technical features in the technical scheme can be replaced equivalently; such modifications and substitutions do not depart from the spirit and scope of the corresponding technical solutions.

Claims

1. A cleaning planning method based on breakpoint recording, the method comprising:

2. The breakpoint record-based cleaning planning method according to claim 1, wherein the breakpoint information of the breakpoint record includes at least one of a breakpoint position, a breakpoint time, a breakpoint number, and a task progress at a breakpoint.

3. The breakpoint record-based cleaning planning method according to claim 2, wherein the determining the historical breakpoint record of the target cleaning device includes:

4. The method for cleaning and planning based on breakpoint records according to claim 3, wherein the step of determining whether the breakpoint record is an unimportant breakpoint or a device failure breakpoint according to the breakpoint information includes:

if yes, judging the breakpoint record as an unimportant breakpoint;

and/or the number of the groups of groups,

if yes, judging the breakpoint record as an unimportant breakpoint;

and/or the number of the groups of groups,

if yes, judging the breakpoint record as an unimportant breakpoint;

and/or the number of the groups of groups,

If yes, judging the breakpoint record as the equipment fault breakpoint;

and/or the number of the groups of groups,

if yes, judging the breakpoint record as an unimportant breakpoint.

5. The breakpoint recording-based cleaning planning method according to claim 1, wherein the historical task information includes task cleaning objects and/or task cleaning routes; and/or, the historical incomplete cleaning information includes a cleaning object to be completed and/or an incomplete cleaning area.

6. The breakpoint record-based cleaning planning method according to claim 5, wherein the determining the historical incomplete cleaning information of the target cleaning device according to the historical task information and the historical breakpoint record includes:

and/or the number of the groups of groups,

7. The breakpoint recording-based cleaning planning method according to claim 6, wherein the future cleaning plan includes future task information of a plurality of future cleaning tasks; the future task information includes a future cleaning area and/or a future cleaning object.

8. The breakpoint record-based cleaning planning method according to claim 7, wherein the determining a cleaning strategy of the target cleaning device for the target area according to the history incomplete cleaning information and a future cleaning plan includes:

and/or the number of the groups of groups,

9. A cleaning programming device based on breakpoint recording, the device comprising:

10. A cleaning programming device based on breakpoint recording, the device comprising:

a memory storing executable program code;

a processor coupled to the memory;

the processor invokes the executable program code stored in the memory to perform the breakpoint record based cleaning planning method according to any one of claims 1-8.