WO2023169147A1 - 清扫区域的确定方法及装置、存储介质及电子装置 - Google Patents

清扫区域的确定方法及装置、存储介质及电子装置 Download PDF

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Publication number
WO2023169147A1
WO2023169147A1 PCT/CN2023/075622 CN2023075622W WO2023169147A1 WO 2023169147 A1 WO2023169147 A1 WO 2023169147A1 CN 2023075622 W CN2023075622 W CN 2023075622W WO 2023169147 A1 WO2023169147 A1 WO 2023169147A1
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WIPO (PCT)
Prior art keywords
area
cleaned
cleaning
cleaning robot
remaining
Prior art date
Application number
PCT/CN2023/075622
Other languages
English (en)
French (fr)
Inventor
王元超
季培隆
Original Assignee
追觅创新科技(苏州)有限公司
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Publication of WO2023169147A1 publication Critical patent/WO2023169147A1/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
    • 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
    • A47L11/24—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
    • 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
    • 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
    • A47L2201/06—Control of the cleaning action for autonomous devices; Automatic detection of the surface condition before, during or after cleaning

Definitions

  • the present invention relates to the field of communications, and specifically, to a method and device for determining a cleaning area, a storage medium and an electronic device.
  • cleaning robots bring a lot of convenience to our lives, but on the other hand, cleaning robots have many problems during use and are not smart enough. For example, when a cleaning robot receives a scheduled cleaning task from the user, even if the cleaning robot is currently performing other cleaning tasks, the cleaning robot will directly stop executing the current cleaning task and instead perform the scheduled cleaning task, which causes the cleaning robot to lose its current cleaning task. is lost, which may result in missing areas that are not cleaned in the current cleaning task.
  • Embodiments of the present invention provide a method and device for determining a cleaning area, a storage medium and an electronic device to at least solve the problem in the prior art that when the current time is consistent with the execution time of the scheduled task, the equipment responds to the scheduled cleaning task. Pause the current task, thereby causing the current task to miss scanning.
  • a method for determining a cleaning area including: When the current time is the execution time of the first scheduled task of the cleaning robot, the remaining area to be cleaned of the cleaning task currently executed by the cleaning robot and the first area to be cleaned of the first scheduled task are obtained; When there is an intersection area between the first area to be cleaned and the remaining area to be cleaned, and the first area to be cleaned is not a subset of the remaining area to be cleaned, the cleaning robot is controlled to finish cleaning the After the area to be cleaned remains, other areas in the first area to be cleaned except the intersection area are cleaned.
  • the method further includes: When the area to be cleaned is a subset of the remaining area to be cleaned, the cleaning robot is controlled to clean the remaining area to be cleaned; there is no intersection area between the first area to be cleaned and the remaining area to be cleaned. In the case of , the cleaning robot is controlled to clean the first area to be cleaned after cleaning the remaining area to be cleaned.
  • the method further includes: obtaining the cleaning robot A cleaning map corresponding to all the areas to be cleaned; determining the first position information of the remaining area to be cleaned on the cleaning map and the second position information of the first area to be cleaned on the cleaning map; according to the The first position information and the second position information determine whether the first area to be cleaned is a subset of the remaining area to be cleaned, and whether the first area to be cleaned and the remaining area to be cleaned exist. intersection area.
  • controlling the cleaning robot to clean other areas in the first area to be cleaned except the intersection area after cleaning the remaining areas to be cleaned includes: cleaning the remaining areas The area to be cleaned is divided into a plurality of adjacent first blocks in a preset manner, and the first area to be cleaned is divided into a plurality of adjacent second blocks in a preset manner; determining the plurality of adjacent second blocks The first intersection block in a block that intersects with the plurality of adjacent second blocks, and the block that intersects with the first intersection block among the plurality of adjacent second blocks as the second intersection block; determine the union block of the first intersection block and the second intersection block; control the cleaning robot to clean the plurality of adjacent first blocks except the After cleaning other blocks except the first intersection block, clean the union block; when the cleaning robot finishes cleaning the union block, clean the second block except the second intersection block. Blocks other than intersection blocks.
  • obtaining the remaining area to be cleaned of the cleaning task currently performed by the cleaning robot includes: obtaining the total cleaning area of the cleaning task currently performed by the cleaning robot and the total cleaning area of the cleaning robot at the current time. Cleaning area; use the area in the total cleaning area except the cleaned area as the remaining area to be cleaned.
  • the method further includes: setting the second scheduled task of the cleaning robot at the time when the remaining area to be cleaned is completed. In the case of execution time, obtain the second area to be cleaned of the second scheduled task, and determine the union area of the first scheduled task and the second scheduled task; the union area is the remaining area to be cleaned In the case of a subset of the area, the cleaning robot is controlled to stop cleaning; in the case where there is no intersection area between the union area and the remaining area to be cleaned, the cleaning robot is controlled to clean the union area; When there is an intersection area between the union area and the remaining area to be cleaned, and the union area is not a subset of the remaining area to be cleaned, the cleaning robot is controlled to clean the union area. Other areas other than the intersection area between the union area and the remaining areas to be cleaned.
  • the method further includes: When the cleaning robot has received the first scheduled task, the execution time of the first scheduled task is obtained; before the execution time of the first scheduled task arrives, the cleaning robot is controlled to continue cleaning the remaining Area to be cleaned.
  • controlling the cleaning robot to clean other areas in the first area to be cleaned except the intersection area after cleaning the remaining areas to be cleaned includes: using a path planning algorithm Determine the shortest path to clean the remaining area to be cleaned, obtain a first cleaning path, and control the cleaning robot to clean the remaining area to be cleaned according to the first cleaning path; after cleaning the remaining area to be cleaned, The shortest path for cleaning the first area to be cleaned is determined through the path planning algorithm, a second cleaning path is obtained, and the cleaning robot is controlled to clean the first area to be cleaned according to the second cleaning path.
  • a device for determining a cleaning area includes: an acquisition module, configured to acquire all the data when the current time is the execution time of the first scheduled task of the cleaning robot. Describes the remaining areas to be cleaned for the cleaning task currently performed by the cleaning robot. domain, and the first to-be-cleaned area control module of the first scheduled task, configured to have an intersection area between the first to-be-cleaned area and the remaining to-be-cleaned area, and the first to-be-cleaned area is not the In the case of a subset of the remaining areas to be cleaned, the cleaning robot is controlled to clean other areas in the first area to be cleaned except the intersection area after cleaning the remaining areas to be cleaned.
  • a computer-readable storage medium stores a computer program, wherein the computer program is configured to execute the above-mentioned cleaning area when running. Determine the method.
  • an electronic device including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor performs the above-mentioned cleaning through the computer program. How to determine the area.
  • the task currently executed by the cleaning robot and the cleaning area of the first scheduled task are obtained.
  • the cleaning area of the current task is only partially covered but not
  • the cleaning area of the current task is first cleaned, and then the area not covered by the current task in the cleaning area of the first scheduled task is cleaned.
  • Figure 1 is a hardware structural block diagram of a cleaning robot for an optional cleaning area determination method according to an embodiment of the present invention
  • Figure 2 is a flow chart of an optional method for determining a cleaning area according to an embodiment of the present invention
  • Figure 3 is a product application diagram of an optional method for receiving reservation tasks according to an embodiment of the present invention.
  • Figure 4 is a product application diagram of an optional obstacle setting method according to an embodiment of the present invention.
  • Figure 5 is a schematic diagram of an optional block cleaning method according to an embodiment of the present invention.
  • Figure 6 is a schematic diagram of an optional method for determining a cleaning area according to an embodiment of the present invention.
  • Figure 7 is a structural block diagram of an optional device for determining a cleaning area in an embodiment of the present invention.
  • FIG. 1 is a hardware structure block diagram of a cleaning robot using a method for determining a cleaning area according to an embodiment of the present invention.
  • the cleaning robot may include one or more (only one is shown in FIG. 1 ) processors 102 (the processor 102 may include but is not limited to a microprocessor unit (MPU for short) or programmable logic. (Programmable logic device, PLD for short)) and a memory 104 for storing data.
  • MPU microprocessor unit
  • PLD Programmable logic device
  • the above-mentioned cleaning robot may also include a transmission device 106 for communication functions and an input and output device 108.
  • a transmission device 106 for communication functions may also include a transmission device 106 for communication functions and an input and output device 108.
  • the cleaning robot may also include more or fewer components than shown in FIG. 1 , or have a different configuration with equivalent functions or more functions than shown in FIG. 1 .
  • the memory 104 can be used to store computer programs, for example, software programs and modules of application software, such as the computer program corresponding to the method for determining the cleaning area in the embodiment of the present invention.
  • the processor 102 runs the computer program stored in the memory 104, thereby Execute various functional applications and data processing, that is, implement the above methods.
  • Memory 104 may include high-speed random access memory, and may also include non-volatile memory, such as one or more magnetic storage devices, flash memory, or other non-volatile solid-state memory.
  • the memory 104 may further include memory located remotely relative to the processor 102, and these remote memories may be connected to the cleaning robot via a network. Examples of the above-mentioned networks include but are not limited to the Internet, intranets, local area networks, mobile communication networks and combinations thereof.
  • the transmission device 106 is used to receive or send data via a network.
  • Specific examples of the above-mentioned network may include a wireless network provided by the communication provider of the cleaning robot.
  • the transmission device 106 includes a network adapter (Network Interface Controller, NIC for short), which can be connected to other network devices through a base station to communicate with the Internet.
  • the transmission device 106 may be a radio frequency (Radio Frequency, RF for short) module, which is used to communicate with the Internet wirelessly.
  • NIC Network Interface Controller
  • the technical solutions of the embodiments of the present application can be applied to cleaning robots, especially a cleaning robot. That is, the cleaning robot adopts the technical solutions of the embodiments of the present application so that the remaining areas to be cleaned in the current task will not leak. sweep.
  • FIG. 1 is a flow chart of a method for determining a cleaning area according to an embodiment of the present invention. The process includes the following steps:
  • Step S202 When the current time and the cleaning robot are the execution time of the first scheduled task, obtain the remaining area to be cleaned of the cleaning task currently executed by the cleaning robot and the first area to be cleaned of the first scheduled task. ;
  • the above steps can be understood as: when the current time is the execution time of the cleaning robot's first scheduled task, and the cleaning robot is executing the current task at this time, the remaining to-be-cleaned area and the first scheduled task of the currently executed cleaning task are obtained. The first area to be cleaned in the scheduled task.
  • the current time and the execution time of the cleaning robot for the first scheduled task can be understood as: the time for executing the first scheduled task is reached. For example, if the user makes an appointment at 9 o'clock to clean the kitchen at 10 o'clock, then The execution time of the first scheduled task is 10 o'clock. In this case, at 10 o'clock When clicked, the current time is consistent with the execution time of the first scheduled task.
  • Step S204 Control the cleaning robot when there is an intersection area between the first area to be cleaned and the remaining area to be cleaned, and the first area to be cleaned is not a subset of the remaining area to be cleaned. After cleaning the remaining areas to be cleaned, other areas in the first area to be cleaned except the intersection area are cleaned.
  • the remaining area to be cleaned of the cleaning task currently executed by the cleaning robot and the first area to be cleaned of the first scheduled task are obtained area; when there is an intersection area between the first area to be cleaned and the remaining area to be cleaned, and the first area to be cleaned is not a subset of the remaining area to be cleaned, control the cleaning robot to After cleaning the remaining area to be cleaned, other areas in the first area to be cleaned except the intersection area are cleaned.
  • Adopting the above technical solution solves the problem in the existing technology that when the current time is consistent with the execution time of the scheduled task, the device responds to the scheduled cleaning task and suspends the current task, thereby causing the current task to be missed.
  • step S202 when the current time is consistent with the execution time of the first scheduled task of the cleaning robot, before obtaining the remaining area to be cleaned of the cleaning task currently executed by the cleaning robot,
  • the method also includes: controlling the cleaning robot to be connected to the user's terminal device, and receiving the user's setting of the first area to be cleaned for the scheduled task through the terminal device.
  • Figure 3 is a product application diagram of an optional method for receiving reservation tasks according to an embodiment of the present invention.
  • the user can set the reservation task by dragging the dotted box and adjusting the size of the dotted box. cleaning area.
  • the total cleaning area of the cleaning task currently performed by the cleaning robot and the cleaned area of the cleaning robot at the current time are obtained; the total cleaning area except the cleaned area is obtained area as the remaining area to be cleaned.
  • the method of obtaining the cleaned area of the cleaning robot at the current time includes but is not limited to: continuously obtaining the radar sensor of the cleaning robot by transmitting
  • the measurement data obtained by the electromagnetic wave determines the position of the cleaning robot, and the direction change and distance change of the cleaning robot are determined based on the position change of the cleaning robot.
  • the movement trajectory is determined by the direction change and distance change of the cleaning robot, thereby Determine the area that the cleaning robot has cleaned based on the movement trajectory of the cleaning robot.
  • the cleaning robot sends a set of electromagnetic waves through the radar sensor at the first position at the first time, and then the radar sensor calculates the first set of measurements based on the reflected electromagnetic waves.
  • the radar sensor determines the first position of the cleaning robot based on the first set of measurement data, which is 5 meters away from the wall on the right and 4 meters away from the wall in front. It determines the first position of the cleaning robot based on the first set of measurement data, and then obtains the cleaning robot's first position.
  • the second set of measurement data obtained by the second set of electromagnetic waves emitted by the robot's radar sensor at the second time determines the second position of the cleaning robot based on the second set of measurement data; according to the second set of measurement data of the cleaning robot at the first position and the second position Determine the direction change and distance change of the cleaning robot.
  • the first time and the second time interval are small enough, the movement trajectory of the cleaning robot can be obtained, and the area that the cleaning robot has cleaned can be determined based on the movement trajectory of the cleaning robot.
  • using the area other than the cleaned area in the total cleaning area as the remaining area to be cleaned includes: determining the position information of the cleaning robot through a built-in sensor of the cleaning robot; according to The actual trajectory information is obtained from the position information of the cleaning robot; the cleaned area information is obtained based on the actual trajectory information and the unit cleaning area value; further, the cleaned area information is compared with the area information to be cleaned to obtain the cleaning area rate; when the cleaning area rate is less than the predetermined When setting the value, compare the cleaned area information and the area information to be cleaned to obtain the uncleaned area information.
  • the cleaning robot is synchronously positioned through its laser radar, and the trajectory map of the cleaning robot can be established based on the changes in positioning.
  • the cleaned area of the cleaning robot can be determined, and then find The ratio of the cleaned area to the area to be cleaned can be used to obtain the cleaning area rate.
  • the area rate is less than the preset value, such as 90%, it can be determined that there are still areas that have not been cleaned.
  • the area to be cleaned is The area is the uncleaned area.
  • the execution time of the first scheduled task is obtained; before the execution time of the first scheduled task arrives, control The cleaning robot continues to clean the remaining areas to be cleaned.
  • the cleaning robot is prevented from ignoring the current scheduled task because it receives the reservation task. Cleaning of the cleaning area of the task.
  • the cleaning robot receives the first reservation task at 9 o'clock, and the first reservation task is to clean the kitchen at 9 o'clock, and at this time the cleaning robot's current If the task is to clean the bedroom, the cleaning robot will continue to clean the bedroom between 9 o'clock and 10 o'clock.
  • the priority of the current task is higher than the scheduled task, thus ensuring that there will be no leakage of the current task. scanning situation.
  • the cleaning robot cleaning map determines the first position information of the remaining area to be cleaned on the cleaning map and the second position information of the first area to be cleaned on the cleaning map; according to the first position information and The second position information determines whether the first area to be cleaned is a subset of the remaining areas to be cleaned, and whether there is an intersection area between the first area to be cleaned and the remaining areas to be cleaned.
  • the method of obtaining cleaning maps corresponding to all areas to be cleaned by the cleaning robot includes: constructing an initial map of all areas to be cleaned based on the floor plan data of all areas to be cleaned; For obstacle information, add corresponding obstacles to the initial map to construct a cleaning map corresponding to all areas to be cleaned.
  • the initial map is sent to the user.
  • the cleaning robot is connected to the user's mobile phone through LAN or Bluetooth, and the user uses the mobile phone application. Add obstacles on the initial map, as shown in Figure 4.
  • Figure 4 is a product application diagram of an optional obstacle setting method according to an embodiment of the present invention. In Figure 4, the user clicks on the initial map through the mobile phone application. Obstacle area, thereby adding obstacles on the initial map, and treating the area on the initial map except for obstacles as all areas to be cleaned.
  • the method of obtaining the cleaning map corresponding to all the areas to be cleaned by the cleaning robot includes: relying on simultaneous localization and mapping based on laser radar (SLAM, full name: simultaneous localization and mapping).
  • the laser ranging sensor scans the entire area to be cleaned, emitting laser light to scan the distance from itself to each point on the boundary, thereby generating a digital map of all areas to be cleaned, and then combined with the preset algorithm to construct a map of all areas to be cleaned, and real-time Position cleaning.
  • all the areas to be cleaned by the cleaning robot are for customers.
  • the entire living room is scanned by a laser ranging sensor, and the distance between the cleaning robot and the wall is determined by emitting laser and receiving the laser reflected by the wall, etc., and generates a digital map of the living room, and then uses SLAM to construct a cleaning map of the living room.
  • the cleaning robot when the first area to be cleaned is a subset of the remaining areas to be cleaned, the cleaning robot is controlled to clean the remaining areas to be cleaned; when the first area to be cleaned is When there is no intersection area between the cleaning area and the remaining area to be cleaned, the cleaning robot is controlled to clean the first area to be cleaned after cleaning the remaining area to be cleaned.
  • the first area to be cleaned is a subset of the remaining areas to be cleaned or when there is no intersection area between the first area to be cleaned and the remaining areas to be cleaned, it is ensured that the remaining areas to be cleaned in the current task are cleaned. Completed to ensure that the current task will not be missed.
  • the first area to be cleaned is a subset of the remaining area to be cleaned
  • the remaining area to be cleaned covers the first area to be cleaned.
  • the remaining area to be cleaned is the kitchen. and the bedroom
  • the first area to be cleaned is the bedroom
  • the kitchen and the bedroom include the bedroom.
  • the first area to be cleaned is a subset of the remaining areas to be cleaned.
  • the remaining area to be cleaned is divided into a plurality of adjacent first blocks in a preset manner, and the first area to be cleaned is divided into a plurality of adjacent first blocks in a preset manner.
  • Two blocks determine the first intersection block among the plurality of adjacent first blocks that intersects with the plurality of adjacent second blocks, and combine the plurality of adjacent second blocks with There is an intersection block in the first intersection block as the second intersection block; determine the union block of the first intersection block and the second intersection block; control the cleaning robot to finish cleaning the After cleaning other blocks in the plurality of adjacent first blocks except the first intersection block, clean the union block; when the cleaning robot finishes cleaning the union block, clean Other blocks in the second block except the second intersection block.
  • the area to be cleaned is divided into multiple blocks, and each block is cleaned one by one, so that the current tasks and scheduled tasks of the cleaning robot can be split, and by dividing multiple blocks, the cleaning robot will
  • the cleaned area is clearly divided into multiple specific blocks, making both the cleaned area and the area to be cleaned more clear, thus effectively avoiding missed cleaning.
  • a grid method is used to construct a map of the remaining areas to be cleaned and the third A map of the area to be cleaned is divided into equal-area rasters on the map of the remaining areas to be cleaned, and multiple adjacent first equal-area rasters are obtained.
  • Each first equal-area raster corresponds to a first block, as shown in the figure.
  • Figure 5 is a schematic diagram of an optional block cleaning method according to an embodiment of the present invention.
  • each grid corresponds to a block, and the grids are adjacent and have equal areas.
  • grid A and grid B are adjacent and have equal areas.
  • the map of the first area to be cleaned is divided into equal-area rasters to obtain multiple adjacent equal-area rasters.
  • Each equal-area raster in the map of the first area to be cleaned corresponds to a second block, and the second block is determined.
  • the first intersection grid of the first equal-area grid intersects with the equal-area grid of the first to-be-cleaned area, and the equal-area grid of the remaining to-be-cleaned area intersects with the equal-area grid of the remaining to-be-cleaned area.
  • the equal-area raster is used as the second intersection raster, the union raster of the first raster and the second raster is determined, and the cleaning route is planned according to the raster map, and the first equal-area raster is first cleaned except for the first intersection
  • the blocks corresponding to other grids other than the grid are cleaned, then the blocks corresponding to the union grid are cleaned, and finally the blocks corresponding to the second intersection grid are cleaned.
  • this embodiment uses the grid method to map the cleaning area onto a grid map, divides the grid map into equal-area grids, and then maps them to the actual first area to be cleaned, thereby realizing the mapping of the first area to be cleaned.
  • the cleaning robot is controlled to clean the union block after cleaning other blocks among the plurality of adjacent first blocks except the first intersection block.
  • the method includes but is not limited to: cleaning the first block closest to the cleaning robot based on the positioning information of the cleaning robot. After the cleaning robot finishes cleaning the closest block, determine the location of the cleaning robot at this time based on the positioning information, and Determine the first block closest to the position of the cleaning robot at this time, and clean this block, as shown in Figure 5.
  • Figure 5 is a schematic diagram of an optional block cleaning method according to an embodiment of the present invention. , in Figure 5, each grid represents a block. The position of the cleaning robot is determined through the positioning information of the cleaning robot. The A block closest to the cleaning robot is first cleaned.
  • a block is cleaned, the A block is placed on the grid.
  • the corresponding grid on the map is replaced by a white mark from a black mark to determine the position of the cleaning robot at this time.
  • Continue cleaning by analogy and record the cleaned blocks Detect the remaining areas to be cleaned during the cleaning process one by one, expand the cleaning map, and extend outward based on the first divided block, and divide the expanded cleaning map into multiple adjacent new blocks; clean one by one
  • the first block and the newly added blocks are recorded until the entire remaining area to be cleaned is Covered by blocks; clean unrecorded blocks in all blocks, and end cleaning after all first blocks are recorded.
  • a path planning algorithm is used to determine the shortest path to clean the remaining area to be cleaned, a first cleaning path is obtained, and the cleaning robot is controlled to clean the remaining area to be cleaned according to the first cleaning path. ; After cleaning the remaining area to be cleaned, determine the shortest path to clean the first area to be cleaned through the path planning algorithm, obtain a second cleaning path, and control the cleaning robot according to the second cleaning path Clean the first area to be cleaned.
  • the path planning algorithm is used to obtain the shortest path for cleaning the remaining areas to be cleaned and the area to be cleaned, and the sweeping robot is controlled to clean according to the shortest path, thereby improving the cleaning efficiency of the sweeping robot.
  • the above path planning algorithm includes at least one of the following: genetic algorithm, particle swarm algorithm, ant colony algorithm, fish swarm algorithm, bee colony algorithm, etc.
  • the above path planning algorithm can be an algorithm, such as a genetic algorithm. , it can also be a combination of multiple algorithms, such as switching and fusion between genetic algorithms and ant colony algorithms.
  • the cleaning robot uses a point-to-point path planning method or a completely traversal path planning method to determine the optimal path for cleaning the remaining areas to be cleaned and the first area to be cleaned, where point-to-point Path planning is an optimal and reasonable path from the starting point to the end point; fully traversed path planning is to plan a continuous route from the starting point to the end point in the set area and passing through all reachable points of the remaining area to be cleaned and the first area to be cleaned.
  • the method further includes: setting the second scheduled task of the cleaning robot at the time when the remaining area to be cleaned is completed. In the case of execution time, obtain the second area to be cleaned of the second scheduled task, and determine the union area of the first scheduled task and the second scheduled task; the union area is the remaining area to be cleaned In the case of a subset of the area, the cleaning robot is controlled to stop cleaning; in the case where there is no intersection area between the union area and the remaining area to be cleaned, the cleaning robot is controlled to clean the union area; When there is an intersection area between the union area and the remaining area to be cleaned, and the union area is not a subset of the remaining area to be cleaned, the cleaning robot is controlled to clean the union area. remove Other areas other than the intersection area between the union area and the remaining areas to be cleaned.
  • the remaining areas to be cleaned in the current task of the cleaning robot are cleaning A and B.
  • the execution time of the first scheduled task is exactly 9 o'clock, and the first scheduled task is To clean A and C, clean A and B first. After cleaning A and B, the time is 10 o'clock.
  • the execution time of the second scheduled task is 10 o'clock.
  • the second scheduled task is to clean B and C.
  • the first scheduled task and The union area of the second scheduled task is ABC. If the union area is not a subset of the remaining areas to be cleaned and there are intersection areas A and B, then ABC will continue to be cleaned except for areas other than A and B, that is, area C.
  • the cleaning robot is controlled to clean the first area to be cleaned, and upon receiving the second scheduled task, determine the execution time of the second scheduled task, and after cleaning the first scheduled task,
  • the time of an area to be cleaned is the execution time of the second scheduled task or the time difference between the time of cleaning the first area to be cleaned of the first scheduled task and the execution time of the second scheduled task is less than the preset threshold, the above-mentioned The second to-be-cleaned area of the second scheduled task, and determine the union area of the first scheduled task and the remaining areas to be cleaned; when the second area to be cleaned is a subset of the union area, control the cleaning robot Stop cleaning; when there is no intersection area between the second area to be cleaned and the second area to be cleaned, control the cleaning robot to clean the second area to be cleaned; there is an intersection area between the union area and the second area to be cleaned, and If the union area is not a subset of the second area to be cleaned, the cleaning robot is controlled to clean other areas in the second area to be cleaned except for the intersection
  • the first area to be cleaned is cleaned, if there is a second scheduled task and the time interval between the first scheduled task and the second scheduled task is relatively small, the first area to be cleaned and the remaining area to be cleaned are ensured It will not be cleaned twice, but only other areas in the first scheduled task except the first to-be-cleaned area and the remaining areas to be cleaned will be cleaned, thereby saving the cleaning time of the sweeping robot.
  • the above preset threshold can be preset by the system or set by the user. setting, the value of the preset threshold should be small enough to ensure that when the union area formed by the remaining area to be cleaned and the first area to be cleaned and the second area to be cleaned overlap, there is no need to clean the union area after cleaning the area. Clean the overlapping area twice. For example, at 9 o'clock, the remaining areas to be cleaned in the current task of the cleaning robot are A and B, and the execution time of the first scheduled task is 9 o'clock, and the first area to be cleaned corresponding to the first scheduled task is cleaning A. and C, then the cleaning robot cleans C after A and B. The cleaning robot finishes cleaning C at 11 o'clock. The execution time of the second scheduled task is 11:15.
  • the execution time of the first scheduled task and the second scheduled task The time difference in time is 15 minutes, the preset threshold is 30 minutes, and the time difference in execution time is less than the preset threshold. Therefore, the union area of the remaining area to be cleaned and the first area to be cleaned is determined, that is, area A B C, and the second scheduled task corresponds to The second area to be cleaned is cleaning B and D.
  • the second area to be cleaned is not a subset area of the union area of the remaining area to be cleaned and the first area to be cleaned, and there is an intersection area between the two: B, so continue with the second area.
  • the area to be cleaned is the area other than B, that is, area D.
  • This embodiment provides a method for determining a cleaning area, which is a schematic diagram of an optional method for determining a cleaning area according to an embodiment of the present invention, as shown in Figure 6, with the following steps:
  • Step S602 Determine the remaining areas to be cleaned in the current task
  • Step S604 Receive the first reservation task
  • Step S606 Determine the execution time of the first scheduled task
  • Step S608 Determine whether the execution time of the first scheduled task has been reached; if the execution time of the first scheduled task has been reached, execute step S610; if the execution time of the first scheduled task has not been reached, continue to execute step S620;
  • Step S610 Determine the first area to be cleaned corresponding to the first scheduled task
  • Step S612 Determine whether the first area to be cleaned is a subset of the remaining areas to be cleaned, and whether there is an intersection area between the remaining area to be cleaned and the first area to be cleaned, where the first area to be cleaned is the remaining area to be cleaned. In the case of a subset area, step S618 is executed; in the case where there is no intersection area between the first area to be cleaned and the remaining areas to be cleaned, step S616 is executed. If the first area to be cleaned is not a subset area of the remaining areas to be cleaned and If there is an intersection area between the first area to be cleaned and the remaining areas to be cleaned, step S614 is executed;
  • Step S614 After cleaning the remaining areas to be cleaned, clean other areas in the first area to be cleaned except the intersection area;
  • Step S616 After cleaning the remaining areas to be cleaned, clean the first area to be cleaned;
  • Step S618 Only clean the remaining areas to be cleaned
  • Step S620 Clean the remaining areas to be cleaned.
  • the problem in the prior art is solved that when the current time is consistent with the execution time of the scheduled task, the device responds to the scheduled cleaning task and suspends the current task, thereby causing the current task to be missed.
  • This solution can effectively avoid missing the current task by cleaning the cleaning area of the current task first and splitting the task to be cleaned into multiple adjacent blocks.
  • the method according to the above embodiments can be implemented by means of software plus the necessary general hardware platform. Of course, it can also be implemented by hardware, but in many cases the former is Better implementation.
  • the technical solution of the present invention can be embodied in the form of a software product in essence or the part that contributes to the existing technology.
  • the computer software product is stored in a storage medium (such as ROM/RAM, disk, CD), including several instructions to cause a terminal device (which can be a mobile phone, computer, server, or network device, etc.) to execute the methods of various embodiments of the present invention.
  • This embodiment also provides a device for determining a cleaning area, which is used to implement the above embodiments and preferred implementations. What has already been described will not be described again.
  • the term "module” may be a combination of software and/or hardware that implements a predetermined function. Although the devices described in the following embodiments are preferably implemented in software, implementation in hardware, or a combination of software and hardware, is also possible and contemplated.
  • Figure 7 is a structural block diagram of a device for determining a cleaning area according to an embodiment of the present invention.
  • the device includes:
  • the acquisition module 72 is configured to obtain the remaining area to be cleaned of the cleaning task currently executed by the cleaning robot and the first time of the first scheduled task when the current time and the cleaning robot are the execution time of the first scheduled task. area to be cleaned;
  • the function of the above module can be understood as: cleaning the machine at the current time
  • the cleaning robot is executing the current task at this time, and obtains the remaining area to be cleaned of the currently executed cleaning task and the first area to be cleaned of the first scheduled task.
  • the current time is the execution time of the first scheduled task, which can be understood as: the time for executing the first scheduled task is reached. For example, if the user makes an appointment at 9 o'clock to clean the kitchen at 10 o'clock, then the first appointment The execution time of the task is 10 o'clock. In this case, at 10 o'clock, the current time is consistent with the execution time of the first scheduled task.
  • the control module 72 is configured to control all areas when there is an intersection area between the first area to be cleaned and the remaining area to be cleaned, and the first area to be cleaned is not a subset of the remaining area to be cleaned. After cleaning the remaining areas to be cleaned, the cleaning robot cleans other areas in the first area to be cleaned except the intersection area.
  • the remaining area to be cleaned of the cleaning task currently executed by the cleaning robot and the first area to be cleaned of the first scheduled task are obtained area; when there is an intersection area between the first area to be cleaned and the remaining area to be cleaned, and the first area to be cleaned is not a subset of the remaining area to be cleaned, control the cleaning robot to After cleaning the remaining area to be cleaned, other areas in the first area to be cleaned except the intersection area are cleaned.
  • the acquisition module 72 is also configured to acquire the remaining area to be cleaned of the cleaning task currently executed by the cleaning robot when the current time is the execution time of the first scheduled task of the cleaning robot.
  • the cleaning robot was controlled to be connected to the user's terminal device, and the user's setting of the first area to be cleaned for the scheduled task was received through the terminal device.
  • Figure 3 is a product application diagram of an optional method for receiving reservation tasks according to an embodiment of the present invention.
  • the user can set the reservation task by dragging the dotted box and adjusting the size of the dotted box. cleaning area.
  • the acquisition module 72 is further configured to acquire the total cleaning area of the cleaning task currently performed by the cleaning robot and the cleaned area of the cleaning robot at the current time; and remove the total cleaning area from the cleaning area.
  • the area outside the cleaned area is regarded as the remaining area to be cleaned. Sweep area.
  • the acquisition module 72 is also used to acquire the cleaned area of the cleaning robot at the current time by: continuously acquiring the measurement data obtained by the radar sensor of the cleaning robot by emitting electromagnetic waves to determine cleaning
  • the position of the robot is determined based on the position change of the cleaning robot.
  • the direction change and the distance change of the cleaning robot are determined.
  • the movement trajectory is determined based on the direction change and distance change of the cleaning robot, and thus the movement trajectory of the cleaning robot is determined.
  • the area that the cleaning robot has cleaned for example: the cleaning robot sends a set of electromagnetic waves through the radar sensor at the first position at the first time, and then the radar sensor calculates the first set of measurement data based on the reflected electromagnetic waves.
  • the radar sensor calculates the first set of measurement data based on the reflected electromagnetic waves.
  • the first set of measurement data shows that the cleaning robot is 5 meters away from the wall on the right and 4 meters away from the wall in front at the first position.
  • the first position of the cleaning robot is determined, and then the radar sensor of the cleaning robot is obtained at the second position.
  • the distance change when the interval between the first time and the second time is small enough, the movement trajectory of the cleaning robot can be obtained, and the area that has been cleaned by the cleaning robot can be determined based on the movement trajectory of the cleaning robot.
  • the acquisition module 72 is also used to: determine the position information of the cleaning robot through the built-in sensor of the cleaning robot; obtain the actual trajectory information according to the position information of the cleaning robot; and obtain the actual trajectory information and the unit cleaning area value. to obtain the cleaned area information; further, compare the cleaned area information and the area information to be cleaned to obtain the cleaning area rate; when the cleaning area rate is less than the preset value, compare the cleaned area information and the area information to be cleaned to obtain the uncleaned area information.
  • the cleaning robot is synchronously positioned through its laser radar, and the trajectory map of the cleaning robot can be established based on the changes in positioning.
  • the cleaned area of the cleaning robot can be determined, and then find The ratio of the cleaned area to the area to be cleaned can be used to obtain the cleaning area rate.
  • the area rate is less than the preset value, such as 90%, it can be determined that there are still areas that have not been cleaned.
  • the area to be cleaned is The area is the uncleaned area.
  • the acquisition module 72 is also used to: after the cleaning robot has received When the first scheduled task is received, the execution time of the first scheduled task is obtained; before the execution time of the first scheduled task arrives, the cleaning robot is controlled to continue cleaning the remaining area to be cleaned.
  • the cleaning robot receives the first reservation task at 9 o'clock, and the first reservation task is to clean the kitchen at 9 o'clock, and at this time the cleaning robot's current If the task is to clean the bedroom, the cleaning robot will continue to clean the bedroom between 9 o'clock and 10 o'clock. That is, the priority of the current task is higher than the scheduled task, thus ensuring that the current task will not be missed. .
  • the acquisition module 72 is further configured to: obtain the remaining area to be cleaned of the cleaning task currently performed by the cleaning robot, and obtain the cleaning area after the first area to be cleaned of the first scheduled task.
  • a cleaning map corresponding to all the areas to be cleaned by the robot; determining the first position information of the remaining area to be cleaned on the cleaning map and the second position information of the first area to be cleaned on the cleaning map; according to The first position information and the second position information determine whether the first area to be cleaned is a subset of the remaining area to be cleaned, and whether the first area to be cleaned and the remaining area to be cleaned are There is an intersection area.
  • the acquisition module 72 is also configured to obtain cleaning maps corresponding to all areas to be cleaned by the cleaning robot in the following manner: constructing an initial map of all areas to be cleaned based on the floor plan data of all areas to be cleaned.
  • Map According to the obstacle information edited by the user, the corresponding obstacles are added to the initial map to construct a cleaning map corresponding to all areas to be cleaned. For example, the image of the home is obtained through the camera in the home area, and the floor plan is drawn based on this image to obtain the initial map. The initial map is sent to the user.
  • the cleaning robot is connected to the user's mobile phone through LAN or Bluetooth, and the user uses the mobile phone application. Add obstacles on the initial map, as shown in Figure 4.
  • Figure 4 is a product application diagram of an optional obstacle setting method according to an embodiment of the present invention.
  • the user clicks on the initial map through the mobile phone application. Obstacle area, thereby adding obstacles on the initial map, and treating the area on the initial map except for obstacles as all areas to be cleaned.
  • the acquisition module 72 is also used to acquire the cleaning map corresponding to all the areas to be cleaned by the cleaning robot in the following manner: through real-time positioning and map construction based on lidar (ie, SLAM, full name simultaneous localization and mapping) depends on
  • the laser ranging sensor scans the entire area to be cleaned, emitting laser light to scan the distance from itself to each point on the boundary, thereby generating a digital map of all areas to be cleaned, and then combined with the preset algorithm to construct a map of all areas to be cleaned, and real-time Position cleaning.
  • the entire living room will be scanned by the laser ranging sensor, and the distance between the cleaning robot and the wall will be determined by emitting laser light and receiving the laser light reflected by the wall, etc., and then generate a digital map of the living room.
  • SLAM is used to construct a cleaning map of the living room.
  • control module 74 is further configured to control the cleaning robot to clean the remaining areas to be cleaned when the first area to be cleaned is a subset of the remaining areas to be cleaned. ; In the case where there is no intersection area between the first area to be cleaned and the remaining area to be cleaned, control the cleaning robot to clean the first area to be cleaned after cleaning the remaining area to be cleaned.
  • the first area to be cleaned is a subset of the remaining area to be cleaned
  • the remaining area to be cleaned covers the first area to be cleaned.
  • the remaining area to be cleaned is the kitchen. and the bedroom
  • the first area to be cleaned is the bedroom
  • the kitchen and the bedroom include the bedroom.
  • the first area to be cleaned is a subset of the remaining areas to be cleaned.
  • control module 74 is further configured to: divide the remaining area to be cleaned into a plurality of adjacent first blocks in a preset manner, and divide the first area to be cleaned in a preset manner. Divide into a plurality of adjacent second blocks; determine a first intersection block among the plurality of adjacent first blocks that intersects with the plurality of adjacent second blocks, and divide the plurality of adjacent second blocks into The block adjacent to the second block that intersects with the first intersection block is used as the second intersection block; determine the union block of the first intersection block and the second intersection block; control all After the cleaning robot finishes cleaning other blocks in the plurality of adjacent first blocks except the first intersection block, it cleans the union block; after the cleaning robot finishes cleaning the union block In the case of a block, other blocks in the second block except the second intersection block are cleaned.
  • the area to be cleaned is divided into multiple blocks, and each block is cleaned one by one, so that the current tasks and scheduled tasks of the cleaning robot can be split, and by dividing multiple blocks, the cleaning robot will
  • the cleaned area is clearly divided into multiple specific blocks, making both the cleaned area and the area to be cleaned more clear, thus effectively avoiding missed cleaning.
  • control module 74 is also used to: use the grid method to construct the remaining waiting
  • the map of the cleaning area and the map of the first area to be cleaned are divided into equal-area rasters on the map of the remaining area to be cleaned to obtain multiple adjacent first equal-area rasters.
  • Each first equal-area raster corresponds to a first equal-area raster.
  • a block is shown in Figure 5.
  • Figure 5 is a schematic diagram of an optional block cleaning method according to an embodiment of the present invention.
  • each grid corresponds to a block, and there are adjacent grids between the grids. They are adjacent and have equal areas.
  • grid A and grid B are adjacent and have equal areas.
  • the map of the first area to be cleaned is divided into equal-area rasters to obtain multiple adjacent equal-area rasters.
  • Each equal-area raster in the map of the first area to be cleaned corresponds to a second block, and the second block is determined.
  • the first intersection grid of the first equal-area grid intersects with the equal-area grid of the first to-be-cleaned area, and the equal-area grid of the remaining to-be-cleaned area intersects with the equal-area grid of the remaining to-be-cleaned area.
  • the equal-area raster is used as the second intersection raster, the union raster of the first raster and the second raster is determined, and the cleaning route is planned according to the raster map, and the first equal-area raster is first cleaned except for the first intersection
  • the blocks corresponding to other grids other than the grid are cleaned, then the blocks corresponding to the union grid are cleaned, and finally the blocks corresponding to the second intersection grid are cleaned.
  • this embodiment uses the grid method to map the cleaning area onto a grid map, divides the grid map into equal-area grids, and then maps them to the actual first area to be cleaned, thereby achieving mapping.
  • control module 74 is also configured to: clean the first block closest to the cleaning robot according to the positioning information of the cleaning robot, and after the cleaning robot finishes cleaning the closest block, clean the first block according to the positioning information. Determine the position of the cleaning robot at this time, determine the first block closest to the position of the cleaning robot at this time, and clean this block, as shown in Figure 5.
  • Figure 5 is a method according to an embodiment of the present invention. Schematic diagram of the optional block cleaning method. In Figure 5, each grid represents a block. The position of the cleaning robot is determined through the positioning information of the cleaning robot. Block A, which is closest to the cleaning robot, is first cleaned.
  • control module 74 is further configured to determine the shortest path to clean the remaining areas to be cleaned through a path planning algorithm, obtain a first cleaning path, and control the cleaning robot according to the first cleaning path. Clean the remaining area to be cleaned; after cleaning the remaining area to be cleaned, determine the shortest path to clean the first area to be cleaned through the path planning algorithm, obtain a second cleaning path, and control the cleaning robot The first area to be cleaned is cleaned according to the second cleaning path.
  • the above path planning algorithm includes at least one of the following: genetic algorithm, particle swarm algorithm, ant colony algorithm, fish swarm algorithm, bee colony algorithm, etc.
  • the above path planning algorithm can be an algorithm, such as a genetic algorithm. , it can also be a combination of multiple algorithms, such as switching and fusion between genetic algorithms and ant colony algorithms.
  • control module 74 is also configured to use a point-to-point path planning method or a completely traversal path planning method to determine the optimal path for cleaning the remaining areas to be cleaned and the first area to be cleaned.
  • the point-to-point path plans an optimal and reasonable path from the starting point to the end point
  • the completely traversal path planning is to plan a path from the starting point to the end point in the set area and passes through the remaining areas to be cleaned and the first area to be cleaned. A continuous route to a reachable point.
  • control module 74 is further configured to obtain the third scheduled task of the cleaning robot when the time for cleaning the remaining area to be cleaned is the execution time of the second scheduled task of the cleaning robot.
  • two areas to be cleaned and determine the union area of the first scheduled task and the second scheduled task; when the union area is a subset of the remaining areas to be cleaned, control the cleaning robot to stop Cleaning; when there is no intersection area between the union area and the remaining area to be cleaned, control the cleaning robot to clean the union area; when there is an intersection between the union area and the remaining area to be cleaned area, and the union area is not a subset of the remaining areas to be cleaned, the cleaning robot is controlled to clean the union area except the intersection of the union area and the remaining area to be cleaned. other areas outside the area.
  • the remaining areas to be cleaned in the current task of the cleaning robot are cleaning A and B.
  • the execution time of the first scheduled task is exactly 9 o'clock, and the first scheduled task is To clean A and C, clean A and B first. After cleaning A and B, the time will be 10 o'clock.
  • the execution time of the second scheduled task is 10 o'clock.
  • the second scheduled task is cleaning B and C.
  • the union area of the first scheduled task and the second scheduled task is ABC. The union area is not a subset of the remaining areas to be cleaned. And there are intersection areas A and B, then continue cleaning ABC to remove other areas other than A and B, that is, area C.
  • control module 74 is further configured to control the cleaning robot to complete cleaning the first area to be cleaned, and in the case of receiving the second scheduled task, determine the execution time of the second scheduled task, and after cleaning
  • the time to complete the first area to be cleaned of the first scheduled task is the execution time of the second scheduled task or the time difference between the time to complete the first area to be cleaned of the first scheduled task and the execution time of the second scheduled task is less than the preset threshold
  • obtain the second area to be cleaned of the second scheduled task and determine the union area of the first scheduled task and the remaining areas to be cleaned; the second area to be cleaned is a subset of the union area
  • the cleaning robot is controlled to stop cleaning; when there is no intersection area between the second area to be cleaned and the second area to be cleaned, the cleaning robot is controlled to clean the second area to be cleaned; when the union area and the second area to be cleaned are When there is an intersection area in the cleaning area, and the union area is not a subset of the second area to be cleaned
  • the above-mentioned preset threshold can be preset by the system or set by the user.
  • the value of the preset threshold should be small enough to ensure that the union area formed by the remaining area to be cleaned and the first area to be cleaned and When there is an overlapping area in the second area to be cleaned, there is no need to clean the overlapping area a second time after cleaning the combined area.
  • the remaining areas to be cleaned in the current task of the cleaning robot are A and B
  • the execution time of the first scheduled task is 9 o'clock
  • the first area to be cleaned corresponding to the first scheduled task is cleaning A. and C
  • the cleaning robot cleans C after A and B.
  • the execution time of the second scheduled task is 11:15.
  • the execution time of the first scheduled task and the second scheduled task The time difference of the time is 15 minutes, the preset threshold is 30 minutes, and the time difference of the execution time is less than the preset threshold. Therefore, the union area of the remaining area to be cleaned and the first area to be cleaned is determined, that is, cleaning A B C, and the second scheduled task corresponds to The second area to be cleaned is cleaning B and D.
  • the second area to be cleaned is not a subset area of the union area of the remaining area to be cleaned and the first area to be cleaned, and there is an intersection area between the two: B, so continue with the second area.
  • the area to be cleaned is the area other than B, that is, area D.
  • Embodiments of the present invention also provide a computer-readable storage medium that stores a computer program, wherein the computer program is configured to execute the steps in any of the above method embodiments when running.
  • the above-mentioned storage medium may be configured to store a computer program for performing the following steps:
  • the computer-readable storage medium may include but is not limited to: U disk, read-only memory (Read-Only Memory, referred to as ROM), random access memory (Random Access Memory, referred to as RAM) , mobile hard disk, magnetic disk or optical disk and other media that can store computer programs.
  • ROM read-only memory
  • RAM random access memory
  • mobile hard disk magnetic disk or optical disk and other media that can store computer programs.
  • An embodiment of the present invention also provides an electronic device, including a memory and a processor.
  • a computer program is stored in the memory, and the processor is configured to run the computer program to perform the steps in any of the above method embodiments.
  • the above-mentioned processor may be configured to perform the following steps through a computer program:
  • the above-mentioned electronic device may further include a transmission device and an input-output device, wherein the transmission device is connected to the above-mentioned processor, and the input-output device is connected to the above-mentioned processor.
  • modules or steps of the present invention can be implemented using general-purpose computing devices. They can be concentrated on a single computing device, or distributed across a network composed of multiple computing devices. They may be implemented in program code executable by a computing device, such that they may be stored in a storage device for execution by the computing device, and in some cases may be executed in a sequence different from that shown herein. Or the described steps can be implemented by making them into individual integrated circuit modules respectively, or by making multiple modules or steps among them into a single integrated circuit module. As such, the invention is not limited to any specific combination of hardware and software.

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Abstract

一种清扫区域的确定方法及装置、存储介质及电子装置，确定方法包括：在当前时间为清洁机器人的第一预约任务的执行时间的情况下，获取清洁机器人当前执行的清扫任务的剩余待清扫区域和第一预约任务的第一待清扫区域（S202）；在第一待清扫区域与剩余待清扫区域存在交集区域，第一待清扫区域不是剩余待清扫区域的子集区域时，控制清洁机器人在清扫完剩余待清扫区域后，清扫第一待清扫区域中除交集区域之外的其他区域（S204）。解决了现有技术中，在当前时间与预约任务的执行时间一致的情况下，设备响应预约清扫任务而暂停当前任务，进而造成当前任务漏扫的问题。

Description

清扫区域的确定方法及装置、存储介质及电子装置
本申请要求如下专利申请的优先权：于2022年03月09日提交中国专利局、申请号为202210234284.5、发明名称为“清扫区域的确定方法及装置、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申请中。
【技术领域】
本发明涉及通信领域，具体而言，涉及一种清扫区域的确定方法及装置、存储介质及电子装置。
【背景技术】
随着科技的发展，越来越多的人开始在日常生活中使用清洁机器人。一方面，清洁机器人给我们的生活带来诸多便利，而另一方面，清洁机器人在使用的过程中，会存在很多问题，不够智能。例如清洁机器人在接收到用户定时预约清扫任务时，即使清洁机器人当前正在执行其它清扫任务，清洁机器人也会直接停止执行当前清扫任务，转而执行预约清扫任务，这造成了清洁机器人的当前清扫任务丢失，进而可能导致当前清扫任务中的未清扫区域的漏扫。
针对现有技术中，在当前时间与预约任务的执行时间一致的情况下，设备响应预约清扫任务而暂停当前任务，进而造成当前任务漏扫的问题，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扫区域的确定方法及装置、存储介质及电子装置，以至少解决现有技术中，在当前时间与预约任务的执行时间一致的情况下，设备响应预约清扫任务而暂停当前任务，进而造成当前任务漏扫的问题。
根据本发明实施例的一方面，提供一种清扫区域的确定方法，包括： 在当前时间为清洁机器人的第一预约任务的执行时的情况下，获取所述清洁机器人当前执行的清扫任务的剩余待清扫区域，以及所述第一预约任务的第一待清扫区域；在所述第一待清扫区域与所述剩余待清扫区域存在交集区域，且所述第一待清扫区域不是所述剩余待清扫区域的子集区域的情况下，控制所述清洁机器人在清扫完所述剩余待清扫区域后，清扫所述第一待清扫区域中除所述交集区域之外的其他区域。
在一个示例性实施例中，获取所述清洁机器人当前执行的清扫任务的剩余待清扫区域，以及所述第一预约任务的第一待清扫区域之后，所述方法还包括：在所述第一待清扫区域为所述剩余待清扫区域的子集区域的情况下，控制所述清洁机器人清扫所述剩余待清扫区域；在所述第一待清扫区域与所述剩余待清扫区域不存在交集区域的情况下，控制所述清洁机器人在清扫完所述剩余待清扫区域后，清扫所述第一待清扫区域。
在一个示例性实施例中，获取所述清洁机器人当前执行的清扫任务的剩余待清扫区域，以及所述第一预约任务的第一待清扫区域之后，所述方法还包括：获取所述清洁机器人的全部待清扫区域对应的清扫地图；确定所述剩余待清扫区域在所述清扫地图上的第一位置信息和所述第一待清扫区域在所述清扫地图上的第二位置信息；根据所述第一位置信息和所述第二位置信息确定所述第一待清扫区域是否为所述剩余待清扫区域的子集区域，以及所述第一待清扫区域和所述剩余待清扫区域是否存在交集区域。
在一个示例性实施例中，控制所述清洁机器人在清扫完所述剩余待清扫区域后，清扫所述第一待清扫区域中除所述交集区域之外的其他区域，包括：将所述剩余待清扫区域按照预设方式划分成多个相邻第一区块，并将所述第一待清扫区域按照预设方式划分成多个相邻第二区块；确定所述多个相邻第一区块中与所述多个相邻第二区块存在交集的第一交集区块，并将所述多个相邻第二区块中与所述第一交集区块存在交集的区块作为第二交集区块；确定所述第一交集区块和所述第二交集区块的并集区块；控制所述清洁机器人清扫完所述多个相邻第一区块中除所述第一交集区块以外的其他区块后，清扫所述并集区块；在所述清洁机器人清扫完所述并集区块的情况下，清扫所述第二区块中除所述第二交集区块以外的其他区块。
在一个示例性实施例中，获取所述清洁机器人当前执行的清扫任务的剩余待清扫区域，包括：获取所述清洁机器人当前执行的清扫任务的总清扫区域和所述清洁机器人在当前时间的已清扫区域；将所述总清扫区域中除所述已清扫区域之外的区域作为所述剩余待清扫区域。
在一个示例性实施例中，控制所述清洁机器人在清扫完所述剩余待清扫区域之后，所述方法还包括：在清扫完所述剩余待清扫区域的时间为清洁机器人的第二预约任务的执行时间的情况下，获取所述第二预约任务的第二待清扫区域，并确定所述第一预约任务和第二预约任务的并集区域；在所述并集区域为所述剩余待清扫区域的子集区域的情况下，控制所述清洁机器人停止清扫；在所述并集区域与所述剩余待清扫区域不存在交集区域的情况下，控制所述清洁机器人清扫所述并集区域；在所述并集区域与所述剩余待清扫区域存在交集区域，且所述并集区域不是所述剩余待清扫区域的子集区域的情况下，控制所述清洁机器人清扫所并集区域中除所述并集区域与所述剩余待清扫区域的交集区域之外的其他区域。
在一个示例性实施例中，在当前时间为清洁机器人的第一预约任务的执行时间的情况下，获取所述清洁机器人当前执行的清扫任务的剩余待清扫区域之前，所述方法还包括：在所述清洁机器人已接收到第一预约任务的情况下，获取所述第一预约任务的执行时间；在所述第一预约任务的执行时间未到来前，控制所述清洁机器人持续清扫所述剩余待清扫区域。
在一个示例性实施例中，控制所述清洁机器人在清扫完所述剩余待清扫区域后，清扫所述第一待清扫区域中除所述交集区域之外的其他区域，包括：通过路径规划算法确定清扫所述剩余待清扫区域的最短路径，得到第一清扫路径，并控制所述清洁机器人根据所述第一清扫路径清扫所述剩余待清扫区域；在清扫完所述剩余待清扫区域后，通过所述路径规划算法确定清扫所述第一待清扫区域的最短路径，得到第二清扫路径，并控制所述清洁机器人根据所述第二清扫路径清扫所述第一待清扫区域。
根据本发明实施例的另一方面，还提供一种清扫区域的确定装置，所述装置包括：获取模块，用于在当前时间为清洁机器人的第一预约任务的执行时间的情况下，获取所述清洁机器人当前执行的清扫任务的剩余待清扫区 域，以及所述第一预约任务的第一待清扫区域控制模块，用于在所述第一待清扫区域与所述剩余待清扫区域存在交集区域，且所述第一待清扫区域不是所述剩余待清扫区域的子集区域的情况下，控制所述清洁机器人在清扫完所述剩余待清扫区域后，清扫所述第一待清扫区域中除所述交集区域之外的其他区域。
根据本发明实施例的又一方面，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清扫区域的确定方法。
根据本发明实施例的又一方面，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清扫区域的确定方法。
在本申请实施例中，在当前时间为清洁机器人的第一预约任务的执行时间时，获取清洁机器人当前执行的任务和第一预约任务的清扫区域，在当前任务的清扫区域只是部分覆盖而没有完全覆盖第一预约任务的清扫区域的情况下，先清扫当前任务的清扫区域，然后清扫第一预约任务的清扫区域中当前任务没有覆盖的区域，采用上述技术方案，解决现有技术中，在当前时间与预约任务的执行时间一致的情况下，设备响应预约清扫任务而暂停当前任务，进而造成当前任务漏扫的问题。
【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，本发明的示例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是本发明实施例的一种可选的清扫区域的确定方法的清洁机器人的硬件结构框图；
图2是根据本发明实施例的一种可选的清扫区域的确定方法的流程图；
图3是根据本发明实施例的一种可选的预约任务的接收方法的产品应用图；
图4是根据本发明实施例的一种可选的障碍物设置方法的产品应用图；
图5是根据本发明实施例的一种可选的分块清扫的方法的示意图；
图6是根据本发明实施例的一种可选的清扫区域的确定方法示意图；
图7是本发明实施例中的一种可选的清扫区域的确定装置的结构框图。
【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、***、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。
本申请实施例中所提供的方法实施例可以在清洁机器人或者类似的运算装置中执行。以运行在清洁机器人上为例，图1是本发明实施例的清扫区域的确定方法的清洁机器人的硬件结构框图。如图1所示，清洁机器人可以包括一个或多个(图1中仅示出一个)处理器102(处理器102可以包括但不限于微处理器(Microprocessor Unit，简称是MPU)或可编程逻辑器件(Programmable logic device，简称是PLD))和用于存储数据的存储器104，在一个示例性实施例中，上述清洁机器人还可以包括用于通信功能的传输设备106以及输入输出设备108。本领域普通技术人员可以理解，图1所示的结构仅为示意，其并不对上述清洁机器人的结构造成限定。例如，清洁机器人还可包括比图1中所示更多或者更少的组件，或者具有与图1所示等同功能或比图1所示功能更多的不同的配置。
存储器104可用于存储计算机程序，例如，应用软件的软件程序以及模块，如本发明实施例中的清扫区域的确定方法对应的计算机程序，处理器102通过运行存储在存储器104内的计算机程序，从而执行各种功能应用以及数据处理，即实现上述的方法。存储器104可包括高速随机存储器，还可包括非易失性存储器，如一个或者多个磁性存储装置、闪存、或者其他非易失性固态存储器。在一些实例中，存储器104可进一步包括相对于处理器102远程设置的存储器，这些远程存储器可以通过网络连接至清洁机器人。上述网络的实例包括但不限于互联网、企业内部网、局域网、移动通信网及其组合。
传输装置106用于经由一个网络接收或者发送数据。上述的网络具体实例可包括清洁机器人的通信供应商提供的无线网络。在一个实例中，传输装置106包括一个网络适配器(Network Interface Controller，简称为NIC)，其可通过基站与其他网络设备相连从而可与互联网进行通讯。在一个实例中，传输装置106可以为射频(Radio Frequency，简称为RF)模块，其用于通过无线方式与互联网进行通讯。
需要说明的是，本申请实施例的技术方案可以应用在清洁机器人上，尤其是一种清洁机器人，即清洁机器人采用本申请实施例的技术方案，可以使得当前任务的剩余待清扫区域不会漏扫。
在本实施例中提供了一种清扫区域的确定方法，图2是根据本发明实施例的清扫区域的确定方法的流程图，该流程包括如下步骤：
步骤S202，在当前时间与清洁机器人为第一预约任务的执行时间的情况下，获取所述清洁机器人当前执行的清扫任务的剩余待清扫区域，以及所述第一预约任务的第一待清扫区域；
需要说明的是，上述步骤可以理解为：在当前时间为清洁机器人的第一预约任务的执行时间时，此时清洁机器人正在执行当前任务，获取当前执行的清扫任务的剩余待清扫区域和第一预约任务的第一待清扫区域。需要进一步说明的是，当前时间与清洁机器人为第一预约任务的执行时间可以理解为：到达了执行第一预约任务的时间，比如说，用户在9点钟预约了10点钟清扫厨房，则第一预约任务的执行时间是10点，这种情况下，在10 点的时候，当前时间与第一预约任务的执行时间一致。
步骤S204，在所述第一待清扫区域与所述剩余待清扫区域存在交集区域，且所述第一待清扫区域不是所述剩余待清扫区域的子集区域的情况下，控制所述清洁机器人在清扫完所述剩余待清扫区域后，清扫所述第一待清扫区域中除所述交集区域之外的其他区域。
通过上述步骤，在当前时间为清洁机器人的第一预约任务的执行时间的情况下，获取所述清洁机器人当前执行的清扫任务的剩余待清扫区域，以及所述第一预约任务的第一待清扫区域；在所述第一待清扫区域与所述剩余待清扫区域存在交集区域，且所述第一待清扫区域不是所述剩余待清扫区域的子集区域的情况下，控制所述清洁机器人在清扫完所述剩余待清扫区域后，清扫所述第一待清扫区域中除所述交集区域之外的其他区域。采用上述技术方案，解决了现有技术中，在当前时间与预约任务的执行时间一致的情况下，设备响应预约清扫任务而暂停当前任务，进而造成当前任务漏扫的问题。
可选的，在本实施例中，步骤S202中，在当前时间与清洁机器人的第一预约任务的执行时间一致的情况下，获取所述清洁机器人当前执行的清扫任务的剩余待清扫区域之前，所述方法还包括：控制清洁机器人与用户的终端设备相连，通过终端设备接收用户对预约任务的第一待清扫区域的设置。如图3所示，图3是根据本发明实施例的一种可选的预约任务的接收方法的产品应用图，在图3中用户可以通过拖动虚线框和调整虚线框的大小设置预约任务的清扫区域。
在一个示例性实施例中，获取所述清洁机器人当前执行的清扫任务的总清扫区域和所述清洁机器人在当前时间的已清扫区域；将所述总清扫区域中除所述已清扫区域之外的区域作为所述剩余待清扫区域。
通过上述实施例，先确定了哪些区域已经清扫了，并将总清扫区域中除已清扫区域以外的其他区域作为待清扫区域，防止已经清扫的区域被二次清扫。
可选的，在本实施例中，获取所述清洁机器人在当前时间的已清扫区域的方法包括但不限于：不间断的获取清洁机器人的雷达传感器通过发射 电磁波得到的测量数据确定清洁机器人的位置，根据清洁机器人位置变化确定清洁机器人的方向变化量与距离变化量，进一步的，通过清洁机器人的清洁机器人的方向变化量与距离变化量确定运动轨迹，从而根据清洁机器人的运动轨迹确定清洁机器人已经清扫的区域，比如：清洁机器人在第一时间的第一位置上，通过雷达传感器发送一组电磁波，进而雷达传感器根据反射回来的电磁波计算得到第一组测量数据，例如，雷达传感器根据第一组测量数据得到清洁机器人在第一位置距离右边的墙5米，距离前方的墙4米，根据第一组测量数据确定清洁机器人的第一位置，再获取清洁机器人的雷达传感器在第二时间发射的第二组电磁波所得到的第二组测量数据，根据第二组测量数据确定清洁机器人的第二位置；根据所述清洁机器人在第一位置和第二位置确定清洁机器人的方向变化量与距离变化量，在第一时间和第二时间间隔足够小的时候，就可以得到清洁机器人的运动轨迹，根据清洁机器人的运动轨迹确定清洁机器人的已经清扫的区域。
可选的，在本实施例中，将所述总清扫区域中除所述已清扫区域之外的区域作为所述剩余待清扫区域包括：通过清洁机器人内置的传感器确定清洁机器人的位置信息；根据清洁机器人的位置信息得到实际轨迹信息；根据实际轨迹信息和单位清扫面积值得到已清扫区域信息；进一步的，对比已清扫区域信息和待清扫区域信息，得到清扫面积率；当清扫面积率小于预设值时，对比已清扫区域信息和待清扫区域信息，得到未清扫区域信息。比如说：通过清洁机器人的激光雷达对清洁机器人进行同步定位，并可以根据定位的变化建立清洁机器人的轨迹图，再结合清洁机器人的单位清扫面积值即可确定清洁机器人的已清扫区域，再求已清扫区域和待清扫区域的比值，即可得到清扫面积率，在面积率小于预设值，比如90％的时候，就可以确定还存在未清扫的区域，待清扫区域中除已清扫区域以外的区域即为未清扫区域。
在一个示例性实施例中，在所述清洁机器人已接收到第一预约任务的情况下，获取所述第一预约任务的执行时间；在所述第一预约任务的执行时间未到来前，控制所述清洁机器人持续清扫所述剩余待清扫区域。
通过上述实施例，防止清洁机器人因为接收到预约任务而忽略了当前 任务的清扫区域的清扫。
需要说明的是，为了帮助理解本实施例，举个例子，比如清洁机器人在9点钟的时候接收到第一预约任务，第一预约任务为9点钟清扫厨房，而此时清洁机器人的当前任务为清扫卧室，则在9点到10点这之间的时间段，清洁机器人持续清扫卧室，也就是说，当前任务的优先级是高于预约任务的，从而可以保证当前任务不会出现漏扫的情况。
在一个示例性实施例中，获取所述清洁机器人当前执行的清扫任务的剩余待清扫区域，以及所述第一预约任务的第一待清扫区域之后，获取所述清洁机器人的全部待清扫区域对应的清扫地图；确定所述剩余待清扫区域在所述清扫地图上的第一位置信息和所述第一待清扫区域在所述清扫地图上的第二位置信息；根据所述第一位置信息和所述第二位置信息确定所述第一待清扫区域是否为所述剩余待清扫区域的子集区域，以及所述第一待清扫区域和所述剩余待清扫区域是否存在交集区域。
可选的，在本实施例中，获取所述清洁机器人的全部待清扫区域对应的清扫地图的方法包括：根据全部待清扫区域的户型图数据构建全部待清扫区域的初始地图；根据用户编辑的障碍物信息，在初始地图中添加对应的障碍物，以构建全部待清扫区域对应的清扫地图。比如，通过家庭区域内的摄像头获取家庭的图像，并根据这一图像绘制户型图，从而得到初始地图，将初始地图发送给用户，清洁机器人与用户的手机通过局域网或者蓝牙相连，用户通过手机应用在初始地图上添加障碍物，如图4所示，图4是根据本发明实施例的一种可选的障碍物设置方法的产品应用图，图4中用户通过手机应用点击初始地图上的存在障碍物的区域，从而在初始地图上添加障碍物，将初始地图上除障碍物以外的区域作为全部待清扫区域。
可选的，在本实施例中，获取所述清洁机器人的全部待清扫区域对应的清扫地图的方法包括：通过基于激光雷达的即时定位与地图构建(即SLAM，全称simultaneous localization and mapping)方式依靠激光测距传感器对全部待清扫区域进行扫描，通过发射激光扫描自身到边界每个点的距离，从而生成全部待清扫区域的数字地图，再结合预设算法，构建全部待清扫区域地图，并实时定位清扫。比如清洁机器人的全部待清扫区域为客 厅，则通过激光测距传感器对整个客厅进行扫描，通过发射激光，接收墙壁等反射的激光确定清洁机器人到墙壁等的距离，生成客厅的数字地图，再通过SLAM进行构建客厅的清扫地图。
在一个示例性实施例中，在所述第一待清扫区域为所述剩余待清扫区域的子集区域的情况下，控制所述清洁机器人清扫所述剩余待清扫区域；在所述第一待清扫区域与所述剩余待清扫区域不存在交集区域的情况下，控制所述清洁机器人在清扫完所述剩余待清扫区域后，清扫所述第一待清扫区域。
通过上述实施例，在第一待清扫区域为剩余待清扫区域的子集区域的情况或者第一待清扫区域与剩余待清扫区域没有交集区域的情况下，都保证当前任务的剩余待清扫区域清扫完毕，从而确保当前任务不会出现漏扫的情况。
需要说明的是，上述“所述第一待清扫区域为所述剩余待清扫区域的子集区域”可以理解为剩余待清扫区域覆盖了第一待清扫区域，比如说，剩余待清扫区域为厨房和卧室，第一待清扫区域为卧室，厨房和卧室包括了卧室，此时第一待清扫区域为剩余待清扫区域的子集区域。在一个示例性实施例中，将所述剩余待清扫区域按照预设方式划分成多个相邻第一区块，并将所述第一待清扫区域按照预设方式划分成多个相邻第二区块；确定所述多个相邻第一区块中与所述多个相邻第二区块存在交集的第一交集区块，并将所述多个相邻第二区块中与所述第一交集区块存在交集的区块作为第二交集区块；确定所述第一交集区块和所述第二交集区块的并集区块；控制所述清洁机器人清扫完所述多个相邻第一区块中除所述第一交集区块以外的其他区块后，清扫所述并集区块；在所述清洁机器人清扫完所述并集区块的情况下，清扫所述第二区块中除所述第二交集区块以外的其他区块。本实施例中将待清扫区域划分成多个区块，再逐一清扫每一区块，从而可以将清洁机器人的当前任务和预约任务进行了拆分，并多个区块的划分，清洁机器人将已清扫的区域明确为多个具体的区块，使已清扫的区域和待清扫的区域都更加明确，从而有效避免了出现漏扫的情况。
可选的，在本实施例中，采用栅格法构建剩余待清扫区域的地图和第 一待清扫区域的地图，对剩余待清扫区域的地图进行等面积栅格划分，得到多个相邻第一等面积栅格，每一个第一等面积栅格对应一个第一区块，如图5所示，图5是根据本发明实施例的一种可选的分块清扫的方法的示意图，图5中每一个栅格对应一个区块，栅格之间是相邻的且面积是相等的，比如栅格A和栅格B就是相邻且面积相等的。并对第一待清扫区域的地图进行等面积栅格划分，得到多个相邻等面积栅格，第一待清扫区域的地图中的每一个等面积栅格对应一个第二区块，确定第一等面积栅格中与第一待清扫区域的等面积栅格具有交集的第一交集栅格，并将剩余待清扫区域的等面积栅格中与剩余待清扫区域的等面积栅格具有交集的等面积栅格作为第二交集栅格，确定第一栅格和第二栅格的并集栅格，并根据栅格地图规划清扫路线，先清扫第一等面积栅格中除第一交集栅格以外的其他栅格对应的区块，再清扫并集栅格对应的区块，最后清扫第二交集栅格对应的区块。简而言之，本实施例是通过栅格法将清扫区域映射到栅格地图上，通过在栅格地图上划分等面积栅格，再对应到实际的第一待清扫区域，从而实现对第一待清扫区域的区块的划分，还有第二待清扫区域的区块划分。
可选的，在本实施例中，控制所述清洁机器人清扫完所述多个相邻第一区块中除所述第一交集区块以外的其他区块后，清扫所述并集区块的方法包括但不限于：根据清洁机器人的定位信息，清扫距离清洁机器人最近的第一区块，在清洁机器人清扫完距离最近的区块后，根据定位信息确定此时清洁机器人所在的位置，并确定距离此时清洁机器人所在的位置最近的第一区块，并清扫这一区块，如图5所示，图5是根据本发明实施例的一种可选的分块清扫的方法的示意图，在图5中每一栅格代表一个区块，通过清洁机器人的定位信息确定清洁机器人的位置，先清扫距离清洁机器人最近的A区块，A区块清扫完后将A区块在栅格地图上对应的栅格由黑色标记替换成白色标记，确定此时清洁机器人的位置，清扫此时距离清洁机器人最近的B区块，以此类推继续清扫，并对已清扫的区块进行记录；在逐个清扫过程中检测剩余待清扫区域，拓展清扫地图，并基于已经划分得到的第一区块向外延伸，而将拓展的清扫地图划分形成多个相邻的新增的区块；逐个清扫第一区块和新增的区块，并进行记录，直至剩余待清扫区域整个 被区块覆盖；清扫全部区块中未被记录的区块，全部第一区块均被记录后结束清扫。
在一个示例性实施例中，通过路径规划算法确定清扫所述剩余待清扫区域的最短路径，得到第一清扫路径，并控制所述清洁机器人根据所述第一清扫路径清扫所述剩余待清扫区域；在清扫完所述剩余待清扫区域后，通过所述路径规划算法确定清扫所述第一待清扫区域的最短路径，得到第二清扫路径，并控制所述清洁机器人根据所述第二清扫路径清扫所述第一待清扫区域。
通过上述实施例，通过路径规划算法得到了清扫剩余待清扫区域和待清扫区域的最短路径，并控制扫地机器人按照最短路径进行清扫，从而提高扫地机器人的清扫效率。
需要说明的是，上述路径规划算法包括以下至少之一：遗传算法，粒子群算法，蚁群算法，鱼群算法，蜂群算法等，进一步的，上述路径规划算法可以是一个算法，比如遗传算法，还可以是多个算法之间的结合，比如遗传算法和蚁群算法之间的切换和融合。
可选的，在本实施例中，清洁机器人采用点到点的路径规划方式或者完全遍历的路径规划方式确定清扫剩余待清扫区域和第一待清扫区域的最优路径，其中，点到点的路径规划一条从起点到终点最优并且合理的路径；完全遍历的路径规划是规划一条在设定区域内从始点到终点且经过剩余待清扫区域和第一待清扫区域所有可到达点的连续路线。
在一个示例性实施例中，控制所述清洁机器人在清扫完所述剩余待清扫区域之后，所述方法还包括：在清扫完所述剩余待清扫区域的时间为清洁机器人的第二预约任务的执行时间的情况下，获取所述第二预约任务的第二待清扫区域，并确定所述第一预约任务和第二预约任务的并集区域；在所述并集区域为所述剩余待清扫区域的子集区域的情况下，控制所述清洁机器人停止清扫；在所述并集区域与所述剩余待清扫区域不存在交集区域的情况下，控制所述清洁机器人清扫所述并集区域；在所述并集区域与所述剩余待清扫区域存在交集区域，且所述并集区域不是所述剩余待清扫区域的子集区域的情况下，控制所述清洁机器人清扫所述并集区域中除所 述并集区域与所述剩余待清扫区域的交集区域之外的其他区域。
通过上述实施例，可以确保：在清扫完所述剩余待清扫区域的时间与清洁机器人的第二预约任务的执行时间一致的情况下，已经清扫的剩余清扫区域不会二次清扫，避免进行无效清扫。
为了帮助理解本实施例，举个例子，9点钟的时候，清洁机器人的当前任务剩余待清扫区域为清扫A和B，第一预约任务的执行时间刚好为9点钟，第一预约任务为清扫A和C，则先清扫A和B，在清扫完A和B的时间为10点，第二预约任务的执行时间为10点，第二预约任务为清扫B和C，第一预约任务和第二预约任务的并集区域为ABC，则并集区域不是剩余待清扫区域的子集区域且存在交集区域A和B，则继续清扫ABC除去A和B以外的其他区域，即C区域。
在一个示例性实施例中，控制所述清洁机器人清扫完第一待清扫区域，在接收到第二预约任务的情况下，确定第二预约任务的执行时间，在清扫完第一预约任务的第一待清扫区域的时间为第二预约任务的执行时间或者清扫完第一预约任务的第一待清扫区域的时间与第二预约任务的执行时间的时间差小于预设阈值的情况下，获取所述第二预约任务的第二待清扫区域，并确定所述第一预约任务和剩余待清扫区域的并集区域；在第二待清扫区域为并集区域的子集区域的情况下，控制清洁机器人停止清扫；在第二待清扫区域与第二待清扫区域不存在交集区域的情况下，控制清洁机器人清扫所述第二待清扫区域；在并集区域与第二待清扫区域存在交集区域，且并集区域不是第二待清扫区域的子集区域的情况下，控制所述清洁机器人清扫所述第二待清扫区域中除并集区域与第二待清扫区域的交集区域之外的其他区域。
通过上述实施例，在清扫完第一待清扫区域后，存在第二预约任务且第一预约任务与第二预约任务的时间间隔比较小的情况下，确保第一待清扫区域和剩余待清扫区域不会被二次清扫，而只清扫第一预约任务中除第一待清扫区域和剩余待清扫区域的覆盖区域以外的其他区域，从而节约扫地机器人的清扫时间。
需要说明的是，上述预设阈值可以由***预设，也可以由用户进行设 置，预设阈值的数值应该足够小，以确保在剩余待清扫区域与第一待清扫区域构成的并集区域和第二待清扫区域出现重合区域的情况下，清扫完该并集区域后无需二次清扫该重合区域。比如，9点钟的时候，清洁机器人的当前任务剩余待清扫区域是扫A和B，而第一预约任务的执行时间为9点钟，第一预约任务对应的第一待清扫区域为清扫A和C，则清洁机器人在A和B后，清扫C，清洁机器人11点钟的时候清扫完C，第二预约任务的执行时间为11点15分，第一预约任务和第二预约任务的执行时间的时间差为15分钟，预设阈值为30分钟，执行时间的时间差小于预设阈值，因此确定剩余待清扫区域和第一待清扫区域的并集区域，即区域A B C，而第二预约任务对应的第二待清扫区域为清扫B和D，第二待清扫区域不是剩余待清扫区域和第一待清扫区域的并集区域的子集区域，且二者存在交集区域：B，因此继续第二待清扫区域除B以外的其他区域，即D区域。
为了更好的理解上述清扫区域的确定过程，以下再结合可选实施例对上述指令组的发送流程进行说明，但不用于限定本发明实施例的技术方案。
在本实施例中提供了一种清扫区域的确定方法，是根据本发明实施例的一种可选的清扫区域的确定方法示意图，如图6所示，具体如下步骤：
步骤S602：确定当前任务的剩余待清扫区域；
步骤S604：接收第一预约任务；
步骤S606：确定第一预约任务的执行时间；
步骤S608：判断是否到达第一预约任务的执行时间；如果到达了第一预约任务的执行时间，则执行步骤S610；如果未到达第一预约任务的执行时间，则继续执行步骤S620；
步骤S610：确定第一预约任务的对应的第一待清扫区域；
步骤S612：判断第一待清扫区域是否是剩余待清扫区域的子集区域，以及剩余待清扫区域和第一待清扫区域之间是否存在交集区域，在第一待清扫区域为剩余待清扫区域的子集区域的情况下，执行步骤S618；在第一待清扫区域与剩余待清扫区域不存在交集区域的情况下，执行步骤S616，在第一待清扫区域不是剩余待清扫区域的子集区域且第一待清扫区域与剩余待清扫区域存在交集区域的情况下，执行步骤S614；
步骤S614：清扫完剩余待清扫区域后，清扫第一待清扫区域中除交集区域以外的其他区域；
步骤S616：清扫完剩余待清扫区域后，清扫第一待清扫区域；
步骤S618：只清扫剩余待清扫区域；
步骤S620：清扫剩余待清扫区域。
通过上述步骤，解决现有技术中，在当前时间与预约任务的执行时间一致的情况下，设备响应预约清扫任务而暂停当前任务，进而造成当前任务漏扫的问题。本方案通过优先清扫当前任务的清扫区域的方式，以及将待清扫任务拆分成多个相邻区块的方式，能有效避免出现当前任务漏扫的情况。
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/RAM、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)执行本发明各个实施例的方法。
在本实施例中还提供了一种清扫区域的确定装置，该装置用于实现上述实施例及优选实施方式，已经进行过说明的不再赘述。如以下所使用的，术语“模块”可以实现预定功能的软件和/或硬件的组合。尽管以下实施例所描述的设备较佳地以软件来实现，但是硬件，或者软件和硬件的组合的实现也是可能并被构想的。
图7是根据本发明实施例的清扫区域的确定装置的结构框图，该装置包括：
获取模块72，用于在当前时间与清洁机器人为第一预约任务的执行时间的情况下，获取所述清洁机器人当前执行的清扫任务的剩余待清扫区域，以及所述第一预约任务的第一待清扫区域；
需要说明的是，上述模块的作用可以理解为：在当前时间为清洁机器 人的第一预约任务的执行时间时，此时清洁机器人正在执行当前任务，获取当前执行的清扫任务的剩余待清扫区域和第一预约任务的第一待清扫区域。需要进一步说明的是，当前时间为第一预约任务的执行时间可以理解为：到达了执行第一预约任务的时间，比如说，用户在9点钟预约了10点钟清扫厨房，则第一预约任务的执行时间是10点，这种情况下，在10点的时候，当前时间与第一预约任务的执行时间一致。
控制模块72，用于在所述第一待清扫区域与所述剩余待清扫区域存在交集区域，且所述第一待清扫区域不是所述剩余待清扫区域的子集区域的情况下，控制所述清洁机器人在清扫完所述剩余待清扫区域后，清扫所述第一待清扫区域中除所述交集区域之外的其他区域。
通过上述装置，在当前时间为清洁机器人的第一预约任务的执行时间的情况下，获取所述清洁机器人当前执行的清扫任务的剩余待清扫区域，以及所述第一预约任务的第一待清扫区域；在所述第一待清扫区域与所述剩余待清扫区域存在交集区域，且所述第一待清扫区域不是所述剩余待清扫区域的子集区域的情况下，控制所述清洁机器人在清扫完所述剩余待清扫区域后，清扫所述第一待清扫区域中除所述交集区域之外的其他区域。采用上述装置，解决了现有技术中，在当前时间与预约任务的执行时间一致的情况下，设备响应预约清扫任务而暂停当前任务，进而造成当前任务漏扫的问题。
可选的，在本实施例中，获取模块72还用于，在当前时间为清洁机器人的第一预约任务的执行时间的情况下，获取所述清洁机器人当前执行的清扫任务的剩余待清扫区域之前，控制清洁机器人与用户的终端设备相连，通过终端设备接收用户对预约任务的第一待清扫区域的设置。如图3所示，图3是根据本发明实施例的一种可选的预约任务的接收方法的产品应用图，在图3中用户可以通过拖动虚线框和调整虚线框的大小设置预约任务的清扫区域。
在一个示例性实施例中，获取模块72还用于，获取所述清洁机器人当前执行的清扫任务的总清扫区域和所述清洁机器人在当前时间的已清扫区域；将所述总清扫区域中除所述已清扫区域之外的区域作为所述剩余待清 扫区域。
可选的，在本实施例中，获取模块72还用于通过以下当时获取所述清洁机器人在当前时间的已清扫区域：不间断的获取清洁机器人的雷达传感器通过发射电磁波得到的测量数据确定清洁机器人的位置，根据清洁机器人位置变化确定清洁机器人的方向变化量与距离变化量，进一步的，通过清洁机器人的清洁机器人的方向变化量与距离变化量确定运动轨迹，从而根据清洁机器人的运动轨迹确定清洁机器人已经清扫的区域，比如：清洁机器人在第一时间的第一位置上，通过雷达传感器发送一组电磁波，进而雷达传感器根据反射回来的电磁波计算得到第一组测量数据，例如，雷达传感器根据第一组测量数据得到清洁机器人在第一位置距离右边的墙5米，距离前方的墙4米，根据第一组测量数据确定清洁机器人的第一位置，再获取清洁机器人的雷达传感器在第二时间发射的第二组电磁波所得到的第二组测量数据，根据第二组测量数据确定清洁机器人的第二位置；根据所述清洁机器人在第一位置和第二位置确定清洁机器人的方向变化量与距离变化量，在第一时间和第二时间间隔足够小的时候，就可以得到清洁机器人的运动轨迹，根据清洁机器人的运动轨迹确定清洁机器人的已经清扫的区域。
可选的，在本实施例中，获取模块72还用于：通过清洁机器人内置的传感器确定清洁机器人的位置信息；根据清洁机器人的位置信息得到实际轨迹信息；根据实际轨迹信息和单位清扫面积值得到已清扫区域信息；进一步的，对比已清扫区域信息和待清扫区域信息，得到清扫面积率；当清扫面积率小于预设值时，对比已清扫区域信息和待清扫区域信息，得到未清扫区域信息。比如说：通过清洁机器人的激光雷达对清洁机器人进行同步定位，并可以根据定位的变化建立清洁机器人的轨迹图，再结合清洁机器人的单位清扫面积值即可确定清洁机器人的已清扫区域，再求已清扫区域和待清扫区域的比值，即可得到清扫面积率，在面积率小于预设值，比如90％的时候，就可以确定还存在未清扫的区域，待清扫区域中除已清扫区域以外的区域即为未清扫区域。
在一个示例性实施例中，获取模块72还用于：在所述清洁机器人已接 收到第一预约任务的情况下，获取所述第一预约任务的执行时间；在所述第一预约任务的执行时间未到来前，控制所述清洁机器人持续清扫所述剩余待清扫区域。
需要说明的是，为了帮助理解本实施例，举个例子，比如清洁机器人在9点钟的时候接收到第一预约任务，第一预约任务为9点钟清扫厨房，而此时清洁机器人的当前任务为清扫卧室，则在9点到10点这之间的时间段，清洁机器人持续清扫卧室，即当前任务的优先级是高于预约任务的，从而可以保证当前任务不会出现漏扫的情况。
在一个示例性实施例中，获取模块72还用于：获取所述清洁机器人当前执行的清扫任务的剩余待清扫区域，以及所述第一预约任务的第一待清扫区域之后，获取所述清洁机器人的全部待清扫区域对应的清扫地图；确定所述剩余待清扫区域在所述清扫地图上的第一位置信息和所述第一待清扫区域在所述清扫地图上的第二位置信息；根据所述第一位置信息和所述第二位置信息确定所述第一待清扫区域是否为所述剩余待清扫区域的子集区域，以及所述第一待清扫区域和所述剩余待清扫区域是否存在交集区域。
可选的，在本实施例中，获取模块72还用于通过以下方式获取所述清洁机器人的全部待清扫区域对应的清扫地图：根据全部待清扫区域的户型图数据构建全部待清扫区域的初始地图；根据用户编辑的障碍物信息，在初始地图中添加对应的障碍物，以构建全部待清扫区域对应的清扫地图。比如，通过家庭区域内的摄像头获取家庭的图像，并根据这一图像绘制户型图，从而得到初始地图，将初始地图发送给用户，清洁机器人与用户的手机通过局域网或者蓝牙相连，用户通过手机应用在初始地图上添加障碍物，如图4所示，图4是根据本发明实施例的一种可选的障碍物设置方法的产品应用图，图4中用户通过手机应用点击初始地图上的存在障碍物的区域，从而在初始地图上添加障碍物，将初始地图上除障碍物以外的区域作为全部待清扫区域。
可选的，在本实施例中，获取模块72还用于通过以下方式获取所述清洁机器人的全部待清扫区域对应的清扫地图：通过基于激光雷达的即时定位与地图构建(即SLAM，全称simultaneous localization and mapping)依靠 激光测距传感器对全部待清扫区域进行扫描，通过发射激光扫描自身到边界每个点的距离，从而生成全部待清扫区域的数字地图，再结合预设算法，构建全部待清扫区域地图，并实时定位清扫。比如清洁机器人的全部待清扫区域为客厅，则通过激光测距传感器对整个客厅进行扫描，通过发射激光，接收墙壁等反射的激光确定清洁机器人到墙壁等的距离，生成客厅的数字地图，再通过SLAM进行构建客厅的清扫地图。
在一个示例性实施例中，控制模块74还用于，在所述第一待清扫区域为所述剩余待清扫区域的子集区域的情况下，控制所述清洁机器人清扫所述剩余待清扫区域；在所述第一待清扫区域与所述剩余待清扫区域不存在交集区域的情况下，控制所述清洁机器人在清扫完所述剩余待清扫区域后，清扫所述第一待清扫区域。
需要说明的是，上述“所述第一待清扫区域为所述剩余待清扫区域的子集区域”可以理解为剩余待清扫区域覆盖了第一待清扫区域，比如说，剩余待清扫区域为厨房和卧室，第一待清扫区域为卧室，厨房和卧室包括了卧室，此时第一待清扫区域为剩余待清扫区域的子集区域。
在一个示例性实施例中，控制模块74还用于：将所述剩余待清扫区域按照预设方式划分成多个相邻第一区块，并将所述第一待清扫区域按照预设方式划分成多个相邻第二区块；确定所述多个相邻第一区块中与所述多个相邻第二区块存在交集的第一交集区块，并将所述多个相邻第二区块中与所述第一交集区块存在交集的区块作为第二交集区块；确定所述第一交集区块和所述第二交集区块的并集区块；控制所述清洁机器人清扫完所述多个相邻第一区块中除所述第一交集区块以外的其他区块后，清扫所述并集区块；在所述清洁机器人清扫完所述并集区块的情况下，清扫所述第二区块中除所述第二交集区块以外的其他区块。
本实施例中将待清扫区域划分成多个区块，再逐一清扫每一区块，从而可以将清洁机器人的当前任务和预约任务进行了拆分，并多个区块的划分，清洁机器人将已清扫的区域明确为多个具体的区块，使已清扫的区域和待清扫的区域都更加明确，从而有效避免了出现漏扫的情况。
可选的，在本实施例中，控制模块74还用于：采用栅格法构建剩余待 清扫区域的地图和第一待清扫区域的地图，对剩余待清扫区域的地图进行等面积栅格划分，得到多个相邻第一等面积栅格，每一个第一等面积栅格对应一个第一区块，如图5所示，图5是根据本发明实施例的一种可选的分块清扫的方法的示意图，图5中每一个栅格对应一个区块，栅格之间是相邻的且面积是相等的，比如栅格A和栅格B就是相邻且面积相等的。并对第一待清扫区域的地图进行等面积栅格划分，得到多个相邻等面积栅格，第一待清扫区域的地图中的每一个等面积栅格对应一个第二区块，确定第一等面积栅格中与第一待清扫区域的等面积栅格具有交集的第一交集栅格，并将剩余待清扫区域的等面积栅格中与剩余待清扫区域的等面积栅格具有交集的等面积栅格作为第二交集栅格，确定第一栅格和第二栅格的并集栅格，并根据栅格地图规划清扫路线，先清扫第一等面积栅格中除第一交集栅格以外的其他栅格对应的区块，再清扫并集栅格对应的区块，最后清扫第二交集栅格对应的区块。简而言之，本实施例是通过栅格法，将清扫区域映射到栅格地图上，通过在栅格地图上划分等面积栅格，再对应到实际的第一待清扫区域，从而实现对第一待清扫区域的区块的划分，还有第二待清扫区域的区块划分。
可选的，在本实施例中，控制模块74还用于：根据清洁机器人的定位信息，清扫距离清洁机器人最近的第一区块，在清洁机器人清扫完距离最近的区块后，根据定位信息确定此时清洁机器人所在的位置，并确定距离此时清洁机器人所在的位置最近的第一区块，并清扫这一区块，如图5所示，图5是根据本发明实施例的一种可选的分块清扫的方法的示意图，在图5中每一栅格代表一个区块，通过清洁机器人的定位信息确定清洁机器人的位置，先清扫距离清洁机器人最近的A区块，A区块清扫完后将A区块在栅格地图上对应的栅格有黑色标记替换成白色标记，确定此时清洁机器人的位置，清扫此时距离清洁机器人最近的B区块，以此类推继续清扫，并对已清扫的区块进行记录；在逐个清扫过程中检测剩余待清扫区域，拓展清扫地图，并基于已经划分得到的第一区块向外延伸，而将拓展的清扫地图划分形成多个相邻的新增的区块；逐个清扫第一区块和新增的区块，并进行记录，直至剩余待清扫区域整个被区块覆盖；清扫全部区块中未被记录的 区块，全部第一区块均被记录后结束清扫。在一个示例性实施例中，控制模块74还用于，通过路径规划算法确定清扫所述剩余待清扫区域的最短路径，得到第一清扫路径，并控制所述清洁机器人根据所述第一清扫路径清扫所述剩余待清扫区域；在清扫完所述剩余待清扫区域后，通过所述路径规划算法确定清扫所述第一待清扫区域的最短路径，得到第二清扫路径，并控制所述清洁机器人根据所述第二清扫路径清扫所述第一待清扫区域。
需要说明的是，上述路径规划算法包括以下至少之一：遗传算法，粒子群算法，蚁群算法，鱼群算法，蜂群算法等，进一步的，上述路径规划算法可以是一个算法，比如遗传算法，还可以是多个算法之间的结合，比如遗传算法和蚁群算法之间的切换和融合。
可选的，在本实施例中，控制模块74还用于，清洁机器人采用点到点的路径规划方式或者完全遍历的路径规划方式确定清扫剩余待清扫区域和第一待清扫区域的最优路径，其中点到点的路径规划一条从起点到终点最优并且合理的路径；完全遍历的路径规划是规划一条在设定区域内从始点到终点且经过剩余待清扫区域和第一待清扫区域所有可到达点的连续路线。
在一个示例性实施例中，控制模块74还用于，在清扫完所述剩余待清扫区域的时间为清洁机器人的第二预约任务的执行时间的情况下，获取所述第二预约任务的第二待清扫区域，并确定所述第一预约任务和第二预约任务的并集区域；在所述并集区域为所述剩余待清扫区域的子集区域的情况下，控制所述清洁机器人停止清扫；在所述并集区域与所述剩余待清扫区域不存在交集区域的情况下，控制所述清洁机器人清扫所述并集区域；在所述并集区域与所述剩余待清扫区域存在交集区域，且所述并集区域不是所述剩余待清扫区域的子集区域的情况下，控制所述清洁机器人清扫所述并集区域中除所述并集区域与所述剩余待清扫区域的交集区域之外的其他区域。
为了帮助理解本实施例，举个例子，9点钟的时候，清洁机器人的当前任务剩余待清扫区域为清扫A和B，第一预约任务的执行时间刚好为9点钟，第一预约任务为清扫A和C，则先清扫A和B，在清扫完A和B的时间为10点， 第二预约任务的执行时间为10点，第二预约任务为清扫B和C，第一预约任务和第二预约任务的并集区域为ABC，则并集区域不是剩余待清扫区域的子集区域且存在交集区域A和B，则继续清扫ABC除去A和B以外的其他区域，即C区域。
在一个示例性实施例中，控制模块74还用于，控制所述清洁机器人清扫完第一待清扫区域，在接收到第二预约任务的情况下，确定第二预约任务的执行时间，在清扫完第一预约任务的第一待清扫区域的时间为第二预约任务的执行时间或者清扫完第一预约任务的第一待清扫区域的时间与第二预约任务的执行时间的时间差小于预设阈值的情况下，获取所述第二预约任务的第二待清扫区域，并确定所述第一预约任务和剩余待清扫区域的并集区域；在第二待清扫区域为并集区域的子集区域的情况下，控制清洁机器人停止清扫；在第二待清扫区域与第二待清扫区域不存在交集区域的情况下，控制清洁机器人清扫所述第二待清扫区域；在并集区域与第二待清扫区域存在交集区域，且并集区域不是第二待清扫区域的子集区域的情况下，控制所述清洁机器人清扫所述第二待清扫区域中除并集区域与第二待清扫区域的交集区域之外的其他区域。
需要说明的是，上述预设阈值可以由***预设，也可以由用户进行设置，预设阈值的数值应该足够小，以确保在剩余待清扫区域与第一待清扫区域构成的并集区域和第二待清扫区域出现重合区域的情况下，清扫完该并集区域后无需二次清扫该重合区域。比如，9点钟的时候，清洁机器人的当前任务剩余待清扫区域是扫A和B，而第一预约任务的执行时间为9点钟，第一预约任务对应的第一待清扫区域为清扫A和C，则清洁机器人在A和B后，清扫C，清洁机器人11点钟的时候清扫完C，第二预约任务的执行时间为11点15分，第一预约任务和第二预约任务的执行时间的时间差为15分钟，预设阈值为30分钟，执行时间的时间差小于预设阈值，因此确定剩余待清扫区域和第一待清扫区域的并集区域，即清扫A B C，而第二预约任务对应的第二待清扫区域为清扫B和D，第二待清扫区域不是剩余待清扫区域和第一待清扫区域的并集区域的子集区域，且二者存在交集区域：B，因此继续第二待清扫区域除B以外的其他区域，即D区域。
本发明的实施例还提供了一种计算机可读存储介质，该计算机可读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任一项方法实施例中的步骤。
可选地，在本实施例中，上述存储介质可以被设置为存储用于执行以下步骤的计算机程序：
S1，在当前时间为清洁机器人的第一预约任务的执行时间的情况下，获取所述清洁机器人当前执行的清扫任务的剩余待清扫区域，以及所述第一预约任务的第一待清扫区域；
S2，在所述第一待清扫区域与所述剩余待清扫区域存在交集区域，且所述第一待清扫区域不是所述剩余待清扫区域的子集区域的情况下，控制所述清洁机器人在清扫完所述剩余待清扫区域后，清扫所述第一待清扫区域中除所述交集区域之外的其他区域。
在一个示例性实施例中，上述计算机可读存储介质可以包括但不限于：U盘、只读存储器(Read-Only Memory，简称为ROM)、随机存取存储器(Random Access Memory，简称为RAM)、移动硬盘、磁碟或者光盘等各种可以存储计算机程序的介质。
本实施例中的具体示例可以参考上述实施例及示例性实施方式中所描述的示例，本实施例在此不再赘述。
本发明的实施例还提供了一种电子装置，包括存储器和处理器，该存储器中存储有计算机程序，该处理器被设置为运行计算机程序以执行上述任一项方法实施例中的步骤。
可选地，在本实施例中，上述处理器可以被设置为通过计算机程序执行以下步骤：
S1，在当前时间为清洁机器人的第一预约任务的执行时间的情况下，获取所述清洁机器人当前执行的清扫任务的剩余待清扫区域，以及所述第一预约任务的第一待清扫区域；
S2，在所述第一待清扫区域与所述剩余待清扫区域存在交集区域，且所述第一待清扫区域不是所述剩余待清扫区域的子集区域的情况下，控制所述清洁机器人在清扫完所述剩余待清扫区域后，清扫所述第一待清扫区 域中除所述交集区域之外的其他区域。
在一个示例性实施例中，上述电子装置还可以包括传输设备以及输入输出设备，其中，该传输设备和上述处理器连接，该输入输出设备和上述处理器连接。
本实施例中的具体示例可以参考上述实施例及示例性实施方式中所描述的示例，本实施例在此不再赘述。
显然，本领域的技术人员应该明白，上述的本发明的各模块或各步骤可以用通用的计算装置来实现，它们可以集中在单个的计算装置上，或者分布在多个计算装置所组成的网络上，它们可以用计算装置可执行的程序代码来实现，从而，可以将它们存储在存储装置中由计算装置来执行，并且在某些情况下，可以以不同于此处的顺序执行所示出或描述的步骤，或者将它们分别制作成各个集成电路模块，或者将它们中的多个模块或步骤制作成单个集成电路模块来实现。这样，本发明不限制于任何特定的硬件和软件结合。
以上所述仅为本发明的优选实施例而已，并不用于限制本发明，对于本领域的技术人员来说，本发明可以有各种更改和变化。凡在本发明的原则之内，所作的任何修改、等同替换、改进等，均应包含在本发明的保护范围之内。

Claims (15)

  1. 一种清扫区域的确定方法，其特征在于，所述方法包括：
    在当前时间为清洁机器人的第一预约任务的执行时间的情况下，获取所述清洁机器人当前执行的清扫任务的剩余待清扫区域，以及所述第一预约任务的第一待清扫区域；
    在所述第一待清扫区域与所述剩余待清扫区域存在交集区域，且所述第一待清扫区域不是所述剩余待清扫区域的子集区域的情况下，控制所述清洁机器人在清扫完所述剩余待清扫区域后，清扫所述第一待清扫区域中除所述交集区域之外的其他区域。
  2. 根据权利要求1所述的方法，其中，获取所述清洁机器人当前执行的清扫任务的剩余待清扫区域，以及所述第一预约任务的第一待清扫区域之后，所述方法还包括：
    在所述第一待清扫区域为所述剩余待清扫区域的子集区域的情况下，控制所述清洁机器人清扫所述剩余待清扫区域；
    在所述第一待清扫区域与所述剩余待清扫区域不存在交集区域的情况下，控制所述清洁机器人在清扫完所述剩余待清扫区域后，清扫所述第一待清扫区域。
  3. 根据权利要求1或2所述的方法，其中，获取所述清洁机器人当前执行的清扫任务的剩余待清扫区域，以及所述第一预约任务的第一待清扫区域之后，所述方法还包括：
    获取所述清洁机器人的全部待清扫区域对应的清扫地图；
    确定所述剩余待清扫区域在所述清扫地图上的第一位置信息和所述第一待清扫区域在所述清扫地图上的第二位置信息；
    根据所述第一位置信息和所述第二位置信息确定所述第一待清扫区域是否为所述剩余待清扫区域的子集区域，以及所述第一待清扫区域和所述剩余待清扫区域是否存在交集区域。
  4. 根据权利要求1所述的方法，其中，控制所述清洁机器人在清扫完所述剩余待清扫区域后，清扫所述第一待清扫区域中除所述交集区域之外的其他区域，包括：
    将所述剩余待清扫区域按照预设方式划分成多个相邻第一区块，并将所述第一待清扫区域按照预设方式划分成多个相邻第二区块；
    确定所述多个相邻第一区块中与所述多个相邻第二区块存在交集的第一交集区块，并将所述多个相邻第二区块中与所述第一交集区块存在交集的区块作为第二交集区块；
    确定所述第一交集区块和所述第二交集区块的并集区块；
    控制所述清洁机器人清扫完所述多个相邻第一区块中除所述第一交集区块以外的其他区块后，清扫所述并集区块；
    在所述清洁机器人清扫完所述并集区块的情况下，清扫所述第二区块中除所述第二交集区块以外的其他区块。
  5. 根据权利要求1或2所述的方法，其中，获取所述清洁机器人当前执行的清扫任务的剩余待清扫区域，包括：
    获取所述清洁机器人当前执行的清扫任务的总清扫区域和所述清洁机器人在当前时间的已清扫区域；
    将所述总清扫区域中除所述已清扫区域之外的区域作为所述剩余待清扫区域。
  6. 根据权利要求5所述的方法，其特征在于，所述已清扫区域信息采用下述方式之一确定：
    根据清洁机器人内置的传感器确定清洁机器人的位置信息，根据清洁机器人的位置信息得到实际轨迹信息，根据实际轨迹信息和单位清扫面积值得到已清扫区域信息；
    根据清洁机器人的清洁机器人的方向变化量与距离变化量确定运动轨迹，根据清洁机器人的运动轨迹确定清洁机器人的已清扫区域信息。
  7. 根据权利要求1-6任一项所述的方法，其中，控制所述清洁机器人在清扫完所述剩余待清扫区域之后，所述方法还包括：
    在清扫完所述剩余待清扫区域的时间为清洁机器人的第二预约任务的执行时间的情况下，获取所述第二预约任务的第二待清扫区域，并确定所述第一预约任务和第二预约任务的并集区域；
    在所述并集区域为所述剩余待清扫区域的子集区域的情况下，控制所述清洁机器人停止清扫；
    在所述并集区域与所述剩余待清扫区域不存在交集区域的情况下，控制所述清洁机器人清扫所述并集区域；
    在所述并集区域与所述剩余待清扫区域存在交集区域，且所述并集区域不是所述剩余待清扫区域的子集区域的情况下，控制所述清洁机器人清扫所述并集区域中除所述并集区域与所述剩余待清扫区域的交集区域之外的其他区域。
  8. 根据权利要求1-6任一项所述的方法，其中，控制所述清洁机器人清扫完第一待清扫区域之后，所述方法还包括：
    在清扫完第一预约任务的第一待清扫区域的时间为第二预约任务的执行时间、或者清扫完第一预约任务的第一待清扫区域的时间与第二预约任务的执行时间的时间差小于预设阈值的情况下，获取所述第二预约任务的第二待清扫区域，并确定所述第一预约任务和剩余待清扫区域的并集区域；
    在第二待清扫区域为并集区域的子集区域的情况下，控制清洁机器人停止清扫；
    在第二待清扫区域与并集区域不存在交集区域的情况下，控制清洁机器人清扫所述第二待清扫区域；
    在第二待清扫区域与并集区域存在交集区域，且并集区域不是第二待清扫区域的子集区域的情况下，控制所述清洁机器人清扫所述第二待清扫区域中除并集区域与第二待清扫区域的交集区域之外的其他区域。
  9. 根据权利要求1所述的方法，其中，在当前时间为清洁机器人的第一预约任务的执行时间的情况下，获取所述清洁机器人当前执行的清扫任务的剩余待清扫区域之前，所述方法还包括
    在所述清洁机器人已接收到第一预约任务的情况下，获取所述第一预约任务的执行时间；
    在所述第一预约任务的执行时间未到来前，控制所述清洁机器人持续清扫所述剩余待清扫区域。
  10. 根据权利要求1所述的方法，其中，控制所述清洁机器人在清扫完所述剩余待清扫区域后，清扫所述第一待清扫区域中除所述交集区域之外的其他区域，包括：
    通过路径规划算法确定清扫所述剩余待清扫区域的最短路径，得到第一清扫路径，并控制所述清洁机器人根据所述第一清扫路径清扫所述剩余待清扫区域；
    在清扫完所述剩余待清扫区域后，通过所述路径规划算法确定清扫所述第一待清扫区域的最短路径，得到第二清扫路径，并控制所述清洁机器人根据所述第二清扫路径清扫所述第一待清扫区域。
  11. 一种清扫区域的确定方法，其特征在于，所述方法包括：
    在当前时间为清洁机器人的第一预约任务的执行时间的情况下，获取所述清洁机器人当前执行的清扫任务的剩余待清扫区域，以及所述第一预约任务的第一待清扫区域；
    在所述第一待清扫区域为所述剩余待清扫区域的子集区域的情况下，控制所述清洁机器人清扫所述剩余待清扫区域。
  12. 一种清扫区域的确定方法，其特征在于，所述方法包括：
    在当前时间为清洁机器人的第一预约任务的执行时间的情况下，获取所述清洁机器人当前执行的清扫任务的剩余待清扫区域，以及所述第一预约任务的第一待清扫区域；
    在所述第一待清扫区域与所述剩余待清扫区域不存在交集区域的情况下，控制所述清洁机器人在清扫完所述剩余待清扫区域后，清扫所述第一待清扫区域。
  13. 一种清扫区域的确定装置，其特征在于，所述装置包括：
    获取模块，用于在当前时间为清洁机器人的第一预约任务的执行时间的情况下，获取所述清洁机器人当前执行的清扫任务的剩余待清扫区域，以及所述第一预约任务的第一待清扫区域；
    控制模块，用于在所述第一待清扫区域与所述剩余待清扫区域存在交集区域，且所述第一待清扫区域不是所述剩余待清扫区域的子集区域的情况下，控制所述清洁机器人在清扫完所述剩余待清扫区域后，清扫所述第一待清扫区域中除所述交集区域之外的其他区域。
  14. 一种计算机可读的存储介质，其特征在于，所述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12任一项中所述的方法。
  15. 一种电子装置，包括存储器和处理器，其特征在于，所述存储器中存储有计算机程序，所述处理器被设置为运行所述计算机程序以执行所述权利要求1至12任一项中所述的方法。
PCT/CN2023/075622 2022-03-09 2023-02-13 清扫区域的确定方法及装置、存储介质及电子装置 WO2023169147A1 (zh)

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