[go: up one dir, main page]

WO2021227777A1 - 清洁设备的清洁路径获取方法、装置及存储介质 - Google Patents

清洁设备的清洁路径获取方法、装置及存储介质 Download PDF

Info

Publication number
WO2021227777A1
WO2021227777A1 PCT/CN2021/087890 CN2021087890W WO2021227777A1 WO 2021227777 A1 WO2021227777 A1 WO 2021227777A1 CN 2021087890 W CN2021087890 W CN 2021087890W WO 2021227777 A1 WO2021227777 A1 WO 2021227777A1
Authority
WO
WIPO (PCT)
Prior art keywords
cleaning
sequence
sub
work area
area
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
PCT/CN2021/087890
Other languages
English (en)
French (fr)
Inventor
王飞
孟佳
张晓骏
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Dreame Innovation Technology Suzhou Co Ltd
Original Assignee
Dreame Innovation Technology Suzhou Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Priority claimed from CN202010391796.3A external-priority patent/CN111563461B/zh
Priority claimed from CN202010391793.XA external-priority patent/CN111563460A/zh
Application filed by Dreame Innovation Technology Suzhou Co Ltd filed Critical Dreame Innovation Technology Suzhou Co Ltd
Priority to EP21802924.7A priority Critical patent/EP4120120A4/en
Priority to JP2022563240A priority patent/JP2023516818A/ja
Priority to KR1020227038110A priority patent/KR20220163421A/ko
Priority to US17/791,883 priority patent/US20230090776A1/en
Publication of WO2021227777A1 publication Critical patent/WO2021227777A1/zh
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

Links

Images

Classifications

    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F3/00—Input arrangements for transferring data to be processed into a form capable of being handled by the computer; Output arrangements for transferring data from processing unit to output unit, e.g. interface arrangements
    • G06F3/01—Input arrangements or combined input and output arrangements for interaction between user and computer
    • G06F3/048—Interaction techniques based on graphical user interfaces [GUI]
    • G06F3/0484—Interaction techniques based on graphical user interfaces [GUI] for the control of specific functions or operations, e.g. selecting or manipulating an object, an image or a displayed text element, setting a parameter value or selecting a range
    • G06F3/04842—Selection of displayed objects or displayed text elements
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F3/00—Input arrangements for transferring data to be processed into a form capable of being handled by the computer; Output arrangements for transferring data from processing unit to output unit, e.g. interface arrangements
    • G06F3/01—Input arrangements or combined input and output arrangements for interaction between user and computer
    • G06F3/048—Interaction techniques based on graphical user interfaces [GUI]
    • G06F3/0481—Interaction techniques based on graphical user interfaces [GUI] based on specific properties of the displayed interaction object or a metaphor-based environment, e.g. interaction with desktop elements like windows or icons, or assisted by a cursor's changing behaviour or appearance
    • G06F3/0482—Interaction with lists of selectable items, e.g. menus
    • 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
    • A47L9/00—Details or accessories of suction cleaners, e.g. mechanical means for controlling the suction or for effecting pulsating action; Storing devices specially adapted to suction cleaners or parts thereof; Carrying-vehicles specially adapted for suction cleaners
    • A47L9/28—Installation of the electric equipment, e.g. adaptation or attachment to the suction cleaner; Controlling suction cleaners by electric means
    • A47L9/2836—Installation of the electric equipment, e.g. adaptation or attachment to the suction cleaner; Controlling suction cleaners by electric means characterised by the parts which are controlled
    • A47L9/2852—Elements for displacement of the vacuum cleaner or the accessories therefor, e.g. wheels, casters or nozzles
    • 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
    • G05D1/40—Control within particular dimensions
    • G05D1/43—Control of position or course in two dimensions
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F3/00—Input arrangements for transferring data to be processed into a form capable of being handled by the computer; Output arrangements for transferring data from processing unit to output unit, e.g. interface arrangements
    • G06F3/01—Input arrangements or combined input and output arrangements for interaction between user and computer
    • G06F3/048—Interaction techniques based on graphical user interfaces [GUI]
    • G06F3/0481—Interaction techniques based on graphical user interfaces [GUI] based on specific properties of the displayed interaction object or a metaphor-based environment, e.g. interaction with desktop elements like windows or icons, or assisted by a cursor's changing behaviour or appearance
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F3/00—Input arrangements for transferring data to be processed into a form capable of being handled by the computer; Output arrangements for transferring data from processing unit to output unit, e.g. interface arrangements
    • G06F3/01—Input arrangements or combined input and output arrangements for interaction between user and computer
    • G06F3/048—Interaction techniques based on graphical user interfaces [GUI]
    • G06F3/0484—Interaction techniques based on graphical user interfaces [GUI] for the control of specific functions or operations, e.g. selecting or manipulating an object, an image or a displayed text element, setting a parameter value or selecting a range
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F3/00—Input arrangements for transferring data to be processed into a form capable of being handled by the computer; Output arrangements for transferring data from processing unit to output unit, e.g. interface arrangements
    • G06F3/01—Input arrangements or combined input and output arrangements for interaction between user and computer
    • G06F3/048—Interaction techniques based on graphical user interfaces [GUI]
    • G06F3/0487—Interaction techniques based on graphical user interfaces [GUI] using specific features provided by the input device, e.g. functions controlled by the rotation of a mouse with dual sensing arrangements, or of the nature of the input device, e.g. tap gestures based on pressure sensed by a digitiser
    • G06F3/0488—Interaction techniques based on graphical user interfaces [GUI] using specific features provided by the input device, e.g. functions controlled by the rotation of a mouse with dual sensing arrangements, or of the nature of the input device, e.g. tap gestures based on pressure sensed by a digitiser using a touch-screen or digitiser, e.g. input of commands through traced gestures
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06Q—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES; SYSTEMS OR METHODS SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES, NOT OTHERWISE PROVIDED FOR
    • G06Q10/00—Administration; Management
    • G06Q10/04—Forecasting or optimisation specially adapted for administrative or management purposes, e.g. linear programming or "cutting stock problem"
    • G06Q10/047—Optimisation of routes or paths, e.g. travelling salesman problem
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L2201/00—Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
    • A47L2201/04—Automatic control of the travelling movement; Automatic obstacle detection

Definitions

  • This application relates to a method, a device and a storage medium for obtaining a cleaning path of a cleaning device, and belongs to the field of computer technology.
  • Cleaning equipment (such as: sweeping robots, etc.) is mainly used to clean the ground, and is usually used in indoor scene cleaning environments.
  • the cleaning equipment includes a cleaning module and a driving module. Under the work of the driving module, the cleaning equipment moves and cleans the ground.
  • the user can set a specific cleaning plan for the room to be cleaned through a mobile terminal. For example: the user selects the room to be cleaned through the mobile terminal.
  • the mobile terminal cannot provide a path for the cleaning device to clean the room.
  • the present application provides a method, device and storage medium for obtaining a cleaning path of a cleaning device, which can solve the problem that a mobile terminal cannot provide a path for a cleaning device to clean a room.
  • This application provides the following technical solutions:
  • a method for obtaining a cleaning path of a cleaning device includes:
  • the cleaning path corresponding to the cleaning sequence is displayed to control the cleaning device to clean in the working area according to the cleaning path.
  • the receiving the sequence setting operation acting on the image of the sub-work area includes:
  • the obtaining the cleaning sequence indicated by the sequence setting operation includes:
  • the sequence of the cleaning track passing through the images of each sub-work area is determined as the cleaning sequence of the cleaning device.
  • the receiving the sequence setting operation acting on the image of the sub-work area includes:
  • the obtaining the cleaning sequence indicated by the sequence setting operation includes:
  • the receiving a setting operation for each area information includes:
  • sequence selection window For each area information, display a corresponding sequence selection window based on the display position of the area information, and the sequence selection window is used to display the selectable cleaning sequence of the target sub-work area corresponding to the area information;
  • the sequence selection operation applied to the sequence selection window is received.
  • the receiving a setting operation for each area information includes:
  • a trigger operation acting on the sequence adjustment control is received, and the sequence adjustment control is used to determine the cleaning sequence of the corresponding target sub-work area based on the number of executions of the trigger operation.
  • the receiving a setting operation for each area information includes:
  • the drag operation acting on the information of each area is received, and the arrangement order of the information of each area after the drag operation is finished is the cleaning order of the cleaning device.
  • the receiving the sequence setting operation acting on the image of the sub-work area includes:
  • a device for obtaining a cleaning path of a cleaning device includes:
  • An image display module configured to display an image of a working area of the cleaning device, where the image of the working area includes a plurality of images of sub-working areas;
  • the operation receiving module is used to receive the sequence setting operation acting on the image of the sub-work area
  • a sequence acquisition module configured to acquire the cleaning sequence indicated by the sequence setting operation
  • the track display module is used to display the cleaning path corresponding to the cleaning sequence, so as to control the cleaning device to clean in the working area according to the cleaning path.
  • a device for obtaining a cleaning path of a cleaning device includes a processor and a memory; the memory is stored with a program, and the program is loaded and executed by the processor to implement the first aspect. The method of obtaining the cleaning path of the cleaning equipment.
  • a computer-readable storage medium is provided, and a program is stored in the storage medium, and the program is loaded and executed by the processor to implement the cleaning path acquisition method of the cleaning device described in the first aspect.
  • the beneficial effects of the present application are: by displaying the working area image of the cleaning device, the working area image includes a plurality of sub-working area images; receiving the sequence setting operation acting on the sub-working area image; obtaining the cleaning sequence indicated by the sequence setting operation; displaying and The cleaning path corresponding to the cleaning sequence is used to control the cleaning equipment to clean in the working area according to the cleaning path; it can solve the problem that the mobile terminal cannot provide the cleaning equipment to clean the room; because the cleaning sequence expected by the user can be obtained and cleaned according to the cleaning sequence. Sequentially generating cleaning paths can achieve the effect of providing users with a path for cleaning equipment to clean the room.
  • the cleaning sequence can be customized and adjusted by the user, the correspondingly generated cleaning path can also be customized to increase the flexibility of generating the cleaning path.
  • a method for obtaining a cleaning path of a cleaning device includes:
  • N display recommended cleaning sequences, each recommended cleaning sequence is the cleaning sequence of the target sub-work area indicated by the area selection operation, and the n is a positive integer;
  • the cleaning path corresponding to the target cleaning sequence is displayed to control the cleaning device to clean in the working area according to the cleaning path.
  • the method further includes:
  • the generating the n recommended cleaning sequences of the target sub-work area based on a preset sequence generation strategy includes:
  • a cleaning sequence with the shortest cleaning time in each cleaning sequence is determined as the recommended cleaning sequence, where a is a positive integer and a ⁇ n.
  • the generating the n recommended cleaning sequences of the target sub-work area based on a preset sequence generation strategy includes:
  • the b cleaning sequences with the shortest cleaning path in each cleaning sequence are determined as the recommended cleaning sequence; the b is a positive integer, and b ⁇ n.
  • the generating the n recommended cleaning sequences of the target sub-work area based on a preset sequence generation strategy includes:
  • the recommended cleaning order is generated based on the historical cleaning order and the historical cleaning times.
  • the generating the recommended cleaning sequence based on the historical cleaning sequence and the historical cleaning times includes:
  • the obtained sort order is determined as the recommended cleaning order.
  • the method before the displaying the cleaning path corresponding to the target cleaning sequence, the method further includes:
  • the path generation strategy is: the shortest path strategy, the shortest time-consuming strategy or the random generation strategy.
  • a device for obtaining a cleaning path of a cleaning device includes:
  • a display module configured to display an image of the working area of the cleaning device, the image of the working area including a plurality of sub-work area images
  • the human-computer interaction module is used to receive the area selection operation acting on the image of the sub-work area
  • the display module is further configured to display n recommended cleaning sequences, each recommended cleaning sequence is the cleaning sequence of the target sub-work area indicated by the area selection operation, and the n is a positive integer;
  • the human-computer interaction module is further configured to receive a sequence selection operation acting on a target cleaning sequence among the n recommended cleaning sequences;
  • the display module is also used to display the cleaning path corresponding to the target cleaning sequence, so as to control the cleaning device to clean in the working area according to the cleaning path.
  • a device for obtaining a cleaning path of a cleaning device includes a processor and a memory; the memory is stored with a program, and the program is loaded and executed by the processor to implement the first aspect. The method of obtaining the cleaning path of the cleaning equipment.
  • a computer-readable storage medium is provided, and a program is stored in the storage medium, and the program is loaded and executed by the processor to implement the cleaning path acquisition method of the cleaning device described in the first aspect.
  • the beneficial effects of the present application are: by displaying the working area image of the cleaning device, the working area image includes multiple sub-working area images; receiving area selection operations acting on the sub-working area images; displaying n recommended cleaning sequences, each recommended cleaning sequence The cleaning sequence of the target sub-work area indicated for the area selection operation; receiving the sequence selection operation acting on the target cleaning sequence in the n recommended cleaning sequences; displaying the cleaning path corresponding to the target cleaning sequence to control the cleaning equipment to work according to the cleaning path Cleaning in the area; it can solve the problem that the mobile terminal cannot provide the cleaning equipment to clean the room in order; because the cleaning sequence can be recommended to the user, and the cleaning path can be generated according to the cleaning sequence selected by the user, the user can be provided with cleaning equipment to clean the room. The effect of the path.
  • FIG. 1 is a flowchart of a method for obtaining a cleaning path of a cleaning device according to an embodiment of the present application
  • FIG. 2 is a schematic diagram of a process of obtaining a cleaning sequence of a cleaning device provided by an embodiment of the present application
  • FIG. 3 is a schematic diagram of a cleaning sequence acquisition process of a cleaning device provided by another embodiment of the present application.
  • FIG. 4 is a schematic diagram of a cleaning sequence acquisition process of a cleaning device provided by another embodiment of the present application.
  • FIG. 5 is a schematic diagram of a cleaning sequence acquisition process of a cleaning device provided by another embodiment of the present application.
  • FIG. 6 is a schematic diagram of a cleaning sequence acquisition process of a cleaning device provided by another embodiment of the present application.
  • FIG. 7 is a schematic diagram of a cleaning sequence acquisition process of a cleaning device provided by another embodiment of the present application.
  • FIG. 8 is a block diagram of a cleaning path obtaining device of a cleaning device according to an embodiment of the present application.
  • FIG. 9 is a flowchart of a method for obtaining a cleaning path of a cleaning device according to an embodiment of the present application.
  • FIG. 10 is a schematic diagram of a process of displaying n recommended cleaning sequences according to an embodiment of the present application.
  • FIG. 11 is a schematic diagram of a process of selecting a target cleaning sequence provided by an embodiment of the present application.
  • FIG. 12 is a block diagram of a cleaning path obtaining device of a cleaning device according to an embodiment of the present application.
  • Fig. 13 is a block diagram of a cleaning path obtaining device of a cleaning device according to an embodiment of the present application.
  • the present application is described with an example in which the execution subject of each embodiment is an electronic device, and the electronic device controls the cleaning device.
  • the cleaning equipment can be equipment with automatic cleaning functions such as sweeping robots; the electronic equipment can be mobile phones, tablets, wearable devices, computers, laptops, etc., and this application does not limit the types of electronic equipment and cleaning equipment.
  • Fig. 1 is a flowchart of a method for obtaining a cleaning path of a cleaning device according to an embodiment of the present application. The method includes at least the following steps:
  • Step 101 Display a working area image of a cleaning device, where the working area image includes a plurality of sub-work area images.
  • the working area image refers to the image of the working area that the cleaning device controlled by the electronic device needs to clean.
  • the image of the work area is pre-stored in the electronic device.
  • the work area image may also be called a work map, a room map, etc., and the name of the work area image is not limited in this embodiment.
  • the work area image includes multiple sub-work area images, and each sub-work area image is an image corresponding to a part of the work area.
  • the image of the work area is a room
  • the image of the sub-work area may include bedroom 1, bedroom 2, dining room, balcony, etc. in the room.
  • the sub-work areas in the work area may be divided by the user; or, automatically generated by the electronic device, this embodiment does not limit the way of dividing the sub-work areas.
  • the work area image may be a two-dimensional image (for example, a top view of a room) or a three-dimensional image, and the present embodiment does not limit the expression form of the work area image.
  • the electronic device displays the partition display control of the work area image on the display interface; upon receiving a trigger operation acting on the partition display control, the sub-work area image is partitioned in the work area image.
  • Step 102 receiving a sequence setting operation acting on the image of the sub-work area; acquiring a cleaning sequence indicated by the sequence setting operation.
  • the solutions for obtaining the cleaning sequence by the electronic device include but are not limited to the following:
  • the first type receiving the cleaning trace drawing operation acting on the image of the working area; displaying the cleaning trace indicated by the cleaning trace drawing operation on the image of the working area.
  • the sequence setting operation includes a clean trajectory drawing operation.
  • acquiring the cleaning sequence indicated by the sequence setting operation includes: determining the sequence in which the cleaning track passes through each sub-work area image as the cleaning sequence of the cleaning device.
  • the electronic device receives the trigger operation acting on the partition control 22, and displays each sub-work area image 23, 24, 25, and 26 in the room image 21 in a partition.
  • the electronic device receives the cleaning trajectory drawing operation performed by the user on each sub-work area image to obtain the cleaning trajectory.
  • the order in which the cleaning track (indicated by the dashed arrow) passes through the images of each sub-work area is the cleaning sequence.
  • the electronic device marks the corresponding cleaning sequence on the images of each sub-work area.
  • the sub-work area image is displayed in a preset display mode to prompt the user that the corresponding sub-work area image supports operation, for example: the shaded area shown in Figure 2
  • the image of the sub-work area is displayed.
  • the preset display mode includes, but is not limited to: display in a specific color and/or a specific pattern, and this embodiment does not limit the preset display mode.
  • the second type receiving selection operations acting on multiple sub-work area images; displaying area information of the target sub-work area indicated by the selection operation; receiving setting operations for each area information.
  • the sequence setting operation includes a selection operation and a setting operation.
  • obtaining the cleaning sequence indicated by the sequence setting operation includes: obtaining the cleaning sequence of the target sub-work area corresponding to each area information indicated by the setting operation.
  • the user first selects the target sub-work area image to be cleaned from the multiple sub-work area images, and then sets the cleaning sequence of the target sub-work area corresponding to the target sub-work area image.
  • the selection operations acting on the multiple sub-work area images include but are not limited to: a single-click operation, a double-click operation, a long-press operation, etc.
  • the present embodiment does not limit the manner of the selection operation.
  • the setting operation of each area information is received, including but not limited to the following scenarios:
  • the first scenario For each area information, the corresponding order selection window is displayed based on the display position of the area information.
  • the order selection window is used to display the selectable cleaning order of the target sub-work area corresponding to the area information; the receiving action is applied to the order selection window. Select the order of operations.
  • the setting operation includes a sequence selection operation.
  • the cleaning sequence of each target sub-work area acquired by the electronic device is selected by the user in the sequence selection window.
  • sequence selection window is represented by a drop-down box.
  • the respective sub-work area images 32, 33, 34, and 35 are displayed in sections.
  • the electronic device receives the user's selection operation on the sub-work area images 32, 33, and 34 to obtain the target sub-work area.
  • the electronic device displays the target sub-work area image in a preset display mode, and displays the area information of the target sub-work area.
  • a drop-down box is displayed in the display area of each area information.
  • the electronic device receives the sequence selection operation on the drop-down box 36 corresponding to the area information of the target sub-work area image 32, and determines that the cleaning sequence of the target sub-work area image 32 is 2.
  • the second scenario For each area information, display the corresponding order adjustment control based on the display position of the area information; receive the trigger operation acting on the order adjustment control, and the order adjustment control is used to determine the corresponding target child based on the execution times of the trigger operation The cleaning sequence of the work area.
  • the setting operation includes a trigger operation acting on the sequence adjustment control.
  • the cleaning sequence of each target sub-work area acquired by the electronic device is obtained after the user triggers the sequence adjustment control.
  • the order adjustment control includes: order up control and order down control.
  • the cleaning sequence of the corresponding target sub-work area is adjusted upward, and the value of the upward adjustment is positively correlated with the execution times of the trigger operation;
  • the trigger operation on the sequence down control is received, the corresponding target sub-work area
  • the cleaning sequence of the work area is lowered, and the value of the lowering is positively correlated with the number of executions of the trigger operation.
  • the respective sub-work area images 42, 43, 44, and 45 are displayed in sections.
  • the electronic device receives the user's selection operation on the sub-work area images 42, 43, and 44 to obtain the target sub-work area.
  • the electronic device displays the target sub-work area image in a preset display mode, and displays the area information of the target sub-work area.
  • a sequence up control and a sequence down control are displayed.
  • the electronic device receives a trigger operation on the sequence down control 46 corresponding to the area information acting on the target sub-work area image 42 and determines that the cleaning sequence of the target sub-work area image 42 is 2.
  • the third scenario receiving the drag operation acting on the information of each area, and the arrangement order of the information of each area after the drag operation is finished is the cleaning order of the cleaning device.
  • the setting operation includes a drag operation.
  • the cleaning sequence of each target sub-work area acquired by the electronic device is obtained after the user drags the area information.
  • the respective sub-work area images 52, 53, 54 and 55 are displayed in sections.
  • the electronic device receives the user's selection operation on the sub-work area images 52, 53, and 54 to obtain the target sub-work area.
  • the electronic device displays the target sub-work area image in a preset display mode, and displays the area information of the target sub-work area.
  • the electronic device receives a drag operation acting on the area information of the target sub-work area image 52, and the drag operation drags the area information to the second position of each area information, and determines that the cleaning order of the target sub-work area image 52 is 2 .
  • the user can also adjust the cleaning sequence of the sub-work area images that have been sequenced.
  • the electronic device will also display the cleaning sequence of the sub-work area images in the set sequence; receive the sequence adjustment operation for the cleaning sequence, and display the adjusted cleaning sequence.
  • Receiving the sequence adjustment operation for the cleaning sequence including: for the area information of each sub-work area image that has set the sequence, displaying the corresponding top control and/or bottom control based on the display position of the area information; receiving the action on the top control and / Or the trigger operation of the bottom control.
  • the setting operation includes a trigger operation acting on the top control and/or the bottom control.
  • the respective sub-work area images 62, 63, 64, and 65 are displayed in sections.
  • the electronic device receives the user's selection operation on the sub-work area images 62, 63, and 64 to obtain the target sub-work area.
  • the electronic device displays the target sub-work area image in a preset display mode, and displays the area information of the target sub-work area.
  • the electronic device receives the setting operation of the area information, if it receives a trigger operation on the top control 66 corresponding to the area information of the target sub-work area image 62, it determines that the cleaning order of the target sub-work area image 62 is 1.
  • the electronic device may also display the cleaning sequence of the sub-work area images of the set sequence; and receive the deletion operation of the cleaning sequence of the sub-work area images of the set sequence.
  • the electronic device After the cleaning sequence of the image of the sub-work area with the set sequence is deleted, the electronic device no longer controls the cleaning device to clean the corresponding sub-work area, or the sub-work area whose cleaning sequence is deleted is the last cleaning by default. Or, do not clean the sub-work areas for which the cleaning sequence is not selected; or, default to the last cleaning for the sub-work areas for which the cleaning sequence is not selected.
  • the work area image is a room image 71.
  • the respective sub-work area images 72, 73, 74, and 75 are displayed in sections.
  • the electronic device receives the user's selection operation on the sub-work area images 72, 73, and 74 to obtain the target sub-work area.
  • the electronic device displays the target sub-work area image in a preset display mode, and displays the area information of the target sub-work area.
  • the electronic device receives the setting operation of the area information, if it receives a trigger operation (ie, a deletion operation) acting on the target sub-work area image 72, the cleaning sequence of the target sub-work area image 72 is deleted.
  • a trigger operation ie, a deletion operation
  • the electronic device after receiving the cleaning trajectory drawing operation or setting operation, the electronic device will also receive the operation of adding the image of the sub-work area, which is the same as the description of obtaining the area information of the target sub-work area in the second cleaning solution. This embodiment will not be repeated here.
  • the sub-work area image is not selectable, that is, it is not displayed in a preset display mode; If the image of the work area is not selected by the user, the image of the sub-work area is in a selectable state, that is, it is displayed in a preset display mode.
  • Step 103 Display the cleaning path corresponding to the cleaning sequence, so as to control the cleaning device to clean in the working area according to the cleaning path.
  • the cleaning path passes through the corresponding sub-work areas in sequence according to the cleaning sequence.
  • the cleaning path is generated by the electronic device based on the shortest path principle or the shortest time principle, and this embodiment does not limit the generation rule of the cleaning path.
  • the cleaning path is sent to the cleaning device, so that the cleaning device cleans in the working area according to the cleaning path.
  • the cleaning equipment will also work in accordance with the cleaning sequence.
  • the working area image of the cleaning device is displayed, and the working area image includes a plurality of sub-work area images; the sequence setting operation acting on the sub-work area image is received; Obtain the cleaning sequence indicated by the set operation order; display the cleaning path corresponding to the cleaning sequence to control the cleaning device to clean in the working area according to the cleaning path; it can solve the problem that the mobile terminal cannot provide the cleaning device to clean the room; because it can be obtained To the cleaning sequence desired by the user, and to generate a cleaning path according to the cleaning sequence, the effect of providing the user with a path for cleaning equipment to clean the room can be achieved.
  • FIG. 8 is a block diagram of a cleaning path obtaining device of a cleaning device provided by an embodiment of the present application.
  • the device includes at least the following modules: an image display module 810, an operation receiving module 820, a sequence acquisition module 830, and a trajectory display module 840.
  • the image display module 810 is configured to display a working area image of the cleaning device, where the working area image includes a plurality of sub-working area images;
  • the operation receiving module 820 is configured to receive the sequence setting operation acting on the image of the sub-work area
  • the sequence obtaining module 830 is configured to obtain the cleaning sequence indicated by the sequence setting operation
  • the track display module 840 is configured to display the cleaning path corresponding to the cleaning sequence, so as to control the cleaning device to perform cleaning in the working area according to the cleaning path.
  • FIG. 9 is a flowchart of a method for obtaining a cleaning path of a cleaning device according to another embodiment of the present application. The method includes at least the following steps:
  • Step 901 Display a work area image of the cleaning device, where the work area image includes multiple sub-work area images.
  • the working area image refers to the image of the working area that the cleaning device controlled by the electronic device needs to clean.
  • the image of the work area is pre-stored in the electronic device.
  • the work area image may also be called a work map, a room map, etc., and the name of the work area image is not limited in this embodiment.
  • the work area image includes multiple sub-work area images, and each sub-work area image is an image corresponding to a part of the work area.
  • the image of the work area is a room
  • the image of the sub-work area may include bedroom 1, bedroom 2, dining room, balcony, etc. in the room.
  • the sub-work areas in the work area may be divided by the user; or, automatically generated by the electronic device, this embodiment does not limit the way of dividing the sub-work areas.
  • the work area image may be a two-dimensional image (for example, a top view of a room) or a three-dimensional image, and the present embodiment does not limit the expression form of the work area image.
  • the electronic device displays the partition display control of the work area image on the display interface; upon receiving a trigger operation acting on the partition display control, the sub-work area image is partitioned in the work area image.
  • Step 902 Receive an area selection operation acting on the image of the sub-work area.
  • the area selection operations acting on the multiple sub-work area images include but are not limited to: single-click operations, double-click operations, long-press operations, etc.
  • the present embodiment does not limit the manner of the area selection operations.
  • the image of the sub-work area is displayed in the first display mode to prompt the corresponding sub-work area image to be operated, for example: the diagonally shaded part in FIG. 10
  • the image of the displayed sub-work area includes but is not limited to: display in a specific color and/or a specific pattern, and this embodiment does not limit the first display mode. If the electronic device receives the area selection operation acting on the image of the sub-work area, the corresponding sub-work area image is updated to not allow the user to operate the image of the sub-work area. At this time, the image of the sub-work area is not displayed in the first mode. show.
  • the electronic device receives the user's area selection operation on the sub-work area images 102, 103, and 104 to obtain the target sub-work area, and the target sub-work area is no longer displayed in the first display mode.
  • step 903 n types of recommended cleaning sequences are displayed, and each recommended cleaning sequence is the cleaning sequence of the target sub-work area indicated by the area selection operation.
  • n is a positive integer.
  • the target sub-work area indicated by the area selection operation refers to the sub-work area corresponding to the image of the sub-work area that the area selection operation acts on.
  • the value of n is determined based on the number of target sub-work areas. In an example, if the number of target sub-work areas is 1, the value of n is 1; if the number of target sub-work areas is 2, the value of n is 2; if the number of target sub-work areas is greater than 2, then The value of n is a preset value, and the value of the preset value is less than or equal to the maximum number of cleaning sequences in the target sub-work area. For example, the value of n is 3, 4, 5, etc. Of course, in other embodiments, the value of n can also be set in other ways, and this embodiment will not list them one by one here.
  • the electronic device Before displaying the n recommended cleaning sequences, the electronic device needs to generate n recommended cleaning sequences for the target sub-work area based on a preset sequence generation strategy.
  • the way for the electronic device to generate n recommended cleaning sequences includes but is not limited to at least one of the following ways:
  • the first type determine the cleaning duration of the target sub-work area under different cleaning sequences; determine the a cleaning sequence with the shortest cleaning duration in each cleaning sequence as the recommended cleaning sequence, a is a positive integer, and a ⁇ n.
  • the target sub-work area is the sub-work area A corresponding to the sub-work area image 102 in FIG. 10, the sub-work area B corresponding to the sub-work area image 103, and the sub-work area C corresponding to the sub-work area image 104, the target sub-work
  • the cleaning sequence of the area includes 6 kinds:
  • the electronic equipment stores movement parameters such as the moving speed and turning speed of the cleaning equipment; generates the cleaning path corresponding to each cleaning sequence; combines the moving parameters and the cleaning path to calculate the cleaning time corresponding to each cleaning sequence, and the cleaning time is as short as The longest order sorting; the cleaning order of the top a is determined as the recommended cleaning order.
  • the second type determine the cleaning path of the target sub-work area in different cleaning sequences; determine the b cleaning sequences with the shortest cleaning path in each cleaning sequence as the recommended cleaning sequence; b is a positive integer, b ⁇ n.
  • the target sub-work area is the sub-work area A corresponding to the sub-work area image 102 in FIG. 10, the sub-work area B corresponding to the sub-work area image 103, and the sub-work area C corresponding to the sub-work area image 104, the target sub-work
  • the cleaning sequence of the area includes 6 kinds:
  • the electronic device generates a cleaning path corresponding to each cleaning order based on the shortest path principle; sorts the cleaning paths in the order of shortest to longest; and determines the cleaning order with the top b rank as the recommended cleaning order.
  • the third type determine the historical cleaning sequence and historical cleaning frequency of the target sub-work area; generate a recommended cleaning sequence based on the historical cleaning sequence and historical cleaning frequency.
  • the first cleaning order in the historical cleaning sequence of the target sub-work area is obtained; the target sub-work areas are sorted according to the first cleaning order from front to back; for the target sub-work areas with the same sort order
  • the work area is sorted in the order of historical cleaning times from most to least; the obtained sort order is determined as the recommended cleaning order.
  • the target sub-work area is the sub-work area A corresponding to the sub-work area image 102 in FIG. 10, the sub-work area B corresponding to the sub-work area image 103, and the sub-work area C corresponding to the sub-work area image 104.
  • Each target child Refer to Table 1 for the historical cleaning sequence and historical cleaning times of the working area.
  • the first cleaning order of sub-work area A and sub-work area C is 1, and the first cleaning order of sub-work area B is 2, and the sorting result is (A, C)-> B.
  • the sub-work area A and the sub-work area C are sorted again according to the historical cleaning times. If the historical cleaning times of the sub-work area A is greater than the historical cleaning times of the sub-work area C, the sorting result is A->C->B.
  • the recommended cleaning sequence includes A->C->B.
  • the electronic device can also generate the recommended cleaning sequence based on the historical cleaning sequence and the historical cleaning times in other ways, such as: obtaining the average sequence value of the historical cleaning sequence of the target sub-work area; performing the average sequence value in the order from front to back Sort to get the recommended cleaning order.
  • the electronic device can also generate the recommended cleaning sequence by randomly selecting the cleaning sequence, etc.
  • the present embodiment does not limit the manner in which the electronic device generates the recommended cleaning sequence.
  • Step 904 Receive a sequence selection operation acting on the target cleaning sequence among the n recommended cleaning sequences.
  • the recommended cleaning sequence is displayed in the second display mode to prompt the corresponding recommended cleaning sequence to be operated.
  • the second display mode is the same as or different from the first display mode.
  • the second display mode includes, but is not limited to: displaying in a specific color and/or a specific pattern. This embodiment does not limit the second display mode. If the electronic device receives a sequence selection operation acting on the recommended cleaning sequence, at this time, the recommended cleaning sequence is not displayed in the second display mode.
  • the electronic device shows that there are 3 recommended cleaning sequences 111, 112, and 113. After that, the electronic device receives a sequence selection operation acting on the recommended cleaning sequence 111, which is the target cleaning sequence. At this time, the recommended cleaning sequence 111 is no longer displayed in the second display mode.
  • the electronic device may also display the ranking value of each target sub-work area in the target cleaning sequence based on the position of the target sub-work area image.
  • the target cleaning sequence is sub-work area A->sub-work area B->sub-work area C; the sort value 1 of sub-work area A is displayed in the image of sub-work area; the sort of sub-work area A The value 2 is displayed in the image of the sub-work area; the sort value 3 of the sub-work area A is displayed in the image of the sub-work area.
  • Step 905 Display the cleaning path corresponding to the target cleaning sequence to control the cleaning device to clean in the working area according to the cleaning path.
  • the cleaning path passes through the corresponding sub-work areas in sequence according to the cleaning sequence.
  • the electronic device Before displaying the cleaning path corresponding to the target cleaning sequence, the electronic device needs to generate the cleaning path corresponding to the target cleaning sequence based on the path generation strategy.
  • the path generation strategy is: the shortest path strategy, the shortest time-consuming strategy, or the random generation strategy. This embodiment does not limit the type of the path generation strategy.
  • the cleaning path is sent to the cleaning device, so that the cleaning device cleans in the working area according to the cleaning path.
  • the cleaning equipment will also work in accordance with the cleaning sequence.
  • the cleaning path acquisition method of the cleaning device displays the working area image of the cleaning device, and the working area image includes multiple sub-working area images; receiving the area selection operation acting on the sub-working area image; displaying n recommended cleaning sequences, each recommended cleaning sequence is the cleaning sequence of the target sub-work area indicated by the area selection operation; receiving the sequence selection operation acting on the target cleaning sequence in the n recommended cleaning sequences; displaying the cleaning corresponding to the target cleaning sequence Path to control the cleaning equipment to clean in the work area according to the cleaning path; it can solve the problem that the mobile terminal cannot provide the order path for the cleaning equipment to clean the room; because the cleaning order can be recommended to the user, and the cleaning path is generated according to the cleaning order selected by the user , Can achieve the effect of providing users with cleaning equipment to clean the path of the room.
  • n types of recommended cleaning sequences for the target sub-work area based on a preset sequence generation strategy, a recommended cleaning sequence that meets the user's expectations can be generated, without the user having to manually input the cleaning sequence, and the efficiency of generating the cleaning sequence is improved.
  • Fig. 12 is a block diagram of a cleaning path obtaining device of a cleaning device according to an embodiment of the present application.
  • the device includes at least the following modules: a display module 1201 and a human-computer interaction module 1202.
  • the display module 1201 is configured to display a working area image of the cleaning device, where the working area image includes a plurality of sub-working area images;
  • the human-computer interaction module 1202 is configured to receive an area selection operation acting on the image of the sub-work area
  • the display module 1201 is further configured to display n recommended cleaning sequences, each recommended cleaning sequence is the cleaning sequence of the target sub-work area indicated by the area selection operation, and the n is a positive integer;
  • the human-computer interaction module 1202 is further configured to receive sequence selection operations acting on the target cleaning sequence among the n recommended cleaning sequences;
  • the display module 1201 is also configured to display the cleaning path corresponding to the target cleaning sequence, so as to control the cleaning device to clean in the working area according to the cleaning path.
  • Fig. 13 is a block diagram of a cleaning path obtaining device of a cleaning device according to an embodiment of the present application.
  • the device includes at least a processor 1301 and a memory 1302.
  • the processor 1301 may include one or more processing cores, such as a 4-core processor, an 8-core processor, and so on.
  • the processor 1301 may adopt at least one hardware form among DSP (Digital Signal Processing), FPGA (Field-Programmable Gate Array), and PLA (Programmable Logic Array, Programmable Logic Array). accomplish.
  • the processor 1301 may also include a main processor and a coprocessor.
  • the main processor is a processor used to process data in the awake state, also called a CPU (Central Processing Unit, central processing unit); the coprocessor is A low-power processor used to process data in the standby state.
  • the processor 1301 may be integrated with a GPU (Graphics Processing Unit, image processor), and the GPU is used to render and draw content that needs to be displayed on the display screen.
  • the processor 1301 may further include an AI (Artificial Intelligence) processor, and the AI processor is used to process computing operations related to machine learning.
  • AI Artificial Intelligence
  • the memory 1302 may include one or more computer-readable storage media, which may be non-transitory.
  • the memory 1302 may also include high-speed random access memory and non-volatile memory, such as one or more magnetic disk storage devices and flash memory storage devices.
  • the non-transitory computer-readable storage medium in the memory 1302 is used to store at least one instruction, and the at least one instruction is used to be executed by the processor 1301 to implement the cleaning device provided in the method embodiment of the present application The method of obtaining the clean path.
  • the cleaning path acquisition device of the cleaning device may optionally further include: a peripheral device interface and at least one peripheral device.
  • the processor 1301, the memory 1302, and the peripheral device interface may be connected through a bus or a signal line.
  • Each peripheral device can be connected to the peripheral device interface through a bus, a signal line or a circuit board.
  • peripheral devices include but are not limited to: radio frequency circuits, touch screens, audio circuits, and power supplies.
  • the cleaning path acquisition device of the cleaning equipment may also include fewer or more components, which is not limited in this embodiment.
  • the present application also provides a computer-readable storage medium in which a program is stored, and the program is loaded and executed by the processor to implement the cleaning path acquisition of the cleaning device in the foregoing method embodiment. method.
  • this application also provides a computer product including a computer-readable storage medium in which a program is stored, and the program is loaded and executed by a processor to implement the above-mentioned method embodiments The method of obtaining the cleaning path of the cleaning equipment.

Landscapes

  • Engineering & Computer Science (AREA)
  • Theoretical Computer Science (AREA)
  • General Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Human Computer Interaction (AREA)
  • Business, Economics & Management (AREA)
  • Human Resources & Organizations (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Economics (AREA)
  • Automation & Control Theory (AREA)
  • Remote Sensing (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Strategic Management (AREA)
  • Entrepreneurship & Innovation (AREA)
  • Game Theory and Decision Science (AREA)
  • Development Economics (AREA)
  • Mechanical Engineering (AREA)
  • Marketing (AREA)
  • Operations Research (AREA)
  • Quality & Reliability (AREA)
  • Tourism & Hospitality (AREA)
  • General Business, Economics & Management (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
  • User Interface Of Digital Computer (AREA)
  • Electric Vacuum Cleaner (AREA)

Abstract

本申请涉及一种清洁设备的清洁路径获取方法、装置及存储介质，属于计算机技术领域，该方法包括：显示清洁设备的工作区域图像，工作区域图像包括多个子工作区域图像；接收作用于子工作区域图像上的顺序设置操作；获取顺序设置操作指示的清洁顺序；显示与清洁顺序对应的清洁路径，以控制清洁设备按照清洁路径在工作区域内进行清洁；可以解决移动终端无法提供清洁设备清扫房间的路径的问题；由于可以获取到用户期望的清洁顺序，并按照该清洁顺序生成清洁路径，可以达到为用户提供清洁设备清扫房间的路径的效果。

Description

清洁设备的清洁路径获取方法、装置及存储介质
相关申请的交叉引用
本申请基于申请号为202010391793.X，申请日为2020年05月11日的中国专利申请提出，基于申请号为202010391796.3，申请日为2020年05月11日的中国专利申请提出，并要求上述中国专利申请的优先权，上述中国专利申请的全部内容在此引入本申请作为参考。
技术领域
本申请涉及一种清洁设备的清洁路径获取方法、装置及存储介质，属于计算机技术领域。
背景技术
清洁设备(比如：扫地机器人等)主要应用于对地面的清洁，通常应用于室内场景清洁环境。清洁设备上包括清洁模块与驱动模块，在驱动模块的工作下，清洁设备进行移动并进行地面清洁。
现有技术中，用户可通过移动终端设置待清洁房间的具体清洁方案。比如：用户通过移动终端选择需要清扫的房间。但是，移动终端无法提供清洁设备清扫房间的路径。
发明内容
本申请提供了一种清洁设备的清洁路径获取方法、装置及存储介质，可以解决移动终端无法提供清洁设备清扫房间的路径的问题。本申请提供如下技术方案：
第一方面，提供了一种清洁设备的清洁路径获取方法，所述方法包括：
显示所述清洁设备的工作区域图像，所述工作区域图像包括多个子工作区域图像；
接收作用于所述子工作区域图像上的顺序设置操作；
获取所述顺序设置操作指示的清洁顺序；
显示与所述清洁顺序对应的清洁路径，以控制所述清洁设备按照所述清洁路径在工作区域内进行清洁。
可选地，所述接收作用于所述子工作区域图像上的顺序设置操作，包括：
接收作用于所述工作区域图像上的清洁轨迹绘制操作；
在所述工作区域图像上显示所述清洁轨迹绘制操作指示的清洁轨迹；
所述获取所述顺序设置操作指示的清洁顺序，包括：
将所述清洁轨迹经过各个子工作区域图像的先后顺序确定为所述清洁设备的清洁顺序。
可选地，所述接收作用于所述子工作区域图像上的顺序设置操作，包括：
接收作用于所述多个子工作区域图像上的选择操作；
显示所述选择操作指示的目标子工作区域的区域信息；
接收对各个区域信息的设置操作；
所述获取所述顺序设置操作指示的清洁顺序，包括：
获取所述设置操作指示的所述各个区域信息对应的目标子工作区域的清洁顺序。
可选地，所述接收对各个区域信息的设置操作，包括：
对于每个区域信息，基于所述区域信息的显示位置显示对应的顺序选择窗口，所述顺序选择窗口用于显示所述区域信息对应的目标子工作区域的可选择清洁顺序；
接收作用于所述顺序选择窗口的顺序选择操作。
可选地，所述接收对各个区域信息的设置操作，包括：
对于每个区域信息，基于所述区域信息的显示位置显示对应的顺序调节控件；
接收作用于所述顺序调节控件的触发操作，所述顺序调节控件用于基于所述触发操作的执行次数确定对应的目标子工作区域的清洁顺序。
可选地，所述接收对各个区域信息的设置操作，包括：
接收作用于所述各个区域信息上的拖曳操作，拖曳操作结束后各个区域信息的排列顺序为所述清洁设备的清洁顺序。
可选地，所述接收作用于所述子工作区域图像上的顺序设置操作，包括：
显示已设置顺序的子工作区域图像的清洁顺序；
接收对所述清洁顺序的顺序调整操作，并显示调整后的清洁顺序；和/或，接收对所述已设置顺序的子工作区域图像的清洁顺序的删除操作。
第二方面，提供了一种清洁设备的清洁路径获取装置，所述装置包括：
图像显示模块，用于显示所述清洁设备的工作区域图像，所述工作区域图像包括多个子工作区域图像；
操作接收模块，用于接收作用于所述子工作区域图像上的顺序设置操作；
顺序获取模块，用于获取所述顺序设置操作指示的清洁顺序；
轨迹显示模块，用于显示与所述清洁顺序对应的清洁路径，以控制所述清洁设备按照所述清洁路径在工作区域内进行清洁。
第三方面，提供一种清洁设备的清洁路径获取装置，所述装置包括处理器和存储器；所述存储器中存储有程序，所述程序由所述处理器加载并执行以实现第一方面所述的清洁设备的清洁路径获取方法。
第四方面，提供一种计算机可读存储介质，所述存储介质中存储有程序，所述程序由所述处理器加载并执行以实现第一方面所述的清洁设备的清洁路径获取方法。
本申请的有益效果在于：通过显示清洁设备的工作区域图像，工作区域图像包括多个子工作区域图像；接收作用于子工作区域图像上的顺序设置操作；获取顺序设置操作指示的清洁顺序；显示与清洁顺序对应的清洁路径，以控制清洁设备按照清洁路径在工作区域内进行清洁；可以解决移动终端无法提供清洁设备清扫房间的路径的问题；由于可以获取到用户期望的清洁顺序，并按照该清洁顺序生成清洁路径，可以达到为用户提供清洁设备清扫房间的路径的效果。
另外，由于清洁顺序可以由用户自定义设定和调节，因此，对应生成的清洁路径也可以自定义生成，提高生成清洁路径的灵活性。
第五方面，提供了一种清洁设备的清洁路径获取方法，所述方法包括：
显示所述清洁设备的工作区域图像，所述工作区域图像包括多个子工作区域图像；
接收作用于所述子工作区域图像的区域选择操作；
显示n种推荐清洁顺序，每种推荐清洁顺序为所述区域选择操作指示的目标子工作区域的清洁顺序，所述n为正整数；
接收作用于所述n种推荐清洁顺序中目标清洁顺序的顺序选择操作；
显示与所述目标清洁顺序对应的清洁路径，以控制所述清洁设备按照所述清洁路径在工作区域内进行清洁。
可选地，所述显示n种推荐清洁顺序之前，还包括：
基于预设的顺序生成策略生成所述目标子工作区域的n种推荐清洁顺序。
可选地，所述基于预设的顺序生成策略生成所述目标子工作区域的n种推荐清洁顺序，包括：
确定所述目标子工作区域在不同清洁顺序下的清洁时长；
将各个清洁顺序中清洁时长最短的a个清洁顺序确定为推荐清洁顺序，所述a为正整数，a≤n。
可选地，所述基于预设的顺序生成策略生成所述目标子工作区域的n种推荐清洁顺序，包括：
确定所述目标子工作区域在不同清洁顺序下的清洁路径；
将各个清洁顺序中清洁路径最短的b个清洁顺序确定为推荐清洁顺序；所述b为正整数，b≤n。
可选地，所述基于预设的顺序生成策略生成所述目标子工作区域的n种推荐清洁顺序，包括：
确定所述目标子工作区域的历史清洁顺序和历史清洁次数；
基于所述历史清洁顺序和所述历史清洁次数生成所述推荐清洁顺序。
可选地，所述基于所述历史清洁顺序和所述历史清洁次数生成所述推荐清洁顺序，包括：
获取所述目标子工作区域的历史清洁顺序中最靠前的清洁顺序；
将所述最靠前的清洁顺序由前到后的顺序进行排序；
对于排序顺序相同的目标子工作区域，按照历史清洁次数由多到少的顺序排序；
将得到的排序顺序确定为所述推荐清洁顺序。
可选地，所述显示与所述目标清洁顺序对应的清洁路径之前，还包括：
基于路径生成策略生成所述目标清洁顺序对应的清洁路径；
其中，所述路径生成策略为：路径最短策略、耗时最短策略或者随机生成策略。
第六方面，提供了一种清洁设备的清洁路径获取装置，所述装置包括：
显示模块，用于显示所述清洁设备的工作区域图像，所述工作区域图像包括多个子工作区域图像；
人机交互模块，用于接收作用于所述子工作区域图像的区域选择操作；
所述显示模块，还用于显示n种推荐清洁顺序，每种推荐清洁顺序为所述区域选择操作指示的目标子工作区域的清洁顺序，所述n为正整数；
所述人机交互模块，还用于接收作用于所述n种推荐清洁顺序中目标清洁顺序的顺序选择操作；
所述显示模块，还用于显示与所述目标清洁顺序对应的清洁路径，以控制所述清洁设备按照所述清洁路径在工作区域内进行清洁。
第七方面，提供一种清洁设备的清洁路径获取装置，所述装置包括处理器和存储器；所述存储器中存储有程序，所述程序由所述处理器加载并执行以实现第一方面所述的清洁设备的清洁路径获取方法。
第八方面，提供一种计算机可读存储介质，所述存储介质中存储有程序，所述程序由所述处理器加载并执行以实现第一方面所述的清洁设备的清洁路径获取方法。
本申请的有益效果在于：通过显示清洁设备的工作区域图像，工作区域图像包括多个子工作区域图像；接收作用于子工作区域图像的区域选择操作；显示n种推荐清洁顺序，每种推荐清洁顺序为区域选择操作指示的目标子工作区域的清洁顺序；接收作用于n种推荐清洁顺序中目标清洁顺序的顺序选择操作；显示与目标清洁顺序对应的清洁路径，以控制清洁设备按照清洁路径在工作区域内进行清洁；可以解决移动终端无法提供清洁设备清扫房间的顺序路径的问题；由于可以向用户推荐清洁顺序，并按照用户选择的清洁顺序生成清洁路径，可以达到为用户提供清洁设备清扫房间的路径的效果。
上述说明仅是本申请技术方案的概述，为了能够更清楚了解本申请的技术手段，并可依照说明书的内容予以实施，以下以本申请的较佳实施例并配合附图详细说明如后。
附图说明
图1是本申请一个实施例提供的清洁设备的清洁路径获取方法的流程图；
图2是本申请一个实施例提供的清洁设备的清洁顺序获取过程的示意图；
图3是本申请另一个实施例提供的清洁设备的清洁顺序获取过程的示意图；
图4是本申请另一个实施例提供的清洁设备的清洁顺序获取过程的示意图；
图5是本申请另一个实施例提供的清洁设备的清洁顺序获取过程的示意图；
图6是本申请另一个实施例提供的清洁设备的清洁顺序获取过程的示意图；
图7是本申请另一个实施例提供的清洁设备的清洁顺序获取过程的示意图；
图8是本申请一个实施例提供的清洁设备的清洁路径获取装置的框图；
图9是本申请一个实施例提供的清洁设备的清洁路径获取方法的流程图；
图10是本申请一个实施例提供的显示n种推荐清洁顺序的过程的示意图；
图11是本申请一个实施例提供的选择目标清洁顺序的过程的示意图；
图12是本申请一个实施例提供的清洁设备的清洁路径获取装置的框图；
图13是本申请一个实施例提供的清洁设备的清洁路径获取装置的框图。
具体实施方式
下面结合附图和实施例，对本申请的具体实施方式作进一步详细描述。以下实施例用于说明本申请，但不用来限制本申请的范围。
可选地，本申请以各个实施例的执行主体为电子设备为例进行说明，该电子设备控制清洁设备。清洁设备可以为扫地机器人等具有自动清洁功能的设备；电子设备可以为手机、平板电脑、可穿戴式设备、计算机、笔记本电脑等，本申请不对电子设备和清洁设备的类型作限定。
图1是本申请一个实施例提供的清洁设备的清洁路径获取方法的流程图。该方法至少包括以下几个步骤：
步骤101，显示清洁设备的工作区域图像，该工作区域图像包括多个子工作区域图像。
工作区域图像是指：电子设备所控制的清洁设备需要清洁的工作区域的图像。工作区域图像预存在电子设备中。在其它实施例中，工作区域图像也可以称为工作地图、房间地图等，本实施例不对工作区域图像的名称作限定。
本申请中，工作区域图像包括多个子工作区域图像，每个子工作区域图像为工作区域中的一部分区域对应的图像。比如：工作区域图像为房间，则子工作区域图像可以包括房间中的卧室1、卧室2、餐厅、阳台等。
工作区域中的子工作区域可以是用户划分的；或者，电子设备自动生成的，本实施例不对子工作区域的划分方式作限定。
另外，工作区域图像可以为二维图像(比如：房间的俯视图)或者三维图像，本实施例不对工作区域图像的表现形式作限定。
可选地，电子设备在显示界面显示有工作区域图像的分区显示控件；在接收到作用于分区显示控件上的触发操作时，在工作区域图像中分区显示子工作区域图像。
步骤102，接收作用于子工作区域图像上的顺序设置操作；获取顺序设置操作指示的清洁顺序。
可选地，本实施例中，电子设备获取清洁顺序的方案包括但不限于以下几种：
第一种：接收作用于工作区域图像上的清洁轨迹绘制操作；在工作区域图像上显示清洁轨迹绘制操作指示的清洁轨迹。此时，顺序设置操作包括清洁轨迹绘制操作。
相应地，获取顺序设置操作指示的清洁顺序，包括：将清洁轨迹经过各个子工作区域图像的先后顺序确定为清洁设备的清洁顺序。
比如：参考图2，以工作区域图像为房间图像21为例，用户手动点击房间图像21上分区控件22。相应地，电子设备接收到作用于分区控件22上的触发操作，在房间图像21中分区显示各个子工作区域图像23、24、25和26。电子设备接收用户在各个子工作区域图像上执行的清洁轨迹绘制操作，得到清洁轨迹。清洁轨迹(虚线箭头表示)经过各个子工作区域图像的顺序即为清洁顺序。同时，电子设备在各个子工作区域图像上标注出对应的清洁顺序。
可选地，在电子设备允许用户对子工作区域图像进行操作时，以预设显示方式显示子工作区域图像，以提示用户对应的子工作区域图像支持被操作，比如：图2中阴影部分显示的子工作区域图像。可选地，预设显示方式包括但不限于：以特定颜色、和/或特定图案显示，本实施例不对预设显示方式作限定。
第二种：接收作用于多个子工作区域图像上的选择操作；显示选择操作指示的目标子工作区域的区域信息；接收对各个区域信息的设置操作。此时，顺序设置操作包括选择操作和设置操作。
相应地，获取顺序设置操作指示的清洁顺序，包括：获取设置操作指示的各个区域信息对应的目标子工作区域的清洁顺序。
在第二种清洁顺序获取方案中，用户先从多个子工作区域图像上选择出需要清洁的目标子工作区域图像，然后再设置目标子工作区域图像对应的目标子工作区域的清洁顺序。
可选地，作用于多个子工作区域图像上的选择操作包括但不限于：单击操作、双击操作、长按操作等，本实施例不对选择操作的方式作限定。
在第二种清洁顺序获取方案中，接收对各个区域信息的设置操作，包括但不限于以下几种场景：
第一种场景：对于每个区域信息，基于区域信息的显示位置显示对应的顺序选择窗口，顺序选择窗口用于显示区域信息对应的目标子工作区域的可选择清洁顺序；接收作用于顺序选择窗口的顺序选择操作。此时，设置操作包括顺序选择操作。
相应地，电子设备获取的每个目标子工作区域的清洁顺序为用户在顺序选择窗口中选择得到的。
可选地，顺序选择窗口通过下拉框表示。
参考图3，以工作区域图像为房间图像31为例。在房间图像31中分区显示各个子工作区域图像32、33、34和35。电子设备接收用户对子工作区域图像32、33和34上的选择操作，得到目标子工作区域。电子设备以预设显示方式显示目标子工作区域图像，并显示目标子工作区域的区域信息。在每条区域信息的显示区域中显示有下拉框。电子设备接收到作用于目标子工作区域图像32的区域信息对应的下拉框36上的顺序选择操作，确定目标子工作区域图像32的清洁顺序为2。
第二种场景：对于每个区域信息，基于区域信息的显示位置显示对应的顺序调节控件；接收作用于顺序调节控件的触发操作，顺序调节控件用于基于触发操作的执行次数确定对应的目标子工作区域的清洁顺序。此时，设置操作包括作用于顺序调节控件的触发操作。
相应地，电子设备获取的每个目标子工作区域的清洁顺序为用户触发顺序调节控件后得到的。
可选地，顺序调节控件包括：顺序上调控件和顺序下调控件。在接收到顺序上调控件上的触发操作时，对应目标子工作区域的清洁顺序上调，上调的数值与触发操作的执行次数呈正相关关系；在接收到顺序下调控件上的触发操作时，对应目标子工作区域的清洁顺序下调，下调的数值与触发操作的执行次数呈正相关关系。
参考图4，以工作区域图像为房间图像41为例。在房间图像41中分区显示各个子工作区域图像42、43、44和45。电子设备接收用户对子工作区域图像42、43和44上的选择操作，得到目标子工作区域。电子设备以预设显示方式显示目标子工作区域图像，并显示目标子工作区域的区域信息。在每条区域信息的显示区域中显示有顺序上调控件和顺序下调控件。电子设备接收到作用于目标子工作区域图像42的区域信息对应的顺序下调控件46上的一次触发操作，确定目标子工作区域图像42的清洁顺序为2。
第三种场景：接收作用于各个区域信息上的拖曳操作，拖曳操作结束后各个区域信息的排列顺序为清洁设备的清洁顺序。此时，设置操作包括拖曳操作。
相应地，电子设备获取的每个目标子工作区域的清洁顺序为用户拖曳区域信息后得到的。
参考图5，以工作区域图像为房间图像51为例。在房间图像51中分区显示各个子工作区域图像52、53、54和55。电子设备接收用户对子工作区域图像52、53和54上的选择操作，得到目标子工作区域。电子设备以预设显示方式显示目标子工作区域图像，并显示目标子工作区域的区域信息。电子设备接收到作用于目标子工作区域图像52的区域信息上的拖曳操作，该拖曳操作将该区域信息拖曳至各个区域信息的第二个位置，确定目标子工作区域图像52的清洁顺序为2。
可选地，用户还可以对已设置顺序的子工作区域图像的清洁顺序进行调节。此时，在接收到清洁轨迹绘制操作或者设置操作之后，电子设备还会显示已设置顺序的子工作区域图像的清洁顺序；接收对清洁顺序的顺序调整操作，并显示调整后的清洁顺序。
接收对清洁顺序的顺序调整操作，包括：对于每个已设置顺序的子工作区域图像的区域信息，基于区域信息的显示位置显示对应的置顶控件和/或置底控件；接收作用于置顶控件和/或置底控件的触发操作。此时，设置操作包括作用于置顶控件和/或置底控件的触发操作。
参考图6，以工作区域图像为房间图像61为例。在房间图像61中分区显示各个子工作区域图像62、63、64和65。电子设备接收用户对子工作区域图像62、63和64上的选择操作，得到目标子工作区域。电子设备以预设显示方式显示目标子工作区域图像，并显示目标子工作区域的区域信息。电子设备在接收到对区域信息的设置操作后，若接收到作用于目标子工作区域图像62的区域信息对应的置顶控件66上的触发操作，确定目标子工作区域图像62的清洁顺序为1。
可选地，在接收到清洁轨迹绘制操作或者设置操作之后，电子设备还会显示已设置顺序的子工作区域图像的清洁顺序；接收对已设置顺序的子工作区域图像的清洁顺序的删除操作。
在对已设置顺序的子工作区域图像的清洁顺序删除之后，电子设备不再控制清洁设备对对应的子工作区域进行清洁，或者对删除清洁顺序的子工作区域默认为最后清洁。或者，对未选择清洁顺序的子工作区域不进行清洁；或者，对未选择清洁顺序的子工作区域默认为最后清洁。
参考图7，以工作区域图像为房间图像71为例。在房间图像71中分区显示各个子工作区域图像72、73、74和75。电子设备接收用户对子工作区域图像72、73和74上的选择操作，得到目标子工作区域。电子设备以预设显示方式显示目标子工作区域图像，并显示目标子工作区域的区域信息。电子设备在接收到对区域信息的设置操作后，若接收到作用于目标子工作区域图像72上的触发操作(即删除操作)，将目标子工作区域图像72的清洁顺序删除。
另外，在接收到清洁轨迹绘制操作或者设置操作之后，电子设备还会接收到添加子工作区域图像的操作，该添加操作与第二种清洁方案中获取目标子工作区域的区域信息的描述相同，本实施例在此不再赘述。
可选地，对于工作区域图像中的每个子工作区域图像，若该子工作区域图像已被用户选择，则该子工作区域图像为不可选择状态，即不以预设显示方式显示；若该子工作区域图像未被用户选择，则该子工作区域图像为可选择状态，即以预设显示方式显示。
步骤103，显示与清洁顺序对应的清洁路径，以控制清洁设备按照清洁路径在工作区域内进行清洁。
清洁路径按照清洁顺序依次经过对应的子工作区域。可选地，清洁路径是电子设备基于路径最短原则或者时间最短原则等生成的，本实施例不对清洁路径的生成规则作限定。
在电子设备获取到清洁路径后，将该清洁路径发送至清洁设备，以使清洁设备按照清洁路径在工作区域内进行清洁。此时，清洁设备也会按照清洁顺序工作。
综上所述，本实施例提供的清洁设备的清洁路径获取方法，通过显示清洁设备的工作区域图像，工作区域图像包括多个子工作区域图像；接收作用于子工作区域图像上的顺序设置操作；获取顺序设置操作指示的清洁顺序；显示与清洁顺序对应的清洁路径，以控制清洁设备按照清洁路径在工作区域内进行清洁；可以解决移动终端无法提供清洁设备清扫房间的路径的问题；由于可以获取到用户期望的清洁顺序，并按照该清洁顺序生成清洁路径，可以达到为用户提供清洁设备清扫房间的路径的效果。
另外，由于清洁顺序可以由用户自定义设定和调节，因此，对应生成的清洁路径也可以自定义生成，提高生成清洁路径的灵活性。图8是本申请一个实施例提供的清洁设备的清洁路径获取装置的框图。该装置至少包括以下几个模块：图像显示模块810、操作接收模块820、顺序获取模块830和轨迹显示模块840。
图像显示模块810，用于显示所述清洁设备的工作区域图像，所述工作区域图像包括多个子工作区域图像；
操作接收模块820，用于接收作用于所述子工作区域图像上的顺序设置操作；
顺序获取模块830，用于获取所述顺序设置操作指示的清洁顺序；
轨迹显示模块840，用于显示与所述清洁顺序对应的清洁路径，以控制所述清洁设备按照所述清洁路径在工作区域内进行清洁。
相关细节参考上述方法实施例。
在另一实施例中，提供另一清洁设备的清洁设备的清洁路径获取方法，图9是本申请另一个实施例提供的清洁设备的清洁路径获取方法的流程图。该方法至少包括以下几个步骤：
步骤901，显示清洁设备的工作区域图像，该工作区域图像包括多个子工作区域图像。
工作区域图像是指：电子设备所控制的清洁设备需要清洁的工作区域的图像。工作区域图像预存在电子设备中。在其它实施例中，工作区域图像也可以称为工作地图、房间地图等，本实施例不对工作区域图像的名称作限定。
本申请中，工作区域图像包括多个子工作区域图像，每个子工作区域图像为工作区域中的一部分区域对应的图像。比如：工作区域图像为房间，则子工作区域图像可以包括房间中的卧室1、卧室2、餐厅、阳台等。
工作区域中的子工作区域可以是用户划分的；或者，电子设备自动生成的，本实施例不对子工作区域的划分方式作限定。
另外，工作区域图像可以为二维图像(比如：房间的俯视图)或者三维图像，本实施例不对工作区域图像的表现形式作限定。
可选地，电子设备在显示界面显示有工作区域图像的分区显示控件；在接收到作用于分区显示控件上的触发操作时，在工作区域图像中分区显示子工作区域图像。
步骤902，接收作用于子工作区域图像的区域选择操作。
可选地，作用于多个子工作区域图像上的区域选择操作包括但不限于：单击操作、双击操作、长按操作等，本实施例不对区域选择操作的方式作限定。
可选地，在电子设备允许用户对子工作区域图像进行操作时，以第一显示方式显示子工作区域图像，以提示对应的子工作区域图像支持被操作，比如：图10中斜线阴影部分显示的子工作区域图像。可选地，第一显示方式包括但不限于：以特定颜色、和/或特定图案显示，本实施例不对第一显示方式作限定。若电子设备接收到作用于子工作区域图像的区域选择操作，则对应的子工作区 域图像更新为不允许用户对子工作区域图像进行操作，此时，该子工作区域图像不以第一显示方式显示。
参考图10，以工作区域图像为房间图像101为例。在房间图像101中分区显示各个子工作区域图像102、103、104和105。电子设备接收用户对子工作区域图像102、103和104上的区域选择操作，得到目标子工作区域，该目标子工作区域不再以第一显示方式显示。
步骤903，显示n种推荐清洁顺序，每种推荐清洁顺序为区域选择操作指示的目标子工作区域的清洁顺序。n为正整数。
其中，区域选择操作指示的目标子工作区域是指：区域选择操作所作用的子工作区域图像对应的子工作区域。
n的取值基于目标子工作区域的数量确定。在一个示例中，若目标子工作区域的数量为1，则n的值为1；若目标子工作区域的数量为2，则n的值为2；若目标子工作区域的数量大于2，则n的值为预设数值，该预设数值的取值小于或等于目标子工作区域的清洁顺序的数量最大值。比如：n的取值为3、4、5等。当然，其它实施例中，n的取值的设置方式也可以为其它方式，本实施例在此不再一一列举。
在显示n种推荐清洁顺序之前，电子设备需要基于预设的顺序生成策略生成目标子工作区域的n种推荐清洁顺序。
可选地，电子设备生成n种推荐清洁顺序的方式包括但不限于以下几种方式中的至少一种：
第一种：确定目标子工作区域在不同清洁顺序下的清洁时长；将各个清洁顺序中清洁时长最短的a个清洁顺序确定为推荐清洁顺序，a为正整数，a≤n。
比如：目标子工作区域为图10中的子工作区域图像102对应的子工作区域A、子工作区域图像103对应的子工作区域B和子工作区域图像104对应的子工作区域C，则目标子工作区域的清洁顺序包括6种：
子工作区域A->子工作区域B->子工作区域C；
子工作区域A->子工作区域C->子工作区域B；
子工作区域B->子工作区域C->子工作区域A；
子工作区域B->子工作区域A->子工作区域C；
子工作区域C->子工作区域B->子工作区域A；
子工作区域C->子工作区域A->子工作区域B。
电子设备中存储有清洁设备的移动速度、转弯速度等移动参数；生成每种清洁顺序对应的清洁路径；结合移动参数和清洁路径计算每种清洁顺序对应的清洁时长，并将清洁时长按照由短至长的顺序排序；将排序在前a位的清洁顺序确定为推荐清洁顺序。
第二种：确定目标子工作区域在不同清洁顺序下的清洁路径；将各个清洁顺序中清洁路径最短的b个清洁顺序确定为推荐清洁顺序；b为正整数，b≤n。
比如：目标子工作区域为图10中的子工作区域图像102对应的子工作区域A、子工作区域图像103对应的子工作区域B和子工作区域图像104对应的子工作区域C，则目标子工作区域的清洁顺序包括6种：
子工作区域A->子工作区域B->子工作区域C；
子工作区域A->子工作区域C->子工作区域B；
子工作区域B->子工作区域C->子工作区域A；
子工作区域B->子工作区域A->子工作区域C；
子工作区域C->子工作区域B->子工作区域A；
子工作区域C->子工作区域A->子工作区域B。
电子设备基于路径最短原则生成每种清洁顺序对应的清洁路径；并将清洁路径按照由短至长的顺序排序；将排序在前b位的清洁顺序确定为推荐清洁顺序。
第三种：确定目标子工作区域的历史清洁顺序和历史清洁次数；基于历史清洁顺序和历史清洁次数生成推荐清洁顺序。
在一个示例中，获取目标子工作区域的历史清洁顺序中最靠前的清洁顺序；将目标子工作区域依据最靠前的清洁顺序由前到后的顺序进行排序；对于排序 顺序相同的目标子工作区域，按照历史清洁次数由多到少的顺序排序；将得到的排序顺序确定为推荐清洁顺序。
比如：目标子工作区域为图10中的子工作区域图像102对应的子工作区域A、子工作区域图像103对应的子工作区域B和子工作区域图像104对应的子工作区域C，每个目标子工作区域的历史清洁顺序和历史清洁次数参考表一所示。根据表一可知，子工作区域A和子工作区域C的最靠前的清洁顺序均为1、子工作区域B的最靠前的清洁顺序为2，此时排序结果为(A，C)->B。之后，将子工作区域A和子工作区域C按照历史清洁次数再次排序，子工作区域A的历史清洁次数大于子工作区域C的历史清洁次数，则排序结果为A->C->B。此时，推荐清洁顺序包括A->C->B。
表一：
Figure PCTCN2021087890-appb-000001
当然，电子设备也可以通过其它方式基于历史清洁顺序和历史清洁次数生成推荐清洁顺序，比如：获取目标子工作区域的历史清洁顺序的平均顺序值；将平均顺序值按照由前到后的顺序进行排序，得到推荐清洁顺序。
另外，电子设备也可以通过随机选择清洁顺序等方式来生成推荐清洁顺序，本实施例不对电子设备生成推荐清洁顺序的方式作限定。
参考图10，以n＝3为例进行说明。电子设备接收到作用于子工作区域图像102、103和104上的区域选择操作后，显示3个推荐清洁顺序26。
步骤904，接收作用于n种推荐清洁顺序中目标清洁顺序的顺序选择操作。
可选地，在电子设备允许用户对推荐清洁顺序进行操作时，以第二显示方式显示推荐清洁顺序，以提示对应的推荐清洁顺序支持被操作。比如：图2中竖线阴影部分显示的子工作区域图像。可选地，第二显示方式与第一显示方式相同或不同，该第二显示方式包括但不限于：以特定颜色、和/或特定图案显示，本实施例不对第二显示方式作限定。若电子设备接收到作用于推荐清洁顺序的顺序选择操作，此时，该推荐清洁顺序不以第二显示方式显示。
参考图11，以n＝3为例进行说明。电子设备显示有3个推荐清洁顺序111、112和113。之后，电子设备接收到作用于推荐清洁顺序111的顺序选择操作，该推荐清洁顺序111为目标清洁顺序，此时，推荐清洁顺序111不再以第二显示方式显示。
可选地，在电子设备接收到顺序选择操作后，还可以基于目标子工作区域图像的位置，显示每个目标子工作区域在目标清洁顺序中的排序值。比如：在图11中，目标清洁顺序为子工作区域A->子工作区域B->子工作区域C；子工作区域A的排序值1显示在子工作区域图像内；子工作区域A的排序值2显示在子工作区域图像内；子工作区域A的排序值3显示在子工作区域图像内。
步骤905，显示与目标清洁顺序对应的清洁路径，以控制清洁设备按照清洁路径在工作区域内进行清洁。
清洁路径按照清洁顺序依次经过对应的子工作区域。在显示与目标清洁顺序对应的清洁路径之前，电子设备需要基于路径生成策略生成目标清洁顺序对应的清洁路径。其中，路径生成策略为：路径最短策略、耗时最短策略或者随机生成策略，本实施例不对路径生成策略的类型作限定。
在电子设备获取到清洁路径后，将该清洁路径发送至清洁设备，以使清洁设备按照清洁路径在工作区域内进行清洁。此时，清洁设备也会按照清洁顺序工作。
综上所述，本实施例提供的清洁设备的清洁路径获取方法，通过显示清洁设备的工作区域图像，工作区域图像包括多个子工作区域图像；接收作用于子工作区域图像的区域选择操作；显示n种推荐清洁顺序，每种推荐清洁顺序为 区域选择操作指示的目标子工作区域的清洁顺序；接收作用于n种推荐清洁顺序中目标清洁顺序的顺序选择操作；显示与目标清洁顺序对应的清洁路径，以控制清洁设备按照清洁路径在工作区域内进行清洁；可以解决移动终端无法提供清洁设备清扫房间的顺序路径的问题；由于可以向用户推荐清洁顺序，并按照用户选择的清洁顺序生成清洁路径，可以达到为用户提供清洁设备清扫房间的路径的效果。
另外，通过基于预设的顺序生成策略生成目标子工作区域的n种推荐清洁顺序，可以生成符合用户期望的推荐清洁顺序，无需用户手动输入清洁顺序，提高清洁顺序的生成效率。
图12是本申请一个实施例提供的清洁设备的清洁路径获取装置的框图。该装置至少包括以下几个模块：显示模块1201和人机交互模块1202。
显示模块1201，用于显示所述清洁设备的工作区域图像，所述工作区域图像包括多个子工作区域图像；
人机交互模块1202，用于接收作用于所述子工作区域图像的区域选择操作；
显示模块1201，还用于显示n种推荐清洁顺序，每种推荐清洁顺序为所述区域选择操作指示的目标子工作区域的清洁顺序，所述n为正整数；
人机交互模块1202，还用于接收作用于所述n种推荐清洁顺序中目标清洁顺序的顺序选择操作；
显示模块1201，还用于显示与所述目标清洁顺序对应的清洁路径，以控制所述清洁设备按照所述清洁路径在工作区域内进行清洁。
需要说明的是：上述实施例中提供的清洁设备的清洁路径获取装置在进行清洁设备的清洁路径获取时，仅以上述各功能模块的划分进行举例说明，实际应用中，可以根据需要而将上述功能分配由不同的功能模块完成，即将清洁设备的清洁路径获取装置的内部结构划分成不同的功能模块，以完成以上描述的全部或者部分功能。另外，上述实施例提供的清洁设备的清洁路径获取装置与清洁设备的清洁路径获取方法实施例属于同一构思，其具体实现过程详见方法 实施例，这里不再赘述。图13是本申请一个实施例提供的清洁设备的清洁路径获取装置的框图。该装置至少包括处理器1301和存储器1302。
处理器1301可以包括一个或多个处理核心，比如：4核心处理器、8核心处理器等。处理器1301可以采用DSP(Digital Signal Processing，数字信号处理)、FPGA(Field－Programmable Gate Array，现场可编程门阵列)、PLA(Programmable Logic Array，可编程逻辑阵列)中的至少一种硬件形式来实现。处理器1301也可以包括主处理器和协处理器，主处理器是用于对在唤醒状态下的数据进行处理的处理器，也称CPU(Central Processing Unit，中央处理器)；协处理器是用于对在待机状态下的数据进行处理的低功耗处理器。在一些实施例中，处理器1301可以在集成有GPU(Graphics Processing Unit，图像处理器)，GPU用于负责显示屏所需要显示的内容的渲染和绘制。一些实施例中，处理器1301还可以包括AI(Artificial Intelligence，人工智能)处理器，该AI处理器用于处理有关机器学习的计算操作。
存储器1302可以包括一个或多个计算机可读存储介质，该计算机可读存储介质可以是非暂态的。存储器1302还可包括高速随机存取存储器，以及非易失性存储器，比如一个或多个磁盘存储设备、闪存存储设备。在一些实施例中，存储器1302中的非暂态的计算机可读存储介质用于存储至少一个指令，该至少一个指令用于被处理器1301所执行以实现本申请中方法实施例提供的清洁设备的清洁路径获取方法。
在一些实施例中，清洁设备的清洁路径获取装置还可选包括有：外围设备接口和至少一个外围设备。处理器1301、存储器1302和外围设备接口之间可以通过总线或信号线相连。各个外围设备可以通过总线、信号线或电路板与外围设备接口相连。示意性地，外围设备包括但不限于：射频电路、触摸显示屏、音频电路、和电源等。
当然，清洁设备的清洁路径获取装置还可以包括更少或更多的组件，本实施例对此不作限定。
可选地，本申请还提供有一种计算机可读存储介质，所述计算机可读存储介质中存储有程序，所述程序由处理器加载并执行以实现上述方法实施例的清洁设备的清洁路径获取方法。
可选地，本申请还提供有一种计算机产品，该计算机产品包括计算机可读存储介质，所述计算机可读存储介质中存储有程序，所述程序由处理器加载并执行以实现上述方法实施例的清洁设备的清洁路径获取方法。
以上所述实施例的各技术特征可以进行任意的组合，为使描述简洁，未对上述实施例中的各个技术特征所有可能的组合都进行描述，然而，只要这些技术特征的组合不存在矛盾，都应当认为是本说明书记载的范围。
以上所述实施例仅表达了本申请的几种实施方式，其描述较为具体和详细，但并不能因此而理解为对发明专利范围的限制。应当指出的是，对于本领域的普通技术人员来说，在不脱离本申请构思的前提下，还可以做出若干变形和改进，这些都属于本申请的保护范围。因此，本申请专利的保护范围应以所附权利要求为准。

Claims (40)

  1. 一种清洁设备的清洁路径获取方法，其特征在于，所述方法包括：
    显示所述清洁设备的工作区域图像，所述工作区域图像包括多个子工作区域图像；
    接收作用于所述子工作区域图像上的顺序设置操作；
    获取所述顺序设置操作指示的清洁顺序；
    显示与所述清洁顺序对应的清洁路径，以控制所述清洁设备按照所述清洁路径在工作区域内进行清洁。
  2. 根据权利要求1所述的方法，其特征在于，
    所述接收作用于所述子工作区域图像上的顺序设置操作，包括：
    接收作用于所述工作区域图像上的清洁轨迹绘制操作；
    在所述工作区域图像上显示所述清洁轨迹绘制操作指示的清洁轨迹；
    所述获取所述顺序设置操作指示的清洁顺序，包括：
    将所述清洁轨迹经过各个子工作区域图像的先后顺序确定为所述清洁设备的清洁顺序。
  3. 根据权利要求1所述的方法，其特征在于，
    所述接收作用于所述子工作区域图像上的顺序设置操作，包括：
    接收作用于所述多个子工作区域图像上的选择操作；
    显示所述选择操作指示的目标子工作区域的区域信息；
    接收对各个区域信息的设置操作；
    所述获取所述顺序设置操作指示的清洁顺序，包括：
    获取所述设置操作指示的所述各个区域信息对应的目标子工作区域的清洁顺序。
  4. 根据权利要求3所述的方法，其特征在于，所述接收对各个区域信息的设置操作，包括：
    对于每个区域信息，基于所述区域信息的显示位置显示对应的顺序选择窗口，所述顺序选择窗口用于显示所述区域信息对应的目标子工作区域的可选择清洁顺序；
    接收作用于所述顺序选择窗口的顺序选择操作。
  5. 根据权利要求3所述的方法，其特征在于，所述接收对各个区域信息的设置操作，包括：
    对于每个区域信息，基于所述区域信息的显示位置显示对应的顺序调节控件；
    接收作用于所述顺序调节控件的触发操作，所述顺序调节控件用于基于所述触发操作的执行次数确定对应的目标子工作区域的清洁顺序。
  6. 根据权利要求3所述的方法，其特征在于，所述接收对各个区域信息的设置操作，包括：
    接收作用于所述各个区域信息上的拖曳操作，拖曳操作结束后各个区域信息的排列顺序为所述清洁设备的清洁顺序。
  7. 根据权利要求1至6任一所述的方法，其特征在于，所述接收作用于所述子工作区域图像上的顺序设置操作，包括：
    显示已设置顺序的子工作区域图像的清洁顺序；
    接收对所述清洁顺序的顺序调整操作，并显示调整后的清洁顺序；和/或，接收对所述已设置顺序的子工作区域图像的清洁顺序的删除操作。
  8. 一种清洁设备的清洁路径获取装置，其特征在于，所述装置包括：
    图像显示模块，用于显示所述清洁设备的工作区域图像，所述工作区域图像包括多个子工作区域图像；
    操作接收模块，用于接收作用于所述子工作区域图像上的顺序设置操作；
    顺序获取模块，用于获取所述顺序设置操作指示的清洁顺序；
    轨迹显示模块，用于显示与所述清洁顺序对应的清洁路径，以控制所述清洁设备按照所述清洁路径在工作区域内进行清洁。
  9. 一种清洁设备的清洁路径获取装置，其特征在于，所述装置包括处理器和存储器；所述存储器中存储有程序，所述程序由所述处理器加载并执行以实现如权利要求1至7任一项所述的清洁设备的清洁路径获取方法。
  10. 一种计算机可读存储介质，其特征在于，所述存储介质中存储有程序， 所述程序被处理器执行时用于实现如权利要求1至7任一项所述的清洁设备的清洁路径获取方法。
  11. 一种清洁设备的清洁路径获取方法，其特征在于，所述方法包括：
    显示分区显示控件，接收作用于所述分区显示控件上的触发操作；
    显示所述清洁设备的工作区域图像，所述工作区域图像包括多个子工作区域图像；
    接收作用于所述子工作区域图像上的顺序设置操作；
    获取所述顺序设置操作指示的清洁顺序；
    显示与所述清洁顺序对应的清洁路径，以控制所述清洁设备按照所述清洁路径在工作区域内进行清洁；
    其中，所述接收作用于所述子工作区域图像上的顺序设置操作，包括：
    接收作用于所述多个子工作区域图像上的选择操作；
    显示所述选择操作指示的目标子工作区域的区域信息。
  12. 根据权利要求11所述的方法，其特征在于，
    所述接收作用于所述子工作区域图像上的顺序设置操作，包括：
    接收作用于所述工作区域图像上的清洁轨迹绘制操作；
    在所述工作区域图像上显示所述清洁轨迹绘制操作指示的清洁轨迹；
    所述获取所述顺序设置操作指示的清洁顺序，包括：
    将所述清洁轨迹经过各个子工作区域图像的先后顺序确定为所述清洁设备的清洁顺序。
  13. 根据权利要求11所述的方法，其特征在于，
    所述接收作用于所述子工作区域图像上的顺序设置操作，包括：
    接收作用于所述多个子工作区域图像上的选择操作；
    显示所述选择操作指示的目标子工作区域的区域信息；
    接收对各个区域信息的设置操作；
    所述获取所述顺序设置操作指示的清洁顺序，包括：
    获取所述设置操作指示的所述各个区域信息对应的目标子工作区域的清洁顺序。
  14. 根据权利要求13所述的方法，其特征在于，所述接收对各个区域信息的设置操作，包括：
    对于每个区域信息，基于所述区域信息的显示位置显示对应的顺序选择窗口，所述顺序选择窗口用于显示所述区域信息对应的目标子工作区域的可选择清洁顺序；
    接收作用于所述顺序选择窗口的顺序选择操作。
  15. 根据权利要求13所述的方法，其特征在于，所述接收对各个区域信息的设置操作，包括：
    对于每个区域信息，基于所述区域信息的显示位置显示对应的顺序调节控件；
    接收作用于所述顺序调节控件的触发操作，所述顺序调节控件用于基于所述触发操作的执行次数确定对应的目标子工作区域的清洁顺序。
  16. 根据权利要求13所述的方法，其特征在于，所述接收对各个区域信息的设置操作，包括：
    接收作用于所述各个区域信息上的拖曳操作，拖曳操作结束后各个区域信息的排列顺序为所述清洁设备的清洁顺序。
  17. 根据权利要求11至16任一所述的方法，其特征在于，所述接收作用于所述子工作区域图像上的顺序设置操作，包括：
    显示已设置顺序的子工作区域图像的清洁顺序；
    接收对所述清洁顺序的顺序调整操作，并显示调整后的清洁顺序；和/或，接收对所述已设置顺序的子工作区域图像的清洁顺序的删除操作。
  18. 一种清洁设备的清洁路径获取装置，其特征在于，所述装置包括：
    图像显示模块，用于显示所述清洁设备的工作区域图像，所述工作区域图像包括多个子工作区域图像；
    操作接收模块，用于接收作用于所述子工作区域图像上的顺序设置操作；
    顺序获取模块，用于获取所述顺序设置操作指示的清洁顺序；
    轨迹显示模块，用于显示与所述清洁顺序对应的清洁路径，以控制所述清洁设备按照所述清洁路径在工作区域内进行清洁。
  19. 一种清洁设备的清洁路径获取装置，其特征在于，所述装置包括处理器和存储器；所述存储器中存储有程序，所述程序由所述处理器加载并执行以实现如权利要求11至17任一项所述的清洁设备的清洁路径获取方法。
  20. 一种计算机可读存储介质，其特征在于，所述存储介质中存储有程序，所述程序被处理器执行时用于实现如权利要求11至17任一项所述的清洁设备的清洁路径获取方法。
  21. 一种清洁设备的清洁路径获取方法，其特征在于，所述方法包括：
    显示所述清洁设备的工作区域图像，所述工作区域图像包括多个子工作区域图像；
    接收作用于所述子工作区域图像的区域选择操作；
    显示n种推荐清洁顺序，每种推荐清洁顺序为所述区域选择操作指示的目标子工作区域的清洁顺序，所述n为正整数；
    接收作用于所述n种推荐清洁顺序中目标清洁顺序的顺序选择操作；
    显示与所述目标清洁顺序对应的清洁路径，以控制所述清洁设备按照所述清洁路径在工作区域内进行清洁。
  22. 根据权利要求21所述的方法，其特征在于，所述显示n种推荐清洁顺序之前，还包括：
    基于预设的顺序生成策略生成所述目标子工作区域的n种推荐清洁顺序。
  23. 根据权利要求22所述的方法，其特征在于，所述基于预设的顺序生成策略生成所述目标子工作区域的n种推荐清洁顺序，包括：
    确定所述目标子工作区域在不同清洁顺序下的清洁时长；
    将各个清洁顺序中清洁时长最短的a个清洁顺序确定为推荐清洁顺序，所述a为正整数，a≤n。
  24. 根据权利要求22所述的方法，其特征在于，所述基于预设的顺序生成策略生成所述目标子工作区域的n种推荐清洁顺序，包括：
    确定所述目标子工作区域在不同清洁顺序下的清洁路径；
    将各个清洁顺序中清洁路径最短的b个清洁顺序确定为推荐清洁顺序；所述b为正整数，b≤n。
  25. 根据权利要求22所述的方法，其特征在于，所述基于预设的顺序生成策略生成所述目标子工作区域的n种推荐清洁顺序，包括：
    确定所述目标子工作区域的历史清洁顺序和历史清洁次数；
    基于所述历史清洁顺序和所述历史清洁次数生成所述推荐清洁顺序。
  26. 根据权利要求25所述的方法，其特征在于，所述基于所述历史清洁顺序和所述历史清洁次数生成所述推荐清洁顺序，包括：
    获取所述目标子工作区域的历史清洁顺序中最靠前的清洁顺序；
    将所述目标子工作区域依据所述最靠前的清洁顺序由前到后的顺序进行排序；
    对于排序顺序相同的目标子工作区域，按照历史清洁次数由多到少的顺序排序；
    将得到的排序顺序确定为所述推荐清洁顺序。
  27. 根据权利要求21至26任一所述的方法，其特征在于，所述显示与所述目标清洁顺序对应的清洁路径之前，还包括：
    基于路径生成策略生成所述目标清洁顺序对应的清洁路径；
    其中，所述路径生成策略为：路径最短策略、耗时最短策略或者随机生成策略。
  28. 一种清洁设备的清洁路径获取装置，其特征在于，所述装置包括：
    显示模块，用于显示所述清洁设备的工作区域图像，所述工作区域图像包括多个子工作区域图像；
    人机交互模块，用于接收作用于所述子工作区域图像的区域选择操作；
    所述显示模块，还用于显示n种推荐清洁顺序，每种推荐清洁顺序为所述区域选择操作指示的目标子工作区域的清洁顺序，所述n为正整数；
    所述人机交互模块，还用于接收作用于所述n种推荐清洁顺序中目标清洁顺序的顺序选择操作；
    所述显示模块，还用于显示与所述目标清洁顺序对应的清洁路径，以控制所述清洁设备按照所述清洁路径在工作区域内进行清洁。
  29. 一种清洁设备的清洁路径获取装置，其特征在于，所述装置包括处理器和存储器；所述存储器中存储有程序，所述程序由所述处理器加载并执行以实现如权利要求21至27任一项所述的清洁设备的清洁路径获取方法。
  30. 一种计算机可读存储介质，其特征在于，所述存储介质中存储有程序，所述程序被处理器执行时用于实现如权利要求21至27任一项所述的清洁设备的清洁路径获取方法。
  31. 一种清洁设备的清洁路径获取方法，其特征在于，所述方法包括：
    显示所述清洁设备的工作区域图像，所述工作区域图像包括多个子工作区域图像；
    接收作用于所述子工作区域图像的区域选择操作；
    显示n种推荐清洁顺序，每种推荐清洁顺序为所述区域选择操作指示的目标子工作区域的清洁顺序，所述n为正整数；
    接收作用于所述n种推荐清洁顺序中目标清洁顺序的顺序选择操作；
    显示与所述目标清洁顺序对应的清洁路径，以控制所述清洁设备按照所述清洁路径在工作区域内进行清洁；
    所述显示n种推荐清洁顺序之前，还包括：
    确定所述目标子工作区域的历史清洁顺序和历史清洁次数；
    基于所述历史清洁顺序和所述历史清洁次数生成所述推荐清洁顺序。
  32. 根据权利要求31所述的方法，其特征在于，所述接收作用于所述n种推荐清洁顺序中目标清洁顺序的顺序选择操作之后，还包括：
    基于目标子工作区域图像的位置，显示每个目标子工作区域在目标清洁顺序中的排序值。
  33. 根据权利要求31所述的方法，其特征在于，所述接收作用于所述n种推荐清洁顺序中目标清洁顺序的顺序选择操作之后，还包括：
    改变n种推荐清洁顺序的显示方式。
  34. 根据权利要求31所述的方法，其特征在于，所述基于所述历史清洁顺序和所述历史清洁次数生成所述推荐清洁顺序，包括：
    获取所述目标子工作区域的历史清洁顺序中最靠前的清洁顺序；
    将所述目标子工作区域依据所述最靠前的清洁顺序由前到后的顺序进行排序；
    将得到的排序顺序确定为所述推荐清洁顺序。
  35. 根据权利要求31所述的方法，其特征在于，所述基于所述历史清洁顺序和所述历史清洁次数生成所述推荐清洁顺序，包括：
    获取目标子工作区域的历史清洁顺序的平均顺序值；
    将平均顺序值按照由前到后的顺序进行排序；
    将得到的排序顺序确定为所述推荐清洁顺序。
  36. 根据权利要求34或35所述的方法，其特征在于，还包括：
    对于排序顺序相同的目标子工作区域，按照历史清洁次数由多到少的顺序排序；
    将得到的排序顺序确定为所述推荐清洁顺序。
  37. 根据权利要求31至36任一所述的方法，其特征在于，所述显示与所述目标清洁顺序对应的清洁路径之前，还包括：
    基于路径生成策略生成所述目标清洁顺序对应的清洁路径；
    其中，所述路径生成策略为：路径最短策略、耗时最短策略或者随机生成策略。
  38. 一种清洁设备的清洁路径获取装置，其特征在于，所述装置包括：
    显示模块，用于显示所述清洁设备的工作区域图像，所述工作区域图像包括多个子工作区域图像；
    人机交互模块，用于接收作用于所述子工作区域图像的区域选择操作；
    所述显示模块，还用于显示n种推荐清洁顺序，每种推荐清洁顺序为所述区域选择操作指示的目标子工作区域的清洁顺序，所述n为正整数；
    所述人机交互模块，还用于接收作用于所述n种推荐清洁顺序中目标清洁顺序的顺序选择操作；
    所述显示模块，还用于显示与所述目标清洁顺序对应的清洁路径，以控制所述清洁设备按照所述清洁路径在工作区域内进行清洁；
    所述装置还包括：
    用于在所述显示n种推荐清洁顺序之前，确定所述目标子工作区域的历史清洁顺序和历史清洁次数的模块；
    用于基于所述历史清洁顺序和所述历史清洁次数生成所述推荐清洁顺序的模块。
  39. 一种清洁设备的清洁路径获取装置，其特征在于，所述装置包括处理器和存储器；所述存储器中存储有程序，所述程序由所述处理器加载并执行以实现如权利要求31至37任一项所述的清洁设备的清洁路径获取方法。
  40. 一种计算机可读存储介质，其特征在于，所述存储介质中存储有程序，所述程序被处理器执行时用于实现如权利要求31至37任一项所述的清洁设备的清洁路径获取方法。
PCT/CN2021/087890 2020-05-11 2021-04-16 清洁设备的清洁路径获取方法、装置及存储介质 Ceased WO2021227777A1 (zh)

Priority Applications (4)

Application Number Priority Date Filing Date Title
EP21802924.7A EP4120120A4 (en) 2020-05-11 2021-04-16 Method and apparatus for obtaining cleaning path of cleaning device, and storage medium
JP2022563240A JP2023516818A (ja) 2020-05-11 2021-04-16 清掃機器の清掃経路取得方法、装置及び記憶媒体
KR1020227038110A KR20220163421A (ko) 2020-05-11 2021-04-16 청소 장치의 청소 경로를 획득하기 위한 방법 및 장치
US17/791,883 US20230090776A1 (en) 2020-05-11 2021-04-16 Method, device and storage medium for obtaining cleaning path of cleaning device

Applications Claiming Priority (4)

Application Number Priority Date Filing Date Title
CN202010391793.X 2020-05-11
CN202010391796.3A CN111563461B (zh) 2020-05-11 2020-05-11 清洁设备的清洁路径获取方法、装置及存储介质
CN202010391793.XA CN111563460A (zh) 2020-05-11 2020-05-11 清洁设备的清洁路径获取方法、装置及存储介质
CN202010391796.3 2020-05-11

Publications (1)

Publication Number Publication Date
WO2021227777A1 true WO2021227777A1 (zh) 2021-11-18

Family

ID=78526343

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/CN2021/087890 Ceased WO2021227777A1 (zh) 2020-05-11 2021-04-16 清洁设备的清洁路径获取方法、装置及存储介质

Country Status (5)

Country Link
US (1) US20230090776A1 (zh)
EP (1) EP4120120A4 (zh)
JP (1) JP2023516818A (zh)
KR (1) KR20220163421A (zh)
WO (1) WO2021227777A1 (zh)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN115905718A (zh) * 2023-03-08 2023-04-04 中环洁集团股份有限公司 一种设备选择方法、系统、电子设备及可读存储介质

Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN108436921A (zh) * 2018-06-14 2018-08-24 于小龙 一种扫地机器人智能控制方法
CN109521769A (zh) * 2018-11-19 2019-03-26 云鲸智能科技（东莞）有限公司 一种清洁方案的设定方法、系统及计算机可读存储介质
CN109998428A (zh) * 2019-04-30 2019-07-12 深圳拓邦股份有限公司 用于扫地机器人的清洁方法、系统及装置
CN111035328A (zh) * 2018-10-12 2020-04-21 科沃斯机器人股份有限公司 机器人清洁方法及机器人
CN111563460A (zh) * 2020-05-11 2020-08-21 追创科技(苏州)有限公司 清洁设备的清洁路径获取方法、装置及存储介质
CN111563461A (zh) * 2020-05-11 2020-08-21 追创科技(苏州)有限公司 清洁设备的清洁路径获取方法、装置及存储介质

Family Cites Families (10)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2669822B2 (ja) * 1987-05-19 1997-10-29 三洋電機株式会社 作業車の作業経路決定装置
KR102306709B1 (ko) * 2014-08-19 2021-09-29 삼성전자주식회사 청소 로봇, 청소 로봇의 제어 장치, 제어 시스템, 및 제어 방법
KR20180024467A (ko) * 2016-08-30 2018-03-08 삼성전자주식회사 로봇 청소기, 단말 장치 및 그 제어 방법
KR20180082264A (ko) * 2017-01-10 2018-07-18 엘지전자 주식회사 이동 로봇 및 그 제어방법
JP6884596B2 (ja) * 2017-03-01 2021-06-09 パナソニック インテレクチュアル プロパティ コーポレーション オブ アメリカＰａｎａｓｏｎｉｃ Ｉｎｔｅｌｌｅｃｔｕａｌ Ｐｒｏｐｅｒｔｙ Ｃｏｒｐｏｒａｔｉｏｎ ｏｆ Ａｍｅｒｉｃａ 掃除支援方法、掃除支援装置及び掃除支援プログラム
US10882186B1 (en) * 2017-05-11 2021-01-05 AI Incorporated Method for efficient operation of mobile robotic devices
KR102021834B1 (ko) * 2017-07-12 2019-09-17 엘지전자 주식회사 이동 로봇 시스템 및 그 제어방법
KR20200069103A (ko) * 2018-12-06 2020-06-16 삼성전자주식회사 로봇 청소기 및 로봇 청소기의 청소 경로 계획 방법
CN111374601B (zh) * 2018-12-28 2022-03-04 珠海一微半导体股份有限公司 扫地机器人的作业规划方法、装置及清洁系统
KR102778546B1 (ko) * 2019-10-01 2025-03-07 엘지전자 주식회사 로봇 청소기 및 청소 경로를 결정하기 위한 방법

Patent Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN108436921A (zh) * 2018-06-14 2018-08-24 于小龙 一种扫地机器人智能控制方法
CN111035328A (zh) * 2018-10-12 2020-04-21 科沃斯机器人股份有限公司 机器人清洁方法及机器人
CN109521769A (zh) * 2018-11-19 2019-03-26 云鲸智能科技（东莞）有限公司 一种清洁方案的设定方法、系统及计算机可读存储介质
CN109998428A (zh) * 2019-04-30 2019-07-12 深圳拓邦股份有限公司 用于扫地机器人的清洁方法、系统及装置
CN111563460A (zh) * 2020-05-11 2020-08-21 追创科技(苏州)有限公司 清洁设备的清洁路径获取方法、装置及存储介质
CN111563461A (zh) * 2020-05-11 2020-08-21 追创科技(苏州)有限公司 清洁设备的清洁路径获取方法、装置及存储介质

Non-Patent Citations (1)

* Cited by examiner, † Cited by third party
Title
See also references of EP4120120A4 *

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN115905718A (zh) * 2023-03-08 2023-04-04 中环洁集团股份有限公司 一种设备选择方法、系统、电子设备及可读存储介质

Also Published As

Publication number Publication date
KR20220163421A (ko) 2022-12-09
US20230090776A1 (en) 2023-03-23
EP4120120A4 (en) 2023-08-09
JP2023516818A (ja) 2023-04-20
EP4120120A1 (en) 2023-01-18

Similar Documents

Publication Publication Date Title
CN112862199B (zh) 清洁设备的清洁路径获取方法、装置及存储介质
DE112020002268T5 (de) Vorrichtung, verfahren und computerlesbares medium zur darstellung von dateien computergenerierter realität
CN111563460A (zh) 清洁设备的清洁路径获取方法、装置及存储介质
CN103530109B (zh) 同时确定多个参数变体的设置的系统、方法
CN114066714B (zh) 一种合批渲染方法、装置、设备及存储介质
WO2022063074A1 (zh) 桌面布局方法、装置和电子设备
CN114391132A (zh) 电子设备及其屏幕捕获方法
US9535575B1 (en) Dynamically-configured dashboard
US12471818B2 (en) Systems and methods of capturing eye-gaze data
CN106780314B (zh) 一种拼图预览的方法及移动终端
CN117950560A (zh) 媒体编辑的方法、装置、设备和存储介质
WO2021227777A1 (zh) 清洁设备的清洁路径获取方法、装置及存储介质
JP5767371B1 (ja) 仮想空間平面上に配置したオブジェクトを表示制御するゲーム・プログラム
CN114327174A (zh) 虚拟现实场景的显示方法、光标的三维显示方法和装置
WO2025026468A1 (zh) 提供媒体内容的方法、装置、设备和存储介质
CN104461119A (zh) 笔划处理装置和笔划处理方法
CN112966484A (zh) 图表排版方法、装置、以及电子设备、可读存储介质
CN105278896A (zh) 一种图像显示方法、装置及终端设备
CN118732820A (zh) 虚拟对象交互方法、装置、计算机设备和存储介质
CN114797109A (zh) 对象编辑方法、装置、电子设备和存储介质
CN110012089B (zh) 一种控制方法及电子设备
CN111611509A (zh) 答题结果的显示方法、装置及存储介质
CN115220576B (zh) 画面视角控制的方法、装置、设备和存储介质
CN104317475A (zh) 一种信息处理方法及电子设备
TW202503448A (zh) 模擬裝置及模擬程式

Legal Events

Date Code Title Description
121 Ep: the epo has been informed by wipo that ep was designated in this application

Ref document number: 21802924

Country of ref document: EP

Kind code of ref document: A1

ENP Entry into the national phase

Ref document number: 2022563240

Country of ref document: JP

Kind code of ref document: A

ENP Entry into the national phase

Ref document number: 2021802924

Country of ref document: EP

Effective date: 20221013

ENP Entry into the national phase

Ref document number: 20227038110

Country of ref document: KR

Kind code of ref document: A

NENP Non-entry into the national phase

Ref country code: DE

WWR Wipo information: refused in national office

Ref document number: 1020227038110

Country of ref document: KR