WO2023155731A1 - 清洁设备的运行控制方法及装置、存储介质及电子装置 - Google Patents

清洁设备的运行控制方法及装置、存储介质及电子装置 Download PDF

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Publication number
WO2023155731A1
WO2023155731A1 PCT/CN2023/075206 CN2023075206W WO2023155731A1 WO 2023155731 A1 WO2023155731 A1 WO 2023155731A1 CN 2023075206 W CN2023075206 W CN 2023075206W WO 2023155731 A1 WO2023155731 A1 WO 2023155731A1
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WIPO (PCT)
Prior art keywords
area
target
cleaned
target area
cleaning device
Prior art date
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PCT/CN2023/075206
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English (en)
French (fr)
Inventor
罗绍涵
孙佳佳
王元超
Original Assignee
追觅创新科技(苏州)有限公司
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Publication of WO2023155731A1 publication Critical patent/WO2023155731A1/zh

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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
    • 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

Definitions

  • the present disclosure relates to the field of smart home, in particular, to an operation control method and device for cleaning equipment, a storage medium and an electronic device.
  • the cleaning equipment for example, a sweeping robot
  • the cleaning device's judgment of obstacles is not accurate enough, so that areas that need to be cleaned may not be cleaned due to misjudgment of obstacles.
  • the sweeping robot can enter the bottom of the obstacles for cleaning. If the sweeping robot makes a misjudgment and determines that the height of the obstacle is too low to pass, it will control the sweeping robot to avoid the obstacle.
  • the operation control method of the cleaning equipment in the related art has the problem of low cleaning coverage due to easy misjudgment of obstacle information.
  • the purpose of the present disclosure is to provide an operation control method and device, a storage medium, and an electronic device for cleaning equipment, so as to at least solve the problem of cleaning coverage caused by misjudgment of obstacle information in the operation control method of cleaning equipment in the related art. low rate problem.
  • a method for controlling the operation of cleaning equipment including: acquiring target area information of an area to be cleaned, wherein the area to be cleaned is the location area ahead of the running track of the cleaning equipment ; In the case where it is determined that the area to be cleaned is impassable according to the information of the target area, obtain an area mark corresponding to the area to be cleaned; the mark in the area is used to indicate that the area to be cleaned allows the cleaning equipment In the case of passing, the cleaning device is controlled to continue moving along the running track.
  • the acquisition of target area information of the area to be cleaned includes: acquiring an image of the area to be cleaned by an image acquisition component on the cleaning device to obtain an image of the target area; Feature extraction is performed on the area image to obtain the target area information, wherein the target area information includes area information of a void area in the area to be cleaned.
  • the target area information includes area information of a void area in the to-be-cleaned area; determining that the to-be-cleaned area cannot pass through according to the target area information includes: according to the to-be-cleaned area
  • the area information of the void area in the cleaning area determines the area size of the void area; if the area size of the void area is smaller than the threshold size of the cleaning device, it is determined that the area to be cleaned cannot pass through.
  • the method before the acquiring the area mark corresponding to the area to be cleaned, the method further includes: acquiring a target mark request corresponding to the target area map, wherein the target mark request is used for marking the first target area in the target area map as a passable area, the target area map being an area map configured for the cleaning equipment; responding to the target marking request, adding a passable area to the first target area The passing mark, wherein the passable mark is used to indicate that the area marked by the passable mark is a passable area.
  • the method before the request for obtaining the target mark corresponding to the target area map, the method further includes: displaying the target area map on the area configuration interface of the target device; in response to the request for the first A marking operation performed on a target area generates the target marking request, wherein the marking operation is used to trigger marking the first target area as a passable area.
  • the method before said generating the target marking request in response to the marking operation performed on the first target area, the method further includes: responding to the marking operation performed on the target area map an area operation, determining the area divided by the area division operation as the first target area, wherein the area divided by the area division operation includes areas marked as impassable areas in the target area map area; or, in response to the selection operation performed on the target area map, the area selected by the selection operation is determined as the first target area, wherein the area selected by the selection operation is the Areas marked as impassable areas on the above target area map.
  • the method before the area selected by the selection operation is determined as the first target area, the method further includes: responding to the second target area marked as an impassable area
  • the splitting operation performed by the target area is to split the second target area into multiple sub-areas, wherein each sub-area in the multiple sub-areas is marked as an impassable area, and the multiple sub-areas include the first target area.
  • an operation control device for cleaning equipment including: a first acquisition unit, configured to acquire target area information of an area to be cleaned, wherein the area to be cleaned is the The location area in front of the running track of the cleaning device; a second acquisition unit, configured to acquire an area mark corresponding to the area to be cleaned when it is determined according to the target area information that the area to be cleaned cannot pass through; a control unit , for the region The mark is used to indicate that the cleaning device is controlled to continue moving along the running track when the area to be cleaned allows the cleaning device to pass through.
  • the first acquisition unit includes: an acquisition module, configured to acquire an image of the area to be cleaned by an image acquisition component on the cleaning device to obtain an image of the target area; an extraction module, The method is used to perform feature extraction on the image of the target area to obtain the information of the target area, wherein the information of the target area includes the area information of the gap area in the area to be cleaned.
  • the target area information includes area information of a void area in the area to be cleaned; the device further includes: a first determining unit, configured to compare the acquisition and the area to be cleaned Before the corresponding area is marked, the area size of the void area is determined according to the area information of the void area in the area to be cleaned; In the case of the threshold size, it is determined that the area to be cleaned is not passable.
  • the device further includes: a third acquiring unit, configured to acquire a target marking request corresponding to a target area map before acquiring the area marking corresponding to the area to be cleaned, wherein, The target marking request is used to mark a first target area in the target area map as a passable area, and the target area map is an area map configured for the cleaning device; a marking unit is configured to respond to the target area A marking request, adding a passable mark to the first target area, where the passable mark is used to indicate that the area marked by the passable mark is a passable area.
  • the apparatus further includes: a display unit, configured to display the target area map on the area configuration interface of the target device before the request for obtaining the target mark corresponding to the target area map; generate A unit, configured to generate the target marking request in response to a marking operation performed on the first target area, wherein the marking operation is used to trigger marking the first target area as a passable area.
  • the apparatus further includes: a third determining unit, configured to, before generating the target marking request in response to the marking operation performed on the first target area, respond to the The area division operation performed by the target area map, and the area divided by the area division operation is determined as the first target area, wherein the area divided by the area division operation includes the target area map An area marked as an impassable area; or, a fourth determining unit configured to respond to the target area before generating the target marking request in response to the marking operation performed on the first target area
  • the selection operation performed by the map determines the area selected by the selection operation as the first target area, wherein the area selected by the selection operation is an area marked as an impassable area in the target area map Area.
  • the apparatus further includes: a splitting unit, configured to respond to the pair marked as Secondary target area of impassable area A split operation performed by the domain, splitting the second target area into multiple sub-areas, wherein each of the multiple sub-areas is marked as an impassable area, and the multiple sub-areas include the first a target area.
  • a splitting unit configured to respond to the pair marked as Secondary target area of impassable area A split operation performed by the domain, splitting the second target area into multiple sub-areas, wherein each of the multiple sub-areas is marked as an impassable area, and the multiple sub-areas include the first a target area.
  • a computer-readable storage medium where a computer program is stored in the computer-readable storage medium, wherein the computer program is configured to execute the above-mentioned cleaning device when running operation control method.
  • an electronic device including a memory, a processor, and a computer program stored on the memory and operable on the processor, wherein the above-mentioned processor executes the above-mentioned A method of controlling the operation of cleaning equipment.
  • the passable area of the cleaning equipment is marked by area marking, and the target area information of the area to be cleaned is acquired, wherein the area to be cleaned is the position area in front of the running track of the cleaning equipment; According to the information of the target area, if it is determined that the area to be cleaned cannot pass through, obtain the area mark corresponding to the area to be cleaned; when the area mark is used to indicate that the area to be cleaned allows the cleaning equipment to pass through, control the cleaning equipment to continue moving along the running track , because the passable area of the cleaning equipment is marked by the area mark, so when the cleaning equipment judges that the area to be cleaned cannot pass through, it can make a second judgment based on the area mark, and control the cleaning equipment along the Move along the original running track to clean the area to be cleaned, which can reduce the possible purpose of misjudging the passable area as the non-passable area by the cleaning equipment, and achieve the technical effect of improving the cleaning coverage of the cleaning equipment, and then solve the problem. It is found that the operation control method of the cleaning equipment
  • FIG. 1 is a schematic diagram of a hardware environment of an optional cleaning device operation control method according to an embodiment of the present disclosure
  • Fig. 2 is a schematic flowchart of an optional operation control method of cleaning equipment according to an embodiment of the present disclosure
  • Fig. 3 is a schematic diagram of an optional area map according to an embodiment of the present disclosure.
  • Fig. 4 is a schematic diagram of an optional divided operable area according to an embodiment of the present disclosure.
  • Fig. 5 is a schematic diagram of an optional splitting impassable area according to an embodiment of the present disclosure.
  • Fig. 6 is a schematic flowchart of another optional cleaning device operation control method according to an embodiment of the present disclosure.
  • Fig. 7 is a structural block diagram of an optional operation control device for cleaning equipment according to an embodiment of the present disclosure.
  • Fig. 8 is a structural block diagram of an optional electronic device according to an embodiment of the present disclosure.
  • an operation control method of a cleaning device may be applied to a hardware environment composed of a terminal device 102 , a cleaning device 104 and a server 106 as shown in FIG. 1 .
  • the terminal device 102 can be connected to the cleaning device 104 and/or server 106 (for example, an Internet of Things platform or a cloud server) through the network to control the cleaning device 104, for example, to bind the cleaning robot Determine and configure the cleaning function of the cleaning device 104.
  • the cleaning device 104 may include a host and a base station (or dust collection station), and the host and the base station may be connected through a network to determine the current status of the peer (eg, battery status, working status, location information, etc.).
  • the foregoing network may include but not limited to at least one of the following: a wired network and a wireless network.
  • the above-mentioned wired network may include but not limited to at least one of the following: wide area network, metropolitan area network, local area network, and the above-mentioned wireless network may include but not limited to at least one of the following: WIFI (Wireless Fidelity, Wireless Fidelity), bluetooth, infrared.
  • WIFI Wireless Fidelity, Wireless Fidelity
  • the network used by the terminal device 102 to communicate with the cleaning device 104 and/or the base station 106 and the network used by the cleaning device 104 to communicate with the base station 106 may be the same or different.
  • the terminal device 102 is not limited to a PC, a mobile phone, a tablet computer, etc.
  • the cleaning device 104 may be a device for area cleaning
  • the server 106 may be a server of an Internet of Things platform.
  • the operation control method of the cleaning device in the embodiment of the present disclosure may be executed by the terminal device 102 , the cleaning device 104 or the server 106 alone, or jointly executed by at least two of the terminal device 102 , the cleaning device 104 and the server 106 .
  • the execution of the operation control method of the cleaning device in the embodiment of the present disclosure by the terminal device 102 or the cleaning device 104 may also be performed by a client installed on it.
  • FIG. 2 is a schematic flowchart of an optional cleaning device operation control method according to an embodiment of the present disclosure, as shown in FIG. 2 , the flow of the method may include the following steps:
  • Step S202 acquiring target area information of the area to be cleaned, wherein the area to be cleaned is the location area ahead of the running track of the cleaning device.
  • the operation control method of cleaning equipment in this embodiment can be applied to the following scenarios: using cleaning equipment for area cleaning Cleaning can be a comprehensive area cleaning based on the area map, or a designated area cleaning based on the area map and zoning information.
  • the cleaning device may be a cleaning robot, for example, a smart vacuum cleaner, a sweeping robot, a smart sweeper integrating suction and sweeping, or other devices with area cleaning functions, which are not limited in this embodiment.
  • the cleaning device can be equipped with a detection component.
  • the detection component on the cleaning device can detect the area to be cleaned to obtain the target area information.
  • the area to be cleaned is the position area in front of the cleaning device's running track.
  • the target area information can be used to represent the object information of the area objects contained in the area to be cleaned, and can include but not limited to at least one of the following: obstacle information of obstacles (for example, the width and height of obstacles, etc.), obstacles and The amount of gaps formed between the ground, walls, or other obstacles, etc. In this embodiment, there is no limitation on the target area information.
  • the detection component may be any component that performs area detection, and may be an image acquisition component or a distance sensor.
  • the above-mentioned image acquisition component can be any device capable of image acquisition, for example, a camera
  • the distance sensor can be any sensor capable of distance detection by emitting a detection signal, for example, an infrared distance sensor, a laser distance sensor.
  • the cleaning device can send a detection signal during area cleaning, and when the detection signal hits an obstacle, it can be reflected on the surface of the obstacle. After obtaining the reflection signal of the detection signal, according to the detection signal and the reflection signal, the cleaning device can determine the target area information of the area to be cleaned.
  • the cleaning device can use the image acquisition component to perform image acquisition on the area to be cleaned to obtain an image of the target area of the area to be cleaned (it can be a color image or a black and white image ). According to the collected images of the area to be cleaned, the cleaning device can determine target area information of the area to be cleaned.
  • the image acquisition component provided by it can collect images of the area to be cleaned, obtain the area to be cleaned, and determine the target area information of the area to be cleaned in front of the running track according to the collected image.
  • multiple detection components can be set on the cleaning device, and each detection component in the multiple detection components can independently detect the area to be cleaned , and then obtain a plurality of detection information, and determine the target area information according to the plurality of detection information.
  • Step S204 if it is determined according to the target area information that the area to be cleaned is not passable, acquire an area mark corresponding to the area to be cleaned.
  • the cleaning device can determine whether the area to be cleaned is a passable area for the cleaning device.
  • the cleaning device may clean the area to be cleaned, and reacquire the area information of the area to be cleaned.
  • the cleaning device can adjust the cleaning trajectory to avoid encountering abnormal situations, such as being stuck or being surrounded.
  • the cleaning equipment may cause a misjudgment of whether the area to be cleaned by the cleaning equipment can pass through, and the area that the cleaning equipment can pass through may be misjudged as an unpassable area. For example, when the distance between the tablecloth laid on the dining table and the ground is too small, the cleaning equipment will judge that the underside of the table cannot pass through, but the cleaning equipment can pass through the tablecloth. For another example, when it is detected that the distance between the bottom of the bed and the ground is small, the cleaning equipment will judge that the bottom of the bed cannot pass through, but the gap at the bottom of the bed allows the cleaning equipment to pass through.
  • the cleaning device can obtain According to the area mark obtained, it is further determined whether the area to be cleaned is a passable area.
  • the area mark above is a pre-configured area mark, and an area mark can be added to at least one preset area in the area map, so as to mark each preset area as a passable area (or an impassable area).
  • the area mark can be any form of mark, for example, it can be marked by a flag bit, 1 is a passable area, or it can be other forms of marks, marks of different colors.
  • the preset area may be a fixed area, for example, an area defined by a closed area boundary, or an open area, for example, an area defined by an open area boundary.
  • the cleaning device can determine whether the area to be cleaned belongs to a certain preset area (preset passable area, or preset non-passable area), and if so, the preset area can be The area mark of is determined as the area mark corresponding to the area to be cleaned.
  • a certain preset area preset passable area, or preset non-passable area
  • the sweeping robot determines that the area to be cleaned is an impassable area, it can determine whether the area to be cleaned belongs to a certain preset area, and if so, determine the area mark of the preset area as the area mark corresponding to the area to be cleaned .
  • Step S206 in the case where the area mark is used to indicate that the cleaning equipment is allowed to pass through the area to be cleaned, control the cleaning equipment to continue moving along the running track.
  • the cleaning device may control the cleaning device to perform corresponding operations according to the difference in the area mark.
  • the cleaning equipment may continue to move along the running track when the area mark is used to indicate that the cleaning equipment is allowed to pass through the area to be cleaned.
  • the cleaning device can adjust the running track of the cleaning device to keep it away from the area to be cleaned, or can send a planning request to the associated terminal device to Re-plan the running route, and re-plan the running route after receiving the response message returned by the terminal device, and move according to the re-planned route.
  • the process of controlling the cleaning device to adjust the running trajectory may be to control the cleaning device to turn in situ, for example, the left wheel and the right wheel of the cleaning device rotate around the center point (or center of gravity) of the cleaning device, Alternatively, the wheel on the target side does not move while the wheel on the other side spins.
  • the target area information of the area to be cleaned is obtained, wherein the area to be cleaned is the location area in front of the running track of the cleaning equipment; in the case that the area to be cleaned is determined to be impenetrable according to the target area information, the area mark corresponding to the area to be cleaned is obtained; the area mark is used to indicate that the area to be cleaned allows the cleaning equipment to pass through Under the circumstances, the cleaning equipment is controlled to continue to move along the running track, which solves the problem of low cleaning coverage due to easy misjudgment of obstacle information in the operation control method of the cleaning equipment in the related art, and improves the cleaning efficiency of the cleaning equipment. coverage.
  • obtaining target area information of the area to be cleaned includes:
  • the target area information of the area to be cleaned can be obtained through the image acquisition component.
  • the image acquisition component may collect images of the area to be cleaned to obtain an image of the target area, and then perform feature extraction on the image of the target area to obtain information about the target area.
  • multiple image acquisition components on the cleaning device can be used to collect images of the area to be cleaned to obtain multiple regional images (the target region image includes multiple regional images) image), and then perform feature extraction on each regional image to obtain multiple regional information, and finally perform information fusion on multiple regional information to obtain target region information.
  • preprocessing can be performed on the target area image to remove noise points in the target area image before feature extraction on the target area image.
  • the sweeping robot can collect images of the area to be cleaned through its camera, obtain the image of the area to be cleaned, and determine the size of the gap area in the area to be cleaned according to the above image.
  • the area information detection of the area to be cleaned is performed by the image acquisition component on the cleaning device, which can improve the accuracy and convenience of the area information detection.
  • the target area information includes area information of a void area within the area to be cleaned.
  • the area width of the void area For example, the area width of the void area, the area height of the void area.
  • the above-mentioned gap area may include but not limited to at least one of the following: a gap area between obstacles, a gap area between obstacles and the ground, and a gap area between obstacles and walls. This is not limited.
  • determining that the area to be cleaned cannot pass through according to the target area information may include:
  • the cleaning device may determine the area size of the void area according to the area information of the void area in the area to be cleaned, and the above area size may include but not limited to the area width and/or area height of the void area.
  • the area size of the area and the threshold size of the cleaning equipment can determine whether the area to be cleaned is passable. If the area size of the gap area is smaller than the threshold size of the cleaning device, it is determined that the area to be cleaned is not passable, and when the area size of the gap area is greater than or equal to the threshold size of the cleaning device, it is determined that the area to be cleaned is passable.
  • the threshold size of the cleaning device may include the maximum width of the cleaning device in the horizontal direction and the maximum height of the cleaning device in the vertical direction.
  • the threshold size of the cleaning device includes multiple sizes, as long as any one of the threshold sizes of the cleaning device (eg, width, height, etc.) is larger than the area size of the gap area, the area to be cleaned will be determined as impassable.
  • the cleaning device may be stuck at the void area.
  • the threshold size of the cleaning device can be set to be greater than the maximum width of the cleaning device in the horizontal direction and the maximum height of the cleaning device in the vertical direction, thereby reducing the probability of the cleaning device being stuck during the cleaning process.
  • the threshold size of a sweeping robot is: 40cm in width and 12cm in height. If it is determined that the width of the gap area in the area to be cleaned is 50 cm and the height is 10 cm, since the height of the sweeping robot is greater than the height of the gap, at this time, it is determined that the area to be cleaned cannot pass through. If the width of the void area in the area to be cleaned is 50 cm and the height is 15 cm, since the area size of the void area is greater than the threshold size of the sweeping robot, it is determined that the area to be cleaned can pass.
  • the cleaning device determines whether the cleaning device can pass through the area to be cleaned according to the threshold size of the cleaning device and the area size of the gap area, which can facilitate the control of the cleaning device.
  • the above method before obtaining the area mark corresponding to the area to be cleaned, the above method further includes:
  • a target area map may be configured on the cleaning device, and the target area map may have an area mark of at least one preset area.
  • the aforementioned area mark may be added by the user through his terminal device for at least one preset area and requested to be set by the server.
  • the server may acquire a target marking request corresponding to the target area map, where the target marking request is used to mark the first target area in the target area map as a passable area.
  • the server may add a passable mark to the target area map, and the passable mark is used to indicate that the markable area (for example, the first target area) is a passable area.
  • the first target area may be an area determined by the cleaning device as an impassable area, for example, during area cleaning, the first target area is determined as an impassable area by scanning the first target area.
  • the area mark of the misjudged impassable area can be modified to trigger the sending of the above target mark request, so that the mark of the area on the target area map can be displayed as possible through the area.
  • the target marking request is also used to mark the first target area in the target area map as an impassable area.
  • the server may add an impassable mark to the target area map, where the unpassable mark is used to indicate that the markable area (for example, the first target area) is an impassable area.
  • the user can also request to mark the area misjudged as the passable area as an impassable area through the target marking request.
  • the above-mentioned target marking request may be a voice marking request.
  • the area to be marked and the area type to be marked for the area to be marked are determined.
  • the area type may be a passable area or an impassable area.
  • the sending device of the target marking request may be sent (For example, a terminal device, a cleaning device, etc.) send a prompt message to prompt that the cleaning device has been trapped in the first target area, and may also prompt to determine whether to still mark the first target area as passable, thereby reducing the number of cleaning devices being trapped probability of sleepiness.
  • the passable mark is added to the requested area in the area map by marking the request, which can improve the flexibility of the passable area configuration.
  • the above method before obtaining the target marking request corresponding to the target area map, the above method further includes:
  • the sending of the target marking request may be triggered in a visual manner.
  • a target application matching the cleaning device may run on the target device, which may be the user's terminal device, for example, a mobile phone terminal, or the cleaning device.
  • the area configuration interface can be displayed on the target application.
  • the area configuration interface is an interface for area configuration of the target area map of the cleaning equipment.
  • the configuration can be: partitions in the target area map, non-passable areas in the target area map, and target Passable areas in the area map, areas to be cleaned in the target area map, etc.
  • the user can select the first target area and perform a marking operation on the first target area.
  • the above marking operation can be used to trigger marking the first target area as a passable area, which can be
  • a combination of one or more operations may include but not limited to at least one of the following: click operation, double-tap operation, and slide operation.
  • the target device may generate a target marking request. If it is the server that adds the passable mark to the first target area, the target device may also send the target mark request to the server.
  • an area map configured for the sweeping robot may be displayed on the area configuration interface of the mobile terminal, including the bed area marked as an impassable area in the master bedroom area. The distance between the bottom of the bed and the ground allows the sweeping robot to pass through. The user can select the bed area and click the button marked "Passable Area" on the area configuration interface to trigger a marking request to the server to request that the bed area be marked as a passable area. through the area.
  • the region map is displayed through the region configuration interface, and the flexibility of the region configuration can be improved by performing a marking operation on a specified region in the region map.
  • the above method before generating a target marking request in response to the marking operation performed on the first target area, the above method further includes:
  • the first target area may be a single area on the target area map, or form a large area together with other areas on the target area map, and the formed large area may include impassable areas.
  • impassable areas For example, as shown in FIG. 3 , when the cleaning device scans the area, Area 1, Area 2, and Area 3 are identified as a large impassable area, wherein Area 3 is an area misjudged as an impassable area, and Area 4 is a single impassable area.
  • the original area information in the target area map can be ignored, and the target area can be directly On the map, the area to be marked is divided through the division operation.
  • the target device can detect the area division operation performed on the target area map, and in response to the detected area division operation, determine the area boundary of the area divided by the area division operation, so as to obtain the area divided by the area division operation, and divide the area The area divided by the operation is determined as the first target area.
  • the area divided by the division operation may include the area marked as an impassable area in the target area map.
  • the above division operation can be a frame selection operation on the first target area, or a line operation on the first target area, or other methods that can divide the first target area from the impassable area containing the first target area operation, the actual This is not limited in the examples.
  • area 3 in Figure 3 can be divided separately, and the area boundary of the area can be exactly the same as area 3, or it can include part of the passable area, as shown in Figure 4, the shaded area is divided by the area division operation
  • the area of which includes area 3, and the part outside area 3 can pass through the area. Combined with the original area boundary, it can be determined that Area 1 and Area 2 are impassable areas.
  • the first target area to be marked as a passable area when the first target area to be marked as a passable area is a separate area, the first target area may be directly selected on the target area map for marking.
  • the target device may detect a selection operation performed on the target area map, and in response to the detected selection operation, determine the area selected by the selection operation as the first target area.
  • the area selected by the selection operation here is the area marked as an impassable area in the target area map. For example, area 4 in Figure 3 can be selected and marked as a passable area.
  • the above method before determining the area selected by the selection operation as the first target area, the above method further includes:
  • the first target area may be part of the second target area marked as an impassable area.
  • the second target area can be split into multiple sub-areas first, and then the second target area can be selected from the split multiple sub-areas. a target area.
  • the user can enter the area splitting mode through the operating area configuration interface, and perform the splitting operation on the second target area in the area splitting mode, or directly select the area splitting tool to perform the splitting operation on the second target area.
  • the target device may detect the above split operation, and in response to the detected split operation, split the second target area into multiple sub-areas.
  • the multiple sub-areas obtained by splitting may be automatically marked as impassable areas, including the first target area to be marked as a passable area.
  • the above-mentioned process of splitting the second target area may be to select the second target area to be split on the displayed target area map, and then click the split button to split it Divided into multiple sub-areas, which is not limited in this embodiment.
  • the above split operation can be a frame selection operation performed on the second target area first, or divide the second target area into multiple blocks through the split line, and then click the "Split" button to trigger Perform regional splits.
  • the user can set split lines between Area 1 and Area 3, and between Area 2 and Area 3 (ie, the solid line in FIG. 5 ), splitting can be performed according to the set splitting line to obtain the split regions 1, 2 and 3.
  • the cleaning device is a robot vacuum.
  • the robot's judgment of obstacles is not accurate enough. For example, for some sofas or beds with a low height, the robot may judge that the height is too low to pass, so that the robot avoids the sofa or bed, but in fact Robots can pass through, preventing the sofa or under the bed from being cleaned. For another example, for some narrow passages, the robot judges that the narrow passages are not passable, but in fact the robot can pass through, resulting in a decrease in the passing efficiency of the robot.
  • This optional example provides a robot cleaning method, and users can use the APP on their terminal equipment to
  • the flow of the cleaning device operation control method in this optional example may include the following steps:
  • Step S602 display the map built by the sweeping robot on the APP.
  • the sweeping robot When the sweeping robot performs area cleaning or area scanning, it can perform map construction to obtain the constructed map.
  • the map constructed above can be displayed on the APP.
  • Step S604 marking passable areas in the map constructed by the cleaning robot.
  • the terminal device can detect the operation of marking the area above, and mark the passable area in the constructed map, for example, by interacting with the server, the passable area in the constructed map can be marked.
  • Step S606 if the sweeping robot judges that the front is not passable during operation, then judge whether the front is a passable area marked by the user, if yes, continue, otherwise, detour.
  • the sweeping robot can clean the area according to the constructed map. During the running process, if it is judged that the front is not passable, it can continue to judge whether the front is a passable area marked by the user. If it is, it means that the front is passable, then continue to move forward, otherwise, detour.
  • the cleaning efficiency of the sweeping robot during area cleaning can be improved.
  • FIG. 7 is a structural block diagram of an optional operation control device for cleaning equipment according to an embodiment of the present disclosure. As shown in Fig. 7, the device may include:
  • the first acquiring unit 702 is configured to acquire target area information of the area to be cleaned, wherein the area to be cleaned is the position area ahead of the running track of the cleaning device;
  • the second acquisition unit 704 is connected to the first acquisition unit 702, and is configured to acquire an area mark corresponding to the area to be cleaned when it is determined that the area to be cleaned cannot pass through according to the target area information;
  • the control unit 706 is connected with the second acquiring unit 704, and is configured to control the cleaning equipment to continue moving along the running track when the area mark is used to indicate that the cleaning equipment is allowed to pass through the area to be cleaned.
  • first acquisition unit 702 in this embodiment can be used to perform the above step S202
  • second acquisition unit 704 in this embodiment can be used to perform the above step S204
  • control unit 706 in this embodiment can be It is used to execute the above step S206.
  • the target area information of the area to be cleaned is obtained, wherein the area to be cleaned is the position area in front of the running track of the cleaning equipment; in the case that the area to be cleaned is determined to be impenetrable according to the target area information, the information corresponding to the area to be cleaned is obtained.
  • area mark in the case where the area mark is used to indicate that the cleaning equipment is allowed to pass through the area to be cleaned, the cleaning equipment is controlled to continue to move along the running track, which solves the problem of the operation control method of the cleaning equipment in the related art. The problem of low cleaning coverage caused by misjudgment occurred, and the cleaning coverage of cleaning equipment was improved.
  • the first acquisition unit includes:
  • the acquisition module is used to acquire the image of the area to be cleaned through the image acquisition component on the cleaning device to obtain the image of the target area;
  • the extraction module is used to perform feature extraction on the image of the target area to obtain information of the target area, wherein the information of the target area includes the area information of the gap area in the area to be cleaned.
  • the target area information includes the area information of the void area in the area to be cleaned; the above-mentioned device also includes:
  • the first determination unit is configured to determine the area size of the void area according to the area information of the void area in the area to be cleaned before acquiring the area mark corresponding to the area to be cleaned;
  • the second determination unit is configured to determine that the area to be cleaned cannot pass through when the area size of the gap area is smaller than the threshold size of the cleaning device.
  • the above-mentioned device also includes:
  • the third acquiring unit is configured to acquire a target marking request corresponding to the target area map before acquiring the area marking corresponding to the area to be cleaned, wherein the target marking request is used to mark the first target area in the target area map as available By area, the target area map is an area map configured for cleaning equipment;
  • the marking unit is configured to respond to the target marking request and add a passable mark to the first target area, wherein the passable mark is used to indicate that the area marked by the passable mark is a passable area.
  • the above-mentioned device also includes:
  • the display unit is used to display the target area map on the area configuration interface of the target device before obtaining the target marking request corresponding to the target area map;
  • a generating unit configured to generate a target marking request in response to a marking operation performed on the first target area, wherein the marking operation is used to trigger marking the first target area as a passable area.
  • the above-mentioned device also includes:
  • the third determining unit is configured to determine the area divided by the area division operation in response to the area division operation performed on the target area map before generating the target marking request in response to the marking operation performed on the first target area as The first target area, wherein, the area divided by the zoning operation includes the area marked as an impassable area in the target area map;
  • the fourth determination unit is configured to determine the area selected by the selection operation as the first target area in response to the selection operation performed on the target area map before generating the target marking request in response to the marking operation performed on the first target area.
  • the target area, wherein the area selected by the selection operation is the area marked as an impassable area in the target area map.
  • the above-mentioned device also includes:
  • the splitting unit is used to split the second target area in response to the split operation performed on the second target area marked as an unpassable area before determining the area selected by the selection operation as the first target area Divided into a plurality of sub-areas, wherein each sub-area in the plurality of sub-areas is marked as an impassable area, the plurality of sub-areas includes the first target area.
  • the above modules can run in the hardware environment shown in FIG. 1 , and can be implemented by software or by hardware, wherein the hardware environment includes a network environment.
  • a storage medium is also provided.
  • the above-mentioned storage medium may be used to execute the program code of any one of the above-mentioned cleaning device operation control methods in the embodiments of the present disclosure.
  • the foregoing storage medium may be located on at least one network device among the plurality of network devices in the network shown in the foregoing embodiments.
  • the storage medium is configured to store program codes for performing the following steps:
  • S1 acquiring target area information of the area to be cleaned, wherein the area to be cleaned is the position area in front of the running track of the cleaning equipment;
  • the above-mentioned storage medium may include, but not limited to, various media capable of storing program codes such as USB flash drive, ROM, RAM, removable hard disk, magnetic disk, or optical disk.
  • an electronic device for implementing the operation control method of the cleaning equipment described above, the electronic device may be a server, a terminal, or a combination thereof.
  • FIG. 8 is a structural block diagram of an optional electronic device according to an embodiment of the present disclosure. As shown in FIG. 804 and memory 806 complete mutual communication through communication bus 808, wherein,
  • S1 acquiring target area information of the area to be cleaned, wherein the area to be cleaned is the position area in front of the running track of the cleaning equipment;
  • the communication bus can be a PCI (Peripheral Component Interconnect, peripheral Component Interconnection Standard) bus, or EISA (Extended Industry Standard Architecture, Extended Industry Standard Architecture) bus, etc.
  • the communication bus can be divided into an address bus, a data bus, a control bus, and the like. For ease of representation, only one thick line is used in FIG. 8 , but it does not mean that there is only one bus or one type of bus.
  • the communication interface is used for communication between the electronic device and other devices.
  • the above-mentioned memory may include RAM, and may also include non-volatile memory (non-volatile memory), for example, at least one disk memory.
  • non-volatile memory non-volatile memory
  • the memory may also be at least one storage device located away from the aforementioned processor.
  • the memory 806 may include, but is not limited to, the first acquisition unit 702, the second acquisition unit 704, and the control unit 706 in the operation control device of the cleaning device. In addition, it may also include but not limited to other module units in the operation control device of the cleaning equipment mentioned above, which will not be repeated in this example.
  • processor can be general-purpose processor, can include but not limited to: CPU (Central Processing Unit, central processing unit), NP (Network Processor, network processor) etc.; Can also be DSP (Digital Signal Processing, digital signal processor ), ASIC (Application Specific Integrated Circuit, application specific integrated circuit), FPGA (Field-Programmable Gate Array, field programmable gate array) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components.
  • CPU Central Processing Unit, central processing unit
  • NP Network Processor, network processor
  • DSP Digital Signal Processing, digital signal processor
  • ASIC Application Specific Integrated Circuit
  • FPGA Field-Programmable Gate Array, field programmable gate array
  • other programmable logic devices discrete gate or transistor logic devices, discrete hardware components.
  • FIG. 8 is only for illustration, and the device implementing the operation control method of the above cleaning device may be a terminal device, and the terminal device may be a smart phone (such as an Android phone, an iOS phone, etc.), Tablet PCs, PDAs, and mobile Internet devices (Mobile Internet Devices, MID), PAD and other terminal equipment.
  • FIG. 8 does not limit the structure of the above-mentioned electronic device.
  • the electronic device may also include more or less components than those shown in FIG. 8 (such as a network interface, a display device, etc.), or have a different configuration from that shown in FIG. 8 .
  • the integrated units in the above embodiments are realized in the form of software function units and sold or used as independent products, they can be stored in the above computer-readable storage medium.
  • the essence of the technical solution disclosed in this disclosure or the part that contributes to the prior art 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.
  • Several instructions are included to make one or more computer devices (which may be personal computers, servers or network devices, etc.) execute all or part of the steps of the methods described in the various embodiments of the present disclosure.
  • the disclosed client may be implemented in other ways.
  • the device embodiments described above are only illustrative, for example, the division of the units is only a logical function division, and there may be other division methods in actual implementation, for example, multiple units or components can be combined or can be Integrate into another system, or some features may be ignored, or not implemented.
  • the mutual coupling or direct coupling or communication connection shown or discussed may be through some interfaces, and the indirect coupling or communication connection of units or modules may be in electrical or other forms.
  • the units described as separate components may or may not be physically separated, and the components displayed as units may or may not be physical units, that is, they may be located in one place or distributed to multiple network units. Part or all of the units can be selected according to actual needs to achieve the purpose of the solution provided in this embodiment.
  • each functional unit in each embodiment of the present disclosure may be integrated into one processing unit, each unit may exist separately physically, or two or more units may be integrated into one unit.
  • the above-mentioned integrated units can be implemented in the form of hardware or in the form of software functional units.

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Abstract

一种清洁设备的运行控制方法及装置、存储介质及电子装置，方法包括：获取待清洁区域的目标区域信息，其中，待清洁区域为清洁设备的运行轨迹前方的位置区域（S202）；在根据目标区域信息确定待清洁区域不可通过的情况下，获取与待清洁区域对应的区域标记（S204）；在区域标记用于表示待清洁区域允许清洁设备通过的情况下，控制清洁设备继续沿着运行轨迹移动（S206）。解决了相关技术中的清洁设备的运行控制方法存在由于对障碍物信息易发生误判导致的清洁覆盖率低的问题。

Description

清洁设备的运行控制方法及装置、存储介质及电子装置
本公开要求如下专利申请的优先权：于2022年02月16日提交中国专利局、申请号为202210143517.0、发明名称为“清洁设备的运行控制方法及装置、存储介质及电子装置”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公开中。
技术领域
本公开涉及智能家居领域，具体而言，涉及一种清洁设备的运行控制方法及装置、存储介质及电子装置。
背景技术
目前，在清洁设备(例如，扫地机器人)对待清洁地面进行区域清洁的过程中，如果检测到障碍物不可通过，例如，障碍物高度过低、或者宽度过窄不可通过，则会避开障碍物。然而，在一些场景下，清洁设备对于障碍物的判断不够准确，从而存在由于误判障碍物导致需要清洁的区域得不到清洁。
例如，对于一些高度较低的沙发、床等障碍物，扫地机器人可以进入到障碍物底部进行清扫。如果扫地机器人发生误判，判定该障碍物的高度过低不可通过，则会控制扫地机器人绕开该障碍物。
由此可见，相关技术中的清洁设备的运行控制方法，存在由于对障碍物信息易发生误判导致的清洁覆盖率低的问题。
发明内容
本公开的目的在于提供一种清洁设备的运行控制方法及装置、存储介质及电子装置，以至少解决相关技术中的清洁设备的运行控制方法存在由于对障碍物信息易发生误判导致的清洁覆盖率低的问题。
本公开的目的是通过以下技术方案实现：
根据本公开实施例的一个方面，提供了一种清洁设备的运行控制方法，包括：获取待清洁区域的目标区域信息，其中，所述待清洁区域为所述清洁设备的运行轨迹前方的位置区域；在根据所述目标区域信息确定所述待清洁区域不可通过的情况下，获取与所述待清洁区域对应的区域标记；在所述区域标记用于表示所述待清洁区域允许所述清洁设备通过的情况下，控制所述清洁设备继续沿着所述运行轨迹移动。
在一个示例性实施例中，所述获取待清洁区域的目标区域信息，包括：通过所述清洁设备上的图像采集部件对所述待清洁区域进行图像采集，得到目标区域图像；对所述目标区域图像进行特征提取，得到所述目标区域信息，其中，所述目标区域信息包括所述待清洁区域内的空隙区域的区域信息。
在一个示例性实施例中，所述目标区域信息包括所述待清洁区域内的空隙区域的区域信息；所述根据所述目标区域信息确定所述待清洁区域不可通过，包括：根据所述待清洁区域内的空隙区域的区域信息，确定所述空隙区域的区域尺寸；在所述空隙区域的区域尺寸小于所述清洁设备的阈值尺寸的情况下，确定所述待清洁区域不可通过。
在一个示例性实施例中，在所述获取与所述待清洁区域对应的区域标记之前，所述方法还包括：获取与目标区域地图对应的目标标记请求，其中，所述目标标记请求用于将所述目标区域地图中的第一目标区域标记为可通过区域，所述目标区域地图是为所述清洁设备配置的区域地图；响应所述目标标记请求，为所述第一目标区域添加可通过标记，其中，所述可通过标记用于指示所述可通过标记所标记的区域为可通过区域。
在一个示例性实施例中，在所述获取与目标区域地图对应的目标标记请求之前，所述方法还包括：在目标设备的区域配置界面上显示所述目标区域地图；响应于对所述第一目标区域执行的标记操作，生成所述目标标记请求，其中，所述标记操作用于触发将所述第一目标区域标记为可通过区域。
在一个示例性实施例中，在所述响应于对所述第一目标区域执行的标记操作，生成所述目标标记请求之前，所述方法还包括：响应于对所述目标区域地图执行的划区操作，将所述划区操作所划分出的区域，确定为所述第一目标区域，其中，所述划区操作所划分出的区域包含所述目标区域地图中被标记为不可通过区域的区域；或者，响应于对所述目标区域地图执行的选取操作，将所述选取操作所选取出的区域，确定为所述第一目标区域，其中，所述选取操作所选取出的区域为所述目标区域地图中被标记为不可通过区域的区域。
在一个示例性实施例中，在所述将所述选取操作所选取出的区域，确定为所述第一目标区域之前，所述方法还包括：响应于对被标记为不可通过区域的第二目标区域执行的拆分操作，将所述第二目标区域拆分为多个子区域，其中，所述多个子区域中的每个子区域均被标记为不可通过区域，所述多个子区域包括所述第一目标区域。
根据本公开实施例的另一个方面，还提供了一种清洁设备的运行控制装置，包括：第一获取单元，用于获取待清洁区域的目标区域信息，其中，所述待清洁区域为所述清洁设备的运行轨迹前方的位置区域；第二获取单元，用于在根据所述目标区域信息确定所述待清洁区域不可通过的情况下，获取与所述待清洁区域对应的区域标记；控制单元，用于在所述区域 标记用于表示所述待清洁区域允许所述清洁设备通过的情况下，控制所述清洁设备继续沿着所述运行轨迹移动。
在一个示例性实施例中，所述第一获取单元，包括：采集模块，用于通过所述清洁设备上的图像采集部件对所述待清洁区域进行图像采集，得到目标区域图像；提取模块，用于对所述目标区域图像进行特征提取，得到所述目标区域信息，其中，所述目标区域信息包括所述待清洁区域内的空隙区域的区域信息。
在一个示例性实施例中，所述目标区域信息包括所述待清洁区域内的空隙区域的区域信息；所述装置还包括：第一确定单元，用于在所述获取与所述待清洁区域对应的区域标记之前，根据所述待清洁区域内的空隙区域的区域信息，确定所述空隙区域的区域尺寸；第二确定单元，用于在所述空隙区域的区域尺寸小于所述清洁设备的阈值尺寸的情况下，确定所述待清洁区域不可通过。
在一个示例性实施例中，所述装置还包括：第三获取单元，用于在所述获取与所述待清洁区域对应的区域标记之前，获取与目标区域地图对应的目标标记请求，其中，所述目标标记请求用于将所述目标区域地图中的第一目标区域标记为可通过区域，所述目标区域地图是为所述清洁设备配置的区域地图；标记单元，用于响应所述目标标记请求，为所述第一目标区域添加可通过标记，其中，所述可通过标记用于指示所述可通过标记所标记的区域为可通过区域。
在一个示例性实施例中，所述装置还包括：显示单元，用于在所述获取与目标区域地图对应的目标标记请求之前，在目标设备的区域配置界面上显示所述目标区域地图；生成单元，用于响应于对所述第一目标区域执行的标记操作，生成所述目标标记请求，其中，所述标记操作用于触发将所述第一目标区域标记为可通过区域。
在一个示例性实施例中，所述装置还包括：第三确定单元，用于在所述响应于对所述第一目标区域执行的标记操作，生成所述目标标记请求之前，响应于对所述目标区域地图执行的划区操作，将所述划区操作所划分出的区域，确定为所述第一目标区域，其中，所述划区操作所划分出的区域包含所述目标区域地图中被标记为不可通过区域的区域；或者，第四确定单元，用于在所述响应于对所述第一目标区域执行的标记操作，生成所述目标标记请求之前，响应于对所述目标区域地图执行的选取操作，将所述选取操作所选取出的区域，确定为所述第一目标区域，其中，所述选取操作所选取出的区域为所述目标区域地图中被标记为不可通过区域的区域。
在一个示例性实施例中，所述装置还包括：拆分单元，用于在所述将所述选取操作所选取出的区域，确定为所述第一目标区域之前，响应于对被标记为不可通过区域的第二目标区 域执行的拆分操作，将所述第二目标区域拆分为多个子区域，其中，所述多个子区域中的每个子区域均被标记为不可通过区域，所述多个子区域包括所述第一目标区域。
根据本公开实施例的又一方面，还提供了一种计算机可读的存储介质，该计算机可读的存储介质中存储有计算机程序，其中，该计算机程序被设置为运行时执行上述的清洁设备的运行控制方法。
根据本公开实施例的又一方面，还提供了一种电子装置，包括存储器、处理器及存储在存储器上并可在处理器上运行的计算机程序，其中，上述处理器通过计算机程序执行上述的清洁设备的运行控制方法。
在本公开实施例中，采用通过区域标记对清洁设备的可通过区域进行标记的方式，通过获取待清洁区域的目标区域信息，其中，待清洁区域为清洁设备的运行轨迹前方的位置区域；在根据目标区域信息确定待清洁区域不可通过的情况下，获取与待清洁区域对应的区域标记；在区域标记用于表示待清洁区域允许清洁设备通过的情况下，控制清洁设备继续沿着运行轨迹移动，由于通过区域标记对清洁设备的可通过区域进行标记，从而可以当清洁设备判断待清洁区域不可通过时，基于区域标记进行二次判断，并在判断出待清洁区域可通过时控制清洁设备沿着原有的运行轨迹移动，以清洁待清洁区域，可以实现减小由于清洁设备将可通过区域误判为不可通过区域的可能的目的，达到提高清洁设备的清洁覆盖率的技术效果，进而解决了相关技术中的清洁设备的运行控制方法存在由于对障碍物信息易发生误判导致的清洁覆盖率低的问题。
附图说明
此处的附图被并入说明书中并构成本说明书的一部分，示出了符合本公开的实施例，并与说明书一起用于解释本公开的原理。
为了更清楚地说明本公开实施例或现有技术中的技术方案，下面将对实施例或现有技术描述中所需要使用的附图作简单地介绍，显而易见地，对于本领域普通技术人员而言，在不付出创造性劳动性的前提下，还可以根据这些附图获得其他的附图。
图1是根据本公开实施例的一种可选的清洁设备的运行控制方法的硬件环境的示意图；
图2是根据本公开实施例的一种可选的清洁设备的运行控制方法的流程示意图；
图3是根据本公开实施例的一种可选的区域地图的示意图；
图4是根据本公开实施例的一种可选的划分可操作区域的示意图；
图5是根据本公开实施例的一种可选的拆分不可通过区域的示意图；
图6是根据本公开实施例的另一种可选的清洁设备的运行控制方法的流程示意图；
图7是根据本公开实施例的一种可选的清洁设备的运行控制装置的结构框图；
图8是根据本公开实施例的一种可选的电子装置的结构框图。
具体实施方式
下文中将参考附图并结合实施例来详细说明本公开。需要说明的是，在不冲突的情况下，本公开中的实施例及实施例中的特征可以相互组合。
需要说明的是，本公开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。
根据本公开实施例的一个方面，提出了一种清洁设备的运行控制方法。可选地，在本实施例中，上述清洁设备的运行控制方法可以应用于如图1所示的由终端设备102、清洁设备104和服务器106所构成的硬件环境中。如图1所示，终端设备102可以通过网络与清洁设备104和/或服务器106(例如，物联网平台或者云端服务器)进行连接，以对清洁设备104的进行控制，例如，与清洁机器人进行绑定、配置清洁设备104的清洁功能。清洁设备104可以包括主机和基站(或者称集尘站)，主机和基站之间可以通过网络进行连接，以确定对端的当前状态(例如，电量状态、工作状态、位置信息等)。
上述网络可以包括但不限于以下至少之一：有线网络，无线网络。上述有线网络可以包括但不限于以下至少之一：广域网，城域网，局域网，上述无线网络可以包括但不限于以下至少之一：WIFI(Wireless Fidelity，无线保真)，蓝牙，红外。终端设备102与清洁设备104和/或基站106进行通信所使用的网络与清洁设备104与基站106进行通信所使用的网络可以是相同的，也可以是不同的。终端设备102可以并不限定于为PC、手机、平板电脑等，清洁设备104可以是用于进行区域清洁的设备，服务器106可以是物联网平台的服务器。
本公开实施例的清洁设备的运行控制方法可以由终端设备102、清洁设备104或者服务器106单独来执行，也可以由终端设备102、清洁设备104和服务器106中的至少两个共同执行。其中，终端设备102或者清洁设备104执行本公开实施例的清洁设备的运行控制方法也可以是由安装在其上的客户端来执行。
以由清洁设备104来执行本实施例中的清洁设备的运行控制方法为例，图2是根据本公开实施例的一种可选的清洁设备的运行控制方法的流程示意图，如图2所示，该方法的流程可以包括以下步骤：
步骤S202，获取待清洁区域的目标区域信息，其中，待清洁区域为清洁设备的运行轨迹前方的位置区域。
本实施例中的清洁设备的运行控制方法可以应用到如下场景：使用清洁设备进行区域清 洁，可以是基于区域地图进行全面区域清洁，也可以是基于区域地图和分区信息进行指定分区的清洁。清洁设备可以是清洁机器人，例如，可以是智能吸尘器、扫地机器人、集吸、扫于一体的智能清扫机，还可以是其他具备区域清洁功能的设备，本实施例中对此不做限定。
在清洁设备上可以配置有检测部件，当清洁设备运行时，可以通过清洁设备上的检测部件对待清洁区域进行检测，得到目标区域信息，这里，待清洁区域为清洁设备运行轨迹前方的位置区域。目标区域信息可以用于表示待清洁区域内包含的区域对象的对象信息，可以包括但不限于以下至少之一：障碍物的障碍物信息(例如，障碍物的宽度、高度等)，障碍物与地面、墙体或者其他障碍物之间形成的空隙量等。本实施例中对于目标区域信息不做限定。
在本实施例中，上述检测部件可以是任意进行区域检测的部件，可以为图像采集部件或者是距离传感器。其中，上述图像采集部件可以是任意能够通过图像采集的设备，例如，摄像头，距离传感器可以是任意能够通过发射检测信号进行距离检测的传感器，例如，红外线距离传感器、激光距离传感器。
当检测部件为距离传感器时，清洁设备在进行区域清洁的过程中，可以发送检测信号，当检测信号碰到障碍物之后，可以在障碍物表面发生反射。在获取检测信号的反射信号后，根据检测信号和反射信号，清洁设备可以确定待清洁区域的目标区域信息。
当检测部件为图像采集部件时，在进行区域清洁的过程中，清洁设备可以使用图像采集部件对待清洁区域进行图像采集，得到待清洁区域的目标区域图像(可以是彩色图像，也可以是黑白图像)。根据上述待清洁区域的采集图像，清洁设备可以确定待清洁区域的目标区域信息。
例如，在扫地机器人进行区域的过程中，其设置的图像采集部件可以对待清洁区域进行图像采集，得到待清洁区域并根据采集到的图像确定运行轨迹前方的待清洁区域的目标区域信息。
需要说明的是，为了提高获取的待清洁区域的目标区域信息的准确率，可以在清洁设备上设置多个检测部件，多个检测部件中的每一个检测部件都可以单独的对待清洁区域进行检测，进而得到多个检测信息，并根据多个检测信息确定目标区域信息。
步骤S204，在根据目标区域信息确定待清洁区域不可通过的情况下，获取与待清洁区域对应的区域标记。
根据获取到的目标区域信息，清洁设备可以判断待清洁区域对于清洁设备是否是可通过的区域。当待清洁区域对于清洁设备为可通过区域时，清洁设备可以对待清洁区域进行清洁，重新获取待清洁区域的区域信息。当待清洁区域对于清洁设备为不可通过区域时，清洁设备可以调整清洁轨迹，以避免遭遇非正常情况，例如，被卡住，或者是被围困。
然而，由于识别精度以及环境因素等原因，可能会导致清洁设备对待清洁区域是否可以通过出现误判，将清洁设备可通过的区域误判为不可通过区域。例如，当餐桌上铺设的餐桌布与地面之间的距离过小时，清洁设备会判断餐桌底下不可通过，但清洁设备是可以穿过餐桌布的。又例如，当检测到床的底部与地面的间距较小时，清洁设备会判断床底不可通过，但床底的间隙是允许清洁设备通过的。
可选地，为了降低由于清洁设备将可通过区域误判为不可通过区域导致出现清洁盲区的概率，在根据目标区域信息确定待清洁区域不可通过的情况下，清洁设备可以获取与待清洁区域对应的区域标记，并根据获取的区域标记进一步确定待清洁区域是否为可通过区域。
上述区域标记是预先配置的区域标记，在区域地图中可以为至少一个预设区域添加区域标记，以标记各个预设区域为可通过区域(或者，不可通过区域)。区域标记可以是将任意形式的标记，例如，可以是通过标志位进行区域标记，1为可通过区域，也可以是其他形式的标记，不同颜色的标记。预设区域可以是一个固定区域，例如，通过封闭的区域边界所限定的区域，也可以是一个开放区域，例如，通过开放的区域边界所限定的区域。
在确定待清洁区域不可通过之后，清洁设备可以判断待清洁区域是否属于某一个预设区域(预设的可通过区域，或者，预设的不可通过区域)，如果是，可以将该预设区域的区域标记确定为待清洁区域对应的区域标记。
例如，扫地机器人在确定出待清洁区域为不可通过区域时，可以确定待清洁区域是否属于某一预设区域，如果是，将该预设区域的区域标记确定为与待清洁区域对应的区域标记。
步骤S206，在区域标记用于表示待清洁区域允许清洁设备通过的情况下，控制清洁设备继续沿着运行轨迹移动。
在获取与待清洁区域对应的区域标记之后，清洁设备可以根据区域标识的不同，控制清洁设备执行与之相对应的操作。可选地，可以在区域标记用于表示待清洁区域允许清洁设备通过的情况下，清洁设备可以继续沿着运行轨迹移动。
在区域标记用于表示待清洁区域不允许清洁设备通过的情况下，清洁设备可以对清洁设备的运行轨迹进行调整，使其远离待清洁区域，或者，可以向关联的终端设备发出规划请求，以对运行路线进行重新规划，在接受到终端设备返回的响应消息后，对运行路线进行重新规划，并按照重新规划的路线移动。
需要说明的是，控制清洁设备对运行轨迹进行调整的过程，可以是控制清洁设备进行原地转弯，例如，清洁设备的左轮和右轮围绕清洁设备的中心点(或者，重心点)进行旋转，或者，目标侧的车轮不动，另一侧的车轮进行旋转。
通过上述步骤S202至步骤S206，获取待清洁区域的目标区域信息，其中，待清洁区域 为清洁设备的运行轨迹前方的位置区域；在根据目标区域信息确定待清洁区域不可通过的情况下，获取与待清洁区域对应的区域标记；在区域标记用于表示待清洁区域允许清洁设备通过的情况下，控制清洁设备继续沿着运行轨迹移动，解决了相关技术中的清洁设备的运行控制方法存在由于对障碍物信息易发生误判导致的清洁覆盖率低的问题，提高了清洁设备的清洁覆盖率。
在一个示例性实施例中，获取待清洁区域的目标区域信息，包括：
S11，通过清洁设备上的图像采集部件对待清洁区域进行图像采集，得到目标区域图像；
S12，对目标区域图像进行特征提取，得到目标区域信息，其中，目标区域信息包括待清洁区域内的空隙区域的区域信息。
在清洁设备设置有图像采集部件的情况下，可以通过设置的图像采集部件获取待清洁区域的目标区域信息。可选地，可以通过图像采集部件对待清洁区域进行图像采集，得到目标区域图像，再对目标区域图像进行特征提取，得到目标区域信息。
可选地，在清洁设备上设置有多个图像采集部件的情况下，可以通过清洁设备上的多个图像采集部件对待清洁区域进行图像采集，得到多张区域图像(目标区域图像包括多张区域图像)，再对每张区域图像分别进行特征提取，得到多个区域信息，最后对多个区域信息进行信息融合，得到目标区域信息。此外，为了提高目标区域信息提取的准确性，可以在对目标区域图像进行特征提取之前，对目标区域图像进行预处理，去除目标区域图像中的噪点等。
例如，扫地机器人可以通过其设置的摄像头对待清洁区域进行图像采集，得到待清洁区域的图像，并根据上述图像确定待清洁区域内的空隙区域的区域大小。
通过本实施例，通过清洁设备上的图像采集部件进行待清洁区域的区域信息检测，可以提高区域信息检测的准确性和便捷性。
在一个示例性实施例中，目标区域信息包括待清洁区域内的空隙区域的区域信息。例如，空隙区域的区域宽度、空隙区域的区域高度。上述空隙区域可以包括但不限于以下至少之一：障碍物与障碍物之间的空隙区域，障碍物与地面之间的空隙区域，障碍物与墙体之间的空隙区域，本实施例中对此不做限定。
对应地，在本实施例中，根据目标区域信息确定待清洁区域不可通过可以包括:
S21，根据待清洁区域内的空隙区域的区域信息，确定空隙区域的区域尺寸；
S22，在空隙区域的区域尺寸小于清洁设备的阈值尺寸的情况下，确定待清洁区域不可通过。
在本实施例中，清洁设备可以根据待清洁区域内的空隙区域的区域信息，确定空隙区域的区域尺寸，上述区域尺寸可以包括但不限于空隙区域的区域宽度和/或区域高度。根据空隙 区域的区域尺寸与清洁设备的阈值尺寸，可以确定待清洁区域是否可通过。在空隙区域的区域尺寸小于清洁设备的阈值尺寸的情况下，确定待清洁区域不可通过，在空隙区域的区域尺寸大于或者等于清洁设备的阈值尺寸的情况下，确定待清洁区域可通过。
可选地，由于清洁设备一般是不规则的物体，清洁设备的阈值尺寸可以包括清洁设备在水平方向的最大宽度、以及清洁设备在竖直方向的最大高度。在清洁设备的阈值尺寸包括多种尺寸时，只要清洁设备的阈值尺寸中的任意一种尺寸(例如，宽度、高度等)大于空隙区域的区域尺寸时，待清洁区域都会被确定为不可通过。
需要说明的是，由于清洁设备在进行清洁的过程中，其运行轨迹并不为一条完整的直线，可能会出现位置的浮动。当空隙区域的区域尺寸刚好等于清洁设备在水平方向的最大宽度或者是清洁设备在竖直方向的最大高度时，清洁设备可能会在空隙区域处被卡住。可选地，可以将清洁设备的阈值尺寸设置为大于清洁设备在水平方向的最大宽度以及清洁设备在竖直方向的最大高度，从而减少清洁设备在清洁过程中被卡住的概率。
例如，扫地机器人的阈值尺寸为：宽度为40cm，高度为12cm。如果确定待清洁区域内的空隙区域的宽度为50cm，高度为10cm，由于扫地机器人的高度大于空隙的高度，此时，确定待清洁区域不可通过。如果待清洁区域内的空隙区域的宽度为50cm，高度为15cm，由于空隙区域的区域尺寸大于扫地机器人的阈值尺寸，确定待清洁区域可通过。
通过本实施例，根据清洁设备的阈值尺寸和空隙区域的区域尺寸确定清洁设备是否可以通过待清洁区域，可以清洁设备控制的便捷性。
在一个示例性实施例中，在获取与待清洁区域对应的区域标记之前，上述方法还包括：
S31，获取与目标区域地图对应的目标标记请求，其中，目标标记请求用于将目标区域地图中的第一目标区域标记为可通过区域，目标区域地图是为清洁设备配置的区域地图；
S32，响应目标标记请求，为第一目标区域添加可通过标记，其中，可通过标记用于指示可通过标记所标记的区域为可通过区域。
在本实施例中，在清洁设备上可以配置有目标区域地图，目标区域地图可以具有上述至少一个预设区域的区域标记。上述区域标记可以是由用户通过其终端设备为至少一个预设区域添加并请求服务器端设置的。服务器可以获取与目标区域地图对应的目标标记请求，该目标标记请求用于将目标区域地图中的第一目标区域标记为可通过区域。响应于该目标标记请求，服务器可以为目标区域地图添加可通过标记，可通过标记用于指示可所标记的区域(比如，第一目标区域)为可通过区域。
第一目标区域可以是被清洁设备确定为不可通过的区域，例如，在进行区域清洁时，通过对第一目标区域进行扫描，将第一目标区域确定为不可通过区域。在查看目标区域地图时， 当用户认为清洁设备对于不可通过区域出现误判时，可以将出现误判的不可通过区域的区域标记进行修改，触发发送上述目标标记请求，以使该区域在目标区域地图上的标记显示为可通过区域。
可选地，目标标记请求也用于将目标区域地图中的第一目标区域标记为不可通过区域。响应于该目标标记请求，服务器可以为目标区域地图添加不可通过标记，不可通过标记用于指示可所标记的区域(比如，第一目标区域)为不可通过区域。类似地，用户也可以通过目标标记请求将误判为可通过区域的区域标记为不可通过区域。
需要说明的是，上述目标标记请求可以是语音标记请求，通过对语音标记请求进行识别，确定待标记区域以及待标记区域待标记为的区域类型，区域类型可以是可通过区域或者不可通过区域。
例如，当用户将主卧的物品搬空后，可以通过其手机终端或者扫地机器人向服务器发送“将主卧的全部区域在地图上标记为可通过区域”，服务器在获取到上述语音标记请求之后，可以在扫地机器人的区域地图上将主卧的所有区域添加可通过标记。
可选地，为了避免清洁设备被困，在根据清洁设备的被困记录确定清洁设备在目标标记请求所请求标记的第一目标区域内被困过的情况下，可以向目标标记请求的发送设备(例如，终端设备、清洁设备等)发送提示消息，以提示清洁设备曾经在第一目标区域内被困过，还可以提示确定是否仍然将第一目标区域标记为可通过，从而减少清洁设备被困的概率。
通过本实施例，通过标记请求的方式在区域地图中为请求的区域添加可通过标记，可以提高可通过区域配置的灵活性。
在一个示例性实施例中，在获取与目标区域地图对应的目标标记请求之前，上述方法还包括：
S41，在目标设备的区域配置界面上显示目标区域地图；
S42，响应于对第一目标区域执行的标记操作，生成目标标记请求，其中，标记操作用于触发将第一目标区域标记为可通过区域。
在本实施例中，可以通过可视化的方式触发发送目标标记请求。目标设备上可以运行有与清洁设备匹配的目标应用，其可以是用户的终端设备，例如，手机终端等，也可以是清洁设备。在目标应用上可以显示有区域配置界面，区域配置界面是对清洁设备的目标区域地图进行区域配置的界面，配置的可以是：目标区域地图中的分区，目标区域地图中的不可通过区域，目标区域地图中的可通过区域，目标区域地图中的待清洁分区等。
在通过区域配置界面配置可通过区域时，用户可以选取第一目标区域，并对第一目标区域执行标记操作，上述标记操作可以用于触发将第一目标区域标记为可通过区域，其可以是 一个或多个操作的组合，可以包括但不限于以下至少之一：点击操作，双击操作，滑动操作。响应与检测到的标记操作，目标设备可以生成目标标记请求。如果前述为第一目标区域添加可通过标记的是服务器，目标设备也可以将目标标记请求发送给服务器。
例如，在手机终端的区域配置界面上可以显示有为扫地机器人配置的区域地图，其中包含主卧区域中包含被标记为不可通过区域的床区域。床底与地面的距离是允许扫地机器人通过的，用户可以选取出床区域，通过点击区域配置界面上标记“可通过区域”的按钮，触发向服务器发送标记请求，以请求将床区域标记为可通过区域。
通过本实施例，通过区域配置界面显示区域地图，并通过对区域地图中的指定区域执行标记操作，可以提高可通过区域配置的灵活性。
在一个示例性实施例中，在响应于对第一目标区域执行的标记操作，生成目标标记请求之前，上述方法还包括:
S51，响应于对目标区域地图执行的划区操作，将划区操作所划分出的区域，确定为第一目标区域，其中，划区操作所划分出的区域包含目标区域地图中被标记为不可通过区域的区域；或者，
S52，响应于对目标区域地图执行的选取操作，将选取操作所选取出的区域，确定为第一目标区域，其中，选取操作所选取出的区域为目标区域地图中被标记为不可通过区域的区域。
在本实施例中，第一目标区域可能是目标区域地图上的一个单独区域，也可能与目标区域地图上其他区域一起组成一个大区域，组成的大区域中可能包含不可通过区域。例如，如图3所示，清洁设备在进行区域扫描时，区域1、区域2以及区域3被识别为一个大的不可通过区域，其中，区域3是被误判为不可通过区域的区域，而区域4是一个单独的不可通过区域。
作为一种可选的实施例方式，为了便于进行区域标记，当待标记为可通过区域的第一目标区域不为单独区域时，可以忽略目标区域地图中原有的区域信息等，直接在目标区域地图上将待标记的区域通过划区操作划分出来。
目标设备可以检测到对目标区域地图执行的划区操作，并响应检测到的划区操作，确定划区操作所划区域的区域边界，从而得到划区操作所划分出来的区域，并将划区操作所划分出来的区域，确定为第一目标区域。这里，划区操作所划分出的区域内可以包含目标区域地图中被标记为不可通过区域的区域。
上述划分操作可以是对第一目标区域的框选操作，还可以是对第一目标区域的划线操作，或者其他可以将第一目标区域从包含第一目标区域的不可通过区域中划分出来的操作，本实 施例中对此不作限定。
例如，可以将图3中的区域3单独划分出来，划区的区域边界可以与区域3完全相同，也可以包含部分的可通过区域，如图4所示，阴影区域为划区操作所划分出的区域，其包含了区域3，以及区域3以外的部分可通过区域。而结合原有的区域边界，可以确定区域1和区域2为不可通过区域。
作为另一种可选的实施例方式，当待标记为可通过区域的第一目标区域为单独区域时，可以在目标区域地图上直接选取第一目标区域进行标记。目标设备可以检测到对目标区域地图执行的选取操作，响应于检测到的选取操作，将选取操作所选取出的区域，确定为第一目标区域。这里选取操作所选取出的区域为目标区域地图中被标记为不可通过区域的区域。例如，可以选取图3中的区域4，并将其标记为可通过区域。
通过本实施例，根据待标记为可通过区域的区域是否与其他不可通过区域相连，采用不同的方式选取待标记为可通过区域的区域，可以提高区域标记的灵活性。
在一个示例性实施例中，在将选取操作所选取出的区域，确定为第一目标区域之前，上述方法还包括：
S61，响应于对被标记为不可通过区域的第二目标区域执行的拆分操作，将第二目标区域拆分为多个子区域，其中，多个子区域中的每个子区域均被标记为不可通过区域，多个子区域包括第一目标区域。
在本实施例中，第一目标区域可以为被标记为不可通过区域的第二目标区域的部分。为了更精确地从第二目标区域中选择出第一目标区域，可以先将第二目标区域进行拆分，将其拆分为多个子区域，再从拆分出的多个子区域中，选取第一目标区域。
用户可以通过操作区域配置界面进入到区域拆分模式，在区域拆分模式对第二目标区域执行拆分操作，或者可以直接选取区域拆分工具对第二目标区域执行拆分操作。目标设备可以检测到上述拆分操作，响应与检测到的拆分操作，将第二目标区域拆分为多个子区域。拆分得到的多个子区域可以均自动被标记为不可通过区域，其中包含了待标记为可通过区域的第一目标区域。
可选地，上述对第二目标区域进行拆分的过程，可以是在显示的目标区域地图上，对想要拆分的第二目标区域进行框选，再点击拆分按键，将其进行拆分为多个子区域，本实施例中对此不作限定。
需要说明的是，上述拆分操作可以是先对第二目标区域执行的框选操作，或者通过拆分线将第二目标区域划分成多块，再对“拆分”按钮执行点击操作，触发进行区域拆分。
例如，如图5所示，用户可以在区域1和区域3之间、区域2和区域3之间设置拆分线 (即，图5中的实线)时，可以按照设置的拆分线进行拆分，得到拆分开的区域1、区域2和区域3。
通过本实施例，通过对不可通过区域执行拆分操作，将其拆分为多个不可通过区域，同时便于进行可通过区域标记，提高区域配置的灵活性。
下面结合可选示例对本公开实施例中的清洁设备的运行控制方法进行解释说明。在本可选示例中，清洁设备为扫地机器人。
相关技术中，在一些场景下，机器人对于障碍物的判断不够准确，例如，对于一些高度较低的沙发或床，机器人可能判断高度过低不可通过，使得机器人绕开沙发或床，但实际上机器人是可以通过的，导致沙发或床底得不到清扫。又例如，对于一些较窄的通道，机器人判断该窄通道不可通过，但实际上机器人是可以通过的，导致机器人的通过效率降低。
本可选实例中提供了一种机器人清扫方法，用户可以通过在其终端设备上的APP
(Application，应用程序)上显示的区域地图上设置标记，以告知机器人可以通过的区域。如图6所示，本可选示例的清洁设备的运行控制方法的流程可以包括以下步骤：
步骤S602，将扫地机器人构建的地图在APP上进行显示。
在扫地机器人进行区域清洁或者区域扫描时，其可以进行地图构建，得到构建的地图。上述构建的地图可以在APP上进行显示。
步骤S604，对扫地机器人构建的地图中的可通过区域进行标注。
用户可以在APP上的地图进行操作，标记哪些区域是可以通过的区域。终端设备可以检测到上述区域标记的操作，对构建的地图中的可通过区域进行标注，比如，通过与服务器进行交互，实现对构建的地图中的可通过区域进行标注。
步骤S606，扫地机器人在运行的过程中，如果判断前方不可通过，则再判断前方是否为用户标记的可通过区域，如果是，则继续进行，否则，绕行。
扫地机器人可以根据构建的地图进行区域清洁。在运行的过程中，如果判断前方不可通过，可以继续判断前方是否为用户标记的可通过区域，如果是，表示前方可通过，则继续前进，否则，绕行。
在本实施例中，通过在APP上设置可通过区域的区域标记，以告诉扫地机器人区域中的可通过区域，并根据上述标记进行区域清洁，可以提高扫地机器人在进行区域清洁时的清洁效率。
需要说明的是，对于前述的各方法实施例，为了简单描述，故将其都表述为一系列的动作组合，但是本领域技术人员应该知悉，本公开并不受所描述的动作顺序的限制，因为依据本公开，某些步骤可以采用其他顺序或者同时进行。其次，本领域技术人员也应该知悉，说 明书中所描述的实施例均属于优选实施例，所涉及的动作和模块并不一定是本公开所必须的。
通过以上的实施方式的描述，本领域的技术人员可以清楚地了解到根据上述实施例的方法可借助软件加必需的通用硬件平台的方式来实现，当然也可以通过硬件，但很多情况下前者是更佳的实施方式。基于这样的理解，本公开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(如ROM(Read-Only Memory，只读存储器)/RAM(Random Access Memory，随机存取存储器)、磁碟、光盘)中，包括若干指令用以使得一台终端设备(可以是手机，计算机，服务器，或者网络设备等)执行本公开各个实施例所述的方法。
还提供了一种用于实施上述清洁设备的运行控制方法的清洁设备的运行控制装置。图7是根据本公开实施例的一种可选的清洁设备的运行控制装置的结构框图，如图7所示，该装置可以包括：
第一获取单元702，用于获取待清洁区域的目标区域信息，其中，待清洁区域为清洁设备的运行轨迹前方的位置区域；
第二获取单元704，与第一获取单元702相连，用于在根据目标区域信息确定待清洁区域不可通过的情况下，获取与待清洁区域对应的区域标记；
控制单元706，与第二获取单元704相连，用于在区域标记用于表示待清洁区域允许清洁设备通过的情况下，控制清洁设备继续沿着运行轨迹移动。
需要说明的是，该实施例中的第一获取单元702可以用于执行上述步骤S202，该实施例中的第二获取单元704可以用于执行上述步骤S204，该实施例中的控制单元706可以用于执行上述步骤S206。
通过上述模块，获取待清洁区域的目标区域信息，其中，待清洁区域为清洁设备的运行轨迹前方的位置区域；在根据目标区域信息确定待清洁区域不可通过的情况下，获取与待清洁区域对应的区域标记；在区域标记用于表示待清洁区域允许清洁设备通过的情况下，控制清洁设备继续沿着运行轨迹移动，解决了相关技术中的清洁设备的运行控制方法存在由于对障碍物信息易发生误判导致的清洁覆盖率低的问题，提高了清洁设备的清洁覆盖率。
在一个示例性实施例中，第一获取单元，包括：
采集模块，用于通过清洁设备上的图像采集部件对待清洁区域进行图像采集，得到目标区域图像；
提取模块，用于对目标区域图像进行特征提取，得到目标区域信息，其中，目标区域信息包括待清洁区域内的空隙区域的区域信息。
在一个示例性实施例中，目标区域信息包括待清洁区域内的空隙区域的区域信息；上述装置还包括:
第一确定单元，用于在获取与待清洁区域对应的区域标记之前，根据待清洁区域内的空隙区域的区域信息，确定空隙区域的区域尺寸；
第二确定单元，用于在空隙区域的区域尺寸小于清洁设备的阈值尺寸的情况下，确定待清洁区域不可通过。
在一个示例性实施例中，上述装置还包括：
第三获取单元，用于在获取与待清洁区域对应的区域标记之前，获取与目标区域地图对应的目标标记请求，其中，目标标记请求用于将目标区域地图中的第一目标区域标记为可通过区域，目标区域地图是为清洁设备配置的区域地图；
标记单元，用于响应目标标记请求，为第一目标区域添加可通过标记，其中，可通过标记用于指示可通过标记所标记的区域为可通过区域。
在一个示例性实施例中，上述装置还包括：
显示单元，用于在获取与目标区域地图对应的目标标记请求之前，在目标设备的区域配置界面上显示目标区域地图；
生成单元，用于响应于对第一目标区域执行的标记操作，生成目标标记请求，其中，标记操作用于触发将第一目标区域标记为可通过区域。
在一个示例性实施例中，上述装置还包括:
第三确定单元，用于在响应于对第一目标区域执行的标记操作，生成目标标记请求之前，响应于对目标区域地图执行的划区操作，将划区操作所划分出的区域，确定为第一目标区域，其中，划区操作所划分出的区域包含目标区域地图中被标记为不可通过区域的区域；
第四确定单元，用于在响应于对第一目标区域执行的标记操作，生成目标标记请求之前，响应于对目标区域地图执行的选取操作，将选取操作所选取出的区域，确定为第一目标区域，其中，选取操作所选取出的区域为目标区域地图中被标记为不可通过区域的区域。
在一个示例性实施例中，上述装置还包括：
拆分单元，用于在将选取操作所选取出的区域，确定为第一目标区域之前，响应于对被标记为不可通过区域的第二目标区域执行的拆分操作，将第二目标区域拆分为多个子区域，其中，多个子区域中的每个子区域均被标记为不可通过区域，多个子区域包括第一目标区域。
此处需要说明的是，上述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所公开的内容。需要说明的是，上述模块作为装置的一部分可以运行在如图1所示的硬件环境中，可以通过软件实现，也可以通过硬件实现，其中，硬件环境包括网络环境。
根据本公开实施例的又一个方面，还提供了一种存储介质。可选地，在本实施例中，上述存储介质可以用于执行本公开实施例中上述任一项清洁设备的运行控制方法的程序代码。
可选地，在本实施例中，上述存储介质可以位于上述实施例所示的网络中的多个网络设备中的至少一个网络设备上。
可选地，在本实施例中，存储介质被设置为存储用于执行以下步骤的程序代码：
S1，获取待清洁区域的目标区域信息，其中，待清洁区域为清洁设备的运行轨迹前方的位置区域；
S2，在根据目标区域信息确定待清洁区域不可通过的情况下，获取与待清洁区域对应的区域标记；
S3，在区域标记用于表示待清洁区域允许清洁设备通过的情况下，控制清洁设备继续沿着运行轨迹移动。
可选地，本实施例中的具体示例可以参考上述实施例中所描述的示例，本实施例中对此不再赘述。
可选地，在本实施例中，上述存储介质可以包括但不限于：U盘、ROM、RAM、移动硬盘、磁碟或者光盘等各种可以存储程序代码的介质。
根据本公开实施例的又一个方面，还提供了一种用于实施上述清洁设备的运行控制方法的电子装置，该电子装置可以是服务器、终端、或者其组合。
图8是根据本公开实施例的一种可选的电子装置的结构框图，如图8所示，包括处理器802、通信接口804、存储器806和通信总线808，其中，处理器802、通信接口804和存储器806通过通信总线808完成相互间的通信，其中，
存储器806，用于存储计算机程序；
处理器802，用于执行存储器806上所存放的计算机程序时，实现如下步骤：
S1，获取待清洁区域的目标区域信息，其中，待清洁区域为清洁设备的运行轨迹前方的位置区域；
S2，在根据目标区域信息确定待清洁区域不可通过的情况下，获取与待清洁区域对应的区域标记；
S3，在区域标记用于表示待清洁区域允许清洁设备通过的情况下，控制清洁设备继续沿着运行轨迹移动。
可选地，在本实施例中，通信总线可以是PCI(Peripheral Component Interconnect，外设 部件互连标准)总线、或EISA(Extended Industry Standard Architecture，扩展工业标准结构)总线等。该通信总线可以分为地址总线、数据总线、控制总线等。为便于表示，图8中仅用一条粗线表示，但并不表示仅有一根总线或一种类型的总线。通信接口用于上述电子装置与其他设备之间的通信。
上述的存储器可以包括RAM，也可以包括非易失性存储器(non-volatile memory)，例如，至少一个磁盘存储器。可选地，存储器还可以是至少一个位于远离前述处理器的存储装置。
作为一种示例，上述存储器806中可以但不限于包括上述清洁设备的运行控制装置中的第一获取单元702、第二获取单元704以及控制单元706。此外，还可以包括但不限于上述清洁设备的运行控制装置中的其他模块单元，本示例中不再赘述。
上述处理器可以是通用处理器，可以包含但不限于：CPU(Central Processing Unit，中央处理器)、NP(Network Processor，网络处理器)等；还可以是DSP(Digital Signal Processing，数字信号处理器)、ASIC(Application Specific Integrated Circuit，专用集成电路)、FPGA(Field－Programmable Gate Array，现场可编程门阵列)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。
可选地，本实施例中的具体示例可以参考上述实施例中所描述的示例，本实施例在此不再赘述。
本领域普通技术人员可以理解，图8所示的结构仅为示意，实施上述洁设备的运行控制方法的设备可以是终端设备，该终端设备可以是智能手机(如Android手机、iOS手机等)、平板电脑、掌上电脑以及移动互联网设备(Mobile Internet Devices，MID)、PAD等终端设备。图8其并不对上述电子装置的结构造成限定。例如，电子装置还可包括比图8中所示更多或者更少的组件(如网络接口、显示装置等)，或者具有与图8所示的不同的配置。
本领域普通技术人员可以理解上述实施例的各种方法中的全部或部分步骤是可以通过程序来指令终端设备相关的硬件来完成，该程序可以存储于一计算机可读存储介质中，存储介质可以包括：闪存盘、ROM、RAM、磁盘或光盘等。
上述本公开实施例序号仅仅为了描述，不代表实施例的优劣。
上述实施例中的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，可以存储在上述计算机可读取的存储介质中。基于这样的理解，本公开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存储介质中，包括若干指令用以使得一台或多台计算机设备(可为个人计算机、服务器或者网络设备等)执行本公开各个实施例所述方法的全部或部分步骤。
在本公开的上述实施例中，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。
在本公开所提供的几个实施例中，应该理解到，所揭露的客户端，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，例如多个单元或组件可以结合或者可以集成到另一个***，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。
所述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，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者全部单元来实现本实施例中所提供的方案的目的。
另外，在本公开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。
以上所述仅是本公开的优选实施方式，应当指出，对于本技术领域的普通技术人员来说，在不脱离本公开原理的前提下，还可以做出若干改进和润饰，这些改进和润饰也应视为本公开的保护范围。

Claims (15)

  1. 一种清洁设备的运行控制方法，其中，包括：
    获取待清洁区域的目标区域信息，其中，所述待清洁区域为所述清洁设备的运行轨迹前方的位置区域；
    在根据所述目标区域信息确定所述待清洁区域不可通过的情况下，获取与所述待清洁区域对应的区域标记；
    在所述区域标记用于表示所述待清洁区域允许所述清洁设备通过的情况下，控制所述清洁设备继续沿着所述运行轨迹移动。
  2. 根据权利要求1所述的方法，其特征在于，所述获取待清洁区域的目标区域信息，包括：
    通过所述清洁设备上的图像采集部件对所述待清洁区域进行图像采集，得到目标区域图像；
    对所述目标区域图像进行特征提取，得到所述目标区域信息，其中，所述目标区域信息包括所述待清洁区域内的空隙区域的区域信息。
  3. 根据权利要求1所述的方法，其特征在于，所述获取待清洁区域的目标区域信息，包括：
    通过所述清洁设备上的距离传感器对所述待清洁区域发送检测信号；
    在获取所述检测信号的反射信号后，根据所述检测信号和所述反射信号确定待清洁区域的目标信息。
  4. 根据权利要求1所述的方法，其特征在于，所述目标区域信息包括所述待清洁区域内的空隙区域的区域信息；所述根据所述目标区域信息确定所述待清洁区域不可通过，包括：
    根据所述待清洁区域内的空隙区域的区域信息，确定所述空隙区域的区域尺寸；
    在所述空隙区域的区域尺寸小于所述清洁设备的阈值尺寸的情况下，确定所述待清洁区域不可通过。
  5. 根据权利要求4所述的方法，其特征在于，所述空隙区域包括以下至少之一：障碍物与障碍物之间的空隙区域，障碍物与地面之间的空隙区域，障碍物与墙体之间的空隙区域。
  6. 根据权利要求1至5中任一项所述的方法，其特征在于，在所述获取与所述待清洁区域对应的区域标记之前，所述方法还包括：
    获取与目标区域地图对应的目标标记请求，其中，所述目标标记请求用于将所述目标区域地图中的第一目标区域标记为可通过区域，所述目标区域地图是为所述清洁设备配置的区域地图；
    响应所述目标标记请求，为所述第一目标区域添加可通过标记，其中，所述可通过标记 用于指示所述可通过标记所标记的区域为可通过区域。
  7. 根据权利要求6所述的方法，其特征在于，在所述获取与目标区域地图对应的目标标记请求之前，所述方法还包括：
    在目标设备的区域配置界面上显示所述目标区域地图；
    响应于对所述第一目标区域执行的标记操作，生成所述目标标记请求，其中，所述标记操作用于触发将所述第一目标区域标记为可通过区域。
  8. 根据权利要求7所述的方法，其特征在于，在所述响应于对所述第一目标区域执行的标记操作，生成所述目标标记请求之前，所述方法还包括:
    响应于对所述目标区域地图执行的划区操作，将所述划区操作所划分出的区域，确定为所述第一目标区域，其中，所述划区操作所划分出的区域包含所述目标区域地图中被标记为不可通过区域的区域；或者，
    响应于对所述目标区域地图执行的选取操作，将所述选取操作所选取出的区域，确定为所述第一目标区域，其中，所述选取操作所选取出的区域为所述目标区域地图中被标记为不可通过区域的区域。
  9. 根据权利要求8所述的方法，其特征在于，在所述将所述选取操作所选取出的区域，确定为所述第一目标区域之前，所述方法还包括：
    响应于对被标记为不可通过区域的第二目标区域执行的拆分操作，将所述第二目标区域拆分为多个子区域，其中，所述多个子区域中的每个子区域均被标记为不可通过区域，所述多个子区域包括所述第一目标区域。
  10. 根据权利要求1-5中任一项所述的方法，其特征在于，所述获取与所述待清洁区域对应的区域标记包括：
    判断所述待清洁区域是否属于预设区域；所述预设区域包括预设的可通过区域和预设的不可通过区域；
    若是，则将所述预设区域的区域标记确定为所述待清洁区域对应的区域标记。
  11. 根据权利要求1-5中任一项所述的方法，其特征在于，所述方法还包括：
    在所述区域标记用于表示所述待清洁区域不允许所述清洁设备通过的情况下，调整清洁轨迹，以远离待清洁区域。
  12. 根据权利要求1-5中任一项所述的方法，其特征在于，所述方法还包括：
    在所述区域标记用于表示所述待清洁区域不允许所述清洁设备通过的情况下，向关联的终端设备发出规划请求，以对运行路线进行重新规划；
    在接受到所述终端设备返回的响应消息后，对运行路线进行重新规划，并按照重新规划 的路线移动。
  13. 一种清洁设备的运行控制装置，其中，包括：
    第一获取单元，用于获取待清洁区域的目标区域信息，其中，所述待清洁区域为所述清洁设备的运行轨迹前方的位置区域；
    第二获取单元，用于在根据所述目标区域信息确定所述待清洁区域不可通过的情况下，获取与所述待清洁区域对应的区域标记；
    控制单元，用于在所述区域标记用于表示所述待清洁区域允许所述清洁设备通过的情况下，控制所述清洁设备继续沿着所述运行轨迹移动。
  14. 一种计算机可读的存储介质，其中，所述计算机可读的存储介质包括存储的程序，其中，所述程序运行时执行权利要求1至10中任一项所述的方法。
  15. 一种电子装置，包括存储器和处理器，其中，所述存储器中存储有计算机程序，所述处理器被设置为通过所述计算机程序执行权利要求1至10中任一项所述的方法。
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