WO2022166123A1 - 一种清洁方法、装置和计算机存储介质 - Google Patents

一种清洁方法、装置和计算机存储介质 Download PDF

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Publication number
WO2022166123A1
WO2022166123A1 PCT/CN2021/107591 CN2021107591W WO2022166123A1 WO 2022166123 A1 WO2022166123 A1 WO 2022166123A1 CN 2021107591 W CN2021107591 W CN 2021107591W WO 2022166123 A1 WO2022166123 A1 WO 2022166123A1
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WO
WIPO (PCT)
Prior art keywords
cleaning
interval
area
cleaned
uncleaned
Prior art date
Application number
PCT/CN2021/107591
Other languages
English (en)
French (fr)
Inventor
何博
范泽宣
Original Assignee
美智纵横科技有限责任公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
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Application filed by 美智纵横科技有限责任公司 filed Critical 美智纵横科技有限责任公司
Priority to EP21924127.0A priority Critical patent/EP4278941A4/en
Priority to US18/264,426 priority patent/US20240103521A1/en
Publication of WO2022166123A1 publication Critical patent/WO2022166123A1/zh

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    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L9/00—Details or accessories of suction cleaners, e.g. mechanical means for controlling the suction or for effecting pulsating action; Storing devices specially adapted to suction cleaners or parts thereof; Carrying-vehicles specially adapted for suction cleaners
    • A47L9/28—Installation of the electric equipment, e.g. adaptation or attachment to the suction cleaner; Controlling suction cleaners by electric means
    • A47L9/2836—Installation of the electric equipment, e.g. adaptation or attachment to the suction cleaner; Controlling suction cleaners by electric means characterised by the parts which are controlled
    • A47L9/2852—Elements for displacement of the vacuum cleaner or the accessories therefor, e.g. wheels, casters or nozzles
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
    • A47L11/4061—Steering means; Means for avoiding obstacles; Details related to the place where the driver is accommodated
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
    • G05D1/0219—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory ensuring the processing of the whole working surface
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/24—Floor-sweeping machines, motor-driven
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/28—Floor-scrubbing machines, motor-driven
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
    • A47L11/4011—Regulation of the cleaning machine by electric means; Control systems and remote control systems therefor
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
    • A47L11/4091—Storing or parking devices, arrangements therefor; Means allowing transport of the machine when it is not being used
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
    • G05D1/0225—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving docking at a fixed facility, e.g. base station or loading bay
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
    • G05D1/0246—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means
    • G05D1/0253—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means extracting relative motion information from a plurality of images taken successively, e.g. visual odometry, optical flow
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0268—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means
    • G05D1/0274—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means using mapping information stored in a memory device
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/60—Intended control result
    • G05D1/648—Performing a task within a working area or space, e.g. cleaning
    • G05D1/6482—Performing a task within a working area or space, e.g. cleaning by dividing the whole area or space in sectors to be processed separately
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L2201/00—Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
    • A47L2201/02—Docking stations; Docking operations
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L2201/00—Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
    • A47L2201/02—Docking stations; Docking operations
    • A47L2201/022—Recharging of batteries
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L2201/00—Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
    • A47L2201/04—Automatic control of the travelling movement; Automatic obstacle detection
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
    • G05D1/0246—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D2105/00—Specific applications of the controlled vehicles
    • G05D2105/10—Specific applications of the controlled vehicles for cleaning, vacuuming or polishing
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D2107/00—Specific environments of the controlled vehicles
    • G05D2107/40—Indoor domestic environment
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D2109/00—Types of controlled vehicles
    • G05D2109/10—Land vehicles

Definitions

  • the present application relates to home appliance control technology, and in particular to a cleaning method, device and computer storage medium.
  • a household cleaning robot is a common self-cleaning device.
  • the cleaning robot can travel in a family room on its own while inhaling the surrounding dust or impurities to complete the floor cleaning.
  • cleaning robots with mopping functions are becoming more and more popular among users.
  • the cleaning robot When the cleaning robot cleans the home space, most control methods are to divide the home space into multiple cleaning areas of the same size, and each cleaning area is a square or rectangle, and the cleaning area is used as a unit to sequentially clean the multiple cleaning areas. Perform cleaning operations. For each cleaning area, the cleaning robot takes a bow-shaped path in the cleaning area to perform cleaning operations on the ground. When the power of the cleaning robot is insufficient or the cleaning robot needs to be cleaned, the cleaning robot will go back to the area where the base station is located, charge or clean, and then return to the cleaning area being cleaned to continue the cleaning operation.
  • the cleaning robot with the self-cleaning base station needs to return to the base station frequently for cleaning. If it is cleaned sequentially according to the existing technology, it will repeatedly clean the area where the base station is located, which is inefficient and easily pollutes the cleaned area, resulting in secondary pollution.
  • embodiments of the present application provide a cleaning method, a device, and a computer storage medium.
  • the embodiment of the present application provides a cleaning method, which is applied to cleaning equipment, and the method includes:
  • a cleaning interval set is determined; the cleaning interval set includes: at least one cleaning interval and a cleaning sequence corresponding to each cleaning interval in the at least one cleaning interval; the order is related to the cleaning action of each said cleaning interval;
  • each cleaning interval is cleaned in sequence.
  • determining the set of cleaning intervals according to the area to be cleaned includes:
  • the preset cleaning interval table includes: at least one saved cleaning area and a cleaning interval set corresponding to each of the saved cleaning areas in the at least one saved cleaning area.
  • the to-be-cleaned area includes: a first uncleaned area
  • Determining the set of cleaning intervals according to the area to be cleaned includes:
  • the first uncleaned area is divided into a first interval and a second interval;
  • the first interval represents the interval that the cleaning equipment must pass through to move from the base station to any area;
  • the second interval is the movement of the cleaning equipment from the base station to the Any area that is not required to pass through the interval;
  • the cleaning interval set including the first interval and the second interval is determined; the cleaning order of the second interval takes precedence over the cleaning order of the first interval.
  • the to-be-cleaned area at least includes: a first uncleaned area
  • Determining the set of cleaning intervals according to the area to be cleaned includes:
  • the first uncleaned area is divided into a third interval and a fourth interval;
  • the third interval represents the interval that the cleaning equipment must pass through to move from the base station to the first other uncleaned area;
  • the fourth interval is the cleaning equipment Moving from the base station to the first other uncleaned area is an optional interval;
  • the first other uncleaned area is an area other than the first uncleaned area in the to-be-cleaned area;
  • the fifth interval represents the movement of the cleaning equipment from the base station to the second The interval that other uncleaned areas must pass through;
  • the sixth interval is the interval that the cleaning equipment moves from the base station to the second other uncleaned area that is not necessary to pass through;
  • the second other uncleaned area is the area except the to-be-cleaned area. other areas other than the first unsweeped area and the second unsweeped area;
  • the set of cleaning intervals is determined according to the third interval and the fourth interval corresponding to the first uncleaned area, the fifth interval and the sixth interval corresponding to the second uncleaned area, and the intervals corresponding to other uncleaned areas .
  • determining the set of cleaning intervals according to the area to be cleaned includes:
  • the map of the area to be cleaned at least includes: a base station;
  • the area to be cleaned is divided to obtain at least one area to be cleaned
  • the at least one to-be-cleaned interval and the cleaning action corresponding to each of the to-be-cleaned intervals determine the optional interval corresponding to each of the to-be-cleaned intervals
  • the cleaning sequence of the at least one section to be cleaned is sorted to obtain the set of cleaning sections.
  • cleaning each of the cleaning intervals in turn includes:
  • the currently cleaned cleaning interval is recorded as the target cleaning interval
  • An embodiment of the present application provides a cleaning device, which is applied to cleaning equipment, and the device includes: a first processing module, a second processing module, and a third processing module; wherein,
  • the first processing module is configured to obtain the area to be cleaned
  • the second processing module is configured to determine a cleaning interval set according to the area to be cleaned; the cleaning interval set includes: at least one cleaning interval and a cleaning sequence corresponding to each of the cleaning intervals in the at least one cleaning interval ; The cleaning sequence of each described cleaning interval is related to the cleaning behavior of each described cleaning interval;
  • the third processing module is configured to sequentially clean each of the cleaning intervals according to the cleaning sequence corresponding to each of the cleaning intervals.
  • the second processing module is configured to query a preset cleaning interval table to determine a cleaning interval set corresponding to the to-be-cleaned area;
  • the preset cleaning interval table includes: at least one saved cleaning area and a cleaning interval set corresponding to each of the saved cleaning areas in the at least one saved cleaning area.
  • the to-be-cleaned area includes: a first uncleaned area
  • the second processing module is configured to divide the first uncleaned area into a first interval and a second interval; the first interval represents the interval that the cleaning equipment must pass through to move from the base station to any area; the first interval The second interval is the interval where the cleaning equipment moves from the base station to any area that is not necessary;
  • the cleaning interval set including the first interval and the second interval is determined; the cleaning order of the second interval takes precedence over the cleaning order of the first interval.
  • the to-be-cleaned area at least includes: a first uncleaned area
  • the second processing module is configured to divide the first uncleaned area into a third interval and a fourth interval; the third interval represents the interval that the cleaning equipment must pass through to move from the base station to the first other uncleaned area ;
  • the fourth interval is the interval that the cleaning equipment moves from the base station to the first other uncleaned area that is not necessary; the first other uncleaned area is the area to be cleaned except the first uncleaned area. other areas;
  • the fifth interval represents the movement of the cleaning equipment from the base station to the second The interval that other uncleaned areas must pass through;
  • the sixth interval is the interval that the cleaning equipment moves from the base station to the second other uncleaned area that is not necessary to pass through;
  • the second other uncleaned area is the area except the to-be-cleaned area. other areas other than the first unsweeped area and the second unsweeped area;
  • the set of cleaning intervals is determined according to the third interval and the fourth interval corresponding to the first uncleaned area, the fifth interval and the sixth interval corresponding to the second uncleaned area, and the intervals corresponding to other uncleaned areas .
  • the second processing module is configured to obtain a map of the area to be cleaned; the map of the area to be cleaned at least includes: a base station;
  • the area to be cleaned is divided to obtain at least one area to be cleaned
  • the at least one to-be-cleaned interval and the cleaning action corresponding to each of the to-be-cleaned intervals determine the optional interval corresponding to each of the to-be-cleaned intervals
  • the cleaning sequence of the at least one section to be cleaned is sorted to obtain the set of cleaning sections.
  • the third processing module is configured to record the currently cleaned cleaning interval as the target cleaning interval when it is determined that it needs to return to the base station during the cleaning process;
  • Embodiments of the present application also provide a cleaning device, the device comprising: a processor and a memory configured to store a computer program that can run on the processor; wherein,
  • the processor is configured to execute the steps of any of the above cleaning methods when running the computer program.
  • Embodiments of the present application further provide a computer storage medium, on which computer instructions are stored, and when the instructions are executed by a processor, implement the steps of any one of the above cleaning methods.
  • the cleaning method, device, and computer storage medium provided in the embodiments of the present application include: acquiring an area to be cleaned; determining a set of cleaning intervals according to the area to be cleaned; the set of cleaning intervals includes: at least one cleaning interval and all cleaning intervals The cleaning sequence corresponding to each of the cleaning intervals in the at least one cleaning interval; the cleaning sequence of each of the cleaning intervals is related to the cleaning behavior of each of the cleaning intervals; according to the cleaning sequence corresponding to each of the cleaning intervals, Each of the cleaning sections is cleaned in sequence.
  • each cleaning section is cleaned in sequence according to the cleaning sequence, so as to avoid repeated cleaning, and at the same time prevent secondary pollution caused by passing through the cleaned section again.
  • FIG. 1 is a schematic flowchart of a cleaning method according to an embodiment of the application.
  • FIG. 2(a), FIG. 2(b), and FIG. 2(c) are schematic diagrams of a region division according to an embodiment of the present application.
  • FIG. 3(a), FIG. 3(b), and FIG. 3(c) are schematic diagrams of another area division according to an embodiment of the present application.
  • FIG. 4 is a schematic flowchart of another cleaning method according to an embodiment of the application.
  • FIG. 5 is a schematic diagram of a division method of an area to be cleaned according to an embodiment of the present application.
  • FIG. 6 is a schematic diagram of another way of dividing the area to be cleaned according to an embodiment of the application.
  • FIG. 7 is a schematic structural diagram of a cleaning device according to an embodiment of the application.
  • FIG. 8 is a schematic structural diagram of another cleaning device according to an embodiment of the present application.
  • an area to be cleaned is acquired; a set of cleaning intervals is determined according to the area to be cleaned; the set of cleaning intervals includes: at least one cleaning interval and each of the at least one cleaning interval The cleaning sequence corresponding to the cleaning interval; the cleaning sequence of each cleaning interval is related to the cleaning action of each cleaning interval; each cleaning interval is cleaned in turn according to the cleaning sequence corresponding to each cleaning interval.
  • FIG. 1 is a schematic flowchart of a cleaning method provided by an embodiment of the application; as shown in FIG. 1 , the method includes:
  • Step 101 obtaining the area to be cleaned
  • Step 102 Determine a cleaning interval set according to the area to be cleaned; the cleaning interval set includes: at least one cleaning interval and a cleaning sequence corresponding to each cleaning interval in the at least one cleaning interval; each cleaning interval The cleaning sequence of the sections is related to the cleaning behavior of each of the cleaning sections;
  • Step 103 Clean each of the cleaning sections in turn according to the cleaning sequence corresponding to each of the cleaning sections.
  • the cleaning interval set includes: at least one cleaning interval and a cleaning sequence corresponding to each of the cleaning intervals in the at least one cleaning interval;
  • the cleaning interval set includes at least one cleaning interval, for example, including: interval 1, interval 2, interval 3... interval N;
  • the cleaning sequence corresponding to each cleaning interval is different.
  • the cleaning sequence corresponding to interval 1 is 1, the cleaning sequence corresponding to interval 2 is 2, the cleaning sequence corresponding to interval 3 is 3...
  • the cleaning sequence corresponding to interval N is N.
  • cleaning each of the cleaning intervals in sequence includes:
  • cleaning order 1 cleaning order 2...cleaning order N, clean section 1, section 2, section 3...section N in sequence.
  • the cleaning equipment if the cleaning equipment returns to the base station for charging and other operations halfway, record the last cleaned interval (or location), and when the charging is completed, return to the recorded last cleaned interval or the next order of the corresponding sequence of the last cleaned interval area to be cleaned.
  • the cleaning equipment cleans to section 2, determines that it needs to return to the base station for charging, and records the cleaning section (or location) of the last cleaning, that is, section 2;
  • interval 2 After charging is completed, return to the last cleaning interval recorded, such as interval 2, or directly go to the cleaning interval corresponding to the next order in the corresponding sequence of interval 2, that is, interval 3 for cleaning (in corresponding cases, the default cleaning device will Return to the base station only when the interval is clean).
  • the location of the base station is a location for charging the cleaning equipment, and the base station may be a charging stand for the cleaning equipment.
  • the cleaning sequence of each cleaning interval is related to the cleaning action of each cleaning interval, and the cleaning action refers to the action of the cleaning equipment from the base station to the corresponding cleaning interval;
  • the cleaning sequence of the cleaning interval is related to the behavior of the cleaning equipment from the base station to the corresponding cleaning interval.
  • the cleaning section with the highest priority in the cleaning order will not be passed by the cleaning equipment to go to other cleaning sections.
  • cleaning each of the cleaning intervals in turn includes:
  • the currently cleaned cleaning interval is recorded as the target cleaning interval
  • the cleaning device When the cleaning device is set to be able to estimate whether the cleaning operation in the current cleaning interval can be completed based on the power, it is considered that the cleaning device will inevitably complete the current cleaning interval before returning to the base station. In this case, after charging is completed, return to the target cleaning The cleaning interval of the next cleaning sequence of the cleaning sequence corresponding to the interval continues to be cleaned according to the cleaning sequence.
  • determining a set of cleaning intervals according to the area to be cleaned includes:
  • the preset cleaning interval table includes: at least one saved cleaning area and a cleaning interval set corresponding to each of the saved cleaning areas in the at least one saved cleaning area.
  • the method can be applied to cleaning equipment; for example, a sweeping robot, an intelligent sweeping machine, a sweeping machine, and the like.
  • the cleaning device may save the cleaning interval set of the corresponding cleaning area after determining the cleaning interval set of the cleaning area, and read the cleaning interval set of the saved cleaning area (ie, the saved cleaning area) when it needs to be acquired.
  • the cleaning section set of the saved cleaning area can be saved in the cleaning device or in the server.
  • the cleaning device may communicate with a server; as a first embodiment, the server is connected to at least one cleaning device; the cleaning device may receive a cleaning interval set corresponding to a cleaning area sent by the server, and The cleaning operation is performed on the cleaning interval set of the cleaning area; the cleaning device may also send the cleaning interval set of the cleaning area determined by itself to the server for storage;
  • the server can be connected to at least one terminal (the terminal can be a terminal device that can access the network, such as a mobile phone, a tablet computer, a personal computer, a notebook computer, etc.), and the terminal can be connected to a cleaning device;
  • the terminal can receive the cleaning interval set of the cleaning area sent by the server, and send the cleaning interval set of the cleaning area to the cleaning device, so that the cleaning device can perform the cleaning operation according to the cleaning interval set of the cleaning area sent by the server;
  • the cleaning device may also send the cleaning interval set of the cleaning area determined by itself to the terminal, and the terminal will send the cleaning interval set of the corresponding cleaning area to the server;
  • the server can be connected to at least one terminal and at least one cleaning device; each terminal can also be connected to a cleaning device respectively; both the terminal and the cleaning device can receive the cleaning interval set of the cleaning area sent by the server , and the terminal can also send the cleaning interval set of the cleaning area to the cleaning device, so that the cleaning device can perform corresponding cleaning operations according to the cleaning interval set of the cleaning area sent by the server or the terminal; the cleaning device can also send The cleaning interval set of the cleaning area determined by itself is sent to the terminal, and the terminal sends the cleaning interval set of the corresponding cleaning area to the server, or the cleaning device may directly send the cleaning interval set of the cleaning area determined by itself. sent to the server.
  • the cleaning device, the terminal, and the cleaning area respectively have unique device identifiers.
  • the terminal or the server can record the corresponding device identifier according to the device identifier of the cleaning device.
  • Connection relationship when the terminal is connected to the server, the server may record the corresponding connection relationship according to the device identification of the terminal and/or the device identification of the cleaning device corresponding to the terminal.
  • the cleaning device has a photographing module, such as a camera.
  • the camera can be a single camera or a dual camera; the single camera or the dual camera is configured to shoot video data, to obtain the environment of the area to be cleaned, and then determine the cleaning interval set during operation.
  • the area to be cleaned can be marked with room names, such as master bedroom, second bedroom, room 1, room 2, etc.; each room corresponds to a different set of cleaning intervals.
  • the cleaning equipment In practical application, if the cleaning equipment is used for the first time or does not have the saving function, it may be necessary to determine the cleaning area while running; and some areas to be cleaned are relatively simple, such as only one relatively simple area, only this area needs to be divided. , it can be cleaned sequentially from the farthest away from the base station; some are more complicated and need to be divided several times.
  • the to-be-cleaned area includes: a first uncleaned area
  • Determining the set of cleaning intervals according to the area to be cleaned includes:
  • the first uncleaned area is divided into a first interval and a second interval;
  • the first interval represents the interval that the cleaning equipment must pass through to move from the base station to any area;
  • the second interval is the movement of the cleaning equipment from the base station to the Any area that is not required to pass through the interval;
  • the cleaning interval set including the first interval and the second interval is determined; the cleaning order of the second interval takes precedence over the cleaning order of the first interval.
  • the division of the area to be cleaned can be realized according to the location of the base station and the position of the obstructions; the obstructions may be objects that occupy a large floor area, such as walls, cabinets, and beds.
  • the square area it can be divided according to the first occlusion surface, the second occlusion surface, and the third occlusion surface (the occlusion surface is a certain surface of the above-mentioned occluder).
  • the occlusion surface is a certain surface of the above-mentioned occluder.
  • the triangular area it can be divided according to the first occlusion surface and the second occlusion surface.
  • the cleaning order of section A2 takes precedence over the cleaning order of section B2 .
  • the irregular area it can be divided according to a certain area size (the area size can be preset or can be random, but at least larger than a certain threshold, so as to avoid excessive calculation amount caused by dividing the interval too many times), for example, Fig.
  • the area size can be preset or can be random, but at least larger than a certain threshold, so as to avoid excessive calculation amount caused by dividing the interval too many times
  • Fig. In the scenario shown in 2(c), it can be divided into at least two sections; the cleaning order of section A3 takes precedence over the cleaning order of section B3.
  • the divided interval may be further divided, generally, the cleaning interval closer to the base station (the cleaning interval with a relatively low cleaning order) may be further divided.
  • the divided interval (denoted as interval A1) is used as an occluder, and another interval (ie, divided interval B1) is further divided according to the three-sided occlusion surface, or it can be divided into two intervals. , that is, the interval B1 ′ and the difference B1 ′′ shown in FIG. 3( a ), the cleaning order of the interval B1 ′ is better than the cleaning order of the difference B1 ′′.
  • the divided interval (denoted as interval A2) is used as an occluder, and another interval (that is, divided interval B2) is further divided according to the occluded surface, and it can also be divided into two intervals, that is, Fig.
  • the divided interval (denoted as interval A3) is used as an occluder, and another interval (ie, divided interval B3) is further divided according to the occluded surface, and it can also be divided into two intervals, that is, Fig.
  • the to-be-cleaned area includes at least: a first uncleaned area
  • Determining the set of cleaning intervals according to the area to be cleaned includes:
  • the first uncleaned area is divided into a third interval and a fourth interval;
  • the third interval represents the interval that the cleaning equipment must pass through to move from the base station to the first other uncleaned area;
  • the fourth interval is the cleaning equipment Moving from the base station to the first other uncleaned area is an optional interval;
  • the first other uncleaned area is an area other than the first uncleaned area in the to-be-cleaned area;
  • the fifth interval represents the movement of the cleaning equipment from the base station to the second The interval that the other uncleaned areas must pass through;
  • the sixth interval is the interval that the cleaning equipment moves from the base station to the second other uncleaned area that is not necessary to pass through;
  • the second other uncleaned area is the area except the to-be-cleaned area. other areas other than the first unsweeped area and the second unsweeped area;
  • the set of cleaning intervals is determined according to the third interval and the fourth interval corresponding to the first uncleaned area, the fifth interval and the sixth interval corresponding to the second uncleaned area, and the intervals corresponding to other uncleaned areas .
  • the area to be cleaned here includes at least: a first uncleaned area; may also include: a second uncleaned area, a third uncleaned area, and other uncleaned areas.
  • the above-mentioned corresponding uncleaned areas are divided in sequence through the above-mentioned steps.
  • the non-essential section is the area that the cleaning equipment will not pass through when returning to the base station;
  • the required interval is the area that the cleaning equipment will pass through when returning to the base station;
  • the required interval has a common unoccluded boundary with the next uncleaned area.
  • the above-mentioned method may be to clean the edges and divide the area, and the unnecessary intervals may be cleaned first, and after cleaning, they will be used as occlusion boundaries and will not be re-entered.
  • the first uncleaned area is divided into a third interval and a fourth interval
  • the fourth interval is an interval through which the cleaning equipment moves from the base station to the first other uncleaned area
  • the cleaning sequence of the fourth interval is: 1.
  • the cleaning order of the third interval can be the last;
  • the second uncleaned area adjacent to the first uncleaned area is divided into a fifth interval and a sixth interval, and the sixth interval is an interval through which the cleaning equipment moves from the base station to the second other uncleaned area, then
  • the cleaning sequence of the sixth interval is 2, and the cleaning sequence of the third interval may be the penultimate;
  • FIG. 5 is a schematic diagram of a division method of an area to be cleaned provided by an embodiment of the present application; as shown in FIG.
  • the machine in the picture is a cleaning device, such as a sweeping robot.
  • the cleaning device may obtain a map of the area to be cleaned in advance, and divide it according to the map of the area to be cleaned to obtain a set of cleaning intervals.
  • the cleaning of each of the cleaning intervals in sequence according to the cleaning sequence corresponding to each of the cleaning intervals includes:
  • the map of the area to be cleaned at least includes: a base station;
  • the area to be cleaned is divided to obtain at least one area to be cleaned
  • the at least one to-be-cleaned interval and the cleaning action corresponding to each of the to-be-cleaned intervals determine the optional interval corresponding to each of the to-be-cleaned intervals
  • the cleaning sequence of the at least one section to be cleaned is sorted to obtain the set of cleaning sections.
  • the acquisition method can be drawn after walking in the corresponding area in advance, or the cleaning device can be connected to the terminal held by the user, the user can draw a map of the area to be cleaned through the terminal, and send the map of the area to be cleaned to the cleaning device. .
  • interval 1 For example, according to the occlusion surface, four intervals are obtained, which are denoted as interval 1, interval 2, interval 3, and interval 4;
  • the cleaning order of section 1 has priority over the cleaning order of section 2, section 3, and section 4, the cleaning order of section 2 has priority over the cleaning order of section 3 and section 4; the cleaning order of section 3 has priority over the cleaning order of section 4 order;
  • the determined cleaning interval set includes: interval 1, interval 2, interval 3, and interval 4; and the cleaning sequence from front to back is: interval 1, interval 2, interval 3, and interval 4.
  • the cleaning device may have a processing module, a camera, a positioning module, etc., configured to perform the above steps.
  • the camera is configured to acquire environmental information
  • the processing module is configured to divide intervals and perform cleaning operations
  • the positioning module is configured to determine the location of the cleaning device.
  • the above functional division of the processing module, camera, and positioning module is only an example, rather than a limitation on the division of specific functional modules. In practical applications, different modules can be set as required to implement the above method.
  • FIG. 4 is a schematic flowchart of another cleaning method provided by an embodiment of the present application; as shown in FIG. 4 , the method can be applied to cleaning equipment, such as a cleaning robot; the method includes:
  • Step 401 Determine the location of the base station, and set the area where the base station is located as the first unsweeped area;
  • Step 402 the cleaning device is started, and environmental information is obtained through the sensor during operation;
  • Step 403 Divide the first uncleaned area into a non-essential section and a mandatory section
  • the non-essential section is the area that the cleaning equipment will not pass through when returning to the base station;
  • the required interval is the area that the cleaning equipment will pass through when returning to the base station;
  • the must-travel interval has a common unoccluded boundary with the next uncleaned area.
  • the first uncleaned area is divided into a non-essential section and a mandatory section.
  • Section 1 may be an optional section
  • section 8 may be a mandatory section.
  • Step 404 After cleaning the non-essential interval of the first uncleaned area, use the cleaned non-essential interval as the occlusion boundary; continue to divide the remaining uncleaned interval of the first uncleaned area to determine whether there is still an optional interval. until all non-necessary section cleaning is completed, then enter the second uncleaned area;
  • Step 405 Divide the second uncleaned area into a non-essential section and a mandatory section
  • the second uncleaned area is divided into a non-essential section and a mandatory section.
  • Section 2 may be a non-must pass section, and other sections are mandatory sections.
  • Step 406 After cleaning the non-essential interval of the second uncleaned area, use the cleaned non-essential interval as the occlusion boundary; continue to divide the remaining uncleaned interval of the second uncleaned area to determine whether there is still an optional interval. until all non-essential section cleaning is completed, then enter the third uncleaned area;
  • Step 407 According to the method of step 403 and step 404 (or step 405 and step 406), divide the non-essential intervals of each uncleaned area one by one and clean them one by one, until the unobstructed edges of the necessary interval where the base station is located all become. Block the boundary. At this time, the uncleaned area where the base station is located is the non-essential section; after cleaning the non-essential section where the last base station is located, the cleaning equipment returns to the base station.
  • interval 1 For the example shown in FIG. 5 , the following intervals can be divided into: interval 1, interval 2 . . . It can also be divided into cleaning intervals with different cleaning sequences, as shown in FIG. 6 .
  • FIG. 7 is a schematic diagram of the result of a cleaning device provided in an embodiment of the application; the device is applied to cleaning equipment. As shown in FIG. 7 , the device includes: a first processing module, a second processing module and a third processing module ;in,
  • the first processing module is configured to obtain the area to be cleaned
  • the second processing module is configured to determine a cleaning interval set according to the area to be cleaned; the cleaning interval set includes: at least one cleaning interval and a cleaning sequence corresponding to each of the cleaning intervals in the at least one cleaning interval ; The cleaning sequence of each described cleaning interval is related to the cleaning behavior of each described cleaning interval;
  • the third processing module is configured to sequentially clean each of the cleaning intervals according to the cleaning sequence corresponding to each of the cleaning intervals.
  • the second processing module is configured to query a preset cleaning interval table, and determine a cleaning interval set corresponding to the area to be cleaned;
  • the preset cleaning interval table includes: at least one saved cleaning area and a cleaning interval set corresponding to each of the saved cleaning areas in the at least one saved cleaning area.
  • the to-be-cleaned area includes: a first uncleaned area
  • the second processing module is configured to divide the first uncleaned area into a first interval and a second interval; the first interval represents the interval that the cleaning equipment must pass through to move from the base station to any area; the first interval The second interval is the interval where the cleaning equipment moves from the base station to any area that is not necessary;
  • the cleaning interval set including the first interval and the second interval is determined; the cleaning order of the second interval takes precedence over the cleaning order of the first interval.
  • the to-be-cleaned area includes at least: a first uncleaned area
  • the second processing module is configured to divide the first uncleaned area into a third interval and a fourth interval; the third interval represents the interval that the cleaning equipment must pass through to move from the base station to the first other uncleaned area ;
  • the second interval is the interval that the cleaning equipment moves from the base station to the first other uncleaned area that is not necessary; the first other uncleaned area is the area to be cleaned except the first uncleaned area. other areas;
  • the fifth interval represents the movement of the cleaning equipment from the base station to the second The interval that other uncleaned areas must pass through;
  • the sixth interval is the interval that the cleaning equipment moves from the base station to the second other uncleaned area that is not necessary to pass through;
  • the second other uncleaned area is the area except the to-be-cleaned area. other areas other than the first unsweeped area and the second unsweeped area;
  • the set of cleaning intervals is determined according to the third interval and the fourth interval corresponding to the first uncleaned area, the fifth interval and the sixth interval corresponding to the second uncleaned area, and the intervals corresponding to other uncleaned areas .
  • the second processing module is configured to obtain a map of the area to be cleaned; the map of the area to be cleaned includes at least: a base station;
  • the area to be cleaned is divided to obtain at least one area to be cleaned
  • the at least one to-be-cleaned interval and the cleaning action corresponding to each of the to-be-cleaned intervals determine the optional interval corresponding to each of the to-be-cleaned intervals
  • the cleaning sequence of the at least one section to be cleaned is sorted to obtain the set of cleaning sections.
  • the third processing module is configured to record the currently cleaned cleaning interval as the target cleaning interval when it determines that it needs to return to the base station during the cleaning process;
  • the cleaning device provided in the above-mentioned embodiment implements the corresponding cleaning method
  • only the division of the above-mentioned program modules is used as an example for illustration. That is, the internal structure of the server is divided into different program modules to complete all or part of the processing described above.
  • the apparatus provided in the above-mentioned embodiment and the embodiment of the corresponding method belong to the same concept, and the specific implementation process thereof is detailed in the method embodiment, which will not be repeated here.
  • FIG. 8 is a schematic diagram of the result of another cleaning device provided by an embodiment of the present application; as shown in FIG. 8 , the device 80 is applied to a server, and includes: a processor 801 and a processor 801 configured to store data that can run on the processor.
  • the memory 802 of a computer program wherein, when the processor 801 is configured to run the computer program, execute: acquiring an area to be cleaned; determining a set of cleaning intervals according to the area to be cleaned; the set of cleaning intervals includes: at least one cleaning interval and the cleaning sequence corresponding to each of the cleaning intervals in the at least one cleaning interval; the cleaning sequence of each cleaning interval is related to the cleaning behavior of each cleaning interval; according to the corresponding cleaning interval of each cleaning interval cleaning sequence, and cleaning each cleaning section in turn.
  • the processor 801 is further configured to, when running the computer program, execute: query a preset cleaning interval table, and determine a cleaning interval set corresponding to the area to be cleaned;
  • the preset cleaning interval table includes: at least one saved cleaning area and a cleaning interval set corresponding to each of the saved cleaning areas in the at least one saved cleaning area.
  • the processor 801 is further configured to, when running the computer program, execute: dividing the first uncleaned area into a first interval and a second interval; the first interval represents the cleaning equipment from The interval that the base station must go through to move to any area; the second interval is the interval that the cleaning equipment does not have to go through to move from the base station to any area;
  • the cleaning interval set including the first interval and the second interval is determined; the cleaning order of the second interval takes precedence over the cleaning order of the first interval.
  • the processor 801 is further configured to, when running the computer program, execute: dividing the first uncleaned area into a third interval and a fourth interval; the third interval represents the cleaning equipment from The interval that the base station must go through to move to the first other uncleaned area; the second interval is the interval that the cleaning equipment moves from the base station to the first other uncleaned area that is not necessary; the first other uncleaned area is the Other areas in the area to be cleaned except the first uncleaned area;
  • the fifth interval represents the movement of the cleaning equipment from the base station to the second The interval that other uncleaned areas must pass through;
  • the sixth interval is the interval that the cleaning equipment moves from the base station to the second other uncleaned area that is not necessary to pass through;
  • the second other uncleaned area is the area except the to-be-cleaned area. other areas other than the first unsweeped area and the second unsweeped area;
  • the set of cleaning intervals is determined according to the third interval and the fourth interval corresponding to the first uncleaned area, the fifth interval and the sixth interval corresponding to the second uncleaned area, and the intervals corresponding to other uncleaned areas .
  • the processor 801 is further configured to, when running the computer program, execute: acquiring a map of the area to be cleaned; the map of the area to be cleaned at least includes: a base station;
  • the area to be cleaned is divided to obtain at least one area to be cleaned
  • the at least one to-be-cleaned interval and the cleaning action corresponding to each of the to-be-cleaned intervals determine the optional interval corresponding to each of the to-be-cleaned intervals
  • the cleaning sequence of the at least one section to be cleaned is sorted to obtain the set of cleaning sections.
  • the processor 801 is further configured to, when running the computer program, execute: during the cleaning process, when it is determined that it needs to return to the base station, record the currently cleaned cleaning interval as the target cleaning interval;
  • the apparatus 80 may further include: at least one network interface 803 .
  • the various components in device 80 are coupled together by bus system 804 .
  • the bus system 804 is used to implement connection communication between these components.
  • the bus system 804 also includes a power bus, a control bus, and a status signal bus.
  • the various buses are labeled as bus system 804 in FIG. 8 .
  • the number of the processors 801 may be at least one.
  • the network interface 803 is used for wired or wireless communication between the apparatus 80 and other devices.
  • the memory 802 in this embodiment of the present application is configured to store various types of data to support the operation of the apparatus 80 .
  • the methods disclosed in the above embodiments of the present application may be applied to the processor 801 or implemented by the processor 801 .
  • the processor 801 may be an integrated circuit chip with signal processing capability. In the implementation process, each step of the above-mentioned method can be completed by an integrated logic circuit of hardware in the processor 801 or an instruction in the form of software.
  • the above-mentioned processor 801 may be a general-purpose processor, a digital signal processor (DSP, DiGital Signal Processor), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, and the like.
  • the processor 801 may implement or execute the methods, steps, and logical block diagrams disclosed in the embodiments of this application.
  • a general purpose processor may be a microprocessor or any conventional processor or the like.
  • the steps of the method disclosed in the embodiments of the present application can be directly embodied as being executed by a hardware decoding processor, or executed by a combination of hardware and software modules in the decoding processor.
  • the software module may be located in a storage medium, and the storage medium is located in the memory 802, and the processor 801 reads the information in the memory 802, and completes the steps of the foregoing method in combination with its hardware.
  • apparatus 80 may be implemented by one or more Application Specific Integrated Circuit (ASIC, Application Specific Integrated Circuit), DSP, Programmable Logic Device (PLD, Programmable Logic Device), Complex Programmable Logic Device (CPLD, Complex Programmable Logic Device), Field-Programmable Gate Array (FPGA, Field-Programmable Gate Array), general-purpose processor, controller, microcontroller (MCU, Micro Controller Unit), microprocessor (Microprocessor), or other electronic components
  • ASIC Application Specific Integrated Circuit
  • DSP Programmable Logic Device
  • PLD Programmable Logic Device
  • CPLD Complex Programmable Logic Device
  • FPGA Field-Programmable Gate Array
  • controller controller
  • microcontroller MCU, Micro Controller Unit
  • microprocessor Microprocessor
  • Embodiments of the present application further provide a computer-readable storage medium, on which a computer program is stored, and when the computer program is run by a processor, execute: acquiring an area to be cleaned; determining a set of cleaning intervals according to the area to be cleaned ;
  • the cleaning interval set includes: at least one cleaning interval and a cleaning sequence corresponding to each of the cleaning intervals in the at least one cleaning interval; the cleaning sequence of each cleaning interval and the cleaning behavior of each cleaning interval Relevant; according to the cleaning sequence corresponding to each cleaning interval, each cleaning interval is cleaned in turn.
  • the computer program when the computer program is run by the processor, execute: query a preset cleaning interval table, and determine a cleaning interval set corresponding to the area to be cleaned;
  • the preset cleaning interval table includes: at least one saved cleaning area and a cleaning interval set corresponding to each of the saved cleaning areas in the at least one saved cleaning area.
  • the computer program when the computer program is run by the processor, execute: dividing the first uncleaned area into a first interval and a second interval; the first interval represents the movement of the cleaning equipment from the base station to any area The required interval; the second interval is the interval that the cleaning equipment does not have to go through to move from the base station to any area;
  • the cleaning interval set including the first interval and the second interval is determined; the cleaning order of the second interval takes precedence over the cleaning order of the first interval.
  • the computer program when executed by the processor, execute: dividing the first uncleaned area into a third interval and a fourth interval; the third interval represents the movement of the cleaning equipment from the base station to the first interval The interval that other uncleaned areas must pass through; the second interval is the interval that the cleaning equipment moves from the base station to the first other uncleaned area that is not necessary to pass through; the first other uncleaned area is the area except the area to be cleaned. other areas than the first unsweeped area;
  • the fifth interval represents the movement of the cleaning equipment from the base station to the second The interval that other uncleaned areas must pass through;
  • the sixth interval is the interval that the cleaning equipment moves from the base station to the second other uncleaned area that is not necessary to pass through;
  • the second other uncleaned area is the area except the to-be-cleaned area. other areas other than the first unsweeped area and the second unsweeped area;
  • the set of cleaning intervals is determined according to the third interval and the fourth interval corresponding to the first uncleaned area, the fifth interval and the sixth interval corresponding to the second uncleaned area, and the intervals corresponding to other uncleaned areas .
  • the computer program when the computer program is run by the processor, execute: acquiring a map of the area to be cleaned; the map of the area to be cleaned at least includes: a base station;
  • the area to be cleaned is divided to obtain at least one area to be cleaned
  • the at least one to-be-cleaned interval and the cleaning action corresponding to each of the to-be-cleaned intervals determine the optional interval corresponding to each of the to-be-cleaned intervals
  • the cleaning sequence of the at least one section to be cleaned is sorted to obtain the set of cleaning sections.
  • the computer program when the computer program is run by the processor, execute: in the cleaning process, when it is determined that it needs to return to the base station, the currently cleaned cleaning interval is recorded as the target cleaning interval;
  • the disclosed apparatus and method may be implemented in other manners.
  • the device embodiments described above are only illustrative.
  • the division of the units is only a logical function division. In actual implementation, there may be other division methods.
  • multiple units or components may be combined, or Can be integrated into another system, or some features can be ignored, or not implemented.
  • the coupling, or direct coupling, or communication connection between the various components shown or discussed may be through some interfaces, and the indirect coupling or communication connection of devices or units may be electrical, mechanical or other forms. of.
  • the unit described above as a separate component may or may not be physically separated, and the component displayed as a unit may or may not be a physical unit, that is, it may be located in one place or distributed to multiple network units; Some or all of the units may be selected according to actual needs to achieve the purpose of the solution in this embodiment.
  • each functional unit in each embodiment of the present application may be all integrated into one processing unit, or each unit may be separately used as a unit, or two or more units may be integrated into one unit; the above integration
  • the unit can be implemented either in the form of hardware or in the form of hardware plus software functional units.
  • the aforementioned program can be stored in a computer-readable storage medium, and when the program is executed, execute Including the steps of the above method embodiment; and the aforementioned storage medium includes: a mobile storage device, a read-only memory (ROM, Read-Only Memory), a random access memory (RAM, Random Access Memory), a magnetic disk or an optical disk and other various A medium on which program code can be stored.
  • ROM read-only memory
  • RAM random access memory
  • magnetic disk or an optical disk and other various A medium on which program code can be stored.
  • the above-mentioned integrated units of the present application are implemented in the form of software function modules and sold or used as independent products, they may also be stored in a computer-readable storage medium.
  • the computer software products are stored in a storage medium and include several instructions for A computer device (which may be a personal computer, a server, or a network device, etc.) is caused to execute all or part of the methods described in the various embodiments of the present application.
  • the aforementioned storage medium includes: a removable storage device, a ROM, a RAM, a magnetic disk or an optical disk and other mediums that can store program codes.

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Abstract

本申请实施例公开了一种清洁方法、装置和计算机存储介质。所述方法包括：获取待清扫区域；根据所述待清扫区域，确定清扫区间集；所述清扫区间集包括：至少一个清扫区间和所述至少一个清扫区间中每个所述清扫区间对应的清洁次序；每个所述清扫区间的清洁次序与每个所述清扫区间的清扫行径相关；按照每个所述清扫区间对应的清洁次序，依次清扫每个所述清扫区间。

Description

一种清洁方法、装置和计算机存储介质
相关申请的交叉引用
本申请基于申请号为202110169002.3、申请日为2021年02月07日的中国专利申请提出，并要求该中国专利申请的优先权，该中国专利申请的全部内容在此引入本申请作为参考。
技术领域
本申请涉及家电控制技术，具体涉及一种清洁方法、装置和计算机存储介质。
背景技术
自主清洁装置的出现给人们的日常生活带来极大的便利，降低了劳动强度。如家用清洁机器人为常见自主清洁设备，清洁机器人能在家庭房间内自行地行进的同时吸入周边的灰尘或杂质从而完成地面清洁。随着对清洁要求越来越高，带拖地功能的清洁机器人越来越受到用户的欢迎。
当清洁机器人在对家庭空间进行清洁时，大多数控制方法是将家庭空间划分为大小相同的多个清洁区域，并且每个清洁区域为正方形或者长方形，以清洁区域为单位依次对多个清洁区域执行清洁操作。对于每个清洁区域，清洁机器人在清洁区域内走弓字型路径对地面执行清洁操作。当清洁机器人的电量不足或需要清洗清洁机器人时，清洁机器人会通过回到基站所在区域进行，充电或者清洗，然后返回正在清洁的清洁区域继续执行清洁操作。
带有基站自清洁的清洁机器人，因为需要经常回到基站清洗，若按现有技术依次清洁，会重复清洁基站所在区域，效率低，且容易污染已清洁 区域，导致二次污染。
发明内容
为解决现有存在的技术问题，本申请实施例提供一种清洁方法、装置和计算机存储介质。
为达到上述目的，本申请实施例的技术方案是这样实现的：
本申请实施例提供了一种清洁方法，应用于清洁设备，所述方法包括：
获取待清扫区域；
根据所述待清扫区域，确定清扫区间集；所述清扫区间集包括：至少一个清扫区间和所述至少一个清扫区间中每个所述清扫区间对应的清洁次序；每个所述清扫区间的清洁次序与每个所述清扫区间的清扫行径相关；
按照每个所述清扫区间对应的清洁次序，依次清扫每个所述清扫区间。
较佳地，所述根据所述待清扫区域，确定清扫区间集，包括：
查询预设的清扫区间表，确定所述待清扫区域对应的清扫区间集；
其中，所述预设的清扫区间表包括：至少一个已保存清扫区域和所述至少一个已保存清扫区域中每个所述已保存清扫区域对应的清扫区间集。
较佳地，所述待清扫区域包括：第一未清扫区域；
所述根据所述待清扫区域，确定清扫区间集，包括：
将所述第一未清扫区域划分为第一区间和第二区间；所述第一区间表征清洁设备从基站移动到任意区域所必经的区间；所述第二区间为清洁设备从基站移动到任意区域非必经的区间；
确定包括所述第一区间和所述第二区间的所述清扫区间集；所述第二区间的清洁次序优先于所述第一区间的清洁次序。
较佳地，所述待清扫区域至少包括：第一未清扫区域；
所述根据所述待清扫区域，确定清扫区间集，包括：
将所述第一未清扫区域划分为第三区间和第四区间；所述第三区间表 征清洁设备从基站移动到第一其他未清扫区域所必经的区间；所述第四区间为清洁设备从基站移动到第一其他未清扫区域非必经的区间；所述第一其他未清扫区域为所述待清扫区域中除所述第一未清扫区域外的其他区域；
确定与所述第一未清扫区域相邻的第二未清扫区域，将所述第二未清扫区域划分为第五区间和第六区间；所述第五区间表征清洁设备从基站移动到第二其他未清扫区域所必经的区间；所述第六区间为清洁设备从基站移动到第二其他未清扫区域非必经的区间；所述第二其他未清扫区域为所述待清扫区域中除所述第一未清扫区域、第二未清扫区域外的其他区域；
确定与所述第二未清扫区域相邻的第三未清扫区域，对所述第三未清扫区域的区间进行划分，直至将每个其他未清扫区域划分得到各区间；
根据所述第一未清扫区域对应的第三区间和第四区间、所述第二未清扫区域对应的第五区间和第六区间、及其他未清扫区域对应的区间，确定所述清扫区间集。
较佳地，所述根据所述待清扫区域，确定清扫区间集，包括：
获取待清扫区域的地图；所述待清扫区域的地图至少包括：基站；
根据所述待清扫区域的地图，对所述待清扫区域进行划分，得到至少一个待清扫区间；
确定从所述基站到每个所述待清扫区间的清扫行径；
根据所述至少一个待清扫区间和每个所述待清扫区间对应的清扫行径，确定每个所述待清扫区间对应的非必经区间；
基于每个所述待清扫区间对应的非必经区间，对所述至少一个待清扫区间进行清洁次序的排序，得到所述清扫区间集。
较佳地，所述按照每个所述清扫区间对应的清洁次序，依次清扫每个所述清扫区间，包括：
清洁过程中，确定自身需要返回基站时，记录当前所清洁的清扫区间，作为目标清扫区间；
充电完成后，返回所述目标清扫区间，继续按照清洁次序进行清洁。
本申请实施例提供了一种清洁装置，应用于清洁设备，所述装置包括：第一处理模块、第二处理模块和第三处理模块；其中，
所述第一处理模块，配置为获取待清扫区域；
所述第二处理模块，配置为根据所述待清扫区域，确定清扫区间集；所述清扫区间集包括：至少一个清扫区间和所述至少一个清扫区间中每个所述清扫区间对应的清洁次序；每个所述清扫区间的清洁次序与每个所述清扫区间的清扫行径相关；
所述第三处理模块，配置为按照每个所述清扫区间对应的清洁次序，依次清扫每个所述清扫区间。
较佳地，所述第二处理模块，配置为查询预设的清扫区间表，确定所述待清扫区域对应的清扫区间集；
其中，所述预设的清扫区间表包括：至少一个已保存清扫区域和所述至少一个已保存清扫区域中每个所述已保存清扫区域对应的清扫区间集。
较佳地，所述待清扫区域包括：第一未清扫区域；
所述第二处理模块，配置为将所述第一未清扫区域划分为第一区间和第二区间；所述第一区间表征清洁设备从基站移动到任意区域所必经的区间；所述第二区间为清洁设备从基站移动到任意区域非必经的区间；
确定包括所述第一区间和所述第二区间的所述清扫区间集；所述第二区间的清洁次序优先于所述第一区间的清洁次序。
较佳地，所述待清扫区域至少包括：第一未清扫区域；
所述第二处理模块，配置为将所述第一未清扫区域划分为第三区间和第四区间；所述第三区间表征清洁设备从基站移动到第一其他未清扫区域 所必经的区间；所述第四区间为清洁设备从基站移动到第一其他未清扫区域非必经的区间；所述第一其他未清扫区域为所述待清扫区域中除所述第一未清扫区域外的其他区域；
确定与所述第一未清扫区域相邻的第二未清扫区域，将所述第二未清扫区域划分为第五区间和第六区间；所述第五区间表征清洁设备从基站移动到第二其他未清扫区域所必经的区间；所述第六区间为清洁设备从基站移动到第二其他未清扫区域非必经的区间；所述第二其他未清扫区域为所述待清扫区域中除所述第一未清扫区域、第二未清扫区域外的其他区域；
确定与所述第二未清扫区域相邻的第三未清扫区域，对所述第三未清扫区域的区间进行划分，直至将每个其他未清扫区域划分得到各区间；
根据所述第一未清扫区域对应的第三区间和第四区间、所述第二未清扫区域对应的第五区间和第六区间、及其他未清扫区域对应的区间，确定所述清扫区间集。
较佳地，所述第二处理模块，配置为获取待清扫区域的地图；所述待清扫区域的地图至少包括：基站；
根据所述待清扫区域的地图，对所述待清扫区域进行划分，得到至少一个待清扫区间；
确定从所述基站到每个所述待清扫区间的清扫行径；
根据所述至少一个待清扫区间和每个所述待清扫区间对应的清扫行径，确定每个所述待清扫区间对应的非必经区间；
基于每个所述待清扫区间对应的非必经区间，对所述至少一个待清扫区间进行清洁次序的排序，得到所述清扫区间集。
较佳地，所述第三处理模块，配置为清洁过程中，确定自身需要返回基站时，记录当前所清洁的清扫区间，作为目标清扫区间；
充电完成后，返回所述目标清扫区间，继续按照清洁次序进行清洁。
本申请实施例还提供了一种清洁装置，所述装置包括：处理器和配置为存储能够在处理器上运行的计算机程序的存储器；其中，
所述处理器配置为运行所述计算机程序时，执行以上任一项所述清洁方法的步骤。
本申请实施例还提供了一种计算机存储介质，其上存储有计算机指令，该指令被处理器执行时实现以上任一项所述清洁方法的步骤。
本申请实施例提供的清洁方法、装置和计算机存储介质，所述方法包括：获取待清扫区域；根据所述待清扫区域，确定清扫区间集；所述清扫区间集包括：至少一个清扫区间和所述至少一个清扫区间中每个所述清扫区间对应的清洁次序；每个所述清扫区间的清洁次序与每个所述清扫区间的清扫行径相关；按照每个所述清扫区间对应的清洁次序，依次清扫每个所述清扫区间。采用本申请实施例的技术方案，按照清洁次序依次清洁每个清扫区间，避免重复清扫，同时防止再次经过已清扫区间所导致的二次污染。
附图说明
图1为本申请实施例的一种清洁方法的流程示意图；
图2(a)、图2(b)、图2(c)为本申请实施例的一种区域划分的示意图；
图3(a)、图3(b)、图3(c)为本申请实施例的另一种区域划分的示意图；
图4为本申请实施例的另一种清洁方法的流程示意图；
图5为本申请实施例的一种待清洁区域划分方式的示意图；
图6为本申请实施例的另一种待清洁区域划分方式的示意图；
图7为本申请实施例的一种清洁装置的结构示意图；
图8为本申请实施例的另一种清洁装置的结构示意图。
具体实施方式
为了使本技术领域的人员更好地理解本申请实施例方案，下面将结合本申请实施例中的附图，对本申请实施例中的技术方案进行清楚地描述，显然，所描述的实施例仅仅是本申请一部分的实施例，而不是全部的实施例。
本申请的说明书实施例和权利要求书及上述附图中的术语“第一”、“第二”、和“第三”等是用于区别类似的对象，而不必用于描述特定的顺序或先后次序。此外，术语“包括”和“具有”以及他们的任何变形，意图在于覆盖不排他的包含，例如，包含了一系列步骤或单元。方法、系统、产品或设备不必限于清楚地列出的那些步骤或单元，而是可包括没有清楚地列出的或对于这些过程、方法、产品或设备固有的其它步骤或单元。
在本申请的各种实施例中，获取待清扫区域；根据所述待清扫区域，确定清扫区间集；所述清扫区间集包括：至少一个清扫区间和所述至少一个清扫区间中每个所述清扫区间对应的清洁次序；每个所述清扫区间的清洁次序与每个所述清扫区间的清扫行径相关；按照每个所述清扫区间对应的清洁次序，依次清扫每个所述清扫区间。
下面结合附图及具体实施例对本申请作进一步详细的说明。
图1为本申请实施例提供的一种清洁方法的流程示意图；如图1所示，所述方法包括：
步骤101、获取待清扫区域；
步骤102、根据所述待清扫区域，确定清扫区间集；所述清扫区间集包括：至少一个清扫区间和所述至少一个清扫区间中每个所述清扫区间对应的清洁次序；每个所述清扫区间的清洁次序与每个所述清扫区间的清扫行径相关；
步骤103、按照每个所述清扫区间对应的清洁次序，依次清扫每个所述 清扫区间。
在一些实施例中，所述清扫区间集包括：至少一个清扫区间和所述至少一个清扫区间中每个所述清扫区间对应的清洁次序；
具体地，所述清扫区间集包括至少一个清扫区间，例如，包括：区间1、区间2、区间3……区间N；
每个清扫区间对应的清洁次序不同，例如，区间1对应的清洁次序为1、区间2对应的清洁次序为2、区间3对应的清洁次序为3……区间N对应的清洁次序为N。
相应的，所述按照每个所述清扫区间对应的清洁次序，依次清扫每个所述清扫区间，包括：
按照清洁次序1、清洁次序2……清洁次序N的次序，依次清扫区间1、区间2、区间3……区间N。
在清扫过程中，如果清洁设备中途返回基站进行充电等操作，则记录最后清扫的区间(或位置)，当充电完成后，返回记录的最后清扫的区间或者最后清扫的区间对应次序的下一次序的区间进行清扫。
例如，清洁设备清扫到区间2，确定自身需要返回基站充电，记录最后清洁的清扫区间(或位置)，即区间2；
充电完成后，返回记录的最后清洁的清扫区间、如区间2，或者，直接到区间2对应次序的下一次序对应的清扫区间、即区间3进行清扫(相应情况下默认清洁设备会在完成当前区间的清洁的情况下才会返回基站)。
所述基站的位置为给清洁设备充电的位置，所述基站可以为清洁设备的充电座。
这里，每个所述清扫区间的清洁次序与每个所述清扫区间的清扫行径相关，所述清扫行径指清洁设备从基站前往相应清扫区间的行径；
也就是说，清扫区间的清洁次序与清洁设备从基站前往相应清扫区间 的行径相关。
清洁次序最优先的清扫区间不会被清洁设备经过以前往其他清扫区间。
在一些实施例中，所述按照每个所述清扫区间对应的清洁次序，依次清扫每个所述清扫区间，包括：
清洁过程中，确定自身需要返回基站时，记录当前所清洁的清扫区间，作为目标清扫区间；
充电完成后，返回目标清扫区间，继续按照清洁次序进行清洁。
在清洁设备设定为可以基于电量估算是否可完成当前清洁的清扫区间的清洁操作时，认为清洁设备必然会完成当前清洁的清扫区间后再返回基站，如此情况下，充电完成后，返回目标清扫区间对应的清洁次序的下一清洁次序的清扫区间继续按照清洁次序进行清洁。
在一些实施例中，所述根据所述待清扫区域，确定清扫区间集，包括：
查询预设的清扫区间表，确定所述待清扫区域对应的清扫区间集；
其中，所述预设的清扫区间表包括：至少一个已保存清扫区域和所述至少一个已保存清扫区域中每个所述已保存清扫区域对应的清扫区间集。
这里，所述方法可以应用于清洁设备；例如：扫地机器人、智能扫地机、扫地机等。
所述清洁设备确定清扫区域的清扫区间集后可以保存相应清扫区域的清扫区间集，并在需要获取时，读取保存的清扫区域(即已保存清扫区域)的清扫区间集。
已保存清扫区域的清扫区间集可以保存在清洁设备中，也可以保存在服务器中。
例如，所述清洁设备可以与服务器通信；作为第一种实施例中，该服务器连接有至少一个清洁设备；所述清洁设备可以接收服务器发送的清扫 区域对应的清扫区间集，并且根据服务器发送的清扫区域的清扫区间集进行清洁操作；所述清洁设备也可以将自身确定的清扫区域的清扫区间集发送给服务器以进行保存；
作为第二种实施方式，所述服务器可以连接至少一个终端(所述终端可以是手机、平板电脑、个人计算机、笔记本电脑等可以接入网络的终端设备)，所述终端可以连接清洁设备；所述终端可以接收服务器发送的清扫区域的清扫区间集，并且将所述清扫区域的清扫区间集发送给清洁设备，从而所述清洁设备可以根据服务器发送的清扫区域的清扫区间集进行清洁操作；所述清洁设备也可以将自身确定的清扫区域的清扫区间集发送给终端，由所述终端将相应清扫区域的清扫区间集发送给所述服务器；
作为第三种实施方式，所述服务器可以连接至少一个终端和至少一个清洁设备；各终端也可以分别连接清洁设备；所述终端和所述清洁设备均可以接收服务器发送的清扫区域的清扫区间集，并且所述终端也可以将清扫区域的清扫区间集发送给清洁设备，从而所述清洁设备可以根据服务器或者终端发送的清扫区域的清扫区间集进行相应的清洁操作；所述清洁设备也可以将自身确定的清扫区域的清扫区间集发送给终端，由所述终端将相应清扫区域的清扫区间集发送给所述服务器，或者，所述清洁设备也可以直接将自身确定的清扫区域的清扫区间集发送给所述服务器。
本申请实施例中，所述清洁设备、所述终端、所述清扫区域分别具有唯一的设备标识，所述清洁设备与服务器或者终端连接时，终端或者服务器可以根据清洁设备的设备标识记录相应的连接关系；所述终端与服务器连接时，所述服务器可以根据终端的设备标识和/或终端对应的清洁设备的设备标识记录相应的连接关系。
这里，所述清洁设备具有拍摄模块，如摄像头。所述摄像头可以为单摄像头或双摄像头；所述单摄像头或双摄像头配置为拍摄视频数据，以得 到待清扫区域的环境，进而在运行过程中确定清扫区间集。
举例来说，待清扫区域可以用房间名进行标记，如，主卧、次卧、房间一、房间二等；每个房间分别对应不同的清扫区间集。
实际应用时，清洁设备若初次使用或不具备保存功能，则可能需要边运行边确定清扫区间；而待清扫区域有的较为简单，例如仅一个较为简单的区域，则只需对此区域进行划分，可以是从离基站最远处开始依次清洁；有的较为复杂，则需要多次进行划分。
在一些实施例中，所述待清扫区域包括：第一未清扫区域；
所述根据所述待清扫区域，确定清扫区间集，包括：
将所述第一未清扫区域划分为第一区间和第二区间；所述第一区间表征清洁设备从基站移动到任意区域所必经的区间；所述第二区间为清洁设备从基站移动到任意区域非必经的区间；
确定包括所述第一区间和所述第二区间的所述清扫区间集；所述第二区间的清洁次序优先于所述第一区间的清洁次序。
这里，对待清扫区域进行划分，可以根据基站位置和遮挡物的位置来实现；所述遮挡物可以为墙体、柜子、床等占据地面面积较大的物体。
应用时，对于方形区域，可以根据第一遮挡面、第二遮挡面、第三遮挡面(遮挡面即为上述遮挡物的某一面)进行划分，例如，图2(a)所示的场景下，可以划分为两个区间；区间A1的清洁次序优先于区间B1的清洁次序。
对于三角形区域，可以根据第一遮挡面、第二遮挡面进行划分，例如，图2(b)所示的场景下，可以划分为两个区间；区间A2的清洁次序优先于区间B2的清洁次序。
对于不规则区域，可以根据一定的面积大小(该面积大小可以预设或者可以是随机，但至少大于一定阈值，以避免过于多次划分区间所导致的 计算量过大)进行划分，例如，图2(c)所示的场景下，可以划分为至少两个区间；区间A3的清洁次序优先于区间B3的清洁次序。
对于划分后的区间，还可以进一步划分，一般可以是对更靠近基站的清扫区间(清洁次序相对低的清扫区间)进一步划分。
例如，对于图2(a)所示场景，将划分后的区间(记做区间A1)作为遮挡物，进一步根据三面遮挡面划分另一区间(即划分区间B1)，也可以划分为两个区间，即图3(a)所示的区间B1’、区别B1”，区间B1’的清洁次序优于区别B1”的清洁次序。
对于图2(b)所示场景，将划分后的区间(记做区间A2)作为遮挡物，进一步根据遮挡面划分另一区间(即划分区间B2)，也可以划分为两个区间，即图3(b)所示的区间B2’、区别B2”；区间B2’的清洁次序优于区别B2”的清洁次序。
对于图2(c)所示场景，将划分后的区间(记做区间A3)作为遮挡物，进一步根据遮挡面划分另一区间(即划分区间B3)，也可以划分为两个区间，即图3(c)所示的区间B3’、区别B3”；区间B3’的清洁次序优于区别B3”的清洁次序。
在一些实施例中，所述待清扫区域至少包括：第一未清扫区域；
所述根据所述待清扫区域，确定清扫区间集，包括：
将所述第一未清扫区域划分为第三区间和第四区间；所述第三区间表征清洁设备从基站移动到第一其他未清扫区域所必经的区间；所述第四区间为清洁设备从基站移动到第一其他未清扫区域非必经的区间；所述第一其他未清扫区域为所述待清扫区域中除所述第一未清扫区域外的其他区域；
确定与所述第一未清扫区域相邻的第二未清扫区域，将所述第二未清扫区域划分为第五区间和第六区间；所述第五区间表征清洁设备从基站移 动到第二其他未清扫区域所必经的区间；所述第六区间为清洁设备从基站移动到第二其他未清扫区域非必经的区间；所述第二其他未清扫区域为所述待清扫区域中除所述第一未清扫区域、第二未清扫区域外的其他区域；
确定与所述第二未清扫区域相邻的第三未清扫区域，对所述第三未清扫区域的区间进行划分，直至将每个其他未清扫区域划分得到各区间；
根据所述第一未清扫区域对应的第三区间和第四区间、所述第二未清扫区域对应的第五区间和第六区间、及其他未清扫区域对应的区间，确定所述清扫区间集。
这里所述待清扫区域至少包括：第一未清扫区域；还可以包括：第二未清扫区域、第三未清扫区域、其他未清扫区域。通过上述步骤对上述相应未清扫区域依次进行划分。
其中，非必经的区间为清洁设备回基站时不会经过的区域；
必经的区间为清洁设备回基站时会经过的区域；
必经的区间与下一个未清洁区域有共同无遮挡边界。
这里，上述方法可以是边清洁并对区域进行划分，而对于非必经的区间可以先进行清洁，清洁后作为遮挡边界，不会再进入。
例如，第一未清扫区域划分为第三区间和第四区间，所述第四区间为清洁设备从基站移动到第一其他未清扫区域非必经的区间，则该第四区间的清洁次序为1，第三区间的清洁次序可以为最后；
所述第一未清扫区域相邻的第二未清扫区域划分为第五区间和第六区间，所述第六区间为清洁设备从基站移动到第二其他未清扫区域非必经的区间，则该第六区间的清洁次序为2，第三区间的清洁次序可以为倒数第二；
然后是，第二未清扫区域相邻的第三未清扫区间，按照上述第二未清扫区域的划分方式划分区间并确定清洁次序，依次类推，将待清扫区域划分并按照清洁次序完成清扫。
结合图5来说，图5为本申请实施例提供的一种待清洁区域划分方式的示意图；如图5所示，依次划分后得到区间1、区间2……区间8。图中的机器为清洁设备，如扫地机器人。
实际应用时，清洁设备可以预先获取待清扫区域的地图，依据待清扫区域的地图进行划分得到清扫区间集。
基于此，在一些实施例中，所述按照每个所述清扫区间对应的清洁次序，依次清扫每个所述清扫区间，包括：
获取待清扫区域的地图；所述待清扫区域的地图至少包括：基站；
根据所述待清扫区域的地图，对所述待清扫区域进行划分，得到至少一个待清扫区间；
确定从所述基站到每个所述待清扫区间的清扫行径；
根据所述至少一个待清扫区间和每个所述待清扫区间对应的清扫行径，确定每个所述待清扫区间对应的非必经区间；
基于每个所述待清扫区间对应的非必经区间，对所述至少一个待清扫区间进行清洁次序的排序，得到所述清扫区间集。
这里，获取方式可以预先在相应区域内行走一次后绘制得到，或者，清洁设备可以与用户持有的终端连接，用户通过终端绘制待清扫区域的地图，并将待清扫区域的地图发送给清洁设备。
举例来说，根据遮挡面划分得到四个区间，分别记做区间1、区间2、区间3、区间4；
清洁设备从基站到达区间1，需经过区间2、区间3、区间4；
清洁设备从基站到达区间2，需经过区间3、区间4；
清洁设备从基站到达区间3，需经过区间4；
如此，可以确定区间1的清洁次序优先于区间2、区间3、区间4的清洁次序、区间2的清洁次序优先于区间3、区间4的清洁次序；区间3的清 洁次序优先于区间4的清洁次序；
进而，确定的清扫区间集，包括：区间1、区间2、区间3、区间4；且清洁次序从前到后依次为：区间1、区间2、区间3、区间4。
所述清洁设备可以具有处理模块、摄像头、定位模块等，配置为执行上述步骤。例如，摄像头配置为获取环境信息，处理模块配置为划分区间并执行清洁操作；定位模块配置为确定清洁设备所在位置。以上对处理模块、摄像头、定位模块的功能划分仅一种示例，而不是对具体功能模块的划分的限定，实际应用时可以根据需要设定不同的模块，以实现上述方法即可。
图4为本申请实施例提供的另一种清洁方法的流程示意图；如图4所示，所述方法可以应用于清洁设备，如扫地机器人；所述方法包括：
步骤401、确定基站位置，将基站所在区域定为第一未清扫区域；
步骤402、清洁设备启动，运行过程中通过传感器获取环境信息；
步骤403、将第一未清扫区域分为非必经区间和必经区间；
其中，非必经区间为清洁设备回基站时不会经过的区域；
必经区间为清洁设备回基站时会经过的区域；
必经区间与下一个未清洁区域有共同无遮挡边界。
例如，图5中，将第一未清扫区域分为非必经区间和必经区间，区间1可以为非必经区间，区间8可以为必经区间。
步骤404、清洁完第一未清洁区域的非必经区间后，将清洁后的非必经区间作为遮挡边界；将第一未清洁区域的剩余未清洁区间继续分割，确定是否还存在非必经区间，直至所有非必经区间清扫完成则进入第二未清洁区域；
例如，图5中，清洁完区间1后，将清洁后的区间1作为遮挡边界；将第一未清洁区域的剩余未清洁区间继续分割，确定是否还存在非必经区 间，不存在，则进入第二未清洁区域。
步骤405、将第二未清洁区域分非必经区间和必经区间；
例如，将第二未清扫区域分为非必经区间和必经区间，区间2可以为非必经区间，其他区间为必经区间。
步骤406、清洁完第二未清洁区域的非必经区间后，将清洁后的非必经区间作为遮挡边界；将第二未清洁区域的剩余未清洁区间继续分割，确定是否还存在非必经区间，直至所有非必经区间清扫完成则进入第三未清洁区域；
例如，图5中，清洁完区间2后，将清洁后的区间2作为遮挡边界；将第二未清洁区域的剩余未清洁区间继续分割，确定是否还存在非必经区间，不存在，则进入第三未清洁区域。
步骤407、按照步骤403和步骤404(或者步骤405和步骤406)的方法，依次逐一划分每个未清洁区域的非必经区间并逐一清洁，直至基站所在必经区间无遮挡边间都变为遮挡边界，此时基站所在未清洁区域即为非必经区间；对最后基站所在非必经区间完成清洁后，清洁设备返回基站。
针对图5所示示例，可以划分得到以下区间：区间1、区间2……区间8；这里为方便表示区间号也代表了清洁次序。也可以划分得到不同清洁次序的清扫区间，如图6所示。
图7为本申请实施例提供的一种清洁装置的结果示意图；所述装置应用于清洁设备，如图7所示，所述装置包括：第一处理模块、第二处理模块和第三处理模块；其中，
所述第一处理模块，配置为获取待清扫区域；
所述第二处理模块，配置为根据所述待清扫区域，确定清扫区间集；所述清扫区间集包括：至少一个清扫区间和所述至少一个清扫区间中每个所述清扫区间对应的清洁次序；每个所述清扫区间的清洁次序与每个所述 清扫区间的清扫行径相关；
所述第三处理模块，配置为按照每个所述清扫区间对应的清洁次序，依次清扫每个所述清扫区间。
在一些实施例中，所述第二处理模块，配置为查询预设的清扫区间表，确定所述待清扫区域对应的清扫区间集；
其中，所述预设的清扫区间表包括：至少一个已保存清扫区域和所述至少一个已保存清扫区域中每个所述已保存清扫区域对应的清扫区间集。
在一些实施例中，所述待清扫区域包括：第一未清扫区域；
所述第二处理模块，配置为将所述第一未清扫区域划分为第一区间和第二区间；所述第一区间表征清洁设备从基站移动到任意区域所必经的区间；所述第二区间为清洁设备从基站移动到任意区域非必经的区间；
确定包括所述第一区间和所述第二区间的所述清扫区间集；所述第二区间的清洁次序优先于所述第一区间的清洁次序。
在一些实施例中，所述待清扫区域至少包括：第一未清扫区域；
所述第二处理模块，配置为将所述第一未清扫区域划分为第三区间和第四区间；所述第三区间表征清洁设备从基站移动到第一其他未清扫区域所必经的区间；所述第二区间为清洁设备从基站移动到第一其他未清扫区域非必经的区间；所述第一其他未清扫区域为所述待清扫区域中除所述第一未清扫区域外的其他区域；
确定与所述第一未清扫区域相邻的第二未清扫区域，将所述第二未清扫区域划分为第五区间和第六区间；所述第五区间表征清洁设备从基站移动到第二其他未清扫区域所必经的区间；所述第六区间为清洁设备从基站移动到第二其他未清扫区域非必经的区间；所述第二其他未清扫区域为所述待清扫区域中除所述第一未清扫区域、第二未清扫区域外的其他区域；
确定与所述第二未清扫区域相邻的第三未清扫区域，对所述第三未清 扫区域的区间进行划分，直至将每个其他未清扫区域划分得到各区间；
根据所述第一未清扫区域对应的第三区间和第四区间、所述第二未清扫区域对应的第五区间和第六区间、及其他未清扫区域对应的区间，确定所述清扫区间集。
在一些实施例中，所述第二处理模块，配置为获取待清扫区域的地图；所述待清扫区域的地图至少包括：基站；
根据所述待清扫区域的地图，对所述待清扫区域进行划分，得到至少一个待清扫区间；
确定从所述基站到每个所述待清扫区间的清扫行径；
根据所述至少一个待清扫区间和每个所述待清扫区间对应的清扫行径，确定每个所述待清扫区间对应的非必经区间；
基于每个所述待清扫区间对应的非必经区间，对所述至少一个待清扫区间进行清洁次序的排序，得到所述清扫区间集。
在一些实施例中，所述第三处理模块，配置为清洁过程中，确定自身需要返回基站时，记录当前所清洁的清扫区间，作为目标清扫区间；
充电完成后，返回所述目标清扫区间，继续按照清洁次序进行清洁。
需要说明的是：上述实施例提供的清洁装置在实现相应清洁方法时，仅以上述各程序模块的划分进行举例说明，实际应用中，可以根据需要而将上述处理分配由不同的程序模块完成，即将服务器的内部结构划分成不同的程序模块，以完成以上描述的全部或者部分处理。另外，上述实施例提供的装置与相应方法的实施例属于同一构思，其具体实现过程详见方法实施例，这里不再赘述。
图8为本申请实施例提供的另一种清洁装置的结果示意图；如图8所示，所述装置80应用于服务器，包括：处理器801和配置为存储能够在所述处理器上运行的计算机程序的存储器802；其中，所述处理器801配置为 运行所述计算机程序时，执行：获取待清扫区域；根据所述待清扫区域，确定清扫区间集；所述清扫区间集包括：至少一个清扫区间和所述至少一个清扫区间中每个所述清扫区间对应的清洁次序；每个所述清扫区间的清洁次序与每个所述清扫区间的清扫行径相关；按照每个所述清扫区间对应的清洁次序，依次清扫每个所述清扫区间。
在一实施例中，所述处理器801还配置为运行所述计算机程序时，执行：查询预设的清扫区间表，确定所述待清扫区域对应的清扫区间集；
其中，所述预设的清扫区间表包括：至少一个已保存清扫区域和所述至少一个已保存清扫区域中每个所述已保存清扫区域对应的清扫区间集。
在一实施例中，所述处理器801还配置为运行所述计算机程序时，执行：将所述第一未清扫区域划分为第一区间和第二区间；所述第一区间表征清洁设备从基站移动到任意区域所必经的区间；所述第二区间为清洁设备从基站移动到任意区域非必经的区间；
确定包括所述第一区间和所述第二区间的所述清扫区间集；所述第二区间的清洁次序优先于所述第一区间的清洁次序。
在一实施例中，所述处理器801还配置为运行所述计算机程序时，执行：将所述第一未清扫区域划分为第三区间和第四区间；所述第三区间表征清洁设备从基站移动到第一其他未清扫区域所必经的区间；所述第二区间为清洁设备从基站移动到第一其他未清扫区域非必经的区间；所述第一其他未清扫区域为所述待清扫区域中除所述第一未清扫区域外的其他区域；
确定与所述第一未清扫区域相邻的第二未清扫区域，将所述第二未清扫区域划分为第五区间和第六区间；所述第五区间表征清洁设备从基站移动到第二其他未清扫区域所必经的区间；所述第六区间为清洁设备从基站移动到第二其他未清扫区域非必经的区间；所述第二其他未清扫区域为所 述待清扫区域中除所述第一未清扫区域、第二未清扫区域外的其他区域；
确定与所述第二未清扫区域相邻的第三未清扫区域，对所述第三未清扫区域的区间进行划分，直至将每个其他未清扫区域划分得到各区间；
根据所述第一未清扫区域对应的第三区间和第四区间、所述第二未清扫区域对应的第五区间和第六区间、及其他未清扫区域对应的区间，确定所述清扫区间集。
在一实施例中，所述处理器801还配置为运行所述计算机程序时，执行：获取待清扫区域的地图；所述待清扫区域的地图至少包括：基站；
根据所述待清扫区域的地图，对所述待清扫区域进行划分，得到至少一个待清扫区间；
确定从所述基站到每个所述待清扫区间的清扫行径；
根据所述至少一个待清扫区间和每个所述待清扫区间对应的清扫行径，确定每个所述待清扫区间对应的非必经区间；
基于每个所述待清扫区间对应的非必经区间，对所述至少一个待清扫区间进行清洁次序的排序，得到所述清扫区间集。
在一实施例中，所述处理器801还配置为运行所述计算机程序时，执行：清洁过程中，确定自身需要返回基站时，记录当前所清洁的清扫区间，作为目标清扫区间；
充电完成后，返回所述目标清扫区间，继续按照清洁次序进行清洁。
需要说明的是：上述实施例提供的清洁装置与清洁方法实施例属于同一构思，其具体实现过程详见方法实施例，这里不再赘述。
实际应用时，所述装置80还可以包括：至少一个网络接口803。装置80中的各个组件通过总线系统804耦合在一起。可理解，总线系统804用于实现这些组件之间的连接通信。总线系统804除包括数据总线之外，还包括电源总线、控制总线和状态信号总线。但是为了清楚说明起见，在图8 中将各种总线都标为总线系统804。其中，所述处理器801的个数可以为至少一个。网络接口803用于装置80与其他设备之间有线或无线方式的通信。
本申请实施例中的存储器802配置为存储各种类型的数据以支持装置80的操作。
上述本申请实施例揭示的方法可以应用于处理器801中，或者由处理器801实现。处理器801可能是一种集成电路芯片，具有信号的处理能力。在实现过程中，上述方法的各步骤可以通过处理器801中的硬件的集成逻辑电路或者软件形式的指令完成。上述的处理器801可以是通用处理器、数字信号处理器(DSP，DiGital Signal Processor)，或者其他可编程逻辑器件、分立门或者晶体管逻辑器件、分立硬件组件等。处理器801可以实现或者执行本申请实施例中的公开的各方法、步骤及逻辑框图。通用处理器可以是微处理器或者任何常规的处理器等。结合本申请实施例所公开的方法的步骤，可以直接体现为硬件译码处理器执行完成，或者用译码处理器中的硬件及软件模块组合执行完成。软件模块可以位于存储介质中，该存储介质位于存储器802，处理器801读取存储器802中的信息，结合其硬件完成前述方法的步骤。
在示例性实施例中，装置80可以被一个或多个应用专用集成电路(ASIC，Application Specific Integrated Circuit)、DSP、可编程逻辑器件(PLD，Programmable Logic Device)、复杂可编程逻辑器件(CPLD，Complex Programmable Logic Device)、现场可编程门阵列(FPGA，Field-Programmable Gate Array)、通用处理器、控制器、微控制器(MCU，Micro Controller Unit)、微处理器(Microprocessor)、或其他电子元件实现，配置为执行前述方法。
本申请实施例还提供了一种计算机可读存储介质，其上存储有计算机程序，所述计算机程序被处理器运行时，执行：获取待清扫区域；根据所述待清扫区域，确定清扫区间集；所述清扫区间集包括：至少一个清扫区 间和所述至少一个清扫区间中每个所述清扫区间对应的清洁次序；每个所述清扫区间的清洁次序与每个所述清扫区间的清扫行径相关；按照每个所述清扫区间对应的清洁次序，依次清扫每个所述清扫区间。
在一实施例中，所述计算机程序被处理器运行时，执行：查询预设的清扫区间表，确定所述待清扫区域对应的清扫区间集；
其中，所述预设的清扫区间表包括：至少一个已保存清扫区域和所述至少一个已保存清扫区域中每个所述已保存清扫区域对应的清扫区间集。
在一实施例中，所述计算机程序被处理器运行时，执行：将所述第一未清扫区域划分为第一区间和第二区间；所述第一区间表征清洁设备从基站移动到任意区域所必经的区间；所述第二区间为清洁设备从基站移动到任意区域非必经的区间；
确定包括所述第一区间和所述第二区间的所述清扫区间集；所述第二区间的清洁次序优先于所述第一区间的清洁次序。
在一实施例中，所述计算机程序被处理器运行时，执行：将所述第一未清扫区域划分为第三区间和第四区间；所述第三区间表征清洁设备从基站移动到第一其他未清扫区域所必经的区间；所述第二区间为清洁设备从基站移动到第一其他未清扫区域非必经的区间；所述第一其他未清扫区域为所述待清扫区域中除所述第一未清扫区域外的其他区域；
确定与所述第一未清扫区域相邻的第二未清扫区域，将所述第二未清扫区域划分为第五区间和第六区间；所述第五区间表征清洁设备从基站移动到第二其他未清扫区域所必经的区间；所述第六区间为清洁设备从基站移动到第二其他未清扫区域非必经的区间；所述第二其他未清扫区域为所述待清扫区域中除所述第一未清扫区域、第二未清扫区域外的其他区域；
确定与所述第二未清扫区域相邻的第三未清扫区域，对所述第三未清扫区域的区间进行划分，直至将每个其他未清扫区域划分得到各区间；
根据所述第一未清扫区域对应的第三区间和第四区间、所述第二未清扫区域对应的第五区间和第六区间、及其他未清扫区域对应的区间，确定所述清扫区间集。
在一实施例中，所述计算机程序被处理器运行时，执行：获取待清扫区域的地图；所述待清扫区域的地图至少包括：基站；
根据所述待清扫区域的地图，对所述待清扫区域进行划分，得到至少一个待清扫区间；
确定从所述基站到每个所述待清扫区间的清扫行径；
根据所述至少一个待清扫区间和每个所述待清扫区间对应的清扫行径，确定每个所述待清扫区间对应的非必经区间；
基于每个所述待清扫区间对应的非必经区间，对所述至少一个待清扫区间进行清洁次序的排序，得到所述清扫区间集。
在一实施例中，所述计算机程序被处理器运行时，执行：清洁过程中，确定自身需要返回基站时，记录当前所清洁的清扫区间，作为目标清扫区间；
充电完成后，返回所述目标清扫区间，继续按照清洁次序进行清洁。
在本申请所提供的几个实施例中，应该理解到，所揭露的装置和方法，可以通过其它的方式实现。以上所描述的设备实施例仅仅是示意性的，例如，所述单元的划分，仅仅为一种逻辑功能划分，实际实现时可以有另外的划分方式，如：多个单元或组件可以结合，或可以集成到另一个系统，或一些特征可以忽略，或不执行。另外，所显示或讨论的各组成部分相互之间的耦合、或直接耦合、或通信连接可以是通过一些接口，设备或单元的间接耦合或通信连接，可以是电性的、机械的或其它形式的。
上述作为分离部件说明的单元可以是、或也可以不是物理上分开的，作为单元显示的部件可以是、或也可以不是物理单元，即可以位于一个地 方，也可以分布到多个网络单元上；可以根据实际的需要选择其中的部分或全部单元来实现本实施例方案的目的。
另外，在本申请各实施例中的各功能单元可以全部集成在一个处理单元中，也可以是各单元分别单独作为一个单元，也可以两个或两个以上单元集成在一个单元中；上述集成的单元既可以采用硬件的形式实现，也可以采用硬件加软件功能单元的形式实现。
本领域普通技术人员可以理解：实现上述方法实施例的全部或部分步骤可以通过程序指令相关的硬件来完成，前述的程序可以存储于一计算机可读取存储介质中，该程序在执行时，执行包括上述方法实施例的步骤；而前述的存储介质包括：移动存储设备、只读存储器(ROM，Read-Only Memory)、随机存取存储器(RAM，Random Access Memory)、磁碟或者光盘等各种可以存储程序代码的介质。
或者，本申请上述集成的单元如果以软件功能模块的形式实现并作为独立的产品销售或使用时，也可以存储在一个计算机可读取存储介质中。基于这样的理解，本申请实施例的技术方案本质上或者说对现有技术做出贡献的部分可以以软件产品的形式体现出来，该计算机软件产品存储在一个存储介质中，包括若干指令用以使得一台计算机设备(可以是个人计算机、服务器、或者网络设备等)执行本申请各个实施例所述方法的全部或部分。而前述的存储介质包括：移动存储设备、ROM、RAM、磁碟或者光盘等各种可以存储程序代码的介质。
以上所述，仅为本发明的具体实施方式，但本发明的保护范围并不局限于此，任何熟悉本技术领域的技术人员在本发明揭露的技术范围内，可轻易想到变化或替换，都应涵盖在本发明的保护范围之内。因此，本发明的保护范围应以所述权利要求的保护范围为准。

Claims (14)

  1. 一种清洁方法，应用于清洁设备，所述方法包括：
    获取待清扫区域；
    根据所述待清扫区域，确定清扫区间集；所述清扫区间集包括：至少一个清扫区间和所述至少一个清扫区间中每个所述清扫区间对应的清洁次序；每个所述清扫区间的清洁次序与每个所述清扫区间的清扫行径相关；
    按照每个所述清扫区间对应的清洁次序，依次清扫每个所述清扫区间。
  2. 根据权利要求1所述的方法，其中，所述根据所述待清扫区域，确定清扫区间集，包括：
    查询预设的清扫区间表，确定所述待清扫区域对应的清扫区间集；
    其中，所述预设的清扫区间表包括：至少一个已保存清扫区域和所述至少一个已保存清扫区域中每个所述已保存清扫区域对应的清扫区间集。
  3. 根据权利要求1所述的方法，其中，所述待清扫区域包括：第一未清扫区域；
    所述根据所述待清扫区域，确定清扫区间集，包括：
    将所述第一未清扫区域划分为第一区间和第二区间；所述第一区间表征清洁设备从基站移动到任意区域所必经的区间；所述第二区间为清洁设备从基站移动到任意区域非必经的区间；
    确定包括所述第一区间和所述第二区间的所述清扫区间集；所述第二区间的清洁次序优先于所述第一区间的清洁次序。
  4. 根据权利要求1所述的方法，其中，所述待清扫区域至少包括：第一未清扫区域；
    所述根据所述待清扫区域，确定清扫区间集，包括：
    将所述第一未清扫区域划分为第三区间和第四区间；所述第三区间表征清洁设备从基站移动到第一其他未清扫区域所必经的区间；所述第四区间 为清洁设备从基站移动到第一其他未清扫区域非必经的区间；所述第一其他未清扫区域为所述待清扫区域中除所述第一未清扫区域外的其他区域；
    确定与所述第一未清扫区域相邻的第二未清扫区域，将所述第二未清扫区域划分为第五区间和第六区间；所述第五区间表征清洁设备从基站移动到第二其他未清扫区域所必经的区间；所述第六区间为清洁设备从基站移动到第二其他未清扫区域非必经的区间；所述第二其他未清扫区域为所述待清扫区域中除所述第一未清扫区域、第二未清扫区域外的其他区域；
    确定与所述第二未清扫区域相邻的第三未清扫区域，对所述第三未清扫区域的区间进行划分，直至将每个其他未清扫区域划分得到各区间；
    根据所述第一未清扫区域对应的第三区间和第四区间、所述第二未清扫区域对应的第五区间和第六区间、及其他未清扫区域对应的区间，确定所述清扫区间集。
  5. 根据权利要求1所述的方法，其中，所述根据所述待清扫区域，确定清扫区间集，包括：
    获取待清扫区域的地图；所述待清扫区域的地图至少包括：基站；
    根据所述待清扫区域的地图，对所述待清扫区域进行划分，得到至少一个待清扫区间；
    确定从所述基站到每个所述待清扫区间的清扫行径；
    根据所述至少一个待清扫区间和每个所述待清扫区间对应的清扫行径，确定每个所述待清扫区间对应的非必经区间；
    基于每个所述待清扫区间对应的非必经区间，对所述至少一个待清扫区间进行清洁次序的排序，得到所述清扫区间集。
  6. 根据权利要求1所述的方法，其中，所述按照每个所述清扫区间对应的清洁次序，依次清扫每个所述清扫区间，包括：
    清洁过程中，确定自身需要返回基站时，记录当前所清洁的清扫区间， 作为目标清扫区间；
    充电完成后，返回所述目标清扫区间，继续按照清洁次序进行清洁。
  7. 一种清洁装置，应用于清洁设备，所述装置包括：第一处理模块、第二处理模块和第三处理模块；其中，
    所述第一处理模块，配置为获取待清扫区域；
    所述第二处理模块，配置为根据所述待清扫区域，确定清扫区间集；所述清扫区间集包括：至少一个清扫区间和所述至少一个清扫区间中每个所述清扫区间对应的清洁次序；每个所述清扫区间的清洁次序与每个所述清扫区间的清扫行径相关；
    所述第三处理模块，配置为按照每个所述清扫区间对应的清洁次序，依次清扫每个所述清扫区间。
  8. 根据权利要求7所述的装置，其中，所述第二处理模块，配置为查询预设的清扫区间表，确定所述待清扫区域对应的清扫区间集；
    其中，所述预设的清扫区间表包括：至少一个已保存清扫区域和所述至少一个已保存清扫区域中每个所述已保存清扫区域对应的清扫区间集。
  9. 根据权利要求7所述的装置，其中，所述待清扫区域包括：第一未清扫区域；
    所述第二处理模块，配置为将所述第一未清扫区域划分为第一区间和第二区间；所述第一区间表征清洁设备从基站移动到任意区域所必经的区间；所述第二区间为清洁设备从基站移动到任意区域非必经的区间；
    确定包括所述第一区间和所述第二区间的所述清扫区间集；所述第二区间的清洁次序优先于所述第一区间的清洁次序。
  10. 根据权利要求7所述的装置，其中，所述待清扫区域至少包括：第一未清扫区域；
    所述第二处理模块，配置为将所述第一未清扫区域划分为第三区间和第 四区间；所述第三区间表征清洁设备从基站移动到第一其他未清扫区域所必经的区间；所述第四区间为清洁设备从基站移动到第一其他未清扫区域非必经的区间；所述第一其他未清扫区域为所述待清扫区域中除所述第一未清扫区域外的其他区域；
    确定与所述第一未清扫区域相邻的第二未清扫区域，将所述第二未清扫区域划分为第五区间和第六区间；所述第五区间表征清洁设备从基站移动到第二其他未清扫区域所必经的区间；所述第六区间为清洁设备从基站移动到第二其他未清扫区域非必经的区间；所述第二其他未清扫区域为所述待清扫区域中除所述第一未清扫区域、第二未清扫区域外的其他区域；
    确定与所述第二未清扫区域相邻的第三未清扫区域，对所述第三未清扫区域的区间进行划分，直至将每个其他未清扫区域划分得到各区间；
    根据所述第一未清扫区域对应的第三区间和第四区间、所述第二未清扫区域对应的第五区间和第六区间、及其他未清扫区域对应的区间，确定所述清扫区间集。
  11. 根据权利要求7所述的装置，其中，所述第二处理模块，配置为获取待清扫区域的地图；所述待清扫区域的地图至少包括：基站；
    根据所述待清扫区域的地图，对所述待清扫区域进行划分，得到至少一个待清扫区间；
    确定从所述基站到每个所述待清扫区间的清扫行径；
    根据所述至少一个待清扫区间和每个所述待清扫区间对应的清扫行径，确定每个所述待清扫区间对应的非必经区间；
    基于每个所述待清扫区间对应的非必经区间，对所述至少一个待清扫区间进行清洁次序的排序，得到所述清扫区间集。
  12. 根据权利要求7所述的装置，其中，所述第三处理模块，配置为清洁过程中，确定自身需要返回基站时，记录当前所清洁的清扫区间，作为 目标清扫区间；
    充电完成后，返回所述目标清扫区间，继续按照清洁次序进行清洁。
  13. 一种清洁装置，所述装置包括：处理器和配置为存储能够在处理器上运行的计算机程序的存储器；其中，
    所述处理器配置为运行所述计算机程序时，执行权利要求1至6任一项所述方法的步骤。
  14. 一种计算机可读存储介质，其上存储有计算机程序，所述计算机程序被处理器执行时实现权利要求1至6任一项所述方法的步骤。
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