CN105796002B - Clean robot indoor cleaning processing method, clean robot and mobile terminal - Google Patents
Clean robot indoor cleaning processing method, clean robot and mobile terminal Download PDFInfo
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- CN105796002B CN105796002B CN201610202459.9A CN201610202459A CN105796002B CN 105796002 B CN105796002 B CN 105796002B CN 201610202459 A CN201610202459 A CN 201610202459A CN 105796002 B CN105796002 B CN 105796002B
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Classifications
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0268—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means
- G05D1/0274—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means using mapping information stored in a memory device
-
- 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
-
- 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
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0246—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means
- G05D1/0251—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means extracting 3D information from a plurality of images taken from different locations, e.g. stereo vision
-
- 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
Abstract
The disclosure is directed to a kind of clean robot indoor cleaning processing method, clean robot and mobile terminals.This method includes：Obtain the two-dimentional indoor map that clean robot itself is drawn；Obtain the stereo data for the indoor object that clean robot itself is detected；Three-dimensional indoor map is generated according to the stereo data of the two-dimentional indoor map and the indoor object, identifies in two-dimentional indoor map and/or in three-dimensional indoor map according to preset condition and identifies clean corner or spot as yet untouched by a clean-up campaign；The two-dimentional indoor map for identifying corner or spot as yet untouched by a clean-up campaign and three-dimensional indoor map are sent to mobile terminal so that can be according to the instruction sanitation and hygiene dead angle of the mobile terminal of reception.Using the scheme of the embodiment of the present disclosure, it can recognize that indoor corner or spot as yet untouched by a clean-up campaign to be cleaned.
Description
Technical field
This disclosure relates to Smart Home technical field more particularly to a kind of clean robot indoor cleaning processing method, clear
Clean robot and mobile terminal.
Background technology
Currently, with the continuous development of science and technology, having there are a variety of different clean robots.Clean robot is intelligence
One kind of household electrical appliance is mainly engaged in the work such as cleaning, the cleaning of domestic hygiene, can rely on certain artificial intelligence, exist automatically
Floor cleaning work is completed in room.Clean robot is generally swept using brush and vacuum mode, and ground sundries is first received entrance
The rubbish storage box of itself, to complete the function of land clearing.
But existing clean robot cleaning when generally using draw two-dimensional map, therefore for it is indoor certain
A little layouts cannot be identified effectively so that None- identified goes out clean corner or spot as yet untouched by a clean-up campaign.
Invention content
Present disclose provides a kind of clean robot indoor cleaning processing method, clean robot and mobile terminals, can know
Do not go out indoor clean corner or spot as yet untouched by a clean-up campaign and is cleaned.
According to the first aspect of the embodiments of the present disclosure, a kind of clean robot indoor cleaning processing method is provided, including：
Obtain the two-dimentional indoor map that clean robot itself is drawn；
Obtain the stereo data for the indoor object that clean robot itself is detected；
Three-dimensional indoor map is generated according to the stereo data of the two-dimentional indoor map and the indoor object, according to default
Condition is in the two-dimentional indoor map and/or is identified in the three-dimensional indoor map and identifies clean corner or spot as yet untouched by a clean-up campaign；
The two-dimentional indoor map for identifying the corner or spot as yet untouched by a clean-up campaign and three-dimensional indoor map are sent to mobile terminal so that can root
The corner or spot as yet untouched by a clean-up campaign is cleaned according to the instruction of the mobile terminal of reception.
Optionally, the stereo data for the indoor object that the clean robot of the acquisition is detected itself is by the cleaning
Robot is detected according to itself at least one following component：Touch sensor, gyroscope, range sensor, laser ranging
Device, camera.
Optionally, described to know in the two-dimentional indoor map and/or in the three-dimensional indoor map according to preset condition
Not and identifies clean corner or spot as yet untouched by a clean-up campaign and include：
According to the neighbor distance of the different objects in the two-dimentional indoor map and/or in the three-dimensional indoor map, together
The area of the height of the support member of one object or the support member of same object composition, in the two-dimentional indoor map and/
Or it is identified in the three-dimensional indoor map and identifies clean corner or spot as yet untouched by a clean-up campaign.
Optionally, the different objects according in the two-dimentional indoor map and/or in the three-dimensional indoor map
The area of the support member composition of neighbor distance, the height of the support member of same object or same object, in the two-dimentional room
It in interior map and/or identifies in the three-dimensional indoor map and identifies clean corner or spot as yet untouched by a clean-up campaign and include：
Be less than when the neighbor distance of the different objects in the two-dimentional indoor map and/or in the three-dimensional indoor map or
Equal to setpoint distance, identify that the adjacent area of different objects is corner or spot as yet untouched by a clean-up campaign；Or,
When the height of the support member of the same object in the two-dimentional indoor map and/or in the three-dimensional indoor map
More than or equal to setting height, identify that the region that support member is formed is corner or spot as yet untouched by a clean-up campaign；Or,
It is formed when the support member of the same object in the two-dimentional indoor map and/or in the three-dimensional indoor map
Area is less than or equal to setting area, identifies that the region that support member is formed is corner or spot as yet untouched by a clean-up campaign；
By the corner or spot as yet untouched by a clean-up campaign identified in the two-dimentional indoor map and/or the three-dimensional indoor map subscript
Know.
Optionally, the method further includes：When what is identified with the three-dimensional indoor map in the two-dimentional indoor map
The distance of two corner or spot as yet untouched by a clean-up campaign is less than or equal to given threshold, and a corner or spot as yet untouched by a clean-up campaign is merged into described two corner or spot as yet untouched by a clean-up campaign, and
It is identified in the two-dimentional indoor map and/or in the three-dimensional indoor map.
According to the second aspect of the embodiment of the present disclosure, a kind of clean robot indoor cleaning processing method is provided, including：
The two-dimentional indoor map for being identified with clean corner or spot as yet untouched by a clean-up campaign and three-dimensional indoor map that clean robot is sent are received,
The wherein described three-dimensional indoor map is the two-dimentional indoor map drawn according to itself by the clean robot and itself is examined
The stereo data of the indoor object of survey generates, and the clean corner or spot as yet untouched by a clean-up campaign is existed according to preset condition by the clean robot
It identifies and identifies in the two dimension indoor map and/or in the three-dimensional indoor map；
The instruction that the cleaning corner or spot as yet untouched by a clean-up campaign is sent to the clean robot makes the clean robot according to reception
Instruction clean the corner or spot as yet untouched by a clean-up campaign.
Optionally, the two-dimentional indoor map and three for being identified with clean corner or spot as yet untouched by a clean-up campaign for receiving clean robot and sending
Further include after dimension indoor map：
Realize the three-dimensional indoor map of the reception with the two-dimentional indoor map in mobile terminal screen by gesture operation
Switching on curtain and scaling.
According to the third aspect of the embodiment of the present disclosure, a kind of clean robot is provided, including：
First acquisition module, the two-dimentional indoor map drawn for obtaining clean robot itself；
Second acquisition module, the stereo data for obtaining the indoor object that clean robot itself is detected；
Conversion and mark module, the two dimension indoor map and described for being obtained according to first acquisition module
The stereo data for the indoor object that two acquisition modules obtain generates three-dimensional indoor map, indoor in the two dimension according to preset condition
It identifies in map and/or in the three-dimensional indoor map and identifies clean corner or spot as yet untouched by a clean-up campaign；
Sending module, for the two-dimentional indoor map and three-dimensional indoor map that identify the corner or spot as yet untouched by a clean-up campaign to be sent to movement
Terminal so that the corner or spot as yet untouched by a clean-up campaign can be cleaned according to the instruction of the mobile terminal of reception.
Optionally, the clean robot further includes：Detection module, the detection module are included at least with the next item down group
Part：Touch sensor, gyroscope, range sensor, airborne laser range finder, camera, the detection module pass through the group that is included
The stereo data of the indoor object of part detection, second acquisition module obtain the vertical of the indoor object that the detection module is detected
Volume data.
Optionally, the conversion and mark module include：
Transform subblock, the two-dimentional indoor map and described second for being obtained according to first acquisition module obtain
The stereo data for the indoor object that modulus block obtains generates three-dimensional indoor map；
Submodule is identified, for according to the not jljl in the two-dimentional indoor map and/or in the three-dimensional indoor map
The area of the support member composition of the neighbor distance of body, the height of the support member of same object or same object, described two
Clean corner or spot as yet untouched by a clean-up campaign is identified in dimension indoor map and/or in the three-dimensional indoor map；
Labeling submodule, for identifying the knowledge in the two-dimentional indoor map and/or in the three-dimensional indoor map
The corner or spot as yet untouched by a clean-up campaign that small pin for the case module identifies.
Optionally, the identification submodule includes：
First identification submodule, for when the difference in the two-dimentional indoor map and/or in the three-dimensional indoor map
The neighbor distance of object is less than or equal to setpoint distance, identifies that the adjacent area of different objects is corner or spot as yet untouched by a clean-up campaign；Or,
Second identification submodule, for when same in the two-dimentional indoor map and/or in the three-dimensional indoor map
The height of the support member of object is greater than or equal to setting height, identifies that the region that support member is formed is corner or spot as yet untouched by a clean-up campaign；
Or,
Third identifies submodule, for when same in the two-dimentional indoor map and/or in the three-dimensional indoor map
The area of the support member composition of object is less than or equal to setting area, identifies that the region that support member is formed is that health is dead
Angle.
According to the fourth aspect of the embodiment of the present disclosure, a kind of clean robot is provided, including：
Processor and memory for storing processor-executable instruction；
Wherein, the processor is configured as：
Obtain the two-dimentional indoor map that clean robot itself is drawn；
Obtain the stereo data for the indoor object that clean robot itself is detected；
Three-dimensional indoor map is generated according to the stereo data of the two-dimentional indoor map and the indoor object, according to default
Condition is in the two-dimentional indoor map and/or is identified in the three-dimensional indoor map and identifies clean corner or spot as yet untouched by a clean-up campaign；
The two-dimentional indoor map for identifying the corner or spot as yet untouched by a clean-up campaign and three-dimensional indoor map are sent to mobile terminal so that can root
The corner or spot as yet untouched by a clean-up campaign is cleaned according to the instruction of the mobile terminal of reception.
According to a fifth aspect of the embodiments of the present disclosure, a kind of mobile terminal is provided, including：
Processor and memory for storing processor-executable instruction；
Wherein, the processor is configured as：
The two-dimentional indoor map for being identified with clean corner or spot as yet untouched by a clean-up campaign and three-dimensional indoor map that clean robot is sent are received,
The wherein described three-dimensional indoor map is the two-dimentional indoor map drawn according to itself by the clean robot and itself is examined
The stereo data of the indoor object of survey generates, and the clean corner or spot as yet untouched by a clean-up campaign is existed according to preset condition by the clean robot
It identifies and identifies in the two dimension indoor map and/or in the three-dimensional indoor map；
The instruction that the cleaning corner or spot as yet untouched by a clean-up campaign is sent to the clean robot makes the clean robot according to reception
Instruction clean the corner or spot as yet untouched by a clean-up campaign.
The technical scheme provided by this disclosed embodiment can include the following benefits：
The clean robot of the disclosure also obtains the room itself detected after obtaining the two-dimentional indoor map that itself draws
The stereo data of interior object generates three-dimensional indoor map further according to the stereo data of two-dimentional indoor map and indoor object, according to
Preset condition identifies and identifies clean corner or spot as yet untouched by a clean-up campaign in two-dimentional indoor map and/or in three-dimensional indoor map, in this way may be used
More can intuitively and more accurately judge the layout of indoor room, such as the layout of bed, table, chair according to three-dimensional indoor map, more
Be conducive to the cleaning of clean robot, may further also identify clean corner or spot as yet untouched by a clean-up campaign, so that indoor each area
Domain can realize cleaning, avoid omitting, and improve indoor cleaning effect.
The disclosure can according to the neighbor distances of the different objects in two-dimentional indoor map and/or in three-dimensional indoor map,
The area of the height of the support member of same object or the support member of same object composition, identifies clean corner or spot as yet untouched by a clean-up campaign.
The disclosure can identify corner or spot as yet untouched by a clean-up campaign in several ways, for example, be less than according to the neighbor distance of different objects or
Equal to setpoint distance, identify that the adjacent area of different objects is corner or spot as yet untouched by a clean-up campaign；According to the height of the support member of same object
More than or equal to setting height, identify that the region that support member is formed is corner or spot as yet untouched by a clean-up campaign；According to the support portion of same object
The area of part composition is less than or equal to setting area, identifies that the region that support member is formed is corner or spot as yet untouched by a clean-up campaign etc..
It should be understood that above general description and following detailed description is only exemplary and explanatory, not
The disclosure can be limited.
Description of the drawings
The drawings herein are incorporated into the specification and forms part of this specification, and shows the implementation for meeting the disclosure
Example, and together with specification for explaining the principles of this disclosure.
Fig. 1 is a kind of clean robot indoor cleaning process flow of the disclosure shown according to an exemplary embodiment
Figure.
Fig. 2 is another clean robot indoor cleaning processing method stream of the disclosure shown according to an exemplary embodiment
Cheng Tu.
Fig. 3 is another clean robot indoor cleaning processing method stream of the disclosure shown according to an exemplary embodiment
Cheng Tu.
Fig. 4 is a schematic diagram of the disclosure according to the identification corner or spot as yet untouched by a clean-up campaign shown in an exemplary embodiment.
Fig. 5 is another schematic diagram of the disclosure according to the identification corner or spot as yet untouched by a clean-up campaign shown in an exemplary embodiment.
Fig. 6 is a kind of device block diagram of clean robot of the disclosure shown according to an exemplary embodiment.
Fig. 7 is the device block diagram of another clean robot of the disclosure shown according to an exemplary embodiment.
Fig. 8 is the device block diagram of another clean robot of the disclosure shown according to an exemplary embodiment.
Fig. 9 is a kind of device block diagram of mobile terminal of the disclosure shown according to an exemplary embodiment.
Figure 10 is an a kind of structure diagram of equipment of the disclosure shown according to an exemplary embodiment.
Specific implementation mode
Example embodiments are described in detail here, and the example is illustrated in the accompanying drawings.Following description is related to
When attached drawing, unless otherwise indicated, the same numbers in different drawings indicate the same or similar elements.Following exemplary embodiment
Described in embodiment do not represent all implementations consistent with this disclosure.On the contrary, they be only with it is such as appended
The example of the consistent device and method of some aspects be described in detail in claims, the disclosure.
It is the purpose only merely for description specific embodiment in the term that the disclosure uses, is not intended to be limiting the disclosure.
The "an" of singulative used in disclosure and the accompanying claims book, " described " and "the" are also intended to including majority
Form, unless context clearly shows that other meanings.It is also understood that term "and/or" used herein refers to and wraps
Containing one or more associated list items purposes, any or all may be combined.
It will be appreciated that though various information, but this may be described using term first, second, third, etc. in the disclosure
A little information should not necessarily be limited by these terms.These terms are only used for same type of information being distinguished from each other out.For example, not departing from
In the case of disclosure range, the first information can also be referred to as the second information, and similarly, the second information can also be referred to as
One information.Depending on context, word as used in this " if " can be construed to " ... when " or " when ...
When " or " in response to determination ".
The disclosure provides a kind of clean robot indoor cleaning processing method, can recognize that indoor clean corner or spot as yet untouched by a clean-up campaign
And it is cleaned.
Fig. 1 is a kind of clean robot indoor cleaning process flow of the disclosure shown according to an exemplary embodiment
Figure.
As shown in Figure 1, this method can be executed by clean robot, this method may comprise steps of：
In a step 101, the two-dimentional indoor map that clean robot itself is drawn is obtained.
In a step 102, the stereo data for the indoor object that clean robot itself is detected is obtained.
Wherein, the stereo data for the indoor object that the clean robot of acquisition is detected itself be by clean robot according to
Itself at least one following component is detected：Touch sensor, gyroscope, range sensor, airborne laser range finder, camera.
In step 103, three-dimensional indoor map is generated according to the stereo data of two-dimentional indoor map and indoor object, according to
Preset condition is in two-dimentional indoor map and/or is identified in three-dimensional indoor map and identifies clean corner or spot as yet untouched by a clean-up campaign.
In the step can according to the different objects in two-dimentional indoor map and/or in three-dimensional indoor map it is adjacent away from
The area of the height of support member from, same object or the support member composition of same object, in two-dimentional indoor map and/
Or it is identified in three-dimensional indoor map and identifies clean corner or spot as yet untouched by a clean-up campaign.
The step identifies and identifies clean corner or spot as yet untouched by a clean-up campaign：
When the neighbor distance of the different objects in two-dimentional indoor map and/or in three-dimensional indoor map is less than or equal to setting
Distance identifies that the adjacent area of different objects is corner or spot as yet untouched by a clean-up campaign；Or,
When the height of the support member of the same object in two-dimentional indoor map and/or in three-dimensional indoor map is more than or waits
In setting height, identify that the region that support member is formed is corner or spot as yet untouched by a clean-up campaign；Or,
When the area of the support member composition of the same object in two-dimentional indoor map and/or in three-dimensional indoor map is less than
Or equal to setting area, identify that the region that support member is formed is corner or spot as yet untouched by a clean-up campaign；
The corner or spot as yet untouched by a clean-up campaign that will identify that identifies in two-dimentional indoor map and/or in three-dimensional indoor map.
At step 104, the two-dimentional indoor map for identifying corner or spot as yet untouched by a clean-up campaign and three-dimensional indoor map are sent to mobile terminal,
So that can be according to the instruction sanitation and hygiene dead angle of the mobile terminal of reception.
It should be noted that the above method can also include：When what is identified with three-dimensional indoor map in two-dimentional indoor map
The distance of two corner or spot as yet untouched by a clean-up campaign is less than or equal to given threshold, a corner or spot as yet untouched by a clean-up campaign is merged into two corner or spot as yet untouched by a clean-up campaign, and two
It is identified in dimension indoor map and/or in three-dimensional indoor map.
From said program it can be found that the clean robot of the disclosure is after obtaining the two-dimentional indoor map that itself draws,
The stereo data for also obtaining the indoor object itself detected is given birth to further according to the stereo data of two-dimentional indoor map and indoor object
At three-dimensional indoor map, identified simultaneously in the two-dimentional indoor map and/or in the three-dimensional indoor map according to preset condition
Clean corner or spot as yet untouched by a clean-up campaign is identified, more can intuitively and more accurately judge indoor room according to three-dimensional indoor map in this way
Layout, such as bed, table, chair layout, be more advantageous to the cleaning of clean robot, may further also identify clean
Corner or spot as yet untouched by a clean-up campaign avoids omitting so that indoor each region can realize cleaning, improves indoor cleaning effect.
Fig. 2 is another clean robot indoor cleaning processing method stream of the disclosure shown according to an exemplary embodiment
Cheng Tu.
As shown in Fig. 2, this method can be by mobile terminal execution, this approach includes the following steps：
In step 201, receive clean robot send be identified with clean corner or spot as yet untouched by a clean-up campaign two-dimentional indoor map and
Three-dimensional indoor map, wherein three-dimensional indoor map be the two-dimentional indoor map drawn according to itself by clean robot and itself
The stereo data of the indoor object detected generates, and clean corner or spot as yet untouched by a clean-up campaign is according to preset condition by clean robot in two dimension
It identifies and identifies in indoor map and/or in three-dimensional indoor map.
In step 202, the instruction for sanitation and hygiene dead angle being sent to clean robot makes clean robot according to reception
Instruction sanitation and hygiene dead angle.
It should be noted that receive clean robot send be identified with clean corner or spot as yet untouched by a clean-up campaign two-dimentional indoor map and
Can also include after three-dimensional indoor map：
The three-dimensional indoor map received and two-dimentional indoor map cutting on mobile terminal screen are realized by gesture operation
It changes and scales.
After mobile terminal receives three-dimensional indoor map, indoor map (three-dimensional indoor map can be realized by gesture operation
Or two-dimentional indoor map) scaling or three-dimensional indoor map and two-dimentional indoor map switching, such as realize two as sliding in two fingers
Tie up conversion of the indoor map to three-dimensional indoor map；It is directed toward outer or slid inward by two and map (three-dimensional indoor ground may be implemented
Figure or two-dimentional indoor map) amplification and diminution.
Fig. 3 is another clean robot indoor cleaning processing method stream of the disclosure shown according to an exemplary embodiment
Cheng Tu.
The technical solution of the disclosure is described in more detail relative to Fig. 1 and Fig. 2 for the embodiment.As shown in figure 3, this method can
To include the following steps：
In step 301, clean robot drawn out when cleaning for clean two-dimentional indoor map.
The clean robot of the disclosure may include with lower component：Touch sensor, gyroscope, range sensor, laser
Range finder, camera etc..
Wherein, touch sensor is for detecting in clean robot travelling route whether have barrier；Gyroscope is for real
When clean robot direction of rotation and angle information are provided；Range sensor and airborne laser range finder for detect clean robot with
The distance of object；Camera is for shooting and identifying object.Pass through touch sensor, gyroscope, range sensor, laser ranging
Device, camera etc. may determine that the obstruction (such as wall, desk) in cleaning region.
The step clean robot can according to since in range information of the search row during dynamic, angle information and
The datum mark of action draws search movement track of the clean robot since datum mark, and according to search movement track and often
The boundary information in a region is generated for clean two-dimentional indoor map.Prior art realization may be used in the generating process, this
It is open to be not limited.
In step 302, clean robot detected when cleaning the stereo data of indoor object.
Clean robot detect object when cleaning and record the stereo data of object, including length etc.
Data or ground line gradient data (can be detected by gyroscope).These stereo datas can taking the photograph by clean robot itself
It detects to obtain as head, airborne laser range finder, range sensor, gyroscope, touch sensor etc..
In step 303, clean robot obtains the two-dimentional indoor map itself drawn and the indoor object detected
Stereo data, three-dimensional indoor map is generated according to the stereo data of two-dimentional indoor map and indoor object, according to preset condition
It identifies in two-dimentional indoor map and/or in three-dimensional indoor map and identifies clean corner or spot as yet untouched by a clean-up campaign.
The step can be the stereo data of the indoor object detected according to object information, raw from two-dimentional indoor map
At three-dimensional indoor map threedimensional model.It should be noted that the threedimensional model can be naive model, it is not necessarily very fine, only
It wants probably state out the information such as area, the height of object.That is, generating three-dimensional indoor ground from two-dimentional indoor map
Figure carries out data record, according to vertical when vision shows mainly by clean robot in cleaning to the object detected
Direct volume rendering goes out the 3-D views such as height, width, the angle of object.The two-dimentional indoor map of the disclosure is basic map, three
The higher levels clean up task service such as precise cleaning may be implemented in dimension indoor map.
The step can according to the neighbor distances of the different objects in two-dimentional indoor map and/or in three-dimensional indoor map,
The height of the support member of same object or the support member of same object composition area, in two-dimentional indoor map and/or
It is identified in three-dimensional indoor map and identifies clean corner or spot as yet untouched by a clean-up campaign.
The clean robot of the disclosure can identify the clean corner or spot as yet untouched by a clean-up campaign of room area.Wherein it is possible to difference root
Corner or spot as yet untouched by a clean-up campaign is identified according to two-dimentional indoor map or three-dimensional indoor map, it can also be in conjunction with two-dimentional indoor map or three-dimensional indoor ground
Figure identifies corner or spot as yet untouched by a clean-up campaign.
In addition, when being less than or waiting at a distance from two corner or spot as yet untouched by a clean-up campaign that three-dimensional indoor map identifies in two-dimentional indoor map
In given threshold, a corner or spot as yet untouched by a clean-up campaign can be merged into two corner or spot as yet untouched by a clean-up campaign and record.For example, in two-dimentional indoor map with
Three-dimensional indoor map can obtain corner or spot as yet untouched by a clean-up campaign by the identical cooperation of record position, as there are corner or spot as yet untouched by a clean-up campaign A in two-dimentional indoor map
There are corner or spot as yet untouched by a clean-up campaign B in three-dimensional indoor map, if the distance between two corner or spot as yet untouched by a clean-up campaign A and B are in some given threshold,
It then may determine that and be merged into a corner or spot as yet untouched by a clean-up campaign.
Wherein, the different objects in the step above-mentioned according to the map (two-dimentional indoor map or three-dimensional indoor map) is adjacent
The area of the support member composition of distance, the height of the support member of same object or same object, in two-dimentional indoor map
And/or clean corner or spot as yet untouched by a clean-up campaign is identified and identifies in three-dimensional indoor map, may include：
When the neighbor distance of the different objects in two-dimentional indoor map and/or in three-dimensional indoor map is less than or equal to setting
Distance identifies that the adjacent area of different objects is corner or spot as yet untouched by a clean-up campaign in two-dimentional indoor map and/or in three-dimensional indoor map；Its
In, setpoint distance can be set as 1 meter but not limited to this；Or,
When the height of the support member of the same object in two-dimentional indoor map and/or in three-dimensional indoor map is more than or waits
Identify that the region that support member is formed is to defend in setting height, in two-dimentional indoor map and/or in three-dimensional indoor map
Life and death angle；Wherein, setting height can be 20 centimetres but not limited to this；Or,
When the region area of the support member composition of the same object in two-dimentional indoor map and/or in three-dimensional indoor map
Less than or equal to setting area, identify what support member was formed in two-dimentional indoor map and/or in three-dimensional indoor map
Region is corner or spot as yet untouched by a clean-up campaign；Wherein, setting area can be set as 1 square metre but not limited to this；
The corner or spot as yet untouched by a clean-up campaign that will identify that identifies in two-dimentional indoor map and/or in three-dimensional indoor map.
For example, by the distance between object limit in two-dimentional indoor map or three-dimensional indoor map and object limit,
If the marginal neighbor distance or the marginal neighbor distance of desk and stool of desk and another desk are less than or equal to 1 meter,
Can being identified as desk, chair etc., there are the corner or spot as yet untouched by a clean-up campaign of narrow regions, and corner or spot as yet untouched by a clean-up campaign is marked.It is shown in Figure 4,
Fig. 4 is a schematic diagram of the disclosure according to the identification corner or spot as yet untouched by a clean-up campaign shown in an exemplary embodiment.
In another example 4 pillars of indoor desk or stool are formed by the region that area is less than or equal to 1 square metre, know
The region is not corner or spot as yet untouched by a clean-up campaign.Shown in Figure 5, Fig. 5 is that the disclosure is dead according to the identification health shown in an exemplary embodiment
Another schematic diagram at angle.
Clean robot can judge that the same object is for example same when carrying out mapping by touch sensor etc.
The pillar of 4 identical sizes of one desk can also judge the position of four pillars by laser ranging, camera etc.
With distance, area is formed by so as to calculate 4 pillars, and according to the comparison with setting area, obtain whether desk,
There are the corner or spot as yet untouched by a clean-up campaign of narrow regions for chair etc..That is, by recording the position relationship between each pillar, such as 4 columns
Sub- A, B, C, D, mutual distance between ABCD there are numerical relations equal (A to B, B to C, C to D, D to A), the region of ABCD
The information such as in the same size, highly consistent then may determine that the pillar of 4 same sizes for same a desk.Additionally by cleaning
The image of camera shooting in robot also can calculate whether object belongs to desk etc. from image.
In another example indoor desk or stool have the foot rib of 4 supports, clean robot to differ surely accurate across the past.
When the height of foot rib is greater than or equal to such as 20 centimetres of setting height, clean robot can not be crossed over, then by 4 foot prismatics
At region recognition be identified as corner or spot as yet untouched by a clean-up campaign.
In step 304, clean robot sends the two-dimentional indoor map for identifying corner or spot as yet untouched by a clean-up campaign and three-dimensional indoor map
To mobile terminal.
In the step, clean robot by the two-dimentional indoor map for identifying corner or spot as yet untouched by a clean-up campaign and three-dimensional indoor map send to
The mobile terminal of clean robot connection.Mobile terminal can connect clean robot by the modes such as WiFi, bluetooth, infrared.
In step 305, mobile terminal realizes the three-dimensional indoor map received and two-dimentional indoor map by gesture operation
Switching on mobile terminal screen and scaling, and according to the corner or spot as yet untouched by a clean-up campaign identified in two-dimentional indoor map and three-dimensional indoor map
The instruction at sanitation and hygiene dead angle is sent out to clean robot.
After mobile terminal receives three-dimensional indoor map, indoor map (three-dimensional indoor map can be realized by gesture operation
Or two-dimentional indoor map) scaling or three-dimensional indoor map and two-dimentional indoor map switching, such as realize two as sliding in two fingers
Tie up conversion of the indoor map to three-dimensional indoor map；It is directed toward outer or slid inward by two and map (three-dimensional indoor ground may be implemented
Figure or two-dimentional indoor map) amplification and diminution.
After mobile terminal is connect with clean robot, mobile terminal can be sent out according to the corner or spot as yet untouched by a clean-up campaign on the map of reception
Go out cleaning instruction, it is desirable that clean robot carries out emphasis cleaning, repeatedly cleaning etc. to the corner or spot as yet untouched by a clean-up campaign identified.
Within step 306, clean robot is according to the instruction sanitation and hygiene dead angle of the mobile terminal of reception.
In the step, clean robot is instructed according to the cleaning of the mobile terminal of reception, and with reference to three-dimensional indoor map, right
Corner or spot as yet untouched by a clean-up campaign carries out emphasis cleaning.
It, in this way can be with it can be found that two-dimentional indoor map is converted into three-dimensional indoor map by the clean robot of the disclosure
It can more accurately judge the layout of indoor room, such as the layout of bed, table, chair；According to preset condition in two-dimentional indoor map
And/or clean corner or spot as yet untouched by a clean-up campaign is identified and identifies in three-dimensional indoor map, it in this way can be according to the clean health identified
Dead angle carries out emphasis cleaning, so that indoor each region can realize cleaning, avoids omitting, improves indoor cleaning effect.
Corresponding with aforementioned applications function realizing method embodiment, the disclosure additionally provides a kind of clean robot, movement
Terminal and corresponding embodiment.
Fig. 6 is a kind of device block diagram of clean robot of the disclosure shown according to an exemplary embodiment.
As shown in fig. 6, may include in a kind of clean robot：First acquisition module 61, turns second acquisition module 62
It changes and mark module 63, sending module 64.
First acquisition module 61, the two-dimentional indoor map drawn for obtaining clean robot itself.
Second acquisition module 62, the stereo data for obtaining the indoor object that clean robot itself is detected.Wherein,
Clean robot can be according to the stereo data of object at least one the following component detection room of itself：Touch sensor, top
Spiral shell instrument, range sensor, airborne laser range finder, camera.
Conversion and mark module 63, two-dimentional indoor map and second for being obtained according to the first acquisition module 61 obtain mould
The stereo data for the indoor object that block 62 obtains generates three-dimensional indoor map, according to preset condition in two-dimentional indoor map and/
Or it is identified in three-dimensional indoor map and identifies clean corner or spot as yet untouched by a clean-up campaign.
Sending module 64, it is mobile whole for the two-dimentional indoor map and three-dimensional indoor map that identify corner or spot as yet untouched by a clean-up campaign to be sent to
End so that can be according to the instruction sanitation and hygiene dead angle of the mobile terminal of reception.
It can be found that the clean robot of the disclosure also obtains itself after obtaining the two-dimentional indoor map that itself draws
The stereo data of the indoor object detected generates three-dimensional interior further according to the stereo data of two-dimentional indoor map and indoor object
Map identifies in two-dimentional indoor map and/or in three-dimensional indoor map and to identify clean health dead according to preset condition
Angle more can intuitively and more accurately judge the layout of indoor room, such as bed, table, chair according to three-dimensional indoor map in this way
Layout, be more advantageous to the cleaning of clean robot, may further also identify clean corner or spot as yet untouched by a clean-up campaign so that
Indoor each region can realize cleaning, avoid omitting, and improve indoor cleaning effect.
Fig. 7 is the device block diagram of another clean robot of the disclosure shown according to an exemplary embodiment.
As shown in fig. 7, may include in a kind of clean robot：First acquisition module 61, turns second acquisition module 62
It changes and mark module 63, sending module 64, detection module 65.
First acquisition module 61, the second acquisition module 62, conversion and mark module 63, the function of sending module 64 are referring to figure
Shown in 6.
Detection module 65 is included at least with the next item down component：Touch sensor, gyroscope, range sensor, laser ranging
Device, camera, detection module 65 are obtained by the stereo data of object in the component detection room that is included, the second acquisition module 62
The stereo data for the indoor object that detection module 65 is detected.
Wherein, conversion and mark module 63 may include：Transform subblock 631, identification submodule 632, labeling submodule
633。
Transform subblock 631, the two-dimentional indoor map for being obtained according to the first acquisition module 61 and the second acquisition module
The stereo data of the 62 indoor objects obtained generates three-dimensional indoor map.
Submodule 632 is identified, for the phase according to the different objects in two-dimentional indoor map and/or in three-dimensional indoor map
The area of the height of the support member of neighborhood distance, same object or the support member of same object composition, in two-dimentional indoor map
Clean corner or spot as yet untouched by a clean-up campaign is identified in interior and/or three-dimensional indoor map.
Labeling submodule 633, for mark identification submodule in two-dimentional indoor map and/or in three-dimensional indoor map
632 corner or spot as yet untouched by a clean-up campaign identified.
Wherein, identification submodule 633 can also include：First identification submodule 6331, second identify submodule 6332 or
Third identifies submodule 6333.
First identification submodule 6331, for when the different objects in two-dimentional indoor map and/or in three-dimensional indoor map
Neighbor distance be less than or equal to setpoint distance, identify different objects adjacent area be corner or spot as yet untouched by a clean-up campaign；Wherein, setpoint distance
It can be set as 1 meter but not limited to this.
Second identification submodule 6332, for when the same object in two-dimentional indoor map and/or in three-dimensional indoor map
The height of support member be greater than or equal to setting height, identify that region that support member is formed is corner or spot as yet untouched by a clean-up campaign, wherein
Setting height can be 20 centimetres but not limited to this.
Third identifies submodule 6333, for when the same object in two-dimentional indoor map and/or in three-dimensional indoor map
The area of support member composition be less than or equal to setting area, identify that region that support member is formed is corner or spot as yet untouched by a clean-up campaign,
Wherein, setting area can be set as 1 square metre but not limited to this.
The function of each unit and the realization process of effect specifically refer to and correspond to step in the above method in above-mentioned apparatus
Realization process, details are not described herein.
For device embodiments, since it corresponds essentially to embodiment of the method, so related place is referring to method reality
Apply the part explanation of example.The apparatus embodiments described above are merely exemplary, wherein being used as separating component explanation
Unit may or may not be physically separated, the component shown as unit may or may not be
Physical unit, you can be located at a place, or may be distributed over multiple network units.It can be according to the actual needs
Some or all of module therein is selected to realize the purpose of disclosure scheme.Those of ordinary skill in the art are not paying wound
In the case that the property made is worked, you can to understand and implement.
Fig. 8 is the device block diagram of another clean robot of the disclosure shown according to an exemplary embodiment.
As shown in figure 8, a kind of clean robot includes：Processor 801 and for storing depositing for processor-executable instruction
Reservoir 802；
Wherein, processor 801 is configured as：
Obtain the two-dimentional indoor map that clean robot itself is drawn；
Obtain the stereo data for the indoor object that clean robot itself is detected；
Three-dimensional indoor map is generated according to the stereo data of two-dimentional indoor map and indoor object, according to preset condition two
It identifies in dimension indoor map and/or in three-dimensional indoor map and identifies clean corner or spot as yet untouched by a clean-up campaign；
The two-dimentional indoor map for identifying corner or spot as yet untouched by a clean-up campaign and three-dimensional indoor map are sent to mobile terminal so that can be according to connecing
The instruction sanitation and hygiene dead angle of the mobile terminal of receipts.
It should be noted that other programs that memory 802 stores, referring specifically to the description in previous methods flow, this
Place repeats no more, and processor 801 is additionally operable to execute other programs that memory 802 stores.
Fig. 9 is a kind of device block diagram of mobile terminal of the disclosure shown according to an exemplary embodiment.
As shown in figure 9, a kind of mobile terminal includes：Processor 91 and memory for storing processor-executable instruction
92；
Wherein, processor 91 is configured as：
The two-dimentional indoor map for being identified with clean corner or spot as yet untouched by a clean-up campaign and three-dimensional indoor map that clean robot is sent are received,
Wherein three-dimensional indoor map is the two-dimentional indoor map drawn according to itself by clean robot and the interior itself detected
The stereo data of object generates, clean corner or spot as yet untouched by a clean-up campaign be by clean robot according to preset condition in two-dimentional indoor map
And/or it identifies and identifies in three-dimensional indoor map；
The instruction at sanitation and hygiene dead angle is sent to clean robot so that clean robot is defended according to the instruction of reception cleaning
Life and death angle.
It should be noted that other programs that memory 92 stores, referring specifically to the description in previous methods flow, herein
It repeats no more, processor 91 is additionally operable to execute other programs that memory 92 stores.
Figure 10 is an a kind of structure diagram of equipment of the disclosure shown according to an exemplary embodiment.
For example, equipment 900 can be terminal device or server etc..
Referring to Fig.1 0, equipment 900 may include following one or more components：Processing component 902, memory 904, power supply
Component 906, multimedia component 908, audio component 910, the interface 912 of input/output (I/O), sensor module 914, and
Communication component 916.
The integrated operation of 902 usual control device 900 of processing component.Processing component 902 may include one or more places
Device 920 is managed to execute instruction, to perform all or part of the steps of the methods described above.In addition, processing component 902 may include one
A or multiple modules, convenient for the interaction between processing component 902 and other assemblies.For example, processing component 902 may include more matchmakers
Module, to facilitate the interaction between multimedia component 908 and processing component 902.
Memory 904 is configured as storing various types of data to support the operation in equipment 900.These data are shown
Example includes instruction for any application program or method that operate on the device 900, contact data, and telephone book data disappears
Breath, picture, video etc..Memory 904 can be by any kind of volatibility or non-volatile memory device or their group
It closes and realizes, such as static RAM (SRAM), electrically erasable programmable read-only memory (EEPROM) is erasable to compile
Journey read-only memory (EPROM), programmable read only memory (PROM), read-only memory (ROM), magnetic memory, flash
Device, disk or CD.
Power supply module 906 provides electric power for the various assemblies of equipment 900.Power supply module 906 may include power management system
System, one or more power supplys and other generated with for equipment 900, management and the associated component of distribution electric power.
Multimedia component 908 is included in the screen of one output interface of offer between equipment 900 and user.In some realities
It applies in example, screen may include liquid crystal display (LCD) and touch panel (TP).If screen includes touch panel, screen can
To be implemented as touch screen, to receive input signal from the user.Touch panel include one or more touch sensors with
Sense the gesture on touch, slide, and touch panel.Touch sensor can not only sense the boundary of a touch or slide action, and
And also detection and touch or the relevant duration and pressure of slide.In some embodiments, multimedia component 908 includes
One front camera and/or rear camera.It is preceding when such as screening-mode or video mode when equipment 900 is in operation mode
External multi-medium data can be received by setting camera and/or rear camera.Each front camera and rear camera can
Be a fixed optical lens system or have focusing and optical zoom capabilities.
Audio component 910 is configured as output and/or input audio signal.For example, audio component 910 includes a Mike
Wind (MIC), when equipment 900 is in operation mode, when such as call model, logging mode and speech recognition mode, microphone by with
It is set to reception external audio signal.The received audio signal can be further stored in memory 904 or via communication set
Part 916 is sent.In some embodiments, audio component 910 further includes a loud speaker, is used for exports audio signal.
I/O interfaces 912 provide interface between processing component 902 and peripheral interface module, and above-mentioned peripheral interface module can
To be keyboard, click wheel, button etc..These buttons may include but be not limited to：Home button, volume button, start button and lock
Determine button.
Sensor module 914 includes one or more sensors, and the state for providing various aspects for equipment 900 is commented
Estimate.For example, sensor module 914 can detect the state that opens/closes of equipment 900, the relative positioning of component, such as component
For the display and keypad of equipment 900, sensor module 914 can be with the position of 900 1 components of detection device 900 or equipment
Set change, the existence or non-existence that user contacts with equipment 900, the temperature of 900 orientation of equipment or acceleration/deceleration and equipment 900
Variation.Sensor module 914 may include proximity sensor, be configured to detect without any physical contact near
The presence of object.Sensor module 914 can also include optical sensor, such as CMOS or ccd image sensor, for being answered in imaging
With middle use.In some embodiments, which can also include acceleration transducer, gyro sensor, magnetic
Sensor, pressure sensor or temperature sensor.
Communication component 916 is configured to facilitate the communication of wired or wireless way between equipment 900 and other equipment.Equipment
900 can access the wireless network based on communication standard, such as WiFi, 2G or 3G or combination thereof.In an exemplary implementation
In example, communication component 916 receives broadcast singal or broadcast related information from external broadcasting management system via broadcast channel.
In one exemplary embodiment, communication component 916 further includes near-field communication (NFC) module, to promote short range communication.For example,
It can be based on radio frequency identification (RFID) technology, Infrared Data Association (IrDA) technology, ultra wide band (UWB) technology, bluetooth in NFC module
(BT) technology and other technologies are realized.
In the exemplary embodiment, equipment 900 can be by one or more application application-specific integrated circuit
(ASIC), digital signal processor (DSP), digital signal processing appts (DSPD), programmable logic device
(PLD), field programmable gate array (FPGA), controller, microcontroller, microprocessor or other electronic components are realized, are used for
Execute the above method.
In the exemplary embodiment, it includes the non-transitorycomputer readable storage medium instructed, example to additionally provide a kind of
Such as include the memory 904 of instruction, above-metioned instruction can be executed by the processor 920 of equipment 900 to complete the above method.For example,
Non-transitorycomputer readable storage medium can be ROM, random access memory (RAM), CD-ROM, tape, floppy disk and light
Data storage device etc..
A kind of non-transitorycomputer readable storage medium, when the instruction in storage medium is held by the processor of terminal device
When row so that the method that terminal device is able to carry out the processing of clean robot indoor cleaning, method include：
Obtain the two-dimentional indoor map that clean robot itself is drawn；
Obtain the stereo data for the indoor object that clean robot itself is detected；
Three-dimensional indoor map is generated according to the stereo data of two-dimentional indoor map and indoor object, according to preset condition two
It identifies in dimension indoor map and/or in three-dimensional indoor map and identifies clean corner or spot as yet untouched by a clean-up campaign；
The two-dimentional indoor map for identifying corner or spot as yet untouched by a clean-up campaign and three-dimensional indoor map are sent to mobile terminal so that can be according to connecing
The instruction sanitation and hygiene dead angle of the mobile terminal of receipts.
A kind of non-transitorycomputer readable storage medium, when the instruction in storage medium is held by the processor of terminal device
When row so that the method that terminal device is able to carry out the processing of clean robot indoor cleaning, method include：
The two-dimentional indoor map for being identified with clean corner or spot as yet untouched by a clean-up campaign and three-dimensional indoor map that clean robot is sent are received,
The wherein described three-dimensional indoor map is the two-dimentional indoor map drawn according to itself by the clean robot and itself is examined
The stereo data of the indoor object of survey generates, and the clean corner or spot as yet untouched by a clean-up campaign is existed according to preset condition by the clean robot
It identifies and identifies in the two dimension indoor map and/or in the three-dimensional indoor map；
The instruction that the cleaning corner or spot as yet untouched by a clean-up campaign is sent to the clean robot makes the clean robot according to reception
Instruction clean the corner or spot as yet untouched by a clean-up campaign.
Those skilled in the art after considering the specification and implementing the invention disclosed here, will readily occur to its of the disclosure
Its embodiment.The disclosure is intended to cover any variations, uses, or adaptations of the disclosure, these modifications, purposes or
Person's adaptive change follows the general principles of this disclosure and includes the undocumented common knowledge in the art of the disclosure
Or conventional techniques.The description and examples are only to be considered as illustrative, and the true scope and spirit of the disclosure are by following
Claim is pointed out.
It should be understood that the present disclosure is not limited to the precise structures that have been described above and shown in the drawings, and
And various modifications and changes may be made without departing from the scope thereof.The scope of the present disclosure is only limited by the accompanying claims.
Claims (11)
1. a kind of clean robot indoor cleaning processing method, which is characterized in that including：
Obtain the two-dimentional indoor map that clean robot itself is drawn；
Obtain the stereo data for the indoor object that clean robot itself is detected；
Three-dimensional indoor map is generated according to the stereo data of the two-dimentional indoor map and the indoor object, according to preset condition
It identifies in the two-dimentional indoor map and/or in the three-dimensional indoor map and identifies clean corner or spot as yet untouched by a clean-up campaign；
The two-dimentional indoor map for identifying the corner or spot as yet untouched by a clean-up campaign and three-dimensional indoor map are sent to mobile terminal so that can be according to connecing
The corner or spot as yet untouched by a clean-up campaign is cleaned in the instruction of the mobile terminal of receipts；
Wherein, described to identify and mark in the two-dimentional indoor map and/or in the three-dimensional indoor map according to preset condition
Know and clean corner or spot as yet untouched by a clean-up campaign and include：
According to the neighbor distance of the different objects in the two-dimentional indoor map and/or in the three-dimensional indoor map, same object
The area of the height of the support member of body or the support member of same object composition, in the two-dimentional indoor map and/or institute
It states and clean corner or spot as yet untouched by a clean-up campaign is identified and identified in three-dimensional indoor map.
2. according to the method described in claim 1, it is characterized in that：
The stereo data for the indoor object that the clean robot of the acquisition is detected itself be by the clean robot according to
Itself at least one following component is detected：Touch sensor, gyroscope, range sensor, camera.
3. method according to claim 1 or 2, which is characterized in that described according in the two-dimentional indoor map and/or institute
State the support of the neighbor distance of the different objects in three-dimensional indoor map, the height of the support member of same object or same object
The area of component composition is identified and is identified clean in the two-dimentional indoor map and/or in the three-dimensional indoor map
Corner or spot as yet untouched by a clean-up campaign includes：
When the neighbor distance of the different objects in the two-dimentional indoor map and/or in the three-dimensional indoor map is less than or equal to
Setpoint distance identifies that the adjacent area of different objects is corner or spot as yet untouched by a clean-up campaign；Or,
When the height of the support member of the same object in the two-dimentional indoor map and/or in the three-dimensional indoor map is more than
Or it is equal to setting height, identify that the region that support member is formed is corner or spot as yet untouched by a clean-up campaign；Or,
When the area of the support member composition of the same object in the two-dimentional indoor map and/or in the three-dimensional indoor map
Less than or equal to setting area, identify that the region that support member is formed is corner or spot as yet untouched by a clean-up campaign；
The corner or spot as yet untouched by a clean-up campaign identified is identified in the two-dimentional indoor map and/or in the three-dimensional indoor map.
4. method according to claim 1 or 2, which is characterized in that the method further includes：
When being less than or wait at a distance from two corner or spot as yet untouched by a clean-up campaign that the three-dimensional indoor map identifies in the two-dimentional indoor map
In given threshold, a corner or spot as yet untouched by a clean-up campaign is merged into described two corner or spot as yet untouched by a clean-up campaign, and in the two-dimentional indoor map and/or institute
It states and is identified in three-dimensional indoor map.
5. a kind of clean robot indoor cleaning processing method, which is characterized in that including：
The two-dimentional indoor map for being identified with clean corner or spot as yet untouched by a clean-up campaign and three-dimensional indoor map that clean robot is sent are received, wherein
The three-dimensional indoor map is the two-dimentional indoor map drawn according to itself by the clean robot and itself is detected
The stereo data of indoor object generates, and the clean corner or spot as yet untouched by a clean-up campaign is by the clean robot according to the indoor ground of the two dimension
The neighbor distance of different objects, the height of the support member of same object or same in figure and/or in the three-dimensional indoor map
The area of the support member composition of one object identifies simultaneously in the two-dimentional indoor map and/or in the three-dimensional indoor map
Mark；
The finger for making the clean robot according to reception that instructs for cleaning the corner or spot as yet untouched by a clean-up campaign is sent to the clean robot
It enables and cleans the corner or spot as yet untouched by a clean-up campaign.
6. according to the method described in claim 5, it is characterized in that, being identified with for the reception clean robot transmission is clean
Further include after the two-dimentional indoor map of corner or spot as yet untouched by a clean-up campaign and three-dimensional indoor map：
Realize the three-dimensional indoor map of the reception with the two-dimentional indoor map on mobile terminal screen by gesture operation
Switching and scaling.
7. a kind of clean robot, which is characterized in that including：
First acquisition module, the two-dimentional indoor map drawn for obtaining clean robot itself；
Second acquisition module, the stereo data for obtaining the indoor object that clean robot itself is detected；
Conversion and mark module, the two-dimentional indoor map and described second for being obtained according to first acquisition module obtain
The stereo data for the indoor object that modulus block obtains generates three-dimensional indoor map, according to preset condition in the two-dimentional indoor map
It is identified in the interior and/or described three-dimensional indoor map and identifies clean corner or spot as yet untouched by a clean-up campaign；
Sending module, it is mobile whole for the two-dimentional indoor map and three-dimensional indoor map that identify the corner or spot as yet untouched by a clean-up campaign to be sent to
End so that the corner or spot as yet untouched by a clean-up campaign can be cleaned according to the instruction of the mobile terminal of reception；
Wherein, the conversion and mark module include：
Transform subblock, the two-dimentional indoor map and described second for being obtained according to first acquisition module obtain mould
The stereo data for the indoor object that block obtains generates three-dimensional indoor map；
Submodule is identified, for according to the different objects in the two-dimentional indoor map and/or in the three-dimensional indoor map
The area of the support member composition of neighbor distance, the height of the support member of same object or same object, in the two-dimentional room
Clean corner or spot as yet untouched by a clean-up campaign is identified in interior map and/or in the three-dimensional indoor map；
Labeling submodule, for identifying the identification mould in the two-dimentional indoor map and/or in the three-dimensional indoor map
The corner or spot as yet untouched by a clean-up campaign that block identifies.
8. clean robot according to claim 7, which is characterized in that the clean robot further includes：
Detection module, the detection module are included at least with the next item down component：Touch sensor, range sensor, is taken the photograph gyroscope
Picture head,
The detection module obtains institute by the stereo data of object in the component detection room that is included, second acquisition module
State the stereo data for the indoor object that detection module is detected.
9. robot according to claim 7, which is characterized in that the identification submodule includes：
First identification submodule, for when the different objects in the two-dimentional indoor map and/or in the three-dimensional indoor map
Neighbor distance be less than or equal to setpoint distance, identify different objects adjacent area be corner or spot as yet untouched by a clean-up campaign；Or,
Second identification submodule, for when the same object in the two-dimentional indoor map and/or in the three-dimensional indoor map
The height of support member be greater than or equal to setting height, identify that region that support member is formed is corner or spot as yet untouched by a clean-up campaign；Or,
Third identifies submodule, for when the same object in the two-dimentional indoor map and/or in the three-dimensional indoor map
The area of support member composition be less than or equal to setting area, identify that region that support member is formed is corner or spot as yet untouched by a clean-up campaign.
10. a kind of clean robot, which is characterized in that including：
Processor and memory for storing processor-executable instruction；
Wherein, the processor is configured as：
Obtain the two-dimentional indoor map that clean robot itself is drawn；
Obtain the stereo data for the indoor object that clean robot itself is detected；
Three-dimensional indoor map is generated according to the stereo data of the two-dimentional indoor map and the indoor object, according to preset condition
It identifies in the two-dimentional indoor map and/or in the three-dimensional indoor map and identifies clean corner or spot as yet untouched by a clean-up campaign；
The two-dimentional indoor map for identifying the corner or spot as yet untouched by a clean-up campaign and three-dimensional indoor map are sent to mobile terminal so that can be according to connecing
The corner or spot as yet untouched by a clean-up campaign is cleaned in the instruction of the mobile terminal of receipts；
Wherein, described to identify and mark in the two-dimentional indoor map and/or in the three-dimensional indoor map according to preset condition
Know and clean corner or spot as yet untouched by a clean-up campaign and include：
According to the neighbor distance of the different objects in the two-dimentional indoor map and/or in the three-dimensional indoor map, same object
The area of the height of the support member of body or the support member of same object composition, in the two-dimentional indoor map and/or institute
It states and clean corner or spot as yet untouched by a clean-up campaign is identified and identified in three-dimensional indoor map.
11. a kind of mobile terminal, which is characterized in that including：
Processor and memory for storing processor-executable instruction；
Wherein, the processor is configured as：
The two-dimentional indoor map for being identified with clean corner or spot as yet untouched by a clean-up campaign and three-dimensional indoor map that clean robot is sent are received, wherein
The three-dimensional indoor map is the two-dimentional indoor map drawn according to itself by the clean robot and itself is detected
The stereo data of indoor object generates, and the clean corner or spot as yet untouched by a clean-up campaign is by the clean robot according to the indoor ground of the two dimension
The neighbor distance of different objects, the height of the support member of same object or same in figure and/or in the three-dimensional indoor map
The area of the support member composition of one object identifies simultaneously in the two-dimentional indoor map and/or in the three-dimensional indoor map
Mark；
The finger for making the clean robot according to reception that instructs for cleaning the corner or spot as yet untouched by a clean-up campaign is sent to the clean robot
It enables and cleans the corner or spot as yet untouched by a clean-up campaign.
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