CN117297423A

CN117297423A - Gap determining method and device, storage medium and electronic device

Info

Publication number: CN117297423A
Application number: CN202210724262.7A
Authority: CN
Inventors: 孙佳佳; 郁顺昌; 盛蕴霞
Original assignee: Dreame Innovation Technology Suzhou Co Ltd
Current assignee: Dreame Innovation Technology Suzhou Co Ltd
Priority date: 2022-06-24
Filing date: 2022-06-24
Publication date: 2023-12-29

Abstract

The invention discloses a gap determining method and device, a storage medium and an electronic device, wherein the method comprises the following steps: identifying the material of the area to be cleaned to obtain an identification result; and determining that a gap exists in a first cleaning area in the areas to be cleaned under the condition that the identification result represents that the first cleaning area in the areas to be cleaned has at least two different materials. By adopting the technical scheme, the problem that the cleaning equipment cannot accurately identify gaps in the ground area and further cannot effectively clean in the prior art is solved.

Description

Gap determining method and device, 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 gap, a storage medium, and an electronic apparatus.

[ background Art ]

With the development of technology, cleaning apparatuses (e.g., sweeping robots) have also been widely used. The cleaning equipment can independently clean the room, and brings great convenience for the life of people.

However, in the use process of the cleaning device, uneven ground areas are frequently encountered, and particularly for the to-be-cleaned areas with gaps, the gaps in the ground areas cannot be accurately identified by the cleaning device, so that the cleaning device cannot be effectively cleaned.

Aiming at the problems that in the prior art, the cleaning equipment cannot accurately identify gaps in the ground area, and then the cleaning equipment cannot effectively clean, an effective solution is not proposed at present.

[ invention ]

The embodiment of the invention provides a gap determining method and device, a storage medium and an electronic device, which at least solve the problem that in the prior art, cleaning equipment cannot accurately identify gaps in a ground area, so that the cleaning equipment cannot effectively clean.

According to an aspect of an embodiment of the present invention, there is provided a gap determining method, including: identifying the material of the area to be cleaned to obtain an identification result; and determining that a gap exists in a first cleaning area in the areas to be cleaned under the condition that the identification result represents that the first cleaning area in the areas to be cleaned has at least two different materials.

In an exemplary embodiment, the method further includes, after identifying the material of the area to be cleaned and obtaining the identification result: acquiring point cloud data of a second cleaning area in the areas to be cleaned under the condition that the identification result represents that the second cleaning area has a material; clustering the point cloud data to obtain a plurality of point cloud sets; determining a local cleaning map corresponding to each point cloud set in the plurality of point cloud sets; and determining a gap map corresponding to the gap according to the local cleaning map.

In an exemplary embodiment, determining a gap map corresponding to the gap according to the local cleaning map includes at least one of: in the local cleaning map, a map with a map area larger than a first preset value is determined to be a plate map; and determining the positions of the connections between the different sheet maps as the gap map; and determining a map with the map area smaller than a second preset value in the local cleaning map as the gap map.

In an exemplary embodiment, after determining a gap map corresponding to the gap according to the local cleaning map, the method further includes: determining at least one cleaning path of the cleaning device from the gap map according to preset conditions, wherein the preset conditions comprise: the running direction of the cleaning equipment in each cleaning path is consistent; and cleaning gaps in the at least one cleaning path according to preset cleaning parameters.

In an exemplary embodiment, cleaning the gap in the at least one cleaning path according to preset cleaning parameters includes: reducing the distance parameter to clean a gap in the at least one cleaning path by the cleaning assembly if the preset cleaning parameter includes at least the distance parameter of the cleaning assembly of the cleaning apparatus from the floor; and under the condition that the preset cleaning parameters at least comprise the cleaning direction and the cleaning strength of the cleaning equipment, controlling the cleaning direction of the cleaning equipment to be consistent with the extending direction of the gap, and controlling the cleaning strength of the cleaning equipment to be larger than the preset cleaning strength of the plate corresponding to the gap.

In an exemplary embodiment, after cleaning the gap in the at least one cleaning path according to preset cleaning parameters, the method further comprises: generating a plurality of recharging paths of the cleaning equipment according to the current position of the cleaning equipment and the position information of the base; determining the confidence coefficient of each recharging path according to recharging distances of the recharging paths and gaps on the paths; and determining a target recharging path from the recharging paths according to the confidence degrees corresponding to the recharging paths.

In an exemplary embodiment, determining the confidence level of each recharging path according to the recharging distances of the recharging paths and the gaps on the paths includes: for each recharging path in the recharging paths, acquiring the number of gaps and recharging distance of gaps existing in each recharging path; and determining the confidence degree of each recharging path according to the first weights of the gaps, the number of the gaps, the recharging distance and the second weights of the recharging distance.

In an exemplary embodiment, determining the confidence of each recharging path according to the first weight of the gaps, the number of gaps, the recharging distance and the second weight of the recharging distance includes: the following steps are performed for each recharging path: determining an intersection angle of each recharging path and a passing gap, wherein the intersection angle is an angle at which the cleaning equipment moves through the gap; determining a first number of slots in which the crossing angle exceeds a preset angle and a second number of slots in which the crossing angle does not exceed the preset angle; determining a confidence coefficient of obtaining each recharging path according to the third weight and the first number of the slots with the crossing angle exceeding the preset angle, the fourth weight and the second number of the slots with the crossing angle not exceeding the preset angle, and the recharging distance and the second weight, wherein the third weight is larger than the fourth weight, and the first weight comprises: the third weight and the fourth weight.

In an exemplary embodiment, the determining the confidence of each recharging path according to the first weight of the gaps, the number of gaps, the recharging distance and the second weight of the recharging distance further includes: the following steps are performed for each recharging path: acquiring the crossing angle of the recharging path and the passing gap; determining the calculation weight of each gap according to the corresponding relation between the crossing angle and the weight; according to the calculated weight of each gap, the number of gaps, the recharging path and the second weight, the confidence of each recharging path is calculated, wherein the first weight comprises: the weights are calculated.

According to another embodiment of the present invention, there is also provided a gap determining apparatus including: the identification module is used for identifying the material of the area to be cleaned to obtain an identification result; the determining module is used for determining that a gap exists in a first cleaning area in the areas to be cleaned under the condition that the identification result represents that at least two different materials exist in the first cleaning area.

According to a further aspect of 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 arranged to perform the above-described gap determining method when run.

According to still another aspect of the embodiments of the present invention, there is also 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 gap determining method through the computer program.

In the embodiment of the invention, the material of the area to be cleaned is identified, and an identification result is obtained; and under the condition that the identification result represents that at least two different materials exist in a first cleaning area in the area to be cleaned, determining that gaps exist in the first cleaning area, namely determining the gaps in the first cleaning area according to the at least two different materials in the area to be cleaned. By adopting the technical scheme, the problem that the cleaning equipment cannot accurately identify the gap in the ground area and then cannot effectively clean is solved, and the gap in the area to be cleaned can be accurately identified.

[ description of the drawings ]

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

Fig. 1 is a block diagram of a hardware configuration of a cleaning apparatus applied to a gap determining method according to an embodiment of the present invention;

FIG. 2 is a flow chart of an alternative gap determination method according to an embodiment of the present invention;

FIG. 3 is a block diagram of an alternative gap determining apparatus according to an embodiment of the present invention;

fig. 4 is another block diagram of an alternative slit determining apparatus according to an 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 invention may be performed in a floor cleaning appliance or similar computing device. Taking the operation on a cleaning apparatus as an example, fig. 1 is a block diagram of a hardware configuration of a cleaning apparatus to which a gap determining method of an embodiment of the present invention is applied. As shown in fig. 1, the cleaning device may include one or more processors 102 (only one is shown in fig. 1), which processor 102 may include, but is not limited to, a microprocessor (Microprocessor Unit, abbreviated MPU) or programmable logic device (Programmable logic device, abbreviated PLD), and a memory 104 for storing data, and in one exemplary embodiment, 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 apparatus described above. For example, the cleaning device may also include more or less components than those shown in FIG. 1, or have a different configuration than equivalent functions shown in FIG. 1 or more than those shown in FIG. 1.

The memory 104 may be used to store computer programs, such as software programs and modules of application software, such as a slot determination corresponding computer program in an embodiment of the present invention, and the processor 102 executes the computer programs stored in the memory 104 to perform various functional applications and data processing, i.e., to implement the methods described above. 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 device 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 device 106 is used to receive or transmit data via a network. Specific examples of the network described above may include a wireless network provided by a communications provider of the cleaning device. 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 configured to communicate with the internet wirelessly.

In this embodiment, a method for determining a gap is provided and applied to the cleaning apparatus, and fig. 2 is a flowchart of an alternative method for determining a gap according to an embodiment of the present invention, where the flowchart includes the following steps:

step S202, identifying the material of the area to be cleaned to obtain an identification result;

step S204, determining that a gap exists in a first cleaning area in the areas to be cleaned when the identification result indicates that at least two different materials exist in the first cleaning area.

Through the technical scheme, the material of the area to be cleaned is identified, and an identification result is obtained; and under the condition that the identification result represents that at least two different materials exist in a first cleaning area in the area to be cleaned, determining that gaps exist in the first cleaning area, namely determining the gaps in the first cleaning area according to the at least two different materials in the area to be cleaned. By adopting the technical scheme, the problem that the cleaning equipment cannot accurately identify the gap in the ground area and then cannot effectively clean is solved, and the gap in the area to be cleaned can be accurately identified.

For the implementation of step S202, in an alternative embodiment, the method may be implemented by identifying the area to be cleaned by a material identification sensor provided on the cleaning device, that is, identifying the area to be cleaned by a material identification function inherent to the material identification sensor. The image acquisition device arranged on the cleaning equipment can be used for acquiring the image of the area to be cleaned, the acquired image is input into the material identification model, the image is analyzed through the material identification model, whether the material type of the area to be cleaned is one or more or not is obtained, the specific material identification process is not limited in the embodiment of the specification, and optionally, the material type can be a floor, a floor tile and the like.

For the implementation manner of step S204, in an alternative embodiment, a texture recognition mode may be set, that is, step S204 may be performed only when the texture recognition mode is started, and if at least two textures are recognized in front of the running direction of the cleaning device in the case that the texture recognition mode is started, it is determined that a gap exists in the first cleaning region of the current cleaning region, that is, a seam region between two neighboring textures corresponds to the gap.

During operation of the cleaning apparatus, a first cleaning zone in which at least two materials are present may be encountered; it is also possible to encounter a second cleaning region where only one material is present. Further, under the condition that the identification result represents that only one material exists in a second cleaning area in the areas to be cleaned, acquiring point cloud data of the second cleaning area; clustering the point cloud data to obtain a plurality of point cloud sets; determining a local cleaning map corresponding to each point cloud set in the plurality of point cloud sets; and determining a gap map corresponding to the gap according to the local cleaning map.

It is understood that, for a cleaning apparatus equipped with a laser point cloud collecting function, the laser point cloud collecting function of the cleaning apparatus is turned on to collect point cloud data of the second cleaning area. After collecting point cloud data, performing clustering operation on the point cloud data according to a certain threshold value to obtain a plurality of point cloud sets, and determining a local cleaning map corresponding to each point cloud set in the plurality of point cloud sets, wherein the local cleaning map can be understood as a map comprising plates and gaps; and determining a gap map corresponding to the gap according to the local cleaning map.

In an exemplary embodiment, determining a gap map corresponding to the gap according to the local cleaning map includes at least one of:

1) Considering that point cloud data also corresponds to the gap, in order to reject the point cloud data corresponding to the gap from the local cleaning map, screening the plate map in the local cleaning map, so that the reject process of the point cloud data corresponding to the gap can be realized, and specifically, in the local cleaning map, a map with the map area larger than a first preset value is determined to be the plate map; and determining the positions of the connections between the different sheet maps as the gap map;

2) And determining a map with the map area smaller than a second preset value in the local cleaning map as the gap map.

The technical scheme provides a gap determining method for a first cleaning area with at least two materials and also provides a gap determining scheme for a second cleaning area with only one material. Further, after determining the gap map corresponding to the gap, the embodiment of the invention further provides an application scheme of the gap map:

In the embodiment of the present disclosure, each cleaning path corresponds to at least a portion of the slit, so that the entire set of cleaning paths may form the cleaning path of the slit map. Further, when there are multiple cleaning paths, the execution sequence of the multiple cleaning paths may be generated according to the shortest path principle according to the positions of the cleaning devices, alternatively, multiple path sequences including all the cleaning paths may be obtained according to a directed graph algorithm, the moving distance of the cleaning device corresponding to each path sequence is counted, and the path sequence with the shortest moving distance is used as the cleaning sequence of the cleaning device, so that the cleaning efficiency may be improved.

That is, after the slit map is determined, at least one cleaning path of the cleaning apparatus, which may be understood as a cleaning path generated only for the slit and may not include a cleaning process for the plate material, may be determined according to the direction of the slit in the slit map. Optionally, under the condition of controlling the cleaning device to walk for the minimum distance, all the gaps in the gap map are cleaned once, and the running direction of the cleaning device in each cleaning path is guaranteed to be consistent, after the cleaning path is determined, the determined gaps in at least one cleaning path can be cleaned according to preset cleaning parameters.

It should be noted that, for the gap in the area to be cleaned, the cleaning may be performed through the first cleaning path after the cleaning is performed through the second cleaning path. Meanwhile, in the cleaning process, the cleaning degree of the gap can be collected in real time, if the cleaning degree of the gap is not enough, the cleaning according to the third cleaning path can be continuously performed until all the gaps in the area to be cleaned are cleaned, the first cleaning path, the second cleaning path and the third cleaning path can be cleaning paths (i.e. the collection of the plurality of cleaning paths) aiming at all the gaps, and cleaning sequences of cleaning devices corresponding to the first cleaning path, the second cleaning path and the third cleaning path can be the same or different, and the embodiment of the specification is not limited.

In an exemplary embodiment, cleaning the gap in the at least one cleaning path according to preset cleaning parameters includes:

1) Reducing the distance parameter to clean a gap in the at least one cleaning path by the cleaning assembly if the preset cleaning parameter includes at least the distance parameter of the cleaning assembly of the cleaning apparatus from the floor; according to the embodiment of the invention, the cleaning assembly is reduced to the degree of interference contact with the gap, so that deep cleaning is realized;

It is understood that the reduction of the distance parameter may be that the distance between the cleaning component and the floor is smaller than the distance of the conventional work (i.e. the distance between the cleaning component and the floor in the process of cleaning the board), so that the cleaning component keeps higher interference contact with the gap, and the targeted cleaning treatment of the gap is realized.

2) Under the condition that the preset cleaning parameters at least comprise the cleaning direction and the cleaning strength of the cleaning equipment, the cleaning direction of the cleaning equipment is controlled to be consistent with the extending direction of the gap, and the cleaning strength of the cleaning equipment is controlled to be larger than the preset cleaning strength of the plate corresponding to the gap, so that the gap can be cleaned in a targeted manner.

It should be noted that the preset cleaning parameters may include: the distance parameter between the cleaning component of the cleaning device and the ground, the cleaning direction of the cleaning device and the cleaning strength can be reduced, so that the gap in the at least one cleaning path can be cleaned through the cleaning component, the cleaning direction of the cleaning device is controlled to be consistent with the extending direction of the gap (such as the rotating direction of the rolling brush is consistent with the extending direction of the gap), the cleaning strength of the cleaning device is controlled to be larger than the preset cleaning strength of the plate corresponding to the gap, and because dust or solid particles in the gap are difficult to clean, targeted efficient cleaning can be realized through the larger cleaning strength, and the cleaning efficiency is improved.

After the cleaning device has performed the cleaning process for the crevice, it is necessary to charge the cleaning device or return it to the base. Because the existence of gap, can have the influence to the clean equipment to return to the process of base, when the clean equipment passes through the gap for example, probably because the cavity environment in gap causes clean equipment's skidding, influences its efficiency of recharging, under more serious circumstances, can change clean equipment's removal direction, leads to the reduction of intelligent degree to user's use experience has been reduced. In order to reduce the time cost of returning the cleaning device to charge and avoid the problem that the cleaning device is easy to slip caused by gaps, the embodiment of the invention further provides a scheme for returning the cleaning device to charge:

generating a plurality of recharging paths of the cleaning equipment according to the current position of the cleaning equipment and the position information of the base; determining the confidence coefficient of each recharging path according to recharging distances of the recharging paths and gaps on the paths; and determining a target recharging path from the recharging paths according to the confidence degrees corresponding to the recharging paths. Confidence in embodiments of the present invention may be understood as recharging reliability of the recharging of the cleaning device back to the base, which characterizes how efficient the cleaning device is to return to the base (i.e., efficiency and movement stability).

In an exemplary embodiment, a technical solution for determining the confidence coefficient is provided, where the confidence coefficient of each recharging path is determined according to recharging distances of the recharging paths and gaps on the paths, and may be implemented by the following solutions: for each recharging path in the recharging paths, acquiring the number of gaps and recharging distance of gaps existing in each recharging path; and determining the confidence degree of each recharging path according to the first weights of the gaps, the number of the gaps, the recharging distance and the second weights of the recharging distance.

According to the technical scheme, the cleaning equipment can slip when passing through the gap, so that the gap and the recharging distance are used as reference factors in the recharging process, and the judging reliability is improved. As for the determination process of the first weights, for example, the first weights of different materials may also be different, and the gaps with different widths may also correspond to the different first weights, which is not limited in the embodiment of the present invention.

In the embodiment of the invention, the second product of the first product and the recharging distance of the first weight and the number of the slits and the second weight can be calculated first, the sum of the first product and the second product is used as the confidence coefficient, and the specific value of the first weight can be fixed or flexibly set according to the conditions of different slits.

In an alternative embodiment, since the intersection angle of the recharging path and the different slits may be different, that is, the included angle between the recharging path and the different slits of the cleaning device may cause the slippage degree of the cleaning device to be different, in practical application, the smaller the angle is, the higher the possibility of slipping, that is, the greater the calculation weight is, and in this embodiment of the present disclosure, the intersection angle may be a non-obtuse angle. The specific implementation scheme is as follows:

determining an intersection angle of each gap and each recharging path, wherein the intersection angle is an angle at which the cleaning device moves through the gap; determining a first number of slots for which the crossing angle exceeds a preset angle (which may be 45 degrees) and a second number of slots for which the crossing angle does not exceed the preset angle; the weight of the first number of slots is set to a third weight and the weight of the second number of slots is set to a fourth weight, wherein the third weight is greater than the fourth weight.

And further determining the confidence level of each recharging path according to the third weight of the gap, the first number, the fourth weight, the second number, the recharging distance and the second weight of the recharging distance.

In another alternative embodiment, the confidence level of each recharging path is determined according to the first weight of the gaps, the number of gaps, the recharging distance and the second weight of the recharging distance through the following scheme: the following steps are performed for each recharging path: acquiring the crossing angle of the recharging path and the passing gap; determining the calculation weight of each gap according to the corresponding relation between the crossing angle and the weight; according to the calculated weight of each gap, the number of gaps, the recharging path and the second weight, the confidence of each recharging path is calculated, wherein the first weight comprises: the weights are calculated.

The above technical solution provides a relationship between the first weight and the crossing angle, for example, a functional relationship between the first weight and the crossing angle may be established, or may be a linear functional relationship, or may be a functional relationship between different crossing angles, friction force, and the first weight, which are determined through experiments, where the greater the friction force, the less the influence of the gaps is represented, that is, the smaller the calculated weight is. And then calculating a first weight of each gap passing through each recharging path through the functional relation, and further obtaining the recharging reliability of each recharging path through weighting calculation.

It should be noted that the above steps are mainly applied to a cleaning device, such as a movable cleaning device, a sweeping robot, etc., which is not limited in this aspect of the invention.

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.

In this embodiment, a gap determining device is further provided, and the device 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. 3 is a block diagram of an alternative gap determining apparatus according to an embodiment of the present invention, the apparatus including:

the identifying module 30 is used for identifying the material of the area to be cleaned to obtain an identifying result;

a first determining module 32, configured to determine that a gap exists in a first cleaning area in the areas to be cleaned when the identification result indicates that at least two different materials exist in the first cleaning area.

In an alternative embodiment, the identification module 30 is further configured to identify the area to be cleaned by a material identification sensor provided on the cleaning device, that is, by a material identification function inherent to the material identification sensor. The identification module 30 is further configured to perform image acquisition on the area to be cleaned through an image acquisition device disposed on the cleaning device, input the acquired image into a material identification model, analyze the image through the material identification model, and obtain whether the material type of the area to be cleaned is one or more, where the specific material identification process is not limited in the embodiment of the present specification, and optionally, the material type may be a floor, a tile, or the like.

In an alternative embodiment, the first determining module 32 is further configured to determine that a gap exists in the first cleaning area of the current cleaning area, i.e. a seam area between two adjacent materials corresponds to the gap, if at least two materials are identified in front of the running direction of the cleaning device, in case the material identification mode has been activated.

Fig. 4 is another block diagram of the structure of an alternative slit determining apparatus according to an embodiment of the present invention, as shown in fig. 4, including: the acquisition module 34, a clustering module 36 connected to the acquisition module 34, a second determining module 38 connected to the clustering module 36, wherein,

during operation of the cleaning apparatus, a first cleaning zone in which at least two materials are present may be encountered; it is also possible to encounter a second cleaning region where only one material is present. Further, the acquisition module is used for acquiring point cloud data of a second cleaning area in the to-be-cleaned area under the condition that the identification result represents that the second cleaning area has only one material; the clustering module 36 is configured to perform a clustering operation on the point cloud data to obtain a plurality of point cloud sets; a second determining module 38, configured to determine a local cleaning map corresponding to each of the plurality of point cloud sets; and determining a gap map corresponding to the gap according to the local cleaning map.

In an exemplary embodiment, the second determining module 38 is further configured to perform at least one of:

in an exemplary embodiment, the second determining module 38 is further configured to determine at least one cleaning path of the cleaning device from the gap map according to preset conditions, where the preset conditions include: the running direction of the cleaning equipment in each cleaning path is consistent; the apparatus further comprises: and a cleaning module 40, configured to clean the gap in the at least one cleaning path according to preset cleaning parameters.

It should be noted that, for the gap in the area to be cleaned, the cleaning may be performed through the first cleaning path after the cleaning is performed through the second cleaning path. Meanwhile, in the cleaning process, the cleanliness of the gaps can be collected in real time, and if the cleanliness of the gaps is insufficient, the cleaning according to the third cleaning path can be continuously carried out until all the gaps of the area to be cleaned are cleaned.

In an exemplary embodiment, the cleaning module 40 is further configured to perform at least one of:

the second determining module 38 is further configured to generate a plurality of recharging paths of the cleaning device according to the current position of the cleaning device and the position information of the base; determining the confidence coefficient of each recharging path according to recharging distances of the recharging paths and gaps on the paths; and determining a target recharging path from the recharging paths according to the confidence degrees corresponding to the recharging paths. Confidence in embodiments of the present invention may be understood as recharging reliability of the recharging of the cleaning device back to the base, which characterizes how efficient the cleaning device is to return to the base (i.e., efficiency and movement stability).

In an exemplary embodiment, a solution for determining the confidence coefficient is provided, and the second determining module 38 is further configured to obtain, for each recharging path of the plurality of recharging paths, a number of slits and a recharging distance for which each recharging path has slits; and determining the confidence degree of each recharging path according to the first weights of the gaps, the number of the gaps, the recharging distance and the second weights of the recharging distance.

the second determining module 38 is further configured to determine an intersection angle of each slit and each recharging path, where the intersection angle is an angle at which the cleaning device moves through the slit; determining a first number of slots for which the crossing angle exceeds a preset angle (which may be 45 degrees) and a second number of slots for which the crossing angle does not exceed the preset angle; setting the weight of the first number of slots to a third weight and the weight of the second number of slots to a fourth weight, wherein the first weight comprises: the third weight and the fourth weight, the third weight being greater than the fourth weight.

In another alternative embodiment, the second determining module 38 is further configured to perform the following steps for each recharging path: acquiring the crossing angle of the recharging path and the passing gap; determining the calculation weight of each gap according to the corresponding relation between the crossing angle and the weight; according to the calculated weight of each gap, the number of gaps, the recharging path and the second weight, the confidence of each recharging path is calculated, wherein the first weight comprises: the weights are calculated.

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, identifying materials of an area to be cleaned to obtain an identification result;

s2, determining that a gap exists in a first cleaning area in the areas to be cleaned under the condition that the identification result represents that at least two different materials exist in the first cleaning area.

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 slit determining method, comprising:

identifying the material of the area to be cleaned to obtain an identification result;

and determining that a gap exists in a first cleaning area in the areas to be cleaned under the condition that the identification result represents that the first cleaning area in the areas to be cleaned has at least two different materials.

2. The gap determining method according to claim 1, wherein after identifying the material of the area to be cleaned, the method further comprises:

acquiring point cloud data of a second cleaning area in the areas to be cleaned under the condition that the identification result represents that the second cleaning area has a material;

clustering the point cloud data to obtain a plurality of point cloud sets;

determining a local cleaning map corresponding to each point cloud set in the plurality of point cloud sets;

And determining a gap map corresponding to the gap according to the local cleaning map.

3. The gap determining method according to claim 2, wherein determining a gap map corresponding to the gap from the local cleaning map includes at least one of:

in the local cleaning map, a map with a map area larger than a first preset value is determined to be a plate map; and determining the positions of the connections between the different sheet maps as the gap map;

and determining a map with the map area smaller than a second preset value in the local cleaning map as the gap map.

4. The gap determining method according to claim 2, wherein after determining a gap map corresponding to the gap from the local cleaning map, the method further comprises:

determining at least one cleaning path of the cleaning device from the gap map according to preset conditions, wherein the preset conditions comprise: the running direction of the cleaning equipment in each cleaning path is consistent;

and cleaning gaps in the at least one cleaning path according to preset cleaning parameters.

5. The gap determining method of claim 4, wherein cleaning the gap in the at least one cleaning path according to preset cleaning parameters comprises:

Reducing the distance parameter to clean a gap in the at least one cleaning path by the cleaning assembly if the preset cleaning parameter includes at least the distance parameter of the cleaning assembly of the cleaning apparatus from the floor;

and under the condition that the preset cleaning parameters at least comprise the cleaning direction and the cleaning strength of the cleaning equipment, controlling the cleaning direction of the cleaning equipment to be consistent with the extending direction of the gap, and controlling the cleaning strength of the cleaning equipment to be larger than the preset cleaning strength of the plate corresponding to the gap.

6. The gap determining method of claim 4, wherein after cleaning the gap in the at least one cleaning path according to a preset cleaning parameter, the method further comprises:

generating a plurality of recharging paths of the cleaning equipment according to the current position of the cleaning equipment and the position information of the base;

determining the confidence coefficient of each recharging path according to the recharging distances of the recharging paths and the gaps on the recharging paths;

and determining a target recharging path from the recharging paths according to the confidence degrees corresponding to the recharging paths.

7. The slit determination method of claim 6, wherein determining the confidence level of each recharging path based on the recharging distances of the plurality of recharging paths and the slits on the paths comprises:

For each recharging path in the recharging paths, acquiring the number of gaps and recharging distance of gaps existing in each recharging path;

and determining the confidence degree of each recharging path according to the first weights of the gaps, the number of the gaps, the recharging distance and the second weights of the recharging distance.

8. The gap determining method according to claim 7, wherein determining the confidence level of each recharging path according to the first weight of the gap, the recharging distance, and the second weight of the recharging distance, comprises:

the following steps are performed for each recharging path:

determining an intersection angle of each recharging path and a passing gap, wherein the intersection angle is an angle at which the cleaning equipment moves through the gap;

determining a first number of slots in which the crossing angle exceeds a preset angle and a second number of slots in which the crossing angle does not exceed the preset angle;

determining a confidence coefficient of obtaining each recharging path according to the third weight and the first number of the slots with the crossing angle exceeding the preset angle, the fourth weight and the second number of the slots with the crossing angle not exceeding the preset angle, and the recharging distance and the second weight, wherein the third weight is larger than the fourth weight, and the first weight comprises: the third weight and the fourth weight.

9. The slit determination method of claim 7, wherein the slit number, the recharging distance, and the second weight of the recharging distance determine the confidence level of each recharging path according to a first weight of the slit, further comprising:

the following steps are performed for each recharging path:

acquiring the crossing angle of the recharging path and the passing gap;

determining the calculation weight of each gap according to the corresponding relation between the crossing angle and the weight;

according to the calculated weight of each gap, the number of gaps, the recharging path and the second weight, the confidence of each recharging path is calculated, wherein the first weight comprises: the weights are calculated.

10. A gap determining apparatus, characterized by comprising:

the identification module is used for identifying the material of the area to be cleaned to obtain an identification result;

the determining module is used for determining that a gap exists in a first cleaning area in the areas to be cleaned under the condition that the identification result represents that at least two different materials exist in the first cleaning area.

11. 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 9 when run.

12. 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 9.