CN111603100B - Storage and reuse method and storage and reuse device for sweeping drawing of sweeper - Google Patents
Storage and reuse method and storage and reuse device for sweeping drawing of sweeper Download PDFInfo
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- CN111603100B CN111603100B CN202010382401.3A CN202010382401A CN111603100B CN 111603100 B CN111603100 B CN 111603100B CN 202010382401 A CN202010382401 A CN 202010382401A CN 111603100 B CN111603100 B CN 111603100B
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/24—Floor-sweeping machines, motor-driven
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- 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
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
- A47L11/4002—Installations of electric equipment
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- 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
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L67/00—Network arrangements or protocols for supporting network services or applications
- H04L67/01—Protocols
- H04L67/10—Protocols in which an application is distributed across nodes in the network
- H04L67/1097—Protocols in which an application is distributed across nodes in the network for distributed storage of data in networks, e.g. transport arrangements for network file system [NFS], storage area networks [SAN] or network attached storage [NAS]
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- 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
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- 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
Abstract
The invention discloses a method for storing and reusing a sweeping drawing of a sweeper, which comprises the following steps: the sweeper collects map characteristic data nearby according to the received sweeping instruction, and sends the map characteristic data to the cloud server; the cloud server matches the map feature data with each cleaning map corresponding to the stored identifier of the sweeper, acquires the successfully matched cleaning map, and sends the successfully matched cleaning map to the sweeper; and the sweeper executes the current cleaning task according to the received cleaning map. Due to the fact that the storage capacity of the cloud server is large and the calculation capacity is sufficient, the sweeping maps of the sweeper in various scenes are stored in the cloud server, the sweeper can better multiplex the sweeping maps in various scenes when sweeping, and the accuracy of matching in the cloud server is high.
Description
Technical Field
The invention relates to the technical field of household appliances, in particular to a storage and multiplexing method and a storage and multiplexing device for a sweeping map of a sweeper.
Background
The reuse of the cleaning map of the sweeper can better enable the sweeper to plan cleaning, and is the basis for executing high-level functions based on the cleaning map.
In the prior art, a sweeping map is generally stored in a sweeper local machine, and both the storage capacity and the calculation power of the sweeper are limited, so that in order to save space, if the sweeper local machine only stores one sweeping map, the sweeping map needs to be reconstructed when a scene of the sweeper is changed for sweeping, and if the storage capacity is not considered, the sweeper local machine stores a multi-scene sweeping map, and when sweeping is performed, calculation power retrieval needs to be consumed, and retrieval needs long time.
Disclosure of Invention
The invention aims to provide a storing and multiplexing method and a storing and multiplexing device for a sweeping drawing of a sweeper, aiming at the defects of the prior art, and the aim is realized by the following technical scheme.
The invention provides a storage method of a sweeping drawing of a sweeper, which comprises the following steps:
the sweeper sends a first sweeping map and sweeper track which finish the sweeping task to the cloud server;
the cloud server scores the first cleaning map according to the first cleaning map and the sweeper track, and correspondingly stores the first cleaning map, the score and the identification of the sweeper;
wherein the score is used for representing the credibility of cleaning the map.
The second aspect of the invention provides a method for reusing a sweeping map of a sweeper, which comprises the following steps:
the sweeper collects map characteristic data nearby according to the received sweeping instruction, and sends the map characteristic data to the cloud server;
the cloud server matches the map feature data with each cleaning map corresponding to the stored identifier of the sweeper, acquires the successfully matched cleaning map, and sends the successfully matched cleaning map to the sweeper;
and the sweeper executes the current cleaning task according to the received cleaning map.
A third aspect of the present invention provides a storage device for a sweeping map of a sweeper, the device comprising: a communication module in the sweeper and a storage module in the cloud server;
the communication module is used for sending a first cleaning map and a sweeper track which finish the cleaning task to the cloud server;
the storage module is used for scoring the first cleaning map according to the first cleaning map and the sweeper track, and correspondingly storing the first cleaning map, the score and the identification of the sweeper;
wherein the score is used for representing the credibility of cleaning the map.
A fourth aspect of the present invention provides a multiplexing device for sweeping a map by a sweeper, the device comprising: a communication module and a task execution module in the sweeper, and a matching module in the cloud server;
the communication module is used for collecting map characteristic data nearby according to the received cleaning instruction and sending the map characteristic data to the cloud server;
the matching module is used for matching the map characteristic data with each cleaning map corresponding to the stored identifier of the sweeper, acquiring the successfully matched cleaning map and sending the successfully matched cleaning map to the sweeper;
and the task execution module is used for executing the current cleaning task according to the received cleaning map.
Based on the storage and reuse method of the sweeping drawing of the sweeper, the invention has the following beneficial effects:
the cloud server has large storage capacity and sufficient computing power, so that the cloud server can store cleaning maps of various scenes of the sweeper, the sweeper can better reuse the cleaning maps in various scenes during cleaning, and the accuracy of matching at the cloud server is high.
Drawings
The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the invention and not to limit the invention. In the drawings:
fig. 1 is a flowchart illustrating an embodiment of a method for storing a cleaning map of a sweeper according to an exemplary embodiment of the present invention;
fig. 2 is a flowchart illustrating an embodiment of a method for reusing a map swept by a sweeper according to an exemplary embodiment of the present invention;
fig. 3 is a structural diagram of a storage device for a map of a sweeper according to an exemplary embodiment of the present invention;
fig. 4 is a structural diagram of a multiplexing device for sweeping a map by a sweeper according to an exemplary embodiment of the present invention.
Detailed Description
Reference will now be made in detail to the exemplary embodiments, examples of which are illustrated in the accompanying drawings. When the following description refers to the accompanying drawings, like numbers in different drawings represent the same or similar elements unless otherwise indicated. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with the present invention. Rather, they are merely examples of apparatus and methods consistent with certain aspects of the invention, as detailed in the appended claims.
The terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. As used in this specification and the appended claims, the singular forms "a", "an", and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise. It should also be understood that the term "and/or" as used herein refers to and encompasses any and all possible combinations of one or more of the associated listed items.
It is to be understood that although the terms first, second, third, etc. may be used herein to describe various information, these information should not be limited to these terms. These terms are only used to distinguish one type of information from another. For example, first information may also be referred to as second information, and similarly, second information may also be referred to as first information, without departing from the scope of the present invention. The word "if" as used herein may be interpreted as "at … …" or "when … …" or "in response to a determination", depending on the context.
At present, a sweeping map is generally stored in a local sweeper, and because the storage capacity and the calculation capacity of the sweeper are limited, only one sweeping map is stored in the local sweeper, so that maps of various scenes cannot be well reused.
In order to solve the technical problem, the sweeping machine stores the sweeping maps of various scenes swept by the sweeping machine in the cloud server, the cloud server performs sweeping map matching when the sweeping machine sweeps next time, the successfully matched sweeping maps are sent to the sweeping machine, and the sweeping machine performs relocation and path planning based on the received sweeping maps to sweep.
Based on the description, the cloud server has large storage capacity and sufficient computing power, so that the cloud server can store cleaning maps of various scenes of the sweeper, the sweeper can better reuse the cleaning maps in various scenes during cleaning, and the accuracy of matching at the cloud server is high.
The following describes a storage scheme and a multiplexing scheme of a sweeping drawing of the sweeper in detail according to specific embodiments.
Fig. 1 is a flowchart of an embodiment of a method for storing a cleaning map of a sweeper according to an exemplary embodiment of the present invention, where the method for storing the cleaning map of the sweeper includes the following steps:
step 101: the sweeper sends a first sweeping map and sweeper track which finish the sweeping task to the cloud server.
The sweeping map generated by the sweeper after completing the sweeping task is composed of raster data, point coordinates and attributes to which the points belong, wherein the attributes to which the points belong comprise boundaries, obstacles, sweeping, non-sweeping and the like.
The sweeper track refers to a sweeping route in the sweeping process of the sweeper and consists of track points.
In an embodiment, after the sweeper finishes the cleaning task, a complete cleaning event notification can be sent to the terminals connected in a matched mode, the terminals pop up windows to enable users to select whether to store a cleaning map, and when the terminals receive a storage instruction, the first cleaning map and the sweeper track are sent to the cloud server.
Step 102: and the cloud server scores the first cleaning map according to the first cleaning map and the track of the sweeper, and correspondingly stores the first cleaning map, the score and the identification of the sweeper.
In order to ensure that the cloud server stores the latest cleaning maps of the sweeper in each scene, before step 102 is executed, a second cleaning map corresponding to the locally stored identifier of the sweeper may be obtained, a difference value between the first cleaning map and each second cleaning map is determined, and if a difference value smaller than a first threshold exists in the difference values, the second cleaning map and the score corresponding to the difference value smaller than the first threshold are deleted.
The second cleaning map with the difference value smaller than the first threshold value and the first cleaning map belong to the same scene, and in order to ensure that the latest map of each scene is stored locally and always in the cloud server, the second cleaning map with the difference value smaller than the first threshold value can be deleted.
It will be understood by those skilled in the art that determining the difference value between the two cleaning maps can be achieved by using a correlation matching technique, which is not specifically limited in the present application.
It should be noted that, since the cloud server needs to store the cleaning maps of a plurality of sweeper machines, the unique identifier of each sweeper machine is used to be distinguished from the corresponding storage of the cleaning map.
The unique identifier of the sweeper can be an ID number, a name named by a user, an identification code or a serial number and the like.
In one embodiment, the coverage integrity and boundary definition can be determined from the first cleaning map and the sweeper track, and then the first cleaning map can be scored using the coverage integrity and boundary definition.
Wherein the score is used for representing the credibility of cleaning the map so as to provide selection parameters for subsequent multiplexing.
The coverage integrity degree refers to the coverage integrity degree of the sweeper track in the sweeping map, the swept area can be marked on the first sweeping map through the sweeper track and the machine body width information, the remaining area is used as the non-swept area, and the coverage integrity degree is determined according to the ratio of the swept area to the non-swept area.
The boundary definition refers to the definition of the outer contour of the cleaning map, and can be determined by acquiring the continuous length of the obstacle located at the peripheral boundary in the first cleaning map and the continuous length of the unexplored area located at the peripheral boundary in the first cleaning map and further according to the ratio of the continuous length of the obstacle to the continuous length of the unexplored area.
The peripheral boundary of the cleaning map is composed of an obstacle boundary (usually referred to as a wall), an explored area boundary and an unexplored area boundary (usually referred to as an unexplored area, an explored area and an unexplored area, wherein no obstacle is touched in the effective range of the radar).
When the first cleaning map is scored, the comprehensive score of the first cleaning map can be calculated according to the weight according to the coverage integrity and the boundary definition.
In the process from step 101 to step 102, it is assumed that a certain user house has three floors, the sweeper needs to sweep one floor for one floor, and each floor is swept, the correspondingly generated sweeping map is stored in the cloud server, the cloud server always stores the latest sweeping map of each floor, and when each floor is swept subsequently, the sweeper can be matched with the corresponding sweeping map at the cloud server to sweep.
Therefore, the process shown in the figure 1 is completed, the cloud server is used for storing the cleaning map of the sweeper in each scene through the process shown in the figure 1, and therefore the sweeper can better reuse the cleaning map of various scenes during cleaning.
Fig. 2 is a flowchart illustrating an embodiment of a method for reusing a map swept by a sweeper according to an exemplary embodiment of the present invention, where the method for reusing the map swept by the sweeper includes the following steps:
step 201: the sweeper collects map characteristic data nearby according to the received sweeping instruction, and sends the map characteristic data to the cloud server.
For example, the cleaning instruction may be generated by a user triggering a cleaning button on the sweeper, or the sweeper may be controlled to clean by operating an APP installed on a terminal connected in a paired manner, so that the sweeper may receive the cleaning instruction sent by the terminal.
The map feature data can be obtained from nearby feature values collected by a laser or a radar arranged on the sweeper.
Step 202: the cloud server matches the map feature data with each cleaning map corresponding to the stored identifier of the sweeper, acquires the successfully matched cleaning map, and sends the successfully matched cleaning map to the sweeper.
As time goes on, the scene area may change, such as adding or reducing objects, and the cleaning map stored on the cloud server is still submitted after the previous cleaning, so the reliability of the cleaning map may decrease as time goes on.
Based on this, before step 202 is executed, a sweeping map corresponding to the locally stored identifier of the sweeper is obtained, the submission time length of each sweeping map is determined according to the storage time point and the current time point of each sweeping map, and then the score of each sweeping map is corrected according to the submission time length of the sweeping map.
Wherein, the longer the submission time length is, the longer the submission time of the cleaning map is, the more the score is reduced.
For example, if 1 day corresponds to a 1 point reduction and the length of the submission time is 1 month, the corresponding score is reduced by 30 points.
Note that, if the score of a certain cleaning map is corrected and becomes 0, the cleaning map and the score may be deleted.
For the process of step 202, a matching value of each sweeping map corresponding to the map feature data and the stored identifier of the sweeper can be determined, a sweeping map with a matching value greater than a second threshold value is obtained, and then a sweeping map with the highest score is selected from the obtained sweeping maps as a successfully matched sweeping map.
The cloud server may locally store a plurality of cleaning maps of a certain scene, so that the cleaning maps of the current scene of the sweeper are acquired by determining the matching value, and then the cleaning map with a high grade is selected from the acquired cleaning maps.
The higher the score, the closer the corresponding cleaning map submission time is to the current time, and the higher the confidence level.
It will be understood by those skilled in the art that determining the matching value of the map feature data and the cleaning map may be implemented by using related technologies, which are not specifically limited in this application.
Step 203: and the sweeper executes the current cleaning task according to the received cleaning map.
In an embodiment, the sweeper can position the sweeper in the cleaning map according to the collected map feature data, then plan a cleaning track route by taking the positioned position as an initial position and combining the cleaning map, and execute a current cleaning task according to the cleaning track route.
It should be noted that, in the process of executing the current cleaning task, when the sweeper finds a new area, the map data of the area may be updated to the cleaning map, when the sweeper finds a new obstacle, information related to the new obstacle may be determined and updated to the cleaning map, and after the current cleaning task is completed, the updated cleaning map is sent to the cloud server for storage.
During the sweeping process, the laser and/or the radar and/or the camera arranged on the sweeper can acquire map feature data nearby in real time, judge whether the acquired map feature data exist in the sweeping map, and determine to find a new area if the acquired map feature data do not exist. In addition, during the sweeping process of the sweeper, the laser and/or the radar and/or the camera arranged on the sweeper can also detect nearby obstacles in real time, and if the detected obstacles are not recorded in a sweeping map, a new obstacle is determined to be found.
It should be further explained that, if the cloud server fails to match, a matching failure notification can be returned to the sweeper, so that the sweeper can sweep the built map again.
So far, accomplish the flow shown in above-mentioned figure 2, through the flow shown in above-mentioned figure 2 through at the high in the clouds server retrieval with the sweeping machine scene matching that cleans, realize the multiplexing that the sweeping machine cleaned the map, because the storage capacity of high in the clouds server is big and calculation power is sufficient, therefore carry out the degree of accuracy that matches at the high in the clouds server high, and then the sweeping machine can be better the multiplexing map that cleans under the multiple scene.
Corresponding to the embodiment of the storage method and the multiplexing method of the sweeping map of the sweeper, the invention also provides an embodiment of a storage device and a multiplexing device of the sweeping map of the sweeper.
Fig. 3 is a structural diagram of a storage device for a map of a sweeper according to an exemplary embodiment of the present invention, where the storage device for the map of the sweeper includes: a communication module 310 in the sweeper and a storage module 320 in the cloud server;
the communication module 310 is configured to send a first cleaning map and a sweeper track which complete the cleaning task to the cloud server;
the storage module 320 is configured to score the first cleaning map according to the first cleaning map and the sweeper track, and store the first cleaning map, the score and the identifier of the sweeper correspondingly;
wherein the score is used for representing the credibility of cleaning the map.
In an optional implementation manner, the storage module 320 is specifically configured to determine a coverage integrity and a boundary definition according to the first cleaning map and the sweeper track; and scoring the first cleaning map by using the coverage integrity and the boundary definition.
In an alternative implementation, the apparatus further comprises (not shown in fig. 3):
the deleting module is used for acquiring a second cleaning map corresponding to the locally stored identifier of the sweeper before the cloud server matches the map feature data with each cleaning map corresponding to the stored identifier of the sweeper and acquires the cleaning map which is successfully matched; determining a difference value between the first purge map and each second purge map; and if the difference value smaller than the first threshold value exists in the difference values, deleting the second cleaning map and the score corresponding to the difference value smaller than the first threshold value.
Fig. 4 is a structural diagram of a multiplexing device for a map sweeping machine according to an exemplary embodiment of the present invention, where the multiplexing device for a map sweeping machine includes: the sweeper comprises a communication module 310, a task execution module 410 and a matching module 420 in a cloud server;
the communication module 310 is configured to collect map feature data of nearby areas according to the received cleaning instruction, and send the map feature data to a cloud server;
the matching module 420 is configured to match the map feature data with each stored cleaning map corresponding to the identifier of the sweeper, obtain a successfully matched cleaning map, and send the successfully matched cleaning map to the sweeper;
the task execution module 410 is configured to execute a current cleaning task according to the received cleaning map.
In an alternative implementation, the apparatus further comprises (not shown in fig. 4):
the grading correction module is used for acquiring a cleaning map corresponding to the identifier of the sweeper, which is locally stored, before the cloud server matches the map feature data with each cleaning map corresponding to the stored identifier of the sweeper and acquires the cleaning map which is successfully matched; determining the submission time length of each sweeping map according to the storage time point and the current time point of each sweeping map; for each cleaning map, correcting the score of the cleaning map according to the submission time length of the cleaning map; wherein the longer the length of submission time, the more the score decreases.
In an optional implementation manner, the matching module 420 is specifically configured to determine a matching value of each sweeping map corresponding to the map feature data and the stored identifier of the sweeper; acquiring a cleaning map with the matching value larger than a second threshold value; and selecting the sweeping map with the highest score from the acquired sweeping maps as the successfully matched sweeping map.
In an optional implementation manner, the task execution module 410 is specifically configured to locate the position of the sweeper in the sweeping map according to the map feature data; and planning a cleaning track route by taking the positioned position as an initial position and combining the cleaning map, and executing a current cleaning task according to the cleaning track route.
In an alternative implementation, the apparatus further comprises (not shown in fig. 4):
the map updating module is used for updating the map data of the area into the cleaning map when a new area is found in the process of executing the current cleaning task; when a new obstacle is found, determining information related to the new obstacle and updating the information into the cleaning map; and after the current cleaning task is finished, sending the updated cleaning map to a cloud server for storage.
Other embodiments of the invention will be apparent to those skilled in the art from consideration of the specification and practice of the invention disclosed herein. This invention is intended to cover any variations, uses, or adaptations of the invention following, in general, the principles of the invention and including such departures from the present disclosure as come within known or customary practice within the art to which the invention pertains. It is intended that the specification and examples be considered as exemplary only, with a true scope and spirit of the invention being indicated by the following claims.
It should also be noted that the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other like elements in a process, method, article, or apparatus that comprises the element.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents, improvements and the like made within the spirit and principle of the present invention should be included in the scope of the present invention.
Claims (8)
1. A storage method of a sweeping drawing of a sweeper is characterized by comprising the following steps:
the sweeper sends a first sweeping map and sweeper track which finish the sweeping task to the cloud server;
the cloud server scores the first cleaning map according to the first cleaning map and the sweeper track, correspondingly stores the first cleaning map, the score and the sweeper identifier, determines the submission time length of all the first cleaning maps corresponding to the stored sweeper identifier when receiving the map feature data of the sweeper, and then corrects the score of the corresponding first cleaning map according to the submission time length of each first cleaning map;
wherein the score is used for representing the credibility of cleaning the map, and the longer the submission time length is, the more the score is reduced.
2. The method of claim 1, wherein the cloud server scoring the first cleaning map according to the first cleaning map and a sweeper trajectory, comprises:
determining the coverage integrity and the boundary definition according to the first cleaning map and the sweeper track;
and scoring the first cleaning map by using the coverage integrity and the boundary definition.
3. The method of claim 1, wherein before the cloud server scores the first cleaning map according to the first cleaning map and a sweeper track, the method further comprises:
acquiring a second cleaning map corresponding to the locally stored identifier of the sweeper;
determining a difference value between the first purge map and each second purge map;
and if the difference value smaller than the first threshold value exists in the difference values, deleting the second cleaning map and the score corresponding to the difference value smaller than the first threshold value.
4. A method for reusing a sweeping map of a sweeper is characterized by comprising the following steps:
the sweeper collects map characteristic data nearby according to the received sweeping instruction, and sends the map characteristic data to the cloud server;
the cloud server acquires a cleaning map corresponding to the locally stored identifier of the sweeper, determines the submission time length of each cleaning map according to the storage time point and the current time point of each cleaning map, and corrects the score of each cleaning map according to the submission time length of the cleaning map; the longer the length of submission time, the more the score decreases;
the cloud server matches the map feature data with each cleaning map corresponding to the stored identifier of the sweeper, acquires the successfully matched cleaning map, and sends the successfully matched cleaning map to the sweeper;
the sweeper executes a current cleaning task according to the received cleaning map;
the cloud server matches the map feature data with each cleaning map corresponding to the stored identifier of the sweeper and acquires the cleaning map which is successfully matched, and the method comprises the following steps:
determining a matching value of each cleaning map corresponding to the map feature data and the stored identifier of the sweeper;
acquiring a cleaning map with the matching value larger than a second threshold value;
and selecting the sweeping map with the highest score from the acquired sweeping maps as the successfully matched sweeping map.
5. The method of claim 4, wherein the sweeper performs a current sweeping task according to the received sweeping map, comprising:
positioning the position of the sweeper in the sweeping map according to the map feature data;
and planning a cleaning track route by taking the positioned position as an initial position and combining the cleaning map, and executing a current cleaning task according to the cleaning track route.
6. The method of claim 5, wherein the method comprises:
updating map data of a new area into the cleaning map when the new area is found in the process of executing the current cleaning task;
when a new obstacle is found, determining information related to the new obstacle and updating the information into the cleaning map;
and after the current cleaning task is finished, sending the updated cleaning map to a cloud server for storage.
7. The utility model provides a storage device that street sweeper cleaned map which characterized in that, the device includes: a communication module in the sweeper and a storage module in the cloud server;
the communication module is used for sending a first cleaning map and a sweeper track which finish the cleaning task to the cloud server;
the storage module is used for scoring the first cleaning map according to the first cleaning map and the sweeper track, correspondingly storing the first cleaning map, the score and the sweeper identifier, determining the submission time length of all the first cleaning maps corresponding to the stored sweeper identifier when receiving the map feature data of the sweeper, and then correcting the score of the corresponding first cleaning map according to the submission time length of each first cleaning map;
wherein the score is used for representing the credibility of cleaning the map, and the longer the submission time length is, the more the score is reduced.
8. The utility model provides a multiplexing device that street sweeper cleaned map which characterized in that, the device includes: a communication module and a task execution module in the sweeper, and a matching module in the cloud server;
the communication module is used for collecting map characteristic data nearby according to the received cleaning instruction and sending the map characteristic data to the cloud server;
the matching module is used for acquiring a sweeping map corresponding to the locally stored identifier of the sweeper, determining the submission time length of each sweeping map according to the storage time point and the current time point of each sweeping map, and correcting the score of each sweeping map according to the submission time length of each sweeping map; the longer the length of submission time, the more the score decreases; matching the map characteristic data with each cleaning map corresponding to the stored identifier of the sweeper to obtain a successfully matched cleaning map, and sending the successfully matched cleaning map to the sweeper;
the task execution module is used for executing the current cleaning task according to the received cleaning map;
the matching module is specifically used for determining a matching value of each cleaning map corresponding to the map feature data and the stored identifier of the sweeper in the process of matching the map feature data with each cleaning map corresponding to the stored identifier of the sweeper and acquiring the cleaning map which is successfully matched; acquiring a cleaning map with the matching value larger than a second threshold value; and selecting the sweeping map with the highest score from the acquired sweeping maps as the successfully matched sweeping map.
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| CN202010382401.3A CN111603100B (en) | 2020-05-08 | 2020-05-08 | Storage and reuse method and storage and reuse device for sweeping drawing of sweeper |
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| CN202010382401.3A CN111603100B (en) | 2020-05-08 | 2020-05-08 | Storage and reuse method and storage and reuse device for sweeping drawing of sweeper |
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| CN112666943A (en) * | 2020-12-17 | 2021-04-16 | 珠海市一微半导体有限公司 | Cleaning map storage method and system for intelligent terminal, cleaning robot and system |
| CN112754363A (en) * | 2021-02-07 | 2021-05-07 | 美智纵横科技有限责任公司 | Cleaning control method, cleaning control device, cleaning apparatus, and storage medium |
| CN114363360A (en) * | 2021-12-31 | 2022-04-15 | 深圳市普渡科技有限公司 | Map synchronization method and related device |
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| KR100870121B1 (en) * | 2007-04-19 | 2008-11-25 | 주식회사 플라즈마트 | Impedance Matching Methods And Systems Performing The Same |
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