WO2023197839A1 - 清洁设备的控制方法、装置及计算机可读存储介质 - Google Patents

清洁设备的控制方法、装置及计算机可读存储介质 Download PDF

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Publication number
WO2023197839A1
WO2023197839A1 PCT/CN2023/083094 CN2023083094W WO2023197839A1 WO 2023197839 A1 WO2023197839 A1 WO 2023197839A1 CN 2023083094 W CN2023083094 W CN 2023083094W WO 2023197839 A1 WO2023197839 A1 WO 2023197839A1
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WIPO (PCT)
Prior art keywords
area
cleaning
cleaned
information
target
Prior art date
Legal status (The legal status 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 status listed.)
Ceased
Application number
PCT/CN2023/083094
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English (en)
French (fr)
Inventor
张聪
盛蕴霞
高斯
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Dreame Innovation Technology Suzhou Co Ltd
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Dreame Innovation Technology Suzhou Co Ltd
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Filing date
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Publication of WO2023197839A1 publication Critical patent/WO2023197839A1/zh
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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Classifications

    • 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
    • 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
    • A47L11/40—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
    • 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
    • A47L11/4002—Installations of electric equipment
    • 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
    • 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
    • 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

Definitions

  • the present invention relates to the field of artificial intelligence, and specifically, to a control method and device for cleaning equipment and a computer-readable storage medium.
  • Embodiments of the present invention provide a control method, device and computer-readable storage medium for cleaning equipment, so as to at least solve the technical problem of low cleaning coverage of cleaning equipment in the prior art.
  • a method for controlling a cleaning equipment includes: obtaining the cleaning results of the cleaning equipment on the target cleaning area, and obtaining regional cleaning information; obtaining the cleaning results of the cleaning equipment on the target cleaning area during the cleaning process.
  • the detection results of the detection are performed to obtain the area detection information; based on the area cleaning information and the area detection information, the area to be cleaned in the target cleaning area is determined; the cleaning equipment is controlled to clean the area to be cleaned.
  • control method of the cleaning equipment also includes: determining a regional cleaning map based on the regional cleaning information; determining a regional detection map based on the regional detection information; and comparing the regional cleaning map and the regional detection map to determine the area to be cleaned.
  • control method of the cleaning equipment further includes: determining the first edge information corresponding to the target cleaning area according to the area cleaning information; determining the target edge based on the first edge information; and controlling the cleaning equipment to clean the target area along the target edge.
  • the target cleaning area is detected to obtain the detection result; the area detection information is determined based on the detection result, where the area detection information is used to determine the second edge information corresponding to the target cleaning area.
  • control method of the cleaning equipment further includes: comparing the first edge information and the second edge information to determine the area to be cleaned.
  • control method of the cleaning equipment also includes: when the area to be cleaned meets the preset conditions, obtaining the current location of the cleaning equipment and the target location of the area to be cleaned; determining whether there is an area based on the current location and the target location. The target path to reach the area to be cleaned; if the target path exists, control the cleaning equipment to clean the area to be cleaned along the target path.
  • control method of the cleaning equipment further includes: calculating the area of the area to be cleaned; and when the area of the area to be cleaned is greater than the first preset threshold, determining that the area to be cleaned satisfies the preset condition.
  • control method of the cleaning equipment also includes: calculating the ratio of the area of the area to be cleaned to the area of the area cleaning map or the area of the area detection map; when the ratio is greater than the second preset threshold, determining that the area to be cleaned satisfies the preset threshold. Set conditions.
  • control method of the cleaning equipment also includes: determining the number of areas of at least one sub-area included in the area to be cleaned; calculating the area of each sub-area; and filtering out the area to be cleaned from the area to be cleaned based on the number of areas and the area of each sub-area. Clean sub-area.
  • control method of the cleaning equipment also includes: updating the area cleaning information based on the cleaning results of the area to be cleaned.
  • a control device for cleaning equipment including: a first acquisition module, used to obtain the cleaning results of the cleaning equipment cleaning the target cleaning area, and obtain the area cleaning information; second The acquisition module is used to obtain the detection results of the cleaning equipment detecting the target cleaning area during the cleaning process, and obtain the area detection information; the determination module is used to determine the area to be cleaned in the target cleaning area based on the area cleaning information and the area detection information. ;Cleaning module, used to control the cleaning equipment to clean the area to be cleaned.
  • a computer-readable storage medium is also provided.
  • a computer program is stored in the computer-readable storage medium, wherein the computer program is configured to execute the above-mentioned control method of a cleaning device when running.
  • an electronic device includes one or more processors; a memory for storing one or more programs.
  • processors When one or more programs are processed by one or more
  • processors When the processor executes, one or more processors are configured to implement a program for running, wherein the program is configured to execute the above-mentioned control method of the cleaning device when running.
  • the area to be cleaned is determined based on the area cleaning information and the area detection information.
  • the cleaning results of the target cleaning area by the cleaning equipment are obtained to obtain the area cleaning information, and then the area cleaning information is obtained by obtaining the cleaning results of the cleaning equipment.
  • the detection results of the target cleaning area are detected, and the area is obtained. Detection information, thereby determining the area to be cleaned in the target cleaning area based on the area cleaning information and area detection information, and controlling the cleaning equipment to clean the area to be cleaned.
  • the regional cleaning information and regional detection information are obtained by processing the data information of the cleaning equipment during the cleaning process and the detection process, which can ensure the accuracy of the information and provide an accurate data basis for the subsequent establishment of maps; through Combining regional cleaning information and regional detection information can avoid missing the area to be cleaned and causing incomplete cleaning; after determining the area to be cleaned, the cleaning equipment is controlled to clean the area to be cleaned, achieving the goal of cleaning the target cleaning area. , and then perform additional cleaning on the area to be cleaned, thereby achieving the effect of cleaning all the areas to be cleaned.
  • Figure 1 is a flow chart of an optional control method for cleaning equipment according to an embodiment of the present invention
  • Figure 2 is a schematic diagram of an optional control device of cleaning equipment according to an embodiment of the present invention.
  • an embodiment of a method for controlling a cleaning device is provided. It should be noted that the steps shown in the flow chart of the accompanying drawings can be executed in a computer system such as a set of computer executable instructions, and ,Although a logical sequence is shown in the flowcharts, in some cases, the steps shown or described may be performed in a sequence different from that herein.
  • Figure 1 is a flow chart of an optional cleaning equipment control method according to an embodiment of the present invention. As shown in Figure 1, the method includes the following steps:
  • Step S101 Obtain the cleaning results of the target cleaning area by the cleaning equipment, and obtain area cleaning information.
  • step S101 when the cleaning equipment is working, it first determines the area to be cleaned as the target cleaning area. For example, when cleaning the entire house, the entire house is used as the target cleaning area. In addition, when cleaning the target cleaning area, the cleaning equipment will process the data information during the cleaning process to obtain a conclusion about which areas in the target cleaning area have been cleaned, and then obtain regional cleaning information.
  • the regional cleaning information can be obtained by determining the target cleaning area and processing the data information during the cleaning process.
  • the data information can be information on how the cleaning equipment avoids obstacles encountered during the cleaning process.
  • the cleaning map formed based on avoidance information provides an accurate data basis for the subsequent establishment of regional cleaning maps.
  • Step S102 Obtain detection results of the target cleaning area detected by the cleaning equipment during the cleaning process, and obtain area detection information.
  • step S102 the cleaning equipment detects the location of obstacles in the target cleaning area and processes the location information of the obstacles to obtain a conclusion on which areas in the target cleaning area there are obstacles, and then obtains the area detection information.
  • the above-mentioned detection may be carried out by using detection equipment installed on the cleaning equipment such as an infrared ranging device or a laser radar.
  • the area detection information is obtained by processing the location information of the obstacles, which can be the real-time scanning information of the location of the obstacles by the detection equipment installed on the cleaning equipment during the cleaning process, that is, the detection information can be scanned along with the Changes occur when the angle of the device changes.
  • the detection equipment can not only scan uncleaned areas, but also continue to scan areas that have been cleaned, thereby realizing real-time updates of detection information, making the obtained regional detection information more comprehensive and timely, thereby ensuring that the cleaning equipment is in Changes in the position of obstacles during the cleaning process will be updated in real time to the regional detection information, providing an accurate data basis for subsequent establishment of regional detection maps.
  • Step S103 Determine the area to be cleaned in the target cleaning area based on the area cleaning information and area detection information.
  • the area to be cleaned can be determined from the target cleaning area based on the area cleaning information and the area detection information.
  • the area to be cleaned can be an area where obstacles exist when the cleaning equipment is cleaning and the obstacles disappear when detecting. area. For example, when cleaning a house, there is a chair. After the cleaning equipment moves to the position of the chair, it will avoid the chair, thereby determining that there is an obstacle in the area cleaning information. During the real-time detection process of the detection equipment, due to the person subsequently moving the chair and causing the chair to disappear, the detection equipment will not detect the chair, thus determining that there are no obstacles at the location in the area detection information, resulting in area cleaning information and area detection information.
  • the area to which this location belongs can be used as the area to be cleaned.
  • the area to be cleaned may also be an area where the cleaning equipment has a segmentation boundary when cleaning, but the segmentation boundary disappears when detection is performed.
  • a closed door can divide the cleaning area.
  • the cleaning equipment is cleaning, the door is closed. At this time, the cleaning equipment cannot clean the area inside the door.
  • the separation boundary disappears because people open the door. , at this time, the area inside the door can be used as the area to be cleaned.
  • Step S104 control the cleaning equipment to clean the area to be cleaned.
  • step S104 when the cleaning equipment cleans the area to be cleaned, there are many cleaning methods for the cleaning equipment. For example, a bow-shaped cleaning method or a back-shaped cleaning method can be used.
  • the area to be cleaned is determined based on the area cleaning information and the area detection information.
  • the target cleaning area is cleaned by obtaining the cleaning equipment.
  • the cleaning results are used to obtain the area cleaning information, and then the area detection information is obtained by obtaining the detection results of the cleaning equipment detecting the target cleaning area during the cleaning process, so that based on the area cleaning information and area detection information, the areas to be cleaned in the target cleaning area are determined. Clean the area and control the cleaning equipment to clean the area to be cleaned.
  • the regional cleaning information and regional detection information are obtained by processing the data information of the cleaning equipment during the cleaning process and the detection process, which can ensure the accuracy of the information and provide a basis for subsequent map creation. Accurate data basis; by combining regional cleaning information and regional detection information, it is possible to avoid missing the area to be cleaned and causing insufficient cleaning; after determining the area to be cleaned, the cleaning equipment is controlled to clean the area to be cleaned, achieving After cleaning the target cleaning area, additional cleaning is performed on the area to be cleaned, thereby achieving the effect of cleaning all the cleaned areas.
  • the area cleaning map is determined based on the area cleaning information, and based on the area detection information, Determine the area detection map, and then compare the area cleaning map and the area detection map to determine the area to be cleaned.
  • lidar is used for detection.
  • Area cleaning map can be the cleaning process
  • the memory map established based on where obstacles have been sensed can also be called a coverage map;
  • the area detection map can be a map drawn based on the detection information sensed by real-time lidar after the cleaning equipment has cleaned a certain area.
  • an obstacle map which is a map redrawn after cleaning.
  • the area where the area detection information is increased relative to the area cleaning information can be compared, and the area is determined as the area to be cleaned.
  • the area cleaning map and the area detection map are compared, that is, the coverage map and the obstacle map are compared to determine the area to be cleaned, which optionally can also be called a difference area. It should be noted that during the comparison process, there will be situations where there were no obstacles in a certain position before, but obstacles appeared after cleaning, for example, a chair that was moved manually.
  • the position will also be It is regarded as a difference area, but in fact there is no need for supplementary cleaning in this area, which reduces the reliability of determining the difference area. Therefore, during the comparison process in this embodiment, only the areas where the obstacle map increases relative to the coverage map are compared.
  • the above-mentioned map is an electronic map, that is, an electronic map of the real environment where the cleaning equipment is located.
  • the above-mentioned electronic map can be of multiple ranges, for example, a larger range map of the entire house and multiple small range maps of bedrooms, living rooms, etc. that are divided by doors and walls.
  • the above-mentioned electronic map can also be in multiple dimensions, such as a planar two-dimensional top-view map and a three-dimensional three-dimensional surround-view map.
  • the area to be cleaned can be accurately judged, thereby providing an accurate basis for subsequent cleaning work, thereby improving the efficiency of the cleaning equipment.
  • the first step corresponding to the target cleaning area is first determined based on the area cleaning information. edge information, and determine the target edge based on the first edge information, and then control the cleaning equipment to detect the target cleaning area along the target edge to obtain the detection result, and then determine the area detection information based on the detection result, where the area detection information is used to determine the target cleaning
  • the second edge information corresponding to the area is first determined based on the area cleaning information.
  • the edges of the area can also be compared.
  • a zigzag cleaning method is used to clean the area to be cleaned.
  • the edge information may be the edges of the internal area of the map and the edges of the external area of the map. For example, in a "back"-shaped map, the " ⁇ " area inside is the edge of the inner area, and the " ⁇ " area outside is the edge of the outer area.
  • the first edge information may be obtained by the cleaning device when cleaning the target cleaning area.
  • the target edge that needs to be detected is determined through the first edge information, and then after cleaning, the target cleaning area is processed along the target edge. Detection to obtain new edge information, that is, the second edge information.
  • the target cleaning area can be further analyzed in detail, thereby providing a data basis for subsequent comparative analysis.
  • the second edge information that is, the new edge information
  • the first edge information that is, the edge information obtained during cleaning
  • the edge information comparison result For example, when the cleaning equipment is cleaning near a door, the door is closed, and the cleaning equipment cannot clean the area inside the door. Based on this situation, corresponding edge information is generated. When the cleaning equipment performs detection, the door is opened. Compared with the edge information generated during cleaning, the area range represented by the edge information generated at this time is expanded. Through the above comparison, the changed area is regarded as a difference area.
  • the cleaning equipment when the cleaning equipment is cleaning near a door, the following situation will occur: the door is open. At this time, the cleaning equipment can clean the area inside the door and generate corresponding edge information. When detecting , the door is closed, and the edge information generated at this time represents a reduced area compared to the edge information generated during cleaning. Through the above comparison, the changed area will also be regarded as a difference area, but in fact this area has been cleaned, and there is no need to perform supplementary cleaning. Therefore, in the comparison process in this embodiment, only the extended area is compared. The area scope, that is, the reduced area is not counted.
  • the area to be cleaned can be further determined, which can effectively prevent the omission of the area to be cleaned and significantly improve the cleaning coverage and cleaning efficiency.
  • the current position of the cleaning equipment and the location of the area to be cleaned are obtained.
  • the target position is then determined based on the current position and the target position whether there is a target path to the area to be cleaned. If the target path exists, the cleaning equipment is controlled to clean the area to be cleaned along the target path.
  • the preset condition can be a set area or a set proportion.
  • the path search algorithm is used to calculate the path, so as to obtain the conclusion whether there is a path to the area to be cleaned.
  • the cleaning equipment can clean the area to be cleaned along the target path. .
  • the area to be cleaned can be further processed in detail.
  • the movement accuracy of the cleaning equipment can be improved and avoid This eliminates the blind movement of cleaning equipment, thereby improving cleaning efficiency.
  • the area of the area to be cleaned is calculated and compared with the first preset threshold. When the area of the area to be cleaned is greater than the first preset threshold, it is concluded that the area to be cleaned satisfies Presupposed conclusions.
  • the preset condition at least includes a first preset threshold.
  • the first preset threshold represents a threshold value of the area of the area to be cleaned.
  • the area of the area to be cleaned is calculated and the calculation result is compared with the preset area threshold. Comparatively, when the threshold is exceeded, it is concluded that the area to be cleaned meets the preset conditions, and the cleaning equipment can proceed to the next step.
  • the ratio of the area of the area to be cleaned to the area of the area cleaning map or the area of the area detection map is calculated and compared with the second preset threshold. When the ratio is greater than the second preset threshold In the case of , it is determined that the area to be cleaned meets the preset conditions.
  • the preset condition may also include a second preset threshold.
  • the second preset threshold represents a threshold that represents the ratio of the area of the area to be cleaned to the area of the area cleaning map or the area of the area detection map, by calculating the above ratio. , and compare the calculation results with the preset ratio threshold. When the threshold is exceeded, it is concluded that the area to be cleaned meets the preset conditions, and the cleaning equipment can proceed to the next step.
  • the number of sub-areas is determined from the area to be cleaned.
  • the number of areas is at least one, and then the calculation
  • the area of each sub-area, and the sub-areas to be cleaned are filtered out from the area to be cleaned based on the number of areas and the area of each sub-area.
  • the area to be cleaned contains at least one sub-area, and the sub-areas can be areas that are separated from each other in the area to be cleaned.
  • the area obtained by adding up each area blocked by the table in the office is collectively called the area to be cleaned.
  • the sub-area can refer to any one or more areas blocked by the table.
  • the areas of the sub-regions are calculated.
  • the areas corresponding to each sub-region are different. Therefore, the sub-regions in the area to be cleaned need to be filtered.
  • sub-areas with a larger area to be cleaned are filtered out from the area to be cleaned. For example, a sub-area with an area exceeding a specified threshold can be selected as a sub-area to be cleaned, so that according to The positional relationship of the sub-areas to be cleaned generates a cleaning path, further realizing the cleaning process and ensuring the reliability of cleaning.
  • the power consumption of the cleaning equipment is reduced, thereby increasing the cleaning time of the cleaning equipment. .
  • aggregation processing can also be performed based on the positional relationship of different sub-regions, that is, sub-regions that are relatively close (less than a specified distance) are treated as a whole, and then the area relationship of each whole is counted, and the area is The entire area exceeding the specified threshold is treated as a sub-area to be cleaned, which allows the cleaning equipment to clean more sub-areas within a smaller movement range, thereby improving the cleaning coverage.
  • the distance between the cleaning equipment and the entire sub-area to be cleaned can also be established (ie, the distance from the cleaning equipment to each entire sub-area to be cleaned. The distance can be the distance from the center point of the entire sub-area to be cleaned to the cleaning equipment.
  • the situation determines the entire sub-area to be cleaned that needs to be cleaned.
  • the specific calculation process is not limited in this manual. It should be noted that by counting the number of areas to be cleaned, select Selective supplementary cleaning of larger areas to be cleaned improves the accuracy of supplementary cleaning and prevents small areas from entering the scope of supplementary cleaning.
  • the area cleaning information is updated based on the cleaning results of the area to be cleaned.
  • the cleaning equipment replenishes the area to be cleaned.
  • obstacles will be re-perceived and memorized, thereby updating the coverage map.
  • FIG. 2 is a schematic diagram of an optional control device for cleaning equipment according to an embodiment of the present invention.
  • the Devices include:
  • the first acquisition module 201 is used to obtain the cleaning results of the cleaning equipment cleaning the target cleaning area, and obtain the area cleaning information;
  • the second acquisition module 202 is used to obtain the detection results of the target cleaning area detected by the cleaning equipment during the cleaning process, and obtain the area detection information;
  • the determination module 203 is used to determine the area to be cleaned in the target cleaning area based on the area cleaning information and the area detection information;
  • the cleaning module 204 is used to control the cleaning equipment to clean the area to be cleaned.
  • first acquisition module 201 corresponds to steps S101 to step S104 in the above embodiment.
  • second acquisition module 202 corresponds to steps S101 to step S104 in the above embodiment.
  • cleaning module 204 corresponds to steps S101 to step S104 in the above embodiment.
  • the examples and implementations of the four modules and the corresponding steps are as follows:
  • the application scenarios are the same, but are not limited to the content disclosed in the above-mentioned Embodiment 1.
  • the determination module also includes: a first determination module, used to determine the area cleaning map according to the area cleaning information; a second determination module, used to determine the area detection map according to the area detection information; a third determination module, used to determine the area cleaning map. Compare the area cleaning map and the area detection map to determine the area to be cleaned.
  • the second acquisition module also includes: a fourth determination module, used to determine the first edge information corresponding to the target cleaning area according to the area cleaning information; and a fifth determination module, used to determine the target edge based on the first edge information. edge; the first control module is used to control the cleaning equipment to detect the target cleaning area along the target edge to obtain the detection result; the sixth determination module is used to determine the area detection information based on the detection result, wherein the area detection information is used to determine the target Second edge information corresponding to the clean area.
  • a fourth determination module used to determine the first edge information corresponding to the target cleaning area according to the area cleaning information
  • a fifth determination module used to determine the target edge based on the first edge information. edge
  • the first control module is used to control the cleaning equipment to detect the target cleaning area along the target edge to obtain the detection result
  • the sixth determination module is used to determine the area detection information based on the detection result, wherein the area detection information is used to determine the target Second edge information corresponding to the clean area.
  • control device of the cleaning equipment further includes: a seventh determination module, configured to compare the first edge information and the second edge information to determine the area to be cleaned.
  • control device of the cleaning equipment also includes: a third acquisition module, used to acquire the current position of the cleaning equipment and the target position of the area to be cleaned when the area to be cleaned meets the preset conditions;
  • the eighth determination module is used to determine whether there is a target path to the area to be cleaned based on the current position and the target position;
  • the second control module is used to control the cleaning equipment to clean the area to be cleaned along the target path when the target path exists.
  • control device of the cleaning equipment further includes: a first calculation module, used to calculate the area of the area to be cleaned; and a ninth determination module, used to determine if the area of the area to be cleaned is greater than the first preset threshold. The area to be cleaned meets the preset conditions.
  • control device of the cleaning equipment also includes: a second calculation module, used to calculate the ratio of the area of the area to be cleaned to the area of the area cleaning map or the area of the area detection map; a tenth determination module, used to calculate the ratio when the ratio is greater than In the case of the second preset threshold, it is determined that the area to be cleaned meets the preset conditions.
  • control device of the cleaning equipment also includes: an eleventh determination module, used to determine the number of at least one sub-area included in the area to be cleaned; a third calculation module, used to calculate the area of each sub-area; filtering Module for filtering sub-areas to be cleaned from the area to be cleaned based on the number of areas and the area of each sub-area.
  • control device of the cleaning equipment also includes: an update module, configured to update the area cleaning information based on the cleaning results of the area to be cleaned.
  • a computer-readable storage medium is also provided, and a computer program is stored in the computer-readable storage medium, wherein the computer program is configured to execute the above-mentioned control method of the cleaning device when running.
  • an electronic device includes one or more processors; a memory for storing one or more programs.
  • processors When one or more programs are processed by one or more
  • processors When the processor executes, one or more processors are configured to implement a program for running, wherein the program is configured to execute the above-mentioned control method of the cleaning device when running.
  • the disclosed technical content can be implemented in other ways.
  • the device embodiments described above are only illustrative.
  • the division of units can be a logical functional division. In actual implementation, there may be other division methods.
  • multiple units or components can be combined or integrated into Another system, or some features can be ignored, or not implemented.
  • the coupling or direct coupling or communication connection between each other shown or discussed may be through some interfaces, and the indirect coupling or communication connection of the units or modules may be in electrical or other forms.
  • Units described as separate components may or may not be physically separate, and components shown as units may or may not be physical units, that is, they may be located in one place, or they may be distributed over multiple units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of this embodiment.
  • each functional unit in various embodiments of the present invention can be integrated into one processing unit, or each unit can exist physically alone, or two or more units can be integrated into one unit.
  • the above integrated units can be implemented in the form of hardware or software functional units.
  • Integrated units may be stored in a computer-readable storage medium if they are implemented in the form of software functional units and sold or used as independent products.
  • the technical solution of the present invention is essentially or contributes to the existing technology or all or part of the technical solution can be embodied in the form of a software product, and the computer software product is stored in a storage medium , including several instructions to cause a computer device (which can be a personal computer, a server or a network device, etc.) to execute all or part of the steps of the methods of various embodiments of the present invention.
  • the aforementioned storage media include: U disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), mobile hard disk, magnetic disk or optical disk and other media that can store program code. .

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  • Engineering & Computer Science (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
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Abstract

一种清洁设备的控制方法、装置及计算机可读存储介质，其中清洁设备的控制方法包括：获取清洁设备对目标清洁区域进行清洁的清洁结果，得到区域清洁信息（S101）；获取清洁设备在清扫过程中对目标清洁区域进行探测的探测结果，得到区域探测信息（S102）；基于区域清洁信息和区域探测信息，确定目标清洁区域中的待清洁区域（S103）；控制清洁设备对待清洁区域进行清洁（S104）。清洁设备的控制方法提高了清洁设备清洁覆盖率。

Description

清洁设备的控制方法、装置及计算机可读存储介质
本发明要求如下专利申请的优先权：于2022年04月14日提交中国专利局、申请号为202210391373.0、发明名称为“清洁设备的控制方法、装置及计算机可读存储介质”的中国专利申请，上述专利申请的全部内容通过引用结合在本发明中。
技术领域
本发明涉及人工智能领域，具体而言，涉及一种清洁设备的控制方法、装置及计算机可读存储介质。
背景技术
近年来，随着计算机技术和人工智能科学的飞速发展，通过相应的设备解放劳动力的需求不断增长，其中，清洁设备被越来越多的人所接受，此类设备的使用也越来越普遍。
目前，由于某些原因导致现有的清洁设备在工作过程中，存在当清洁结束时仍有部分区域未被覆盖的现象，原因主要分为两大类：一是由于障碍物识别技术自身的缺陷，导致清洁设备在清洁时，对障碍物是否存在做出错误的判断；二是由于动态环境的复杂性，导致清洁设备在清洁时，无法对动态环境的变化做出准确的判断。
针对上述的问题，目前尚未提出有效的解决方案。
发明内容
本发明实施例提供了一种清洁设备的控制方法、装置及计算机可读存储介质，以至少解决现有技术中的清洁设备清洁覆盖率低的技术问题。
根据本发明实施例的一个方面，提供了一种清洁设备的控制方法，包括：获取清洁设备对目标清洁区域进行清洁的清洁结果，得到区域清洁信息；获取清洁设备在清扫过程中对目标清洁区域进行探测的探测结果，得到区域探测信息；基于区域清洁信息和区域探测信息，确定目标清洁区域中的待清洁区域；控制清洁设备对待清洁区域进行清洁。
进一步地，清洁设备的控制方法还包括：根据区域清洁信息，确定区域清洁地图；根据区域探测信息，确定区域探测地图；比对区域清洁地图和区域探测地图，确定待清洁区域。
进一步地，清洁设备的控制方法还包括：根据区域清洁信息确定目标清洁区域所对应的第一边缘信息；基于第一边缘信息确定目标边缘；控制清洁设备沿目标边缘对 目标清洁区域进行探测，得到探测结果；基于探测结果确定区域探测信息，其中，区域探测信息用于确定目标清洁区域所对应的第二边缘信息。
进一步地，清洁设备的控制方法还包括：比对第一边缘信息和第二边缘信息，确定待清洁区域。
进一步地，清洁设备的控制方法还包括：在待清洁区域满足预设条件的情况下，获取清洁设备所处的当前位置以及待清洁区域所处的目标位置；基于当前位置和目标位置确定是否存在到达待清洁区域的目标路径；在存在目标路径的情况下，控制清洁设备沿目标路径对待清洁区域进行清洁。
进一步地，清洁设备的控制方法还包括：计算待清洁区域的面积；在待清洁区域的面积大于第一预设阈值的情况下，确定待清洁区域满足预设条件。
进一步地，清洁设备的控制方法还包括：计算待清洁区域的面积与区域清洁地图的面积或区域探测地图的面积的比值；在比值大于第二预设阈值的情况下，确定待清洁区域满足预设条件。
进一步地，清洁设备的控制方法还包括：确定待清洁区域所包含的至少一个子区域的区域数量；计算每个子区域的面积；基于区域数量和每个子区域的面积从待清洁区域中筛选出待清洁的子区域。
进一步地，清洁设备的控制方法还包括：基于对待清洁区域进行清洁的清洁结果更新区域清洁信息。
根据本发明实施例的另一方面，还提供了一种清洁设备的控制装置，包括：第一获取模块，用于获取清洁设备对目标清洁区域进行清洁的清洁结果，得到区域清洁信息；第二获取模块，用于获取清洁设备在清扫过程中对目标清洁区域进行探测的探测结果，得到区域探测信息；确定模块，用于基于区域清洁信息和区域探测信息，确定目标清洁区域中的待清洁区域；清洁模块，用于控制清洁设备对待清洁区域进行清洁。
根据本发明实施例的另一方面，还提供了一种计算机可读存储介质，计算机可读存储介质中存储有计算机程序，其中，计算机程序被设置为运行时执行上述的清洁设备的控制方法。
根据本发明实施例的另一方面，还提供了一种电子设备，电子设备包括一个或多个处理器；存储器，用于存储一个或多个程序，当一个或多个程序被一个或多个处理器执行时，使得一个或多个处理器实现用于运行程序，其中，程序被设置为运行时执行上述的清洁设备的控制方法。
在本发明实施例中，采用基于区域清洁信息和区域探测信息确定待清洁区域的方式，首先通过获取清洁设备对目标清洁区域进行清洁的清洁结果，得到区域清洁信息，然后通过获取清洁设备在清扫过程中对目标清洁区域进行探测的探测结果，得到区域 探测信息，从而基于区域清洁信息和区域探测信息，确定出目标清洁区域中的待清洁区域，并控制清洁设备对待清洁区域进行清洁。
在上述过程中，通过对清洁设备在清洁过程中以及探测过程中的数据信息进行处理得到区域清洁信息和区域探测信息，可以保证信息的精确性，为后续建立地图提供了准确的数据基础；通过将区域清洁信息和区域探测信息相结合，可以避免遗漏待清洁区域而出现清洁不到位的情况；在确定出待清洁区域之后，控制清洁设备对待清洁区域进行清洁，实现了对目标清洁区域清洁之后，再对待清洁区域进行补充清洁，从而实现了把该清洁的区域都清洁到的效果。
由此可见，本申请所提供的方案达到了提高清洁设备的清洁覆盖率的目的，从而实现了降低遗漏清洁区域的概率的技术效果，进而解决了现有技术中的清洁设备清洁覆盖率低的技术问题。
附图说明
此处所说明的附图用来提供对本发明的进一步理解，构成本申请的一部分，本发明的示意性实施例及其说明用于解释本发明，并不构成对本发明的不当限定。在附图中：
图1是根据本发明实施例的一种可选的清洁设备的控制方法的流程图；
图2是根据本发明实施例的一种可选的清洁设备的控制装置的示意图。
具体实施方式
为了使本技术领域的人员更好地理解本发明方案，下面将结合本发明实施例中的附图，对本发明实施例中的技术方案进行清楚、完整地描述，显然，所描述的实施例仅仅是本发明一部分的实施例，而不是全部的实施例。基于本发明中的实施例，本领域普通技术人员在没有做出创造性劳动前提下所获得的所有其他实施例，都应当属于本发明保护的范围。
需要说明的是，本发明的说明书和权利要求书及上述附图中的术语“第一”、“第二”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。应该理解这样使用的数据在适当情况下可以互换，以便这里描述的本发明的实施例能够以除了在这里图示或描述的那些以外的顺序实施。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的过程、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。
实施例1
根据本发明实施例，提供了一种清洁设备的控制方法的实施例，需要说明的是，在附图的流程图示出的步骤可以在诸如一组计算机可执行指令的计算机系统中执行，并且，虽然在流程图中示出了逻辑顺序，但是在某些情况下，可以以不同于此处的顺序执行所示出或描述的步骤。
图1是根据本发明实施例的一种可选的清洁设备的控制方法的流程图，如图1所示，该方法包括如下步骤：
步骤S101，获取清洁设备对目标清洁区域进行清洁的清洁结果，得到区域清洁信息。
在步骤S101中，清洁设备在工作时，首先确定要清洁的区域作为目标清洁区域，例如，对整个房屋进行清洁时，将整个房屋作为目标清洁区域。另外，清洁设备在对目标清洁区域进行清洁时，会对清洁过程中的数据信息进行处理，从而得到目标清洁区域中哪些区域进行了清洁的结论，进而得到区域清洁信息。
需要说明的是，通过确定目标清洁区域，并将清洁过程中的数据信息进行处理可以得到区域清洁信息，其中，数据信息可以是清洁设备在清洁过程中对遇到的障碍物进行躲避的信息，根据躲避信息形成的清扫地图为后续建立区域清洁地图提供了准确的数据基础。
步骤S102，获取清洁设备在清扫过程中对目标清洁区域进行探测的探测结果，得到区域探测信息。
在步骤S102中，清洁设备通过对目标清洁区域中的障碍物的位置进行探测，并对障碍物的位置信息进行处理，从而得到目标清洁区域中哪些区域存在障碍物的结论，进而得到区域探测信息。上述探测可以是利用红外测距装置或者激光雷达等安装在清洁设备上的探测设备进行的。
需要说明的是，通过对障碍物的位置信息进行处理得到区域探测信息，可以是在清扫过程中，安装在清洁设备上的探测设备对障碍物位置的实时扫描信息，即探测信息能够随着扫描设备的角度变化而发生变化。另外，探测设备不仅能够扫描未清扫区域，还可以继续扫描已经清扫过的区域，从而实现了对探测信息的实时更新，使获取到的区域探测信息更全面、更及时，进而保证了清洁设备在清扫过程中障碍物位置的变化会实时更新到区域探测信息中，为后续建立区域探测地图提供了准确的数据基础。
步骤S103，基于区域清洁信息和区域探测信息，确定目标清洁区域中的待清洁区域。
在步骤S103中，基于区域清洁信息和区域探测信息可以从目标清洁区域中确定出待清洁区域，该待清洁区域可以是清洁设备在进行清洁时存在障碍物，而在进行探测时障碍物消失的区域。例如，在对房屋进行清洁时，存在一把椅子，清洁设备移动到椅子位置后会对椅子进行回避，从而在区域清洁信息中确定该位置有障碍物，而在探 测设备进行实时探测的过程中，由于人后续把椅子挪走导致椅子消失，探测设备不会探测到椅子，从而在区域探测信息中确定该位置并无障碍物，导致区域清洁信息和区域探测信息在该位置出现差异，即可以将该位置所属的区域作为待清洁区域。另外，待清洁区域还可以是清洁设备在进行清洁时存在分割界限，而在进行探测时分割界限消失的区域。例如，关闭的门可以将清洁区域分割，清洁设备在进行清洁时门是关闭的，此时清洁设备无法对门里面的区域进行清洁，而在进行探测时，由于人把门打开，而导致分割界限消失，此时，门里面的区域即可作为待清洁区域。
需要说明的是，通过对上述待清洁区域的确定，可以避免遗漏未清洁区域，达到了有效提高清洁覆盖率的效果。
步骤S104，控制清洁设备对待清洁区域进行清洁。
在步骤S104中，在清洁设备对待清洁区域进行清洁时，清洁设备的清洁方法有很多。例如，可以是采用弓字形清洁方式或者回字形清洁方式等。
需要说明的是，通过对待清洁区域进行清洁，可以有效提高清洁质量，从而提升用户体验。
基于上述步骤S101至步骤S104所限定的方案，可以获知，在本发明实施例中，采用基于区域清洁信息和区域探测信息确定待清洁区域的方式，首先通过获取清洁设备对目标清洁区域进行清洁的清洁结果，得到区域清洁信息，然后通过获取清洁设备在清扫过程中对目标清洁区域进行探测的探测结果，得到区域探测信息，从而基于区域清洁信息和区域探测信息，确定出目标清洁区域中的待清洁区域，并控制清洁设备对待清洁区域进行清洁。
容易注意到的是，在上述过程中，通过对清洁设备在清洁过程中以及探测过程中的数据信息进行处理得到区域清洁信息和区域探测信息，可以保证信息的精确性，为后续建立地图提供了准确的数据基础；通过将区域清洁信息和区域探测信息相结合，可以避免遗漏待清洁区域而出现清洁不到位的情况；在确定出待清洁区域之后，控制清洁设备对待清洁区域进行清洁，实现了对目标清洁区域清洁之后，再对待清洁区域进行补充清洁，从而实现了把该清洁的区域都清洁到的效果。
由此可见，本申请所提供的方案达到了提高清洁设备的清洁覆盖率的目的，从而实现了降低遗漏清洁区域的概率的技术效果，进而解决了现有技术中的清洁设备清洁覆盖率低的技术问题。
在一种可选的实施例中，在基于区域清洁信息和区域探测信息，确定目标清洁区域中的待清洁区域的过程中，首先根据区域清洁信息，确定区域清洁地图，并且根据区域探测信息，确定区域探测地图，再对区域清洁地图和区域探测地图进行比对，从而确定出待清洁区域。
可选的，在本实施例中，选用激光雷达进行探测。区域清洁地图可以是清洁过程 中根据在哪里感知到过障碍物建立起来的记忆地图，也可以称为覆盖地图；区域探测地图可以是，在清洁设备清洁完一定区域后，依据实时的激光雷达感知到的探测信息绘制的地图，也可以称为障碍地图，即清扫之后重新绘制的地图。
进一步地，为了提高后续对待清洁区域进行补充清洁的可靠性，在进行比对时，可以比较获得区域探测信息相对区域清洁信息增加的区域，并将该区域确定为待清洁区域，示例性地，对区域清洁地图和区域探测地图进行比对，即对覆盖地图和障碍地图进行比对，从而确定出待清洁区域，可选的，也可以将其称为差异区域。需要说明的是，在比对过程中，会出现某位置原来没有障碍物，在清扫过后出现了障碍物的情况，例如，人为移动的椅子，此时通过上述的比对，也会将该位置视为差异区域，但实际上该区域没有必要进行补充清洁，反而降低了确定差异区域的可靠性。因此，在本实施例中的比对过程中，只比较障碍地图相对覆盖地图增加的区域。
具体的，上述地图为电子地图，即清洁设备所处现实环境的电子地图。可选的，上述电子地图可以是多种范围，例如，较大范围的整个房屋的地图和卧室、客厅等由门和墙壁分割的多个小范围的地图。另外，上述电子地图还可以是多种维度，例如平面二维俯视地图和立体三维环视地图。
需要说明的是，通过对区域清洁地图和区域探测地图进行比对，可以实现对待清洁区域的准确判断，进而为后续的清洁工作提供了准确的基础，进而提高了清洁设备的工作效率。
在一种可选的实施例中，在获取清洁设备在清扫过程中对目标清洁区域进行探测的探测结果，得到区域探测信息的过程中，首先根据区域清洁信息确定目标清洁区域所对应的第一边缘信息，并基于第一边缘信息确定目标边缘，再控制清洁设备沿目标边缘对目标清洁区域进行探测，得到探测结果，然后基于探测结果确定区域探测信息，其中，区域探测信息用于确定目标清洁区域所对应的第二边缘信息。
需要说明的是，除了上述对区域清洁地图和区域探测地图进行比对，在本实施例中，还可以对区域的边缘进行比对。可选的，在本实施例中，选用回字形清洁方式对待清洁区域进行清洁。根据区域清洁信息，可以得到清洁设备在清洁过程中建立的覆盖地图的边缘信息。其中，边缘信息可以为地图内部区域的边缘以及地图外部区域的边缘。例如，“回”形地图中，里面的“口”字区域就是内部区域的边缘，外面的“口”字区域就是外部区域的边缘。
具体的，第一边缘信息可以是清洁设备在对目标清洁区域进行清洁时得到的，通过第一边缘信息确定出需要进行探测的目标边缘，然后在清洁过后，沿着目标边缘对目标清洁区域进行探测，从而获得新的边缘信息，即第二边缘信息。
需要说明的是，通过获取边缘信息，进一步对目标清洁区域进行细致的剖析，进而为后续进行对比分析提供数据基础。
在一种可选的实施例中，在基于区域清洁信息和区域探测信息确定目标清洁区域中的待清洁区域的过程中，通过对第一边缘信息和第二边缘信息进行比对，能够确定出待清洁区域。
可选的，将第二边缘信息即新的边缘信息和第一边缘信息即进行清洁时得到的边缘信息进行比对，由边缘信息比对结果得到可以扩展补充清洁的区域。例如，清洁设备在对一扇门的附近进行清洁时，门是关闭的，清洁设备不能对门内的区域进行清洁，基于此种情况，产生对应的边缘信息。在清洁设备进行探测时，门打开了，此时产生的边缘信息与清洁时产生的边缘信息相比，所表示的区域范围扩展了，通过上述比对，将该变化的区域视为差异区域。
同理，清洁设备在对一扇门的附近进行清洁时，会出现下述情况：门是打开的，此时清洁设备可以对门内的区域进行清洁，并产生对应的边缘信息，在进行探测时，门关闭了，此时产生的边缘信息与清洁时产生的边缘信息相比，所表示的区域范围缩减了。通过上述比对，也会将该变化的区域视为差异区域，但实际上该区域已经清洁过了，没有必要进行补充清洁，因此，在本实施例中的比对过程中，只比较扩展的区域范围，即缩减的区域不计。
需要说明的是，通过对边缘信息进行比对分析，可以进一步实现对待清洁区域的确定，能够有效的防止待清洁区域的遗漏，显著提高清洁覆盖率和清洁效率。
在一种可选的实施例中，在控制清洁设备对待清洁区域进行清洁的过程中，在待清洁区域满足预设条件的情况下，获取清洁设备所处的当前位置以及待清洁区域所处的目标位置，然后基于当前位置和目标位置确定是否存在到达待清洁区域的目标路径，在存在目标路径的情况下，控制清洁设备沿目标路径对待清洁区域进行清洁。
可选的，预设条件可以是设定面积或者设定比例，在待清洁区域满足设定面积或者设定比例的情况下，根据清洁设备所处的当前位置以及待清洁区域所处的目标位置，采用路径搜索算法计算路径，从而得到是否存在到达待清洁区域的路径的结论，在存在目标路径时，即清洁设备可以到达待清洁区域时，清洁设备就可以沿着目标路径对待清洁区域进行清洁。
需要说明的是，通过对待清洁区域是否满足预设条件进行判断，可以进一步对待清洁区域进行细致处理，通过对清洁设备是否可以到达待清洁区域进行路径计算，可以提高清洁设备的移动准确度，避免了清洁设备的盲目移动，从而提高了清洁效率。
在一种可选的实施例中，对待清洁区域的面积进行计算，并与第一预设阈值进行比较，在待清洁区域的面积大于第一预设阈值的情况下，得出待清洁区域满足预设条件的结论。
可选的，预设条件至少包括第一预设阈值，第一预设阈值表征待清洁区域的面积的阈值，通过对待清洁区域的面积进行计算，并将计算结果和预设的面积阈值进行比 较，当超过阈值时，得出待清洁区域满足预设条件的结论，可以使清洁设备进行下一步操作。
需要说明的是，通过对待清洁区域的面积和预设的面积阈值进行比较，实现了对待清洁区域的进一步判断，从而提高了清洁设备的清洁精确度。
在一种可选的实施例中，对待清洁区域的面积与区域清洁地图的面积或区域探测地图的面积的比值进行计算，并与第二预设阈值进行比较，在比值大于第二预设阈值的情况下，确定待清洁区域满足预设条件。
可选的，预设条件还可以包括第二预设阈值，第二预设阈值表征待清洁区域的面积与区域清洁地图的面积或区域探测地图的面积的比值的阈值，通过对上述比值进行计算，并将计算结果和预设的比值阈值进行比较，当超过阈值时，得出待清洁区域满足预设条件的结论，可以使清洁设备进行下一步操作。
需要说明的是，通过上述对面积或比值的计算，并与预设的阈值进行对比分析，保证了待清洁区域的准确确定，进一步提高了清洁设备的清洁精确度。
在一种可选的实施例中，在获取清洁设备所处的当前位置以及待清洁区域所处的目标位置之前，从待清洁区域中确定子区域的区域数量，区域数量至少为一个，然后计算每个子区域的面积，并基于区域数量和每个子区域的面积从待清洁区域中筛选出待清洁的子区域。
可选的，待清洁区域包含至少一个子区域，子区域可以是待清洁区域中相互隔开的区域，例如，可以将办公室中每个被桌子遮挡的区域相加得到的区域统称为待清洁区域，子区域可以指其中任意一个或多个被桌子遮挡的区域。
进一步地，对子区域的面积进行计算，可选的，每个子区域所对应的面积不同，因此，需要对待清洁区域中的子区域进行筛选。可选的，基于区域数量和每个子区域的面积从待清洁区域中筛选出面积较大的待清洁的子区域，例如，可以选择面积超过指定阈值的子区域作为待清洁的子区域，从而根据待清洁的子区域的位置关系生成清扫路径，进一步实现清扫处理，保证了清扫的可靠性，通过减少对较小的区域的清扫，降低了清洁设备的电量消耗，进而提高了清洁设备的清扫时长。另外，在一些其他实施例中，还可以根据不同子区域的位置关系进行聚合处理，即将距离较近(低于指定距离)的子区域作为一个整体，然后统计每个整体的面积关系，将面积超过指定阈值的整体作为待清洁的子区域，从而可以使得清洁设备在较小的移动范围内清扫更多的子区域，提高了清扫的覆盖率。进一步地，还可以建立清洁设备与待清洁的子区域整体的距离(即清洁设备到每个待清洁的子区域整体的距离，该距离可以为待清洁的子区域整体的中心点到清洁设备的距离)和待清洁的子区域整体的面积的消耗公式(即清洁设备清扫该整体产生的电量消耗)，来计算对每个待清洁的子区域整体进行清扫的电量消耗，从而结合清洁设备自身电量情况确定需要清扫的待清洁的子区域整体，具体的计算过程在本说明书不做限定。需要说明的是，通过统计待清洁区域的个数，选 择性的对面积较大的待清洁区域进行补充清洁，提高了补充清洁的精准性，避免细小的区域也进入补充清洁的范围。
在一种可选的实施例中，在控制清洁设备对待清洁区域进行清洁之后，基于对待清洁区域进行清洁的清洁结果更新区域清洁信息。
可选的，经过上述对待清洁区域的面积或比值的计算，并与预设的阈值进行对比分析，在面积或比值超过阈值时，即满足预设条件时，清洁设备对待清洁区域进行重新补充清洁，在补充清洁过程中，会对障碍物重新感知并记忆，从而更新覆盖地图。
需要说明的是，对清洁过程中可能需要覆盖的区域而前往尝试覆盖，并且可在整个清扫过程中多次进行补充清洁，从而真正做到了避免遗漏未清洁区域，进而达到了有效提高清洁覆盖率的效果。
由此可见，本申请所提供的方案达到了提高清洁设备的清洁覆盖率的目的，从而实现了降低遗漏清洁区域的概率的技术效果，进而解决了现有技术中的清洁设备清洁覆盖率低的技术问题。
实施例2
根据本发明实施例，提供了一种清洁设备的控制装置的实施例，其中，图2是根据本发明实施例的一种可选的清洁设备的控制装置的示意图，如图2所示，该装置包括：
第一获取模块201，用于获取清洁设备对目标清洁区域进行清洁的清洁结果，得到区域清洁信息；
第二获取模块202，用于获取清洁设备在清扫过程中对目标清洁区域进行探测的探测结果，得到区域探测信息；
确定模块203，用于基于区域清洁信息和区域探测信息，确定目标清洁区域中的待清洁区域；
清洁模块204，用于控制清洁设备对待清洁区域进行清洁。
需要说明的是，上述第一获取模块201、第二获取模块202、确定模块203以及清洁模块204对应于上述实施例中的步骤S101至步骤S104，四个模块与对应的步骤所实现的示例和应用场景相同，但不限于上述实施例1所公开的内容。
可选的，确定模块还包括：第一确定模块，用于根据区域清洁信息，确定区域清洁地图；第二确定模块，用于根据区域探测信息，确定区域探测地图；第三确定模块，用于比对区域清洁地图和区域探测地图，确定待清洁区域。
可选的，第二获取模块还包括：第四确定模块，用于根据区域清洁信息确定目标清洁区域所对应的第一边缘信息；第五确定模块，用于基于第一边缘信息确定目标边 缘；第一控制模块，用于控制清洁设备沿目标边缘对目标清洁区域进行探测，得到探测结果；第六确定模块，用于基于探测结果确定区域探测信息，其中，区域探测信息用于确定目标清洁区域所对应的第二边缘信息。
可选的，清洁设备的控制装置还包括：第七确定模块，用于比对第一边缘信息和第二边缘信息，确定待清洁区域。
可选的，清洁设备的控制装置还包括：第三获取模块，用于在待清洁区域满足预设条件的情况下，获取清洁设备所处的当前位置以及待清洁区域所处的目标位置；第八确定模块，用于基于当前位置和目标位置确定是否存在到达待清洁区域的目标路径；第二控制模块，用于在存在目标路径的情况下，控制清洁设备沿目标路径对待清洁区域进行清洁。
可选的，清洁设备的控制装置还包括：第一计算模块，用于计算待清洁区域的面积；第九确定模块，用于在待清洁区域的面积大于第一预设阈值的情况下，确定待清洁区域满足预设条件。
可选的，清洁设备的控制装置还包括：第二计算模块，用于计算待清洁区域的面积与区域清洁地图的面积或区域探测地图的面积的比值；第十确定模块，用于在比值大于第二预设阈值的情况下，确定待清洁区域满足预设条件。
可选的，清洁设备的控制装置还包括：第十一确定模块，用于确定待清洁区域所包含的至少一个子区域的区域数量；第三计算模块，用于计算每个子区域的面积；筛选模块，用于基于区域数量和每个子区域的面积从待清洁区域中筛选出待清洁的子区域。
可选的，清洁设备的控制装置还包括：更新模块，用于基于对待清洁区域进行清洁的清洁结果更新区域清洁信息。
实施例3
根据本发明实施例的另一方面，还提供了计算机可读存储介质，计算机可读存储介质中存储有计算机程序，其中，计算机程序被设置为运行时执行上述的清洁设备的控制方法。
实施例4
根据本发明实施例的另一方面，还提供了一种电子设备，电子设备包括一个或多个处理器；存储器，用于存储一个或多个程序，当一个或多个程序被一个或多个处理器执行时，使得一个或多个处理器实现用于运行程序，其中，程序被设置为运行时执行上述的清洁设备的控制方法。
上述本发明实施例序号仅仅为了描述，不代表实施例的优劣。
在本发明的上述实施例中，对各个实施例的描述都各有侧重，某个实施例中没有详述的部分，可以参见其他实施例的相关描述。
在本申请所提供的几个实施例中，应该理解到，所揭露的技术内容，可通过其它的方式实现。其中，以上所描述的装置实施例仅仅是示意性的，例如单元的划分，可以为一种逻辑功能划分，实际实现时可以有另外的划分方式，例如多个单元或组件可以结合或者可以集成到另一个系统，或一些特征可以忽略，或不执行。另一点，所显示或讨论的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，单元或模块的间接耦合或通信连接，可以是电性或其它的形式。
作为分离部件说明的单元可以是或者也可以不是物理上分开的，作为单元显示的部件可以是或者也可以不是物理单元，即可以位于一个地方，或者也可以分布到多个单元上。可以根据实际的需要选择其中的部分或者全部单元来实现本实施例方案的目的。
另外，在本发明各个实施例中的各功能单元可以集成在一个处理单元中，也可以是各个单元单独物理存在，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，也可以采用软件功能单元的形式实现。
集成的单元如果以软件功能单元的形式实现并作为独立的产品销售或使用时，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，本发明的技术方案本质上或者说对现有技术做出贡献的部分或者该技术方案的全部或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(可为个人计算机、服务器或者网络设备等)执行本发明各个实施例方法的全部或部分步骤。而前述的存储介质包括：U盘、只读存储器(ROM，Read-Only Memory)、随机存取存储器(RAM，Random Access Memory)、移动硬盘、磁碟或者光盘等各种可以存储程序代码的介质。
以上仅是本发明的优选实施方式，应当指出，对于本技术领域的普通技术人员来说，在不脱离本发明原理的前提下，还可以做出若干改进和润饰，这些改进和润饰也应视为本发明的保护范围。

Claims (20)

  1. 一种清洁设备的控制方法，其特征在于，包括：
    获取清洁设备对目标清洁区域进行清洁的清洁结果，得到区域清洁信息；
    获取所述清洁设备在清扫过程中对所述目标清洁区域进行探测的探测结果，得到区域探测信息；
    基于所述区域清洁信息和所述区域探测信息，确定所述目标清洁区域中的待清洁区域；
    控制所述清洁设备对所述待清洁区域进行清洁。
  2. 根据权利要求1所述的方法，其特征在于，基于所述区域清洁信息和所述区域探测信息，确定所述目标清洁区域中的待清洁区域，包括：
    根据所述区域清洁信息，确定区域清洁地图；
    根据所述区域探测信息，确定区域探测地图；
    比对所述区域清洁地图和所述区域探测地图，确定所述待清洁区域。
  3. 根据权利要求1所述的方法，其特征在于，获取所述清洁设备在清扫过程中对所述目标清洁区域进行探测的探测结果，得到区域探测信息，包括：
    根据所述区域清洁信息确定所述目标清洁区域所对应的第一边缘信息；
    基于所述第一边缘信息确定目标边缘；
    控制所述清洁设备沿所述目标边缘对所述目标清洁区域进行探测，得到所述探测结果；
    基于所述探测结果确定所述区域探测信息，其中，所述区域探测信息用于确定所述目标清洁区域所对应的第二边缘信息。
  4. 根据权利要求3所述的方法，其特征在于，基于所述区域清洁信息和所述区域探测信息确定所述目标清洁区域中的待清洁区域，包括：
    比对所述第一边缘信息和所述第二边缘信息，确定所述待清洁区域。
  5. 根据权利要求1或2所述的方法，其特征在于，控制所述清洁设备对所述待清洁区域进行清洁，包括：
    在所述待清洁区域满足预设条件的情况下，获取所述清洁设备所处的当前位置以及所述待清洁区域所处的目标位置；
    基于所述当前位置和所述目标位置确定是否存在到达所述待清洁区域的目标路径；
    在存在所述目标路径的情况下，控制所述清洁设备沿所述目标路径对所述待清洁 区域进行清洁。
  6. 根据权利要求5所述的方法，其特征在于，所述方法还包括：
    计算所述待清洁区域的面积；
    在所述待清洁区域的面积大于第一预设阈值的情况下，确定所述待清洁区域满足所述预设条件。
  7. 根据权利要求5所述的方法，其特征在于，所述方法还包括：
    计算所述待清洁区域的面积与所述区域清洁地图的面积或所述区域探测地图的面积的比值；
    在所述比值大于第二预设阈值的情况下，确定所述待清洁区域满足所述预设条件。
  8. 根据权利要求1或5所述的方法，其特征在于，所述方法还包括：
    确定所述待清洁区域所包含的至少一个子区域的区域数量；
    计算每个子区域的面积；
    基于所述区域数量和所述每个子区域的面积，从所述待清洁区域所包含的至少一个子区域中筛选出待清洁的子区域。
  9. 根据权利要求1所述的方法，其特征在于，在控制所述清洁设备对所述待清洁区域进行清洁之后，所述方法还包括：
    基于对所述待清洁区域进行清洁的清洁结果更新所述区域清洁信息。
  10. 根据权利要求1所述的方法，其特征在于，所述区域清洁信息至少包括目标清洁区域中已完成清洁的区域信息，所述区域探测信息至少包括清洁设备对目标清洁区域中的障碍物位置的实时扫描信息。
  11. 根据权利要求1所述的方法，其特征在于，所述基于区域清洁信息和区域探测信息，确定目标清洁区域中的待清洁区域，包括：
    提取所述区域探测信息相对区域清洁信息增加的区域，并将该区域确定为待清洁区域。
  12. 根据权利要求4所述的方法，其特征在于，所述比对所述第一边缘信息和所述第二边缘信息，确定所述待清洁区域，包括：
    将所述第一边缘信息和所述第二边缘信息进行比对，得到扩展补充清洁的区域；
    将所述扩展补充清洁的区域作为所述待清洁区域。
  13. 根据权利要求1所述的方法，其特征在于，所述待清洁区域包括清洁时存在障 碍物而在探测时障碍物消失的区域、清洁时存在分割界限而在探测时分割界限消失的区域中的至少一种。
  14. 根据权利要求8所述的方法，其特征在于，所述控制所述清洁设备对所述待清洁区域进行清洁，包括：
    根据所述待清洁的子区域的位置关系生成清扫路径；
    控制所述清洁设备根据所述清扫路径对所述待清洁的子区域执行清洁。
  15. 根据权利要求8所述的方法，其特征在于，所述基于所述区域数量和所述每个子区域的面积，从所述待清洁区域所包含的至少一个子区域中筛选出待清洁的子区域，包括：
    从所述待清洁区域中筛选出面积超过指定阈值的子区域，作为待清洁的子区域。
  16. 根据权利要求8所述的方法，其特征在于，所述基于所述区域数量和所述每个子区域的面积，从所述待清洁区域所包含的至少一个子区域中筛选出待清洁的子区域，包括：
    对所述待清洁区域所包含的不同子区域的位置关系进行聚合处理，将距离低于指定距离的子区域作为一个整体，得到子区域整体；
    将面积超过指定阈值的子区域整体，作为待清洁的子区域。
  17. 根据权利要求16所述的方法，其特征在于，所述方法还包括：
    基于清洁设备与所述待清洁的子区域的距离、清扫所述待清洁的子区域产生的电量消耗以及清洁设备自身电量情况，确定需要清扫的待清洁的子区域。
  18. 一种清洁设备的控制装置，其特征在于，包括：
    第一获取模块，用于获取清洁设备对目标清洁区域进行清洁的清洁结果，得到区域清洁信息；
    第二获取模块，用于获取所述清洁设备在清扫过程中对所述目标清洁区域进行探测的探测结果，得到区域探测信息；
    确定模块，用于基于所述区域清洁信息和所述区域探测信息，确定所述目标清洁区域中的待清洁区域；
    清洁模块，用于控制所述清洁设备对所述待清洁区域进行清洁。
  19. 一种计算机可读存储介质，其特征在于，所述计算机可读存储介质中存储有计算机程序，其中，所述计算机程序被设置为运行时执行所述权利要求1至17任一项中所述的清洁设备的控制方法。
  20. 一种电子设备，其特征在于，所述电子设备包括一个或多个处理器；存储器，用于存储一个或多个程序，当所述一个或多个程序被所述一个或多个处理器执行时，使得所述一个或多个处理器实现用于运行程序，其中，所述程序被设置为运行时执行所述权利要求1至17任一项中所述的清洁设备的控制方法。
PCT/CN2023/083094 2022-04-14 2023-03-22 清洁设备的控制方法、装置及计算机可读存储介质 Ceased WO2023197839A1 (zh)

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