CN116763205A

CN116763205A - Method and device for determining cleaning area, storage medium and electronic device

Info

Publication number: CN116763205A
Application number: CN202210234284.5A
Authority: CN
Inventors: 王元超; 季培隆; 王福林
Original assignee: Dreame Innovation Technology Suzhou Co Ltd
Current assignee: Dreame Innovation Technology Suzhou Co Ltd
Priority date: 2022-03-09
Filing date: 2022-03-09
Publication date: 2023-09-19
Also published as: WO2023169147A1

Abstract

The invention discloses a method and a device for determining a cleaning area, a storage medium and an electronic device, wherein the method comprises the following steps: under the condition that the current time is the execution time of a first reservation task of the cleaning robot, acquiring a residual cleaning area of a cleaning task currently executed by the cleaning robot and a first cleaning area of the first reservation task; when the first area to be cleaned and the remaining area to be cleaned have intersection areas, and the first area to be cleaned is not a subset area of the remaining area to be cleaned, the cleaning robot is controlled to clean other areas in the first area to be cleaned after the remaining area to be cleaned is cleaned.

Description

Method and device for determining cleaning area, storage medium and electronic device

[ field of technology ]

The present invention relates to the field of communications, and in particular, to a method and apparatus for determining a cleaning area, a storage medium, and an electronic apparatus.

[ background Art ]

With the development of technology, more and more people start to use cleaning robots in daily life. On one hand, the cleaning robot brings convenience to our life, and on the other hand, the cleaning robot has a plurality of problems in the using process, and is not intelligent enough. For example, when the cleaning robot receives a cleaning task scheduled by a user, even if the cleaning robot is currently executing other cleaning tasks, the cleaning robot directly stops executing the current cleaning task and executes the scheduled cleaning task, which causes the current cleaning task of the cleaning robot to be lost, and thus, the cleaning task may cause the uncleaned area in the current cleaning task to be missed.

Aiming at the problem that the current task is missed due to the fact that the equipment pauses the current task in response to the reserved cleaning task under the condition that the current time is consistent with the execution time of the reserved task in the prior art, no effective solution is proposed at present.

[ invention ]

The embodiment of the invention provides a method and a device for determining a cleaning area, a storage medium and an electronic device, which at least solve the problem that in the prior art, under the condition that the current time is consistent with the execution time of a reserved task, equipment responds to the reserved cleaning task to pause the current task, thereby causing the current task to be missed.

According to an aspect of the embodiment of the present invention, there is provided a method for determining a cleaning area, including: under the condition that the current time is the execution time of a first reserved task of the cleaning robot, acquiring a remaining area to be cleaned of a cleaning task currently executed by the cleaning robot and a first area to be cleaned of the first reserved task; and controlling the cleaning robot to clean other areas except the intersection area in the first area to be cleaned after the cleaning of the remaining area to be cleaned under the condition that the intersection area exists between the first area to be cleaned and the remaining area to be cleaned and the first area to be cleaned is not a subset area of the remaining area to be cleaned.

In an exemplary embodiment, after acquiring the remaining area to be cleaned of the cleaning task currently performed by the cleaning robot and the first area to be cleaned of the first reservation task, the method further includes: controlling the cleaning robot to clean the remaining area to be cleaned under the condition that the first area to be cleaned is a subset area of the remaining area to be cleaned; and under the condition that an intersection area does not exist between the first area to be cleaned and the remaining area to be cleaned, controlling the cleaning robot to clean the first area to be cleaned after the remaining area to be cleaned is cleaned.

In an exemplary embodiment, after acquiring the remaining area to be cleaned of the cleaning task currently performed by the cleaning robot and the first area to be cleaned of the first reservation task, the method further includes: acquiring cleaning maps corresponding to all areas to be cleaned of the cleaning robot; determining first position information of the remaining area to be cleaned on the cleaning map and second position information of the first area to be cleaned on the cleaning map; and determining whether the first area to be cleaned is a subset area of the remaining area to be cleaned or not according to the first position information and the second position information, and whether an intersection area exists between the first area to be cleaned and the remaining area to be cleaned or not.

In one exemplary embodiment, controlling the cleaning robot to clean other areas than the intersection area in the first area to be cleaned after cleaning the remaining area to be cleaned includes: dividing the remaining area to be cleaned into a plurality of adjacent first blocks according to a preset mode, and dividing the first area to be cleaned into a plurality of adjacent second blocks according to a preset mode; determining a first intersection block which is intersected with the plurality of adjacent second blocks in the plurality of adjacent first blocks, and taking the block which is intersected with the first intersection block in the plurality of adjacent second blocks as a second intersection block; determining a union block of the first intersection block and the second intersection block; after the cleaning robot is controlled to clean other blocks except the first intersection block in the plurality of adjacent first blocks, cleaning the union block; and cleaning other blocks except the second intersection block in the second block under the condition that the cleaning robot cleans the union block.

In an exemplary embodiment, acquiring a remaining area to be cleaned of a cleaning task currently performed by the cleaning robot includes: acquiring a total cleaning area of a cleaning task currently executed by the cleaning robot and a cleaned area of the cleaning robot at the current time; and taking the area except the cleaned area in the total cleaning area as the remaining area to be cleaned.

In an exemplary embodiment, the method further includes, after the cleaning robot cleans the remaining area to be cleaned, controlling the cleaning robot to clean the remaining area to be cleaned: acquiring a second area to be cleaned of a second reservation task of the cleaning robot under the condition that the time for cleaning the remaining area to be cleaned is the execution time of the second reservation task of the cleaning robot, and determining a union area of the first reservation task and the second reservation task; controlling the cleaning robot to stop cleaning under the condition that the union region is a subset region of the remaining regions to be cleaned; controlling the cleaning robot to clean the union region under the condition that the union region and the residual region to be cleaned do not have an intersection region; and controlling the cleaning robot to clean other areas except the intersection area of the intersection area and the residual area to be cleaned in the condition that the intersection area exists between the intersection area and the residual area to be cleaned and the intersection area is not a subset area of the residual area to be cleaned.

In an exemplary embodiment, in case that the current time is the execution time of the first reserved task of the cleaning robot, before acquiring the remaining area to be cleaned of the cleaning task currently executed by the cleaning robot, the method further includes: acquiring the execution time of a first reservation task under the condition that the cleaning robot has received the first reservation task; and before the execution time of the first reservation task does not come, controlling the cleaning robot to continuously clean the residual area to be cleaned.

In one exemplary embodiment, controlling the cleaning robot to clean other areas than the intersection area in the first area to be cleaned after cleaning the remaining area to be cleaned includes: determining the shortest path for cleaning the residual area to be cleaned through a path planning algorithm to obtain a first cleaning path, and controlling the cleaning robot to clean the residual area to be cleaned according to the first cleaning path; after the remaining area to be cleaned is cleaned, determining the shortest path for cleaning the first area to be cleaned through the path planning algorithm, obtaining a second cleaning path, and controlling the cleaning robot to clean the first area to be cleaned according to the second cleaning path.

According to another aspect of the embodiment of the present invention, there is also provided a cleaning area determining apparatus, including: the cleaning device comprises an acquisition module, a first cleaning area control module and a second cleaning area control module, wherein the acquisition module is used for acquiring a remaining cleaning area of a cleaning task currently executed by the cleaning robot when the current time is the execution time of a first reservation task of the cleaning robot, and the first cleaning area control module is used for controlling the cleaning robot to clean other areas except for the intersection area in the first cleaning area after the cleaning of the remaining cleaning area when the first cleaning area and the remaining cleaning area have the intersection area.

According to still another aspect of the embodiments of the present invention, there is also provided a computer-readable storage medium having a computer program stored therein, wherein the computer program is configured to perform the above-described method of determining a cleaning area when run.

According to still another aspect of the embodiments of the present invention, there is further provided an electronic device including a memory, a processor, and a computer program stored on the memory and executable on the processor, wherein the processor executes the method for determining the cleaning area through the computer program.

In the embodiment of the application, when the current time is the execution time of the first reserved task of the cleaning robot, the current task executed by the cleaning robot and the cleaning area of the first reserved task are acquired, and when the cleaning area of the current task is only partially covered but not completely covered by the cleaning area of the first reserved task, the cleaning area of the current task is cleaned first, and then the area which is not covered by the current task in the cleaning area of the first reserved task is cleaned.

[ description of the drawings ]

The accompanying drawings, which are included to provide a further understanding of the application and are incorporated in and constitute a part of this specification, illustrate embodiments of the application and together with the description serve to explain the application and do not constitute a limitation on the application. In the drawings:

FIG. 1 is a block diagram of a hardware configuration of a cleaning robot of an alternative method of determining a cleaning area according to an embodiment of the present application;

FIG. 2 is a flow chart of an alternative method of determining a cleaning zone according to an embodiment of the present application;

FIG. 3 is a product application diagram of an alternative method of receiving reservation tasks in accordance with an embodiment of the present invention;

fig. 4 is a product application diagram of an alternative obstacle setting method according to an embodiment of the invention;

FIG. 5 is a schematic illustration of an alternative method of block cleaning in accordance with an embodiment of the invention;

FIG. 6 is a schematic illustration of an alternative method of determining a cleaning zone in accordance with an embodiment of the present invention;

fig. 7 is a block diagram showing the construction of an alternative cleaning area determining apparatus in the embodiment of the present invention.

[ detailed description ] of the invention

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 present invention without making any inventive effort, shall fall within the scope of the present invention.

It should be noted that the terms "first," "second," and the like in the description and the claims of the present invention and the above figures are used for distinguishing between similar objects and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used may be interchanged where appropriate such that the embodiments of the invention described herein may be implemented in sequences other than those illustrated or otherwise described herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.

The method embodiments provided in the embodiments of the present application may be performed in a cleaning robot or similar computing device. Taking an example of operation on a cleaning robot, fig. 1 is a block diagram of a hardware configuration of a cleaning robot of a cleaning area determining method according to an embodiment of the present application. As shown in fig. 1, the cleaning robot may include one or more (only one is shown in fig. 1) processors 102 (the processor 102 may include, but is not limited to, a microprocessor (Microprocessor Unit, abbreviated MPU) or a programmable logic device (Programmable logic device, abbreviated PLD)) and a memory 104 for storing data, and in one exemplary embodiment, the cleaning robot may further include a transmission device 106 for communication functions and an input-output device 108. It will be appreciated by those skilled in the art that the configuration shown in fig. 1 is merely illustrative and is not intended to limit the configuration of the cleaning robot described above. For example, the cleaning robot may further include more or less components than those shown in fig. 1, or have a different configuration equivalent to the functions shown in fig. 1 or more than the functions shown in fig. 1.

The memory 104 may be used to store a computer program, for example, a software program of application software and a module, such as a computer program corresponding to a method for determining a cleaning area in an embodiment of the present application, and the processor 102 executes the computer program stored in the memory 104 to perform various functional applications and data processing, that is, to implement the above-described method. Memory 104 may include high-speed random access memory, and may also include non-volatile memory, such as one or more magnetic storage devices, flash memory, or other non-volatile solid-state memory. In some examples, the memory 104 may further include memory remotely located with respect to the processor 102, which may be connected to the cleaning robot via a network. Examples of such networks include, but are not limited to, the internet, intranets, local area networks, mobile communication networks, and combinations thereof.

The transmission means 106 is arranged to receive or transmit data via a network. Specific examples of the network described above may include a wireless network provided by a communication provider of the cleaning robot. In one example, the transmission device 106 includes a network adapter (Network Interface Controller, simply referred to as NIC) that can connect to other network devices through a base station to communicate with the internet. In one example, the transmission device 106 may be a Radio Frequency (RF) module, which is used to communicate with the internet wirelessly.

It should be noted that the technical scheme of the embodiment of the application can be applied to a cleaning robot, in particular to a cleaning robot, namely the cleaning robot can prevent the residual area to be cleaned of the current task from being missed by adopting the technical scheme of the embodiment of the application.

In this embodiment, a method for determining a cleaning area is provided, and fig. 2 is a flowchart of a method for determining a cleaning area according to an embodiment of the present application, where the flowchart includes the following steps:

step S202, under the condition that the current time and the execution time of a first reservation task are taken as the cleaning robot, acquiring the residual area to be cleaned of the cleaning task currently executed by the cleaning robot and the first area to be cleaned of the first reservation task;

It should be noted that the above steps can be understood as follows: when the current time is the execution time of the first reserved task of the cleaning robot, the cleaning robot executes the current task at the moment, and the remaining area to be cleaned of the cleaning task executed at the current moment and the first area to be cleaned of the first reserved task are obtained. It should be further noted that, the current time and the execution time of the cleaning robot for the first reserved task may be understood as: when the time for executing the first reservation task arrives, for example, the user reserves 10 o 'clock for cleaning the kitchen at 9 o' clock, the execution time of the first reservation task is 10 o 'clock, in which case, at the time of 10 o' clock, the current time coincides with the execution time of the first reservation task.

Step S204, when there is an intersection area between the first area to be cleaned and the remaining area to be cleaned, and the first area to be cleaned is not a subset area of the remaining area to be cleaned, controlling the cleaning robot to clean other areas except the intersection area in the first area to be cleaned after cleaning the remaining area to be cleaned.

Through the steps, under the condition that the current time is the execution time of a first reservation task of the cleaning robot, acquiring the residual area to be cleaned of the cleaning task currently executed by the cleaning robot and the first area to be cleaned of the first reservation task; and controlling the cleaning robot to clean other areas except the intersection area in the first area to be cleaned after the cleaning of the remaining area to be cleaned under the condition that the intersection area exists between the first area to be cleaned and the remaining area to be cleaned and the first area to be cleaned is not a subset area of the remaining area to be cleaned. By adopting the technical scheme, the problem that the current task is suspended by the equipment in response to the reserved cleaning task under the condition that the current time is consistent with the execution time of the reserved task in the prior art, so that the current task is missed is solved.

Optionally, in this embodiment, in step S202, before acquiring the remaining area to be cleaned of the cleaning task currently executed by the cleaning robot, if the current time is consistent with the execution time of the first reserved task of the cleaning robot, the method further includes: the cleaning robot is controlled to be connected with terminal equipment of a user, and the terminal equipment is used for receiving the setting of the first area to be cleaned of the reserved task by the user. As shown in fig. 3, fig. 3 is a product application diagram of an alternative reservation task receiving method according to an embodiment of the present invention, in which a user can set a cleaning area of a reservation task by dragging and resizing a dotted frame in fig. 3.

In one exemplary embodiment, a total cleaning area of a cleaning task currently performed by the cleaning robot and a cleaned area of the cleaning robot at a current time are acquired; and taking the area except the cleaned area in the total cleaning area as the remaining area to be cleaned.

By the above embodiment, it is first determined which areas have been cleaned, and the other areas than the cleaned areas in the total cleaned area are taken as the areas to be cleaned, preventing the cleaned areas from being cleaned secondarily.

Optionally, in this embodiment, the method for acquiring the cleaned area of the cleaning robot at the current time includes, but is not limited to: the radar sensor of the cleaning robot is continuously used for acquiring measurement data obtained by emitting electromagnetic waves to determine the position of the cleaning robot, the direction change amount and the distance change amount of the cleaning robot are determined according to the position change of the cleaning robot, and further, the motion trail is determined according to the direction change amount and the distance change amount of the cleaning robot, so that the cleaned area of the cleaning robot is determined according to the motion trail of the cleaning robot, for example: the method comprises the steps that a group of electromagnetic waves are sent by a radar sensor at a first position of a first time, the radar sensor obtains a first group of measurement data through calculation according to the reflected electromagnetic waves, for example, the radar sensor obtains a wall, which is 5 meters away from the right, of the cleaning robot at the first position and 4 meters away from the front, of the cleaning robot according to the first group of measurement data, the first position of the cleaning robot is determined according to the first group of measurement data, then a second group of measurement data, which is obtained by a second group of electromagnetic waves emitted by the radar sensor of the cleaning robot at a second time, is obtained, and the second position of the cleaning robot is determined according to the second group of measurement data; and determining the direction change amount and the distance change amount of the cleaning robot according to the first position and the second position of the cleaning robot, obtaining the motion trail of the cleaning robot when the first time and the second time interval are small enough, and determining the cleaned area of the cleaning robot according to the motion trail of the cleaning robot.

Optionally, in this embodiment, taking, as the remaining area to be cleaned, an area other than the cleaned area in the total cleaning area includes: determining position information of the cleaning robot through a built-in sensor of the cleaning robot; obtaining actual track information according to the position information of the cleaning robot; acquiring cleaned area information according to the actual track information and the unit cleaned area value; further, comparing the cleaned area information with the area information to be cleaned to obtain a cleaning area rate; and when the cleaning area rate is smaller than a preset value, comparing the cleaned area information with the area information to be cleaned to obtain the uncleaned area information. For example: the cleaning robot is synchronously positioned through the laser radar of the cleaning robot, a track diagram of the cleaning robot can be established according to the change of the positioning, the cleaned area of the cleaning robot can be determined by combining the unit cleaning area value of the cleaning robot, the ratio of the cleaned area to the area to be cleaned is calculated, the cleaning area rate can be obtained, when the area rate is smaller than a preset value, such as 90%, the area which is not cleaned can be determined, and the area except the cleaned area in the area to be cleaned is the area which is not cleaned.

In one exemplary embodiment, in a case where the cleaning robot has received a first reservation task, acquiring an execution time of the first reservation task; and before the execution time of the first reservation task does not come, controlling the cleaning robot to continuously clean the residual area to be cleaned.

With the above-described embodiment, the cleaning robot is prevented from ignoring the cleaning of the cleaning area of the current task due to the reception of the reserved task.

It should be noted that, in order to help understand the present embodiment, for example, the cleaning robot receives the first reservation task at 9 o 'clock, where the first reservation task is to clean the kitchen at 9 o' clock, and when the current task of the cleaning robot is to clean the bedroom, the cleaning robot continuously cleans the bedroom in a period between 9 o 'clock and 10 o' clock, that is, the priority of the current task is higher than that of the reservation task, so that it can be ensured that no missed cleaning occurs in the current task.

In an exemplary embodiment, after acquiring the remaining area to be cleaned of the cleaning task currently executed by the cleaning robot and the first area to be cleaned of the first reservation task, acquiring cleaning maps corresponding to all the areas to be cleaned of the cleaning robot; determining first position information of the remaining area to be cleaned on the cleaning map and second position information of the first area to be cleaned on the cleaning map; and determining whether the first area to be cleaned is a subset area of the remaining area to be cleaned or not according to the first position information and the second position information, and whether an intersection area exists between the first area to be cleaned and the remaining area to be cleaned or not.

Optionally, in this embodiment, the method for acquiring the cleaning map corresponding to all the areas to be cleaned of the cleaning robot includes: constructing an initial map of all areas to be cleaned according to the house type map data of all areas to be cleaned; and adding corresponding barriers in the initial map according to the barrier information edited by the user so as to construct a cleaning map corresponding to all the areas to be cleaned. For example, an image of a home is obtained through a camera in a home area, a home pattern is drawn according to the image, an initial map is obtained, the initial map is sent to a user, a cleaning robot is connected with a mobile phone of the user through a local area network or Bluetooth, the user adds an obstacle on the initial map through mobile phone application, as shown in fig. 4, fig. 4 is a product application diagram of an alternative obstacle setting method according to an embodiment of the invention, in fig. 4, the user clicks an area with the obstacle on the initial map through mobile phone application, so that the obstacle is added on the initial map, and the area except the obstacle on the initial map is used as all areas to be cleaned.

Optionally, in this embodiment, the method for acquiring the cleaning map corresponding to all the areas to be cleaned of the cleaning robot includes: all areas to be cleaned are scanned by means of laser ranging sensors in an immediate positioning and map construction (namely SLAM, full scale simultaneous localization and mapping) mode based on a laser radar, the distances from the laser to each point of the boundary are scanned by transmitting laser, so that a digital map of all the areas to be cleaned is generated, and then all the areas to be cleaned are constructed by combining a preset algorithm, and cleaning is positioned in real time. For example, if all areas to be cleaned of the cleaning robot are living rooms, the whole living rooms are scanned through a laser ranging sensor, the distance from the cleaning robot to the wall and the like is determined through transmitting laser and receiving laser reflected by the wall and the like, a digital map of the living rooms is generated, and then a cleaning map of the living rooms is built through SLAM.

In one exemplary embodiment, in case the first area to be cleaned is a subset area of the remaining area to be cleaned, controlling the cleaning robot to clean the remaining area to be cleaned; and under the condition that an intersection area does not exist between the first area to be cleaned and the remaining area to be cleaned, controlling the cleaning robot to clean the first area to be cleaned after the remaining area to be cleaned is cleaned.

Through the embodiment, under the condition that the first area to be cleaned is a subset area of the remaining areas to be cleaned or the condition that the first area to be cleaned and the remaining areas to be cleaned have no intersection area, the cleaning of the remaining areas to be cleaned of the current task is finished, and therefore the condition that the current task cannot be leaked is ensured.

It should be noted that, the "the first area to be cleaned is the subset area of the remaining area to be cleaned" may be understood that the remaining area to be cleaned covers the first area to be cleaned, for example, the remaining area to be cleaned is a kitchen and a bedroom, the first area to be cleaned is the bedroom, the kitchen and the bedroom include the bedroom, and the first area to be cleaned is the subset area of the remaining area to be cleaned. In an exemplary embodiment, the remaining area to be cleaned is divided into a plurality of adjacent first blocks in a preset manner, and the first area to be cleaned is divided into a plurality of adjacent second blocks in a preset manner; determining a first intersection block which is intersected with the plurality of adjacent second blocks in the plurality of adjacent first blocks, and taking the block which is intersected with the first intersection block in the plurality of adjacent second blocks as a second intersection block; determining a union block of the first intersection block and the second intersection block; after the cleaning robot is controlled to clean other blocks except the first intersection block in the plurality of adjacent first blocks, cleaning the union block; and cleaning other blocks except the second intersection block in the second block under the condition that the cleaning robot cleans the union block. In this embodiment, the area to be cleaned is divided into a plurality of blocks, and each block is cleaned one by one, so that the current task and the reserved task of the cleaning robot can be split, the plurality of blocks are divided, the cleaned area is definitely divided into a plurality of specific blocks by the cleaning robot, and the cleaned area and the area to be cleaned are both more definitely defined, thereby effectively avoiding the condition of missing cleaning.

Optionally, in this embodiment, a grid method is used to construct a map of a remaining area to be cleaned and a map of a first area to be cleaned, and equal area grid division is performed on the map of the remaining area to be cleaned to obtain a plurality of adjacent first equal area grids, where each first equal area grid corresponds to a first block, as shown in fig. 5, fig. 5 is a schematic diagram of an optional block cleaning method according to an embodiment of the present invention, where each grid corresponds to a block, and adjacent areas are equal between grids, for example, a grid a and a grid B are adjacent and have equal areas. And dividing the equal area grids of the map of the first area to be cleaned to obtain a plurality of adjacent equal area grids, wherein each equal area grid in the map of the first area to be cleaned corresponds to a second block, a first intersection grid with intersection of the equal area grids of the first area to be cleaned is determined in the first equal area grid, equal area grids with intersection of the equal area grids of the rest area to be cleaned and the equal area grids of the rest area to be cleaned are used as second intersection grids, a union grid of the first grid and the second grid is determined, cleaning routes are planned according to the grid map, blocks corresponding to other grids except the first intersection grid in the first area to be cleaned are cleaned, blocks corresponding to the union grid are cleaned, and finally blocks corresponding to the second intersection grid are cleaned. In short, in this embodiment, the cleaning area is mapped onto the grid map by the grid method, and the area grids are divided on the grid map and then correspond to the actual first area to be cleaned, so that the block division of the first area to be cleaned and the block division of the second area to be cleaned are realized.

Optionally, in this embodiment, after the cleaning robot is controlled to clean the other blocks except the first intersection block in the plurality of adjacent first blocks, the method for cleaning the union block includes but is not limited to: according to the positioning information of the cleaning robot, cleaning a first block closest to the cleaning robot, after the cleaning robot cleans the block closest to the cleaning robot, determining the position of the cleaning robot at the moment according to the positioning information, determining the first block closest to the position of the cleaning robot at the moment, and cleaning the block, as shown in fig. 5, fig. 5 is a schematic diagram of an alternative block cleaning method according to an embodiment of the invention, each grid represents one block, the position of the cleaning robot is determined according to the positioning information of the cleaning robot, firstly cleaning an A block closest to the cleaning robot, replacing the corresponding grid of the A block on a grid map with a white mark after the A block is cleaned, determining the position of the cleaning robot at the moment, cleaning a B block closest to the cleaning robot at the moment, pushing the block to continue cleaning, and recording the cleaned block; detecting the residual areas to be cleaned in the cleaning process one by one, expanding the cleaning map, and dividing the expanded cleaning map into a plurality of adjacent newly-increased blocks based on the first blocks which are obtained by dividing and extending outwards; cleaning the first block and the newly added block one by one, and recording until the whole area to be cleaned is covered by the blocks; and cleaning the unrecorded blocks in all the blocks, and finishing cleaning after all the first blocks are recorded.

In an exemplary embodiment, determining a shortest path for cleaning the remaining area to be cleaned through a path planning algorithm, obtaining a first cleaning path, and controlling the cleaning robot to clean the remaining area to be cleaned according to the first cleaning path; after the remaining area to be cleaned is cleaned, determining the shortest path for cleaning the first area to be cleaned through the path planning algorithm, obtaining a second cleaning path, and controlling the cleaning robot to clean the first area to be cleaned according to the second cleaning path.

Through the embodiment, the shortest path for cleaning the residual area to be cleaned and the area to be cleaned is obtained through the path planning algorithm, and the cleaning robot is controlled to clean according to the shortest path, so that the cleaning efficiency of the cleaning robot is improved.

It should be noted that, the path planning algorithm includes at least one of the following: the genetic algorithm, the particle swarm algorithm, the ant swarm algorithm, the fish swarm algorithm, the bee swarm algorithm and the like, and further, the path planning algorithm can be an algorithm, such as a genetic algorithm, and can also be a combination of a plurality of algorithms, such as switching and fusion between the genetic algorithm and the ant swarm algorithm.

Optionally, in this embodiment, the cleaning robot determines an optimal path for cleaning the remaining area to be cleaned and the first area to be cleaned by adopting a point-to-point path planning manner or a completely traversed path planning manner, where the point-to-point path plans an optimal and reasonable path from a start point to an end point; the fully traversed path planning is to plan a continuous route from the start point to the end point in the set area and through all reachable points of the remaining area to be cleaned and the first area to be cleaned.

In an exemplary embodiment, the method further includes, after the cleaning robot cleans the remaining area to be cleaned, controlling the cleaning robot to clean the remaining area to be cleaned: acquiring a second area to be cleaned of a second reservation task of the cleaning robot under the condition that the time for cleaning the remaining area to be cleaned is the execution time of the second reservation task of the cleaning robot, and determining a union area of the first reservation task and the second reservation task; controlling the cleaning robot to stop cleaning under the condition that the union region is a subset region of the remaining regions to be cleaned; controlling the cleaning robot to clean the union region under the condition that the union region and the residual region to be cleaned do not have an intersection region; and controlling the cleaning robot to clean other areas except the intersection area of the intersection area and the residual area to be cleaned in the case that the intersection area exists between the intersection area and the residual area to be cleaned and the intersection area is not a subset area of the residual area to be cleaned.

By the above embodiment, it is possible to ensure that: and under the condition that the time for cleaning the residual cleaning area is consistent with the execution time of the second reservation task of the cleaning robot, the cleaned residual cleaning area is not cleaned secondarily, and invalid cleaning is avoided.

To assist understanding of the present embodiment, for example, at 9 o 'clock, the remaining area to be cleaned of the current task of the cleaning robot is cleaned a and B, the execution time of the first reservation task is just 9 o' clock, the first reservation task is cleaned a and C, the first reservation task is cleaned a and B first, the time of cleaning a and B is 10 o 'clock, the execution time of the second reservation task is 10 o' clock, the second reservation task is cleaned B and C, the union area of the first reservation task and the second reservation task is ABC, the union area is not a subset area of the remaining area to be cleaned, and intersection areas a and B exist, and cleaning ABC is continued except for other areas a and B, namely, the area C.

In an exemplary embodiment, the cleaning robot is controlled to clean a first area to be cleaned, execution time of a second reserved task is determined under the condition that a second reserved task is received, and when the execution time of the first area to be cleaned of the first reserved task is the execution time of the second reserved task or a time difference between the execution time of the first area to be cleaned of the first reserved task and the execution time of the second reserved task is smaller than a preset threshold value, the second area to be cleaned of the second reserved task is obtained, and a union area of the first reserved task and the remaining areas to be cleaned is determined; controlling the cleaning robot to stop cleaning under the condition that the second area to be cleaned is a subset area of the union area; controlling a cleaning robot to clean a second area to be cleaned under the condition that an intersection area does not exist between the second area to be cleaned and the second area to be cleaned; and controlling the cleaning robot to clean other areas except the intersection area of the second area to be cleaned in the second area to be cleaned when the intersection area exists between the intersection area and the second area to be cleaned and the intersection area is not a subset area of the second area to be cleaned.

Through the embodiment, when the second reservation task exists after the first area to be cleaned is cleaned, and the time interval between the first reservation task and the second reservation task is smaller, the first area to be cleaned and the remaining area to be cleaned are ensured not to be cleaned secondarily, and only other areas except the coverage areas of the first area to be cleaned and the remaining area to be cleaned in the first reservation task are cleaned, so that the cleaning time of the sweeping robot is saved.

It should be noted that, the preset threshold may be preset by the system or may be set by a user, where the value of the preset threshold should be small enough to ensure that, in the case that a overlapping area occurs between the remaining area to be cleaned and the first area to be cleaned and the second area to be cleaned, the overlapping area does not need to be cleaned for a second time after the overlapping area is cleaned. For example, at 9 o 'clock, the remaining area to be cleaned of the current task of the cleaning robot is cleaned a and B, the execution time of the first reserved task is 9 o' clock, the first area to be cleaned corresponding to the first reserved task is cleaned a and C, the cleaning robot cleans C after a and B, the cleaning robot cleans C at 11 o 'clock, the execution time of the second reserved task is 11 o' clock for 15 minutes, the time difference between the execution time of the first reserved task and the execution time of the second reserved task is 15 minutes, the preset threshold is 30 minutes, the time difference between the execution time is less than the preset threshold, therefore, the union area of the remaining area to be cleaned and the first area to be cleaned, namely area a B C is determined, the second area to be cleaned corresponding to the second reserved task is cleaned B and D, the second area to be cleaned is not a subset area of the union area of the remaining area to the first area to be cleaned, and the intersection area exists: and B, thus continuing the second area to be cleaned, i.e., the D area, other than B.

In order to better understand the above-mentioned determination process of the cleaning area, the following description will further be given with reference to the alternative embodiment, but the sending flow of the instruction set is not limited to the technical solution of the embodiment of the present invention.

In this embodiment, a method for determining a cleaning area is provided, which is a schematic diagram of an alternative method for determining a cleaning area according to an embodiment of the present invention, as shown in fig. 6, and specifically includes the following steps:

step S602: determining the remaining area to be cleaned of the current task;

step S604: receiving a first reservation task;

step S606: determining the execution time of a first reservation task;

step S608: judging whether the execution time of the first reservation task is reached or not; if the execution time of the first reservation task is reached, step S610 is performed; if the execution time of the first reservation task is not reached, continuing to execute the step S620;

step S610: determining a corresponding first area to be cleaned of a first reservation task;

step S612: judging whether the first area to be cleaned is a subset area of the remaining area to be cleaned and whether an intersection area exists between the remaining area to be cleaned and the first area to be cleaned, and executing step S618 if the first area to be cleaned is a subset area of the remaining area to be cleaned; step S616 is performed when there is no intersection area between the first area to be cleaned and the remaining area to be cleaned, and step S614 is performed when there is no subset area of the remaining area to be cleaned and there is an intersection area between the first area to be cleaned and the remaining area to be cleaned;

Step S614: after the rest areas to be cleaned are cleaned, cleaning other areas except the intersection area in the first area to be cleaned;

step S616: after the rest areas to be cleaned are cleaned, cleaning the first area to be cleaned;

step S618: only the rest area to be cleaned is cleaned;

step S620: and cleaning the rest area to be cleaned.

Through the steps, the problem that in the prior art, when the current time is consistent with the execution time of the reserved task, the equipment responds to the reserved cleaning task to pause the current task, so that the current task is missed is solved. According to the scheme, the current task is preferentially cleaned in the cleaning area mode, and the task to be cleaned is split into a plurality of adjacent blocks, so that the condition that the current task is not cleaned can be effectively avoided.

From the description of the above embodiments, it will be clear to a person skilled in the art that the method according to the above embodiments may be implemented by means of software plus the necessary general hardware platform, but of course also by means of hardware, but in many cases the former is a preferred embodiment. Based on such understanding, the technical solution of the present invention may be embodied essentially or in a part contributing to the prior art in the form of a software product stored in a storage medium (e.g. ROM/RAM, magnetic disk, optical disk) comprising several instructions for causing a terminal device (which may be a mobile phone, a computer, a server, or a network device, etc.) to perform the method of the various embodiments of the present invention.

The present embodiment also provides a cleaning area determining device, which is used to implement the foregoing embodiments and preferred embodiments, and is not described in detail. As used below, the term "module" may be a combination of software and/or hardware that implements a predetermined function. While the devices described in the following embodiments are preferably implemented in software, implementations in hardware, or a combination of software and hardware, are also possible and contemplated.

Fig. 7 is a block diagram of a construction of a cleaning area determining apparatus according to an embodiment of the present invention, the apparatus including:

an obtaining module 72, configured to obtain, when the current time and the execution time of the first scheduled task by the cleaning robot are the current execution time of the cleaning task, a remaining area to be cleaned of the cleaning task currently executed by the cleaning robot, and a first area to be cleaned of the first scheduled task;

it should be noted that the function of the above module can be understood as follows: when the current time is the execution time of the first reserved task of the cleaning robot, the cleaning robot executes the current task at the moment, and the remaining area to be cleaned of the cleaning task executed at the current moment and the first area to be cleaned of the first reserved task are obtained. It should be further noted that, when the current time is the execution time of the first reservation task, it may be understood that: when the time for executing the first reservation task arrives, for example, the user reserves 10 o 'clock for cleaning the kitchen at 9 o' clock, the execution time of the first reservation task is 10 o 'clock, in which case, at the time of 10 o' clock, the current time coincides with the execution time of the first reservation task.

And a control module 72, configured to control the cleaning robot to clean other areas except the intersection area in the first area to be cleaned after cleaning the remaining area to be cleaned, in a case where the intersection area exists between the first area to be cleaned and the remaining area to be cleaned and the first area to be cleaned is not a subset area of the remaining area to be cleaned.

By the device, under the condition that the current time is the execution time of a first reservation task of the cleaning robot, acquiring the residual area to be cleaned of the cleaning task currently executed by the cleaning robot and the first area to be cleaned of the first reservation task; and controlling the cleaning robot to clean other areas except the intersection area in the first area to be cleaned after the cleaning of the remaining area to be cleaned under the condition that the intersection area exists between the first area to be cleaned and the remaining area to be cleaned and the first area to be cleaned is not a subset area of the remaining area to be cleaned. By adopting the device, the problem that the current task is suspended by the equipment in response to the reserved cleaning task under the condition that the current time is consistent with the execution time of the reserved task in the prior art, so that the current task is missed is solved.

Optionally, in this embodiment, the obtaining module 72 is further configured to, before obtaining the remaining area to be cleaned of the cleaning task currently executed by the cleaning robot when the current time is the execution time of the first reservation task of the cleaning robot, control the cleaning robot to connect with a terminal device of the user, and receive, through the terminal device, a setting of the first area to be cleaned of the reservation task by the user. As shown in fig. 3, fig. 3 is a product application diagram of an alternative reservation task receiving method according to an embodiment of the present invention, in which a user can set a cleaning area of a reservation task by dragging and resizing a dotted frame in fig. 3.

In one exemplary embodiment, the acquiring module 72 is further configured to acquire a total cleaning area of a cleaning task currently performed by the cleaning robot and a cleaned area of the cleaning robot at a current time; and taking the area except the cleaned area in the total cleaning area as the remaining area to be cleaned.

Optionally, in the present embodiment, the acquiring module 72 is further configured to acquire the cleaned area of the cleaning robot at the current time by: the radar sensor of the cleaning robot is continuously used for acquiring measurement data obtained by emitting electromagnetic waves to determine the position of the cleaning robot, the direction change amount and the distance change amount of the cleaning robot are determined according to the position change of the cleaning robot, and further, the motion trail is determined according to the direction change amount and the distance change amount of the cleaning robot, so that the cleaned area of the cleaning robot is determined according to the motion trail of the cleaning robot, for example: the method comprises the steps that a group of electromagnetic waves are sent by a radar sensor at a first position of a first time, the radar sensor obtains a first group of measurement data through calculation according to the reflected electromagnetic waves, for example, the radar sensor obtains a wall, which is 5 meters away from the right, of the cleaning robot at the first position and 4 meters away from the front, of the cleaning robot according to the first group of measurement data, the first position of the cleaning robot is determined according to the first group of measurement data, then a second group of measurement data, which is obtained by a second group of electromagnetic waves emitted by the radar sensor of the cleaning robot at a second time, is obtained, and the second position of the cleaning robot is determined according to the second group of measurement data; and determining the direction change amount and the distance change amount of the cleaning robot according to the first position and the second position of the cleaning robot, obtaining the motion trail of the cleaning robot when the first time and the second time interval are small enough, and determining the cleaned area of the cleaning robot according to the motion trail of the cleaning robot.

Optionally, in this embodiment, the obtaining module 72 is further configured to: determining position information of the cleaning robot through a built-in sensor of the cleaning robot; obtaining actual track information according to the position information of the cleaning robot; acquiring cleaned area information according to the actual track information and the unit cleaned area value; further, comparing the cleaned area information with the area information to be cleaned to obtain a cleaning area rate; and when the cleaning area rate is smaller than a preset value, comparing the cleaned area information with the area information to be cleaned to obtain the uncleaned area information. For example: the cleaning robot is synchronously positioned through the laser radar of the cleaning robot, a track diagram of the cleaning robot can be established according to the change of the positioning, the cleaned area of the cleaning robot can be determined by combining the unit cleaning area value of the cleaning robot, the ratio of the cleaned area to the area to be cleaned is calculated, the cleaning area rate can be obtained, when the area rate is smaller than a preset value, such as 90%, the area which is not cleaned can be determined, and the area except the cleaned area in the area to be cleaned is the area which is not cleaned.

In one exemplary embodiment, the acquisition module 72 is further configured to: acquiring the execution time of a first reservation task under the condition that the cleaning robot has received the first reservation task; and before the execution time of the first reservation task does not come, controlling the cleaning robot to continuously clean the residual area to be cleaned.

It should be noted that, in order to help understand the present embodiment, for example, the cleaning robot receives the first reservation task at 9 o 'clock, where the first reservation task is to clean the kitchen at 9 o' clock, and when the current task of the cleaning robot is to clean the bedroom, the cleaning robot continuously cleans the bedroom in a period between 9 o 'clock and 10 o' clock, i.e. the priority of the current task is higher than that of the reservation task, so that it can be ensured that no missed cleaning of the current task occurs.

In one exemplary embodiment, the acquisition module 72 is further configured to: acquiring a residual area to be cleaned of a cleaning task currently executed by the cleaning robot and a cleaning map corresponding to all the areas to be cleaned of the cleaning robot after a first area to be cleaned of the first reservation task; determining first position information of the remaining area to be cleaned on the cleaning map and second position information of the first area to be cleaned on the cleaning map; and determining whether the first area to be cleaned is a subset area of the remaining area to be cleaned or not according to the first position information and the second position information, and whether an intersection area exists between the first area to be cleaned and the remaining area to be cleaned or not.

Optionally, in this embodiment, the obtaining module 72 is further configured to obtain a cleaning map corresponding to all areas to be cleaned of the cleaning robot by: constructing an initial map of all areas to be cleaned according to the house type map data of all areas to be cleaned; and adding corresponding barriers in the initial map according to the barrier information edited by the user so as to construct a cleaning map corresponding to all the areas to be cleaned. For example, an image of a home is obtained through a camera in a home area, a home pattern is drawn according to the image, an initial map is obtained, the initial map is sent to a user, a cleaning robot is connected with a mobile phone of the user through a local area network or Bluetooth, the user adds an obstacle on the initial map through mobile phone application, as shown in fig. 4, fig. 4 is a product application diagram of an alternative obstacle setting method according to an embodiment of the invention, in fig. 4, the user clicks an area with the obstacle on the initial map through mobile phone application, so that the obstacle is added on the initial map, and the area except the obstacle on the initial map is used as all areas to be cleaned.

Optionally, in this embodiment, the obtaining module 72 is further configured to obtain a cleaning map corresponding to all areas to be cleaned of the cleaning robot by: all areas to be cleaned are scanned by means of laser ranging sensors through immediate positioning and map construction (namely SLAM, full scale simultaneous localization and mapping) based on a laser radar, the distances from the laser to each point of the boundary are scanned by transmitting laser, so that a digital map of all the areas to be cleaned is generated, and then all the areas to be cleaned are constructed by combining a preset algorithm, and cleaning is positioned in real time. For example, if all areas to be cleaned of the cleaning robot are living rooms, the whole living rooms are scanned through a laser ranging sensor, the distance from the cleaning robot to the wall and the like is determined through transmitting laser and receiving laser reflected by the wall and the like, a digital map of the living rooms is generated, and then a cleaning map of the living rooms is built through SLAM.

In an exemplary embodiment, the control module 74 is further configured to control the cleaning robot to clean the remaining area to be cleaned if the first area to be cleaned is a subset of the remaining area to be cleaned; and under the condition that an intersection area does not exist between the first area to be cleaned and the remaining area to be cleaned, controlling the cleaning robot to clean the first area to be cleaned after the remaining area to be cleaned is cleaned.

It should be noted that, the "the first area to be cleaned is the subset area of the remaining area to be cleaned" may be understood that the remaining area to be cleaned covers the first area to be cleaned, for example, the remaining area to be cleaned is a kitchen and a bedroom, the first area to be cleaned is the bedroom, the kitchen and the bedroom include the bedroom, and the first area to be cleaned is the subset area of the remaining area to be cleaned.

In one exemplary embodiment, the control module 74 is further configured to: dividing the remaining area to be cleaned into a plurality of adjacent first blocks according to a preset mode, and dividing the first area to be cleaned into a plurality of adjacent second blocks according to a preset mode; determining a first intersection block which is intersected with the plurality of adjacent second blocks in the plurality of adjacent first blocks, and taking the block which is intersected with the first intersection block in the plurality of adjacent second blocks as a second intersection block; determining a union block of the first intersection block and the second intersection block; after the cleaning robot is controlled to clean other blocks except the first intersection block in the plurality of adjacent first blocks, cleaning the union block; and cleaning other blocks except the second intersection block in the second block under the condition that the cleaning robot cleans the union block.

In this embodiment, the area to be cleaned is divided into a plurality of blocks, and each block is cleaned one by one, so that the current task and the reserved task of the cleaning robot can be split, the plurality of blocks are divided, the cleaned area is definitely divided into a plurality of specific blocks by the cleaning robot, and the cleaned area and the area to be cleaned are both more definitely defined, thereby effectively avoiding the condition of missing cleaning.

Optionally, in the present embodiment, the control module 74 is further configured to: the method for cleaning the map of the area to be cleaned and the map of the first area to be cleaned are constructed by adopting a grid method, equal area grid division is carried out on the map of the area to be cleaned to obtain a plurality of adjacent first equal area grids, each first equal area grid corresponds to one first block, as shown in fig. 5, fig. 5 is a schematic diagram of an alternative block cleaning method according to an embodiment of the invention, each grid corresponds to one block in fig. 5, adjacent areas are equal, for example, a grid A and a grid B are adjacent and have equal areas. And dividing the equal area grids of the map of the first area to be cleaned to obtain a plurality of adjacent equal area grids, wherein each equal area grid in the map of the first area to be cleaned corresponds to a second block, a first intersection grid with intersection of the equal area grids of the first area to be cleaned is determined in the first equal area grid, equal area grids with intersection of the equal area grids of the rest area to be cleaned and the equal area grids of the rest area to be cleaned are used as second intersection grids, a union grid of the first grid and the second grid is determined, cleaning routes are planned according to the grid map, blocks corresponding to other grids except the first intersection grid in the first area to be cleaned are cleaned, blocks corresponding to the union grid are cleaned, and finally blocks corresponding to the second intersection grid are cleaned. In short, in this embodiment, the cleaning area is mapped onto the grid map by the grid method, and the area grids are divided on the grid map and then correspond to the actual first area to be cleaned, so that the block division of the first area to be cleaned and the block division of the second area to be cleaned are realized.

Optionally, in the present embodiment, the control module 74 is further configured to: according to the positioning information of the cleaning robot, cleaning a first block closest to the cleaning robot, after the cleaning robot cleans the block closest to the cleaning robot, determining the position of the cleaning robot at the moment according to the positioning information, determining the first block closest to the position of the cleaning robot at the moment, and cleaning the block, as shown in fig. 5, fig. 5 is a schematic diagram of an alternative block cleaning method according to an embodiment of the invention, each grid represents one block, the position of the cleaning robot is determined according to the positioning information of the cleaning robot, firstly cleaning an A block closest to the cleaning robot, after the A block is cleaned, replacing a black mark with a corresponding grid on a grid map of the A block, determining the position of the cleaning robot at the moment, cleaning a B block closest to the cleaning robot at the moment, pushing the block to continue cleaning, and recording the cleaned block; detecting the residual areas to be cleaned in the cleaning process one by one, expanding the cleaning map, and dividing the expanded cleaning map into a plurality of adjacent newly-increased blocks based on the first blocks which are obtained by dividing and extending outwards; cleaning the first block and the newly added block one by one, and recording until the whole area to be cleaned is covered by the blocks; and cleaning the unrecorded blocks in all the blocks, and finishing cleaning after all the first blocks are recorded. In an exemplary embodiment, the control module 74 is further configured to determine a shortest path for cleaning the remaining area to be cleaned through a path planning algorithm, obtain a first cleaning path, and control the cleaning robot to clean the remaining area to be cleaned according to the first cleaning path; after the remaining area to be cleaned is cleaned, determining the shortest path for cleaning the first area to be cleaned through the path planning algorithm, obtaining a second cleaning path, and controlling the cleaning robot to clean the first area to be cleaned according to the second cleaning path.

Optionally, in this embodiment, the control module 74 is further configured to determine an optimal path for cleaning the remaining area to be cleaned and the first area to be cleaned by using a point-to-point path planning method or a completely traversed path planning method, where the point-to-point path plans an optimal and reasonable path from the start point to the end point; the fully traversed path planning is to plan a continuous route from the start point to the end point in the set area and through all reachable points of the remaining area to be cleaned and the first area to be cleaned.

In an exemplary embodiment, the control module 74 is further configured to, when the time for cleaning the remaining area to be cleaned is the execution time of a second reserved task of the cleaning robot, obtain the second area to be cleaned of the second reserved task, and determine a union area of the first reserved task and the second reserved task; controlling the cleaning robot to stop cleaning under the condition that the union region is a subset region of the remaining regions to be cleaned; controlling the cleaning robot to clean the union region under the condition that the union region and the residual region to be cleaned do not have an intersection region; and controlling the cleaning robot to clean other areas except the intersection area of the intersection area and the residual area to be cleaned in the case that the intersection area exists between the intersection area and the residual area to be cleaned and the intersection area is not a subset area of the residual area to be cleaned.

In an exemplary embodiment, the control module 74 is further configured to control the cleaning robot to clean a first area to be cleaned, determine an execution time of a second reservation task when the second reservation task is received, and obtain a second area to be cleaned of the second reservation task when the time of cleaning the first area to be cleaned of the first reservation task is the execution time of the second reservation task or a time difference between the time of cleaning the first area to be cleaned of the first reservation task and the execution time of the second reservation task is less than a preset threshold, and determine a union area of the first reservation task and the remaining areas to be cleaned; controlling the cleaning robot to stop cleaning under the condition that the second area to be cleaned is a subset area of the union area; controlling a cleaning robot to clean a second area to be cleaned under the condition that an intersection area does not exist between the second area to be cleaned and the second area to be cleaned; and controlling the cleaning robot to clean other areas except the intersection area of the second area to be cleaned in the second area to be cleaned when the intersection area exists between the intersection area and the second area to be cleaned and the intersection area is not a subset area of the second area to be cleaned.

It should be noted that, the preset threshold may be preset by the system or may be set by a user, where the value of the preset threshold should be small enough to ensure that, in the case that a overlapping area occurs between the remaining area to be cleaned and the first area to be cleaned and the second area to be cleaned, the overlapping area does not need to be cleaned for a second time after the overlapping area is cleaned. For example, at 9 o 'clock, the remaining area to be cleaned of the current task of the cleaning robot is cleaned a and B, the execution time of the first reserved task is 9 o' clock, the first area to be cleaned corresponding to the first reserved task is cleaned a and C, the cleaning robot cleans C after a and B, the cleaning robot cleans C at 11 o 'clock, the execution time of the second reserved task is 11 o' clock for 15 minutes, the time difference between the execution time of the first reserved task and the execution time of the second reserved task is 15 minutes, the preset threshold is 30 minutes, the time difference between the execution time is less than the preset threshold, therefore, the union area of the remaining area to be cleaned and the first area to be cleaned, namely cleaned a B C is determined, the second area to be cleaned corresponding to the second reserved task is cleaned B and D, the second area to be cleaned is not a subset area of the union area of the remaining area to the first area to be cleaned, and the intersection area exists: and B, thus continuing the second area to be cleaned, i.e., the D area, other than B.

Embodiments of the present invention also provide a computer readable storage medium having a computer program stored therein, wherein the computer program is arranged to perform the steps of any of the method embodiments described above when run.

Alternatively, in the present embodiment, the above-described storage medium may be configured to store a computer program for performing the steps of:

s1, under the condition that the current time is the execution time of a first reservation task of a cleaning robot, acquiring a residual area to be cleaned of a cleaning task currently executed by the cleaning robot and a first area to be cleaned of the first reservation task;

s2, controlling the cleaning robot to clean other areas except the intersection area in the first area to be cleaned after the cleaning robot cleans the remaining area to be cleaned under the condition that the intersection area exists between the first area to be cleaned and the remaining area to be cleaned and the first area to be cleaned is not a subset area of the remaining area to be cleaned.

In one exemplary embodiment, the computer readable storage medium may include, but is not limited to: a usb disk, a Read-Only Memory (ROM), a random access Memory (Random Access Memory, RAM), a removable hard disk, a magnetic disk, or an optical disk, or other various media capable of storing a computer program.

Specific examples in this embodiment may refer to the examples described in the foregoing embodiments and the exemplary implementation, and this embodiment is not described herein.

An embodiment of the invention also provides an electronic device comprising a memory having stored therein a computer program and a processor arranged to run the computer program to perform the steps of any of the method embodiments described above.

Alternatively, in the present embodiment, the above-described processor may be configured to execute the following steps by a computer program:

In an exemplary embodiment, the electronic apparatus may further include a transmission device connected to the processor, and an input/output device connected to the processor.

It will be appreciated by those skilled in the art that the modules or steps of the invention described above may be implemented in a general purpose computing device, they may be concentrated on a single computing device, or distributed across a network of computing devices, they may be implemented in program code executable by computing devices, so that they may be stored in a storage device for execution by computing devices, and in some cases, the steps shown or described may be performed in a different order than that shown or described herein, or they may be separately fabricated into individual integrated circuit modules, or multiple modules or steps of them may be fabricated into a single integrated circuit module. Thus, the present invention is not limited to any specific combination of hardware and software.

The above description is only of the preferred embodiments of the present invention and is not intended to limit the present invention, but various modifications and variations can be made to the present invention by those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the principle of the present invention should be included in the protection scope of the present invention.

Claims

1. A method of determining a cleaning area, the method comprising:

acquiring a remaining area to be cleaned of a cleaning task currently executed by a cleaning robot and a first area to be cleaned of the first reservation task under the condition that the current time is the execution time of the first reservation task of the cleaning robot;

and controlling the cleaning robot to clean other areas except the intersection area in the first area to be cleaned after the cleaning of the remaining area to be cleaned under the condition that the intersection area exists between the first area to be cleaned and the remaining area to be cleaned and the first area to be cleaned is not a subset area of the remaining area to be cleaned.

2. The method according to claim 1, wherein after acquiring the remaining area to be cleaned of the cleaning task currently performed by the cleaning robot and the first area to be cleaned of the first reservation task, the method further comprises:

Controlling the cleaning robot to clean the remaining area to be cleaned under the condition that the first area to be cleaned is a subset area of the remaining area to be cleaned;

and under the condition that an intersection area does not exist between the first area to be cleaned and the remaining area to be cleaned, controlling the cleaning robot to clean the first area to be cleaned after the remaining area to be cleaned is cleaned.

3. The method according to claim 1, wherein after acquiring the remaining area to be cleaned of the cleaning task currently performed by the cleaning robot and the first area to be cleaned of the first reservation task, the method further comprises:

acquiring cleaning maps corresponding to all areas to be cleaned of the cleaning robot;

determining first position information of the remaining area to be cleaned on the cleaning map and second position information of the first area to be cleaned on the cleaning map;

and determining whether the first area to be cleaned is a subset area of the remaining area to be cleaned or not according to the first position information and the second position information, and whether an intersection area exists between the first area to be cleaned and the remaining area to be cleaned or not.

4. The method according to claim 1, wherein controlling the cleaning robot to clean the other area than the intersection area in the first area to be cleaned after cleaning the remaining area to be cleaned, includes:

dividing the remaining area to be cleaned into a plurality of adjacent first blocks according to a preset mode, and dividing the first area to be cleaned into a plurality of adjacent second blocks according to a preset mode;

determining a first intersection block which is intersected with the plurality of adjacent second blocks in the plurality of adjacent first blocks, and taking the block which is intersected with the first intersection block in the plurality of adjacent second blocks as a second intersection block;

determining a union block of the first intersection block and the second intersection block;

after the cleaning robot is controlled to clean other blocks except the first intersection block in the plurality of adjacent first blocks, cleaning the union block;

and cleaning other blocks except the second intersection block in the second block under the condition that the cleaning robot cleans the union block.

5. The method according to claim 1, wherein acquiring a remaining area to be cleaned of a cleaning task currently performed by the cleaning robot comprises:

Acquiring a total cleaning area of a cleaning task currently executed by the cleaning robot and a cleaned area of the cleaning robot at the current time;

and taking the area except the cleaned area in the total cleaning area as the remaining area to be cleaned.

6. The method according to claim 1, wherein the cleaning robot is controlled to clean the remaining area to be cleaned, the method further comprising:

acquiring a second area to be cleaned of a second reservation task of the cleaning robot under the condition that the time for cleaning the remaining area to be cleaned is the execution time of the second reservation task of the cleaning robot, and determining a union area of the first reservation task and the second reservation task;

controlling the cleaning robot to stop cleaning under the condition that the union region is a subset region of the remaining regions to be cleaned;

controlling the cleaning robot to clean the union region under the condition that the union region and the residual region to be cleaned do not have an intersection region;

and controlling the cleaning robot to clean other areas except the intersection area of the intersection area and the residual area to be cleaned in the case that the intersection area exists between the intersection area and the residual area to be cleaned and the intersection area is not a subset area of the residual area to be cleaned.

7. The method according to claim 1, wherein, in the case where the current time is the execution time of the first reservation task of the cleaning robot, before acquiring the remaining area to be cleaned of the cleaning task currently executed by the cleaning robot, the method further comprises

Acquiring the execution time of a first reservation task under the condition that the cleaning robot has received the first reservation task;

and before the execution time of the first reservation task does not come, controlling the cleaning robot to continuously clean the residual area to be cleaned.

8. The method according to claim 1, wherein controlling the cleaning robot to clean the other area than the intersection area in the first area to be cleaned after cleaning the remaining area to be cleaned, includes:

determining the shortest path for cleaning the residual area to be cleaned through a path planning algorithm to obtain a first cleaning path, and controlling the cleaning robot to clean the residual area to be cleaned according to the first cleaning path;

after the remaining area to be cleaned is cleaned, determining the shortest path for cleaning the first area to be cleaned through the path planning algorithm, obtaining a second cleaning path, and controlling the cleaning robot to clean the first area to be cleaned according to the second cleaning path.

9. A cleaning area determining apparatus, the apparatus comprising:

the cleaning device comprises an acquisition module, a cleaning module and a cleaning module, wherein the acquisition module is used for acquiring the remaining area to be cleaned of a cleaning task currently executed by the cleaning robot and the first area to be cleaned of the first reservation task under the condition that the current time is the execution time of the first reservation task of the cleaning robot;

and the control module is used for controlling the cleaning robot to clean other areas except the intersection area in the first area to be cleaned after the cleaning robot cleans the remaining area to be cleaned under the condition that the intersection area exists between the first area to be cleaned and the remaining area to be cleaned and the first area to be cleaned is not a subset area of the remaining area to be cleaned.

10. A computer-readable storage medium, characterized in that the storage medium has stored therein a computer program, wherein the computer program is arranged to execute the method of any of the claims 1 to 7 when run.

11. An electronic device comprising a memory and a processor, characterized in that the memory has stored therein a computer program, the processor being arranged to run the computer program to perform the method of any of the claims 1 to 7.